4
AC servo systems
General specifications (for MECHATROLINK-II servo drives)
General specifications (for analog/pulse servo drives)
Control mode
Position control, velocity control, torque control, full-closed control.
Performance
Frequency characteristics
2 kHz
Speed zero clamp
Preset velocity command can be clamped to zero by the speed zero clamp input.
soft start time setting
0 to 10 s (acceleration, deceleration can be set separately).
Command input
MECHATROLINK-II
communication
MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustment and other
commands)
I/O si
g
n
a
l
Sequence input signal
- Multi-function input x 8 by parameter setting (forward/reverse drive prohibition, emergency stop, external latch,
origin proximity, forward/reverse torque limit, general purpose monitor input).
Sequence output signal
It is possible to output three types of signal form incl.: brake release, servo ready, servo alarm, positioning com-
plete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection,
warning, position command status, speed limit detection, alarm ouput, speed command status.
In
te
gr
a
ted
functions
USB
Communications
Interface
Personal computer/ Connector mini-USB
Communications standard
Compliant with USB 2.0 standard
Function
Parameter setting and status monitoring
MECHATROLINK-
II communications
Communications protocol
MECHATROLINK-II
Station address
41H to 51 FH (max. number of slaves: 30)
Tranmission speed
10 Mbps
Transmission cycle
1, 2 & 4 ms
Data length
17-bytes and 32-bytes
Automatic load inertia detection
Automatic motor parameter setting. One parameter rigidity setting.
Dynamic brake (DB)
Built-in. Operates during main power OFF, servo alarm, servo OFF or overtravel.
Regenerative processing
Internal resistor included in models from 600 W to 5 kW. Regenerative resistor externally mounted (option).
Overtravel (OT) prevention function
DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Encoder divider function
Optional division possible
Protective functions
Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat...
Analog monitor functions for supervision
Analog monitor of motor speed, speed reference, torque reference, command following error, analog input...
The monitoring signals to output and their scaling can be specified with parameters.
Number of channels: 2 (Output voltage: ±10V DC)
Panel operator
Display functions
2-digit 7-segment LED display shows the drive status, alarm codes, parameters...
MECHATROLINK-II communications status LED indicator (COM)
Switches
2 x rotary switches for setting the MECHATROLINK-II node address
CHARGE lamp
Lits when the main circuit power supply is turned ON.
Safety terminal
Functions
Safety Torque OFF function to cut off the motor current and stop the motor. Output signal for failure monitoring
function.
Conformed standards
EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF),
EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3).
External encoder feedback
Serial signal and line-driver A-B-Z encoder for full-close control
Control mode
7 modes selectables by parameter: (1) position control, (2) velocity control, (3) torque control, (4) position/velocity
control, (5) position/torque control, (6) velocity/torque control and (7) full-closed control.
Speed/tor
que control
Performance
Frequency characteristics
2 kHz
Speed zero clamp
Preset velocity command can be clamped to zero by the speed zero clamp input.
Soft start time setting
0 to 10 s (acceleration, deceleration can be set separately). S-curve acceleration/deceleration is also available.
Inpu
t signal
Speed control Speed reference voltage
6 VDC at rated speed: set at delivery (the scale and polarity can be set by parameters)
Torque limit
3 VDC at rated torque (torque can be limited separately in positive/negative direction).
Preset speed control
Preset speed is selectable from 8 internal settings by digital inputs.
Torque control Torque reference voltage
3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters).
Speed limit
Speed limit can be set by parameter.
Posi
ti
o
n
contr
o
l
Inpu
t signal
Command
pulse
Input pulse type
Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
Input pulse frequency
4 Mpps max. (200 Kpps max. at open collector).
Command pulse scaling
(Electronic Gear)
Applicable scaling ratio: 1/1000 - 1000
Any value of 1-20
20
can be set for numerator (encoder resolution) and denominator (command pulse resolution
per motor revolution). The combination has to be within the range shown above.
Ful
l-closed contro
l
Inpu
t s
ignal
Command
pulse
Input pulse type
Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
Input pulse frequency
4 Mpps max. (200 Kpps max. at open collector).
Command pulse scaling
(Electronic Gear)
Applicable scaling ratio: 1/1000 - 1000
Any value of 1-20
20
can be set for numerator (encoder resolution) and denominator (command pulse resolution).
The combination has to be within the range shown above.
External encoder scaling
Applicable scaling ratio: 1/20 - 160
Any value of 1-20
20
can be set for numerator (encoder resolution) and denominator (external encoder resolution
per motor revolution). The combination has to be within the range shown above.
I/
O si
g
n
a
l
Position signal output
A-phase, B.phase, Z-phase line driver output and Z-phase open-collector output.
Sequence input signal
- Multi-function input x 10 by parameter setting (servo ON, control mode switching, forward/reverse drive prohi-
bition, vibration filter switching, gain switching, electronic gear switching, error counter reset, pulse prohibition,
alarm reset, internal speed selection, torque limit switching, zero speed, emergency stop, inertia ratio switching,
velocity/torque command sign).
- Dedicated input x 1 (SEN: sensor ON, ABS data request).
Sequence output signal
It is possible to output four types of signal form incl.: brake release, servo ready, servo alarm, positioning com-
plete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection,
warning, position command status, speed limit detection, speed command status.
