Panasonic MADHT1105 Operating Instructions Manual Download Page 170

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4-2

1. Details of parameter

Setup

List of Parameters

Note

•

Definition of symbols under “Related mode” - P: position control, S: velocity control, T: torque control,

F: full closed control

Related Control Mode Parametr No.

Title

Detail

page

P S T F Class No.

P S T F

[Class 0] Basic setting

00 Rotational direction setup

4-4

P S T F

01 Control mode setup

P S T F

02 Real-time auto-gain tuning setup

4-5

P S T F

03 Selection of machine stiffness at real-

time auto-gain tuning

P S T F

04 Inertia ratio

4-6

S T

05 Selection of command pulse input

S T

06 Command pulse rotational direction

setup

4-7

S T

07 Command pulse input mode setup

S T

08 Command pulse counts per one motor

revolution

4-8

S T

09 1st numerator of electronic gear

S T

10 Denominator of electronic gear

P S T F

11 Output pulse counts per one motor

revolution

4-9

P S T F

Reversal of pulse output logic

4-10

P S T F

13 1st torque limit

S T

Position deviation excess setup

S T

15 Absolute encoder setup

P S T F

External regenerative resistor setup

4-11

P S T F

Load factor of external regenerative

resistor selection

S T

[Class 1] Gain adjustment

00 1st gain of position loop

4-12

P S T F

1st gain of velocity loop

P S T F

1st time constant of velocity loop

integration

P S T F

1st filter of speed detection

P S T F

1st time constant of torque filter

S T

05 2nd gain of position loop

4-13

P S T F

2nd gain of velocity loop

P S T F

2nd time constant of velocity loop

integration

P S T F

2nd filter of speed detection

P S T F

2nd time constant of torque filter

S T

10 Velocity feed forward gain

S T

Velocity feed forward filter

P S

12 Torque feed forward gain

4-14

P S

Torque feed forward filter

P S T F

14 2nd gain setup

S T

15 Mode of position control switching

4-15

S T

16 Delay time of position control switching

4-16

S T

Level of position control switching

S T

18 Hysteresis at position control switching

S T

19 Position gain switching time

T F

Mode of velocity control switching

4-17

T F

Delay time of velocity control switching

T F

Level of velocity control switching

T F

Hysteresis at velocity control switching

P S

24 Mode of torque control switching

4-18

P S

25 Delay time of torque control switching

P S

Level of torque control switching

P S

27 Hysteresis at torque control switching

P S

[Class 2]

Adaptive filter mode setup

4-19

P S T F

01 1st notch frequency

P S T F

02 1st notch width selection

P S T F

03 1st notch depth selection

P S T F

04 2nd notch frequency

Related Control Mode Parametr No.

Title

Detail

page

P S T F Class No.

P S T F

[Class 2] Damping control

05 2nd notch width selection

4-20

P S T F

06 2nd notch depth selection

P S T F

07 3rd notch frequency

P S T F

08 3rd notch width selection

P S T F

09 3rd notch depth selection

P S T F

10 4th notch frequency

P S T F

11 4th notch width selection

4-21

P S T F

12 4th notch depth selection

S T

Selection of damping filter switching

S T

14 1st damping frequency

4-22

S T

1st damping filter setup

S T

16 2nd damping frequency

S T

2nd damping filter setup

S T

18 3rd damping frequency

S T

3rd damping filter setup

S T

20 4th damping frequency

S T

4th damping filter setup

S T

Positional command smoothing filter

4-23

S T

Positional command FIR filter

T F

[Class 3] V

erocity/

Torque/ Full-closed control

Speed setup, Internal/External

switching

4-24

T F

01 Speed command rotational direction

selection

S T

02 Input gain of speed command

4-25

T F

Reversal of speed command input

T F

04 1st speed of speed setup

4-26

T F

05 2nd speed of speed setup

T F

06 3rd speed of speed setup

T F

07 4th speed of speed setup

T F

08 5th speed of speed setup

T F

09 6th speed of speed setup

T F

10 7th speed of speed setup

T F

11 8th speed of speed setup

T F

12 Acceleration time setup

T F

13 Deceleration time setup

T F

14 Sigmoid acceleration/ deceleration time

setup

4-27

S T

15 Speed zero-clamp function selection

S T

Speed zero clamp level

P S

17 Selection of torque command

4-28

P S

18 Torque command direction selection

P S

19 Input gain of torque command

P S

Input reversal of torque command

P S

Speed limit value 1

4-29

P S

Speed limit value 2

P S T

External scale selection

P S T

Numerator of external scale division

4-30

P S T

Denominator of external scale division

P S T

Reversal of direction of external scale

P S T

External scale Z phase disconnection

detection disable

P S T

Hybrid deviation excess setup

4-31

P S T

Hybrid deviation clear setup

Summary of Contents for MADHT1105

Page 1: ...of A5 series Operating Instructions Overall AC Servo Motor Driver MINAS A5 series Thank you for purchasing this Panasonic product Before operating this product please read the instructions carefully and save this manual for future use ...

Page 2: ...ction manual you will learn how to identify the model of the motor and driver that will be best suitable your application how to wire and set up them how to set parameters and how to locate possible cause of symptom and to take corrective action Caution 1 Any part or whole of this document shall not be reproduced without written permis sion from us 2 Contents of this document are subject to change...

Page 3: ...ntrol mode and connection diagrams to the host controllor I O settings 4 Setup Describes parameters JOG running Shows describes parameters and procedure of test operation 5 Adjustment Gain adjustment Auto tuning Describes various adjusting method including auto tuning and manual gain tuning 6 When in Trouble Read this section when you encounter trouble or error 7 Supplement Contains S T characteri...

Page 4: ...andards 2 2 2 System Configuration and Wiring 2 6 3 Wiring to the Connector X1 2 20 4 Wiring to the Connector X2 2 20 5 Wiring to the Connector X3 2 22 6 Wiring to the Connector X4 2 23 7 Wiring to the Connector X5 2 24 8 Wiring to the Connector X6 2 26 9 Wiring to the Connector X7 2 29 10 Timing Chart 2 30 11 Built in Holding Brake 2 34 12 Dynamic Brake 2 36 13 Setup of Parameter and Mode 2 42 14...

Page 5: ...5 24 6 About Homing Operation 5 39 6 When in Trouble 6 1 1 When in Trouble 6 2 2 Setup of gain pre adjustment protection 6 15 3 Troubleshooting 6 17 7 Supplement 7 1 1 Safety function 7 2 2 Absolute System 7 10 3 Setup Support Software PANATERM 7 26 4 Communication 7 27 5 Motor Characteristics S T Characteristics 7 56 6 Dimensions 7 63 7 Options 7 72 Warranty 7 96 Cautions for Proper Use 7 97 Afte...

Page 6: ... motor driver and regenerative resistor Don t use the motor in a place subject to exces sive vibration or shock Failure to observe this instruc tion could result in electrical shock injury or fire Don t use cables soaked in water or oil Failure to observe this instruc tion could result in electrical shocks damages and break downs Do not place the console close to a heating unit such as a heater or...

Page 7: ...orrectly run and arrange wiring Incorrect wiring will result in short circuit electric shock per sonal injury etc After correctly connecting cables insulate the live parts with insulator Incorrect wiring will result short circuit electric shock fire or malfunction Ground the earth terminal of the motor and driver without fail Floating ground circuit will cause electric shock Install and mount the ...

Page 8: ... detector etc Do not turn on and off the main power of the driv er repeatedly Failure to observe this instruc tion could result in breakdowns Never run or stop the motor with the electro mag netic contactor installed in the main power side Do not make an extreme gain adjustment or change of the drive Do not keep the machine running operating unsta bly Failure to observe this instruc tion could res...

Page 9: ...of electro magnetic brake or gear head or grease leakage from gear head No protection will cause per sonal injury damage pollution or fire Use the motor and the driver in the specified com bination Not using the motor and the driver in the specified combina tion will result in fire Test run the securely fixed motor without loading to verify normal operation and then connect it to the mechanical sy...

Page 10: ...Standards C22 2 No 14 C22 2 No 100 IEC International Electrotechnical Commission EN Europaischen Normen EMC Electromagnetic Compatibility UL Underwriters Laboratories CSA Canadian Standards Association Pursuant to the directive 2004 108 EC article 9 2 Panasonic Testing Centre Panasonic Service Europe a division of Panasonic Marketing Europe GmbH Winsbergring 15 22525 Hamburg F R Germany Note For d...

Page 11: ...ction Items and Cycles General and normal running condition Ambient conditions 30 C annual average load factor of 80 or lower operating hours of 20 hours or less per day Perform the daily and periodical inspection as per the items below Type Cycles Items to be inspected Daily inspection Daily Ambient temperature humidity speck dust or foreign object Abnormal vibration and noise Main circuit voltag...

Page 12: ...cycles are reference When you experience any error replacement is required even before this standard replacement cycle Cooling fan 2 to 3 years 10 000 to 30 000 hours Aluminum electrolytic capacitor on PCB Approx 5 years Rush current preventive relay Approx 100 000 times depending on working condition Rush current preventive resistor Approx 20 000 times depending on working condition Motor Bearing...

Page 13: ...of the Model 1 3 Parts Description A to E frame 1 4 Parts Description F frame 1 5 Specifications 1 6 Block Diagram 1 8 3 Motor Check of the Model 1 10 Parts Description 1 12 4 Check of the Combination of the Driver and the Motor Incremental Specifications 20 bit 1 13 Absolute Specifications 17 bit 1 14 Junction cable for motor 1 15 5 Installation Driver 1 16 Motor 1 20 6 Permissible Load at Output...

Page 14: ...ake complex tuning easy These motors assure higher stability with low stiffness machine and high speed high accurate operation with high stiffness machine They can be used in combination with a wide variety of machines This manual is written as a complete guide for you so that you can fully and correctly make use of all functions available from MINAS A5 1Before Using the Products 1 Introduction On...

Page 15: ...re year Manufacture month Model Designation M A D H T 1 5 0 5 Special specifications letters and numbers Current detector rating Power supply Max current rating of power device Frame size symbol MADH MBDH MCDH MDDH MEDH MFDH Frame Symbol A5 series A frame A5 series B frame A5 series C frame A5 series D frame A5 series E frame A5 series F frame T1 T2 T3 T5 T7 TA TB Current rating Symbol Specificati...

Page 16: ...the Products 2 Driver Parts Description Note Connector X1 and X2 are attached in A to D frame driver Connector XA XB and XC are attached in E frame driver Screws for earth x2 Charge lamp L1C L2C L1 L2 L3 B1 B3 B2 NC U V W Connector XA for main power connection 05JFAT SAXGSA L JST Connector XB Connector for external regenerative resistor 03JFAT SAXGSA L JST Connector XC for motor connection 04JFAT ...

Page 17: ...regenerative resistor Normally short circuit B3 to B2 Charge lamp Terminal cover LED cover Connector X6 for encoder connection Connector X4 Parallel I O connector Connector X3 Safety function connector Connector X2 for Serial bus Connector X1 USB connector Connector X5 for feedback scale connection Connector X7 Monitor connector Front panel Safety by pass prug Related page P 1 14 Check of the Comb...

Page 18: ...general purpose input is selected by parameters Output General purpose 6 outputs The function of general purpose input is selected by parameters Analog Digital signal Input 3 inputs 16Bit A D 1 input 12Bit A D 2 inputs Output 3 outputs Analog monitor 2 output Digital monitor 1 output Pulse signal Input 2 inputs Photo coupler input Line receiver input Photocoupler input is compatible with both line...

Page 19: ...lable Torque control Control input Speed zero clamp Torque command sign input etc Control output Speed arrival etc Analog input Torque command input Speed command input can be provided by means of analog voltage Parameters are used for scale setting and command polarity 3V rated torque Default Speed limit function Speed limit value with parameter t is enabled Full closed control Control input 1 De...

Page 20: ...uit Encoder signal processing limit Control output X3 Safety function C D frame L 1 L 2 L 3 B1 B3 N P Fuse 抵抗 Fuse Error detection Voltage detection Sequence control B2 L1C L2C Division processing Feedback scale signal processing limit DC DC X6 U V W M RE 12V 5V PS for gate drive Gate drive PS for RE Alarm signal Pulse train command Pusle output Analog velocity command Control input Division mulit...

Page 21: ... Encoder signal processing limit Gate drive X5 Feedback scale signal processing limit Feedback scale unit X1 X2 X4 USB Serial X3 Safety function F frame L 1 L 2 L 3 B1 B3 N P Fuse 抵抗 Fuse Error detection Voltage detection Sequence control B2 L1C L2C Division processing DC DC X6 U V W M RE 12V 5V PS for gate drive PS for RE Fuse Parameter control EEPROM Fan Front panel Display operation control Pro...

Page 22: ...ate Serial Number e g 09 04 0001N Lot number Month of production Year of production Lower 2 digits of AD year Manufacture date e g 2009 04 01 Manufacture date Manufacture year Manufacture month Model Rated output Rated input voltage current Rated frequency Rated rotational speed ...

Page 23: ...Motor structure MSME 50W to 750W 1 The product with oil seal is a special order product 2 Key way with center tap Products are standard stock items or manufactured by order For details inquire the dealer A B S T Shaft Holding brake Oil seal Without With Round Key way Without With Symbol MSME 1 0kW to 5 0kW MDME MGME MHME C D G H Shaft Holding brake Oil seal Without With Round Key way Without With ...

Page 24: ...tor frame Flange Mounting holes X4 Mounting holes X4 Connector for motor Connector for encoder Oil seal Motor frame Flange Mounting holes X4 Note For details of specific model refer to the Dimensions of Supplement P 7 66 MSME 50W to 750W MSME 1 0kW to 5 0kW MDME 1 0kW to 5 0kW MGMA 0 9kW to 3 0kW MHME 1 0kW to 5 0kW e g Low inertia type MSME series 50W e g Middle inertia type MDME series 1 0kW ...

Page 25: ...05 A frame MSME012G1 100W MSME022G1 200W MADHT1507 MSME042G1 400W MBDHT2510 B frame MSME082G1 750W MCDHT3520 C frame MSME102G1 1 0kW MDDHT5540 D frame MSME152G1 1 5kW 3 phase 200V MSME202G1 2 0kW MEDHT7364 E frame MSME302G1 3 0kW MFDHTA390 F frame MSME402G1 4 0kW MFDHTB3A2 MSME502G1 5 0kW Single 3 phase 200V MDME Middle inertia 2000r min MDME102G1 1 0kW MDDHT3530 D frame MDME152G1 1 5kW MDDHT5540 ...

Page 26: ...V MSME202S1 2 0kW MEDHT7364 E frame MSME302S1 3 0kW MFDHTA390 F frame MSME402S1 4 0kW MFDHTB3A2 MSME502S1 5 0kW Single 3 phase 200V MDME Middle inertia 2000r min MDME102S1 1 0kW MDDHT3530 D frame MDME152S1 1 5kW MDDHT5540 3 phase 200V MDME202S1 2 0kW MEDHT7364 E frame MDME302S1 3 0kW MFDHTA390 F frame MDME402S1 4 0kW MFDHTB3A2 MDME502S1 5 0kW Single 3 phase 200V MGME Middle inertia 1000r min MGME0...

Page 27: ...ries Motor cable Note 1 Brake cable Note 1 Detail page with Brake MSME 50W to 750W MFMCA0 0NJD MFMCB0 0PJT 7 78 7 82 MSME 1 0kW to 2 0kW MFMCD0 2ECD MFMCA0 2FCD 7 78 7 81 MSME 3 0kW to 5 0kW MFMCA0 3ECT MFMCA0 3FCT MDME 1 0kW to 2 0kW MFMCD0 2ECD MFMCA0 2FCD MDME 3 0kW to 5 0kW MFMCA0 3ECT MFMCA0 3FCT MGME 0 9kW MFMCD0 2ECD MFMCA0 2FCD MGME 2 0kW to 3 0kW MFMCA0 3ECT MFMCA0 3FCT MHME 1 0kW to 1 5k...

Page 28: ...onditions Ambient temperature 0 C to 55 C free from freezing Ambient humidity 20 to 85 RH free from condensation Storage temperature 1 20 C to 65 C Max temperature guarantee 80 C for 72 hours Storage humidity 20 to 85 RH free from condensation Vibration Lower than 5 88m s2 0 6G 10 to 60Hz Altitude Lower than 1000m 1 Extreme temperatures are permissible only for short period such as during transpor...

Page 29: ...unexpected action It is highly recommended that you make a fail safe design and secure the safety in the operative range If stranded wires are used as the cable bunch the conductors of the cable using a rod termi nals or a round terminals If stranded wires are used as they are unexpected accidents such as an electric shock and short circuit or injury may result There might be a chance of smoke gen...

Page 30: ...cation and current carrying capacity Example Power supply 3 phase 200 V 35 A ambient temperature 30 C Determine the fundamental permissible current according to the cable conductor material example stranded cop per wire For the purpose of this example the ampere indicated by is selected from the table right Next determine the number of conductors In this example the cable contains 4 conductors 3 g...

Page 31: ...ameter by approx 1 mm Appropriate cable should be selected to have sufficient allowance for parameters such as operating ambient temperature and current Current reduction coefficient fundamental permissible current etc stated on this page are subject to change due to e g standard revision Consult cable manufacturers for the latest information 0 70 0 63 0 56 0 49 0 43 0 39 0 34 Up to 3 4 5 or 6 7 t...

Page 32: ...densation Vibration Motor only Lower than 49m s2 5G at running 24 5m s2 2 5G at stall Impact Motor only Lower than 98m s2 10G Enclosure rating Motor only Connector type IP67 except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector 3 4 Altitude Lower than 1000m 1 Ambient temperature to be measured at 5cm away from the motor 2 Permissible tempe...

Page 33: ...le value specified to each model 2 Pay an extra attention when you use a rigid coupling Excess bending load may dam age the shaft or deteriorate the bearing life 3 Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permis sible value For permissible load of each model refer to P 1 23 ...

Page 34: ...ed by other cable etc causing unpredictable troubles Cable distortion Keep the cable free from twists or kinks Distorted cable will cause loose connection lowering performance and reliability Lamination factor of cable in cable bear Place cables on a flat surface in parallel without bringing them into contact with each other and measure the dimension necessary to cover these cables Then select a c...

Page 35: ...kW 980 588 686 490 196 2 0kW to 5 0kW 1666 784 980 784 343 MGME 0 9kW 980 588 686 686 196 2 0kW 1666 784 980 1176 490 3 0kW 2058 980 1176 1470 Note When the load point varies calculate the permissible radial load P N from the distance of the load point L mm from the mounting flange based on the formula of the right ta ble and make it smaller than the calculated result L P Motor series Motor output...

Page 36: ...1 24 MEMO ...

Page 37: ...connector X4 Connection to Host Controller 2 23 7 Wiring to the connector X5 Connect on to External Scale 2 24 8 Wiring to the connector X6 Connection to Encoder 2 26 9 Wiring to the connector X7 Monitor output 2 29 10 Timing Chart Timing on power up 2 30 Alarm 2 31 Servo Lock 2 32 Servo ON OFF 2 33 11 Built in Holding Brake Outline 2 34 Specifications 2 35 12 Dynamic Brake Outline 2 36 Condition ...

Page 38: ...nd noise terminal voltage it is necessary to ex amine the machine incorporating our servos Conformity to UL Standards Remarks Note Observe the following conditions of 1 and 2 to make the system conform to UL508C E164620 1 Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664 1 e g Install in the control box with IP54 enclosure 2 Make sure to install a circuit breaker o...

Page 39: ...8 EC article 9 2 Panasonic Testing Centre Panasonic Service Europe a division of Panasonic Marketing Europe GmbH Winsbergring 15 22525 Hamburg F R Germany Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC 60664 1 e g Install the driver in control panel with IP54 protection structure Control box Controller Insulated power supply for interf...

Page 40: ...ver Manufacturer s part No Applicable driver frame Manufacturer DV0P4170 Single phase 100V 200V SUP EK5 ER 6 A and B frame Okaya Electric Ind DV0PM20042 3 phase 200V 3SUP HU10 ER 6 A B frame Single phase 100V 200V 3 phase 200V C frame DV0P4220 Single 3 phase 200V 3SUP HU30 ER 6 D frame DV0PM20043 3 phase 200V 3SUP HU50 ER 6 E frame DV0P3410 3 phase 200V 3SUP HL50 ER 6B F frame Recommended componen...

Page 41: ...ise Filter for Signal Lines Option part No Manufacturer s part No Manufacturer DV0P1460 ZCAT3035 1330 TDK Corp Residual current device Install a type B Residual current device RCD at primary side of the power supply Grounding 1 Connect the protective earth terminal of the driver and the protective earth ter minal PE of the control box without fail to prevent electrical shocks 2 Do not make a joint...

Page 42: ...DV0P4190 DV0P1450 MBDH MSME Single phase 100V 200W approx 0 5kVA DV0P4170 DV0P4190 Single 3 phase 200V 400W approx 0 9kVA DV0P4170 DV0PM 20042 DV0P4190 DV0P1450 MCDH MSME Single phase 100V 400W approx 0 9kVA DV0PM 20042 DV0P4190 Single 3 phase 200V 750W approx 1 3kVA 15A DV0P4190 DV0P1450 MDDH MDME Single 3 phase 200V 1 0kW approx 1 8kVA DV0P4220 30A 3P 1a 2 0mm2 AWG14 MHME MGME 900W approx 1 8kVA...

Page 43: ...minal block and protective earth terminals Use a copper conductor cables with temperature rating of 75 C or higher The screws of protective earth terminals for Frame A to D are M4 and M5 for Frame E F Fastening torque of earth screws refer to P 1 16 Tighten the terminal block screw on frame F with a torque between 1 0 and 2 0 N m Application of overtorque more than 2 0 N m will cause damage to ter...

Page 44: ... Contactor MC Turns on off the main power of the servo driver Use coil surge suppression units together with this Never start nor stop the servo motor with this Magnetic Con tactor Reactor L Reduces harmonic current of the main power Pin B1 6 pin B2 4 pin and B3 5 pin B2 and B3 to be kept shorted for normal operation When you connect an external regenerative resistor disconnect a short circuit wir...

Page 45: ...Connection to PC or host controller Connection to RS232 RS485 or host controller Connection to Safety by pass plug Connection to encoder Connection to feedback scale Connection to host controller 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock Wiring to Connector X7 P 2 29 Connection to motor driving phase and ground Wiring to Connector XB P 2 10 Wiring...

Page 46: ...nly when the external regenerative register is used Avoid shorting and grounding Don t connect the main power Earth ground this Make sure to connect the protective earth terminal of the driver and the protective earth earth plate of the control panel to prevent electrical shock Don t co clamp the earth wires to the protective earth terminal Two terminals are provided Don t connect the earth cable ...

Page 47: ...ad wires to those of the corresponding motor output terminals U V W Avoid shorting and grounding Don t connect the main power Earth ground this Make sure to connect the protective earth terminal of the driver and the protective earth earth plate of the control panel to prevent electrical shock Don t co clamp the earth wires to the protective earth terminal Two terminals are provided Don t connect ...

Page 48: ... Green or Green Yellow Red White Black Green or Green Yellow XA XB X4 36 L ON MC DC12 to 24V 5 ALM ALM OFF MC ALM Main power supply Control power supply Motor connection Main power supply Control power supply Motor connection Power supply Single phase 100V to 120V 10 15 10 15 Single phase 200V to 240V 10 15 10 15 Power supply 3 phase 200V to 240V 10 15 10 15 Use a reactor for 3 phase XA XB X4 When...

Page 49: ...tor Remove the short wire when you connect the external regenerative resistor Red White Black Green Main power supply Control power supply Motor connection Power supply 3 phase 200V to 230V 10 15 10 15 Noise filter Coil surge suppression units These colors are used for optional cable In Case of 3 Phase E frame 200 V type Related page P 2 16 Specifications of Motor connector P 2 17 For wiring the m...

Page 50: ...e main power of the servo driver Use coil surge suppression units together with this Never start nor stop the servo motor with this Magnetic Con tactor Reactor L Reduces harmonic current of the main power Mains Residual current device Wiring of the Main Circuit Pin B1 B2 and B3 B1 and B2 to be kept shorted for normal operation When you connect an external regenerative resistor disconnect a short b...

Page 51: ...port software PANATERM Please download from our web site Connection to PC or host controller Connection to RS232 RS485 or host controller Connection to Safety by pass plug Connection to encoder Connection to feedback scale Connection to host controller Wiring to Connector X6 P 2 26 Wiring to Connector X5 P 2 24 Wiring to Connector X4 P 2 23 Wiring to Connector X3 P 2 22 Wiring to Connector X2 P 2 ...

Page 52: ... t disconnect the short bar between B1 and B2 Disconnect this only when an external regenerative register is used Do not connect anything to NC Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Avoid shorting and grounding Don t connect the main power Earth ground this Make sure to connect the protective earth terminal of the driver and the protect...

Page 53: ...nect the external regenerative resistor Main power supply Control power supply Motor connection Power supply 3 phase 200V to 230V 10 15 10 15 Red White Black Green Coil surge suppression units These colors are used for optional cable Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase F frame 200 V type Related page P 2 16 Specifications of M...

Page 54: ...nector for motor Tightening torque of the screw M2 0 085 to 0 095 N m screwed to plastic Be sure to use only the screw supplied with the connector to avoid damage Connector for brake Tightening torque of the screw M2 0 19 to 0 21 N m Be sure to use only the screw supplied with the connector to avoid damage Tightening torque of the screw M2 0 19 to 0 21 N m Be sure to use only the screw supplied wi...

Page 55: ...of the ferrule and cable If the con ductors of the cable stick out from the insulation cover or protrude excessively from the tip of the ferrule accidents such as an electric shock and fire from a short circuit may result 2 Insert the cable to the connector in the following 2 methods a Insert the cable using the supplied handle lever b Insert the cable using a flat blade screwdriver Edge width 3 0...

Page 56: ...ion 4 Wiring to the connector X2 Connecting communication connector This is used for connection to the host controller when two or more units are used RS232 and RS485 interfaces are supplied Application Symbol Connector Pin No Contents Signal ground GND 1 Connected to ground of control circuit NC 2 Do not connect RS232 signal TXD 3 RS232 The transmission reception method RXD 4 RS485 signal 485 5 R...

Page 57: ...e with multiple drivers only through RS485 Communications between the host PC or controller and multiple drivers can be made through RS485 Note You can connect up to 31 drivers with the host For details refer to P 7 28 Communication of Supplement Connector X2 Connector Shut off both powers of the PC andthe driver before inserting pulling out the connector Cable prepared by the user RS485 RS485 RS2...

Page 58: ...r Pin No Contents NC 1 Do not connect 2 Safety input 1 SF1 3 These are two independent circuits that turn off the operation signal to the power module to shut off the motor current SF1 4 Safety input 2 SF2 5 SF2 6 EDM output EDM 7 This is an output for monitoring the failure of the safety function EDM 8 Frame ground FG Shell Connected with protective earth terminal in the servo driver Connector pl...

Page 59: ...gnals install a diode in parallel with a relay and in the direction as the Fig shows The driver might be damaged without a diode installment or by reverse direction Frame ground FG is connected to the earth terminal inside of the driver Related page For details refer to P 3 18 Wiring Diagram to the connector X4 Specifications of the Connector CN X5 Connector at driver side Connecter to be prepared...

Page 60: ...n the servo driver Connector plug sirial external signal MUF PK10K X by J S T Mfg Co Ltd Caution 1 The manufacturers applicable external scales for this product are as follows Mitutoyo Corp Sony Manufacturing Systems Corp For the details of the external scale product contact each company 2 Recommended external scale ratio is 1 40 External scale ratio 160 If you set up the external scale ratio to s...

Page 61: ...ternal scale to be the twisted pair with bundle shielding and to hav ing the twisted core wire with diameter of 0 18mm2 2 Cable length to be max 20m Double wiring for 5V power supply is recommended when the wiring length is long to reduce the voltage drop effect 3 Connect the outer film of the shield wire of the external scale to the shield of the junction cable Also connect the outer film of the ...

Page 62: ...f Supplement 1 Refer to the Wiring Diagram below 2 Cable to be Shielded twisted pair cable with core diameter of 0 18mm2 or larger AWG24 and with higher bending resistance 3 Use twisted pair cable for corresponding signal power wiring 4 Shielding treatment Shield wall of the driver side Connect to Pin 20 FG of Connector X6 Shield wall of the motor side manufactured by JAE Small type motor 50W 750W...

Page 63: ... To avoid damage be sure to use only the screw supplied with the connector Connector pin assignment 2 5 1 3 6 4 7 Shell FG 5V 0V 1 2 3 4 5 6 4 1 3 7 Twisted pair Encoder cable Cable connector JN2DS10SL1 R by Japan Aviation Electronics Ind Motor Driver E5V E0V PS PS 9 PS PS FG E5V E0V X6 Regulator Regulator Shell FG 5V 0V 1 2 3 4 5 6 6 3 7 4 Twisted pair Encoder cable Cable connector JN6FR07SM1 by ...

Page 64: ...or pin assignment 2 5 1 3 6 4 7 Viewed from cable Shell FG 5V 0V 1 2 3 4 5 6 4 1 3 7 Twisted pair Encoder cable Cable connector JN2DS10SL1 R by Japan Aviation Electronics Ind Motor Driver E5V E0V PS PS 9 PS 5 BAT 6 BAT PS FG E5V E0V X6 Shell FG 5V 0V 1 2 3 4 5 6 6 3 7 2 5 4 Twisted pair Encoder cable Cable connector JN6FR07SM1 by Japan Aviation Electronics Ind Motor Driver E5V E0V PS PS 1 PS BAT B...

Page 65: ...of control circuit Digital monitor output DM 4 Output the digital signal for monitor NC 5 Do not connect NC 6 Do not connect Parameter rerated to monitor output Parametr No Title Function Class No 4 16 Type of analog monitor 1 Select the type of monitor for analog monitor 1 4 17 Analog monitor 1 output gain Set up the output gain of analog monitor 1 4 18 Type of analog monitor 2 Select the type of...

Page 66: ...nhibit input POT NOT or external scale input so as to decide their logic until this term The lapse time can be changed with Pr6 18 Wait time after power up Servo Ready output S RDY Servo ON input SRV ON External brake release output BRK OFF output Tr OFF output Tr ON input coupler ON input coupler OFF Control power supply L1C L2C Internal control power supply Action of driver CPU Main power supply...

Page 67: ...f Pr4 39 output ON Break release motor speed motor speed t1 1 Setup value of Pr4 38 Alarm Dynamic brake Motor energization Servo Ready output S RDY Servo Alarm output ALM External brake release output BRK OFF when time to fall below value of Pr4 39 is shorter output Tr ON not ready value of Pr4 38 Setup value of Pr4 39 when setup value of Pr4 38 is shorter approx 60ms approx 2ms 120ms or longer 1 ...

Page 68: ...equence at servo off 3 Servo ON will not be activated until the motor speed falls below approx 30r min Dynamic brake Motor energization External brake release output BRK OFF Servo ON input SEV ON approx 60ms approx 2ms approx 4ms 1 to 6ms t1 1 output Tr ON Break release input coupler OFF not energized input coupler ON released energized output Tr OFF Break engage input coupler OFF engaged 2 engage...

Page 69: ...otational speed Setup value of Pr4 39 at Servo ON at Servo OFF t1 1 t1 1 engaged OFF Servo ON OFF Action While the Motor Is in Motion Remarks Timing at emergency stop or trip Do not repeat this sequence Caution 1 t1 will be a shorter time of either the setup value of Pr4 38 Mechanical brake action at running setup or elapsing time for the motor speed to fall below Pr4 39 Brake re lease speed setup...

Page 70: ...ed components are specified to measure the brake releasing time Reactance of the cable varies depending on the cable length and it might generate surge voltage Select a surge absorber so that relay coil voltage max rating 30V 50mA and termi nal voltage may not exceed the rating Output Timing of BRK OFF Signal Note For the brake release timing at power on or braking timing at Servo OFF Servo Alarm ...

Page 71: ...more 110 or less 0 9 1470 2200 4 0kW 5 0kW 24 5 or more 4 7 80 or less 25 or less 200 1 3 1372 2900 5440 MHME 1 0kW 4 9 or more 1 35 80 or less 70 or less 200 0 59 DC2V or more 588 780 10000 1 5kW 13 7 or more 100 or less 50 or less 130 0 79 1176 1500 2 0kW to 5 0kW 24 5 or more 4 7 80 or less 25 or less 200 1 3 1372 2900 5440 MGME 900W 13 7 or more 1 35 100 or less 50 or less 130 0 79 DC2V or mor...

Page 72: ...pprox 3 minutes pause when the dynamic brake is activated during high speed run ning Over current protection Err 14 0 may be activated when the dynamic brake circuit inside the F frame amplifier has overheated You can activate the dynamic brake in the following cases 1 When the main power is turned off 2 At Servo OFF 3 When one of the protective function is activated 4 When over travel inhibit inp...

Page 73: ...Free run D B 0 Setup value of Pr5 07 1 2 3 4 5 6 7 8 9 Sequence at main power off Pr5 0 Driving condition During deceleration After stalling Contents of deviation counter D B D B Free run Free run D B D B Free run Free run D B Free run Free run D B D B Clear Clear Clear Clear Hold Hold Hold Hold Free run Free run D B 0 Setup value of Pr5 06 1 2 3 4 5 6 7 Sequence at main Servo OFF Pr5 06 Contents ...

Page 74: ...e command to inhibited direction is 0 Torque command to inhibited direction is 0 D B D B Free run Free run D B Free run Free run D B Clear Clear Clear Clear 0 Setup value of Pr5 10 1 2 3 4 5 6 7 Sequence at over travel inhibit input Pr5 10 Driving condition During deceleration After stalling Contents of deviation counter Hold Hold Hold Hold Engaged A Emergency stop Engaged B DB Engaged A Emergency...

Page 75: ...mputer will allow you to perform the following easily With the PANATERM you can execute the followings 1 Setup and storage of parameters and writing to the memory EEPROM 2 Monitoring of I O pulse input and load factor 3 Display of the present alarm and reference of the error history 4 Data measurement of the wave form graphic and bringing of the stored data 5 Normal auto gain tuning 6 Frequency ch...

Page 76: ...ng setting Parameter for Enhancing setting P 2 46 6 00 to 39 Special setting Parameter for Special setting P 2 48 The Parameter No consists of 2 digits In this document following symbols represent each mode Symbol Control mode Setup value of Pr0 01 P Position control 0 S Velocity control 1 T Torque control 2 F Full Closed control 6 P S Position 1st Velocity 2nd control 3 P T Position 1st Torque 2n...

Page 77: ...T F 4 8 0 09 1st numerator of electronic gear 0 to 230 0 P S T F 0 10 Denominator of electronic gear 0 to 230 10000 P S T F 0 11 Output pulse counts per one motor revolution 1 to 262144 2500 P r P S T F 4 9 0 12 Reversal of pulse output logic 0 to 3 0 P S T F 4 10 0 13 1st torque limit 0 to 500 500 1 P S T F 0 14 Position deviation excess setup 0 to 227 100000 Command unit P S T F 0 15 Absolute en...

Page 78: ...of position control switching 0 to 10 0 P S T F 4 15 1 16 Delay time of position control switching 0 to 10000 50 0 1ms P S T F 4 16 1 17 Level of position control switching 0 to 20000 50 P S T F 1 18 Hysteresis at position control switching 0 to 20000 33 P S T F 1 19 Position gain switching time 0 to 10000 33 0 1ms P S T F 1 20 Mode of velocity control switching 0 to 5 0 P S T F 4 17 1 21 Delay ti...

Page 79: ...S T F 2 13 Selection of damping filter switching 0 to 3 0 P S T F 2 14 1st damping frequency 0 to 2000 0 0 1Hz P S T F 2 22 2 15 1st damping filter setup 0 to 1000 0 0 1Hz P S T F 2 16 2nd damping frequency 0 to 2000 0 0 1Hz P S T F 2 17 2nd damping filter setup 0 to 1000 0 0 1Hz P S T F 2 18 3rd damping frequency 0 to 2000 0 0 1Hz P S T F 2 19 3rd damping filter setup 0 to 1000 0 0 1Hz P S T F 2 ...

Page 80: ...election 0 to 3 0 P S T F 3 16 Speed zero clamp level 10 to 20000 30 r min P S T F 3 17 Selection of torque command 0 to 2 0 P S T F 4 28 3 18 Torque command direction selection 0 to 1 0 P S T F 3 19 Input gain of torque command 10 to 100 30 0 1V 100 P S T F 3 20 Input reversal of torque command 0 to 1 0 P S T F 3 21 Speed limit value 1 0 to 20000 0 r min P S T F 4 29 3 22 Speed limit value 2 0 to...

Page 81: ...Type of analog monitor 1 0 to 21 0 P S T F 4 35 4 17 Analog monitor 1 output gain 0 to 214748364 0 P S T F 4 18 Type of analog monitor 2 0 to 21 4 P S T F 4 19 Analog monitor 2 output gain 0 to 214748364 0 P S T F 4 20 Type of digital monitor 0 to 3 0 P S T F 4 21 Analog monitor output setup 0 to 2 0 P S T F 4 37 4 22 Analog input 1 AI1 offset setup 5578 to 5578 0 0 366mV P S T F 4 23 Analog input...

Page 82: ... mode P position control S velocity control T torque control F full closed control Class 5 Enhancing setting Parametr No Title Range Default Unit Attribute Related Control Mode Detail page Class No A B frame C frame D E F frame INI RO P S T F 5 00 2nd numerator of electronic gear 0 to 230 0 P S T F 4 43 5 01 3rd numerator of electronic gear 0 to 230 0 P S T F 5 02 4th numerator of electronic gear ...

Page 83: ... positive direction torque limit 0 to 500 500 1 P S T F 5 26 External input negative direction torque limit 0 to 500 500 1 P S T F 4 49 5 27 Input gain of analog torque limit 10 to 100 30 0 1V 100 P S T F 5 28 LED initial status 0 to 35 1 P S T F 5 29 RS232 baud rate setup 0 to 6 2 P S T F 5 30 RS485 baud rate setup 0 to 6 2 P S T F 4 50 5 31 Axis address 0 to 127 1 P S T F 5 32 Command pulse inpu...

Page 84: ...7 0 pulse P S T F 6 20 Z phase setup of external scale 0 to 400 0 μs P S T F 4 54 6 21 Serial absolute external scale Z phase setup 0 to 228 0 pulse P S T F 6 22 A B phase external scale pulse output method selection 0 to 1 0 P S T F 6 23 Disturbance torque compensating gain 100 to 100 0 P S T F 6 24 Disturbance observer filter 10 to 2500 53 0 01ms P S T F 6 27 Alarm latch time selection 0 to 10 5...

Page 85: ...the max motor torque You need to reset the torque limiting setup to the upper limit because the upper limit value might be different from the previous motor see e g 2 e g 1 Pr0 13 Setup range 0 to 300 Setup value 100 before replacing the motor Rated torque 0 64N m Rated torque 0 32N m MADHT1507 MSME022S1A Pr0 13 Setup range Change to 0 to 300 Setup value Keep 100 after replacing the motor MADHT150...

Page 86: ...olution M as approx 1 5 to 1 10 of the machine positioning ac curacy ε considering a mechanical error 2 Set up Pr0 09 and Pr0 10 to any values between 1 to 230 3 You can set up any values to a numerator and denominator however action by an ex treme division ratio or multiplication ratio cannot be guaranteed Recommended range is 1 1000 to 1000 times 4 2n Decimal 2n Decimal 20 1 211 2048 21 2 212 40...

Page 87: ...min N F 60 E D 50 60 750 22 1 500000 60 10000 1 215 ΔM L E D 217 1 1 1 R 1 20 3750 215 D 500000 60 2000 217 30000000 2000 217 30000000 262144000 22 20 3750 1 0 00133mm 3750 4 20 217 1 Lead of ball screw L 10mm Gear reduction ratio R 1 Position resolution ΔM 0 005mm Encoder 17 bit E 217 P r Lead of ball screw L 20mm Gear reduction ratio R 1 Position resolution ΔM 0 0005mm Encoder 17 bit E 217 P r L...

Page 88: ...r Display LED 6 digit Switch to error display screen when error occurs and LED will flash about 2Hz LED will flash slowly about 1Hz when warning occurs Mode switching button valid at SELECTION display Press this to switch 4 kinds of mode 1 Monitor Mode 2 Parameter Set up Mode 3 EEPROM Write Mode 4 Auxiliary Function Mode SET Button valid at any time Press this to switch SELECTION and EXECUTION dis...

Page 89: ...0 Overload protection Load factor is 85 or more the protection level A1 Over regeneration alarm Regenerative load factor is 85 or more the protection level A2 Battery alarm Battery voltage is 3 2 V or lower A3 Fan alarm Fan has stopped for 1 sec A4 Encoder communication alarm The number of successive encoder communication errors exceeds the specified value A5 Encoder overheat alarm The encoder det...

Page 90: ...y function mode Mode switching button Mode switching button Mode switching button SET button P 2 57 P 2 74 P 2 72 P 2 73 SELECTION display Note Caution You can change the flashing decimal point with then shift the digit for data change On power up the monitor mode executed is displayed according to the setup of Pr5 28 LED initial status 2 Preparation 15 How to Use the Front Panel Structure of Each...

Page 91: ...refer to P 4 2 Parameter setup P 2 58 to 69 P 2 73 P 2 77 Trial run JOG P 2 76 Auto offset adjustment AI1 to 3 P 2 75 Alarm clear P 2 79 Clear of absolute encoder P 2 80 Initialization of parameter SET button SET button SET button SET button P 2 81 Release of front panel lock EXECUTION display 15 How to Use the Front Panel Structure of Each Mode ...

Page 92: ...Function Class No 5 35 Setup of front panel lock Locks the operation attempted from the front panel Lock and unlock can be made in one of two ways Procedure Front panel Setup support software PANATERM Lock 1 Set Pr5 35 Front panel lock to 1 and writ the setting to EEPROM 2 Turn on power to the driver 3 The front panel is locked Unlock 1 Execute the auxiliary function mode front panel lock release ...

Page 93: ...errors monitor Communication axis address Encoder positional deviation Encoder unit External scale deviation External scale unit Hybrid deviation Command unit Voltage across PN V Software version Driver serial number Motor serial number Accumulated operation time Automatic motor recognizing function Driver temperature Safety condition monitor Motor speed Positional command speed Velocity control c...

Page 94: ...nd High order H press 2 Display of motor speed positional command speed velocity control command and torque command Displays the motor speed r min Motor speed r min Displays positional command speed r min Positional command speed r min Displays velocity control command r min Velocity control command r min Displays torque command Torque command 2 Preparation 15 How to Use the Front Panel Monitor Mo...

Page 95: ...High order Command Pulse Sum Command Pulse Sum Command Pulse Low order High order External Scale Feedback Pulse Sum External Scale Feedback Pulse Sum To switch between Low order L and High order H press To switch between Low order L and High order H press To switch between Low order L and High order H press 4 Display of Control Mode Position control mode Velocity control mode Torque control mode F...

Page 96: ... be monitored by pressing Shift the flashing decimal point with Select In or Out by pressing or button Right side of decimal point Pin No selection Left side of decimal point Input Output Pin No selection Lowest place Pin No of output signal Highest place Pin No of input signal 15 How to Use the Front Panel Monitor Mode EXECUTION display Note For detail of input output signal refer to P3 30 Inputs...

Page 97: ...Value 15 How to Use the Front Panel Monitor Mode EXECUTION display Analog input 1 value unit V Analog input 2 value unit V Analog input 3 value unit V Input signal Input voltage value V Select the signal No to be monitored by pressings Displays the value after offset correction Caution Voltage exceeding 10V can not be displayed correctly ...

Page 98: ...ata error protection 24 0 Position deviation excess protection 1 Velocity deviation excess protection 25 0 Hybrid deviation excess error protection 26 0 Over speed protection 1 2nd over speed protection 27 0 Command pulse input frequency error protection 2 Command pulse multiplier error protection 28 0 Limit of pulse replay error protection 29 0 Deviation counter overflow protection 30 0 Safety de...

Page 99: ...o 2 EEPROM check code error protection 38 0 Over travel inhibit input protection 39 0 Analog input1 excess protection 1 Analog input2 excess protection 2 Analog input3 excess protection 40 0 Absolute system down error protection 41 0 Absolute counter over error protection 42 0 Absolute over speed error protection 43 0 Initialization failure 44 0 Absolute single turn counter error protection 45 0 A...

Page 100: ...e expectancy of capacitor or fan is short Fixed at A8 External scale error alarm The feedback scale detects the alarm 1 to 10s or A9 External scale communication alarm The number of successive feedback scale communication errors exceeds the specified value 1 to 10s or 1 Alarms can be cleared by using the alarm clear Because the all existing alarms are kept cleared while the alarm clear input A CLR...

Page 101: ...ratio against the alarm trigger level of regenerative protection This is valid when Pr0 16 External regenerative resistor setup is 0 or 1 Displays the ratio against the rated load Refer to P 6 13 Overload Protection Time Characteristics of When in Trouble Displays the inertia ratio Value of Pr0 04 Inertia Ratio will be displayed as it is 15 How to Use the Front Panel Monitor Mode EXECUTION display...

Page 102: ...mand pulse inhibition input is valid and INH is open 07 Command pulse input frequency is low P S T F The position command per each control cycle is 1 pulse or smaller due to No correct entry of command pulse No correct connection to the input selected with Pr0 05 No matching to input status selected with Pr0 06 pr Pr0 07 08 CL input is valid P S T F While Pr5 17 is 0 Deviation counter clear at lev...

Page 103: ...e number of changes on that pin should be displayed by pressing or button The switch of input output by pressing or button Left side of decimal point Pin No selection Right side of decimal point Input Output Pin No selection Lowest place Pin No of output signal Highest place Pin No of input signal Shift the flashing decimal point with 12 Display of absolute encoder data Encoder data One revolution...

Page 104: ... order Absolute external scale position High order Select encoder or external scale by pressing or button 14 Display of No of encoder external scale communication errors monitor No of communication errors Select encoder or external scale by pressing or button Encoder External scale 15 Display of communication axis address Displays the value set to Pr5 31 Axis address 16 Display of encoder position...

Page 105: ...y of hybrid deviation Command unit Hybrid deviation Command unit Low order High order To switch between Low order L and High order H press 19 Display of voltage across PN V Displays the voltage across PN V only for reference not an instrument 20 Display of Software Version Displays the software version of the driver Example of display Ver 1 00 21 Display of driver serial number Driver serial numbe...

Page 106: ...h order H press or Example of display Serial number 09040001 23 Display of accumulated operation time Displays accumulated operation time h Low order High order To switch between Low order L and High order H press 24 Automatic Motor Recognizing Function Automatic recognition is valid Automatic recognition is invalid 25 Display of driver temperature Displays the driver temperature Only for referenc...

Page 107: ...dition monitor Safety condition Servo off condition Servo on condition Alarm condition Servo ready condition OFF Dot unlit ON Dot lit Flashing Normal change is possible Dot information Select desired monitor option by pressing or button Input photocoupler OFF Input photocoupler ON Input photocoupler OFF Input photocoupler ON Output photocoupler OFF Output photocoupler ON Related page P 7 2 safety ...

Page 108: ...nd the driver internal parameter value is kept unchanged and the display returns to the parameter number display screen After changing the parameter value and pressing the content will be reflected in the control Do not extremely change the parameter value which change might affect the motor movement very much especially velocity loop or position loop gains Mode switch button Mode switch button Pr...

Page 109: ... EXECUTION display Mode switch button Mode switch button Writing completes Writing error Starts writing SELECTION display EEPROM Writing SELECTION display Parameter Setup Mode SELECTION display Auxiliary Function Mode EXECUTION display Note Caution 1 When writing error occurs make writing again If the writing error repeats many times this might be a failure 2 Don t turn off the power during EEPROM...

Page 110: ... Absolute Encoder Initialization of parameter Initialization of parameter A1 Automatic Offset Adjustment A2 Automatic Offset Adjustment A3 Automatic Offset Adjustment Trial Run Clearing of Absolute Encoder Alarm Clear Release of front panel lock Release of front panel lock SELECTION display Auxiliary Function Mode SELECTION display EEPROM Writing SELECTION display Monitor Mode EXECUTION display Di...

Page 111: ...ng return to SELECTION display referring to structure of each mode P2 54 SET button Keep pressing until the display changes to when you execute alarm crear Alarm clear completes Clear is not finished Release the error by resetting the power Alarm clear starts Clearing finishes SELECTION display EXECUTION display increases while keep pressing for approx 5sec as the right fig shows Press to call for...

Page 112: ...afterward After completion of the automatic offset adjustment return to SELECTION display by referring to P 2 54 Structure of Each Mode When you execute automatic offset adjustment make command input to 0V then keep pressing until the display changes to Press to call for EXECUTION display SET button Automatic offset adjustment finishes Automatic offset adjustment starts Example of Analog input1 AI...

Page 113: ...wer input and motor output Short or grounded Loose connection 2 Confirmation of power supply and voltage Rated voltage 3 Fixing of the servo motor Unstable mounting 4 Separation from the mechanical system 5 Release of the brake 6 Turn to Servo OFF after finishing the trial run by pressing 1 Inspection on wiring Miswiring Especially power input and motor output Short or grounded Loose connection 2 ...

Page 114: ...r finished trial running return to SELECTION display referring to structure of each mode P 2 54 Keep pressing approx 5 sec to shift the decimal point toward left as the left fig shows Then keep pressing until the display of LED changes to Not a servo ready status Shuts off the main when error occurs After the Servo ON of preparation step 2 for trial run the motor runs at the preset speed with Pr6 ...

Page 115: ...ted Clearing of absolute encoder starts Clearing finishes Press to call for EXECUTION display SET button SELECTION display EXECUTION display increases while keep pressing for approx 5sec as the right fig shows Keep pressing until the display changes to when you execute Clearing of Absolute Encoder Note After clearing of absolute encoder finishes return to SELECTION display referring to struc ture ...

Page 116: ...s Keep pressing until the display changes to when you execute Initialization of parameter Caution Parameter cannot be initialized when one of the following error occurs Err11 0 Under voltage protection of control power supply EEPROM related errors Err36 0 Err36 1 Err36 2 Err37 0 Err37 1 and Err37 2 initialization will result in Error display 15 How to Use the Front Panel Auxiliary Function Mode EX...

Page 117: ... lock Release finishes Press to call for EXECUTION display SET button SELECTION display EXECUTION display increases while keep pressing for approx 5sec as the right fig shows Keep pressing until the display changes to when you execute Release of front panel lock 15 How to Use the Front Panel Auxiliary Function Mode EXECUTION display Note After release of front panel lock finishes return to SELECTI...

Page 118: ...2 82 MEMO ...

Page 119: ... Control Mode 3 12 2 Control Block Diagram Position Control Mode 3 14 Velocity Control Mode 3 15 Torque Control Mode 3 16 Full closed Control Mode 3 17 3 Wiring Diagram to the connector X4 Example of control mode specific wiring 3 18 Connecting Example to Host Controller 3 19 4 Inputs and outputs on connector X4 Interface Circuit Input 3 28 Interface Circuit Output 3 30 Input Signal and Pin No 3 3...

Page 120: ...ut Input 2 can also be used without changing the allowable input frequency Relevant parameters Parameter No Title Range Function Pr0 05 Selection of command pulse input 0 to 1 You can select either the photo coupler input or the exclusive input for line driver as the command pulse input Pr0 06 Command pulse rotational direction setup 0 to 1 Sets the counting direction when command pulse is input P...

Page 121: ...ses that causes single turn of the motor shaft Pr0 09 1st numerator of electronic gear 0 to 1073741824 Set the numerator of division multiplication operation made according to the command pulse input Pr0 10 Denominator of electronic gear 1 to 1073741824 Set the Denominator of division multiplication operation made according to the command pulse input For details of these parameters refer to P 4 8 ...

Page 122: ...et to a value other than 0 and the dividing ratio can be set by setting numerator of division to Pr0 11 and denominator of division to Pr5 03 Pr5 33 Pulse regenerative output limit setup 0 to 1 Enable disable detection of Err28 0 Pulse regenerative limit protection Pr6 20 Z phase setup of external scale 0 to 400 μs Set up the Z phase regenerative width of feedback scale in unit of time Pr6 21 Seri...

Page 123: ...tioning complete output setup 13 Pr4 42 2nd Positioning complete In position range 0 to 262144 Command unit Set up the timing of positional deviation at which the positioning complete signal INP2 is output For details of these parameters refer to P 4 38 and 41 Details of parameter Note 7 Command pulse inhibition INH function The command pulse input counting process can be forcibly terminated by us...

Page 124: ...000 r min V Based on the voltage applied to the analog speed command SPR set up the conversion gain to motor command speed Pr3 03 Reversal of speed command input 0 to 1 Specify the polarity of the voltage applied to the analog speed command SPR Pr4 22 Analog input 1 AI1 offset setup 5578 to 5578 0 359mV Set up the offset correction value applied to the voltage fed to the analog input 1 Pr4 23 Anal...

Page 125: ... to 3rd Pr3 07 4th speed of speed setup Set up internal command speeds 1st to 4th Pr3 08 5th speed of speed setup Set up internal command speeds 1st to 5th Pr3 09 6th speed of speed setup Set up internal command speeds 1st to 6th Pr3 10 7th speed of speed setup Set up internal command speeds 1st to 7th Pr3 11 8th speed of speed setup Set up internal command speeds 1st to 8th For details of these p...

Page 126: ...celeration instruction in the driver to the input speed command Using this function you can use the soft start when inputting stepwise speed command or when using internal speed setup You can also use S shaped acceleration decelera tion function to minimize shock due to change in speed Relevant parameters Parameter No Title Range Unit Function Pr3 12 Acceleration time setup 0 to 10000 ms 1000r min...

Page 127: ... 16 bit resolution 2 Selection of torque command 3 Analog input 1 1 AI1 16 bit resolution Parameter value Pr3 25 Pr3 26 1 For Pr0 01 Control mode setup 5 velocity torque control the torque command input is the analog input 2 AI2 12 bit resolution For details of these parameters refer to P 4 28 Details of parameter Selection of torque command 1 3 Selection of torque command2 Servo driver Host contr...

Page 128: ...he voltage fed to the analog input 1 Pr4 23 Analog input 1 AI1 filter 0 to 6400 0 01ms Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 1 Relevant parameters Selection of torque command 2 Parameter No Title Range Unit Function Pr3 18 Torque command direction selection 0 to 1 Select the direction positive negative direction of ...

Page 129: ... the speed limit used for torque controlling Pr3 22 Speed limit value 2 0 to 20000 r min Pr3 15 Speed zero clamp function selection 0 to 3 You can set up the function of the speed zero clamp input Relevant parameters Selection of torque command 2 Parameter No Title Range Unit Function Pr3 02 Input gain of speed command 10 to 2000 r min V Based on the voltage applied to the analog speed command SPR...

Page 130: ...tion due to the ball screw error or temperature and you can expect to achieve a very high precision positioning in sub micron order Controller Position command Speed detection Position detection External scale We recommend the external scale division ratio of External scale division ratio 160 1 40 3 1 Outline of mode Connection Full closed Control Mode Related page P 3 17 Control Block Diagram P 3...

Page 131: ...ale selection 0 to 2 Select the type of external scale Pr3 26 Reversal of direction of external scale 0 to 1 Reverse the direction of external scale feedback counter For details of these parameters refer to P 4 29 and 30 Details of parameter Note 2 Setup of external scale division ratio Set up the division ratio of encoder resolution and external scale resolution Relevant parameters Parameter No T...

Page 132: ...ad Main power supply Encoder Velocity feed forward 1 10 Gain 1 11 Filter Torque feed forward 1 12 Gain 1 13 Filter Position control 1 00 1st 1 05 2nd Current control Speed detection 6 11 Response setup Torque filter 1 04 1st 1 09 2nd Disturbance observer 6 23 Gain 6 24 Filter Speed detection filter 1 03 1st 1 08 2nd 6 10 Instantaneous speed Torque limit 5 21 Selection 0 13 1st 5 22 2nd Pulse regen...

Page 133: ...d Sum of feedback pulses Encoder pulse Motor speed r min 1 12 1 13 2nd setup Mode Delay time Level Hysteresis additional value Positive direction Negative direction Torque feed forward Gain Filter Notch filter 2 01 1st Frequency Depth 2 04 2 02 2 05 2nd 2 10 2 11 2 00 Width 2 03 2 06 2 07 2 08 3rd 2 09 2 12 4th Adaptive mode setup Main power supply Torque filter 1 04 1st 1 09 2nd Disturbance obser...

Page 134: ...3 22 Limit value 2 Speed limit selection 3 17 Command selection Sign Absolute value Offset Filter Gain Reversal Current control 6 11 Main power supply Torque limit 5 21 Selection 0 13 1st 5 22 2nd Torque command Response setup Pulse regeneration Pulses output OA OB OZ Numerator Denominator 0 11 One revolution 0 12 Reversal 5 03 Denomi nator Velocity detection filter 1 03 1st 1 08 2nd 6 10 Instanta...

Page 135: ... 2 16 2 18 2 20 2 15 2 17 2nd 2 19 2 21 3rd 4th Smoothing filter Gain switching 1 14 2nd setup 1 15 Mode 1 16 Delay time 1 17 Level 1 18 Hysteresis 1 19 Switching time 6 05 3rd setup 6 06 Scale factor 2 22 FIR 2 23 Primary delay Friction compensation 6 07 6 08 6 09 additional value Positive direction Negative direction Torque feed forward 1 12 Gain 1 13 Filter Velocity feed forward 1 10 Gain 1 11 ...

Page 136: ...ibition input Negative direction over travel inhibition input Servo Ready output Servo Alarm output Positioning complete output External brake release output Torque in limit output Zero speed detection output Deviation counter clear input Command pulse inhibition input 7 4 7kΩ COM OA OA OB OB OZ OZ GND CZ SPR TRQR SPL GND P ATL TRQR GND N ATL SP IM 21 22 48 24 25 19 49 23 1kΩ 1kΩ INTSPD1 INTSPD2 S...

Page 137: ... Damping control switching input 1 Alarm clear input Positive direction over travel inhibition input Negative direction over travel inhibition input Servo Ready output Servo Alarm output Positioning complete output External brake release output Torque in limit output Zero speed detection output Deviation counter clear input Command pulse inhibition input 7 4 7kΩ COM OA OA OB OB OZ OZ GND CZ SPR TR...

Page 138: ...o PLC I O input A1 B1 A2 B2 A4 B3 A7 B7 B4 A5 A6 B6 A20 B20 220Ω 220Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω CW limit sensor Origin proximity sensor CCW limit sensor 390Ω 3 6kΩ 6 8kΩ GND 24V DC24V Power supply Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive d...

Page 139: ...7Ω 4 7Ω 560Ω 6 8kΩ FG FG 24VDC GND to PLC I O input A1 B1 A2 B2 A4 B3 A7 B7 B4 A5 A19 B19 A20 B20 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Gain switching input CW pulse command output CCW pulse command output Origin input Devia...

Page 140: ...input 2 Gain switching input 50 3 4 5 6 23 24 13 25 7 30 29 27 31 9 8 35 34 37 36 39 38 41 FG PULS1 PULS2 SIGN1 SIGN2 OZ OZ GND COM CL SRV ON GAIN A CLR POT NOT S RDY S RDY ALM ALM INP INP COM 220Ω 220Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω FG FG 24VDC GND A1 B1 A2 B2 A4 B3 A7 B7 B4 A5 A19 B19 A20 B20 220Ω 1 6Ω A5 series FP2 PP2 AFP2430 Panasonic Electric Works to PLC I O input CW limit sensor Origin prox...

Page 141: ...S RDY S RDY ALM ALM INP INP COM 220Ω 220Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω A5 series FPG C32T Panasonic Electric Works from PLC I O output to PLC I O input GND 24V DC24V Power supply Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input...

Page 142: ...Ω Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain switching input from PLC I O output to PLC I O input GND 24V DC24V Power supply GND 5V DC5V Power supply CCW limit sensor Origin proximi...

Page 143: ... 7 4kΩ 7 4kΩ 7 4kΩ A5 series F3NC32 ON F3NC34 ON Yokogawa Electric Corp from PLC I O output to PLC I O input GND 24V DC24V Power supply Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain sw...

Page 144: ...Ω 1 6kΩ A5 series CJ1W NC113 Omron Corp from PLC I O output to PLC I O input GND 24V DC24V Power supply Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain switching input Driver PLC CCW lim...

Page 145: ...Ω 4 7kΩ 4 7kΩ A5 series CJ1W NC133 Omron Corp Driver PLC A5 series CJ1W NC113 Omron Corp from PLC I O output to PLC I O input Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain switching in...

Page 146: ...series QD75D1 Mitsubishi Electric Corp from PLC I O output to PLC I O input GND 24V DC24V Power supply Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain switching input Driver PLC CW limit...

Page 147: ... CW X axis limit switch CCW X axis CW X sxis deviation counter clear X axis CCW 1 3 4 14 15 16 19 26 36 40 2kΩ 2kΩ 4 3kΩ 4 3kΩ 4 3kΩ 1 2kΩ A5 series KV 5000 3000 keyence Corp from PLC I O output to PLC I O input GND 24V DC24V Power supply Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative dir...

Page 148: ...is to secure the signal transmission 2 Open collector I F Input pulse frequency max 200kpps The method which uses an external control signal power supply VDC Current regulating resistor R corresponding to VDC is required in this case Connect the specified resister as below R should be placed close to the driver for effective noise reduction 3 Open collector I F Input pulse frequency max 200kpps Co...

Page 149: ...6 and N ATL Pin 18 Max permissible input voltage to each input is 10V For input impedance of each input refer to the right Fig When you compose a simple command circuit using variable resistor VR and register R connect as the right Fig shows When the variable range of each input is made as 10V to 10V use VR with 2kW B characteristics 1 2W or larger R with 200W 1 2W or larger A D converter resoluti...

Page 150: ...mmon to side of the control power supply COM If a recommended primary current value of the photo coupler is 10mA decide the resistor value using the formula of the right Fig PO1 Line driver Differential output output Related control mode P S T F Feeds out the divided encoder outputs A B and Z phase in differential through each line driver At the host side receive these in line receiver Install a t...

Page 151: ...gnal output SP and the torque monitor signal output IM Output signal width is 10V The output impedance is 1kΩ Pay an attention to the input impedance of the measuring instrument or the external circuit to be connected Resolution 1 Speed monitor output SP With a setup of 6V 3000r min the resolution converted to speed is 8r min 16mV 2 Torque monitor output IM With a relation of 3V rated torque 100 t...

Page 152: ...trol mode P S T F Symbol COM I F circuit Connect of the external DC power supply 12 to 24V Use the power supply voltage of 12V 5 24V 5 Pin No 41 Title of signal Power supply for control signal Related control mode P S T F Symbol COM I F circuit Connect of the external DC power supply 12 to 24V The power capacity varies depending on a composition of I O circuit 0 5A or more is recommended ...

Page 153: ... with Pr0 06 Setup of command pulse rotational direction and Pr0 07 Setup of command pulse input mode For details refer to the table next page Command pulse input format Pulse train interface supports both line driver and open collector Pin No 1 3 4 Title of signal Command pulse input 2 Related control mode P S T F Symbol Pin No 1 OPC1 Pin No 3 PULS1 Pin No 4 PULS2 I F circuit PI1 3 30 page Pin No...

Page 154: ... 06 setup value Command pulse rotational direction setup Pr0 07 setup value Command pulse input mode setup Signal title Positive direction command Negative direction command Command pulse format 0 or 2 0 1 3 0 or 2 1 1 3 PULS SIGN PULS SIGN PULS SIGN PULS SIGN PULS SIGN PULS SIGN 90 phase difference 2 phase pulse A B phase Positive direction pulse train Negative direction pulse train pulse train S...

Page 155: ... GAIN a contact Symbol SI4 Pin No 28 Title of signal SI5 input Pr4 04 0000100Ch 4108 DIV1 b contact INTSPD3 b contact Symbol SI5 Pin No 29 Title of signal SI6 input Pr4 05 00030303h 197379 SRV ON a contact SRV ON a contact SRV ON a contact Symbol SI6 Pin No 30 Title of signal SI7 input Pr4 06 00000f07h 3847 CL a contact INTSPD2 a contact Symbol SI7 Pin No 31 Title of signal SI8 input Pr4 07 000404...

Page 156: ...t input The operation with this input turned ON is set up in Pr5 04 Setup of over travel inhibit input When using this function set Pr5 04 Setup of over travel inhibit input to a value other than 1 so that the input is ON when the moving portion of the machine exceeds this signal range toward negative direction Title of signal Deviation counter clear input Related control mode P S T F Symbol CL De...

Page 157: ...e an error Title of signal Electronic gear division multiplication switching input 1 Related control mode P S T F Symbol DIV1 Default assignment SI5 I F circuit SI 3 30 page Title of signal Electronic gear division multiplication switching input 2 Related control mode P S T F Symbol DIV2 Default assignment I F circuit SI 3 30 page Up to 4 numerators can be used for command dividing multiplying by ...

Page 158: ...cting new torque limit can be changed When changing from the 1st torque limit to 2nd torque limit the changing rate slope set at Pr5 23 Torque limit selection setup 1 is applied after changing from the 2nd torque limit to 1st torque limit the changing rate slope set at Pr5 24 Torque limit selection setup 2 is applied The sign of the changing rate is automatically selected by the driver according t...

Page 159: ...ternal command speed INTSPD3 Selection of speed command 1 OFF OFF No effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON 4th speed 2 OFF OFF No effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON Analog speed command 3 The same as Pr3 00 1 OFF 1st to 4th speed OFF OFF ON 5th speed ON OFF ON 6th speed OFF ON ON 7th speed ON ON ON 8th speed Title of signal Speed zero clamp input Related co...

Page 160: ...ons Pin No 16 Title of signal Positive direction Torque limit input Related control mode P S T F Symbol P ATL I F circuit AI 3 31 page Pin No 18 Title of signal Negative direction Torque limit input Related control mode P S T F Symbol N ATL I F circuit AI 3 31 page Specify the torque limit for each direction value by the analog voltage Pr5 21 Positive direction Torque limit input P ATL Negative di...

Page 161: ...e 10 to 0V No effect Positive direction 1 No effect Voltage 0 to 10V OFF Positive direction Voltage 10 to 0V Voltage 0 to 10V ON Negative direction Voltage 10 to 0V Pin No 14 16 Title of signal Torque command input Related control mode P S T F Symbol TRQR I F circuit AI 3 31 page Input the torque command in the form of analog voltage When Pr3 19 Torque command selection 0 pin No 14 When Pr3 19 Tor...

Page 162: ...n No 40 Title of signal SO6 output Pr4 15 00060606h 394758 TLC TLC TLC Symbol SO6 Note The function is changed by the setting of parameter See Functions assignable to control output as shown below 1 Fixed ALM output No function assigned Function allocatable to control input Title of signal Servo Alarm output Related control mode P S T F Symbol ALM Default assignment SO3 I F circuit SO1 3 32 page T...

Page 163: ...ontrol mode P S T F Symbol AT SPPED Default assignment SO4 I F circuit SO1 3 32 page Outputs thespeed arrival signal Turns ON the output transistor upon arrive of speed Title of signal Torque in limit signal output Related control mode P S T F Symbol TLC Default assignment SO6 I F circuit SO2 3 32 page Outputs thetorque in limit signal Turns ON the output transistor upon limit of torque Title of s...

Page 164: ...e detects the alarm 9 bit8 A9 External scale communication alarm The number of successive feedback scale communication errors exceeds the specified value 10 bit10 1 The circle means that a time in the range 1 to 10s or no time limit can be selected through Pr6 27 Warning latching time Note that the battery warning and the end of life warning have no time limit 2 Select the warning output signal 1 ...

Page 165: ... line driver of output circuit is connected to signal ground GND and is not insulated Max output frequency is 4Mpps after quadrupled Pin No 19 Title of signal Z phase output Related control mode P S T F Symbol CZ I F circuit PO1 3 32 page Open collector output of Z phase signal The emitter side of the transistor of the output circuit is connected to the signal ground GND and is not insulated Note ...

Page 166: ...og monitor 2 type The output signal is identical to the analog monitor 2 on the front monitor Pin No 43 Title of signal Speed monitor output Related control mode P S T F Symbol SP I F circuit AO 3 33 page Definition of the output signal varies with the output of Pr4 16 analog monitor 1 type The output signal is identical to the analog monitor 1 on the front monitor 4 Inputs and outputs on connecto...

Page 167: ...gnals Others and Their Functions Pin No 13 15 17 25 Title of signal Signal ground Related control mode P S T F Symbol GND I F circuit Signal ground This output is insulated from the control signal power COM inside of the driver Pin No 50 Title of signal Frame ground Related control mode P S T F Symbol FG I F circuit This output is connected to the earth terminal inside of the driver ...

Page 168: ...3 50 MEMO ...

Page 169: ...c setting 4 4 Class 1 Gain adjustment 4 12 Class 2 Damping control 4 19 Class 3 Verocity Torque Full closed control 4 24 Class 4 I F monitor setting 4 32 Class 5 Enhancing setting 4 42 Class 6 Special setting 4 51 2 Trial Run JOG run Inspection Before Trial Run 4 56 Trial Run by Connecting the Connector CN X4 4 57 Setup of Motor Rotational Speed and Input Pulse Frequency 4 62 ...

Page 170: ...T F 25 Delay time of torque control switching P S T F 26 Level of torque control switching P S T F 27 Hysteresis at torque control switching P S T F Class 2 00 Adaptive filter mode setup 4 19 P S T F 01 1st notch frequency P S T F 02 1st notch width selection P S T F 03 1st notch depth selection P S T F 04 2nd notch frequency Related Control Mode Parametr No Title Detail page P S T F Class No P S ...

Page 171: ...ection time of main power off P S T F 10 Sequence at alarm P S T F 11 Torque setup for emergency stop 4 46 P S T F 12 Over load level setup Related Control Mode Parametr No Title Detail page P S T F Class No P S T F Class 5 Enhancing setting 13 Over speed level setup 4 46 P S T F 14 Motor working range setup P S T F 15 I F reading filter P S T F 16 Alarm clear input setup P S T F 17 Counter clear ...

Page 172: ...rection drive inhibit input Negative direction drive inhibit input 0 Positive direction CW Valid Negative direction CCW Valid 1 Positive direction CCW Valid Negative direction CW Valid Pr0 01 Title Control mode setup Related control mode P S T F Range 0 to 6 Unit Default 0 You can set up the control mode to be used Setup value Content 1st mode 2st mode 0 Position 1 Velocity 2 Torque 3 1 Position V...

Page 173: ...when the belt driving axis has high friction 5 Load characteristic measurement Estimate the load characteristics without changing current parameter setting This mode requires use of the setup support software 6 Customize 4 Functions of real time auto gain tuning can be customized to meet the requirements of the specific application by combining desired functions according to the Pr6 32 Real time a...

Page 174: ...ger and when the inertia ratio of Pr0 04 is smaller than the actual the setup unit of the velocity loop gain becomes smaller Pr0 05 Title Selection of command pulse input Related control mode P S T F Range 0 to 1 Unit Default 0 You can select either the photo coupler input or the exclusive input for line driver as the command pulse input Setup value Content 0 Photo coupler input PULS1 PULS2 SIGN1 ...

Page 175: ... necessary time width μs t2 0 125 1 2 5 t3 0 125 1 2 5 t4 0 125 1 2 5 t5 0 125 1 2 5 t6 0 125 1 2 5 Permissible max input frequency and min necessary time width of command pulse input signal Make the rising falling time of the command pulse input signal to 0 1μs or smaller The table below shows combinations of Pr0 06 Command pulse rotational direction setup and Pr0 07 Command pulse input mode setu...

Page 176: ...e Denominator of division multiplication operation made according to the command pulse input This setup is enabled when Pr0 08 command pulse counts per one motor revolution 0 Pr0 08 Pr0 09 Pr0 10 Command division multiplication operation 1 to 1048576 Not effect Not effect Encoder resolution Pr0 08 setup value Command pulse input Positional command Regardless of setup of Pr0 09 and Pr0 10 this oper...

Page 177: ...Pr0 11 setup value Pr5 03 setup value Encoder resolution Combination of Pr0 11 Output pulse counts per one motor revolution and Pr5 03 Denominator of pulse output division Pr0 11 Pr5 03 Pulse reproducing process 1 to 262144 0 When the output source is encoder Pr0 11 setup value 4 Encoder resolution Encoder pulse pulse Output pulse pulse When Pr5 03 0 the above process is made according to Pr0 11 s...

Page 178: ...T F Range 0 to 500 Unit Default 500 Note You can set up the limit value of the motor output torque For details of torque limit value refer to P 2 49 Pr0 14 Title Position deviation excess setup Related control mode P S T F Range 0 to 227 Unit Command unit Default 100000 Set excess range of positional deviation by the command unit default Setup unit can be changed to encoder unit through Pr5 20 pos...

Page 179: ... triggered 3 A B frame No resistor Both regenerative processing circuit and regenerative protection are not activated and built in capacitor handles all regenerative power Install an external protection such as thermal fuse when you use the external regenerative resistor Otherwise the regenerative resistor might be heated up abnormally and result in burnout regardless of validation or invalidation...

Page 180: ...ller the setup faster you can dog in deviation at stall to 0 The integration will be maintained by setting to 9999 The integration effect will be lost by setting to 10000 Pr1 03 Title 1st filter of speed detection Related control mode P S T F Range 0 to 5 Unit Default 0 You can set up the time constant of the low pass filter LPF after the speed detection in 6 steps Higher the setup larger the time...

Page 181: ...tails of switching the 1st and the 2nd gain or the time constant refer to P 5 17 Gain Switching Function of Adjustment The function and the content of each parameter is as same as that of the 1st gain and time constant Pr1 10 Title Velocity feed forward gain Related control mode P S T F Range 0 to 1000 Unit 0 10 Default 300 Multiply the velocity control command calculated according to the internal...

Page 182: ...ecome effective as the torque feed forward gain is gradually increased with the torque feed forward filter is set at approx 50 0 5 ms Positional deviation at a constant acceleration deceleration can be minimized close to 0 by increasing the torque forward gain This means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern und...

Page 183: ...rn to the 1st gain when the absolute value of the speed command was kept below level hysteresis r min previously during delay time with the 2nd gain 6 Position deviation is large Valid for position and full closed controls Shift to the 2nd gain when the absolute value of the positional deviation exceeded level hysteresis pulse previously with the 1st gain Return to the 1st gain when the absolute v...

Page 184: ... 5 6 9 or 10 Unit of setting varies with switching mode When level hysteresis the hysteresis is internally adjusted so that it is equal to level Pr1 19 Title Position gain switching time Related control mode P S T F Range 0 to 10000 Unit Mode dependent Default 33 Caution For position controlling If the difference between Pr1 00 1st gain of position loop and Pr1 05 2nd gain of poison loop is large ...

Page 185: ... T F Range 0 to 10000 Unit 0 1ms Default 0 For velocity controlling When shifting from the 2nd gain to the 1st gain with Pr1 20 Velocity control switching mode set at 3 4 or 5 set the delay time from trigger detection to the switching operation Pr1 22 Title Level of velocity control switching Related control mode P S T F Range 0 to 20000 Unit Mode dependent Default 0 Caution For velocity controlli...

Page 186: ...trol switching mode set at 3 set up the delay time from trigger detection to the switching operation Pr1 26 Title Level of torque control switching Related control mode P S T F Range 0 to 20000 Unit Mode dependent Default 0 Caution For torque controlling Set up triggering level when Pr1 24 Torque control gain switching mode is set at 3 Unit varies depending on the setup of mode of control switchin...

Page 187: ...tation Parameters related to the 3rd and 4th notch filter are disabled and results of adaptive operation are cleared Pr2 01 Title 1st notch frequency Related control mode P S T F Range 50 to 5000 Unit Hz Default 5000 Caution Set the center frequency of the 1st notch filter The notch filter function will be invalidated by setting up this parameter to 5000 Pr2 02 Title 1st notch width selection Rela...

Page 188: ...ptive filter In no resonance point is found the frequency is set to 5000 Pr2 08 Title 3rd notch width selection Related control mode P S T F Range 0 to 20 Unit Default 2 Caution Set the width of notch at the center frequency of the 3rd notch filter Higher the setup larger the notch width you can obtain Use with default setup in normal operation When the applicable filter function is used parameter...

Page 189: ... depth of notch at the center frequency of the 4th notch filter Higher the setup shallower the notch depth and smaller the phase delay you can obtain When the applicable filter function is used parameter value is automatically set Pr2 13 Title Selection of damping filter switching Related control mode P S T F Range 0 to 3 Unit Default 0 Among 4 filters select the filters to be used for damping con...

Page 190: ...er to P 5 20 Damping control as well before using this parameter Pr2 15 Title 1st damping filter setup Related control mode P S T F Range 0 to 1000 Unit 0 1Hz Default 0 Pr2 17 Title 2nd damping filter setup Related control mode P S T F Range 0 to 1000 Unit 0 1Hz Default 0 Pr2 19 Title 3rd damping filter setup Related control mode P S T F Range 0 to 1000 Unit 0 1Hz Default 0 Pr2 21 Title 4th dampin...

Page 191: ... causing the motor to return to the previous position the motor runs at a speed higher than the command speed for a short time 3 Even if Pr2 22 Positional command smoothing filter is changed it is not applied immediately If the switching as described in 2 occurs during this delay time the change of Pr2 22 will be suspended Pr2 23 Title Positional command FIR filter Related control mode P S T F Ran...

Page 192: ...mand to be selected Setup value Selection 1 of internal command speed INTSPD1 Selection 2 of internal command speed INTSPD2 Selection 3 of internal command speed INTSPD3 Selection of Speed command 1 OFF OFF No effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON 4th speed 2 OFF OFF No effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON Analog speed command 3 The same as Pr3 00 1 OFF 1st t...

Page 193: ...illation caused by larger setup of Pr3 02 3000 Speed r min 3000 Slope at ex factory 10 6 2 4 6 8 10 Positive direction Negative direction Command input voltage V Pr3 03 Title Reversal of speed command input Related control mode P S T F Range 0 to 1 Unit Default 1 Note Caution Specify the polarity of the voltage applied to the analog speed command SPR Setup value Motor rotating direction 0 Non reve...

Page 194: ...o 20000 Unit r min Default 0 Set up internal command speeds 1st to 8th Pr3 12 Title Acceleration time setup Related control mode P S T F Range 0 to 10000 Unit ms 1000r min Default 0 Pr3 13 Title Deceleration time setup Related control mode P S T F Range 0 to 10000 Unit ms 1000r min Default 0 Set up acceleration deceleration processing time in response to the speed command input Set the time requir...

Page 195: ... selection Related control mode P S T F Range 0 to 3 Unit Default 0 You can set up the function of the speed zero clamp input Setup value Function of ZEROSPD Pin 26 0 Invalid Speed zero clamp input is ignored 1 Speed command is forced to 0 when the speed zero clamp ZEROSPD input signal is turned ON 2 Speed command is forced to 0 when the speed zero clamp ZEROSPD input signal is turned ON And when ...

Page 196: ...direction for negative direction 1 Specify the direction with torque command sign TC SIGN OFF Positive direction ON Negative direction Pr3 19 Title Input gain of torque command Related control mode P S T F Range 10 to 100 Unit 0 1V 100 Default 30 Based on the voltage V applied to the analog torque command TRQ R set up the conversion gain to torque command Unit of the setup value is 0 1V 100 and se...

Page 197: ... Title External scale selection Related control mode P S T F Range 0 to 2 Unit Default 0 Caution Select the type of feedback scale Setup value Feedback scale type Compatible scale Compatible speed 0 A B phase output type 1 Feedback scale of A B phase output type to 4Mpps after quadrupled 1 Serial communication type incremental version 1 Sony Manufacturing Systems Corp SR75 SR85 SL700 SL710 to 400M...

Page 198: ...se Feedback scale resolution per one motor revolution pulse Pr3 24 1048576 Pr3 25 100000 If this ratio is wrong the difference between the position calculated based on the encoder pulses and the position calculated based on the feedback scale pulses becomes large over a long travel distance and will activate the excess hybrid deviation error protection Pr3 26 Title Reversal of direction of externa...

Page 199: ...lue 0 Hybrid deviation clear feature As the motor reaches the number of revolutions set by Pr3 29 Hybrid deviation clear setup clear the hybrid deviation to 0 This feature allows the motor to be used in an application where hybrid deviation accumulate due to slippage etc Pr3 28 Hybrid deviation excess setup Pr3 29 Hybrid deviation clear setup Pr3 29 Hybrid deviation clear setup Excess hybrid devia...

Page 200: ...NTSPD3 10h 90h Speed zero clamp input ZEROSPD 11h 91h Speed command sign input VC SIGN 12h 92h Torque command sign input TC SIGN 13h 93h Forced alarm input E STOP 14h 94h Inertia ratio switching input J SEL 15h 95h Caution Do not setup to a value other than that specified in the table Do not assign specific function to 2 or more signals Duplicated assignment will cause Err33 0 I F input multiple a...

Page 201: ...ult 00030303h 197379 Pr4 06 Title SI7 input selection Related control mode P S T F Range 0 to 00FFFFFFh Unit Default 00000f07h 3847 Caution Deviation counter clear CL can be set up only with this parameter If any other parameter is used for this purpose error code No 33 6 Counter clear assignment error will be issued Pr4 07 Title SI8 input selection Related control mode P S T F Range 0 to 00FFFFFF...

Page 202: ...limit output V LIMIT 0Eh Alarm attribute output ALM ATB 0Fh Speed command ON OFF output V CMD Same function can be assigned to 2 or more output signals Control output pin set to invalid always has the output transistor turned OFF Do not change the setup value shown in the table 1 Note that the setup values are displayed in decimal on the front panel Pr4 11 Title SO2 output selection Related contro...

Page 203: ...rol mode P S T F Range 0 to 214748364 Unit Monitor unit in Pr4 16 V Default 0 Set up the output gain of analog monitor 1 For Pr4 16 0 Motor speed 1 V is output at the motor speed r min Pr4 17 setup value Pr4 19 Title Analog monitor 2 output gain Related control mode P S T F Range 0 to 214748364 Unit Monitor unit in Pr4 16 V Default 0 Set up the output gain of analog monitor 2 For Pr4 18 3 Torque c...

Page 204: ...nalog inputs 1 2 and 3 always output terminal voltage regardless of usage of analog input function 3 For the command pulse input the speed before the command filter smoothing FIR filter is defined as positional command speed and speed after filter is defined as internal command speed Command division multiplication process Positional command filter Position control Positional command speed r min C...

Page 205: ...er Related control mode P S T F Range 0 to 6400 Unit 0 01ms Default 0 Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 1 Pr4 24 Title Analog input 1 AI1 overvoltage setup Related control mode P S T F Range 0 to 100 Unit 0 1V Default 0 Set up the excessive level of the input voltage of analog input 1 by using the voltage associ...

Page 206: ... that when the encoder unit is used unit of Pr0 14 Positional deviation excess setup is also changed Pr4 32 Title Positioning complete In position output setup Related control mode P S T F Range 0 to 3 Unit Default 0 Select the condition to output the positioning complete signal INP1 Setup value Action of positioning complete signal 0 The signal will turn on when the positional deviation is smalle...

Page 207: ...0 ON state is maintained for setup time ms but switched to OFF state as the positional command is received during hold time Pr4 34 Title Zero speed Related control mode P S T F Range 10 to 20000 Unit r min Default 50 You can set up the timing to feed out the zero speed detection output signal ZSP or TCL in rotational speed r min The zero speed detection signal ZSP will be fed out when the motor sp...

Page 208: ...IN Pr4 35 1 Speed coincidence range 1 Because the speed coincidence detection is associated with 10 r min hysteresis actual detection range is as shown below Speed coincidence output OFF ON timing Pr4 35 10 r min Speed coincidence output ON OFF timing Pr4 35 10 r min Pr4 36 Title At speed Speed arrival Related control mode P S T F Range 10 to 20000 Unit r min Default 1000 Set the detection timing ...

Page 209: ...river turns to Servo OFF after the brake is actually activated ON SRV ON BRK OFF actual brake motor energization release OFF hold release energized hold non energized Pr4 37 tb Pr4 38 Title Mechanical brake action at running setup Related control mode P S T F Range 0 to 10000 Unit 1ms Default 0 You can set up time from when detecting the off of Servo ON input signal SRV ON is to when external brak...

Page 210: ...is detected 8 Lifetime detection alarm Life expectancy of capacitor or fan becomes short 9 External scale error alarm The feedback scale detects the alarm 10 External scale communication alarm The number of successive feedback scale communication errors exceeds the specified value For detailed description of alarm types refer to P 3 46 Pr4 42 Title 2nd Positioning complete In position range Relate...

Page 211: ...ult 1 Set up the operation of the run inhibition POT NOT inputs Setup value Operation 0 POT Inhibit positive direction travel NOT Inhibit negative direction travel 1 Disable POT NOT 2 POT or NOT input activates Err38 0 Run inhibition input protection Pr5 05 Title Sequence at over travel inhibit Related control mode P S T F Range 0 to 2 Unit Default 0 When Pr5 04 Over travel inhibition 0 specify th...

Page 212: ...issued If the servo is turned ON while the position or feedback scale is significantly deviating the motor may rapidly operate to reduce the deviation to 0 Remember these requirements if you want to maintain the positional deviation feedback scale deviation 3 Deceleration period is the time required for the running motor to speed down to 30 r min Once the motor speed drops below 30 r min it is tre...

Page 213: ...up the time to detect the shutoff while the main power is kept shut off continuously The main power off detection is invalid when you set up this to 2000 Pr5 10 Title Sequence at alarm Related control mode P S T F Range 0 to 7 Unit Default 0 Specify the status during deceleration and after stop after occurrence of alarm Setup value During deceleration 3 After stalling Positional deviation feedback...

Page 214: ... protection occurs The over speed level becomes 1 2 times of the motor max speed by setting up this to 0 Pr5 14 Title Motor working range setup Related control mode P S T F Range 0 to 1000 Unit 0 1 revolution Default 10 You can set up the movable range of the motor against the position command input range When the motor movement exceeds the setup value software limit protection of Err34 0 will be ...

Page 215: ...t 0 Valid 1 Invalid Pr5 19 Title Command pulse inhibit input reading setup Related control mode P S T F Range 0 to 4 Unit Default 0 Caution Select command pulse inhibit input enable disable signal reading period When the status of several signals read during the predetermined reading period are same update the signal status Setup value Signal reading period 0 0 166ms 1 0 333ms 2 1ms 3 1 666ms 4 0 ...

Page 216: ...For details of torque limit value refer to P 2 49 Pr5 23 Title Torque limit switching setup 1 Related control mode P S T F Range 0 to 4000 Unit ms 100 Default 0 Specify the rate of change slope from 1st to 2nd during torque limit switching Pr5 24 Title Torque limit switching setup 2 Related control mode P S T F Range 0 to 4000 Unit ms 100 Default 0 Specify the rate of change slope from 2nd to 1st ...

Page 217: ...positional deviation Encoder unit 1 Motor speed 13 Alarm Display 25 External scale deviation External scale unit 2 Positional command speed 14 Regenerative load factor 26 Hybrid deviation Command unit 3 Velocity control command 15 Over load factor 27 Voltage across PN V 4 Torque command 16 Inertia ratio 28 Software version 5 Feedback pulse sum 17 Factor of no motor running 29 Driver serial number ...

Page 218: ...7 0 Command pulse input frequency error protection occurs The number of input pulses received by the driver is always checked If the frequency of the received pulse is higher than the upper limit of the setting input pulses are not accurately detected Pr5 33 Title Pulse regenerative output limit setup Related control mode P S T F Range 0 to 1 Unit Default 0 Enable disable detection of Err28 0 Puls...

Page 219: ...nternal positional command and actual speed exceeds this value Err24 1 Speed over deviation protection occurs This protection is not detected when the setup value is 0 Pr6 04 Title JOG trial run command speed Related control mode P S T F Range 0 to 500 Unit r min Default 300 Relatedpage Set up the command speed used for JOG trial run velocity control Before using refer to P 4 58 Preparation Trial ...

Page 220: ...alid Valid bit 1 Disturbance observer Invalid Valid bit 2 Disturbance observer operation setup Always valid Valid only when 1st gain is selected bit 3 Inertia ratio switching Invalid Valid bit 4 Current response improvement Invalid Valid bit 5 Analog torque FF Invalid Valid bit 0 LSB Pr6 11 Title Current response setup Related control mode P S T F Range 50 to 100 Unit Default 100 Fine tune the cur...

Page 221: ...etup value Writing 0 Do not write to EEPROM at the same time 1 Write to EEPROM at the same time Pr6 18 Title Power up wait time Related control mode P S T F Range 0 to 100 Unit 0 1s Default 0 Set up the standard initialization time 1 5 s α after power up Pr6 19 Title Encoder Z phase setup Related control mode P S T F Range 0 to 32767 Unit pulse Default 0 If the number of output pulses per one moto...

Page 222: ...Z phase is output directly Pr6 23 Title Disturbance torque compensating gain Related control mode P S T F Range 100 to 100 Unit Default 0 Set up 100 to 100 compensating gain against disturbance torque After setting up Pr6 24 increase Pr6 23 The disturbance suppressing capability increases by increasing the gain but it is associated with increasing volume of operation noise This means that well bal...

Page 223: ...PANATERM the setup value 3 is used Pr6 32 Title Real time auto tuning custom setup Related control mode P S T F Range 32768 to 32767 Unit Default 0 When the operation mode of real time auto tuning is set to the customize Pr0 02 6 set the automatic adjusting function as shown below Bit Content Description 1 to 0 Load charac teristics estimation Enable disable the load characteristics estimation fun...

Page 224: ... value 10 to 9 Gain switching setup Select the gain switching related parameter to be used when the real time auto tuning is enabled Setup value Function 0 Use the current setup 1 Disable gain switching 2 Enable gain switching Caution This parameter should be setup bit by bit To prevent setting error use of the setup support software is recommended when editing parameter Setup procedure of bitwise...

Page 225: ...lter Related control mode P S T F Range 0 to 6400 Unit 0 01ms Default 10 Set up the time constant of the hybrid vibration suppression filter for full closed controlling While driving under full closed control gradually increase the setup value and check changes in the response Pr6 37 Title Oscillation detecting level Related control mode P S T F Range 0 to 1000 Unit 0 1 Default 0 Set up the oscill...

Page 226: ... mounting 4 Separation from the mechanical system 5 Release of the brake 6 Turn to Servo OFF after finishing the trial run by pressing 1 Inspection on wiring Miswiring Especially power input and motor output Short or grounded Loose connection 2 Confirmation of power supply and voltage Rated voltage 3 Fixing of the servo motor Unstable mounting 4 Separation from the mechanical system 5 Release of t...

Page 227: ...controller to run the motor at low speed 9 Check the motor rotational speed at monitor mode whether rotational speed is as per the setup or not and the motor stops by stopping the command pulse or not 10 If the motor does not run correctly refer to P 2 64 Display of Factor for No Motor Running of Preparation Wiring Diagram Parameter Pr No Title Setup value 0 01 Control mode setup 0 5 04 Over trave...

Page 228: ...ing Pr3 01 Speed command rotational direction selection Pr3 03 Reversal of speed command input 10 If the motor does not run correctly refer to P 2 64 Display of Factor for No Motor Running of Preparation Wiring Diagram Parameter Pr No Title Setup value 0 01 Control mode setup 1 5 04 Over travel inhibit input setup 1 3 15 Speed zero clamp function selection 1 3 00 Speed setup Internal External swit...

Page 229: ... the command voltage set up the following parameters Pr3 19 Input gain of torque command Pr3 20 Input reversal of torque command Pr3 21 Speed limit value 1 9 If the motor does not run correctly refer to P 2 64 Display of factor for No motor run ning of Preparation Wiring Diagram Parameter Pr No Title Setup value 0 01 Control mode setup 2 5 04 Over travel inhibit input setup 1 3 15 Speed zero clamp...

Page 230: ...0 Pr0 08 2n 20 21 22 23 24 25 26 27 28 29 210 211 212 213 214 215 216 217 218 219 220 Decimal figures 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 262144 524288 1048576 When setting the command division and multiplication ratio as numerator denominator express it as Pr0 09 Pr0 10 with Pr0 08 0 e g When you want to rotate the motor by 60 with the load of total reduction...

Page 231: ...e 5 15 Adjustment in Torque Control Mode 5 15 Adjustment in Full Closed Control Mode 5 16 Gain Switching Function 5 17 Suppression of Machine Resonance 5 20 5 Manual Gain Tuning Application Damping Control 5 24 Feed forward function 5 26 Instantaneous Speed Observer 5 2 Disturbance observer 5 30 3rd gain switching function 5 32 Friction torque compensation 5 34 Inertia ratio switching function 5 3...

Page 232: ...gain 100 Velocity loop gain 50 Time constant of V loop integration 50 Velocity loop feed forward 500 Inertia ratio 100 2000 2000 0 0 0 375 250 125 0 0 375 250 125 0 0 375 250 125 r min Command Speed Motor actual speed Gain setup Low Gain setup High Gain setup High feed forward setup Start adjustment Automatic adjustment Ready for command input Action O K Yes Yes No No Yes Yes No Action O K Yes No ...

Page 233: ...ss is low vibration or noise may be gen erated due to the distorted axis hence you cannot set the higher gain You can suppress the resonance with two kinds of filter P 5 20 Manual gain tuning application You can obtain the higher performance while you are not satisfied with the performance obtained with the basic adjustment using the following application functions Damping control Function which r...

Page 234: ...onditions change the load condition or operation pat tern or start manual gain tuning see P 5 24 Conditions which obstruct real time auto gain tuning action Load inertia The load is too small or large compared to the rotor inertia less than 3 times or more than 20 times The load inertia changes too quickly Load The machine stiffness is extremely low Nonlinear characteristics such as backlash exist...

Page 235: ... 7 3 Turn on servo and start the machine Estimation of load characteristics starts 4 When the load characteristics are determined Pr0 04 Inertia ratio is updated In a specific mode the following parameters are changed Pr6 07 Torque command additional value Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction torque compensation value 5 When value of Pr0 03 Real time auto t...

Page 236: ...iffness setup The real time auto tuning function updates the following basic gain setup parameters according to Pr0 03 Real time auto tuning stiffness setup Class No Title Function 1 00 1st gain of position loop When stiffness setup is valid updates the parameter based on the setup value Refer to P 5 9 Basic gain parameter setup table 1 01 1st gain of velocity loop 1 02 1st time constant of veloci...

Page 237: ...l switching Sets to 0 if the current setting is not maintained 1 21 Delay time of velocity control switching 1 22 Level of velocity control switching 1 23 Hysteresis at velocity control switching 1 24 Mode of torque control switching 1 25 Delay time of torque control switching 1 26 Level of torque control switching 1 27 Hysteresis at torque control switching Parameters which are always set to inva...

Page 238: ...ght have changed to ex treme values Take the same measures as the above in these cases 3 Among the results of real time auto gain tuning Pr0 04 Inertia ratio and Pr6 07 Torque command additional value Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction torque compensation value will be written to EE PROM every 30 minutes When you turn on the power again the auto gain tuni...

Page 239: ... 7 95 75 700 300 120 75 10000 300 8 115 90 600 300 140 90 10000 300 0 9 140 110 500 200 175 110 10000 200 10 175 140 400 200 220 140 10000 200 11 320 180 310 126 380 180 10000 126 1 12 390 220 250 103 460 220 10000 103 2 13 480 270 210 84 570 270 10000 84 3 14 630 350 160 65 730 350 10000 65 4 15 720 400 140 57 840 400 10000 57 5 16 900 500 120 45 1050 500 10000 45 6 17 1080 600 110 38 1260 600 10...

Page 240: ... motor to run normally Caution In the following condition normal operation may not be expected manually set the notch filter to prevent resonance Conditions which obstruct adaptive filter action Resonance point Resonance frequency is lower than 300 Hz Resonance peak is low or control gain is low where the motor speed is not affected by this Multiple resonance points exist Load Motor speed variatio...

Page 241: ...s related to the 3rd and 4th notch filters will be updated based on adaptive performance 3 Resonance frequency measurement mode Measure the resonance frequency Result of measurement can be checked with PANATERM Parameters related to the 3rd and 4th notch filter hold the current value 4 Clear result of adaptation Parameters related to the 3rd and 4th notch filter are disabled and results of adaptiv...

Page 242: ...in tuning 3 Invalidate the adaptive filter by setting up Pr2 00 Setup of adaptive filter mode to 0 Reset of inertia calculation and adaptive action 4 Set up the notch filter manually 2 Abnormal sound or oscillation may excessively change the setup value of 3rd and 4th notch filters If such change occurs disable the adaptive filter as described in step 3 above change setup value of Pr2 07 3rd notch...

Page 243: ...ely quickly and easily done when compared with that performed on the front panel 1 Analog monitor output You can measure the actual motor speed commanded speed torque and deviation pulses by analog voltage level by using an oscilloscope Set up the types of the signals or the output voltage level with Pr4 16 Selection of speed monitor and Pr4 21 Selec tion of torque monitor 2 Waveform graphic funct...

Page 244: ...e inertia ratio of Pr20 Measure the ratio or setup the calculated value 3 Make adjustment using the standard values below Order 1 2 3 4 5 Standard value 300 50 500 250 300 Title Parameter No Pr Pr11 Pr14 Pr10 Pr12 Pr15 1st gain of velocity loop 1st time constant of torque filter 1st gain of position loop 1st time constant of velocity loop integration Velocity feed forward How to adjust Increase th...

Page 245: ...torque command selection Pr3 17 specifies the setup method Pr3 17 0 Set up by using speed limit value 1 Pr3 21 Pr3 17 1 Set up by using analog input SPL Pr3 17 2 For positive direction set up by using the speed limit value 1 Pr3 21 For negative direction set up by using the speed limit value 2 Pr3 22 When the motor speed approaches to the speed limiting value torque control follow ing the analog t...

Page 246: ... Setup of hybrid deviation excess Set up the minimum value of hybrid deviation excess Pr3 28 within the range where the gap between the motor encoder position and the load feedback scale position will be considered to be an excess Note that the hybrid deviation excess Err25 0 may be generated under other condi tions than the above 1 such as reversed connection of the external scale or loose connec...

Page 247: ...ty feed forward Filter of velocity feed forward 2nd gain of position loop 2nd gain of velocity loop 2nd time constant of velocity integration 2nd filter of velocity detection 2nd time constant of torque filter time Action setup of 2nd gain 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching Switching time of position ...

Page 248: ...to 2nd gain 2 Gain switching input 3 Torque command A 4 Variation of speed command is large B 4 10 r min s 4 10 r min s 5 Speed command C r min r min Torque control mode Setup of gain switching condition Setup parameters at torque control mode Delay time 1 Level Hysteresis 2 Pr1 24 Switching condition to 2nd gain Fig Pr1 16 1 25 Pr1 17 1 26 Pr1 18 1 27 0 Fixed to 1st gain 1 Fixed to 2nd gain 2 Gai...

Page 249: ... no command pulse Pr1 16 delay time actual speed Pr1 17 level actual speed Pr1 17 level Pr1 18 hysteresis actual speed Pr1 17 level Pr1 178 hysteresis 1st gain in action 2nd gain at settling 2nd gain proximity of stall 2nd gain for velocity integrating only and 1st gain for others delay 2nd gain 1st 1st command speed S command pulse exists speed N level 1st gain 2nd 1st 2nd 1st switching level swi...

Page 250: ... is automatically set to the 2nd resonance frequency estimated by the adaptive filter In no resonance point is found the frequency is set to 5000 Pr2 11 4th notch width selection Automatically set when 2 adaptive filters are active Pr2 12 4th notch depth selection Notch filter Pr2 01 to 2 12 MINASA 5 series feature 4 normal notch filters You can adjust frequency and width and depth Pr2 01 1st notc...

Page 251: ...t notch filter is enabled Adjustment of frequency width and depth is enabled refer to P 5 22 Suppress resonance point instantaneously Gain frequency velocity response Machine which resonance point varies by each machine or by aging Gain frequency Gain frequency Machine which has small peak nearby velocity response Machine which has multiple resonance points Example of application machine 4 Manual ...

Page 252: ...n dB on the right Notch width Band width center frequency Notch depth I O ratio dB A4 series reference A5 series 0 0 41 0 5 0 0 1 0 56 0 59 1 0 01 40 2 0 71 0 71 2 0 02 34 3 0 86 0 84 3 0 03 30 5 4 1 01 1 4 0 04 28 5 1 19 5 0 05 26 6 1 41 6 0 06 24 4 7 1 68 7 0 07 23 1 8 2 8 0 08 21 9 9 2 38 9 0 09 20 9 10 2 83 10 0 1 20 11 3 36 15 0 15 16 5 12 4 20 0 2 14 13 4 76 25 0 25 12 14 5 66 30 0 3 10 5 15...

Page 253: ...ffset r min 0 017 sampling rate 1 Larger the offset better measurement result you can obtain however revolutions may be increased Set up Pr2 00 Setup of adaptive filter mode to 0 while you make measurement When you set a larger value of offset than the amplitude setup and make the motor run to the one direction at all time you can obtain a better measurement result Set up a smaller sampling rate w...

Page 254: ...rol mode of position control and torque control Pr02 6 Full closed control Caution This function does not work properly or no effect is obtained under the following condi tions Conditions which obstruct the damping control effect Load Vibration is triggered by other factors than command such as disturbance Ratio of resonance frequency and anti resonance frequency is large Vibration frequency is ou...

Page 255: ...reases at the command changing point as the right fig shows Setup within the range where no torque saturation occurs under the actual condition If torque satura tion occurs damping control effect will be lost 3 Setup of damping filter switching selection Pr2 13 You can switch the 1st or the 2nd damping filter depending on the vibration condition of the machine Pr2 13 VS SEL2 VS SEL1 1st damping 2n...

Page 256: ...delay filter which affects the input of velocity feed forward 1 12 Torque feed forward gain Multiply the torque command calculated according to the velocity control command by the ratio of this parameter and add the result to the torque command resulting from the velocity control process 1 13 Torque feed forward filter Set up the time constant of 1st delay filter which affects the input of torque ...

Page 257: ...can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active Zero positional deviation is impossible in actual situation because of disturbance torque As with the velocity feed forward large torque feed forward filter time constant decreases the operating noise but increases positional deviation at a...

Page 258: ... parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Real time auto tuning should be disabled Pr0 02 0 Caution This function does not work properly or no effect is obtained under the following condi tions Conditions which obstruct instantaneous speed observer action Load Gap between the estimated total load inertia motor load and act...

Page 259: ... at normal position control Adjust the position loop gain velocity loop gain etc 3 Setup of instantaneous velocity observer Pr6 10 By enabling instantaneous speed observer function through function expansion setup Pr6 10 the speed detection method changes to the instantaneous speed observer When you experience a large variation of the torque waveform or noise return this to 0 and reconfirm the abo...

Page 260: ...ut inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Real time auto tuning should be disabled Pr0 02 0 Instantaneous speed observer should be disabled Pr6 10 0 Gain switchover should be enabled Caution Effect may not be expected in the following condition Conditions which obstruct disturbance observer action Load Resona...

Page 261: ...Function enhancement setup set observer enable disable and operation mode always enable enable only when 1st gain is selected 2 Setup of Pr6 24 Disturbance observer filter First set up Pr6 24 to a larger value and check the operation with Pr6 23 Disturbance torque compensating gain set to a low value and then gradually decrease the setup value of Pr6 24 A low filter setup value assures disturbance...

Page 262: ...ode Control mode to be either or both position control or and full closed control Pr0 01 0 Position control Pr0 01 6 Full closed control Others Should be in servo on condition Input signals such as the deviation counter clear and command input inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Related Parameter Class No ...

Page 263: ...time to Pr6 05 Position 3rd gain enable time and set the 3rd gain scale fac tor with reference to 1st gain to Pr6 06 Position 3rd gain magnification ratio If 3rd gain is not used set Pr6 05 to 0 and Pr6 06 to 100 The 3rd gain is enabled only for position control or full closed control During the 3rd gain period only position loop gain speed proportional gain becomes 3rd gain during other periods 1...

Page 264: ...ch as the deviation counter clear and command input inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Related Parameter Combine the following 3 parameters to setup appropriate friction torque compensation Class No Title Function 6 7 Torque command additional value Set up the offset load compensation value usually added ...

Page 265: ...offset torque resulting from weight on vertical axis is applied to the motor Certain loads such as belt driven shaft requires high dynamic friction torque which lengthens positioning setting time or varies positioning accuracy These problems can be minimized by setting the friction torque of every rotating direction into individual pa rameters Pr6 08 Positive direction torque compensation value an...

Page 266: ...l closed control Others Should be in servo on condition Input signals such as the deviation counter clear and command input inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Real time auto tuning should be disabled Pr0 02 0 Adaptive filter should be disabled Pr2 00 0 Instantaneous speed observer should be disabled Pr6 1...

Page 267: ... Valid bit2 0 Always valid 1 alid only when 1st gain is selected bit 0 LSB Example To enable inertial ratio switching Setup value 8 0 04 Inertia ratio Set 1st inertia ratio You can set up the ratio of the load inertia against the rotor of the motor inertia 6 13 2nd Inertia ratio Set 1st inertia ratio You can set up the ratio of the load inertia against the rotor of the motor inertia How to Use Sel...

Page 268: ...he effect of this function will be proportional to the amount of twist between the motor and load Related Parameter Class No Title Function 6 34 Hybrid vibration suppression gain Set up the hybrid vibration suppression gain for full closed controlling First set it to the value identical to that of poison loop gain and then fine tune as necessary 6 35 Hybrid vibration suppression filter Set up the ...

Page 269: ...y pulse counts for decelera tion Take the positioning action and homing action into account when you set put ac celeration deceleration time with parameter since this affect these action as well For the details of homing observe the instruction manual of the host controller Example of Homing Action Proximity dog on Decelerates at an entry of the proximity input and stops at an entry of the first o...

Page 270: ... Pin 40 TLC Torque in limit Pin 27 GAIN TL SEL Torque Counter clear command Motor speed Z phase ON ON ON ON ON ON Parameter No 5 22 0 14 5 13 5 21 hits hits 1 2 1 1 1 2 2 2 3 3 Title Setup of 2nd torque limit Excess setup of position deviation Setup of over speed level Selection of torque limit Setup example 50 Set up to less than 100 25000 0 6000r min 3 1 when you make a point where the work load...

Page 271: ... B Search speed low speed B A Setup value of 2nd torque limit Pin 27 GAIN TL SEL Torque limit switching input Pin 40 TLC Torque in limit output Torque Command Motor speed 1 2 3 4 5 Press fit machine Application example ON ON 5 21 0 13 5 22 0 14 5 13 Setup of 2nd torque limit Setup of 1st torque limit Setup of 2nd torque limit Excess setup of position deviation Setup of over speed level 3 200 50 25...

Page 272: ...5 42 MEMO ...

Page 273: ...n pre adjustment protection 6 15 3 Troubleshooting Motor Does Not Run 6 17 Unstable Rotation Not Smooth Motor Runs Slowly Even with Speed Zero at Velocity Control Mode 6 19 Positioning Accuracy Is Poor 6 20 Origin Point Slips 6 21 Abnormal Motor Noise or Vibration 6 21 Overshoot Undershoot Overheating of the Motor Motor Burn Out 6 22 Motor Speed Does Not Reach to the Setup Motor Revolutions Travel...

Page 274: ...ring safety 6 1 When in Trouble When in Trouble Protective Function What is Error Code Host controller Aren t the parameter setups wrong Motor does not run Check the cause by referring to P 2 64 Display of Factor of No Motor Running of Preparation and then take necessary measure Is the wiring to Connector X4 correct Or aren t any wires pulled off Is the wiring to Connector X5 in case of full close...

Page 275: ...0 IF overlaps allocation error 1 protection 1 IF overlaps allocation error 2 protection 2 IF input function number error 1 protection 3 IF input function number error 2 protection 4 IF output function number error 1 protection 6 9 5 IF output function number error 2 protection 6 CL fitting error protection 7 INH fitting error protection 34 0 Software limit protection 1 When in Trouble Protective F...

Page 276: ...e external resistor if the value is 3 Change to the one with specified resistance and wattage 4 Replace the driver with a new one Main power supply under voltage protection PN 13 0 Instantaneous power failure has occurred between L1 and L3 for longer period than the preset time with Pr6D Main power off detecting time while Pr65 LV trip selection at the main power off is set to 1 Or the voltage bet...

Page 277: ...n time Lower the load Over load protection 16 0 Torque command value has exceeded the over load level set with Pr5 12 Setup of over load level and resulted in overload protection according to the time characteristics described later 1 Load was heavy and actual torque has exceeded the rated torque and kept running for a long time 2 Oscillation and hunching action due to poor adjustment Motor vibrat...

Page 278: ... resistor Increase the capacity of the driver and the motor and loosen the deceleration time Lower the motor rotational speed Use an external regenerative resistor 3 Set up Pr0 16 to 2 Regenerative transistor error protection 18 1 Regenerative driver transistor on the servo driver is defective Replace the driver Encoder communica tion discon nection error protection 21 0 Communication between the ...

Page 279: ... speed deviation also largely increases on the rising edge of the internal positional command speed Increase the setup value of Pr6 02 Lengthen the acceleration deceleration time of internal positional command speed or improve the follow up characteristic by adjusting the gain Disable the excess speed deviation detection Pr6 02 0 Hybrid deviation excess error protection 25 0 Position of load by th...

Page 280: ... 29 0 Positional deviation of encoder pulse reference has exceeded 229 536870912 Check that the motor runs as per the position command pulses Check that the output toque has not saturated in torque monitor Make a gain adjustment Set up maximum value to Pr0 13 and Pr5 22 Make a wiring connection of the encoder as per the wiring diagram Safety input protection 30 0 Input photocoupler of both or one ...

Page 281: ... 14 to 0 to disable the protective function EEPROM parameter error protection 36 0 Data in parameter storage area has been damaged when reading the data from EEPROM at power on Set up all parameters again If the error persists replace the driver it may be a failure Return the product to the dealer or manufacturer 1 2 EEPROM check code error protection 37 0 Data for writing confirmation to EEPROM h...

Page 282: ...ue because the power supply or battery for the 17 bit absolute encoder has been down Caution Once this error occurs the alarm cannot be cleared until the absolute encoder is reset After connecting the power supply for the battery clear the absolute encoder Absolute counter over error protection 41 0 Multi turn counter of the 17 bit absolute encoder has exceeded the specified value Set Pr0 15 to 2 ...

Page 283: ...se External scale cables are connected but communication date has some error Secure the power supply for the external scale of DC5 5 4 75 to 5 25V pay attention especially when the external scale cables are long Separate the external scale cable and the motor cable if they are bound together Connect the shield to FG refer to wiring diagram External scale status 0 error protection 1 51 0 Bit 0 of t...

Page 284: ... connection Z phase wiring error protection 2 Z phase wiring in the external scale is defective e g discontinued Check the Z phase wiring connection Forced alarm input protection 87 0 Forced alarm input E STOP is applied Check the wiring of forced alarm input E STOP Motor automatic recognition error protection 95 0 to 4 The motor and the driver has not been matched Replace the motor which matches ...

Page 285: ...itions Conditions under which the software limit works Control mode Position control Full closed control Others Should be in servo on condition Input signals such as the deviation counter clear and command input inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly 3 Cautions This function is not a protection against the ab...

Page 286: ...eft at Servo ON When the position command to the left direction the motor movable range will be expanded further 5 Condition under which the position command input range is cleared The position command input range will be 0 cleared under the following conditions when the power is turned on while the position deviation is being cleared Deviation counter clear is valid Pr66 Sequence at over travel i...

Page 287: ...st torque limit If the torque limit setup is lower than the value required during the actual application the following two protective features will be triggered over speed protection when overshoot occurs and excess positional deviation protection when response to the command delays By allocating the torque in limit output TLC of interface specification to the output sig nal torque limit condition...

Page 288: ...mand unit s Kp position loop gain 1 s Factor in is margin to prevent frequent activation of excess positional deviation protection Note 1 When switching position loop gain Kp select the smallest value for calculation Note 2 When using the positional command filter and damping control add the following values Positional command smoothing filter Vc filter time constant s Positional command FIR filte...

Page 289: ...ternal scale division ratio To indicate this type of defect Err25 0 Hybrid deviation excess error protection is is sued when the deviation of motor position encoder unit and load position external scale unit exceed Pr3 28 Setup of hybrid deviation excess Default setting is 16000 pulse command unit Because the deviation in normal opera tion varies with the operation speed and gain setup Add a margi...

Page 290: ...open In the front panel monitor mode is the Pin No corresponding to SRV ON in state Check and make a wiring so as to connect the SRV ON input to COM Positive negative direction over travel inhibit input of Connector X4 NOT POT is open In the front panel monitor mode is the Pin No corresponding to NOT POT in A state 1 Check and make a wiring so as to connect both NOT POT inputs to COM 2 Set up Pr5 ...

Page 291: ...ct 1 Check that the input voltage is applied correctly by setting up Pr3 17 to 0 when you use SPR TRQR input 2 Check that the input voltage is applied correctly by setting up Pr3 17 to 1 when you use the P ATL TRQR input Velocity control is invalid Torque Check that the velocity limit input method parameter velocity SPR TRQR SPL input is correct 1 Set up the desired value to Pr3 21 by setting up P...

Page 292: ...n be entered normally 3 Check the wiring and connection between Pin 30 and 41 16 and 17 of the Connector X4 using display function of I O signal status Correct the wiring and connection so that the deviation counter input can be turned on normally Review the controller 4 Check the wiring and connection between Pin 26 and 41of the Connector X4 using Display function of I O signal status Correct the...

Page 293: ... Setup of the division multiplication is not correct Check if the repetition accuracy is same or not If it does not change use a larger capacity motor and driver Velocity loop gain is proportion action at motor in stall Set up Pr1 02 and Pr1 07 of time constant of velocity loop integration to 9999 or smaller Review the wiring and connection so that the connection between Pin 27 and 41 of the gain ...

Page 294: ...e driver is connected or not Use a CZ output open collector if the controller is not differential input 6 3 Troubleshooting When in Trouble Abnormal Motor Noise or Vibration Classification Causes Measures Wiring Noise is on the speed command Measure the speed command inputs of Pin 14 and 15 of the connector Connector X4 with an oscilloscope Reduce noise installation of noise filter or ferrite core...

Page 295: ...that the motor does not generate rumbling noise while turning it by hand after shutting off the power Replace the motor and request for repair if the noise is heard Electromagnetic brake is kept engaged left un released Check the voltage at brake terminals Apply the power DC24V to release the brake Motor failure oil water or others Avoid the installation place where the motor is subject to high te...

Page 296: ... When in Trouble Parameter Returns to Previous Setup Classification Causes Measures Parameter No writing to EEPROM has been carried out before turning off the power Refer to P 2 71 How to Operate EEPROM Writing of Preparation ...

Page 297: ...M Setup on the PC 7 26 4 Communication Outline 7 27 Specifications 7 28 List of Communication Command 7 39 Details of Communication Command 7 40 5 Motor Characteristics S T Characteristics Motor 7 56 6 Dimensions Driver A frame B frame 7 63 C frame D frame 7 64 E frame F frame 7 65 Motor 7 66 7 Options Noise Filter 7 72 Surge Absorber 7 74 Noise Filter for Signal Lines 7 75 Junction Cable for Enco...

Page 298: ...ing and it cannot be used for braking application When parameter Pr5 10 Sequence at alarm is set to free run disable dynamic brake the motor is free run state and requires longer stop distance even if no external force is applied Make sure that this does not cause any problem When power transistor etc becomes defective the motor will move to the extent equivalent of 180 electrical angle max Make s...

Page 299: ...nction connect this pin in a way so that the photocoupler of this input circuit turns off to activate STO function SF2 5 Safety input 1 or 2 enables STO to operate within 5 ms causing motor output torque to turn off Safety equipment self diagnosis L pulse Safety output signal from the safety controller and safety sensor may include L pulse for self diagnosis To prevent the L pulse from mis trigger...

Page 300: ...ll control mode EDM 7 Logical relationship between safety input signal and EDM output signal Note When both safety input 1 and 2 are off i e when STO function of 2 safety input channels are active the photocoupler in EDM output circuit turns on Signal Symbol Photocoupler logic Safety input SF1 ON ON OFF OFF SF2 ON OFF ON OFF EDM output EDM OFF OFF OFF ON By monitoring the logics all 4 states of ph...

Page 301: ...ety function Supplement Safety Circuit Block Diagram Power LPF 3ms Control Circuit Motor M ASIC PC PC I_SF1 IL_EMG I_SF2 O_EDM EDM EDM SF2 SF2 SF1 SF1 X3 Power section interface 4 3 6 5 8 7 5V 5V 5V 5V 5V 5V in 5V out 5V 5V 5V 5V 3 3V level shifter N µC analog input µC analog input µC port 5V PS Voltage Monitor IL_ERR1 ...

Page 302: ...coupler OFF Alarm output coupler ON not Alarm output coupler OFF Break engage output coupler ON Break release output coupler OFF Break engage output coupler ON Break release input coupler ON output coupler OFF energized not energized released engaged Servo ON input SEV ON Motor energization Dynamic brake 2 Servo Ready output S RDY Servo Alarm output ALM External brake release output BRK OFF when t...

Page 303: ...Pr5 06 Sequence at servo off input coupler OFF Servo OFF command input coupler ON Servo ON command output coupler OFF not ready output coupler ON ready output coupler OFF Alarm output coupler ON not Alarm input coupler OFF input coupler ON output coupler OFF Break engage input coupler ON input coupler OFF output coupler ON generated alarm Servo OFF output coupler OFF not energized Servo ON input S...

Page 304: ...EDM output Safety input Safety switch 24V Sefety output source Sefety output source Safety sensor Safety controller Contact output Servo driver SF1 SF1 SF2 SF2 EDM EDM M Safety input EDM output EDM output Safety input Servo driver SF1 Control output 1 Control output 2 0V 24V EDM input SF1 SF2 SF2 EDM EDM M Safety input Contact output Servo driver SF1 SF1 SF2 SF2 0V A2 T33 T31 S24 S14 EDM EDM M ...

Page 305: ...axes M M M Sefety output source EDM output EDM output Servo driver SF1 Control output 1 Control output 2 0V 24V EDM input SF1 SF2 SF2 EDM EDM Servo driver SF1 SF1 SF2 SF2 EDM EDM EDM output Servo driver SF1 SF1 SF2 SF2 EDM EDM Safety sensor Capacity requirement per safety output source channel 50 No of connected axes mA 24 VDC supply allowable voltage 24 V 15 Maximum No of connectable axes 8 ...

Page 306: ... axis by processing each data Applicable Mode You can use all of MINAS A5 series driver in absolute specifications by setting up param eter Use the motor which 8th place designated for rotary encoder specifications is S 7 wire type Absolute Specifications There are 3 connecting methods of the host controller and MINAS A5 driver as described below and select a method depending on the interface of t...

Page 307: ...air X4 X6 Detection head Linear scale unit Relay connector X5 SN751701 or equivalent Motor Relay connector 4 3 1 RXD TXD GND 6 RS485 5 RS485 8 RS485 7 RS485 X2 X4 X6 Detection head Linear scale unit Relay connector X5 RS485 can be connecter to either terminal pair Configuration of absolute system of scale using RS232 interface Configuration of absolute system of scale using RS485 interface Related...

Page 308: ...when battery alarm occurs Replace while turning on the control power Data stored in the encoder might be lost when you replace the battery while the control power of the driver is off After replacing the battery clear the battery alarm Refer to P 7 25 How to Clear the Battery Alarm When you execute the absolute encoder with the front panel refer to P 2 79 of Prepara tion or via communication refer...

Page 309: ...odically 3 Do not disassemble the battery or throw it into a fire Do not disassemble the battery since fragments of the interior parts may fly into your eyes which is extremely dangerous It is also dangerous to throw a battery into a fire or apply heat to it as doing to may cause it to rupture 4 Do not cause the battery to be short circuited Under no circumstances must the battery tube be peeled o...

Page 310: ...al consumption capacity 10h a 0 0014h b 2h c 2 313 days 24h c 52 days 297 8 mAh Battery life 2000 mAh 297 8 mAh 6 7 6 7159 year 2 1 cycle day 2nd cycle of the above 1 is for rest Annual consumption capacity 10h a 0 0014h b 14h c 313 days 24h c 52 days 640 6 mAh Battery life 2000 mAh 630 6 mAh 3 1 3 1715 year a Current consumption in normal mode 3 6 μA b Current consumption at power failure timer m...

Page 311: ... Battery for Backup Installation When you make your own cable for 17 bit absolute encoder Caution When you make your own cable for 17 bit absolute encoder connect the optional battery for absolute encoder DV0P2060 or DV0P2990 as per the wiring diagram below Connec tor of the battery for absolute encoder shall be provided by customer as well Install and fix the battery securely If the installation ...

Page 312: ...sfer the absolute data absolute data of external scale from the servo driver to the host controller turn on power and wait until the servo ready output S RDY is turned on and then start transfer Setup of serial communication interface on host controller RS232 Baud rate 2400 4800 9600 19200 38400 57600 115200bps Data 8 bit Parity none Start bit 1 bit Stop bit 1 bit The baud rate is set according to...

Page 313: ...the RS232 communication protocol For details of communication refer to P 7 27 Communication Caution Allow 50ms or longer interval for axis switching when you want to capture multiple axes data It is recommended for you to repeat the above communication more than 2 times to confirm the absolute data coincide in order to avoid mis operation due to unexpected noise 2 Absolute system Transferring abso...

Page 314: ...50ms or longer interval for axis switching when you want to cap ture multiple axes data It is recommended for you to repeat the above communication more than 2 times to confirm the absolute data coincide in order to avoid mis operation due to unexpected noise 2 Absolute system Transferring absolute data Data of 1 2 and 3are determined by the setup of Pr5 31 Axis address of the front panel Axis add...

Page 315: ...on Details of multi turn data 65535 CW 0 CCW Error Absolute counter over error protection Normal Error Multi turn data 0Bh Axis address D2h 03h 11h Encoder status L Setup value of Pr5 31 Axis address Encoder status H Single turn data L Single turn data M Single turn data H Multi turn data L Multi turn data H 00h Error code Checksum Becomes to 0 when the communication is carried out normally If not...

Page 316: ...r overflow Err45 Absolute multi turn counter error protection Err40 Absolute system down error protection Battery alarm Encoder status L 1 represents error occurrence Encoder status L 1 represents error occurrence Encoder status L bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 1 2 3 4 5 6 7 Encoder status H bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 Battery error One of the following has occur...

Page 317: ... transmit the command according to the RS232 communication protocol For details of communication refer to P 7 27 Communication Caution Allow 50ms or longer interval for axis switching when you want to capture multiple axes data It is recommended for you to repeat the above communication more than 2 times to confirm the absolute data coincide in order to avoid mis operation due to unexpected noise ...

Page 318: ... Data of 1 Data of 2 Data of 3 0 Details of parameter 1 81h 01h 3Dh 2 82h 02h 3Ch 3 83h 03h 3Bh 4 84h 04h 3Ah 5 85h 05h 39h 6 86h 06h 38h 7 87h 07h 37h 8 88h 08h 36h 9 89h 09h 35h 10 8Ah 0Ah 34h 11 8Bh 0Bh 33h 12 8Ch 0Ch 32h 13 8Dh 0Dh 31h 14 8Eh 0Eh 30h 15 8Fh 0Fh 2Fh 16 90h 10h 2Eh 17 91h 11h 2Dh 18 92h 12h 2Ch 19 93h 13h 2Bh 20 94h 14h 2Ah 21 95h 15h 29h 22 96h 16h 28h 23 97h 17h 27h 24 98h 18h...

Page 319: ...s 1 Undefined 2 Depends on external scale 31h Mitsutoyo made AT573 32h Mitsutoyo made ST771A ST773A 41h Sony Manufacturing Systems made SR77 SR87 External scale status H Absolute data 1 Absolute data 2 Absolute data 3 Absolute data 4 Absolute data 5 Absolute data 6 Error code Checksum Becomes to 0 when the communication is carried out normally If not 0 capture the absolute data from the driver aga...

Page 320: ...n 1 2 3 4 5 6 7 8 Logical sum of bit6 and bit 7 of external scale status L Logical sum of bit0 to bit 5 of external scale status L External scale status L 1 represents error occurrence External scale status L 1 represents error occurrence External scale status L bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 External scale status H bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 Remarks For detail ...

Page 321: ...factor is 85 or more the protection level 1 to 10s or A1 Over regeneration alarm Regenerative load factor is 85 or more the protection level 10s or A2 Battery alarm Battery voltage is 3 2 V or lower Fixed at A3 Fan alarm Fan has stopped for 1 sec 1 to 10s or A4 Encoder communication alarm The number of successive encoder communication errors exceeds the specified value 1 to 10s or A5 Encoder overh...

Page 322: ...h as CD ROM for this software are not prepared Download the software from our web site and install it to your PC How to Connect Connect to connector X1 USB mini B Download setup support software PANATERM from our web site and install it to your PC USB cable The connection cable should be provided with USB mini B connector at the driver side and the PC compatible connector on the other end If the c...

Page 323: ...atus and history 3 Monitoring of control conditions such as status and I O 4 Referring of the absolute data 5 Saving and loading of the parameter data Merits You can write parameters from the host to the driver in batch when you start up the machine You can display the running condition of machine to improve serviceability You can compose multi axis absolute system with simple wiring 7 4 Communica...

Page 324: ... of 0 to 127 You can set the same module ID as long as the host has no difficulty in control RS232 and RS485 communication When you connect one host to multiple MINAS A5s connect the host to connec tor X2 of one driver with RS232 communication and connect each MINAS A5 with RS485 communication Set up the Pr5 31 of the driver to 0 which is connected to the host and set up 1 to 127 to other drivers ...

Page 325: ...ns RS485 communication Connect the host to multiple MINAS A5s with RS485 communication set up the Pr5 31 of each front panel of MINAS A5 to 1 to 127 Allow 50ms or longer interval for switching the axes while capturing data of mul tiple axes X2 RS485 X2 RS485 X2 X2 RS485 RS485 Pr5 31 1 Pr5 31 2 Pr5 31 3 Pr5 31 4 Max 31 axis Module ID 0 Host ...

Page 326: ...n be connecter to either terminal pair No connection to X5 when no external scale is used Motor Relay connector X4 X6 Detection head Linear scale unit Relay connector X5 RS485 interface ADM485 or equivalent RS485 RS485 GND 8 7 Servo driver X2 RS485 6 5 1 RS485 GND RS485 RS485 Host controller Positioning controller Communication Method Set up the RS232 communication baud rate with Pr5 29 and RS485 ...

Page 327: ...ceived command and time for switching the line and transmission reception control will added to the actual communication time Caution Handshake code Following codes are used for line control Title Code Function ENQ 05h Module recognition byte of the transmitted Enquire for transmission EOT 04h Module recognition byte of the transmitted Ready for receiving ACK 06h Acknowledgement NAK 15h Negative a...

Page 328: ...d at transmission failure of command byte counts If no ACK is received within T2 period or other code than NAK or ACK is received sequence will be retried Retry will start from ENQ Reception control On entering to reception mode the module receives the transmitted block continuous ly It will receive the command byte counts from the first byte and continuously receive extra 3 bytes It will return A...

Page 329: ...code to the re ceiver retry times Permissible time interval for the driver to transmit EOT and to receive the reception of the 1st character code The driver will return NAK and finishes the reception mode if the actual reception has exceeded this setup time Permissible time interval for the module to transmit the check sum bytes and to receive ACK The module will re transmit ENQ code to the receiv...

Page 330: ...d data Refer to P 7 48 Read out of Absolute Encoder of details of communication command for the data composition Multi turn data 0000h 0 Single turn data 01FFD8h 131032 Allow 50ms or longer interval for switching the axis while capturing data of multiple axes X2 RS485 X2 RS485 X2 X2 RS485 RS232 Pr5 31 0 Pr5 31 1 Pr5 31 2 Pr5 31 3 Host 04 06 05 0B 01 D2 EOT ACK ENQ 05 ENQ 00 01 D2 2D 04 EOT 03 11 0...

Page 331: ...ID 1 is directly connected to the host with RS232 Date is presented in hexadecimals Caution For details of command refer to P 7 40 Details of Communication Command Host 04 06 05 01 01 71 EOT ACK ENQ 05 1 Capture of execution right ENQ 01 01 71 01 8C 04 EOT MINAS A5 1 2 Writing of individual parameter 3 Writing of parameter to EEPROM 4 Release of execution right Host 00 8D 04 06 EOT ACK 06 05 06 01...

Page 332: ...T2 time out Count once of retry times T2 stop Clearance of transmission buffer Reception of ACK Reset of retry times T2 stop Clear of transmission enquiry Transmission of one character Size Command bytes 1 Reception of ENQ and at slave Return ENQ to reception buffer reception processing ENQ Transmission of EOT T2 start T2 time out Transmission of NAK T2 stop Reception of command byte counts Size c...

Page 333: ...of retry times T2 stop Clearance of transmission buffer Reception of ACK Reset of retry times T2 stop Clearance of transmission enquiry Size becomes 0 T2 START Transmission of one character Size Size 1 Reception of module recognition bytes T1 start Reception of of EOT T2 start T1 time out T1 stop Module identification byte isnot module ID and ENQ reception or T1 timeout T1 stop in Success of recep...

Page 334: ...sion ACK NAK Data block Enquiry for transmission Permission for transmission ACK NAK Data block T5 T4 T3 T3 T5 T4 T5 Host to driver Driver to host RS485 bus occupation Host to driver Driver to host RS485 bus occupation Symbol T3 T4 T5 Title Continuous inter character time Response time of driver Response time of host Minimum Stop bit length Protocol parameter T6 2ms Maximum Protocol parameter T1 P...

Page 335: ...l parameter Setup of RS485 protocol parameter POS STATUS I O Read out of status Read out of command pulse counter Read out of feedback pulse counter Read out of present speed Read out of present torque output Read out of present deviation counter Read out of input signal Read out of output signal Read out of present speed torque and deviation counter Read out of status input signal and output sign...

Page 336: ...5 error 3 2 1 0 3 axis Version upper Version lower Error code checksum 0 1 command 0 mode 5 Read out of driver mode Reception data 0 axis checksum 0 5 Error code Transmission data Driver model consist of 12 characters and will be transmitted in ASCII code e g MADHT1105 bit7 0 Normal 1 Error 6 5 Command error 4 RS485 error 3 2 1 0 0Dh axis Model of driver upper Model of driver lower Error code chec...

Page 337: ...n right at parameter writing and EEPROM writing and release the execution right after the action finishes mode 1 Enquires for the capture of the execution right mode 0 Enquires for the release of the execution right You cannot operate with the front panel at other than monitor mode while the execution right is captured via communication When the module fails to capture the execution right it will ...

Page 338: ...de checksum 2 1 command 2 mode 0 Read out of status Reception data 0 axis checksum 2 0 Error code Transmission data positive direction negative direction running This becomes 1 when motor speed after converted to r min is positive positive direction or negative negative direction Slower than DB permission This becomes 1 when motor speed after converted to r min is below 30r min Torque in limit Thi...

Page 339: ...2000 Output value in 16 bit Torque command will be value for negative direction and value for positive direction bit7 0 Normal 1 Error 6 5 4 3 2 1 0 3 axis Data present torque L H error code checksum 2 5 command 2 mode 2 Read out of feedback pulse counter Reception data 0 axis checksum 2 2 Error code Transmission data Module returns the present position of feedback pulse counter in absolute coordi...

Page 340: ...32 bit Becomes when the encoder is located at negative direction against position command and when it is located at positive direction bit7 0 Normal 1 Error 6 5 Command error 4 RS485 error Command error RS485 error Data 3 2 1 0 5 axis data deviation L H Error code checksum 2 6 bit7 For manufacturer s use 6 Switching of electronic gear 1 5 Speed zero clamp 4 Control mode switching 3 CCW over travel...

Page 341: ...nufacturer s use 0 Battery alarm bit7 bit15 For manufacturer s use 14 For manufacturer s use 13 For manufacturer s use 12 11 10 9 Oscillation detection alarm 8 External scale error alarm 7 axis data L data H alarm data L H error code checksum Signal title Servo Ready Servo Alarm Positioning completed Mechanical brake released Zero speed detection Torque in limit At speed Speed arrival In speed Spe...

Page 342: ...L input signal H output signal L output signal H alarm data L alarm data H error code checksum 2 A command 2 mode 9 Read out of present speed torque and deviation counter Reception data 2 9 Error cod Transmission data Output value of speed and torque are in 16 bit and deviation in 32 bit Unit and sign of the output data is as same as that of command No 24 command 2 mode 4 25 mode 5 and 26 mode 6 b...

Page 343: ...ror 3 4 Encoder alarm 4 3 0 2 0 1 0 0 0 Status L Encoder ID ST771 Status H 1 bit5 Logical sum of bit0 to bit 5 of status L 2 bit4 logical sum of bit6 and bit 7 of status L bit7 Thermal alarm 6 Signal intensity alarm 5 Signal intensity error 4 Transducer error 3 ABS detection error 2 Hardware error 1 Initialization error 0 Over speed bit7 0 6 0 5 Encoder error 1 4 Encoder error 2 3 0 2 0 1 0 0 0 Er...

Page 344: ...L H status L H L single turn data H multi turn data L H 0 Error code checksum 2 D 17bit absolute 3 11h Encoder ID L Encoder ID H command 2 mode E Read out of external scale deviation and sum of pulses Reception data 2 E Error code Transmission data External scale FB pulse sum will return the present position of the external scale counter in absolute coordinates from the starting point External sca...

Page 345: ...is sign extended to 32 bits and returned bit7 0 Normal 1 Error 6 Data Error 5 Command error 4 RS485 error Data Error Command error RS485 error 3 No Error 2 1 0 command 7 mode 2 Reception data 0 axis checksum 7 2 Error code Transmission data Writes the preset parameters to EEPROM Transmission data will be returned after EEPROM writing completes It may take max 5sec for EEPROM writing when all param...

Page 346: ... 12 11 10 9 8 Read only Front operation protect Error code bit7 0 Normal 1 Error 6 5 4 3 2 1 0 Command error No Error RS485 error If the parameter type or the parameter No is outside the range returns No error Parameter value MIN value and MAX value should be sign extended to 32 bits before being transmitted 2 axis parameter type parameter No checksum 7 6 17 11h axis parameter type parameter No L ...

Page 347: ...its before being transmitted Property bit7 Parameter not in use 6 Display inhibited 5 for special customer 4 Change at initialization 3 System related 2 1 0 bit15 14 13 12 11 10 9 8 Read only Front operation protect Error code bit7 0 Normal 1 Error 6 5 4 3 2 1 0 Command error No Error RS485 error 10h 16 axis 1 parameter type 1 parameter No 2 parameter type 2 parameter No 8 parameter type 8 paramet...

Page 348: ...ut of present alarm data Reception data 0 axis checksum 9 0 Error code Transmission data If no alarm occurs alarm No becomes 0 For alarm No refer to P 6 3 Protective function What is alarm code of When in Trouble bit7 0 Normal 1 Error 6 5 4 3 2 1 0 3 axis alarm No Main alarm No Sub error code checksum 9 0 Command error RS485 error Error code Set 0 to unused parameter Otherwise data error occurs Wh...

Page 349: ...arm data history Data error will occur when you fail to clear When under voltage of control power supply occurs error code of control LV will be returned instead of executing writing bit7 0 Normal 1 Error 6 5 4 3 2 1 0 1 axis Error code checksum 9 3 Data Error Command error RS485 error Command error RS485 error Control LV command 9 mode 2 Individual read out of user alarm history Reception data Er...

Page 350: ...ception data 0 axis checksum 9 B Error code Transmission data Clears absolute encoder error and multi turn data Command error will be returned when you use other encoder than 17bit absolute encoder bit7 0 Normal 1 Error 6 5 4 3 2 1 0 1 axis Error code checksum 9 B Command error RS485 error ...

Page 351: ...7 55 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in Trouble 7 Supplement MEMO ...

Page 352: ...e of oil seal or brake Continuous torque vs ambient temperature characteristics have been measured with an aluminum flange attached to the motor approx twice as large as the motor flange with brake without brake with brake with brake without brake without brake Peak running range Peak running range Peak running range Peak running range Peak running range ratio vs rated torque ambient temp C 50 100...

Page 353: ...al With oil seal torque N m ratio vs rated torque speed r min ambient temp C 50 100 torque N m speed r min 10 0 20 30 40 ratio vs rated torque with brake ambient temp C 50 70 100 80 10 0 20 30 40 torque N m ratio vs rated torque speed r min ambient temp C 50 100 torque N m speed r min 10 0 20 30 40 ratio vs rated torque with brake ambient temp C 50 70 100 80 10 0 20 30 40 Peak running range Contin...

Page 354: ...ithout oil seal With oil seal torque N m ratio vs rated torque speed r min ambient temp C 50 100 90 torque N m speed r min 10 0 20 30 40 ratio vs rated torque ambient temp C 50 75 100 10 0 20 30 40 ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min torque N m speed r min ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 75 torque N m ratio vs rated torque spee...

Page 355: ...with brake with brake torque N m ratio vs rated torque speed r min ambient temp C 50 100 10 0 20 30 40 ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min 85 ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min 85 70 ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min 90 85 ratio vs rated torque ambient temp C 50...

Page 356: ...less voltage Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient temp with brake Peak running range Peak running range ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min ratio vs rated torque ambient temp C 50 100 10 0 20 3...

Page 357: ...ent temp without brake with brake ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min ratio vs rated torque ambient temp C 50 10...

Page 358: ...e vs ambient temp When you lower the torque limit setup P0 13 and 5 22 running range at high speed might be lowered as well torque speed Continuous running range Running range Torque limit setup 300 Running range Torque limit setup 200 Running range Torque limit setup 100 ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min ratio vs rated torque ambient temp C 50 100 10...

Page 359: ...Mounting bracket Option Mounting bracket Option Rack mount type Option Front end mounting B frame 55 47 55 132 9 22 4 2 5 2 5 5 2 43 6 5 7 7 5 2 180 170 150 ø5 2 ø5 2 150 140 Name plate Rack mount type Option Front end mounting Base mount type Standard Back end mounting Mounting bracket Option Mounting bracket Option 3 5 Related page P 1 3 Driver P 1 13 Driver and List of Applicable Peripheral Equ...

Page 360: ... R 2 6 Name plate 65 40 65 172 9 22 4 4 2 5 2 5 5 2 50 7 5 5 20 20 40 5 2 180 170 150 ø5 2 ø5 2 150 140 Rack mount type Option Front end mounting Base mount type Standard Back end mounting Mounting bracket Option Mounting bracket Option Name plate 6 Dimensions Driver C frame D frame Mass 1 6kg Mass 1 8kg Related page P 1 3 Driver P 1 13 Check of the Combination of the Driver and the Motor P 2 6 Dr...

Page 361: ...racket to shipping specification Mounting bracket deviation from shipping specification ø 5 2 ø 5 2 5 2 5 2 42 5 50 17 5 Name plate 100 15 214 42 7 2 5 2 5 3 65 5 2 5 2 130 250 240 220 ø 5 2 ø 5 2 5 2 5 2 65 100 15 Name plate Mounting bracket to shipping specification Mounting bracket deviation from shipping specification Mounting bracket to shipping specification Mounting bracket deviation from s...

Page 362: ...y dimensions LW 14 20 25 25 LK 12 5 18 22 5 22 KW 3h9 4h9 5h9 6h9 KH 3 4 5 6 RH 6 2 8 5 11 15 5 TP M3 depth 6 M4 depth 8 M5 depth 10 Mass kg Without brake 0 32 0 47 0 82 1 2 2 3 With brake 0 53 0 68 1 3 1 7 3 1 Connector specifications Refer to P 2 18 Specifications of Motor connector Caution Related page Reduce the moment of inertia ratio if high speed response operation is required P 1 10 Check ...

Page 363: ...ke 97 115 5 134 5 146 164 199 With brake 124 142 5 161 5 171 189 224 LZ 9 Key way dimensions LW 45 55 LK 42 41 51 KW 6h9 8h9 KH 6 7 RH 15 5 18 20 Mass kg Without brake 3 5 4 4 5 3 8 3 11 0 14 0 With brake 4 5 5 4 6 3 9 4 12 6 16 0 Connector specifications Refer to P 2 18 Specifications of Motor connector Caution Related page Reduce the moment of inertia ratio if high speed response operation is re...

Page 364: ... brake 94 111 5 129 164 133 152 With brake 119 136 5 154 189 158 177 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 51 50 KW 8h9 10h9 KH 7 8 RH 18 20 30 Mass kg Without brake 5 2 6 7 8 0 11 0 15 5 18 6 With brake 6 7 8 2 9 5 12 6 18 7 21 8 Connector specifications Refer to P 2 18 Specifications of Motor connector Caution Related page Reduce the moment of inertia ratio if high speed response operation...

Page 365: ...33 LE 6 3 2 LF 12 18 LG 60 LH 116 140 LM Without brake 111 5 119 5 165 5 With brake 136 5 144 5 190 5 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8h9 10h9 KH 7 8 RH 18 30 Mass kg Without brake 6 7 14 0 20 0 With brake 8 2 17 5 23 5 Connector specifications Refer to P 2 18 Specifications of Motor connector Caution Related page Reduce the moment of inertia ratio if high speed response operatio...

Page 366: ...ke 129 146 5 133 152 165 5 194 5 With brake 154 171 5 158 177 190 5 219 5 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8h9 10h9 KH 7 8 RH 18 30 Mass kg Without brake 6 7 8 6 12 2 16 0 18 6 23 0 With brake 8 1 10 1 15 5 19 2 21 8 26 2 Connector specifications Refer to P 2 18 Specifications of Motor connector Caution Related page Reduce the moment of inertia ratio if high speed response operati...

Page 367: ...7 71 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in Trouble 7 Supplement MEMO ...

Page 368: ...Ind Single phase 100V 200V 3 phase 200V C frame DV0P4220 Single 3 phase 200V 3SUP HU30 ER 6 D frame DV0PM20043 3 phase 200V 3SUP HU50 ER 6 E frame Unit mm Label Terminal cover transparent 2 ø4 5 R Cx Cx Cy L L Cy 2 ø4 5 x 6 75 53 1 1 0 100 0 2 0 88 0 75 0 5 0 12 0 10 0 50 0 60 0 7 0 2 0 11 6 13 0 6 M4 2 1 3 4 Circuit diagram IN OUT A B C D E F G H 115 DV0PM20042 DV0PM20042 DV0P4220 DV0PM20043 105 ...

Page 369: ... Label 1 2 3 4 5 6 Option part No Voltage specifications for driver Manufacturer s part No Applicable driver frame Manufacturer DV0P3410 3 phase 200V 3SUP HL50 ER 6B F frame Okaya Electric Ind 7 Options Noise Filter Remarks Recommended components part No Voltage specifications for driver Current rating A Manufacturer RTHN 5010 3 phase 200V 10 TDK Lambda Corp RTHN 5020 20 RTHN 5030 30 RTHN 5040 40 ...

Page 370: ... Voltage specifications for driver Manufacturer s part No Manufacturer DV0P1450 3 phase 200V RAV 781BXZ 4 Okaya Electric Ind Option part No Voltage specifications for driver Manufacturer s part No Manufacturer DV0P4190 Single phase 100V 200V RAV 781BWZ 4 Okaya Electric Ind Remarks Take off the surge absorber when you execute a dielectric test to the machine or equip ment or it may damage the surge...

Page 371: ...er for Signal Lines Remarks Install noise filters for signal lines to all cables power cable motor cable encoder cable and interface cable Option part No Manufacturer s part No Manufacturer DV0P1460 ZCAT3035 1330 TDK Corp Fix the signal line noise filter in place to eliminate excessive stress to the cables Unit mm 39 1 34 1 30 1 13 1 Mass 62 8g ...

Page 372: ...M1 Japan Aviation Electronics Ind 5 MFECA0050MJD Connector pin LY10 C1 A1 10000 10 MFECA0100MJD Cable AWG24 4P AWG22 2P Hitachi Cable Ltd 20 MFECA0200MJD Part No MFECA0 0MJE Compatible motor output 50W to 750W Specifications For 17 bit absolute encoder With battery box L 110 300 ø 6 Title Part No Manufacturer L m Part No Connector 55100 0670 Molex Inc 3 MFECA0030MJE Connector SMM 003T P0 5 J S T M...

Page 373: ...iation Electronics Ind 5 MFECA0050ETD Connector pin JN1 22 22S PKG100 10 MFECA0100ETD Cable 0 2mm2 3P Oki Electric Cable Co Ltd 20 MFECA0200ETD Part No MFECA0 0ETE Compatible motor output 0 9kW to 5 0kW Specifications For 17 bit absolute encoder With battery box L 110 300 ø 6 Title Part No Manufacturer L m Part No Connector 55100 0670 Molex Inc 3 MFECA0030ETE Connector ZMR 02 J S T Mfg Co Ltd 5 MF...

Page 374: ... S C1B 3500 5 MFMCA0050NJD Rod terminal AI0 75 8GY Phoenix Contact 10 MFMCA0100NJD Nylon insulated round terminal N1 25 M4 J S T Mfg Co Ltd 20 MFMCA0200NJD Cable AWG18 4P Hitachi Cable Ltd Part No MFMCD0 2ECD Applicable model MSME 1 0kW to 2 0kW MDME 1 0kW to 2 0kW MHME 1 0kW to 1 5kW MGME 900W 50 L ø37 3 φ12 5 Title Part No Manufacturer L m Part No Connector JL04V 6A20 4SE EB R Japan Aviation Ele...

Page 375: ...nsulated round terminal N2 M4 J S T Mfg Co Ltd 20 MFMCE0202ECD Cable ROBO TOP 600V 2 0mm2 Daiden Co Ltd Part No MFMCA0 3ECT Applicable model MSME 3 0kW to 5 0kW MDME 3 0kW to 5 0kW MHME 3 0kW to 5 0kW MGME 2 0kW to 3 0kW 50 L ø40 5 φ14 Title Part No Manufacturer L m Part No Straight plug JL04V 6A22 22SE EB R Japan Aviation Electronics Ind 3 MFMCA0033ECT Cable clamp JL04 2022CK 14 R 5 MFMCA0053ECT ...

Page 376: ...2022CK 14 R 5 MFMCA0052FCD Rod terminal AI2 5 8BU Phoenix Contact 10 MFMCA0102FCD Nylon insulated round terminal Earth N2 M4 J S T Mfg Co Ltd 20 MFMCA0202FCD Brake N1 25 M4 Cable ROBO TOP 600V 0 75mm2 and ROBO TOP 600V 2 0mm2 Daiden Co Ltd This cable does not conform to IP67 Part No MFMCE0 2FCD Applicable model MHME 2 0kW 50 L 50 L Title Part No Manufacturer L m Part No Straight plug JL04V 6A24 11...

Page 377: ...ME 3 0kW to 5 0kW MGME 2 0kW to 3 0kW L 50 L 50 ø43 7 ø14 ø 9 8 Title Part No Manufacturer L m Part No Straight plug JL04V 6A24 11SE EB R Japan Aviation Electronics Ind 3 MFMCA0033FCT Cable clamp JL04 2428CK 17 R 5 MFMCA0053FCT Nylon insulated round terminal Earth N5 5 5 J S T Mfg Co Ltd 10 MFMCA0103FCT Brake N1 25 M4 20 MFMCA0203FCT Cable ROBO TOP 600V 0 75mm2 and ROBO TOP 600V 3 5mm2 Daiden Co L...

Page 378: ...itle Part No Manufacturer L m Part No Connector JN4FT02SJMR Japan Aviation Electronics Ind 3 MFMCB0030PJT Connector pin ST TMH S C1B 3500 5 MFMCB0050PJT Nylon insulated round terminal N1 25 M4 J S T Mfg Co Ltd 10 MFMCB0100PJT Cable AWG22 Hitachi Cable Ltd 20 MFMCB0200PJT Related page P 1 15 Check of the Combination of the Driver and the Motor P 2 18 Specifications of Motor connector ...

Page 379: ...O5 14 SPR SPL TRQR 16 P ATL 18 N ATL 20 NC 22 OA 24 OZ 50 FG 25 GND Interface Cable Part No DV0P4360 Table for wiring This 2 m connector cable contains AWG28 conductors 1 25 50 26 52 35 2000 200 0 50 10 0 39 12 7 Remarks Color designation of the cable e g Pin 1 Cable color Orange Red1 One red dot on the cable ø8 0 1 2 3 4 5 6 7 8 9 10 Pin No color 11 12 13 14 15 16 17 18 19 20 Orange Black2 Yellow...

Page 380: ...025 Components Title Part No Manufacturer Note Connector 2013595 1 Tyco Electronics AMP For Connector X3 8 pins Pin disposition of connector connector X3 Dimensions 8 6 4 2 7 5 3 1 NC SF1 NC SF1 SF2 SF2 EDM EDM Viewed from cable Shell FG 33 11 5 2 7 3 ø6 7 11 10 7 8 1 5 Connector Kit for External Scale Part No DV0PM20026 Components Title Part No Manufacturer Note Connector MUF PK10K X J S T Mfg Co...

Page 381: ...tor connector X7 Dimensions 1 MX 1 AM1 2 AM2 3 GND 6 NC 5 NC 4 DM 14 0 3 12 9 0 3 3 35 0 3 0 8 5 3 0 3 Connector Kit for Power Supply Input Part No DV0PM20032 For A to D frame Single row type Components Title Part No Number Manufacturer Note Connector 05JFAT SAXGF 1 J S T Mfg Co Ltd For Connector XA Handle lever J FAT OT 2 Part No DV0PM20033 For A to D frame double row type Components Title Part N...

Page 382: ...Ltd For Connector XB E frame Handle lever J FAT OT L 2 Connector Kit for Motor Encoder Connection Part No DV0PM20035 Applicable model MSME 50W to 750W Components Title Part No Number Manufacturer Note Connector 55100 0670 1 Molex Inc For Connector X6 6 pins Encoder plug connector JN6FR07SM1 1 Japan Aviation Electronics Ind For junction cable to encoder 7 pins Socket contact LY10 C1 A1 10000 7 Moto...

Page 383: ...er Connector pin JN1 22 22S PKG100 5 Motor connector JL04V 6A22 22SE EB R 1 Japan Aviation Electronics Ind For junction cable to motor power Cable clamp JL04 2022CK 14 R 1 Part No DV0PM20038 Applicable model MSME 1 0kW to 2 0kW MDME 1 0kW to 2 0kW MHME 1 0kW to 1 5kW MGME 0 9kW With brake Components Title Part No Number Manufacturer Note Connector 55100 0670 1 Molex Inc For Connector X6 6 pins Enc...

Page 384: ...s Connector Kit Connector Kit for Motor Brake Connection Part No DV0PM20040 Components Title Part No Number Manufacturer Note Connector JN4FT02SJM R 1 Japan Aviation Electronics Ind Handle lever ST TMH S C1B 3500 2 ...

Page 385: ...mAh DV0P2990 0 0 0 9 0 0 0 1 84 18 Paper insulator Lead wire length 50mm ZHR 2 J S T Mfg Co Ltd 1 BAT 14 5 2 BAT Caution This battery is categorized as hazardous substance and you may be required to present an application of hazardous substance when you transport by air both passenger and cargo airlines Battery Box For Absolute Encoder Part No DV0P4430 Components DV0P4430 P04090001 R5 112 110 31 2...

Page 386: ...ad 4pcs Dimensions Upper side 47 7 15 10 R 2 2 5 2 5 2 M4 Pan head 24 18 0 2 ø5 2 2 C 5 17 9 5 R2 R1 or less Bottom side 47 40 17 9 5 2 5 2 5 15 10 R 2 5 18 0 2 2 M4 Pan head 2 C 5 5 2 R2 2 R1 R1 or less Part No DV0PM20029 Frame symbol of applicable driver C frame Mounting screw M4 L6 Pan head 4pcs Dimensions Upper side 30 0 2 15 10 R 2 2 5 2 5 2 M4 Pan head 2 C 5 17 9 5 40 20 ø5 2 R2 R1 or less B...

Page 387: ... 79 3 0 95 2 4 7φ 12 M4 1 39 11 DV0P224 60 1 150 1 113 160Max 155 84 3 0 100 2 4 7φ 12 M5 0 848 16 DV0P225 60 1 150 1 113 160Max 170 100 3 0 115 2 4 7φ 12 M5 0 557 25 Fig 2 DV0P227 55 0 7 80 1 66 5 1 110Max 90 41 2 55 2 4 5φ 10 M4 4 02 5 DV0P228 55 0 7 80 1 66 5 1 110Max 95 46 2 60 2 4 5φ 10 M4 2 8 Fig 3 DV0PM20047 55 0 7 80 1 66 5 1 110Max 105 56 2 70 2 4 5φ 10 M4 1 39 11 Motor series Power suppl...

Page 388: ... you that the procedure to execute the harmonic restraint on general purpose inverter and servo driver was modified as follows 1 All types of the general purpose inverters and servo drivers used by specific users are under the control of the Guidelines for harmonic restraint on heavy consumers who re ceive power through high voltage system or extra high voltage system The users who are required to...

Page 389: ...t No RF180B RF180B RF240 RH450F 25 50 30 Specifications Activation temperature of built in thermostat DV0P4280 DV0P4281 RF70M RF70M 50 10 10 17 17 40 52 25 25 50 50 100 130 0 1 0 1 0 4 0 2 0 5 1 2 φ1 27 AWG18 stranded wire 100 DV0P4285 20 Manufacturer Iwaki Musen Kenkyusho Resistance Rated power reference 140 5 C B contact Open Close capacity resistance load 4A 125VAC 10000 times 2 5A 250VAC 10000...

Page 390: ...ke Motor Part No Manufacturer MSME 50W to 750W Z15D271 Ishizuka Electronics Co MHME 2 0kW to 5 0kW Z15D151 Ishizuka Electronics Co MGME 0 9kW to 2 0kW MSME 1 0kW to 5 0kW MDME 4 0kW to 5 0kW MGME 3 0kW MDME 1 0kW to 3 0kW TND09V 820KB00AAA0 Nippon Chemi_Con Co MHME 1 0kW to 1 5kW ...

Page 391: ...p www chemi_con co jp Surge absorber for holding brake Ishizuka Electronics Corp 81 3 3621 2703 http www semitec co jp TDK Corp 81 3 5201 7229 http www tdk co jp Noise filter for signal lines Okaya Electric Industries Co Ltd 81 3 4544 7040 http www okayatec co jp Surge absorber Noise filter Japan Aviation Electronics Industry Ltd 81 3 3780 2717 http www jae co jp Connector Sumitomo 3M 81 3 5716 72...

Page 392: ...ny makes fee based repair on product contain ing 1 Failure or damage due to misuse improper repair or alteration 2 Failure or damage due to falling or damage during transportation after the original delivery 3 Defects resulting from neglect of the specification in use of the product 4 Failure or damage due to unregulated voltage and fire and act of natural disasters such as earthquake lightning wi...

Page 393: ...mponents may result in unexpected ac tion It is highly recommended that you make a fail safe design and secure the safety in the operative range If the motor shaft is not electrically grounded it may cause an electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment and may result in the bearing noise Checking and verification by customer is requi...

Page 394: ...s CAD data can be downloaded from the following web site http industrial panasonic com ww i_e 25000 motor_fa_e motor_fa_e html IME10 A1009 0 After Sale Service Repair For your records The model number and serial number of this product can be found on either the back or the bottom of the unit Please note them in the space provided and keep for future reference Model No M DH M ME Serial No Date of p...

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