NSK Megatorque PS Series User Manual Download Page 73

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— 5-1 —

5. Tuning

The proper gain adjustment is essential to make the full use of the capability of the Megatorque

Motor System.

！

Danger : Please adjust the servo parameter according to the procedure of this

chapter. When a servo on is done without adjusting it, the motor might
wear the hunting cap.

5.1. Tuning Flowchart

Fig 5-1: Tuning flowchart

Preparation

Power on.

Automatic tuning

YES

5.2.2. Initialization of Servo Parameters

5.2.3. Automatic Tuning

5.2.4. Trial Running

Satisfaied?

End of Trial Runnig

Install the Motor and wire the Driver Unit.

Caution

Make sure that the LED shows the System is in the

normal state (

Turn on the power of the Driver Unit, and confirm that the
screen of Handy Terminal displays the message shown
below.

NSK MEGATORQUE

XSY*****.*,XOP*
DC1A80_*****.*
:_

5.3.1. Input of Load Inertia

5.3.2. Minor Tuning of Servo Gains

5.5. Setting Filter

5.4. Manual Tuning

Satisfied?

YES

Satisfied?

YES

Satisfied?

YES

Satisfied?

YES

Tuning Level 1

This is the basic function of the automatic tuning.
The tuning completes at this stage if the results
are satisfactory

．

Tuning Level 2

This step is additional procedure when the tuning level 1 is not successful

．

Tuning Level 3

When the tuning level 1 and 2 are not
successful, it requires conventional manual
tuning (Level 3).

Summary of Contents for Megatorque PS Series

Page 1: ...MEGATORQUE MOTOR SYSTEM User s Manual EDC Driver Unit System M E099DC0C2 158 Document Number C20158 04 ...

Page 2: ...sing under this limited warranty NSK Ltd makes no other warranty express or implied and disclaims any warranties for fitness for a particular purpose or merchantability Copyright 2011 by NSK Ltd Tokyo Japan All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from NSK Ltd NSK Ltd reserves the right to make changes to any produc...

Page 3: ...not exposed to rain water and harmful gas or liquid Store the Driver Unit in the place at where it is not exposed to direct sunlight Keep the ambient temperature and the humidity as specified 5 The limited number of times for overwriting data to EEPROM The EEPROM is used to backup all data and programs However the number of times for overwriting is limited to approximately 100 000 times 2 Precauti...

Page 4: ... signal and 24 VDC power source are stable using an oscilloscope etc 4 The Motor vibrates Positioning is inaccurate Alarm of software thermal occurs frequently Did you tune the servo parameters LO Load inertia SG Servo gain VG Velocity loop proportional gain PG Position loop proportional gain FP Primary low pass filter and NP Primary notch filter Are the fixing bolts of the load and the Motor secu...

Page 5: ...mal Orange 7segments LED Identifies a type of alarm It indicates a type of alarm in 2 digit numbers The numbers will be dispalyed in time sharing If two or more errors occurs the LED indicates them in the same manner as described above Powe LED Turns on after the power is on Normal Green Abnormal Orange When an alarm occurs In normal state Step 2 Polarity setting of Input ports 1 Input the command...

Page 6: ...contact input the command PI3 and follow the procedure above 4 Others Combination of the Motor and the Driver Unit shall conform to the specification Be sure to keep the record of parameter settings Do not modify the cable set Lock the connectors securely and check for loose fixing screw s Please keep expendable parts and backup parts The Motor the Driver Unit and the Cable set for replace Use alc...

Page 7: ... Motor PS PN Series is incorporated into machinery real world installation and or wiring conditions may differ from those of established models Therefore it is necessary to check for EMC command compliance especially radiation and conduction noise in the machinery incorporating the PS PN Series Motors Compliance with UL Standards PS PN Series only Table 1 List of relevant standards for EMC Directi...

Page 8: ...e1 or 2 as specified by IEC60664 1 The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water oil or dust IP54 Power source The EDC Driver Unit shall be used in the environmental condition of Over voltage category III as specified by IEC60664 1 Circuit breaker Install a circuit breaker that conforms to IEC standard and UL safety standard bet...

Page 9: ...fication Environmental conditions The Driver Unit must be used in the environmental condition of Pollution Degree1 or 2 as specified by IEC60664 1 The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water oil or dust IP54 Power source The EDC Driver Unit shall be used in environmental condition of Over voltage category III as specified by I...

Page 10: ...ll Models 18 19 Others Solid state motor overload protection level of 115 of FLA is provided in each model Integral solid state short circuit protection does not provide branch circuit protection Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes Caution Risk of Electric Shock Capacitor discharge time is at least 5 min ...

Page 11: ...2 9 2 1 General Input Signal 2 25 2 9 2 2 Pulse Train Input Signal 2 26 2 9 2 3 Output Signal 2 27 2 9 2 4 Position Feedback Signal Output 2 27 2 9 2 5 Analog Monitor Output 2 28 2 10 CN3 Resolver Cable Connector 2 29 2 10 1 CN3 Pin Out 2 29 2 10 2 CN3 Signal List 2 29 2 11 CN4 Motor Connector 2 30 2 11 1 CN4 Pin Out 2 30 2 11 2 CN4 Signal List 2 30 2 12 CN5 Connector for Power Supply 2 31 2 12 1 ...

Page 12: ...RS 232C Communication 6 31 6 3 5 RS 232C Communication Positioning Operation 6 32 7 General Function 7 1 7 1 Control Input 7 1 7 1 1 Emergency Stop EMST 7 1 7 1 2 Alarm Clear ACLR 7 2 7 1 3 Hardware Over Travel Limit OTP and OTM 7 3 7 1 4 Servo on SVON 7 4 7 1 5 Program Start RUN Internal Program Channel Selection PRG0 to 7 7 6 7 1 6 Stop STP 7 7 7 1 7 Jogging JOG Jog Direction DIR 7 9 7 2 Control...

Page 13: ...8 4 3 Teaching the Position Data of Positioning Program 8 25 8 5 8 5 Tuning 8 26 8 5 1 Servo Block Diagram 8 26 8 5 2 Digital Filter 8 28 8 5 3 Position Loop Dead Band 8 29 8 5 4 Automatic Gain Switching 8 30 8 6 Positioning Operation 8 31 8 6 1 Acceleration Profiling and Individual Acceleration Setting 8 31 8 6 2 Examples of Acceleration Profiling and Individual Setting of Acceleration and Decele...

Page 14: ...1 10 11 3 6 Alarm A4 Excess Velocity 11 11 11 3 7 Warning A5 Home Position Undefined 11 11 11 3 8 Alarm A7 Resolver Amplifier Alarm 11 12 11 3 9 Alarm A9 Commutation Error 11 12 11 3 10 Warning C0 Position Command Feedback Signal Error 11 13 11 3 11 Alarm C3 CPU Error 11 13 11 3 12 Alarm E0 RAM Error 11 14 11 3 13 Alarm E2 ROM Error 11 14 11 3 14 Alarm E7 System Error 11 15 11 3 15 Alarm E8 Interf...

Page 15: ... 2 Precautions for Use Pay special attention to the following when installing checking and troubleshooting the Megatorque Motor System Caution When making a combination of a Motor and a Driver Unit confirm that their specifications for Motor size and maximum Motor torque match each other This is because the Driver Unit holds the unique parameter settings for a matching Motor Refer to 2 4 Standard ...

Page 16: ...stay in a safe place away from the operating area of the Motor when the System is powered on Danger If the Motor is fitted with an arm or similar devices take extra care to assure that no obstacles are in or around the Motor work area Caution Use of an optional dump resistor shall be considered for a heavy duty operation The Megatorque Motors regenerate when they decelerate carrying heavy load ine...

Page 17: ...ing surface shall be 0 02 mm or less Caution For an oscillating operation less than 45 turn the Motor 90 or more at least once a day Caution Do not give a direct impact to the Motor with a hammer or the like A direct impact to the outside of the Motor or the load fixed to the Motor may deteriorate accuracy of the built in position sensor Caution When attaching a rotary machine component to the Mot...

Page 18: ...eed the above limits in some cases Please consult NSK when you require a close investigation on the limits For the PN4180 Motor be sure to stop the Motor for 20 minutes or longer when you stop it by the dynamic brake Caution When the Motor is continually accelerating a high inertial load with high acceleration the system constantly outputs a high torque exceeding the rated torque and thus likely t...

Page 19: ...n t be applicable for a Megatorque Motor System that is made to a special order In such a case please refer to respective specification documents Be sure to make a combination of a Motor and a Driver Unit with the same serial number when they are not interchangeable Moreover you must use the specified Cable Set Please be aware that the Megatorque Motor System won t fully exhibit its performance as...

Page 20: ...otor provides no torque The Motor rotor can be rotated easily servo on The state that the Driver Unit is ready to control the Motor or is controlling the Motor shipping set A parameter setting or a Driver Unit function setting at shipping System Means Megatorque Motor System when capitalized velocity gain VG Shorter name for velocity loop proportional gain The velocity error the deviation of veloc...

Page 21: ...nction Pulse train input Pulse train command positioning operation Number of input pulses governs the positioning operation PLC Positioning control unit Position controller Pulse output RS 232C communication RS 232C serial communication The master controller outputs directly the positioning command Program operation Program start command starts positioning operation Jogging operation The Jog opera...

Page 22: ...DY TERMINAL Motor cable Resolver cable Contorl I O signal Control power User shall provide these devices Fig 2 2 System configuration for pulse train command positioning Cable set RS 232C communication Single phase 200 to 230 VAC or 100 to 115 VAC Main power PS series Megatorque Motor PLC Motor controller 24 VDC power supply EDC Driver Unit Handy Terminal 3 2 1 5 4 8 7 6 0 9 C B A F E D I H G L K ...

Page 23: ...itioning Cable set Single phase 200 to 230 VAC or 100 to 115 VAC Main power PS series Megatorque Motor PLC Motor controller 24 VDC power supply Motor cable Resolver cable Control I O signal Control power RS 232C communi cation EDC Driver Unit The user shall provide these devices ...

Page 24: ... to 115 VAC single phase Position sensor code B Absolute position sensor Function 5 Standard C CC Link Optional 02 Connectors fixing blackets and Engllish manual are included 01 Connectors fixing blackets and Japanese manual are included No code Connectors fixing blackets and manual are not ncluded PS PN Series only 2 2 3 Cable Set Fig 2 6 Reference number coding of Cable Set for PS series Megator...

Page 25: ...5 2 3 Name of Each Part 2 3 1 PS Series Megatorque Motor Fig 2 8 PS series Megatorque Motor Motor connector Resolver connector Dust cover stationary part Rotor rotational part Hollow Stator stationary part ...

Page 26: ... O connector 5 CN3 14 pins Resolver cable connector Connect the exclusive resolver cable 6 CN4 Motor cable connector Connect the exclusive Motor cable 7 Ground terminal Ｍ4 screws 8 Type Reference number plate 9 No Serial number plate 10 Monitor terminal 11 CN5 Connector for main power 12 Power amplifier charge indicator Indicates that the capacitor of the power amplifier still charges residual vol...

Page 27: ...ble connector Connect the exclusive Motor cable 7 Ground terminal M4 screw 8 Type Reference number plate 9 No Serial number plate 10 Monitor pins 11 CN5 Main power connector 12 Power amplifier charge indicator Indicates that the capacitor of the power amplifier still charges residual voltage 13 CN6 CC Link connector 14 SW4 Switch for the terminating resistance 15 SW1 Station number setting switch ...

Page 28: ...BS SHIFT Shift key Note 1 ESC Escape key Not used CTRL Control key Note 2 BS Back space key Note 3 SP Space key Note 4 ENT Enter key Note 5 Frame LCD 195 27 Cable Note 1 SHIFT Press number key while pressing the SHIFT key to enter a code key The superscript of each numeric key may be entered 2 BS Press the BS key when correcting logged in mistakes 3 SP Use this key to input a blank between letters...

Page 29: ...02 100 to 115 M EDC PS3090AB502 200 to 230 ø150 M PS3090KN002 M EDC PS3090CB502 100 to 115 256 channels for internal program Pulse train input Photo coupler M EDC PS1006ABC02 200 to 230 M PS1006KN002 M EDC PS1006CBC02 100 to 115 M EDC PS1012ABC02 200 to 230 M PS1012KN002 M EDC PS1012CBC02 100 to 115 M EDC PS1018ABC02 200 to 230 ø100 M PS1018KN002 M EDC PS1018CBC02 100 to 115 M EDC PS3015ABC02 200 ...

Page 30: ... C010SCP03 15 M C015SCP03 20 M C020SCP03 Stationary cable 30 M C030SCP03 1 M C001SCP13 2 M C002SCP13 3 M C003SCP13 4 M C004SCP13 5 M C005SCP13 6 M C006SCP13 7 M C007SCP13 8 M C008SCP13 9 M C009SCP13 10 M C010SCP13 15 M C015SCP13 20 M C020SCP13 Flexible cable 30 M C030SCP13 2 4 3 Handy Terminal Handy Terminal is required for inputting parameters and programs Table 2 4 Reference number of Handy Term...

Page 31: ...vironmental conditions Ambient temperature 0 to 40 C Humidity 20 to 80 Indoor use only Free from condensation dust and corrosive gas IP30 equivalent Table 2 6 Specifications of PS3 Motor Reference number Items Unit M PS3015KN002 M PS3030KN002 M PS3060KN002 M PS3090KN002 Motor outside diameter mm ø 150 Maximum output torque N m 15 30 60 90 Rated output torque N m 5 10 20 30 Motor height mm 85 102 1...

Page 32: ...ight of payload Moment load M F L 3 When an external force is F then Radial load Fr F weight of payload Moment load M F L A F L A Caution Axial load Fa radial load Fr and moment load M shall be less than the limits specified in the table 2 5 and 2 6 respectively Table 2 7 Dimension A Distance between the bearing and the rotor surface Motor reference number M PS1006KN002 M PS1012KN002 M PS1018KN002...

Page 33: ... radius of the motor cable lead φ7 and the resolver cable lead φ7 should be R30 mm or more Caution Do not use the leads of the motor cable and the resolver cable with flexing motion Caution Do not add the stress tension vibration etc to the joint of the leads and the connector It causes the disconnection and the loose connection ...

Page 34: ... 2 14 2 6 2 EDC Driver Unit Fig 2 15 EDC Driver Unit Motor type PS1006 PS1012 PS1018 PS3015 and PS3030 Fig 2 16 EDC Driver Unit Motor type PS3060 and PS3090 ...

Page 35: ... 2 15 Fig 2 17 Driver Unit compatible with CC Link Motor type PS1006 PE1018 PS3015 and PS3030 Fig 2 18 EDC Driver Unit compatible with CC Link Motor type PS3060 and PS3090 ...

Page 36: ... Caution Bending radius of Motor and resolver cables shall be R45 mm or over Fig 2 19 Cable Set Fixed type M C SCP03 2 6 3 2 Flexible Cable Caution The bending radius of Motor and resolver cables shall be R80 mm or over The radius of cables at the connecting position shall be R40 mm or over Fig 2 20 Cable Set Flexible type M C SCP13 ...

Page 37: ...ecause the maximum frequency is 781 kHz the setting of the resolution limits the maximum rotational speed Max velocity 781 kHz resolution of øA øB Resolution of øZ 80 count revolution Output signal Control output Photo coupler common 8 output ports Max switching capacity 24 VDC 50 mA Driver Unit ready Warning Over travel limit detection direction Servo state Busy In position Target proximity A Tar...

Page 38: ...brake Functions at power off servo off and an occurrence of alarm UL UL508C LVD EN50178 Compatible safety regulation CE EMC EMI EN55011 EMS ENS61000 6 2 RS 232C CN1 D sub 9 pins Control I O CN2 Standard specification Half pitch connector 60 pins CC Link specification Half pitch connector 10 pins Position sensor CN3 Half pitch connector 14 pins Motor Optional regeneration resister CN4 Plastic conne...

Page 39: ...ector DELC J9SAF 13L9E or equivalent Mating connector type DE 9PF N or equivalent Mating connector shell type Japan Aviation Electronics Industry Ltd DE C2 J6R or equivalent The user shall provide these connectors They are not necessary if NSK Handy Terminal FHT 21 is used 2 8 1 1 CN1 Pin Out Fig 2 21 Pin out FG 5V RTS SG DTR DSR RXD CTS TXD 5 4 3 2 1 9 8 7 6 2 8 1 2 CN1 Signal List Table 2 11 Sig...

Page 40: ...ition feed back signals Wiring length shall be short as possible 2 m maximum 3 These cables should be laid separately from the main power line 4 Connect one end of the shielded cable to the frame ground Refer to 3 3 3 Ground Connection and Wiring for the way of connection Caution Check for wiring mistake in the polarity of external power supply and shorting between connector pins Caution Never con...

Page 41: ...e HCMP Home position defined NONE Mask function DRDY Driver Unit ready NRM Normal EMST Emergency stop EMST Emergency stop ACLR Alarm clear OTP Travel limit direction OTM Travel limit direction SVON Servo on RUN Positioning start STP Stop PRG0 Internal program channel selection 0 PRG1 Internal program channel selection 1 PRG2 Internal program channel selection 2 PRG3 Internal program channel select...

Page 42: ...o be entered 8 PI5 RUN Normally open Start program Starts program operation specified by the PRG input 9 PI6 STP Normally open Stop Stops positioning operation and execution of the program 10 Do not connect 11 PI7 PRG0 Normally open Internal program channel selection 0 12 PI8 PRG1 Normally open Internal program channel selection 1 13 PI9 PRG2 Normally open Internal program channel selection 2 14 P...

Page 43: ...ion 32 PO4 SVST Positive Servo state Reports the state of servo 33 PO5 BUSY Positive In operation Reports the state of positioning operation 34 PO6 IPOS Positive In position Reports the condition of positioning error and the positioning operation 35 PO7 NEARA Positive Target proximity A Reports that the Motor is approaching to the destination 36 CHA Position feedback signal øA 37 CHA Position feed...

Page 44: ... Motor has entered in a preset zone TEU Position error under TEO Position error over Reports condition of position error against the threshold value TVU Velocity error under TVO Velocity error over Reports condition of velocity error against the threshold value TTU Torque command under TTO Torque command over Reports condition of Driver torque command against the threshold value TJU Thermal loadin...

Page 45: ... PRG7 JOG DIR and STP Table 2 15 General specifications Item Specification Input voltage 24 VDC 10 Input impedance 3 9 kΩ Maximum current 10 mA or less per input Fig 2 23 3 9 kΩ 560 Ω Driver Unit side 24 VDC input You may reverse the polarity of the external power supply and connect as minus common ...

Page 46: ...Ω Input Input 1 Connection with the line driver output Connect directly to the input ports Fig 2 25 Connection with the line driver output 1 KΩ Driver Unit side 220 Ω Input Input User s controller side 2 Connection with the open collector output Please insert a resistor 68 Ω 1 8 W into the circuit as shown below Fig 2 26 Connection with the open collector output 1 kΩ Driver Unit side 68 Ω Input In...

Page 47: ...y reverse the polarity of the external power supply and connect as minus common 2 9 2 4 Position Feedback Signal Output Applied output CHA CHB CHZ CHA CHB and CHZ Table 2 18 Specifications of position feedback output signal Item Specification Output format Line driver CHA CHB CHZ CHA CHB and CHZ Line driver Texas Instruments AM26C31 or equivalent Recommended line receiver Texas Instruments AM26C32...

Page 48: ...28 2 9 2 5 Analog Monitor Output Table 2 19 Analog monitor specification Item Specification Output format Op amp Maximum output voltage 5 V Saturated current 4 mA or less Fig 2 29 Analog monitor MON1 2 GND ...

Page 49: ...5 ABS A 12 6 ABS B 13 7 ABS C 14 FG 2 10 2 CN3 Signal List Table 2 21 Signal list Pin Signal name Function 1 INC A Incremental resolve signal øA 2 INC B Incremental resolver signal øB 3 INC C Incremental resolver signal øC 5 ABS A Absolute resolver signal øA 6 ABS B Absolute resolver signal øB 7 ABS C Absolute resolver signal øC 8 ABC COMMON Absolute resolver common 9 INC COMMON Incremental resolv...

Page 50: ...gnal name Function 1 U Motor winding ø U 2 V Motor winding ø V 3 W Motor winding ø W 5 R External regeneration resistor terminal 6 R External regeneration resistor terminal 7 SE External regeneration resistor thermal sensor input 8 SE External regeneration resistor thermal sensor input Short these pins if external dump resistor is not in use If they remain open the alarm of over heat occurs Danger...

Page 51: ...AGO Corporation 231 305 026 000 or equivalent 2 12 1 CN5 Pin Out Fig 2 32 Pin out L N L N Control power 5 4 3 2 1 Main power 2 12 2 CN5 Wiring Diagram Fig 2 33 Wiring diagram Control power Single phase 200 VAC Control power Single phase 100 VAC Main power Single phase 100 VAC Main power Single phase 200 VAC MAIN 200 230 VAC CTRL 200 230 VAC L N In case of 100 VAC In case of 200 VAC L N MAIN 100 11...

Page 52: ... 2 32 Blank Page ...

Page 53: ...f the Motor and the Driver Unit on each nameplate matches each other in the following codes Motor series and size and maximum torque Fig 3 1 Indication on the nameplate of Motor NO PS1 11001 MODEL M PS 1 006 KN002 Maximum output torque Motor size code Motor series code Serial number Fig 3 2 Indication on the nameplate of Driver Unit No Type PS1 11020 EDC PS 1 006 A B 5 02 Maximum output torque Mot...

Page 54: ...surface flatness should be lesse than 0 02 mm The Motor can be installed either horizontally or vertically Figure 3 3 Mounting Motor Table Fixing bolt Megatorque Motor Mounting base Motor fixing bolt Flatness of mounting surface shall be 0 02 mm or less Note If the motor is installed as indicated in the figure below mechanical vibrations will be generated and the velocity loop proportional gain VG...

Page 55: ...ia kg m2 Maximum load inertia kg m2 PS1006 0 0024 0 23 PS1012 0 0031 0 30 PS1018 0 0038 0 37 PS3015 0 011 1 0 PS3030 0 014 1 3 PS3060 0 019 1 8 PS3090 0 024 2 3 Warning Check if the use conditions exceed the allowable axial load and the allowable moment load of the Motor Refer to 2 5 Motor Specifications for the allowable axial load allowable radial load and the allowable moment load 3 2 1 5 Dummy...

Page 56: ...to prevent the entry of dust or provide a forced air cooling system 2 Dust proof Waterproof Use the Driver Unit in a control cabinet with IP54 or higher Protect the Driver Unit from exposure to oil mist cutting water cutting dust coating gas etc to prevent their entry into the Driver Unit through ventilation openings which may cause circuit failure IP code is specified in the IEC standard and clas...

Page 57: ... cable You need to separately purchase the cable with specified length The standard cable length is available in 1 to 10 meters in increment of 1 meter and in 15 20 and 30 meters Caution Do not place the power lines AC main power and Motor cable and the signal lines in close proximity Do not tie wrap them and not to put in the same duct or conduit Fig 3 6 PS series Megatorque Motor To CN3 To CN4 T...

Page 58: ...n the power is turned on because of the capacitive load connected to the main power supply circuit For this reason use the contacts such as a magnetic switch that has a higher rated current as shown below Table 3 2 Noise filter requirement Reference only Recommended manufacturer Schaffner Power source Type Rated voltage Rated current Single phase 100 or 200 VAC FN2070 10 250 VAC 10 AAC Table 3 3 C...

Page 59: ...train output Sequencer 24 VDC power supply CN4 CN2 CN3 1 1 ELB1 MC1 Input signal 24 V DRDY COM RY1 NF1 24 V GND ELB1 Short circuit breaker CB1 No fuse breaker NF1 Noise filter MC1 Magnetic switch RY1 Relay SW1 Main power switch ON SW2 Main switch OFF NF SW1 SW2 MC1 MC1 RY1 CB1 Caution We recommend the noise filter below for compliance with the EMC Directive FN2070 10 06 Schaffner EMC Ltd or equiva...

Page 60: ...when inductive switches such as relays are used Caution When inputting the inputs Over travel limit direction and Over travel limit direction connect the outputs of your sensors directly to the inputs not via the master controller Those connectors are shown as in Figure 3 8 below ...

Page 61: ...nal program channel selection 3 Internal program channel selection 4 Internal program channel selection 5 Internal program channel selection 6 Internal program channel selection 7 Jog Jog direction User s controller EDC Driver Unit Position feedback signal øZ Position feedback signal øB Position feedback signal øA 5 VDC CW pulse train CCW pulse train 24 VDC Signal ground 1 2 DC24 7 SVON 3 EMST 4 A...

Page 62: ...firm the safe conditions Danger The operator shall be out of the Motor motion range Warning The Motor must be securely fastened to the machine base Warning The load work must be securely fastened to the Motor Danger There shall be no mechanical interference when the Motor makes a full turn Caution Turn on the power when the Motor is stationary Otherwise the System cannot detect the position coordi...

Page 63: ...icates the alarm code in the order of F 4 If not refer to 11 Alarm and Warning Warning The shipping set of the EMST input EMST is a normally closed contact If it is not connected the alarm F4 Emergency stop occurs Wire the EMST circuit or change the polarity to a normally open contact referring to 3 4 3 Polarity Setting of Control Input Port to clear the alarm Warning The shipping set of the input...

Page 64: ...contact 1 Input the command PI0 PI0 FNEMST I ENT 0 P 2 Following the indication of the command FN Input function an input of the space key will show the NW Anti chattering timer and the AB Input polarity and the prompt will appear FNEMST AB1 NW0 2 _ SP SP 3 Input the command AB0 Input ENT after the prompt AB0 ENT B A ENT 0 Thus the input EMST Emergency stop has been changed to the normally open co...

Page 65: ...propriate measures referring to 11 Alarm and Warning 4 The output SVST Servo state closes when the Motor servo is on 5 Then input a necessary operation command Fig 3 12 Flow of Power on and Servo on Timer Power on Alarm Start servo on Operating Motor User controller side Driver Unit side Intialization DRDY closes DRDY opens SVON NG OK Opens Closes DRDY check Error check Action for alarm WRN check ...

Page 66: ...he operation 0 5 s min Caution Turn on the input SVON after the main power is on Turn off the input SVON before the main power is off If the main power is off leaving the SVON input ON the Warning P5 Main power under voltage occurs Refer to 7 1 4 Servo on SVON for turning on and off of the main power Input of the input ACLR Alarm clear the command CL Clear alarm or turning on the power again will ...

Page 67: ...ic keys Code keys superscript Connector 106 90 Alphabetic keys Special code keys 3 2 1 5 4 8 7 6 0 9 C B A F E D I H G L K J O N M R Q P U T S X W V Z Y CTRL ESC SHIFT ENT SP BS SHIFT Shift key Note 1 ESC Escape key Not used CTRL Control key Note 2 BS Back space key Note 3 SP Space key Note 4 ENT Enter key Note 5 Frame LCD 195 27 Cable Cable length 3000 Note 1 SHIFT Press a numeric key while press...

Page 68: ... parameters using the Handy Terminal Following example describes how to check and change the current setting of parameter MV Motor velocity 1 Check the current setting of parameter MV Enter as Parameter code as follows MV MV1 000 _ M ENT V 2 Set the parameter MV to 0 5 s 1 Enter as Parameter code data MV0 5 _ V 0 M ENT 5 This completes the setting when the colon appears on the screen Caution Confi...

Page 69: ...rameters to the shipping set at once this section describes the way to rest parameters to the shipping set one by one The following example describes how to reset the parameter MV Motor velocity to the shipping set Enter as Parameter code RS MV RS _ R V M ENT S 4 3 Readout of Parameter The following example describes how to read out the parameter VG Velocity gain 1 Check the current setting of the...

Page 70: ...oring keep pressing the SP key until the display stops scrolling or enter the SP key The colon will appear on the screen to indicate the completion of readout TS1 PG0 05 PGL0 05 VG0 50 _ SP SP 4 3 Monitoring Parameters Altered from Shipping Set When adjusting and setting parameters you may read out parameter values only which have been altered from the shipping set The command TS0 monitors all par...

Page 71: ...ng a Command while Monitoring Multiple Conditions The following example describes how to monitor simultaneously the monitor TP Monitor current position in units of pulse and the monitor TV Monitor current velocity The function to monitor multiple conditions simultaneously is called Multi monitor 1 Input the monitor TP to the multi monitor Input as Monitor code WW TP WW TP 1310720 _ W P T W ENT 2 A...

Page 72: ... 4 6 Blank Page ...

Page 73: ...it Caution Make sure that the LED shows the System is in the normal state Turn on the power of the Driver Unit and confirm that the screen of Handy Terminal displays the message shown below NSK MEGATORQUE XSY XOP DC1A80_ _ NO 5 3 1 Input of Load Inertia 5 3 2 Minor Tuning of Servo Gains 5 5 Setting Filter 5 4 Manual Tuning Satisfied YES NO YES NO Satisfied YES NO Satisfied YES NO Satisfied YES NO ...

Page 74: ...ic tuning Installation of the Motor Refer to 3 2 1 2 Motor Installation Attach the load to the rotor of Motor Refer to 3 2 1 3 Coupling Load to Motor Installation of the Driver Unit Refer to 3 2 2 Installation of Driver Unit Connection of the Motor and the Driver Unit Use the cable set provided with the Driver Unit Refer to 3 3 1 Connection of Cable Set Connection of the Handy Terminal Connection ...

Page 75: ...The Motor will rotate for 20 during the automatic tuning in order to estimate the Load moment of inertia Do not enter the range of Motor rotations Caution The Motor may vibrate at the end of automatic tuning if rigidity of the load is insufficient In such a case turn the Motor servo off by the following way Then increase the rigidity or perform manual tuning to continue the tuning Make the input E...

Page 76: ...T S 2 T SP SP 4 Input the password The screen displays an acknowledgement NSK ON NSK ON _ K N S SP N ENT O 5 Input the command SI Set initial parameters to initialize the parameters The initialization will start NSK ON NSK ON SI _ I ENT S The prompt colon will appear when the initialization completes Table 5 1 Servo parameter list Readout by TS1 Readout by TS2 Parameter Initial setting Current set...

Page 77: ...rea 1 Confirm that the LED on the front panel of Driver Unit indicates the System is in the normal state Normally 2 Input the command AT Automatic tuning AT AT Ready OK _ T ENT A If the message COND MISMATCH appears on the screen check if the input STP Stop a warning or an alarm is on then input the command AT again 3 Input OK for the confirmation The Motor servo automatically activates and the Mo...

Page 78: ... shown in the table below appears on the screen in the middle of the automatic tuning The LED on the front panel of Driver Unit indicates F8 for the error in the automatic tuning Table 5 3 Error message list for automatic tuning Message on the screen Description POSITION OVER The Motor rotated beyond 28 8 in the middle of automatic tuning OVER INERTIA WRN The load moment of inertia is too high Ref...

Page 79: ...ower the Motor velocity MV to 0 1 s 1 for a trial running MV0 1 _ V 0 M 1 ENT 5 Display the menu of the demonstration program on the screen SP AJ 0 ID9000 _ P S J ENT A The program for trial running appears on the screen 6 Input the SP key to scroll the program to the end 2 ID 9000 3 TI500 0 4 JP256 _ SP SP The following program appears on the screen Refer to 6 3 2 3 Programming for changing the d...

Page 80: ...CANCELED and the System gets in the normal waiting state for command entry 5 SP AJ Ready OK OK _ K ENT O The Motor starts a cyclic motion as soon as you input the OK message Firstly the Motor moves in CW direction 9 Stop the Motor with the Command MS after confirmation of tuning results MS _ S ENT M Complete the tuning at this stage if the Motor operates normally If motion of the Motor is unstable...

Page 81: ...s referring to 5 3 1 1 When the Load moment of inertia is Unknown The following show an example when the load moment of inertia is 0 123 kg m2 1 Input the password The acknowledgement appears on the screen NSK ON NSK ON _ K N S SP N ENT O 2 Input the value of load inertia O 0 L 1 3 ENT 2 NSK ON NSK ON LO0 123 5 3 1 1 When the Load moment of inertia Is Unknown When an estimation of load inertia is ...

Page 82: ...in position loop proportional gain VG Velocity gain velocity loop proportional gain When the automatic tuning is successfully completed the parameter SG has been set automatically for the estimated load inertia Leave the setting as is and start the minor tuning of the parameter SG If the automatic tuning has not been performed or the automatic tuning has not been successful because of an error per...

Page 83: ...T or key because it alters the increment or the decrement for an input of the and keys This is to prevent abrupt change of SG value 2 Input the key several times observing the motion of the Motor SG AJ STEP 1 SG 10 _ SHIFT Pressing Observe how the motion of Motor gets crisper as the SG setting increases 3 Keep pressing the key further until the Motor starts hunting and stops its reciprocating moti...

Page 84: ...played An input of the BS key reset to the setting before the tuning SG AJ STEP 1 SG 13 PG0 26 _ ENT Each setting is indicated with the prompt colon and the screen pauses the indication at this stage 7 Input the SP key An input of the BS key will abort the readout SG 13 PG0 26 VG2 81 _ SP SP ...

Page 85: ... 2 4 Trial Running 5 4 2 Setting Velocity Loop Proportional Gain VG Perform a minor tuning of the parameter VG Velocity loop proportional gain 1 Input Parameter code AJ The screen changes as shown below then the parameter VG value can be changed by the keys and VG AJ STEP 0 10 VG 0 50 _ G V J ENT A Current value Increment decrement of VG value for an input of or key Caution An input of the keys SH...

Page 86: ...the VG setting to 3 2 by pressing the key VG AJ STEP 0 10 VG 3 20 _ 7 Input the ENT key to complete a setting of the parameter VG The prompt colon appears for the confirmation VG AJ STEP 0 10 VG 3 20 _ ENT An input of the BS key returns to the setting before tuning The changing parameter VG will clear the parameter SG Servo gain to SG0 Setting of the parameter SG automatically sets the parameter P...

Page 87: ... 2 4 Trial Running Tuning level 1 5 5 1 Setting Low pass Filter Firstly start minor adjustment of the parameter FP Primary low pass filter 1 Input as Parameter code AJ The screen changes as shown below and you can change the FP value by the input of the keys and FP AJ STEP 10 FP 0 _ P F J ENT A Current setting Increment decrement of the FP value for an input of or key Caution An input of the keys ...

Page 88: ...to the original setting FP AJ STEP 10 FP 120 _ ENT Reference When terminates the low pass filter FP0 _ ENT P 0 F 5 5 2 Setting Notch Filter When setting the notch filters NP and NS you need to measure the resonant frequency by checking the velocity waveform with the monitoring pins on the front panel of the Driver Unit by means of an oscilloscope etc Check the resonant frequency as shown in Figure...

Page 89: ... the CN2 connector 6 1 2 Operation Procedure Fig 6 1 Check for the power voltage main power and control power Turn on the power then confirm that the power LED green and the 7 segments LED on the front panel of the Driver Unit are indicating normal state Confirm that the display of the Handy Terminal shows the screen for initial setting Power on Refer to 5 Tuning Tune the servo parameters Skip thi...

Page 90: ...s and the commands of the Megatorque Motor System depend on the unit count of the resolution However the software over travel limit cannot be set in units of degree Table 6 2 Resolution of position scale Resolution of position scale Unit of count count revolution Unit of degree 0 01 revolution 2 621 440 36 000 Fig 6 2 Position scale system 1 310 720 counts 1 966 080 counts 90 180 270 0 Direction o...

Page 91: ...ctions is reversed as well All directions of positioning operation Directions of software travel limits Caution This manual expresses the rotational direction of the Motor in plus or minus direction not by the CW or CCW direction which is seen from the Motor output axis side The plus and minus directions depend on the setting of the parameter DI So always be careful for the setting of the DI Cauti...

Page 92: ...ation is required for every power on because the Megatorque Motor System with EDC Driver Unit incorporates an absolute position sensor As shown in Figure 6 3 below the user absolute home position and the Motor absolute home position are set on the same position when the Motor is shipped When the user home position is changed by the command AZ or a Home Return operation the distance in the CW direc...

Page 93: ...t of the command AZ sets the current commanded position current position position error to the user absolute Home position The command AZ requires an input of the password NSK ON NSK ON AZ AO1203312 _ N SP Z ENT A N ENT O S K Execution of the command AZ changes the setting of the parameter AO The parameter AO is the offset between the Motor absolute position data and the user absolute home positio...

Page 94: ... parameters specify the off limits area into counting up direction of position scale from the point of the parameter OTP to the point of the parameter OTM The off limits area becomes effective if the difference between the parameter OTP and OTM is one pulse or more Fig 6 4 Software off limits area Counting up Off limits area OTM End of off limits area Counting up OTM End of the off limits area Off...

Page 95: ...hing Input the SP key to put the prompt colon on the bottom line 5 Move the Motor to the position of minus side software over travel limit 6 Set the current position as the minus side software over travel limit Inputting the parameter OTM requires the password Input Parameter code ST N SP NSK ON NSK ON OTM ST OTM456789 _ ENT N ENT O S K T M O S T The parameter OTP is set by teaching Input the SP k...

Page 96: ... can be directly set to the parameters OTP and OTM Software over travel The password is required in order to set the parameters OTP and OTM 1 Set the plus side over travel limit NSK ON NSK ON OTP123456 _ T P O 2 3 1 ENT 5 6 4 N S SP K N ENT O 2 Set the minus side over travel limit NSK ON NSK ON OTM456789 _ T M O 5 6 4 ENT 8 9 7 N S SP K N ENT O ...

Page 97: ... 439 pulse ID Incremental positioning in units of degree 0 to 3 600 000 AD Absolute positioning in units of degree Shorter way 0 to 35 999 AD PL Absolute positioning in units of degree direction Example AD9000 PL 0 to 35 999 AD MI Absolute positioning in units of degree direction example AD9000 MI 0 to 35 999 0 01 IQ Incremental positioning with user scale 0 to QR 100 AQ Absolute positioning with ...

Page 98: ...rget position Closed Positioning completed Target position secured FW IPOS output mode 1 0 0 1 to 10 000 0 CFIN mode 0 0 IPOS mode 0 1 to 10 000 0 FIN mode ms ms BW BUSY signal stability timer 0 0 0 0 to 10 000 0 ms MD Deceleration select 0 0 0 0 Applies the deceleration value specified in the program being executed 0 1 to 800 0 s 2 Parameter OE Sequence code 0 0 Completes a positioning after the ...

Page 99: ...n by 90 Program body The program processing pauses at this point until completion of the program Executes from the top line The System secures settings of parameter untill completion of the program 1 1 It is possible to secure the parameter settings in the program after the operation Refer to 8 7 1 Change of Parameter via Program Operation for more details ...

Page 100: ...ime after the power is turned on 1 Activate the input SVON Servo on to turn the Motor servo on 2 The output SVST Servo state closes when the Motor gets in the servo on state 3 Select the program channel with the inputs of PRG0 to 7 Internal program channel select Fix the selection 1 ms before the input RUN activates 4 The System executes a selected channel program when the input RUN turns ON The p...

Page 101: ... Channel number PRG7 PRG6 PRG5 PRG4 PRG3 PRG2 PRG1 PRG0 0 1 z 2 z 3 z z 4 z 5 z z 6 z z 7 z z z 8 z 9 z z 10 z z 11 z z z 12 z z 13 z z z 14 z z z 15 z z z z 16 z 17 z z 18 z z 19 z z z 20 z z 21 z z z 22 z z z 23 z z z z 24 z z 25 z z z 26 z z z 27 z z z z 28 z z z 29 z z z z 30 z z z z 31 z z z z z 32 z 33 z z 251 z z z z z z z 252 z z z z z z 253 z z z z z z z 254 z z z z z z z 255 z z z z z z ...

Page 102: ...s changed to from the colon The prompt indicates that the local parameter is applicable This means that parameters MV and MA specified in this channel are temporarily effective When the program of channel 0 completes after the Motor moved for 90 the global parameter becomes effective again for the channel program Confirm completion of the positioning then input the ENT key to show the prompt colon...

Page 103: ...ing command and exclusive command of channel Category Name code Function Data Unit CH Editing channel 0 to 255 channel CC Clears program in a channel 0 to 255 256 Initialize the demonstration program channel ÌCC AL Clears program of all channel and initializes the demonstration program CD Deletes a specified channel thus the number of the following channels goes up by one 0 to 255 channel Editing ...

Page 104: ...hannel 0 H C ENT CH0 0 _ 2 Input the parameter and the positioning command following the prompt line number and When an input to the line is confirmed by an entry of the ENT key the next line appears for an input V 0 M 0 D 9 I 0 5 ENT 0 ENT CH0 0 MV0 5 1 ID9000 2 _ 3 For completion of editing input the ENT key when the prompt line number and is on the bottom line 0 MV0 5 1 ID9000 2 _ ENT The promp...

Page 105: ...9000 _ SP 0 H C ENT 2 Press the BS key to enter the editing mode of the line CH0 0 MV0 500 1 ID9000 1 _ BS The prompt line number and appears on the bottom line 3 Input the new positioning command 0 MV0 500 1 ID9000 1 ID4500 2 _ 5 D 4 I 0 0 ENT Completion of the input shows the next line with line number of 2 4 Press the ENT key while the prompt line number and is on the bottom line 1 ID9000 1 ID4...

Page 106: ...he BS key at the objective line and get in the editing mode of the line CH0 0 MV0 500 1 ID9000 1 _ BS The prompt line number and appears on the bottom line 3 Inserting or deleting the line Insert a new line by the command LI Insert a line 0 MV0 500 1 ID9000 1 LI 1 I L ENT As the new line is blank the prompt is only set the editing mode by the BS key to input the new command Delete a blank line by ...

Page 107: ...ENT An input of E following the prompt line number jumps to the end line of the program and the System waits for next input Reading out of whole channel programs Though the command CH reads out contents of channel program there is an exclusive command for reading out channel program to prevent unexpected changes Input the command TC Tell channel program TC AL TC0 0 MV0 500 1 ID9000 _ ENT C T L A I...

Page 108: ...xample of unconditional jump and dwell timer CH0 0 ID9000 1 TI1000 0 2 JP0 3 _ Dwell time 1 second Jump to the top line of the channel 0 Program body Processing pauses at this position until the positioning competes RUN input 90 incremental motion to the plus direction Specify the channel 0 by the input PRG Internal program channel select then input the input RUN Start program This repeats an incr...

Page 109: ...itioning to the plus direction Every input of the RUN signal executes the channel program of the next channel number regardless of the state of PRG input Activation of the commands MS Motor stop the input STP Stop the alarms and the warnings will internally reset the number of channel which is next in line for execution In such a case select the channel by the PRG input and start the program by th...

Page 110: ... program 1 Jump to the top line of channel 0 Body of program 2 Continual operation between channels Set as the global parameter Run input Specify the channel 0 by the input PRG then input the RUN signal to alternate the incremental positioning of 90 to the plus direction and the minus direction having one second dwell time between Fig 6 14 Signal timing Continual positioning between channels witho...

Page 111: ...ntrols a positioning operation The frequency of input pulse determines rotational velocity while the total number of inputted pulse determines the rotation amount Fig 6 15 Pulse train command operation and resolution CN2 CWP CN2 CCWP Positioning command Pulse counter 2 621 440 Parameter CR Monitor RP Parameter PC PC0 CWP CCWP PC1 pulse direction PC4 øA øB Maximum input frequency 1 Mpps ...

Page 112: ...ncompleted Lost the target position Closed Positioning completed The target position secured Control output TEU Reports that the position error is under the threshold Open Out of the threshold Closed Cleared the threshold ÌCR Resolution of pulse train input 2 621 440 0 5 242 880 for one revolution or 1 000 to 5 242 879 Count revolution ÌPC Selects the format of pulse train command 0 0 CW CCW 1 pul...

Page 113: ...rned on Inputted pulses before closing the output SVST won t be counted 3 Input the pulse train The Motor rotates the amount of value set by the parameters PC Pulse command and CR Circular resolution 4 The input IPOS is forcibly opened when the pulse train command is detected When the pulse train input is detected the state of IPOS is forced to become open If the pulse train pauses more than 0 1ms...

Page 114: ...C Pulse input format CWP input CCWP input PC0 shipping set CW CCW Inputs pulse train for rotation in the plus direction Inputs pulse train for rotation in the minus direction PC1 Pulse and direction Selects the rotational direction OFF Plus direction ON Minus direction Inputs a pulse train PC4 øA øB quadrupled øA øB Internal pulse command Inputs pulse train for øB Inputs pulse train for øA ...

Page 115: ...e origin of the position scale The positioning operation depends on the position of these grids However the position of the Motor right after turning on the servo deviates from the position of the grid in most cases For this reason the first pulse of a pulse train command compensates the difference between the current Motor position and the grid Figure 6 17 below shows how the first pulse of a pul...

Page 116: ... CCWP input port CCW pulses ON OFF ON OFF Min 500 ns Min 500 ns Rotation in the minus direction Rotation in the plus direction Fig 6 19 When the parameter is set to PC1 Pulse and direction format Min 500 ns Min 500 ns CWP input Direction CCWP input Step ON OFF ON OFF Rotation in the minus direction Rotation in the plus direction Min 500 ns Min 500 ns Min 500 ns Fig 6 20 When the parameter is set t...

Page 117: ...celerating Control input DIR Jogging direction OFF in the plus direction _ON in the minus direction JG PL Specifies a jogging operation in the plus direction one direction Command JG MI Specifies a jogging operation in the minus direction one direction JV Specifies the jogging velocity 0 100 0 001 to 10 000 s 1 JA Specifies the jogging acceleration 1 0 0 1 to 800 0 JB Specifies the jogging deceler...

Page 118: ...input SVON Servo on 2 The output SVST Servo state closes when the Motor servo is on 3 Set the jogging direction by the input DIR Jog direction 4 Activates the input JOG Jog The Motor starts a motion following the parameter value of JA Jog acceleration JB Jog deceleration and JV Jog velocity 5 The output BUSY In operation closes when the Motor is jogging and the output IPOS In position opens 6 When...

Page 119: ...2 1 It takes 3 2 seconds to activate the Motor servo for the very first time after turning on the main power 2 CR Carriage return code 0DH 1 Turn on the Motor servo by the input SVON Servo on 2 The output SVST Servo state is closed when the Motor servo is on 3 Input the command JG PL Jog direction plus direction The Motor starts jogging operation following the parameter values of JA Jog accelerati...

Page 120: ...backup function 0 0 Backups the parameters on the EEROM 1 Nullifies the backup function ÌEC Reports completion of positioning via RS 232C 0 0 Does not output at the completion of positioning 1 Outputs at the completion of positioning Parameter ÌPP Sets availableness of local parameter prompt 1 0 Nullifies function of indicated parameter prompt 1 Enables function of indicated parameter prompt Ì The...

Page 121: ...ode 0DH LF line feed return code 0AH 1 Activate the input SVON Servo on to turn the Motor servo on 2 When the Motor servo is on the output SVST Servo state closes This is the state when the command can be inputted If you do not check the output SVST provide delayed timing after an activation of the input SVON as shown in Figure 6 23 3 The positioning operation starts right after the input of posit...

Page 122: ... 6 34 Blank Page ...

Page 123: ...e accepted while the input EMST is OFF The output DRDY Driver Unit ready opens in the state of emergency stop Table 7 2 State of emergency stop 7 segments LED Command TA Tell alarm status Description Motor state F4 F4 Emergency Stop Emergency stop Servo off The state of emergency stop may not be established if the input EMST signal is not being OFF longer than 1 ms Fig 7 1 Signal timing of the inp...

Page 124: ...e position undefined No change C0 C0 Pulse Command Feedback Error Error in the commanded position or the feedback signal Servo off C5 C5 Fieldbus Warning Warning of the field buss Cycle stop F1 F1 Excess Position Error Excessive position error Servo off F5 F5 Program Error Program error Cycle stop F8 F8 AT Error Automatic tuning error Cycle stop P5 P5 Main AC Line Under Voltage Low voltage of main...

Page 125: ...f its rotation is detected In this state the System only accepts the positioning command moving in the opposite direction of the detected limit Output OTPA or OTMA Travel limit detection opens in the alarm state of hardware over travel Refer to 7 2 3 Over Travel Limit OTPA and OTMA for the signal timing of inputs OTP and OTM Table 7 6 Alarm state of the hardware travel limit 7segments LED Command ...

Page 126: ... activation of the Motor servo must be completed When the input SVON is turned off the Motor gets in the servo off state and stops by the dynamic brake At the same time the errors in the error counter will be cleared When the Motor servo has been activated by the input SVON execution of the command MO Motor off deactivates the Motor servo When the Motor servo has been deactivated by the command MO...

Page 127: ...is turned on When turn off the main power leaving the control power on Turn off the main power after deactivation of the input SVON The warning P5 Main AC line under voltage occurs if the main power is turned off while the Motor servo is on Fig 7 5 Timing when separately turning on and off the main power and the control power Min 0 5 s on off on off Control power Power Input SVON ON OFF Min 0 s ...

Page 128: ...ll of the following conditions are met before execution of the program Otherwise the warning F5 Program error occurs 1 The System is not in the middle of execution of a program Check if the output BUSY In operation is open 2 The channels specified by the outputs PRG0 to PRG7 have the proper settings of commands and parameters 3 The conditions to execute the programs in the channels are in place Fo...

Page 129: ...eration is specified the System compares the deceleration between the value of parameter MB and MD and applies the higher deceleration The System chooses the deceleration to stop the Motor quickly Table 7 10 Parameter related to the input STP Parameter Function Initial setting Value range Unit MD Deceleration for input STP 0 0 0 0 Applies the deceleration value currently programmed in the position...

Page 130: ...train input does not move the Motor during the input STP is being active Fig 7 7 Signal timing of the input STP Pulse train command Motor motion FW value Max 1 ms Pulse train input closed open closed open Ouput IPOS FW 0 FIN Max 2 ms ON OFF Input STP Pulse train input invalid Max 1 ms Max 1 ms Max 2 ms Positionnig completed Closed when the target position data is secured Open when the target posit...

Page 131: ...ogging If the input JOG is turned ON again in the middle of the deceleration the Motor keeps decelerating and stops once Then the input JOG activates again after the Motor stopped If the input DIR is altered in the middle of jogging the Motor starts to move in the opposite direction after it stopped If the input DIR is altered in the middle decelerating the Motor stops anyway then the input JOG ac...

Page 132: ...outputs DRDY and WRN Time for CPU initialization apploximately 3 closed open on off Power Output DRDY Output WRN closed open Max 1 ms Max 1 ms Detection of alarm Detection of warning 7 2 2 Warning WRN This output reports the occurrence of the problem warning that can be rectified by reviewing operation procedure or by tuning of parameters which do not require the reset of the main power supply for...

Page 133: ...vel F3 F3 Hardware Over Travel Hardware over travel The direction plus or minus of the limit detected by the output OTPA or OTMA depends on the setting of the parameter DI Direction inversion and the activated limit OTPA or OPMA as described in the table below Table 7 18 Limit direction and outputs OTPA and OTMA Activated limit entering side Parameter DI Activated output Hardware Software OTPA OTP...

Page 134: ...vo OFF by the input SVON etc Move the Motor out from the off limits area or Move out the Motor manually from the off limit area after the servo is off When the over travel limit is detected in the middle of Motor rotation the Motor stops before completing the positioning thus the output IPOS In position will not be closed When the over travel limit is detected during the Motor is stopping the outp...

Page 135: ...When the Motor servo is activated a positioning operation is executable by an instructed positioning operation command or a pulse train input For a strict check if a positioning operation is possible confirm that all of the following conditions are met including the output SVST Output SVST closed The servo is on Output WRN closed No warning is occurring Input STP OFF A positioning is operable Refe...

Page 136: ...ation 2 Positioning command From the start to end of the first execution of a positioning 3 Jogging 4 Command AT Auto tuning 5 Home Return operation If the master controller cannot detect the closing time length of the output BUSY due to the operating time is too short the parameter BW BUSY width can be set to fix the minimum outputting time of the BUSY signal The parameter BW value controls closi...

Page 137: ...porting mode set by the parameter FW FIN with CFIN mode Holds the completion signal after completion of positioning IPOS mode After completion of positioning the way of outputting IPOS signal depends on the position error FIN mode The System outputs a pulse signal at the completion of a positioning Fig 7 11 Difference in modes to output IPOS signal 100 ms 100 ms 100 ms Residual pulses of the error...

Page 138: ...otion 100 ms 100 ms Stability timer Example IS100 100 ms MV MB The Motor starts rotating at the riging edge Max 0 5 ms Max 0 5 Max 1 ms Input RUN ON OFF closed open Output BUSY closed open Output IPOS FW 0 CFIN MA Clsoed If the target position data is secured Open If the target position data is lost The System always confirms completion of positioning every time the inputting pulses pause in the p...

Page 139: ...S mode Max 1 ms 100 ms Residual pulses in the error counter IN setting Motor motion 100 ms Stability timer Example IS100 100 ms MV MB Max 0 5 ms Max 0 5 ms Input RUN ON OFF closed open Output BUSY closed open Output IPOS FW 0 IPOS MA Clsoed If the target position data is secured Open If the target position data is lost The Motor starts rotating at the rising edge In the pulse train command operati...

Page 140: ...t IPOS is closed the output IPOS opens and the positioning starts Fig 7 16 Output IPOS in a positioning under the internal positioning command FIN mode 100 ms 100 ms Max 0 5 ms Max 1 ms FW setting Residual pulses in the error counter IN setting Motor motion Stability timer Example IS100 100 ms MV MB Input RUN ON OFF closed open Output BUSY closed open Output IPOS FW 0 FIN MA The Motor starts rotat...

Page 141: ...nds which is to be specified for a PS type Motor to the unit of pulse Resolution IN setting 360 Repeatability degree 2 621 440 100 360 3600 202 pulse 7 2 6 5 Parameter IS In position Stability Timer This is to check the stability of positioning operation In case of the IPOS mode the output IPOS signal might become unstable at settling stage of a positioning if the parameter IN is set to low value ...

Page 142: ...ing a positioning command Table 7 26 Parameter related to outputs NEARA and NEARB Name code Function Initial setting Data range Unit NA Proximity limit A NB Proximity limit B 0 0 to 262 144 000 pulse When the output is closed once the Motor has been in proximity area the output remains closed until the next positioning command is executed The Condition of output signal is ensured to be stable unti...

Page 143: ...ser home position ans the Motor home position Table 7 27 Input Output and parammeters related to the position feedback signal Category Name code Function Initial setting Range Description Unit CHA Position feedback signal øA CHA Position feedback signal ø A CHB Position feedback signal øB CHB Position feedback signal ø B CHZ Position feedback signal øZ Control output CHZ Position feedback signal ø...

Page 144: ...llowing Maximum rotational speed 781 000 1 310 720 0 6 s 1 There is another restriction on the specified maximum speed of each Motor type Specify the total number of edge count of øA and øB pulse for one Motor revolution by the parameter FR Feedback signal resolution The signal phase relation between øA and øB can be specified by the parameter FD Feedback signal leading phase The Driver Unit will ...

Page 145: ...positioning operation is also limited not to exceed the VL setting In case of a pulse train command positioning be sure to control the inputting pulse frequency not to rotate the Motor faster than the VL value The allowable speed of each Motor type is another restriction besides the parameter VL Please refer to 2 5 Motor Specifications Fig 7 20 Resolution of position feedback signal and speed limi...

Page 146: ...CHZ output MSB CHZ output MSB Caution If the phase Z is used to specify the position scale of the Motor be sure to use the rising edge of the signal The phase Z is made to have precise position repeatability on its rising edge regardless of the Motor rotational direction Use of the falling edge of the signal to detect the base position won t maintain the position repeatability because of the effec...

Page 147: ...position command 0 000 to 10 000 TV Reads out current velocity 0 00 to 0 000 s 1 TE Reads out position error 0 to 2 621 439 pulse TXT Reports a positioning time 0 0 to 214 641 044 2 TST Reports a settling time 0 0 to 214 641 044 2 ms TP Monitors current position in units of pulse 0 to 2 621 439 TPC Reports commanded position in units of pulse 0 to 2 621 439 pulse TD Monitors current position in un...

Page 148: ...and PI Edit input port PI0 is set to the input EMST Emergency stop FN Input function AB Input port polarity NW Anti chattering timer Input function AB Input port 0 normally open 1 normally closed NW Anti chattering timer 0 0 to 1 000 0 ms CN2 Input FN Input function Function such as EMST and ACLR Monitor IO0 Monitor IO1 Monitor IO2 Monitor F indicates function name Command PO Edit output port PO0 ...

Page 149: ...ntents of the monitors IO0 and IO1 Gide G F E D C B A 9 8 7 6 5 4 3 2 1 0 CN2 pin number 20 19 18 17 16 15 14 13 12 11 9 8 7 6 5 4 3 Pin code Shipping set PI16 DIR PI15 JOG PI14 PRG7 PI13 PRG6 PI12 PRG5 PI11 PRG4 PI10 PRG3 PI09 PRG2 PI08 PRG1 PI07 PRG0 PI06 STP PI05 RUN PI04 SVON PI03 OTM PI02 OTP PI01 ACLR PI00 EMST CN2 pin number 35 34 33 32 31 30 29 28 Pin code Shipping set Reserved Reserved Re...

Page 150: ...f Monitor IO1 IO1 GFEDCBA9876543210 00000000000000000 00000000000000000 State of input Guide State of output 0 Not functioning 1 Functioning 0 Not detected 1 Detected 7 3 1 3 Monitor for State of Input Functions Monitor IO2 Monitors the application state of input functions in a line The readout is the recognition of the Driver Unit The readout is the application state of the parameters AB Input po...

Page 151: ...served ZONEC HCMP HOME NRM OTXA TJO TJU TTO TTU TVEO 7 3 1 5 Monitor for Individual Function An input of F Function name code of input or output is available to monitor the application state of a specified function For the inputs the monitor reports how the Driver Unit recognizes the application state of the specified function For the outputs the monitor reports the state just before application o...

Page 152: ... the SP key or pause reading out by the BS key SP SP TA F3 Hardware Over Travel F4 Emergency Stop The order of readout is not corresponding to the order of alarm occurrence 7 3 2 1 Monitor All Occurring Alarms at One Time You can monitor all occurring alarms at a time Input TA or TA RP Input the BS key to abort repetitive readout Figure 7 27 TA RP FEDCBA9876543210 0000000000000000 0000000000000000...

Page 153: ...e contents of occurrence with the information The Driver Unit can judge the event as it happened right after the power is turned on or it continually occurred through the record of the time of occurrence The meaning of event code is described in the table below Events not fall under the description are treated as an alarm or a warning Refer to 11 Alarm and Warning Table 7 34 Contents of monitor TA...

Page 154: ...tion feedback pulse This is used to check the number of outputted position feedback signal pulses from the Driver Unit Different from other monitors you can rest the monitor FK Position feedback signal counter That is you can monitor the total number of signal rising edges starting after when the counter is reset to 0 zero Fig 7 30 Monitoring example FK RP FK0 FK RP FK 0 _ Resets the counter Repea...

Page 155: ... 32 Example of the moniotr TJ RP TJ RP TJ 0 _ The readout value of the monitor TJ Thermal loading is between 0 00 to 100 If the monitored TJ value is not zero TJ 0 the effective torque is exceeding the rated torque thus indicating the Motor is generating heat In consequence it is essential to keep the readout of monitor TJ to zero 0 for continual user defined cycle operation Fig 7 33 Check of ther...

Page 156: ... and the offset value to the monitored data Table 7 36 Input output and paramter related to analog monitor Category Name code Function Initial setting Data range MON1 First analog monitor Control output MON2 Second analog monitor 0 to 5 V output 2 5 V center MN First analog monitor 0 0 to 8 Refer to Table 7 37 Preset analog monitor Or input MN Monitor code MNR First analog monitor range 10 000 Dat...

Page 157: ...to 16 383 pulse MN8 MX8 Thermal loading 0 00 to 100 00 Fig 7 34 Preset analog monitor Current velocity MN0 MX0 5V 0V direction 10 s 1 direction 10 s 1 øU current MN4 MX4 5V Command velocity MN1 MX1 5V 0V direction 10 s 1 directio 10 s 1 Velocity error MN2 MX2 5V 0V direction 1 25 s 1 direction 1 25 s 1 Torque command MN3 MX3 5V 0V direction 100 direction 100 Transient positon command MN5 MX5 0V di...

Page 158: ...he screen indicates the default The monitor center is set to 0 s 1 MNY0 000 and the output range is set to 10 s 1 MNR10 000 Input the SP for the prompt colon An input of TV MN also set the monitor TV 2 Set the velocity to 1 s 1 at the monitor center MNR10 000 MNY0 000 MNY1 _ Y N M 1 ENT 3 Set the output range to 0 2 s 1 from the monitor center MNY0 000 MNY1 MNR0 2 _ R N M 0 ENT 2 Fig 7 35 How to c...

Page 159: ...ed for the output of analog monitor As it takes 1 to 2 milli seconds for filtering to follow a change of digital signal do not use the analog monitor for the check of precise input and output signal timing For example the following describes how to monitor the state of SVON input Servo on The monitor FSVON Function SVON monitors the state of SVON input Type MNFSVON if you wish to output the SVON i...

Page 160: ... 7 38 Blank Page ...

Page 161: ...sition error over TVU Velocity under TVO Velocity over TTU Torque command under TTO Torque command over TJU Thermal loading under TJO Thermal loading over OTXA Travel limit ditection direction NRM Normal HOME Home Return complete HCMP Home position defined NONE Mask function DRDY Driver Unit ready NRM Normal EMST Emergency stop EMST Emergency stop ACLR Alarm clear OTP Travel limit direction OTM Tr...

Page 162: ...in the CCW direction OFF Activated ON Not activated 7 PI4 SVON Normally open Servo on Actives the Motor servo OFF Servo off ON Servo on 8 PI5 RUN Normally open Program start Starts program operation specified by the PRG inputs OFF ON Starts program 9 PI6 STP Normally open Stop Stops operation and execution of programs OFF Operation granted ON Decelerates Prohibit operation 11 PI7 PRG0 Normally ope...

Page 163: ...OFF Normal ON Hold ORD Velocity override Overrides velocity OFF Normal ON Override IOFF Integration OFF Deactivates integral control OFF Normal ON Integration OFF HOS Home Return start Starts Home Return operation OFF ON Starts Home Return operation HLS Home position limit Reports the Motor is nearing to Home position proximity OFF Normal ON Home position proximity ...

Page 164: ...Alarm Closed Normal 29 PO1 WRN Negative Warning Reports warning Open Warning Closed Normal 30 PO2 OTPA Negative Over travel limit direction Over travel limit software of hardware direction limit Open direction limit activated Closed Normal 31 PO3 OTMA Negative Over travel limit direction Over travel limit software of hardware direction limit Open direction limit activated Closed Normal 32 PO4 SVST...

Page 165: ... command is under the threshold TTO Torque command over Reports torque command output Open Out of the limit Closed The command is under the threshold TJU Thermal loading under Open Out of the limit Closed Thermal loading is under the threshold TJO Thermal loading over Reports the condition of thermal loading Open Out of the limit Closed Thermal loading is over the threshold OTXA Over travel limit ...

Page 166: ...re effective on the port PI0 The monitor IO Input Output monitor reads out conditions of each function Refer to 7 3 1 Monitoring Way for Control Input Output Signal for more details Table 8 5 Editing command for control input port Category C0mmand name code Name Function Initial setting Data range Unit PI Edit input port Edits function of control input 0 to16 port ÌPI RS Resets function of a speci...

Page 167: ... PRG7 PI14 FNPRG7 AB0 NW0 2 I P ENT 4 1 SP SP Every input of the SP key reads out the parameter AB and the parameter NW 3 Change the function to the input HLD AB0 NW0 2 FNHLD _ N F L H ENT D Set the parameter AB and the NW in the same way 4 Input when the prompt is on the last line to confirm the settings FNHLD AB0 NW0 2 ENT SP SP Every input of the SP key reads out the parameter FN setting the pa...

Page 168: ... each function Refer to 7 3 1 Monitoring Control Input Output for details The command OP Forcible output forcibly changes the settings of output port function Refer to 8 1 3 4 Forcible Change in Setting of Output Port Function for details Table 8 6 Edit command for control output port Category Command name code Name Function Initial setting Data range Unit PO Edi output port Edits output port 0 to...

Page 169: ...NNEARA GC0 ST0 0 O P ENT 7 SP SP Every input of the SP key displays the parameters GC and ST respectively 2 Change the output function to the output ZONEA GC0 ST0 0 FNZONEA _ N F O Z E N A ENT Set the parameters GC and ST in the same way 3 For the confirmation of the settings input when the prompt is on the bottom line FNZONEA GC0 ST0 0 ENT SP SP Every input of the SP key displays the parameter FN...

Page 170: ...function PI6 FNSTP AB0 NW0 2_ I P ENT 7 SP SP Every input of the SP key displays the parameters AB Input port polarity and NW Anti chattering stability timer 3 Change the function to the NONE Mask function AB0 NW0 2 FNNONE _ N F O N E N ENT 4 For the confirmation input key when the prompt is on the last line FNNONE AB0 NW0 2_ ENT SP SP Every input of the SP key displays the parameters FN AB and NW...

Page 171: ...pening this output port is to report an occurrence of alarm Thereby you can check if the master controller is able to detec the abnormal operation of Driver Unit 1 The port name of the 28th pin is P0 as shown on Table 8 3 Output ports of the CN2 connector and assigned function 2 Input the password NSK ON NSK ON NSK ON _ K N S SP N ENT O 3 Input as OPXXXXXXX0 when forcibly opening the PO0 output an...

Page 172: ...used by an internal command or execution of a program However the output BUSY In operation remains closed The held operation starts again when the input HLD is OFF If the operation involves rotation of the Motor the Motor accelerates again Occurrence of an alarm and activation of the input STP Stop signal cancels the holding state and the output BUSY opens In such state deactivation of the input H...

Page 173: ...Velocity override 100 00 0 00 to 200 00 When the programmed velocity is overridden the System changes the operating velocity with preset acceleration and deceleration The acceleration deceleration and acceleration profiling for overriding velocity follow the programmed settings that has been dealt with When the ORD input activates during the operation of which programmed velocity is MV2 000 s 1 an...

Page 174: ... parameter LB Observer limiter Also the parameter LG Lower gain lowers the velocity loop proportional gain to the specified ratio For example the integral control effect becomes 0 if the parameter LB is set to LB0 0 as soon as the input IOFF activates The lowering gain function does not work for the command AT Auto tuning Table 8 11 Parameter rlated to the input IOFF Parameter Name Function Initia...

Page 175: ...occurs if you execute an absolute positioning operation after you abort the Home Return operation Complete the Home Return operation and thus define the Home position of the scale system Refer to 8 8 Home Return for the procedures of the Home Return operation 8 2 5 Home Position Limit HLS When performing Home Return operation this input monitors that the Motor is nearing the proximity of the Home ...

Page 176: ...d point of zone A End point of zone B End point of zone C 0 0 to 2 621 439 pulse ZAW ZBW ZCW Zone A stability timer Zone B stability timer Zone C stability timer 0 0 0 0 to 10 000 0 ms The parameters ZAS Start point of zone A and ZAE End point of zone A set the zone The zone starts from the start point in the counting up direction of scale data and ends at the end point as shown in the figure belo...

Page 177: ... setting of parameter TEU Position error TEO Tell position error over Reports the condition of position error Open not activated Closed Position error is greater or equal to the setting of parameter TEO TVU Tell velocity under Open Not activated Closed Current position is less or equal to the setting of parameter TVU Velocity TVO Tell velocity over Reports the condition of current velocity Open No...

Page 178: ... equal to the setting of parameter TEO Setting of the parameter ST Stability timer with the command PO Edit control output controls frequent opening and closing of output port caused by fluctuating position error Setting of the parameter ST to the output TEU acts as the following The TEO output closes when the position error is less or equal to the setting of parameter TEU longer than the time set...

Page 179: ...ual to the set value The output TVO closes when the absolute value of velocity is greater or equal to the set value 8 3 2 3 Torque Command Outputs TTU Torque Command Under and TTO Torque Command Over Outputs the condition of torque command against the threshold Table 8 19 Parameter related to the outputs TTU and TTO Parameter code Function Initial setting Data Range Unit TTU Threshold Torque comma...

Page 180: ...t TJU closes when the setting of parameter TJU is less or equal to the threshold The output TJO closes when the setting of parameter TJO is greater or equal to the threshold If the Motor is forced to rotate exceeding its rated conditions it continues overheating and eventually the warning A3 Software thermal loading occurs When the thermal loading increases beyond 0 in the middle of one user defin...

Page 181: ...avel Fig 8 10 Motion timing with the input OTP and the output OTXA In case of positive logic The Motor stops immediately with the Motor servo on Motor motion closed open closed opem Ouput DRDY Input OTP Outpu SVST closed open closed open Output BUSY closed open closed open Output IPOS FW 0 FIN Output OTXA ON OFF Max 1 ms Max 1 ms Max 1 m Output IPOS FW 0 CFIN FW 0 IPOS Put the Motor in servo off s...

Page 182: ...on of the position scale system Completion of Home Return operation to the Home position The current commanded position is zero 0 Home position The commanded position is denotes the sum of the current position and the position error When the commanded position becomes other than 0 zero this output opens and does not close until the completion of next Home Return operation Refer to 8 8 Home Return ...

Page 183: ... ST Start point of zone A 0 ZAE ST End point of zone A 0 ZBS ST Start point of zone B 0 ZBE ST End point of zone B 0 ZCS ST Start zone C 0 Parameter ZCE ST End point of C 0 0 to 2 621 439 pulse AR ST Positioning operation in units of absolute pulse Short cut AR PL ST Positioning operation in units of absolute pulse direction Example AR100000 PL AR MI ST Positioning operation in units of absolute p...

Page 184: ...l brake Input KB1 to cancel the brake MO KB1 _ B K ENT 1 Thus the resistance force dynamic brake for manual rotation of the Motor is removed Input KB0 ENT and SV ENT to return to the original state 8 4 2 Teaching of Parameter Set the current position to a parameter data For example let s set the travel limit 1 Turn off the main power of the Driver Unit 2 Move the Motor to the position to be the po...

Page 185: ...of pulse 1 Start the program editing with the command CH Edit channel 0 H C ENT CH0 0 _ 2 Following the prompt line number and input the teaching command for the positioning command Input as Command name including option ST R A P L CH0 0 AR PL ST TP 1310720 _ S T ENT The System displays the current position data 3 An input of the SP key sets the current position to the target position of the posit...

Page 186: ...DC TQC Position command Differentiator TV Current velocity FF Feedforward compensator ZF LO Feedforward gain PG PGL VG VGL GP GT TG Gain switching state monitor Gain switching Velocity loop proportional gain CN2 IOFF LG Velocity loop lower gain Filter switching ON OFF FO TVE Velocity error Position loop proportinal gain DBP TP TD TQ Current position TE Position error TVC Velocity command Dead band...

Page 187: ...t controller Motor Current Current command Observer controller Torque command limitter Observer output limitter TL BL FQ LO CN2 IOFF Current position Fillter switching ON OFF Thermal loading calculator TJ TT Torque command Thermal loading Observer output limitter IOFF LB ...

Page 188: ...on Initial setting Data range Unit FP Primary low pass filter 0 0 Filter off 10 to 1 000 Hz FS Secondary low pass filter 0 0 Filter off 10 to 1 000 Hz NP Primary notch filter 0 0 Filter off 40 to 1 000 Hz NPQ Primary notch filter Q parameter 0 25 0 10 to 5 00 NS Secondary notch filter 0 0 Filter off 40 to 1 000 Hz NSQ Secondary notch filter Q parameter 0 25 0 10 to 5 00 Refer to 9 Details of Comma...

Page 189: ...re an entry of the password The parameter DBP specifies a dead band on the position loop deviation in both sides of 0 zero and zeroes the deviation that is under the DBP setting In some use conditions slight vibration may occur due minute deviation Provision of the dead band eliminates such slight vibration If a dead band is specified the repeatability of positioning accuracy will be deteriorated ...

Page 190: ...pping 0 50 0 10 to 255 00 Monitor TG Monitor of gain switching state 0 Stopping gain PGL and VGL 1 Gain for operation PG and VG The gain switching function is not available when the parameter GP is set to GP0 In such case the parameters for operation PG and VG is always effective If setting of the parameter GP is other than 0 the gains PG and VG are used for operating the Motor When the Motor stop...

Page 191: ...on Sets jogging deceleration 0 0 0 0 Same as JA 0 1 to 800 0 s 2 HA Home return acceleration Sets Home Return acceleration 1 0 0 1 to 800 0 HB Home return deceleration Sets home Return deceleration 0 0 0 0 Same as HA 0 1 to 800 0 s 2 CSA Acceleration pattern select Selects a pattern of acceleration profiling 1 CSB Deceleration pattern select Selects a pattern of deceleration profiling 0 0 Same as ...

Page 192: ...es CSA2 CSB2 Modified sine Acceleration α Velocity V Suits for high speed and heavy load application The maximum V α is low CSA3 CSB3 Modified trapezoid Acceleration α Velo city V Suits for high speed and light load application The maximum acceleration is low CSA4 CSB4 Cycloid Acceleration α Velo city V Suits for right load application Low vibration CSA5 CSB5 Half sine Acceleration α Velo city V S...

Page 193: ...B1 MA2 CSA5 CSB4 1 Specify an acceleration profile For example set the half sine profile for acceleration and the cycloid pattern for deceleration CSA5 CSB4 _ S C ENT 5 S 4 C ENT A B The profile of deceleration will be the half sine as same as that of acceleration when the parameter CSB is set to CB0 2 Set the acceleration and deceleration Set the acceleration to 2 s 2 and the deceleration to 1 s ...

Page 194: ...case of no off limits area The function of shorter way positioning is available for the absolute positioning commands shown in the table below Table 8 33 Absolute posiitoning command Command Function Initial setting Data range Unit AR Absolute positioning in units of pulse Shorter way 0 to 2 621 439 AR PL Absolute positioning in units of pulse direction Example AR100000 PL 0 to 2 621 439 AR MI Abs...

Page 195: ...us direction if PL is specified such as AD24000 PL The Motor rotation is in the minus direction if MI such as AD24000 MI Fig 8 16 Positioning with specified rotational direction Current position Target position Plus direction Target position Target position Minus direction Specified in the minus direction MI Specified in the plus direction PL Count up Count up ...

Page 196: ...ter related to user scal positioning Category Name code Function Initial setting Data range Unit IQ Incremental positioning with user scale 0 to QR 100 AQ Absolute positioning with user scale Shorter way 0 to QR 1 AQ PL Absolute positioning with user scale direction Example AQ180000 PL 0 to QR 1 Command AQ MI Absolute positioning with user scale direction Example AQ180000 MI 0 to QR 1 360 paramete...

Page 197: ...arget position Absolute positioning In case of AQ3 1 0 2 3 Current position 0 Home position 180 90 270 Count up Incremental positioning In case of IQ1 1 0 2 3 Current position 0 Home position 180 90 270 Count up Target position For a positioning in units of 1 1000 set as QR360000 Resolution of the YSB series Megatorque Motor one of another Megatorque Motor series of NSK is 819 200 count revolution...

Page 198: ...f the command IQ1 is executed at this moment the Motor moves to the grid 2 That is the Motor moves to the first grid from the current position Execute the command IQ0 to move the Motor to the original grid position which is the base point of the current position That is the Motor moves to the grid 1 Fig 8 19 Getting back to a grid in the user scale positioning Move to the grid in the plus directio...

Page 199: ...ration 1 Holds local parameter after completion of program operation and maintains its effectiveness Command RE Restore global parameter Cancels local parameter and restore the global setting Cancels local parameter that has been held and makes global parameter effective until the next start of the program The following describe an example for use three different ways in setting of gains and condi...

Page 200: ...rogram execution of channel 0 starts the parameter for the mounted load A becomes effective At this moment the parameter for the mounted load A remains effective after the program execution because the parameter PK Parameter keep is set to PK1 3 When program execution of channel 1 starts the parameter changes to that of the mounted load B 4 The parameter RE Return is set to the program of channel ...

Page 201: ... the main power for recovery from abnormal state The table below lists the required functions to perform the operation specified above Table 8 36 Inputs Ouputs and parameters required for automatic execution of program after the power on Category Name code Function Initial setting Range Unit EMST Emergency stop OFF Emergency stop Note ON Normal Note Control input HLD Operation hold OFF Normal ON H...

Page 202: ...AB0 NW0 2 AB1 Edit function of PO0 CN2 Pin No 3 These are current settings Input the SP key to scroll the readout Ú Input the SP key when the prompt is on the end of line Detection signal for error in the Motor System Change the function of PO0 to NRM from DRDY Edit function of PI6 CN2 Pin No 9 These are current settings Input the SP key to scroll the readout Ú Input the SP key when the prompt is ...

Page 203: ...a positioning in user unit Input the password Start the program 0 automatically after the power is on Edit the program Edit the program to repeat a positioning for 90 angle degrees The program consists of two parts the part that waits for activation of the Motor servo and the part that repeats a positioning for 90 angle degrees Fig 8 24 Edit the program CH0 0 TI3200 0 1 JP1 2 CH1 0 IQ1 1 TI1000 2 ...

Page 204: ...LD state 1 2 3 4 1 Confirm that the input HLD is OFF The input HLD is effective as the contact polarity is normally closed 2 Turn on the main and the control power 3 When the time for initialization of the CPU elapses the output NRM is settled and the channel program 0 starts automatically At this moment the System is in the HOLD state thus holding the execution of commands in the program However ...

Page 205: ...r by the signal of travel limit switch and to define the position as the origin of position scale system Teaching of the home position sets any position as the home position without inputting the signal of limit switch The table in the next page lists commands and parameters exclusively used for the Home Return operation Refer to 9 Details of Commands and Parameters for more details The functions ...

Page 206: ...a of home position limit 4 Define the home position at where the first phase Z signal is detected after entering the ON area of the home position sensor 5 Define the home position at where the Motor entered ON area of the home position limit 6 Set the current position as the home position The Motor does not move 7 Set the home position at where the first phase Z signal is detected when the Motor r...

Page 207: ...utput IPOS FW 0 CFIN closed open Output IPOS FW 0 FIN HA Clsed when the tareget position is sucred Opens when the target position is lost HB HA HB closed open closed open Positioning completed FW value Output HOME Output HCMP HZ HO HB HA Input HLS ON OFF Output Phase Z 1 2 3 4 5 6 7 8 Note It requires 3 2 seconds for the first servo on after the power is on CCW CW 1 Turn ON the input SVON Servo on...

Page 208: ...tion If the Home Return operation is interrupted the System cannot define the home position Entering of the command for an absolute positioning at this state will cause the warning A5 Origin undefined You can program the command HS in a program channel This will make you possible to start the Home Return operation with the inputs RUN Start program and PRG Internal program channel selection The pat...

Page 209: ...nsitivity of the limit sensor in this mode Fig 8 29 Pattern of Home Return Operation In case of OS1 DI0 and HD1 Home Return start position Home Return complete postion Input HLS ON Near zero area Direction CW CCW direction Velocity for CCW Velocity for CW HO 8 8 1 4 Home Return Mode OS3 The OS3 mode is to return to the position at the neared phase Z signal after detection of the signal rising edge...

Page 210: ...IPOS FW 0 CFIN closed open Output IPOS FW 0 FIN HA Closed if the target position is secured Opens if the target position is lost HB closed open closed open FW value Output HOME Output HCMP HZ HO HB HA Input OTM ON OFF Output phase Z HV 1 2 3 4 5 6 Completes Home Return 7 NoteÚ It takes 3 2 second for the first activation of the servo after the power is on CCW CW 1 Activate the input SVON Servo on ...

Page 211: ...ome position Entering of the command for an absolute positioning at this state will cause the warning A5 Origin undefined You can program the command HS in a program channel This will make you possible to start the Home Return operation with the inputs RUN Start program and PRG Internal program channel selection The pattern of Home Return operation depends on its starting point as illustrated belo...

Page 212: ...secured Opens when the target position is lost 1 2 3 4 5 6 NoteÚ Requires 3 2 seconds for the firat servo on after the power is turned on 1 Activate the Motor servo by the input SVON Servo on 2 The SVST Servo state closes when the Motor servo is turned on 3 Turning the input HOS Start Home Return ON starts internal processing to set the current position command to the home position 4 During the in...

Page 213: ...u to perform the teaching of the home position in the servo off state The following example shows how to edit the program on the program channel 0 Fig 8 34 Example of the program for Home position teaching in the servo off state CH0 0 AZ 1 _ Absolute zero position set Use the command SP Start program for the execution of above program ...

Page 214: ...k the wiring of home limit sensor 3 Check if the Driver Unit recognizes the input HLS Input the BS key to abort repetitive readout FHLS RP FHLS 1_ L H F S ENT 4 Turn the Motor servo on 5 Check the position of the home limit sensor Execute the command HS LS Home position sensor adjust The Motor starts the Home Return operation Input the BS key to stop the Home Return operation HS LS TO ABORT PUSH B...

Page 215: ...inalize the position of home limit sensor Refer to 8 8 4 Position Adjustment of Home Limit Sensor 2 Turn off the main power supply to the Driver Unit 3 Input the command MO Motor off MO _ O M ENT Thus the Motor servo will not activate even the input SVON is activated 4 Move the motor to a position to be the home position 5 Teach the direction and amount of rotation to the current position as the o...

Page 216: ...f an input of the SP key 20H is not necessary such as communicating with a personal computer This setting will make an input of the SP key 20H unnecessary even a response consists of multi line Table 8 3 Specification of RS 232C communication Item Specification Transmission Asynchronous full duplex Communication speed 9 600 b p s Word length 8 bit Stop bit 2 bit Parity check None Character code AS...

Page 217: ... same character it has received from the communicating terminal However the Driver Unit converts an input of the carriage return 0DH to Carriage return 0DH Linefeed 0AH and returns it to the terminal When the last carriage return code is input the Driver Unit collectively decodes the character string it has received VG0 5 in the example above and executes it Therefore a command won t be executed u...

Page 218: ...08H 5 0 G V Echo back form Driver Unit 20H 08H 08H 5 0 G V 8 9 2 4 Input of the Password Some special commands require password entry for preventing erroneous entries Input the password as NSK ON Carriage return 0DH The Driver Unit returns NSK ON for the acknowledgment A command that requires the password can be executed immediately after an entry of the password NSK ON NSK ON _ Entered password A...

Page 219: ...iver Unit 1 20H 0AH 0DH G V 5 0 G V Entered command Readout of velocity gain Waits for the next command 1 Readout of velocity gain lower 0DH 0 5 20H 0 L G V 0AH 2 2 3 3 Caution When the parameter MM is set to MM1 the prompt semicolon is added to the end of line Input of 20H is required every time the prompt appears For readout of internal stat input as Command name Carriage return 0DH For an examp...

Page 220: ...iage return 0DH Linefeed 0AH The following show an example to read out the settings of servo parameters using the command TS 0 0 0 0 5 4 20H 0AH 0DH 1 F Z 5 TS2 FO0 FP0 FF1 0000 ZF1 _ Caution Input of 20H is required for every readout when the parameter MM is set to MM1 Input to the Driver Unit 0DH 2 S T Retured message from the Driver Unit 1 20H 0AH 0DH 2 S T 0AH 0DH 0 O F Entered commnd Low pass...

Page 221: ...t of setting range VG256 RANGE OVER COND MISMATCH Required conditions are not met for an execution of the inputted command such as the command for servo ON The required condition depends on a command MO AD9000 COND MISMATCH NOT OMISSIBLE A data is not inputted with a command or a parameter that requires a data PG NOT OMISSIBLE PASSWORD REQUIRED The password is not inputted for a command that requi...

Page 222: ... can use the USB port instead In such a case use an RS 232C and USB gender bender for communication One of usable adapter USB serial cable SRC06 USB is available from Arvel Co 8 9 3 1 Setup of Hyper Terminal 1 Start Hyper Terminal Specify it in the order of Start Programs Accessories Communications 2 The dialog box for Connection Description appears Declare the name of connection and set an icon t...

Page 223: ... setting of home position AO AO123456 _ A ENT O 2 Monitor and note the setting of the parameter MM AO123456 MM MM1 _ M ENT M 3 Perform capturing of text Record of communication contents Transfer Capture Text After inputting file name click Start button to start capturing of the text 4 Execute the command TX0 Parameter dump and monitor the settings of the Driver Unit TX0_ X T ENT 0 Input of the com...

Page 224: ...the icon you have made in the menu 2 Send the file that stores the parameter settings to the Driver Unit Send the file following the steps below Transfer Send Text File 3 Input the parameter AO and the parameter MM whose settings are being captured 1 Input the parameter AO NSK ON NSK ON AO123456 _ O 1 A 3 4 2 6 ENT 5 N S SP K N ENT O 2 Input the parameter MM NSK ON NSK ON MM1 _ M 1 M ENT N S SP K ...

Page 225: ...Command Command the Driver Unit for execution of operation or processing Some commands do not entail data entry Execution of command Command code Data CR 90 incremental positioning ID9000 Data setting Command code Data CR Velocity 0 5 s 1 MV0 5 Readout of data Parameter code CR Read out velocity MV Parameter Sets the operating conditions of internal function of Driver Unit Continuous readout of da...

Page 226: ...56 RANGE OVER COND MISMATCH Inputted command does not meet the condition for execution Such as servo on Required conditions depend on a command MO AD9000 COND MISMATCH NOT OMISSIBLE Data is not specified for a command or parameter that requires data entry PG NOT OMISSIBLE PASSWORD REQUIRED The password is not inputted for a command that requires it LO0 001 PASSWARD REQUIRED DISABLE COMMAND A comma...

Page 227: ...o the next menu or terminate the readout by the BS key P PG0 12 PGL0 05 PC0 1 PS1 PK0 PWU0 PWV0 PWW0 PF50 00 9 1 6 Repeating Readout When an option code RP is added to a readout command such as the command TP the System repeats to display the readout A press of the BS key terminates repetitive readout SG RP SG 6 _ Adjust the parameter MR Monitor refresh rate when the settings of parameters are har...

Page 228: ...imultaneously You may input the command in this state TV WW TP 1310720 TV 0 002 _ Input the command WWC for cancellation of Multi monitor TP 1310720 TV 0 002 WWC _ ENT W C W 9 1 8 Initialization of Specified Parameter Setting of a parameter can be reset to the shipping set when the option RS is added to a parameter code VG RS _ Input the command SL AL Set initial parameter to initialize all parame...

Page 229: ...he shipping set BS A press of the key reset the value before adjustment and terminates adjust mode ENT A press of the key sets the value as adjusted and terminates adjusting mode 9 1 10 Output to Analog Monitor The readout will be outputted to the primary analog monitor when the option code MN is attached to the parameter In such a case the default monitor offset or default range is specified Para...

Page 230: ... marked with ÌÌ is for factory use only The user is not allowed to input the command A command that is marked with P indicates that you can also input the command to an internal program A command that is marked with P ex is exclusive for internal program use Shipping set denotes a value that is set in the factory before shipment Conditions to be met denotes that required conditions for execution o...

Page 231: ...rection of shorter way When the current position and the target position is the same the move distance is zero In case that the off limits area is specified by the parameter OTP Software travel limit the Motor rotates to the opposite direction of the off limits area regardless of the distance The monitor TD Monitor current position in units of 0 01 enables to read out the position data in units of...

Page 232: ...ll alarm monitors the detected alarm and warning The monitor AM is to monitor only currently occurring abnormality not the abnormality held by the Driver Unit The following show a monitoring example and corresponding alarm and warning Input AM or AM RP Press the BS key to abort repetitive monitoring Fig 9 1 Example of Monitor AM TA RP FEDCBA9876543210 0000000000000000 0000000000000000 State of ala...

Page 233: ...viding number user scale Refer to 6 3 1 Positioning Command and 8 6 4 User Scale Positioning for details Category Command Format1 AQ data Positioning in shorter direction Format 2 AQ data PL Position in the plus direction Format 3 AQ data MI Positioning in the minus direction Data range 0 to QR 1 360 QR Position data Conditions to be met The Motor servo is on Not in the middle of operation caused ...

Page 234: ...en the current position and the target position is the same When an off limits area is specified by the parameters OTP and OTM Software over travel limit the Motor rotes in the direction not to gets in the area regardless of moving distance The monitor TP Tell position unit pulse reads out the position data in units of pulse Setting of the option ST to a program enables to set the current position...

Page 235: ...is off Commanded position Current position Execution of the command AZ sets automatically the value of the parameter AO Absolute position scale offset BDT Application use only This is reserved for EDC MegaTerm application software only Do not change the setting Ì P BL Observer Limit Limits external disturbance control output Output of observer to specified ratio Refer to 8 5 1 Servo Block Diagram ...

Page 236: ...tting station number Error in change of baud rate setting switch Error in checking of error occurrence Error in SW of baud rate Error in checking of Communicating condition Error in CPU CPU STOP error Error in number of RY data Error in time over setting Error in time over Error in maker code Error in setting of machine code version setting Busy communicating Error in number of slave station Error...

Page 237: ...d CD Delete Channel Deletes the channel specified by the command Refer to 6 3 2 3 Programming for details The numbering of following channels goes up by one Category Command Format CD data Data range 0 to 255 Channel Conditions No programmed operation is performed The figure below is the example for the command CD2 Fig 9 3 Example of the command CD CH0 CH0 CH0 CH1 CH1 CH2 CH2 CH3 CH253 CH255 CH255...

Page 238: ...hows an example of the command CI3 Fig 9 4 Execution example of the command CI3 CH0 CH0 CH0 CH1 CH1 CH2 CH4 CH253 CH255 CH255 CH254 CH254 CH3 CH2 CH3 Inserted channel Deleted Insert a new channel CK System Clock Monitors the elapsed time from turning on the control power The system clock is used for the time stamp for recording alarm histories Refer to 7 3 2 2 Monitor for Alarm History and Event M...

Page 239: ...available Format CP data 0 Maintenance mode Data range 1 Fieldbus mode When the power is on 1 When a CC Link communication unit is operating normally CP0 in case of abnormal communication unit or the Driver Unit that is non compatible with fieldbus There are two types of the control inputs of the Driver Unit connected to CN2 control input output connector and CC Link communication Effectiveness of...

Page 240: ...command Jogging and home Return Refer to 8 6 1 Acceleration Profiling and Individual Acceleration Setting for details Category Parameter Format CSA data 1 Constant acceleration 2 Modified sine 3 Modified trapezoid 4 Cycloid Data range 5 Half sine Shipping set 1 P CSB Deceleration Pattern Select This parameter specifies a deceleration profiling of a positioning operation caused by the internal comm...

Page 241: ... output axis Data range 1 Counting up to the CCW direction seen from the Motor output axis Shipping set 0 Direction setting of hardware travel limit and the phase of position feed back output signal do not reverse even the counting direction of the position scale data is reversed Ì P EC End Code This parameter notifies to the communication terminal via RS 232C communication that an execution of po...

Page 242: ...ort Category Monitor Format FACLR 0 Off Data range 1 On FBUSY Function BUSY This is to monitor the state of output BUSY In operation Refer to 7 3 1 5 Monitor for Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FBUSY 0 Idle Data range 1 In operation Ì FD Feedback ...

Page 243: ...timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FDRDY 0 Alarm Data range 1 Normal FEMST Function EMST This is to monitor the state of the input EMST Emergency stop Refer to 7 3 1 5 Monitor for Individual Function for details The monitored state is after application of the parameters AB Polarity and NW Anti chattering timer in the command PI Edit...

Page 244: ...tegory monitor Format FIOFF 0 Normal Data range 1 Integration control off FIPOS Function IPOS This is to monitor the state of the output IPOS In position For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FIPOS 0 Positioning is not yet completed or loss of the target position Data range 1 Position...

Page 245: ...he monitoring data ÌÌ FM Factory use only This is the parameter for the factory use only Do not change the setting FNEARA Function NEARA This is to monitor the state of the output NEARA Target proximity A Refer to 7 3 1 5 Monitor for Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Categ...

Page 246: ...ameters FP Primary low pass filter and FS Secondary low pass filter Setting of the low pass filter enables to decrease the resonance level without hampering the settling time Category Parameter Format FO data Data range 1 0 000 Low pass filter is always effective Data range 2 0 001 to 10 000 s 1 Low pass filter is off when the velocity is less or equal to the specified value Shipping set 0 000 Fig...

Page 247: ...on direction Refer to 7 3 1 5 Monitor for Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FOTMA 0 Normal Data range 1 Limit in the minus direction is detected FOTP Function OTP This is to monitor the state of the input OTP Travel limit direction Refer to 7 3 1 5 ...

Page 248: ...Refer to 8 5 2 Digital Filter for details Category Parameter Format FP data Data range 1 0 Primary low pass filter is OFF Data range 2 10 to 1000 Hz Shipping set 0 This parameter will be automatically set by an automatic tuning caused by the command AT Automatic turning FPRG0 to 7 Function PRG0 to 7 This is to monitor the state of the inputs PRG0 to 7 Internal program channel selection 0 to 7 Refe...

Page 249: ... Motor revolution Category Parameter Format FR data Data range 1 0 Output of the phases A and B of position feedback is OFF Data range 2 1 to 5 242 880 count revolution Shipping set 81 920 FR0 for the Driver Unit compatible with the field bus Setting of the parameter FR automatically sets the parameter VL Velocity limiter The limitation on the velocity is to control the frequency of the position f...

Page 250: ... 1 5 Monitor for Individual Function for details The monitored state is after application of the parameters AB Polarity and NW Anti chattering timer in the command PI Edit input port Category Monitor Format FSTP 0 Operation available Data range 1 Start deceleration and operation prohibited FSVON Function SVON This is to monitor the state of the input SVON Servo on Refer to 7 3 1 5 Monitor for Indi...

Page 251: ...r Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FTEO 0 Not detected Data range 1 Position error is greater or equal to the threshold FTEU Function TEU This is to monitor the state of the output TEU Tell position error under Refer to 7 3 1 5 Monitor for Individu...

Page 252: ...to 7 3 1 5 Monitor for Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FTJU 0 Not detected Data range 1 Thermal loading is less or equal to the threshold FTTO Function TTO This is to monitor the state of the output TTO Tell torque command over Refer to 7 3 1 5 Mo...

Page 253: ...efer to 7 3 1 5 Monitor for Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FTVEO 0 Not detected Data range 1 Velocity error is greater or equal to the threshold FTVEU Function TVEU This is to monitor the state of the output TVEU Tell velocity error under Refer t...

Page 254: ...put TVU Tell velocity error under Refer to 7 3 1 5 Monitor for Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FTVU 0 Not detected Data range 1 Velocity error is less or equal to the threshold FWRN Function WRN This is to monitor the state of the output WRN Warni...

Page 255: ...NEB Zone B Refer to 7 3 1 5 Monitor for Individual Function for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FZONEB 0 Not detected Data range 1 Detected Zone B FZONEC Function ZONEC This is to monitor the state of the output ZONEC Zone C Refer to 7 3 1 5 Monitor for Individual Functi...

Page 256: ... Parameter Format FW data Data range 1 0 1 to 10 000 0 ms CFIN mode Data range 2 0 0 IPOS mode Data range 3 0 1 to 10 000 0 ms FIN mode Shipping set 1 0 Ì P FZ Feedback Phase Z Configuration The parameter sets the output signal format of Phase Z of the position feedback signal Refer to 7 2 8 Position Feedback Signal for details Category Parameter Format FZ data 0 Phase Z format Data range 1 MSB fo...

Page 257: ...for Home Return operation Refer to 8 8 Home Return for details Category Parameter Format HA data Data range 0 1 to 800 0 s 2 Shipping set 1 0 P HB Home Return Deceleration Sets the deceleration for Home Return Refer to 8 8 Home Return for details Category Parameter Format HB data Data range 1 0 0 Use the same value as the parameter HA Data range 2 0 1 to 800 0 s 2 Shipping set 0 0 Ì P HD Home Retu...

Page 258: ...on for home position after execution of the command HS LS Adjust of home position limit Refer to 8 8 5 Teaching of Home Position Offset for details The rotation amount and direction will be taught to the System Exceeding one revolution for the rotation amount is acceptable P HS Home Return Start Home Return operation starts in accordance with the parameter OS Home Return mode Refer to 8 8 Home Ret...

Page 259: ...al positioning phase Z Category Parameter Format HZ data Data range 0 001 to 0 200 s 1 Shipping set 0 010 A change in the parameter HV during the Home Return operation is the real tine execution to the velocity P ID Incremental Positioning Degree Performs an incremental positioning operation in units of degree Refer to 6 3 1 Positioning Command for details Category Command Format ID data Data rang...

Page 260: ...gnal connector Indicates the condition by zeros 0 and ones 1 to each signal port Refer to 7 3 1 1 Electric Condition Monitor IO0 for details Category Monitor Format IO0 0 Input OFF Output Open Data range 1 Input ON Output Closed IO1 Input Output Monitor 1 Internal recognition Monitors the application state of function to the connector CN2 Control inputs and outputs signal connector the polarity re...

Page 261: ...arity and NW Anti chattering timer in the command PI Edit control input Category Monitor Format IO2 0 Data range 1 Functioning IO3 Input Output Monitor 3 Monitors the application state of output function of the CN2 connector Indicates the state by zeros 0 and ones 1 to each function Reef to 7 3 1 4 Monitor for State of Output Functions IO3 for details The parameter ST Condition stability timer and...

Page 262: ...e State of output 0 Not functioning 1 Functioning 0 Not detect 1 Detect Table 9 6 Contents of Monitor IO4 m The register number led from the first exchange number is shown Guide G F E D C B A 9 8 7 6 5 4 3 2 1 0 Remote I O Name RY m 1 0 RY m15 RY m14 RY m13 RY m12 RY m11 RY m10 RY m9 RY m8 RY m7 RY m6 RY m5 RY m4 RY m3 RY m2 RY m1 RY m0 Port code Shipping set PI16 DIR PI15 JOG PI14 PRG7 PI13 PRG6 ...

Page 263: ...s an incremental positioning Refer to 6 3 1 Positioning Command for details Category Command Format IR data Data range 0 to 262 144 000 pulse sign to rotate in the plus direction sign to rotate in the minus direction Conditions to be met The Motor servo must be on Positioning operation caused by an internal command Positioning command Jogging and Home Return is not executed The Motor is not stoppi...

Page 264: ...IV Factory use only This is the monitor dedicated to the factory use IVC Factory use only This is the monitor dedicated to the factory use IVE Factory use only This is the monitor dedicated to the factory use IW Factory use only This is the monitor dedicated to the factory use IWC Factory use only This is the monitor dedicated to the factory use IWE Factory use only This is the monitor dedicated t...

Page 265: ... be on Positioning operation caused by an internal command Positioning command Jogging and Home Return is not executed The Motor is not stopping by an alarm or warning The input STP Stop is not activated The velocity follows the setting of the parameter HZ Home return near zero velocity P JA Jog Acceleration Specifies the acceleration in jogging operation Refer to 6 3 4 Jogging for details Categor...

Page 266: ... the Motor decelerates and stops P ex JP Jump If a channel with the parameter JP is executed program processing jumps the top line of program channel specified by the data of the parameter JP Refer to 6 3 2 4 Program Sequence for details Category Parameter Format JP data Data range 0 to 255 channel Shipping set 0 When input the command JP it reads out the channel number currently processed When th...

Page 267: ...Observer Limiter When the input IOFF Integration OFF is activated this parameter limits the observer output to a specified percentage Refer to 8 2 3 Integration OFF IOFF and 8 5 1 Servo Block Diagram for details When the observer output is set to 0 the effect of integral control is nullified thus cancelling settling motion to the target position Category Parameter Format LB data Data range 0 00 to...

Page 268: ...ameter NW Anti chattering stability timer POWER LED turns to red in case of an alarm regardless the display mode Figure 9 7 Display of LED for state of control Input Ouput PO0 PO1 PO2 PO3 PO4 PO5 PO6 PO7 Parameter LM1 PI0 PI1 PI2 PI3 PI4 PI5 PI6 PI7 Parameter LM2 ÌP LO Load Inertia Sets the load moment of inertia of the Motor Refer to 5 3 1 Input of Load Inertia for details Be sure to specify the ...

Page 269: ...parameter MA Data range 2 0 1 to 800 0 s 2 Shipping set 0 0 P MD Move Deceleration with Stop The parameter MD sets the deceleration for a stop command caused by the input STP Stop or the command MS Motor stop Refer to 7 1 6 Stop STP for details When a stop command is inputted the System compares the deceleration of current positioning operation and the parameter MD and applies higher deceleration ...

Page 270: ... Refer to 8 9 1 Specifications of Communication for details Category Parameter Format MM data 0 Does not pause for a key input when the readout is multiple lines Data range 1 Pauses for a key input when the readout is multiple lines Shipping set 1 When the parameter is set to MM1 the Driver Unit pauses the readout displaying the colon on the end of a line such as PG0 10 in case of the command TS A...

Page 271: ...cified monitor The output offset of parameter MNY is set to a value when the monitor center is set to 2 5 V The output range of parameter MNR is set to a value when the maximum monitor output is 5 0 V When a parameter or a monitor name is set to data the analog monitor outputs the value of specified parameter P MNR Monitor range Primary This parameter specifies the monitor output range of the para...

Page 272: ... is altered Data range 2 0 0 to 10 000 0 ms Minimum monitoring interval of monitors Shipping set 0 0 MS Motor Stop This command stops the Motor operation caused by the internal command Positioning command jogging and Home Return and the programmed control operation Higher deceleration compared between a setting of currently executing positioning operation and the parameter MD STP move deceleration...

Page 273: ...r Normal Software thermal loading Data range 2 Command name Specify a monitor name such as MXTV for monitoring Shipping set 0 A change of this parameter will automatically reset the parameters MXY Monitor offset secondary and MXR Monitor range secondary in accordance with the specified monitor The output offset of parameter MXY is set to a value when the monitor center is set to 2 5 V The output r...

Page 274: ... sets a proximity distance to activate the output NEARA Target proximity A Refer to 7 2 7 Target proximity NEARA and NEARB for details In a positioning operation the output NEARA closes when the Motor reaches to the point short from the target position set by the parameter NA in units of pulse Category Parameter Format NA data Data range 0 to 2 62 144 000 pulse Shipping set 0 P NB Near B The param...

Page 275: ...gital Filter for details Category Parameter Format NPQ data Data range 0 10 to 5 00 Shipping set 0 25 P NS Notch Filter Secondary Set a notch filter to the torque command Refer to 8 5 2 Digital Filter for details Category Parameter Format NS data Data range 1 0 Secondary notch filter off Data range 2 40 to 1 000 Hz Shipping set 0 P NSQ Notch filter Secondary Q Parameter Sets the Q parameter of the...

Page 276: ...to 8 1 3 4 Forcible Change in Setting Output Port Function for details It can be used for checking interface with the master controller Category Command Format OP d7d6d5 d4d3d2d1d0 0 Open 1 Closed Data range dn X No change in the state of outputs The data d7 to d0 correspond respectively to the output ports PO7 to PO0 ÌP OS Origin Setting Mode The parameter OS specifies the operation mode of Home ...

Page 277: ...vel limit minus The parameter OTM sets the end point of the software over travel limit Refer to 6 2 4 Software Over Travel Limit for details The limited area starts from the setting of the parameter OTP and ends at the setting of the parameter OTM following in the counting up direction of the scale data Category Parameter Data 1 OTM data Data 2 OTM ST Sets the current position to the limit Data ra...

Page 278: ...d on front panel Ex EDC PS1006AB502 A Shipping set 0 05 0 001 The version of the driver unit is not printed on front panel Ex EDC PS1006AB502 The version of the driver unit is printed on front panel Ex EDC PS1006AB502 A The parameter SG Servo gain will be cleared to zero if the parameter PG is changed P PGL Position Gain Lower This parameter sets the position loop proportional gain for the station...

Page 279: ...FF signals as the ON OFF signals that carry information on the port polarity set by the parameter AB 2 The Driver Unit confirms that the signal is being ON continually longer than the specified time by the parameter NW 3 The Driver Unit makes the assigned function to the ports effective in accordance with the parameter The Driver Unit recognizes the ON OFF signals The function assigned to the inpu...

Page 280: ...ation for details The parameter is used to change a parameter by a program operation Category Parameter Format PK data Data range 1 0 Nullifies a local parameter at completion of the program operation Data range 2 1 Keeps a local parameter and makes it effective at completion of the program operation Shipping set 0 The prompt tells you which parameter is currently effective The local parameter is ...

Page 281: ...by the parameterSN 3 Opens or closes the output ports in accordance with the settings of the parameter GC The output port PO0 is exclusively used for the safety function Thus setting to the parameter FN Port function to the port PO0 hall be either one of the DRDY Driver Unit ready or the NRM Normal for the port You cannot change the setting of the parameters QC and ST Category Parameter Format FN ...

Page 282: ...g the parameter PP0 will make possible not change the prompt Refer to 6 3 2 2 Program Positioning Operation via RS RS 232C Communication for details Category Parameter Format PP data 0 Does not change the prompt Always Data range 1 Indicates the effective parameter of Shipping set 1 ÌP PS Position Scale Select This parameter specifies the position scale system Category Parameter Format PS data Dat...

Page 283: ... that has been held in the program and makes the global parameter effective until the next program operation starts The local parameter which is changed from the global parameter in the program channel is effective in the program positioning operation or when the parameter PK Parameter keep is set to PK1 The command RE is to reset the global parameter when it is substituted by the local parameter ...

Page 284: ...tion pulse train and down for the minus direction pulse train ÌÌP SC Factory use only This parameter is factory use only Do not change the setting P SF Factory use only This parameter is factory use only Do not change the setting P SG Servo Gain This parameter sets the position loop bandwidth Refer to 5 3 Tuning Level 2 Servo Gain Tuning for details A quadruple value of the setting of the paramete...

Page 285: ...CL or PO CL Initialization of the alarm history Command TA CL Caution The initialization of the System requires approximately 40 seconds If the control power is turned off during the initialization the alarm E2 RAM error may occur ÌP SK Factory use only This parameter is for factory use only Do not change the setting ÌP SL Factory use only This parameter is for the factory use only Do not change t...

Page 286: ...N for details The command MO Motor off deactivates the Motor servo and prohibits activating the Motor servo afterward Category Command Format SV SW Saw Wave This monitor outputs a saw wave to the monitors MON1 and MON2 Category Monitor Format SW Data range 128 to 127 For an example set the parameter MN Primary analog monitor to MNSW for testing the primary analog monitor The monitor outputs the sa...

Page 287: ...am of a specified program channel Refer to 6 3 2 3 Programming for details Category Command Format 1 TC data Reads out the contents of the specified program channel Format 2 TC AL Reads out the contents of all program channels Data range 0 to 255 channel TCV Factory use only This monitor is for factory use only TD Tell Position Degree Unit Monitors the current position Refer to 7 3 RS 232C Monitor...

Page 288: ...8 3 2 1 Position Error TEU Position Error Under and TEO Position Error Over for details The output TEO activates when the data of the position error counter is greater or equal to the setting of the parameter TEO Category Parameter Format TEO data Data range 0 to 2 621 439 pulse Shipping set 0 P TEU Tell Position Error Under This parameter specifies the threshold for an activation of the TEU outpu...

Page 289: ...tly applied TJ Tell thermal This monitor reports the thermal loading Refer to 7 3 6 Software Thermal Loading Monitor Monitor TJ for details The warning A3 Over Load occurs when the readout of the monitor TJ is 100 It is essential to reduce the thermal loading to 0 for continual operation of one user defined cycle Category Monitor Format TJ Data range 0 00 to 100 00 P TJO Tell thermal over This par...

Page 290: ...or reports the current position Refer to 7 3 RS 232C monitor for details The monitor TN reports the current position in the units set by the parameter CR Circular resolution This monitor is used to read out the position data in the pulse train command positioning Category Monitor Format TN Data range 0 to Parameter CR 1 360 Parameter CR TNC Tell command position CR unit This monitor reports the cu...

Page 291: ...ded position is a sum of the current position and the position error that is the current target position Category Monitor Format TPC Data range 0 to 2 621 439 pulse TPI Tell Input Port This command monitors the function setting to the input ports Refer to 8 1 3 1 Editing Control Input Function for details Category Command Format 1 TPI data Monitors the setting of a specified control input port For...

Page 292: ...ut is in units of the data by the parameter QR Dividing number user scale This is to monitor the position when a positioning is caused by the commands AQ or IQ User scale positioning Category Monitor Format TQ Data range 0 to Parameter QR 1 360 Parameter QR TQC Tell Command Position QR Unit This monitor reads out the current commanded position Refer to 8 6 4 User Scale Positioning and 7 3 RS 232C ...

Page 293: ...for details Category Monitor Format TR Data range 0 to 65535 0 5 pulses TRC Tell Rotation Command This monitor reads out the transient velocity command Refer to 7 3 RS 232C Monitor for details The transient position command is a differentiation sampling of the velocity command it can be the velocity compensation command Category Monitor Format TRC Data range 0 000 to 10 000 s 1 TRS Factory use onl...

Page 294: ...M AO 7 Positioning MV MA MB JV JA JB HV HA HB HZ MD CSA CSB QR OE PK AE 8 Home return OS HD HO 9 Reserved SQ 10 General inputs outputs OV BW NA NB ZAS ZAE ZAW ZBS ZBE ZBW ZCS ZCE ZCW TEU TEO TVU TVO TVEU TVEO TTU TTO TJU TJO MN MNR MNY MX MXR MXY POD 11 Communication MM BM WM EC MR PP 12 Automatic tuning LO SG ZP TST Tell Settle Time This monitor reads out the settling time by a positioning comman...

Page 295: ...2 3 Torque Command Output TTU Torque command under and Output TTO Torque command over for details The output TTU activates when the torque command is less or equal to the threshold set by the parameter TTU Category Parameter Format TTU data Data range 0 00 to 100 00 Shipping set 0 00 TV Tell Velocity Reads out the current velocity Refer to 7 3 RS 232C Monitor for details Command Monitor Format TV ...

Page 296: ...rmat TVEO data Data range 0 000 to 10 000 s 1 Shipping set 0 00 P TVEU Tell Velocity Error Under This parameter sets the threshold to activate the output TVEU Velocity error under The output TVEU is less or equal to the threshold set by the parameter TVEU Category Parameter Format TVEU data Data range 0 000 to 10 000 s 1 Shipping set 0 00 P TVO Tell Velocity Over This parameter sets the threshold ...

Page 297: ...or When backing up the settings of the Driver Unit store the response to the command TX0 as the text file Refer to 8 9 3 2 Backup of Parameter for details A direct transmission of the backed up text file to the Driver Unit makes possible to restore the settings to the original state The response to the command TX0 does not include the parameters AO and MM Monitor back up and restore their settings...

Page 298: ...inted on front panel Ex EDC PS1006AB502 The version of the driver unit is printed on front panel Ex EDC PS1006AB502 A ÌÌ VL Velocity Limiter This parameter sets the limits to the velocity for a positioning operation caused by the internal commands Positioning commands jogging and Home Return and the threshold to report the abnormal velocity command in pulse train positioning operation The paramete...

Page 299: ...g the data the alarm E2 ROM error may occur when the power is tuned on next time WHL Application use only This parameter is only used for the EDC MegaTerm Do not change the setting WHR Application use only This parameter is only used for the EDC MegaTerm Do not change the setting WLA Application use only This parameter is only used for the EDC MegaTerm Do not change the setting WLB Application use...

Page 300: ...conds to write the all current settings to the EEPROM If the control power is turned off during backing up the alarm E2 ROM error may occur The System initializes the backed up data to the EEPROM at the execution of the command SI Set initial parameter even the parameter is set to WM1 Not back up WO Power on Counter Monitor This monitor reads out the number of turned on times of the control power ...

Page 301: ...e only This parameter is used only for the EDC MegaTerm Do not change the setting WWC Multi monitor clear This command cancels the multi monitor function Refer to 4 4 1 Input a Command Monitoring Multiple Conditions of the System for details Category Command Format WWC ÌÌ XDB Factory use only This parameter is for factory use only Do not change the setting ÌÌ XDM Factory use only This parameter is...

Page 302: ...parameter is for factory use only Do not change the setting ÌÌ XLF Factory use only This parameter is for factory use only Do not change the setting ÌÌ XMF Factory use only This parameter is for factory use only Do not change the setting ÌÌ XMM Factory use only This parameter is for factory use only Do not change the setting ÌÌ XMT Factory use only This parameter is for factory use only Do not cha...

Page 303: ...parameter is for factory use only Do not change the setting ÌÌ XRC Factory use only This parameter is for factory use only Do not change the setting ÌÌ XRI Factory use only This parameter is for factory use only Do not change the setting ÌÌ XRK Factory use only This parameter is for factory use only Do not change the setting ÌÌ XRO Factory use only This parameter is for factory use only Do not cha...

Page 304: ...parameter is for factory use only Do not change the setting ÌÌ XTY Factory use only This parameter is for factory use only Do not change the setting ÌÌ XUF Factory use only This parameter is for factory use only Do not change the setting ÌÌ XUG Factory use only This parameter is for factory use only Do not change the setting ÌÌ XVF Factory use only This parameter is for factory use only Do not cha...

Page 305: ...NEA Zone A opens Refer to 8 3 1 In zone Output ZONEA ZONEB ZONEC for details The zone A starts from the setting of the parameter ZAS Start point of zone A in the counting up direction plus direction of scale data and ends at the setting of the parameter ZAE End point of zone A Category Parameter Format 1 ZAE data Format 2 ZAE ST Sets the current position to the end point of the zone A Data range 0...

Page 306: ...NEB Zone B opens Refer to 8 3 1 In zone Output ZONEA ZONEB ZONEC for details The zone B starts from the setting of the parameter ZBS Start point of zone B in the counting up direction plus direction of scale data and ends at the setting of the parameter ZBE End point of zone B Category Parameter Format 1 ZBE data Format 2 ZBE ST Sets the current position to the end point of the zone B Data range 0...

Page 307: ...C Zone C opens Refer to 8 3 1 In zone Output ZONEA ZONEB ZONEC for details The zone C starts from the setting of the parameter ZCS Start point of zone C in the counting up direction plus direction of scale data and ends at the setting of the parameter ZCE End point of zone C Category Parameter Format 1 ZCE data Format 2 ZCE ST Sets the current position to the end point of the zone C Data range 0 t...

Page 308: ...Category Parameter Format ZF data Data range 0 to 5 Shipping set 1 ÌP ZP Factory use only Caution This parameter is factory use only This is for the automatic tuning function and is properly set at the factory Never change the setting Category Parameter Format ZP data Data range 0 5 to 1 80 Shipping set 1 00 ...

Page 309: ... NS 0 0 40 to 1 000 P Notch filter secondary Q parameter NSQ 0 25 0 10 to 5 00 Ì P Dead band DBP 0 0 to 4 095 Ì P Observer limit BL 100 00 0 00 to 100 00 Ì P Feed forward gain FF 1 0000 0 0000 to 1 0000 Ì P Parameter for factory use only ZF 1 0 to 5 P Position error counter over limit CO 200 000 1 to 2 621 439 P In position limit IN 400 0 to 2 621 439 P In position stability timer IS 0 0 0 0 to 10...

Page 310: ...e C width ZCW 0 0 0 0 to 10 000 0 P Tell position error under TEU 0 0 to 2 621 439 P Tell position error over TEO 0 0 to 2 621 439 P Tell velocity user TVU 0 000 0 000 to 10 000 P Tell velocity over TVO 0 000 0 000 to 10 000 P Tell velocity error user TVEU 0 000 0 000 to 10 000 P Tell velocity error over TVEO 0 000 0 000 to 10 000 P Tell torque command under TTU 0 00 0 00 to 100 00 P Tell torque c...

Page 311: ...l computer is not available read out the settings by the following commands and write down the settings on the list provided on the last page of this manual Appendix 7 Parameter Program Setting List Parameter settings Command TS Tell settings Programs Command TC Tell channel program Settings of control Input and Output Commands TPI Tell input port and TPO Tell output port 10 2 Storing the Parts St...

Page 312: ...hen check the resistance between the Motor coil and the ground earth with a 500v megohmmeter Resistance 2 MΩ Refer to Appendix 2 Play in bearing Once a year Apply repetitive moment load less than the limit and feel play of the bearing No play by the feel 10 3 2 Driver Unit Including Cables and Handy Terminal Caution Do not disassemble the Driver Unit High residual voltage may exist inside the Driv...

Page 313: ... the cables are exposed to the following materials or environment Materials Oil or chemicals Environment Highly humid high or low temperature and vibration When a cable is forcibly dragged or bent A cable is fixed in a way so that the force to the cable is concentrated on one point A cable is put in a cable truck that has less room than normal We are sorry that repair service of a cable is not ava...

Page 314: ... Function Approximated life Use conditions Electrolytic condenser Smoothes power voltage Others 10 years This is not the guaranteed life Annual average of ambient temperature 30 C or less Average load factor 80 or less Average daily operation time 20 hours or less Relays The Driver Unit contains three relays Approximated life is 100 000 times of switching We do not replace a relay only Please cons...

Page 315: ... of backing up the data Table 10 6 Timing for writing data to the EEPROM Event Object of backup Way to prohibit the data backup At the end of life of the EEPROM Turning on the control power Number of times for power on Occurrence of an alarm Occurrence history of an alarm Setting history Readouts of the command TA HI Read out alarm history may not be correct All the other parts will operate normal...

Page 316: ... following cases even within the warranty period Failure of the unit due to installation and operation not in accordance with the instruction manual specified by the supplier Failure of the unit due to improper handling and use modification and careless handling by the user Failure of the unit due to the causes other than those attributable to the supplier Failure of the unit due to modification o...

Page 317: ... Move the Motor out of the off limits area When the setting of logic is the shipping set 11 1 1 LED Alarm Indicator Turn on the power and confirm the 7 segments LED alarm indicator on the front panel of the Driver Unit for the condition of the System If it is in the state shown in the Figure 11 1 below an alarm or warning is occurring If the parameter LED LED mode is set other than LM0 the alarm i...

Page 318: ... is no indication when no alarm or warning is reported 2 Every input of the SP key scrolls down to the next readout Keep pressing the SP key to monitor all alarms or press the BS key to quit monitoring SP SP TA F3 Hardware Over Travel F4 Emergency Stop The indicator shows that the alarm F3 Hardware over travel and the alarm F4 Emergency stop are occurring Ä The monitoring order of alarms does not ...

Page 319: ...f occurrence Elapsed time from the power on and number of times of power on From the record of the time of occurrence you can figure out whether an alarm occurred right after the power was turned on or it has been occurring continuously The following describes how to monitor the history of alarms 1 Input the command TA HI Tell alarm status TA HI TIME 000 17 58 4 3 _ A T H I ENT Elapsed time from t...

Page 320: ...are over travel limit is activated F3 F3 Hardware Over Travel Hardware over travel limit is activated Servo lock F4 F4 Emergency Stop The input of EMST is ON P3 P3 Control AC Line Under Voltage Control power falls below the limit Servo off Ä It may be recorded to the alarm history depending on the details of alarm When the home position is reset by the command AZ Absolute ZERO position set or the ...

Page 321: ...in Table 11 4 below In the condition shown in the table below the Motor gets in the servo off state and the dynamic brake is functioning to brake the Motor When the initialization of the CPU takes longer than 10 seconds at the power on the control circuit is not functioning normally Refer to 11 3 1 CPU Error for the cause and remedy Table 11 4 condition when the Motor does not move even in normal ...

Page 322: ...utput DRDY Output WRN Output OTPA OTMA Alarm history Alarm clear CPU not functioning Servo off Open Open Open A0 A0 Position Sensor Error Disconnected sensor cable Servo off Open Open 3 A1 A1 Absolute Position Error Position data error Servo off Open 3 A2 A2 Motor Cable Disconnected Disconnected Motor cable Servo off Open 3 A4 A4 Over Speed Excess velocity Servo off Open 3 A7 A7 Resolver Amp Alarm...

Page 323: ...top 1 Open 3 3 F8 F8 AT Error Automatic tuning error Cycle stop 1 Open 3 3 P5 P5 Main AC Line Under Voltage Low voltage of main power Servo off Open 3 3 1 When the warning F5 Program error or the warning F8 Auto tuning error is given in the middle of Motor operation the Motor stops after the completion of current operation 11 2 2 3 Over Travel Limit Reports the condition on both software and hardw...

Page 324: ...proper connection 2 Defective resolver cable 3 Defective resolve winding Visually check the cable for damage Replace the Motor or the resolver cable if necessary Refer to Appendix 2 How to Check Motor Condition 4 Defective Driver Unit If it does not recover with above measures the Driver Unit may be defective Replace it referring to Appendix 4 Procedure for Replacing the EDC Driver Unit if necessa...

Page 325: ...cable Table 11 11 Cause and remedy for the alarm A2 Cause Remedy 1 Motor cable disconnected Check the Motor cable for proper connection 2 Defective Motor cable 3 Defective Motor winding Visually check the cable for damage Replace the Motor or the Motor cable if necessary Refer to Appendix 2 How to Check Motor Condition 4 Defective Driver Unit If it does not recover with above measures the Driver U...

Page 326: ...ent of servo parameters Set the servo parameters properly Refer to 5 Tuning 6 Defective cable Motor or Driver Unit Follow Appendix 2 How to Check Motor Condition for checking their conditions Replace the cable or the Motor if necessary If above procedures do not work the Driver Unit may be defective Replace it referring to Appendix 4 Procedure for Replacing the EDC Driver Unit if necessary 1 Do no...

Page 327: ...ive Replace it referring to Appendix 4 Procedure for Replacing the EDC Driver Unit 1 The maximum rotational speed setting of parameters such as the parameter MV is 10 s 1 However the maximum rotational speed depends on each Motor model Refer to 2 5 Motor Specifications and set the operating velocity not to exceed the specification 11 3 7 Warning A5 Home Position Undefined In case of absolute posit...

Page 328: ...or precautions for the wiring of resolver cables 11 3 9 Alarm A9 Commutation Error The Driver Unit checks if the Motor operates normally at the moment of the first servo activation after the power is turned on This alarm occurs when the Motor moves exceeding 15 angle degree at this moment Table 11 16 Cause and Remedy for the Alarm A9 Cause Remedy 1 Unmatched combination of Motor and Driver Unit Ch...

Page 329: ...quency of pulse train input Increase the resolution of the parameter CR Circular Resolution C0 1 The transient velocity command exceeding 1 5 times of the setting of parameter VL Velocity limiter is inputted longer than 1 ms continuously Decrease the frequency of pulse train input Increase the resolution of the parameter CR Circular Resolution Decrease the setting of parameter FR Feedback signal r...

Page 330: ...PROM due to its service life or the data is not properly overwritten to the EEPROM Table 11 20 Cause and remedy for the alarm E2 Cause Remedy 1 ROM data have been altered by noise or other cause Take measures against noise Initialize the memory by the command SI Set initial parameters and then turn on the power again If the alarm does not occur restore the previous parameter settings 2 EEPROM is d...

Page 331: ...E8 Interface Error The Driver Unit incorporates several printed circuit boards inside This alarm occurs when an error is detected on the printed circuits board for the control inputs and outputs Table 11 22 Cause and remedy for the alarm E8 Cause Remedy 1 Defective Driver Unit If a reset of the power does not solve the problem the Driver Unit may be defective Replace it referring to Appendix 4 Pro...

Page 332: ...ters fro acceleration and deceleration parameters In case of pulse train command operation reduce the parameter settings of acceleration and deceleration to the pulse generating controller 5 The setting of CO data is too low Firstly check if the shipping set of CO200000 is maintained The parameter CO isn t necessarily to be 200000 It is rather set to the specifications of machine into which the Me...

Page 333: ...el is detected based on the positioning command rather than the current Motor position Positioning command is equal to the sum of current position and position error Therefore if the positioning command is not within the range of software over travel detection the F2 alarm is not produced even the actual motor position is entered within the detection range due to the overshooting When you need to ...

Page 334: ...ystem accepts the move command to this direction Turn off the Motor servo then move the Motor manually out of the area 3 Wrong wiring OTP OTM etc 4 Defective limit sensor Limit sensor that is connected to OTPA or OTMA sensors Check wiring of OTP and OTM Check the OT sensor 1 When the limit sensor is activated the state of over travel limit warning is purposely hold until one of the following actio...

Page 335: ...uting other program The input RUN Program start is disabled while the output BUSY In operation is closed When a mechanical contact is used for the input RUN check for chattering that may cause two or more rising signals Check if the input RUN is already ON due to noise If the warning occurs due to causes above increase the setting of the parameter NW Anti chattering timer of the port which is assi...

Page 336: ...IA WRN The load moment of inertia is too much Remove the cause of excessive friction resistance or mechanical interference that locks the Motor Reduce the load moment of inertia Refer to Table 3 1 Maximum load inertia of Megatorque Motor CAN T TUNE Cannot perform automatic tuning Remove the cause of external interference Mount the Motor so that the Moro axis is vertical Eliminate the effect of gra...

Page 337: ...e Motor or Driver Unit Check the Motor condition referring to Appendix 2 How to Check Motor Condition Replace the cable or the Motor if necessary If above measures do not work the Driver Unit may be defective Replace it referring to Appendix 3 Procedure for Replacing EDC Driver Unit 1 If the thermo sensor remains ON the warning occurs again when the power is turned on 11 3 24 Alarm P1 Main Power O...

Page 338: ...ive Replace it referring to Appendix 4 Procedure for Replacing Driver Unit 11 3 26 Alarm P3 Control Power Under Voltage The Driver Unit watches the voltage of control power supply It gives the alarm when the voltage falls below the threshold Table 11 35 Cause and remedy for the alarm P3 Cause Remedy 1 The voltage of control power supply falls below 60 VAC Turn off the power supply Fasten the screw...

Page 339: ...e for Replacing Driver Unit 1 The input ACLR Alarm clear or the command CL Clear alarm after the cause of the warning is removed 11 3 28 Alarm P9 Power Module Alarm The Driver Unit has the power module to flow the current through the Motor The Driver Unit gives the alarm when the power module generates heat abnormally or supplies excessive current to the Motor Table 11 37 Cause and Remedy for the ...

Page 340: ... 11 24 Blank Page ...

Page 341: ... source 3 Trouble recurrence Confirm the frequency of occurrence Example Once every one hour Several times week 4 Occurrence in special occasion At what particular occasion does the problem occur Example When welding process is performed in the proximity When the Motor is accelerating Occurs at the same position 5 State of warning and alarm The state of alarm of warning can be checked with the com...

Page 342: ...ue to the mechanical interference with the surrounding mechanism 4 2 Poor tuning of servo gains 4 3 In the middle of processing a positioning command Executing a positioning command Executing a program operation caused by the parameter OE2 Confirm if the output BUSY is closed or monitor the state of Input and output by the monitor IO0 RP If the BUSY signal is closed the System is executing a posit...

Page 343: ...le 12 6 Troubleshooting for improper positioning Cause Remedy 1 Wrong combination of Motor and Driver Unit Check if the combination of the Motor and the Driver Unit is correct 2 An alarm or a warning is occurring Identify the alarm or the warning 3 Loose mounting of the fixture and or the Motor Check for loose mounting of the fixture and the Motor 4 Poor setting of the servo gains The positioning ...

Page 344: ...rs on the display if the data length is longer than specified or the stop bit is not 2 bit Check if the baud rate of the Handy Terminal is 9 600 bps Refer to the instruction manual of the Handy Terminal Use another M FHT21 4 When _ under bar appears on the display 4 1 The Handy Terminal was connected while the power of the Driver Unit is turned on 4 2 Break of signal cable 4 3 Failure of the Drive...

Page 345: ...0000000000 00000000000000000 I O guide Output 0 OFF 1 ON 0 Open 1 Closed Table A 1 Monitoring contents of the monitors IO0 and IO1 Gide G F E D C B A 9 8 7 6 5 4 3 2 1 0 CN2 pin number 20 19 18 17 16 15 14 13 12 11 9 8 7 6 5 4 3 Pin code Shipping set PI16 DIR PI15 JOG PI14 PRG7 PI13 PRG6 PI12 PRG5 PI11 PRG4 PI10 PRG3 PI09 PRG2 PI08 PRG1 PI07 PRG0 PI06 STP PI05 RUN PI04 SVON PI03 OTM PI02 OTP PI01 ...

Page 346: ...00000000000000 00000000000000000 State of input Guide State of output 0 Not functioning 1 Functioning 0 Not detected 1 Detected The readout of the state of the input signals by the monitor IO1 will be affected by the parameter AB Input polarity For example the shipping set of the input EMST Emergency stop is a normally closed contact As shown in Figure A 3 below the function of emergency stop is e...

Page 347: ...e just before the application of the output logic The monitor is not applicable for the parameters ST Stability timer and GC Output logic in the command PO Edit control input The number 1 indicates that the output will be detected and the number 0 indicates that the output will not be detected Table A 4 Readout pf Monotor IO3 Guide F E D C B A 9 8 7 6 5 4 3 2 1 0 TVEU TVO TVU TEO TEU ZONEB ZONEB N...

Page 348: ...s on the display If the prompt is not on the display press the ENT key once _ ENT Monitor the function state of input ports by the monitor IO2 Input function 1 Repeat monitoring the IO2 IO2 RP_ 2 O I R P 2 Input the ENT key for monitoring IO2 FEDCBA9876543210 0000000000100000 0000000000000000 ENT RUN input The first line below the guide 5 represents the readout of the input RUN The readout is appl...

Page 349: ...ster 1 2 3 4 5 6 7 8 Ω 9 Fig A 6 Check the Motor only Tester Ω 1 2 3 4 Do not turn the rotor while checking the Motor winding Table A 5 Checking points Cable connector Motor connector Result øU øV 1 2 U V 1 2 U V øV øW 2 3 V W 2 3 V W øW øU 3 1 W U 3 1 W U Table A 6 Specifications of resistance of Motor winding Motor type Winding resistance Ω Specification PS1006 24 4 PS1012 10 6 PS1018 5 1 PS3015...

Page 350: ...etween each phase A B and C shall be 1 0 Ω or less ABS A 6 8 ABS A ABS COM 6 9 ABS A ABS COM ABS B 6 8 ABS B ABS COM 7 9 ABS B ABS COM ABS C 7 8 ABS C ABS COM 8 9 ABS C ABS COM 1 Resistance PS1 type 8 3 Ω 1 PS3 type 9 8 Ω 1 2 Variation between each phase A B and C shall be 1 0 Ω or less Please ask NSK sales or representative for the specifications of the Motor with special winding and the Cable lo...

Page 351: ...6 7 8 9 Fig A 11 Check the Motor only Megohmmeter Ω 1 2 3 4 Table A 8 Checking point Cable connector Motor connector Result øU PE 1 9 U PE 1 4 U PE øV PE 2 9 V PE 2 4 V PE øW PE 3 9 W PE 3 4 W PE Table A 9 Specification of Insulation resistance Common to all type of Motor Specification With cable 1 MΩ or over Motor only 2 MΩ or over Visual check of the Motor and the Cables Check the Motor for dama...

Page 352: ... t be backed up by the following procedures Keep note by hand with the following procedures 1 Monitor the setting of the parameter AO The setting of the parameter PO must is set to individual Motor thus it shall be noted for each Motor AO AO123456 _ A ENT O 2 Monitor the setting of the parameter MM and note it AO123456 MM MM1 _ M ENT M 2 Back up the setting using the memory function of the Handy T...

Page 353: ...he SHIFT key How to restore the parameter settings 1 Execute restoring the parameter settings using the memory function of the Handy Terminal FHT21 1 While pressing the SHIFT key in the command waiting state press the BS key for approximately 3 seconds The mode changes from the normal node to the user mode and the menu will be on the display Editor 1 Upload 2 Delete 3 Download BS SHIFT 2 Execute d...

Page 354: ...ile downloading At the completion of downloading the display menu changes to the editing menu in the user state Editor 1 Upload 2 Delete 3 Download It changes to the normal mode by a press of the BS while pressing the SHIFT key 2 Input the settings of parameters AO Absolute position scale offset and MM Multi line monitor which have been noted previously 1 Input the parameter AO NSK ON NSK ON AO123...

Page 355: ...rovides the wiring for the flow control as shown in Figure A 15 of Appendix 6 Wiring RS 232C communication Cable Setup of Hyper Terminal 1 Run Hyper Terminal Specify Hyper Terminal in the menu of Start menu Program Accessory Communication 2 The dialog box of Setting of connection appears Declare the name of connection and set an icon then click OK button Set the number of COM port used for connect...

Page 356: ...ch Motor because it individually differs because of the offset value AO AO123456 _ A ENT O 2 Monitor setting of the parameter MM AO123456 MM MM1 _ M ENT M 3 Perform capturing of text Record of communication contents Push Capture text After inputting file name click Start button and start capturing of text 4 Execute the command TX0 Parameter dump and monitor the settings of the Driver Unit TX0_ X T...

Page 357: ...nal 2 Send the file that stores the parameter settings to the Driver Unit Send the file Send out Text file 3 Input the parameter AO Absolute position scale offset and the parameter MM Multi line mode both of which have been captured 1 Input the parameter AO NSK ON NSK ON AO123456 _ O 1 A 3 4 2 6 ENT 5 N S SP K N ENT O 2 Input the parameter MM NSK ON NSK ON MM1 _ M 1 M ENT N S SP K N ENT O 4 Turn o...

Page 358: ...PG Position gain will be monitored 2 Every input of the SP monitors a setting will be read out Input the SP several times to read out all settings of parameters TS1 PG0 05 PGL0 05 VG0 50 _ SP SP The prompt colon appears on the screen for the completion of monitoring 2 Monitor the settings of programs Follow the procedures below and note down the settings 1 Monitor all programs by the command TC AL...

Page 359: ...gs of control outputs Follow the procedure below for monitoring 1 Monitor all settings of control outputs by the command TPO AL Tell all output port TPO AL TPO0 _ ENT P O T A L This reads out all 2 Every input of the SP key will reports the settings one by one on the line Input the SP key several times to monitor all of them SP SP TPO AL TPO0 FNDRDY GC0 _ How to restore the settings 1 Restore all ...

Page 360: ...s of the parameters the internal channel programs and the control inputs and outputs that have been copied from the old one Preparation Handy Terminal Back up the settings of the Driver Unit 1 Refer to Appendix 3 How to Back up and Restore the Settings of Programs and Parameters for backing up the whole settings of the Driver Unit to be replaced 2 Replace the Driver Unit Initialization of the Driv...

Page 361: ...n of the initialization 3 Initialize the settings of control inputs Input the command PI CL Edit all input ports It requires an input of the password N SP NSK ON NSK ON PI CL _ N ENT O S K I P L ENT C The prompt colon appears on the last line of the screen at the completion of the initialization Initialize together the settings of control outputs Input the command PO CL Edit all output port It req...

Page 362: ...is 28 J at 200 VAC the Motor will be stopped by the alarm P1 Main Power Over Voltage In such a case the following measures shall be taken Decrease acceleration and deceleration Decrease velocity Decrease the load moment of inertia If you do not want to downgrade the operational conditions an optional external dump resistor with high durability may be used without downgrading the performance of the...

Page 363: ...e A thicker cable pair is the resistor cable while a thinner cable pair is the sensor cable No polarity is set to the both pairs Fig A 14 Connection of external dump resistor Resistor cable thicker cable Sensor cable thinner cable Insert removing tool Insert a calbe remover or precision screwdriver for easy acces to the cable ...

Page 364: ... DTR 4 SG 5 FG 1 TXD 3 RXD 7 RTS 2 CTS 4 DSR 5 DTR 6 SG 9 FG RS 232C terminal EDC Driver Unit CN1 RTS control CTS monitoring inactive Caution Since this connection applies to non procedural communication the Driver Unit may fail to read data if a large amount of data is received too quickly Make sure that the Driver Unit echoes back or leave spaces between the data transmission Caution Be sure to ...

Page 365: ...U 0 LB 0 00 JV 0 100 TEO 0 Ì TL 100 00 JA 1 0 TVU 0 000 GP 0 JB 0 0 TVO 0 000 GT 0 0 HV 0 200 TVEU 0 000 FO 0 000 HA 1 0 TVEO 0 000 FP 0 HB 0 0 TTU 0 00 FS 0 HZ 0 010 TTO 0 00 NP 0 MD 0 0 TJU 0 00 NPQ 0 25 CSA 1 TJO 0 00 NS 0 CSB 0 MN 0 NSQ 0 25 Ì QR 360 000 MNR 10 000 Ì DBP 0 OE 0 MNY 0 000 Ì BL 100 00 PK 0 MX 0 Ì FF 1 0000 Ì AE 1 MXR 10 000 Ì ZF 1 Ì OS 6 MXY 0 000 CO 200 000 Ì HD 1 POD TP IN 400...

Page 366: ... A 22 Reference number S N Program Setting List A blank box is not in use Date CH Program CH Program CH Program CH Program 0 Command ...

Page 367: ... ST FN GC ST PI0 EMST 1 0 2 PO0 DRDY 0 0 0 PI1 ACLR 0 0 2 PO1 WRN 1 0 0 PI2 OTP 1 0 2 PO2 OTPA 1 0 0 PI3 OTM 1 0 2 PO3 OTMA 1 0 0 PI4 SVON 0 0 2 PO4 SVST 0 0 0 PI5 RUN 0 0 2 PO5 BUSY 0 0 0 PI6 STP 0 0 2 PO6 IPOS 0 0 0 PI7 PRG0 0 0 2 PO7 NEARA 0 0 0 PI8 PRG1 0 0 2 PI9 PRG2 0 0 2 PI10 PRG3 0 0 2 PI11 PRG4 0 0 2 PI12 PRG5 0 0 2 PI13 PRG6 0 0 2 PI14 PRG7 0 0 2 PI15 JOG 0 0 2 PI16 DIR 0 0 2 ...

Page 368: ... A 24 Blank Page ...

Page 369: ...TEM User s Manual EDC Driver Unit System Document Number C20158 04 Mar 31 2007 1st Edition 1st Printing Sep 30 2009 2nd Edition 1st Printing Dec 15 2009 3rd Edition 1st Printing Nov 15 2011 4th Edition 1st Printing NSK Ltd ...

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