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- App.17 -

Appendixes

P r N o .

P a r a m e t e r

Value

F u n c t i o n

0 2

(continued)

Control mode

set-up

( c o n t i n u e d )

* Example of 4 speeds operation using internal velocity command

In  addition  to  DIV/INTSPD1  and  CL/INTSPD2,  zero  speed  clamp
input  (ZEROSPD)  and  Servo-On  input  (SRV-ON)  are  required  as
the  input  to  control  start  and  stop  of  the  motor.

< N o t e s >

Acceleration  time,  deceleration  time  and  S-shaped  acceleration/
deceleration  time  can  be  set  individually.
Refer  to  the  descriptions  of
Pr58:    Acceleration  time  set-up
Pr59:    Deceleration  time  set-up
Pr5A:    S-shaped  acceleration/deceleration  time  set-up

SRV-ON input

Servo-On

Operation

Stop

Velocity

OPEN

OPEN

1st speed

2nd speed

3rd speed

4th -speed

Time

OPEN

CLOSE

CLOSE

CLOSE

CLOSE

OPEN

ZEROSPD input

DIV/INTSPD1 input

CL/INTSPD2 input

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Summary of Contents for MDDDT5540

Page 1: ...u very much for your buying Panasonic AC Servo Motor Driver A series Before use read through this manual to ensure proper use Keep this manual at an easily accessible place so as to be referred anytime as necessary Be sure give this instruction manual to the user ...

Page 2: ...uce the mechanincal resonance 59 Table of Contents 2 Safety Precautions 4 Introduction 8 After Opening the Package 8 Check the Model Number of Amplifier 8 Check the Model Number of Motor 9 Check the Combination of Amplifier and Motor 10 System Configuration and Wiring 1 8 General Wiring Diagram 18 List of Available Components 20 Main Circuits 22 CN SIG Connector For Encoder 23 CN SER Connector 24 ...

Page 3: ...ons App 48 Characteristics App 53 Specifications App 54 Protective Functions 60 Maintenance and Inspections 6 6 Conformance to EC Directives and UL Standards App 2 Holding Brake App 6 Dynamic Brake App 8 Timing Chart App 10 Acceptable Loads on Output Shaft App 14 Homing Operation Precautions App 15 Appendixes Important Information 3 ...

Page 4: ...derate injury and physical damage This symbol indicates that the operation is pro hibited This symbol indicates that the operation must be performed without fail Don t insert your hands in the amplifier Failure to observe this instruction could result in burns and or electric shocks An over current protection earth leakage breaker over temperature protection and emergency stop should be installed ...

Page 5: ...m a l f u n c t i o n a n d o r damages Perform the transportation wiring and inspection at least 10 minutes after the power off Failure to observe this in struction could result in electric shocks Don t subject the product to water splash corrosive gases flammable gases and combustible things Failure to observe this in struction could result in fire Before Use Install an external emergency stop d...

Page 6: ...ustment or change Avoid an operation which causes unstable action Failure to observe this instruction could result in injuries If an error occurs remove the causes for the error and secure the safety before restarting the operation Failure to observe this instruction could result in injuries Don t touch the motor amplifier or its regenerative discharge resistor since they become hot Failure to obs...

Page 7: ...ade correctly Failure to observe this instruction could result in electric shocks injuries Don t hold the cables or motor shaft when transporting the motor Failure to observe this instruction could result in injuries Before Use After recovery from the power failure the equipment may restart suddenly Don t approach the equipment Failure to observe this instruction could result in injuries Observe t...

Page 8: ...0 333 3Hz 00010001 Power F L C Phase Voltage INPUT OUTPUT ENCODER AC SERVO DRIVER 60 75 Wire Only Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection SER NO Model No Freq Model Rated input voltage Rated motor output Number of pulses of the encoder resolution Rated output current Serial Number Custom specification Custom specification 2 A B C...

Page 9: ... min 3000 INPUT 3ØAC 92 IP65 V MatsushitaElectric Industrial Co Ltd Made in Japan Rated output Series symbol S S series Voltage 1 100V 2 200V Z 100 200V Rotary encoder see Table 1 b Custom specification 1 1 Standard Custom specification 2 Symbol MUM Type Super low inertia Symbol A Type Incremental No of pulses 2500P r Lead wire 11 wire Specifications Resolution 10000 Before Use Symbol 3A 5A 01 Rat...

Page 10: ...bination of Amplifier and Motor The amplifier has been designed for use in combination with the specified motors only Check the specifications Series symbol output rating voltage rating and encoder type of the motor you want to use ...

Page 11: ... 400W 750W Revolution rating 3000r min Encoder type Incremental 2500P r 11 wires Amplifier MUDS3A1A1A MUDS5A1A1A MUDS011A1A MUDS021A1A MUDS041A1A MUDS022A1A MUDS042A1A MUDS3A5A1A MUDS5A5A1A MUDS015A1A MUDS023A1A MUDS043A1A MUDS083A1A Motor type MUMS3AZ MUMS5AZ MUMS011A MUMS021A MUMS041A MUMS022A MUMS042A MUMS3AZA MUMS5AZA MUMS012A MUMS022A MUMS042A MUMS082A Power supply for amplifier 1 phase 100V ...

Page 12: ...Type 3 Rotary switch for gain GAIN tuning Communication connector CN SER Controller connection CN I F Encoder connection CN SIG Check pins CN MON Check pins CN MON Alarm code LED Status LED Main power input connector L1 L2 L3 P B Earth connections Motor connection U V W E MON CN MSDS MOTOR CN SIG CN CN POWER CN I F ALM CODE STATUS GAIN CN SER MOTOR SIG POWER I F CN CN CN CN MON CN CN SER GAIN MSDS...

Page 13: ... of motor types see the drawings in the Appendix App 48 49 Motor Example Super Low Inertia Motor MUMS Series 400W Mounting bolt holes 4 Flange Frame Motor cable Encoder Encoder cable Before Use Brake cable Motor with electromag netic brake only ...

Page 14: ...ce in a vibration free space Environmental Conditions How to Install This is a rack mount type Place the amplifier vertically Allow enough space surrounding for ventilation Front panel mount type recessed Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude Conditions 0 to 55 C free from freezing Not greater than 90 RH free from condensation 20 to 80 C ...

Page 15: ...from the amplifier Observe the environmental requirements for the control box mentioned in the previous page Before Use min 40mm min 100mm min 40mm min 100mm min 10mm Fan Fan min 10mm min 10mm MSDS MOTOR CN SIG CN CN POWER CN I F ALM CODE STATUS GAIN CN SER MSDS MOTOR CN SIG CN CN POWER CN I F ALM CODE STATUS GAIN CN SER MSDS MOTOR CN SIG CN CN POWER CN I F ALM CODE STATUS GAIN CN SER MSDS MOTOR C...

Page 16: ...temperature Ambient humidity Storage temperature Storage humidity Vibration Shock Conditions 0 to 40 C free from freezing Not greater than 85 RH free from condensation 20 to 80 C free from freezing Not greater than 85 RH free from condensation Cable Motor Oil and water Oil and Water Protections This motor IP65 rating can be used where it is subjected to water and or oil drops but is not water or o...

Page 17: ...he motor shaft during instal lation and running are within the specified value of each model Pay extra attention to installing a rigid coupling especially an excess bending load which may cause the damages and or wear of the shaft and bearings Flexible coupling is recommended in order to keep the radial load smaller than the permis sible value which is designed exclusively for servo motors with hi...

Page 18: ...ogether with a surge absorber Reactor L Reduces the harmonic current in the main power Terminals P and B In case of use under large regenerative energy connect an external regenerative discharge resistor to P and B terminals System Configuration and Wiring General Wiring Diagram Regenerative discharge resistor Ground Notes Where residual current operated protective device RCD is used for protectio...

Page 19: ... control software P A N A T E R M CN SER to connect a PC or controller CN SIG to connect an encoder CN I F to connect a controller Personal computer Motor cable Power supply for motor brake 24VDC Encoder cable Preparations and Adjustments 1234 1234 1234 Hazardous Voltage Others Low Voltage circuit ...

Page 20: ...arger Please also consider the electrochemical potentials between metal conductor including closed loop terminals The electrochemical potentials shall be less than 0 6V Magnetic contactor c o n t a c t s BMFT61041N 3P 1a BMFT61541N 3P 1a BMFT61541N 3P 1a MMFT61042N 3P 1a Noise filter D V O P 1 4 4 1 D V O P 1 4 4 2 D V O P 1 4 4 1 D V O P 1 4 4 2 D V O P 1 4 4 1 D V O P 1 4 4 2 Circuit breaker rat...

Page 21: ... P MC L MC NFB MC ON OFF N N B U V E W L1 COM 13 12 24V 3 4 tyco Electronics AMP tyco Electronics AMP Red White or yellow Green yellow Black Noise filter Motor 3 phase 200V 1 2 ALM VDC 9 ALM L2 L3 P P P MC L MC NFB MC ON OFF N N B U V W E L1 COM 13 12 24V 3 4 172167 1 172159 1 5557 10R 210 5557 06R 210 3 6 4 1 3 5 6 10 Noise filter tyco Electronics AMP tyco Electronics AMP Red White or yellow Gree...

Page 22: ...hree phase 200V connect L1 10pin L2 8pin and L3 6pin For single phase 100V and 200V connect L1 10pin and L3 6pin Connect to the grounding system of the facility Never fail to connect between the amplifier s protective earth terminal and control board s protective earth terminal ground plate in order to avoid electric shocks Ensure to connect matching in color between the motor wires and terminals ...

Page 23: ...s 3 Signal power paired wires should be of a twist paired type 4 Shield The shield at the amplifier side should be connected to Pin 20 FG of CN SIG Con nector The shield at the motor side should be con nected to connector of 15 pins type 5 If the cable is longer than 10 m the en coder power line 5V and 0V should be dual per the figure shown left 6 Other terminals should be left unconnected MSDS MO...

Page 24: ...he personal computer Convenient functions of high operability can be obtained such as monitor and parameter setting and setting change and waveform graphic display Connection Exclusive connection cable Option See App 44 CN SER RS232C connector Personal computer Insert and pull out connector after cutting power to both personal computer and amplifier Securely tighten the fixing screw MSDS CN I F AL...

Page 25: ...l If you directly activate a relay using the control signal install a diode in parallel to the relay as shown in the left figure Without a diode or with it but placed in the opposite direction the amplifier will be damaged Use a shielded twist paired type for the wiring of pulse input encoder signal output etc The Frame Ground FG is connected to an earth terminal in the amplifier Preparations and ...

Page 26: ... BRKOFF COM WARN CN I F FG 2 3 4 5 6 7 8 9 10 11 13 12 26 V DC 12 24V CN MON GND Monitor pin Monitor pin If this is an open collector I F see P1 in page 33 Velocity monitor output Torque monitor output Command pulse input A phase output B phase output Z phase output Z phase output open collector 2nd gain switching Servo ON Alarm clear Position error counter clear Command pulse scaler switch CW ove...

Page 27: ...RKOFF WARN COM CN I F FG 3 4 2 5 6 7 8 9 10 11 12 13 26 V DC 12 24V 220 Ω 220 Ω CN MON GND 330Ω 330Ω 330Ω Servo ON Alarm clear CCW overtravel inhibit A phase output B phase output Z phase output CW overtravel inhibit Servo alarm At speed Mechanical brake release Alarm Pr09 Internal vel cmnd select 1 Internal vel cmnd select 2 Speed zero clamp Scaler Z phase output open collector Monitor pin Monito...

Page 28: ...3 4 COMÅ COMÅ SRV ON A CLR C L INTSPD2 Å Å SI page 33 SI page 33 SI page 33 1 This signal becomes effective about two seconds after power on see the Timing chart 2 Don t use this Servo ON or Servo OFF signal to turn on or off the motor See App 8 Allow at least 100ms delay after the amplifier is enabled before any command input is entered By opening the connection to COM the amplifier will be disab...

Page 29: ... COM open the velocity command is considered zero Preparations and Adjustments SI page 33 SI page 33 At Pr31 value of 2 Position control Internal velocity control Function Speed loop PI ProportionalÅEIntegration operation Speed loop P Proportion operation 1 gain selection Pr10 11 12 13 14 2 gain selection Pr 18 19 1A 1B 1C Connection to COM Open Close Open Close Pr30 value 0 Default 1 Position con...

Page 30: ...ture A and B input 2 CW PULSE CCW SIGN pulse input 3 Command pulse PULS Sign SIGN input 2 2 2 3 2 4 2 5 PULS1 PULS2 SIGN1 SIGN2 PI page 33 7 8 CWL CCWL If COM is opened when the movable part of the machine has moved to CW exceeding the limit the motor does not generate torque If the COM is opened when the movable part of the machine has moved CCW exceeding the limit the motor does not generate tor...

Page 31: ...put Output transistor turns ON when the motor speed becomes lower than that of the preset speed with Pr61 Zero speed Output of both over regeneration and overload warnings Output transistor turns ON when either one of over regeneration or overload is activated Over regeneration warning output Output transistor turns ON when the over regeneration more than 85 of permissible power of the internal re...

Page 32: ...mbol Function I F No circuit Speed monitor signal output Torque monitor output Signal ground Outputs the motor speed or voltage in proportion to the commanded speed with polarity CCW rotation CW rotation Use Pr07 Velocity Monitor Selection to switch between actual and commanded speed and to define the relation between speed and output voltage Outputs the output torque or voltage in proportion to t...

Page 33: ... the VDC value Connecting to sequence input signals Connect to a contact of switch and relay or a tran sistor of an open collector output Use a switch or relay for micro current so that in sufficient contact can be avoided Can be used with COM instead of COM SI VDC R value 12V 1kΩ1 4W 24V 2kΩ1 4W 12 24V 1 COM 4 7kΩ Servo ON or other input Relay VDC 1 COM 4 7kΩ 12 24V Servo ON or other input Relay ...

Page 34: ...formula below For the recommended current value see the data sheets of actual equipment and photocoupler S O 1 Install as per the fig shows without fail PO1 Line Driver Differential Output Output Provides differential outputs of encoder signals A B and Z phases that come from the scaler Receive these signals with a line receiv ers In this case install a resistor of approx 330Ω between the inputs C...

Page 35: ...e is 1kΩ Pay atten tion to the input impedance of your mea suring instruments and external circuits connected Resolution 1 Velocity monitor signal SP 8r min LSB calculated from 6V 3000r min Pr07 3 2 Torque monitor signal IM 0 4 LSB calculated from 3V rated value 100 AO Open Collector Output Outputs Z phase signals among those from the encoder The outputs are non insulated Receive these signal with...

Page 36: ...EEPROM main power is once turned OFF and then turned ON again You can select the control mode allocate I O signals and set the baud rate and etc You can set various factors and constants such as the servo gains 1st and 2nd for position velocity and integration and time constants of filters Real time auto tuning parameters You can set the real time auto tuning mode select the machine stiffness etc ...

Page 37: ...0 1 3500 1 1000 0 5 0 2500 0 100 0 6400 0 2000 1 3500 1 1000 0 5 0 2500 100 1500 0 4 0 8 1 0 0 1 0 0 5 0 4 5 0 0 0 0 1 0 0 1 0 0 5 0 4 5 0 1 5 0 0 2 8 1 s Hz ms 0 01ms 0 01ms 1 s Hz ms 0 01ms Hz Åñ1 0 Åñ1 1 Åñ1 2 Åñ1 3 Åñ1 4 Åñ1 5 Åñ1 6 Åñ1 7 Åñ1 8 Åñ1 9 Åñ1 A Åñ1 B Åñ1 C Åñ1 D Åñ1 E Åñ1 F ParameterNO Parameter description Range Default Unit Axis address Internal use Control mode set up Internal u...

Page 38: ...ing level Position control swiching hysteresis Position loop gain switching time Not available Not available Internal use 0 1 0 8 0 10000 0 10000 0 10000 0 10000 0 0 0 0 0 0 0 0 0 166µs 1 Setting value x166µs Åñ3 0 Åñ3 1 Åñ3 2 Åñ3 3 Åñ3 4 Åñ3 5 Åñ3 6 3 7 3 9 3 E 3 F Parameter No Parameter description Range Default Unit Pr Inertia ratio Real time auto tuning set up Machine stiffness at auto tuning ...

Page 39: ...5 0 Åñ5 1 Åñ5 2 Åñ5 3 Åñ5 4 Åñ5 5 Åñ5 6 Åñ5 7 Åñ5 8 Åñ5 9 Åñ5 A Åñ5 B Åñ5 C Åñ5 D Åñ5 E Åñ5 F Parameter No Parameter description Range Default Unit Pr Command pulse multiplier set up Command pulse logic inversion Command pulse input mode set up Internal use Output pulses per single turn Pulse output logic Inversion Numerator of 1st command pulse ratio Numerator of 2nd command pulse ratio Internal ...

Page 40: ...ore shipment so that the excessive positional deviation error takes place at value in excess of 1875 x 256 pulses Pr5E Torque limit set up Parameter No Parameter description Range Default Unit Pr Power supply for amplifier Amplifier Amplifier t y p e Default Single phase 1 0 0 V Single phase 2 0 0 V 3 phase Single phase 2 0 0 V 3 phase 2 0 0 V M U D S 3 A 1 A 1 A M U D S 5 A 1 A 1 A M U D S 0 1 1 ...

Page 41: ...g the Parameters for amplifier storing them and writing in the memory EEPROM 2 Monitoring input output status monitoring pulse input monitoring load ratio 3 Checking current error status and error history 4 Measurement of wave form graphic data and storage and reading of the data 5 Automatic tuning 6 Measurement of frequency characteristics Setup disc of DVOP2820 communication software PANATERM Co...

Page 42: ... select to the floppy disk drive For the procedure for starting the Explorer program see the instructions for Windows 4 Double click on the setup program Setup exe in the floppy disk PANATERM setup program will start 5 Click on to start the setup program 6 Keep the operation according to the guide of the setup program When indication to replace the setup disk appears follow this instruction 7 Clic...

Page 43: ...M see the Windows manual Procedure 1 Turn on your personal computer Start Windows 95 or 98 2 Turn on the amplifier 3 Click on the start button of Windows see the Windows manual 4 Select click on PANATERM from the program menu 5 An opening splash will be displayed for two seconds and then PANATERM screen will appear For the operation functions and other details about PANATERM see the Instructions f...

Page 44: ... that all wire connections especially main power and motor output are correct Make sure that there is no short and earth wires are properly connected Make sure that there is no poor connections 2 Inspecting the power specifications Make sure that the voltage is correct 3 Securing the servo motor Make sure that the servo motor is firmly secured 4 Disconnecting the motor load Trial run without load ...

Page 45: ...and then ON again 2 Send a low frequency pulse signal from the controller to the amplifier to run the motor at low speed 3 Check the motor speed at monitor mode with PANATERM Make sure that the speed is per the set up Check if the motor stops when the command pulse is stopped Use the controller to send command pulses COM 1 2 22 23 24 25 21 14 13 SRV ON PULS1 PULS2 SIGN1 SIGN2 CZ GND COM 120Ω 120Ω ...

Page 46: ... 0 0 60Åã 360Åã x x Example Rotate the motor by 60 degrees with an overall reduction ratio of 18 365 You can set any value by setting any value for the numerator and denominator However the motor action will not follow the extreme setting of the ratio It is recommended to set within a range from 1 50 to 20 Relationship between motor speed and input pulse frequency Pulley ratio 18 60 Gear ratio 12 ...

Page 47: ...motor with the combination of the internal command speed selection INTSPD 1 6 pin and INTSPD 2 4 pin 3 Check the motor speed on the PANATERM monitor ÅE Speed and direction 4 Make sure that the motor stops by making zero speed clamp input ZEROSPD open 5 To change the speed or direction adjust the following parameters again Pr53 Pr56 Velocity set up for 1st speed through 4th speed See Details of Par...

Page 48: ... 48 Trial Run Fundamental Operations and LED Indications 1 2 3 4 5 6 7 8 9 0 STATUS ALM CODE GAIN CN SER CN I F CN SIG CN POWER CN MOTOR Motor Power supply CN POWER 1 Turn on the power ...

Page 49: ...nge and red Orange Tens digits Red Unit digits 3 Set Parameters Prepare a personal computer and PANATERM 4 Input commands relevant to the desirable control mode LED color Green Orange Red Meaning Main power is on Amplifier power is on Flashing when warning occurs Overload excessive regenerative energy Alarm Example When an overload alarm code No 16 occurs The alarm indicator will flash in orange o...

Page 50: ...djustment Type Description Accelerate and decelerate the motor per the preset internally fixed patterns to calculate the load inertia from the required torque Then automatically define appropriate gains according to the inertia During an actual operation calculate the load inertia in real time Then automatically define appropriate gains according to the inertia The gains will be automatically adju...

Page 51: ...ce of the machine significantly affects the gain adjustment of the servo motor If the machine has a lower resonance frequency i e lower stiffness you can t set the high response of the servo system Preparations and Adjustments Applicability of Automatic Adjustment P r 1 0 1st Position Loop Gain P r 1 3 1st Speed Detection Filter P r 1 1 1st Velocity Loop Gain P r 1 4 1st Torque Filter Time Constan...

Page 52: ... OK Measure the resonance frequency of machine system Notch filter Yes Yes No OK No Guidance values of gains Monitoring the velocity and torque using PANATERM fine adjust the gains so that the motor action follows the commands Setting by PANATERM is required Adjust setting to value suitable for machine configuration For table of rotary set values and machine configuration see page 58 Pr1D Pr14 Pr1...

Page 53: ... obtained gain values to EEPROM Note that if you turn off the power before down loading the gain values will be lost How to Use Normal Auto Gain Tuning Automatic tuning is available when the gain adjustment rotary switch GAIN is set to 0 position only Notes Never perform normal automatic tuning with single motor nor with single amplifier Otherwise Pr20 inertia ratio becomes zero possibly resulting...

Page 54: ...o disable the auto tuning function With a larger value the response to the change in load inertia acceleration is quicker 5 Start the motor 6 If the fluctuation in load inertia is small stop the motor machine and set Pr21 to 0 to fix the gain in order to raise the safety 7 FDownload the obtained gain values to EEPROM Note that if you turn off the power before down loading the gain values will be l...

Page 55: ...ed torque position er r o r i n a n a l o g v o l t a g e l e v e l w i t h a n oscilloscope To do this it is necessary to specify the types of output signals and out put voltage level by using Pr07 Velocity monitor selection Pr08 Torque monitor selection For details see CN MON Connector in the main part of this manual and Details of Pa rameters in Appendix Guidance Values of Gains and How to Adju...

Page 56: ...se the value of Pr12 1st velocity Loop Integration Time Constant according to the delay of commands With a smaller value overshoot may occur Adjustments Concept of adjustment OK if there is no problem with the motion With a larger value responsibility improves With an excessively large value oscillation occurs OK if there is no unusual running noise If unusual noise is heard decrease the value OK ...

Page 57: ... in stop If unusual noise is found change the value OK if there is no problem with the motion With a larger value responsibility improves With an excessively large value oscillation occurs OK if there is no unusual running noise If unusual noise is found make the value smaller First make the set up correctly Fixed set up OK if there is no unusual running noise If unusual noise is found change the ...

Page 58: ...ic gain tuning or parameters Set up the RSW to 0 when using the 2nd gain When the number gets larger gain will be increased Notes Do not operate rapid change of the value such as 9 to 0 or 0 to 9 Otherwise the motor will oscillate which results in abnormal sound and vibration RSW setting 0 factory setting 1 2 3 4 5 6 7 8 9 Position Loop Gain Values of Pr10 and Pr18 Value of Pr10 Standard factory s...

Page 59: ...frequency more distinguishable Set the amplitude to 50 r min so that the torque may not saturate Set the offset to 100 r min to increase the amount of velocity detection information and run the motor in one way rotation Polarities for CCW and for CW Set the sampling rate to 1 from a range between 0 and 7 Start the frequency characteristics analysis function Notes Before starting the measurement ma...

Page 60: ...n be cleared by keeping A CLR Alarm Clear Input on for at least 120 ms The overload protection can be cleared by A CLR at least 10 seconds after the occurrence of the event If the main power supply of amplifier turns off the time limiting operation is cleared The alarms mentioned above can also be cleared by using PANATERM Notes Protections marked with cannot be cleared with A CLR Alarm Clear Inpu...

Page 61: ... Feed a power of correct voltage Except phase ad vancing capacitor Undervoltage Protection Cause Alarm Code No 1 1 The P N voltage of the main power converter is lower than the specified voltage during Servo ON 1 The main power line voltage is too low An instantaneous outage occurred 2 Too small power source The line voltage dropped due to the in rush current at power on 3 Open phase Operating wit...

Page 62: ...er with a new one that is working correctly 2 Check if the U V and W wires are shorted at the connections Reconnect them if necessary 3 Measure the insulation resistance be tween U V W and earth wire If the resis tance is not correct replace the motor with a new one 4 Measure the resistance between U V and W If they are unbalanced replace the mo tor with a new one 5 Check if the U V W connector pi...

Page 63: ...lera tion time Reduce the motor rpm Use an ex ternal regenerative re sistor 3 Set 2 on Pr6C Important information Cause Overload protection is activated via the specified time limiting operation when the integration of a torque com mand exceeds the specified overload level 1 Caused by a long operation with a torque that exceeds the specified torque limit 2 Vibration or hunting due to incor rect ga...

Page 64: ...deceleration time Reduce the load and velocity 2 Increase the value of Pr63 Do not give excessive speed commands Check the frequency of the command pulse and scale ratio If an overshoot occurs due to wrong gain adjustment readjust the gains Correct the en coder wiring per the wiring diagram Check the set values of Pr46 through 4B Adjust the scale ratio so that the fre quency of the command pulse m...

Page 65: ...e old amplifier to the sales agent for repair Check the switches wires and power supply that constitute the circuits Check that the control power 12 to 24VDC can be established without delay Check the value of Pr04 Correct the wiring if necessary Turn off the power and turn it on again If the error cannot be eliminated the motor a n d o r a m p l i f i e r m a y b e b r o k e n Discontinue use of ...

Page 66: ...ycles Normal correct operating conditions Ambient temperature 30 C annual average Load factor max 80 Operating hours max 20 hours per day Daily and periodical inspections should be done per the following instructions Notes If the actual operating conditions differ from things mentioned above the inspection cycles may change accordingly Type Cycles Daily Every year Inspection items Ambient temperat...

Page 67: ... and how the equipment has been used Defective parts should be replaced or repaired immediately Prohibited Dismantling for inspections or repairs should be done by our company or our sales agents Remarks The replacement cycles shown here are just only for reference If any part is found defective regardless of the standard replacement cycles im mediately replace it with a new one P a r t Smoothing ...

Page 68: ...tage of the power is correct Is the power fed Power line connections firmly secured The magnetic brake improperly activated Abnormal sound from the motor Loosened connections wire break ill contact Wiring correct CN I F connections correct Not loosened CN SIG connections correct Not loosened Parameter values correct The LED indicator flashing The status LED indicator turned red or orange ...

Page 69: ...ction is valid If you desire to set the pa rameter to 1 enable the zero speed clamp input and adjust the wiring so that the zero speed clamp input can be turned on correctly Check the values of Pr53 through Pr56 Set a desirable number of revolution Check the value of Pr04 If the value is 0 connect between CN I F pins 8 and 13 and 7 and 13 Connect short circuit between CN I F pins 2 and 1 3 Disconn...

Page 70: ...its connections Check the controller 1 Check the wiring and connections between CN I F pins 2 and 13 by monitoring the display of input and output sig nals status Modify the wiring so that Servo ON signals can be made active correctly Check the controller 2 Check the wiring and connections between CN I F pins 4 and 13 by monitoring the display of input and output sig nals status Modify the wiring ...

Page 71: ...t on the time span not at the edge If the command pulses are deformed or narrowed adjust the pulse generation circuit Take measures to reduce the noise on the command pulse Check the amount of position error on the monitor screen of PANATERM Increase the value of Pr10 to the extent that no oscillation occurs Decrease the value of Pr60 in position range to the extent that the in position signals do...

Page 72: ...tion or lengthen the initialization sensor Check the input to the sensor using an oscilloscope Modify the wiring around the sensor Take measures to reduce the noise Take measures to reduce the noise noise filters ferrite cores etc Properly connect the shield wires of I F cables Use twist paired wires Separate the signal and power wires Monitor the Z phase signal using an oscilloscope Check that th...

Page 73: ...e the value of Pr13 speed detection filter until the sound decreases to an acceptable level or return the value to 4 default Adjust the value of Pr14 Torque filter time constant Check the mechanical resonance using the frequency characteristics analysis program in PANATERM If a resonance occurs set Pr1D notch frequency Operate the motor without load in order to check the sound and vibration near t...

Page 74: ...rake terminal Apply 24VDC to release the brake Avoid high temperature humidity oil dust and iron pow ders Check the operation pattern use and working status This kind of operation should be avoided Overshoot or undershoot The motor overheats burnt Troubleshooting The motor speed does not increase up to the specified value The speed movement is too large or small Causes Gains are not correct Load i...

Page 75: ... kit controller connection connector kit connector con nection interface cable communication cable communication control soft ware PANATERM external regenerative discharge resistor reactor App 38 Recommended Parts Surge absorber for motor brake App 47 List of peripheral equipment manufacturers App 47 Outer Views and Dimensions Motor App 48 Amplifier App 50 Properties Overload protection time relat...

Page 76: ...rements for wiring and grounding conditions specified by the EMC Directives Therefore conformance to the EMC Directives especially the requirements for emission noise and noise terminal voltage should be examined based on the final products that include our servo amplifiers and servo motors Applicable Standards EC International Electrotechnical Commission EN Europaischen Normen EMC Electromagnetic...

Page 77: ...y and noise filter The circuit breaker should be IEC Standard and UL listed marked Noise Filter If several amplifiers are used and a single noise filter is installed at the power supply consult the manufacturer of the noise filter Peripheral Equipment Environment The servo amplifier should be used under Contamination Level 2 or 1 specified by IEC60664 1 housing the amplifier in an IP54 control box...

Page 78: ...voided There are two protective earth terminals Surge Absorber Manufacturer s Product No R A V 781BXZ 4 Manufacturer Okaya Electric Industries Co Ltd Optional Part No DVOP1450 Circuit diagram 1 2 3 ø4 2 0 2 41 1 UL 1015 AWG16 28 1 5 5 1 11 1 28 5 1 4 5 0 5 200 30 0 1 2 3 Conformance to EC Directives and UL Standards Peripheral Devices Applicable to Amplifiers EC Directives Surge Absorber Install a...

Page 79: ...H 1 5 A 4 0 B 1 5 C 1 0 G 1 5 F 1 0 E 1 5 D 1 5 L A B E L I 1 5 M 1 5 6 J 2 øL 2 øK N O 1 5 Circuit diagram R Cx Cx Cy L Okaya Electric Industries Co Ltd Conform to UL Standards The noise filters conform to UL508C File No E164620 to satisfy the following conditions 1 The servo amplifier should be used under Contamination Level 2 or 1 specified by IEC60664 1 housing the amplifier in an IP54 control...

Page 80: ...d Parts in page appendix 47 5 Recommended parts are those specified for measurement of the brake releasing time They are not provided with sufficient measures to prevent noise Reactance of the cable varies with the wiring length possibly resulting in jump up of the voltage in some cases Select a surge absorber so that the coil voltage of the relay may be suppressed to Max rating 30V 50mA max and t...

Page 81: ...ar device is used near the motor make sure that the device is not affected by the magnetic flux Holding Brake Specifications MUMS Capacity W 30 100 200 400 750 Static friction torque N m 0 29 or more 1 27 or more 2 45 or more Inertia x 10Å 4 kg m2 0 003 0 03 0 09 Absorption time ms 25 or less 50 or less 60 or less Releasing time ms 1 20 or less 30 15 or less 100 0 26 0 36 0 43 Releasing voltage 1V...

Page 82: ... dynamic brake can be used in the following cases 1 Servo OFF 2 One of the protective functions is activated 3 Over travel Inhibit CWL or CCWL is activated In any of three cases above the dynamic brake can be activated either during deceleration or after stop or can be made disabled i e allowing the free running of the motor These features can be set by using the relevant parameters However if the...

Page 83: ...Free run 0 Pr66 1 DB inhibition at overtravel limit Pr66 Operating conditions During deceleration After stop 1 Options of the operation through deceleration and stop by turning on Servo OFF Pr69 2 Options of the operation through deceleration and stop by turning on a protective function Pr68 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 Hold Free run Free ...

Page 84: ...n about 1 minute more after it is switched off Internal control power Main power control Dynamic brake Motor energized Activated braking Not energized Operation OFF Reset Alarm Not input Input Released Energized Released ON Released Not alarm Valid 1 Invalid Brake release BRK OFF Internal reset Servo alarm ALM Servo ON SRV ON Position velocity torque command approx 50 ms approx 2 ms approx 700 ms ...

Page 85: ...operation of the dynamic brake following an alarm event see the explanation of Pr68 in Details of Parameters Alarm Dynamic brake Motor energized Normal Energized Not alarm Error alarmed Operation braking 2 Not energized Alarm Servo alarm ALM approx 1 to 5 ms t1 1 Operation OFF Operation OFF Released ON approx 30 r min approx 30 r min Released ON A B Brake release BRK OFF t1 1 Set by Pr6B Set by Pr...

Page 86: ...rvo ON SRV ON approx 50 ms approx 10 ms approx 1 to 5 ms servo OFF Servo ON Servo OFF braking 2 t 1 Not energized Operation OFF Released Energized Released ON approx 30 r min Braking Not energized Operation OFF approx 1 to 5 ms Dynamic brake Motor energized Brake release BRK OFF Servo alarm ALM Alarm clear A CLR 120 ms or more Entry of Clear signal Operation braking Released Energized Released ON ...

Page 87: ...ed With Servo OFF entered Servo OFF Servo ON Released Energized Released ON Braking Not energized Operation OFF Dynamic brake Motor energized Servo ON becomes active about 50ms after the motor speed becomes about 30 r min or less Brake release BRK OFF Servo ON SRV ON approx 50 ms approx 10 ms Motor speed approx 30 r min A B approx 1 to 5 ms Servo ON Servo OFF Braking 3 t1 1 2 2 Not energized Opera...

Page 88: ...load A and B direction Motor series MUMS Acceptable during no operation Acceptable during operation Radial load 147 392 686 Thrust load A direction 88 147 294 B direction 117 6 196 392 Radial load 49 68 6 245 392 Thrust load A or B direction 29 4 58 8 98 147 Unit N 1 kgf 9 8 N Motor output 30W 50W 100W 200W 400W 750W ...

Page 89: ...ing operation please refer to an operation manual of controller you use Following is one of examples The motor will start to decelerate with the proximity sensor ON and stop with the first initialization signal Z phase The motor will start to decelerate with the proximity sensor ON and stop with the first initialization Z phase signal after the proximity sensor OFF Proximity sensor Initialization ...

Page 90: ...ernal velocity commands Each com mand data can be set using Pr53 1st speed Pr54 2nd speed Pr55 3rd speed and Pr56 4th speed Internal block diagram Switching among 4 options of internal velocity commands can be done by 2 kinds of contact input 1 DIV INTSPD1 CN I F 6 pin Internal velocity command 1 2 CL INTSPD2 CN I F 4 pin Internal velocity command 2 4 6 CL INTSPD2 CN I F DIV INTSPD1 GAIN ZEROSPD 5...

Page 91: ...he input to control start and stop of the motor Notes Acceleration time deceleration time and S shaped acceleration deceleration time can be set individually Refer to the descriptions of Pr58 Acceleration time set up Pr59 Deceleration time set up Pr5A S shaped acceleration deceleration time set up SRV ON input Servo On Operation Stop Velocity OPEN OPEN 1st speed 2nd speed 3rd speed 4th speed Time ...

Page 92: ...use the dynamic brake during deceleration after CCW or CW overtravel limit input CCWL or CWL becomes active For details see the description of Pr66 DB inhibition at overtravel limit 0 4 Overtravel input inhibit 0 1 CW direction CCW direction CCWL CWL Work Servo motor Limit switch Limit switch Amplifier CCWL CWL input Enabled Disabled Input CCWL CN I F 8 pin CWL CN I F 7 pin Operation Normal with t...

Page 93: ... monitor IM selection 0 9 0 5 SP signal Actual motor speed Relationship between output voltage level and velocity 1 6V 47 r min 1 6V 187 r min 1 6V 750 r min 1 6V 3000 r min 1 5V 3000 r min 1 6V 47 r min 1 6V 187 r min 1 6V 750 r min 1 6V 3000 r min 1 5V 3000 r min Commanded veloctly IM signal Torque 3V rated torque 100 3V 31 Pulse 3V 125 Pulse 3V 500 Pulse 3V 2000 Pulse 3V 8000 Pulse Position err...

Page 94: ...Baud rate set up of R S 2 3 2 C 0 5 0 2 Function Torque in limit Zero speed detection Alarm signal Overregeneration alarm Overload alarm Does not function although displayed Remarks For details of these f u n c t i o n s s e e t h e s e c t i o n o f C N I F Connector on page31 Varue 0 1 2 3 4 5 Baud rate 2 4 0 0 b p s 4 8 0 0 b p s 9 6 0 0 b p s Value 0 1 2 ...

Page 95: ...ag becomes smaller Thus you can set up larger Sudden setting of small value may cause oscillation to damage machine Be careful in setting You can set up the time constant of the primary delay filter that is inserted to the torque command portion Use this function to suppress the oscillation caused by torsion resonance You can set up the amount of velocity feed forward at position control Position ...

Page 96: ...lt value should be used You can set up the time constant eight options of the primary delay filter inserted in the Disturbance torque observer 1 8 1 9 1 A 1 B 1 C 1 D 1 E 1 F 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant Notch frequency Notch width selection Disturbance torque observer 0 2000 100...

Page 97: ... a larger value of Pr21 a quicker response to the change of load inertia can be obtained though the operation may become unstable depending on the operating pattern In normal cases the value of this parameter should be 1 or 2 You can set up the machine stiffness from 10 options that is used at the real time auto gain tuning Large impact shock might be given to the machine when you suddenly set thi...

Page 98: ...en the 1st and 2nd gains possible 2 GAIN input COM disconnected COM connected Operation of the position loop PI operation P operation Default Value 0 1 Conditions for gain switching Fixed to the 1st gain Fixed to the 2nd gain 2nd gain selection with the gain switching input GAIN ON Pr30 must be set to 1 2nd gain selection with a larger torque command change Fixed to the 1st gain 2nd gain selection...

Page 99: ... are enabled as absolute values You can set up a phased switching time of the gain applied to the position loop alone while the 2nd gain switching function is enabled Use this parameter only for switching from a smaller position loop gain to a larger position loop gain from Kp1 to Kp2 in order to reduce the impact forces caused by a large change in gain Set the smaller value than the difference be...

Page 100: ...n Command pulse input mode set up 1 4 0 3 0 3 PrNo Parameter Range Function description Parameters for Position Control Multiplication at quadrature pulse input x 1 x 2 x 4 Signal PULS SIGN PULS SIGN PULS SIGN Type of command pulse Quadrature pulse command mode CW CCW pulse command mode Pulse Sign command mode CCW command CW command Details of Parameters Value 1 2 3 or 4 Logic of PULSE signal Non ...

Page 101: ...e A phase pulse Maximum permissible frequency and minimum required time width of command pulse inputs Make both of the rising and tailing time 0 1 µs or shorter I F for inputting PULSE SIGN signals Interface for line drivers Interface for open collectors t 1 2 5 t 2 1 2 5 t 3 1 2 5 t 4 1 2 5 t 5 1 2 5 t 6 1 2 5 Maximum permissible frequency 500kps 200kpps Minimum required time width µs PrNo Parame...

Page 102: ...er value than this is disabled and automatically substituted by 2621440 4 6 4 7 4 A 4 B 1 10000 10000 1 10000 10000 0 17 0 1 10000 10000 Parameters for Pulse Command Scaler Pr46 through Pr4B Command pulse 2 Numerator of 1st command pulse ratio Pr46 Multiplier of numerator of command pulse ratio Pr4A Internal command F f _ Feedback pulse resolution to the position error counter 10000P rev Denominat...

Page 103: ...of 1 4 to turn the motor one revolution Set up the Pr46 Pr4A and Pr4B so that the post scaling inter nal command F equals the resolution 10000 of the encoder F f x Pr46 x 2Pr4A Pr4B 10000 F Internal command pulse counts required for motor one revolution f Command pulse counts required for motor one revolution 46 4B DIV off DIV on 1st numerator Pr46 selection 2nd numerator Pr47 selection continued ...

Page 104: ...signal CL CN I F Pin 4 1 Minimum time width of the CL signal 4 C 4 D Smoothing filter set up Counter clear input 0 7 0 1 0 Details of Parameters Conditions Cleared with level 1 Cleared with edge rising part Purpose of this filter Reduce the stepwise motion of the motor that may appear when the command input is rough The command input may become rough when 1 The scale ratio is large 10 times or gre...

Page 105: ...of the motor speed Standard 4500 5000 r min At internal velocity control mode you can control the time to reach the velocity you set up and the time to stop the motor You can obtain soft start soft down action of the motor when the phased velocity command is entered or when the internal velocity set up is selected 5 3 5 4 5 5 5 6 5 8 5 9 1st internal speed 2nd internal speed 3rd internal speed 4th...

Page 106: ...s 1 Set the basic acceleration deceleration time for the linear regions with Pr58 and Pr59 2 Set the time of the S shaped portion centering the acceleration deceleration changing regions with Pr5A Unit in 2 ms ta Pr58 td Pr59 ts Pr5A ta td Speed ts ts ts ts Set up the value in of the rated torque The right figure shows an example that the maximum torque is limited to 150 of the rated torque This p...

Page 107: ... To enable output Set 1 by Pr09 The WARN signal will be fed out when the motor speed becomes lower than this setting 6 0 6 1 In position range Zero speed 0 32767 10 0 10000 50 Decide the value of this parameter basing on the resolution of the en corder like the figure to the right Notes 1 If you set up too small value to Pr60 time to feed out COIN signal gets longer or may causes a chattering 2 Th...

Page 108: ...ition error limit protection Position error invalidation 0 10000 1000 0 32767 1875 0 1 Calculate the value of this parameter using the following formula Parameter value Position error limit level pulses 256 Note If you set the position gain to low value and set this Pr63 value too small the position error limit protection could be activated even though no unusual situation is to be found Setting o...

Page 109: ...otective functions alarms is activated DB Dynamic brake activiated See also Timing chart for alarms in Appendix 11 Defines the following processes after Servo OFF SER ON signal CN I F Pin 2 1 Operating conditions during deceleration and after stop 2 Process for clearing the position error counter For the relations among Pr69 values operating conditions and process for clearing the position error c...

Page 110: ... for Servo ON OFF during the halt of motor in Appendix 13 TB On SRV ON BRK OFF Motor velocity r min Brake released Off Brake engaged Motor current Energized Not energized 30 r min Approx Pr6AÇÃê íËÅÜtb The value of this parameter should not be less than the value of tb delay of braking in order to avoid the minute movement or fall of the motor work Pr6A Entry x 2 ms See also Timing chart for Servo...

Page 111: ...xternal resistor and as 100 duty R e g e n e r a t i o n p r o c e s s i n g c i r c u i t i s n o t operated Notes Don t fail to install external protection such as thermal fuse Otherwise regenerative discharge resistor is not protected any more to cause possible abnormal heat generation resulting in burning of the motor Value 0 1 2 3 Notes For safety a thermal fuse is built in the optional exter...

Page 112: ... Part No MFECAO030EAA MFECAO050EAA MFECAO100EAA MFECAO200EAA Encoder Relay Cables fig 3 1 MFMCAO OAEB L m 3 5 1 0 2 0 Part No MFMCA0030AEB MFMCA0050AEB MFMCA0100AEB MFMCA0200AEB Motor Brake Relay Cables Robotop 600V DP fig 4 1 MFMCBO OGET Part No MFMCB0030GET MFMCB0050GET MFMCB0100GET MFMCB0200GET L m 3 5 1 0 2 0 Motor Relay Cables Robotop 600V DP Robotop is the trademark of Sumitomo Denso 50 1 96...

Page 113: ...Notes 1 The table above shows the pins alignment looking from the terminal inserted direction of the receptacle Make sure of the pin numbers marked on the plug itself for actual connection so that wiring is done correctly 2 For wiring and connection refer to Main circuits in System Configuration and Wiring page 22 3 Never connect anything to the pins where NC is written on the table above Item Man...

Page 114: ...w the pins alignment looking from where the plugs are soldered 2 The pin 20 FG should be connected to the shield of the shielded wire Pins marked with NC should be left unconnected 3 For wiring and connecting see the section System Configuration and Wiring on page 23 Notes Plugs shells and other parts may be equivalents of other manufacturer s make 3 Alignment of CN SIG pins 11 Z 13 NC 15 NC 17 RX...

Page 115: ...ove shows the pins alignment looking from the connector pin inserted direction of the connector Make sure of the pin numbers marked on the plug for actual connection so that wiring is done correctly 2 For wiring and connection refer to System Configuration and Wiring on page 22 4 V 1 U 5 NC 2 NC 6 W 3 E 2 V 4 E 1 U 3 W 3 B 6 Z 2 A 8 NC 1 A 7 NC 10 NC 9 NC 11 RX 13 5V 12 RX 15 FG 14 0V 5 Z 4 B ...

Page 116: ...stem Configuration and Wiring on the page 26 Item Connector Connector cover Manufacturer s Part No 1 0 1 2 6 3 0 0 0 V E 1 0 3 2 6 5 2 A 0 0 0 8 Quantity 1 1 Manufacturer SUMITOMO 3 M Remarks For CN I F 26 pins Optional Parts Connector Kits for Host Control Equipment 1 Part No DV0P0770 2 Components 11 Z 13 NC 15 NC 17 RX 19 NC 12 Z 14 NC 16 NC 18 RX 20 FG Shield 1 0V 3 5V 5 NC 7 A 9 B 2 0V 4 5V 6 ...

Page 117: ...or Orange Red 1 Orange Brack1 Gray Red 1 Gray Brack 1 White Red 1 White Brack 1 Yellow Red 1 Yellow Brack 1 Pink Red 1 Pin No 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 Wire color Pink Brack 1 Orange Red 2 Orange Brack 2 Gray Red 2 Gray Brack 2 White Red 2 White Brack 2 Yellow Red 2 Yellow Brack 2 Pin No 1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6 Wire color Pink Red 2 Pink Brack 2 Orange Red 3 Gray Red 3 Gray Brack...

Page 118: ...computer 1 Part No DVOP1960 for DOS V 2 Part No DVOP1160 for PC98 series 78 74 78 74 Communication Control Software PANATERM 1 Part No DVOP2820 English Version 2 3 5 inches Floppy Disks Notes For the operating environment and other details see the Instructions for PANATERM ...

Page 119: ...e surface temperature of the regenerative discharge resistor may be 100Åé or lower on poor conditions likely to cause generation of regenerative discharge resis tance such as high supply voltage large load inertia and short deceleration time For amplifier types see pages 10 and 11 Recommended combination between amplifier and external regenerative discharge resistor Amplifier type 1 2 3 Single pha...

Page 120: ...28 DVOP220 DVOP221 fig 1 fig 2 Product DVOP220 DV0P221 DV0P227 DV0P228 6 5 6 0 5 5 5 5 A 1 2 5 1 5 0 8 0 8 0 B 8 3 1 1 3 6 8 6 8 C 1 1 8 1 3 7 9 0 9 0 D 1 4 5 1 2 0 9 0 9 5 E 7 0 6 0 4 1 4 6 F 8 5 7 5 5 5 6 0 G 7 W x 12 L 7 W x 12 L ø 7 ø 7 H fig 1 fig 2 I 6 8 1 4 0 2 4 0 2 2 3 5 5 8 Inductance mH Rated set up A Y X Z S R T NP E F 4 H G A B C D Mountingdimensions Mountingdimensions E F 4 H G A B C...

Page 121: ...0 6 6 5 3 3 8 2 3 2 Kantou Area 8 1 0 4 6 2 6 5 2 3 1 3 Chubu Area 8 1 0 5 2 5 7 1 4 4 1 3 Kansai Area 8 1 0 6 6 3 7 7 6 7 6 0 8 1 0 6 6 2 2 9 1 9 6 0 Matsushita Electric Works Ltd IWAKI MUSEN KENKYUSHO CO LTD Ishizuka Electronics Corporation Hitachi Semiconductor and Devices Sales Co Ltd TDK Corporation Okaya Electric Industries Co Ltd Sumitomo 3M Tyco Electronics AMP Molex Incorporated Sumitomo ...

Page 122: ...0 0 0 6 2 5 0 2 5 0 0 5 0 0 0 6 2 5 Model MUMS3AZA1 MUMS5AZA1 MUMS01 A1 MUMS02 A1 MUMS04 A1 MUMS082A1 MUMS3AZA1 MUMS5AZA1 MUMS01 A1 MUMS02 A1 MUMS04 A1 MUMS082A1 LE 0 079 0 1 1 8 0 0 7 9 0 1 1 8 MUMS LF 0 276 0 315 0 276 0 315 With brake LL LH Unit Inch L H 9 055 8 661 9 055 8 661 LR mm Inch 2 4 0 9 4 5 2 8 5 1 1 2 2 34 1 339 2 4 0 9 4 5 2 8 5 1 1 2 2 34 1 339 Motor Encoder wire dimension LH 30W 1...

Page 123: ...3 1 4 2 0 2 5 1 3 1 4 2 0 2 5 L K 1 2 1 2 5 1 8 2 2 5 2 2 1 2 1 2 5 1 8 2 2 5 2 2 K W 2 3 4 5 6 2 3 4 5 6 K H 2 3 4 5 6 2 3 4 5 6 RH 5 8 6 2 8 5 1 1 1 5 5 5 8 6 2 8 5 1 1 1 5 5 Weight kg 0 3 0 0 4 0 0 5 0 0 9 6 1 5 3 1 0 5 0 0 6 0 0 7 0 1 4 1 9 3 8 LC øLA 4 øLZ LW KWh9 KH RH LK Unit mm Key way type Dimentions incl key L C 1 654 3 346 1 654 3 346 ...

Page 124: ...shita Electric Industrial Co Ltd 60 75 C Wire Only Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection this Electoronic Equipment EE Type B is allowed on the supply side of of direct or indirect contact only RCD of device RCD is used for protection in case Where residual current operated protective Design notice Hazardous Voltage High Temper...

Page 125: ...ire Only Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection this Electoronic Equipment EE Type B is allowed on the supply side of of direct or indirect contact only RCD of device RCD is used for protection in case Where residual current operated protective Design notice Hazardous Voltage High Temperature Read the manual and follow the safet...

Page 126: ...Matsushita Electric Industrial Co Ltd 60 75 C Wire Only Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection this Electoronic Equipment EE Type B is allowed on the supply side of of direct or indirect contact only RCD of device RCD is used for protection in case Where residual current operated protective Design notice Hazardous Voltage High T...

Page 127: ... App 53 A p p e n d i x e s Characteristics 100 100 115 150 200 250 300 350 400 450 10 1 Time sec Overload Protection Time Limiting Characteristics MUMS 30W 100W MUMS 200W 750W Torque ...

Page 128: ...e Specifications Gain Switching Conditions ÅúPosition Control Mode the parameter valid invalid Parameters for position control Gain switching conditions 1 Delay time parameters Pr32 becomes effective when returning from 2nd gain to 1st gain 2 For the definitions of hysteresis parameters Pr34 see the right figure 3 When conditions are that torque fluctuation of 10 was experienced in the 166 É s are...

Page 129: ... delay caused by hysteresis Pr34 Speed N A Torque T Level Delay T 1st Gain 2nd 2nd 1st 2nd 2nd 1st 1st 1st Speed command S B Level delayed 2nd Gain 1st 1st Speed N E delayed 2nd Gain 1st COIN 1st Speed command S D delayed 2nd Gain 1st 1st Speed N Position error C Level delayed 2nd Gain 1st 1st ...

Page 130: ...r supply Operator interface Parameter control Protective circuit Error detection Sequence control Gate drive Alarm signal Pulse command Pulse output Control input Control output Scale Position Speed Position error counter Internal velocity command Velocity detection Position error amplifier Velocity error amplifier Torque limit Scaling Current control Processing encoder signals PWM circuit Specifi...

Page 131: ... X 2 Scaling Internal 1st speed Internal 2nd speed Internal 3rd speed Internal 4th speed Switching between internal and external velocity setting Acceleration deceleration and S curve accel decel time Output pulse per single turn Pr44 Multiplier of 4 speed detection P T P S S P Velocity control mode Position control mode Block for servo gains and filter time constants S Pr02 Acceleration time Pr58...

Page 132: ... Alarms parameter er ror check code error Overtravel inhibit input error CPU error etc Status LED indicator STATUS Error LED indicator ALM CODE Velocity monitor 6V 3000r min rated revolution default Torque monitor 3V 100 rated torque default Position error pulse number R S 2 3 2 C Line driver 500 kpps Open collector 200 kpps Line driver and open collector Quadrature pulse command CW CCW pulse comm...

Page 133: ...r wiring and components may result in unexpected action It is highly recom mended 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 cu...

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