Panasonic Minas A4 Series Instruction Manual Download Page 1

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RGB ELEKTRONIKA AGACIAK CIACIEK

SPÓŁKA JAWNA

Jana Dlugosza 2-6 Street

51-162 Wrocław

Poland

[email protected]
+48 71 325 15 05

www.rgbautomatyka.pl

www.rgbelektronika.pl

DATASHEET

www.rgbautomatyka.pl
www.rgbelektronika.pl

OTHER SYMBOLS:

MCDDT3520

PANASONIC

Summary of Contents for Minas A4 Series

Page 1: ...K SPÓŁKA JAWNA Jana Dlugosza 2 6 Street 51 162 Wrocław Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS MCDDT3520 PANASONIC ...

Page 2: ...ed with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS CNC MACHINES MOTORS POWER SUPPLIERS OPERATOR PANELS CNC CONTROLS INDUSTRIAL COMPUTERS PLC SYSTEMS Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS Buy this product at RGB AUTOMATYKA BUY ...

Page 3: ...and using Panasonic AC Servo Motor and Driver MINAS A4 Series Read through this Instruction Manual for proper use especially read Precautions for Safety P 8 to 11 without fail for safety purpose Keep this Manual at an easily accessible place so as to be referred anytime as necessary ...

Page 4: ...A to D frame 34 Wiring of the Main Circuit E and F frame 35 Wiring to the Connector CN X6 Connection to Encoder 38 Wiring to the Connector CN X3 and 4 Connection to PC Host Controller or Console 40 Wiring to the Connector CN X5 Connection to Host Controller 41 Timing Chart 42 Built in Holding Brake 46 Dynamic Brake 48 Caution on Homing 50 Setup of Parameter and Mode 51 Outline of Parameter 51 How ...

Page 5: ... and Filters 111 Parameters for Auto Gain Tuning 112 Parameters for Adjustment 2nd Gain Switching Function 115 Parameters for Position Control 116 Parameters for Velocity Torque Control 120 Parameters for Sequence 120 Connection and Setup of Velocity Control Mode page Control Block Diagram of Velocity Control Mode 126 Wiring to the Connector CN X5 127 Wiring Example to the Connector CN X5 127 Inte...

Page 6: ...to Gain Tuning 172 Outline 172 Applicable Range 172 How to Operate 172 Parameters Which are Automatically Set up 173 Parameter Setup 174 Parameters for Functional Selection 174 Parameters for Adjustment of Time Constant of Gains and Filters 177 Parameters for Auto Gain Tuning 178 Parameters for Adjustment 2nd Gain Switching Function 179 Parameters for Position Control 181 Parameters for Velocity T...

Page 7: ... Machine Resonance 246 Automatic Gain Setup Function 248 Manual Auto Gain Tuning Application 249 Instantaneous Speed Observer 249 Damping Control 250 When in Trouble page When in Trouble 252 What to Check 252 Protective Function What is Error Code 252 Protective Function Details of Error Code 253 Troubleshooting 260 Motor Does Not Run 260 Unstable Rotation Not Smooth Motor Runs Slowly Even with Sp...

Page 8: ...24 Dimensions Motor 327 Permissible Load at Output Shaft 342 Motor Characteristics S T Characteristics 343 Motor with Gear Reducer 349 Dimensions Motor with Gear Reducer 350 Permissible Load at Output Shaft Motor with Gear Reducer 352 Motor Characteristics S T Characteristics Motor with Gear Reducer 353 Block Diagram of Driver 354 Block Diagram of Driver by Control Mode 356 Specifications Driver 3...

Page 9: ...spection 12 Introduction 14 Outline 14 On Opening the Package 14 Check of the Driver Model 14 Check of the Motor Model 15 Check of the Combination of the Driver and the Motor 16 Parts Description 18 Driver 18 Motor 20 Console 21 Installation 22 Driver 22 Motor 24 Console 26 ...

Page 10: ...ration which is inhibited Represents MUST operation which has to be executed DANGER Do not subject the Product to wa ter corrosive or flammable gases and combustibles Failure to observe this in struction could result in fire Do not subject the cables to exces sive force heavy object or pinch ing force nor damage the cables Failure to observe this in struction could result in electrical shocks dama...

Page 11: ...prevent any possible fire or accidents in curred by earthquake Failure to observe this instruc tion could result in electrical shocks injuries and fire Mount the motor driver and re generative resistor on incombust ible material such as metal Failure to observe this in struction could result in fire Check and confirm the safety of the operation after the earthquake Failure to observe this instruc ...

Page 12: ...o observe this instruction could result in breakdowns Do not make an extreme gain ad justment or change of the drive Do not keep the machine run ning operating unstably Failure to observe this instruction could result in injuries Do not use the built in brake as a Braking to stop the moving load Failure to observe this instruction could result in injuries and breakdowns Do not approach to the mach...

Page 13: ...his Product shall be treated as Industrial Waste when you dispose Failure to observe this instruction could result in injuries and breakdowns Observe the specified voltage Failure to observe this in struction could result in electrical shocks injuries and fire Keep the ambient temperature be low the permissible temperature for the motor and driver Failure to observe this instruction could result i...

Page 14: ...esult in breakdown of the driver Inspection 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 Note Inspection cycle may change when the running conditions of the above change Daily Annual Ambient temperature humidity sp...

Page 15: ...reducer Product Component Standard replacement cycles hour Note These hours or cycles are reference When you experience any error replacement is required even before this standard replacement cycle Approx 5 years 2 to 3 years 10 000 to 30 000 hours Approx 5 years Approx 100 000 times depending on working condition Approx 20 000 times depending on working condition 3 to 5 years 20 000 to 30 000 hou...

Page 16: ... which achieves a stable Stop Performance even in low stiffness machine and high speed motor This document is designed for the customer to exploit the versatile functions of A4 Series to full extent Cautions 1 Any part or whole of this document shall not be reproduced without written permission from us 2 Contents of this document are subject to change without notice On Opening the Product Package ...

Page 17: ...ow inertia 1 0kW to 5 0kW Middle inertia 1 0kW to 5 0kW High inertia 500W to 5 0kW Middle inertia 400W to 4 5kW Middle inertia 900W to 4 5kW P S Incremental Absolute Incremental common Specifications Symbol Format 2500P r 17bit Pulse count 5A 01 02 04 05 08 09 10 Output Motor rated output Symbol 50W 100W 200W 400W 500W 750W 900W 1 0kW 15 20 25 30 40 45 50 Output Symbol 1 5kW 2 0kW 2 5kW 3 0kW 4 0k...

Page 18: ...0kW 500W 1 0kW 1 5kW 2 0kW 3 0kW 4 0kW 5 0kW 400W 1 5kW 2 5kW 4 5kW 900W 2 0kW 3 0kW 4 5kW Rated output MAMA012P1 MAMA022P1 MAMA042P1 MAMA082P1 MQMA011P1 MQMA021P1 MQMA041P1 MQMA012P1 MQMA022P1 MQMA042P1 MSMD5AZP1 MSMD011P1 MSMD021P1 MSMD041P1 MSMD5AZP1 MSMD012P1 MSMD022P1 MSMD042P1 MSMD082P1 MSMA102P1 MSMA152P1 MSMA202P1 MSMA302P1 MSMA402P1 MSMA502P1 MDMA102P1 MDMA152P1 MDMA202P1 MDMA302P1 MDMA40...

Page 19: ...1 MSMA102S1 MSMA152S1 MSMA202S1 MSMA302S1 MSMA402S1 MSMA502S1 MDMA102S1 MDMA152S1 MDMA202S1 MDMA302S1 MDMA402S1 MDMA502S1 MHMA052S1 MHMA102S1 MHMA152S1 MHMA202S1 MHMA302S1 MHMA402S1 MHMA502S1 MFMA042S1 MFMA152S1 MFMA252S1 MFMA452S1 MGMA092S1 MGMA202S1 MGMA302S1 MGMA452S1 Model A frame B frame C frame D frame A frame B frame C frame A frame A frame B frame A frame B frame C frame A frame B frame C ...

Page 20: ...ector CN X1 for main power connection 05JFAT SAXGF JST Connector CN X2 for motor connection 06JFAT SAXGF JST Terminals for external regenerative resistor RB1 RB2 RB3 Terminals for motor connection U V W X6 X3 X4 X7 Display LED 6 digit Mode switching button MODE Set button SET Check pin G GND Data setup button SHIFT UP DOWN Connector CN X5 for host connection Connector CN X6 for encoder connection ...

Page 21: ...ls for external regenerative resistor P B1 B2 Terminals for motor connection U V W SHIFT UP DOWN X3 X4 X5 X7 X6 Mode switching button MODE Set button SET Screw for cover M3 Screw for cover M3 Display LED 6 digit Check pin G GND Data setup button Connector CN X5 for host connection Connector CN X6 for encoder connection Connector CN X7 for external scale connection Terminal cover Communication conn...

Page 22: ...ake Connector for encoder e g Middle inertia type MDMA series 1 0kW MSMD 50W to 750W MAMA 100W to 750W MQMA 100W to 400W MSMA 1 0kW to 5 0kW MDMA 1 0kW to 5 0kW MHMA 500W to 5 0kW MFMA 400W to 4 5kW MGMA 900W to 4 5kW Motor frame Motor cable Encoder cable Rotary encoder Flange Mounting holes X4 Connector for brake cable Only applicable to the motor with electromagnetic brake Parts Description ...

Page 23: ...EXECUTE display of each mode selected by mode switching button Mode switching button Switches the mode among the following 6 modes 1 Monitor mode 2 Parameter setup mode 3 EEPROM write mode 4 Normal auto gain tuning mode 5 AUX function mode Trial run JOG mode Alarm clear 6 Copy mode Parameter copy from the servo driver to the console Parameter copy from the console to the servo driver Press this to...

Page 24: ...ironmental Conditions How to Install 1 Rack mount type Install in vertical position and reserve enough space around the servo driver for ventilation Base mount type rear mount is standard A to D frame 2 Use the optional mounting bracket when you want to change the mounting face How to Install A to D frame E and F frame e g In case of C frame Fastening torque of earth screws M4 to be 0 39 to 0 59N ...

Page 25: ... your own mounting bracket or repaint after peeling off the paint on the machine for installing the products in order to make noise countermeasure Caution on Installation We have been making the best effort to ensure the highest quality however application of exceptionally large external noise disturbance and static electricity or failure in input power wiring and components may result in unexpect...

Page 26: ... free from condensation 20 C to 80 C free from freezing 2 Less than 85 RH free from condensation Lower than 49m s2 5G at running 24 5m s2 2 5G at stall Lower than 98m s2 10G IP65 except rotating portion of output shaft and lead wire end These motors conform to the test conditions specified in EN standards EN60529 EN60034 5 Do not use these motors in application where water proof performance is req...

Page 27: ... Excess bending load may damage 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 permissible value 4 For permissible load of each model refer to P 342 List of Permissible Load to Output Shaft of Supple ment Notes on Installation 1 Do not a...

Page 28: ... not give strong impact to the products Do not drop the products Do not pull the cables with excess force Avoid the place near to the heat source such as a heater or a large winding resistor How to Connect Remarks Connect the console connector securely to CN X4 connector of the driver Never pull the cable to plug in or plug out MOD E SHIF T SET S M Connect to CN X4 How to Install Item Ambient temp...

Page 29: ...X5 Connection to Host Controller 41 Timing Chart 42 Built in Holding Brake 46 Dynamic Brake 48 Caution on Homing 50 Setup of Parameter and Mode 51 Outline of Parameter 51 How to Set 51 How to Connect 51 Composition and List of Parameters 52 Setup of Torque Limit 57 How to Use the Front Panel and Console 58 Setup with the Front Panel 58 Setup with the Console 58 Initial Status of the Front Panel Di...

Page 30: ...in RB2 4 pin and RB3 5 pin RB2 and RB3 to be kept shorted for normal operation When the capacity shortage of the regenerative resister is found disconnect a shorting bar between RB2 and RB3 then connect the external regenerative resister between RB1 and RB2 Note that no regenerative resister is equipped in Frame A and B type Install an external regenerative resister on incombustible materi al such...

Page 31: ...ler Wiring to Connector CN X5 Connection to host controller Wiring to Connector CN X6 Connection to encoder Wiring to Connector CN X7 Connection to external scale Junction cable for encoder Short bar Junction cable for motor Junction cable for brake DC Power supply for brake DC24V to be supplied by customer Wiring to Connector CN X2 Connection to motor driving phase and ground High voltage U phase...

Page 32: ...cuit Breaker NFB Use the circuit breaker matching capacity of the power source to protect the power lines Noise Filter NF Prevents external noise from the power lines And reduces an effect of the noise generated by the servo driver Magnetic Contactor MC Turns on off the main power of the servo driver Use a surge absorber together with this Never start nor stop the servo motor with this Magnetic Co...

Page 33: ...Junction cable for encoder Junction cable for motor Junction cable for brake Short bar DC Power supply for brake DC24V to be supplied by customer Connection to motor driving phase and ground High voltage From a top U phase V phase W phase Wiring to Connector CN X7 Connection to external scale PC to be supplied by customer Setup support software PANATERM DV0P4460 English Japanese version option Con...

Page 34: ...00V 3 phase 200V 50W 100W 100W 50W 200W 100W 200W 100W 200W 400W 200W 400W 750W 400W 500W 750W 1 0kW 900W 1 0kW 1 5kW 2 0kW 2 5kW approx 0 4kVA approx 0 4kVA approx 0 5kVA approx 0 3kVA approx 0 5kVA approx 0 3kVA approx 0 5kVA approx 0 9kVA approx 0 5kVA approx 0 9kVA approx 1 3kVA approx 0 9kVA approx 1 1kVA approx 1 6kVA approx 1 8kVA approx 1 8kVA approx 1 8kVA approx 2 3kVA approx 3 3kVA appr...

Page 35: ...for A to D frame and M5 for E and F frame Larger tightening torque of the screw than the max value M4 1 2 N m M5 2 0 N m may damage the terminal block Earth cable diameter should be 2 0mm2 AWG14 or larger for 50W to 2 0kW model and 3 5mm2 AWG12 or larger for 2 5kW to 4 0kW and 5 3mm2 AWG10 or larger for 4 5kW to 5kW model Use the attached exclusive connectors for A to D frame and maintain the peel...

Page 36: ...L1C and L3 and L2C at single phase use 100V and 200V and don t use L2 Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Don t disconnect the shorting cable between RB2 and RB3 C and D frame type Disconnect this only when the external regenerative register is used Avoid shorting and ground fault Don t connect the main power Connect pin 3 of the conn...

Page 37: ... Never start stop the motor with this Magnetic Contactor Connect a fuse in series with the surge absorber Ask the manufacturer of the Magnetic Contactor for the fuse rating Provide an AC Reactor Don t disconnect the short bar between B1 and B2 Disconnect this only when an external regenerative register is used Match the colors of the motor lead wires to those of the corresponding motor output term...

Page 38: ...e resistor 172167 1 Tyco Electronics AMP 172159 1 Tyco Electronics AMP L Remarks When you use single phase connect the main power between L1 and L3 terminals Motor L2 L3 L1C L2C RB1 MC NFB RB3 RB2 U V W L1 Surge absorber 1 2 3 4 1 2 3 4 Remove the short wire when you connect the external regenerative resistor 172167 1 Tyco Electronics AMP 172159 1 Tyco Electronics AMP L A B D C A JL04V 2E20 4PE B ...

Page 39: ...andling slot on the upper portion Press down the lever to push down the spring Insert the peeled cable while pressing down the lever until it hits the insertion slot round hole Release the lever Follow the procedures below for the wiring connection to the Connector CN X1 and X2 1 Peel off the insulation cover of the cable see the right fig for exact length for peeling 2 Insert the cable to the con...

Page 40: ... 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 CN X6 Shield wall of the motor side Tyco Electronics AMP In case of 9 pin 17 bit absolute incremental encoder Connect to pin 3 In case of 6 pin 2500P r incremental encoder ...

Page 41: ...e Driver side E5V E0V PS PS J PS PS FG E5V E0V motor 1 5V 0V 5V 0V 2 3 4 5 6 1 battery battery 2 7 8 4 5 3 Twisted pair Junction cable by Tyco Electronics AMP 172161 1 172169 1 by Tyco Electronics AMP Motor side Driver side Black Purple Yellow Green White Light Blue Pink Red E5V E0V E5V E0V BAT BAT PS PS motor Japan Aviation Electronics Industry Ltd 1 2 3 4 5 6 H G K L J T S Twisted pair Pin No of...

Page 42: ...ion to PC Host or Console This servo driver features 2 kinds of communication function RS232 and RS485 and you can use in 3 connecting methods In Case of Communication with One Driver Using RS232 By connecting the PC and the driver via RS232 you can utilize the setup support software PANATERM option PANATERM offers useful functions such as monitoring of various status setup change of pa rameters a...

Page 43: ...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 For detailed information refer to Wiring Diagram at each control mode P 83 Position control mode P 127 Velocity control mode P 161 Torque control mode and P 192 Full closed control mode Specifications of the Co...

Page 44: ...als especially for protective function for example over travel inhibit input CWL CCWL or external scale input so as to decide their logic until this term Control power supply L1C L2C Internal control power supply Action of driver CPU Main power supply L1 L2 L3 S RDY output X5 Pin 34 and 35 Servo ON input X5 Pin 29 Dynamic brake Motor energization BRK OFF output X5 Pin 10 and 11 Position Speed Torq...

Page 45: ...the setup value of Pr6B or elapsing time for the motor speed to fall below 30r min t1 will be 0 when the motor is in stall regardless of the setup pf Pr6A 2 For the action of dynamic brake at alarm occurrence refer to an explanation of Pr68 Sequence at alarm Parameter setup at each control mode as well Alarm Dynamic brake Motor energization normal energized ready not alarm alarm engaged 2 non ener...

Page 46: ...e at Servo OFF Parameter setup at each control mode as well 3 Servo ON will not be activated until the motor speed falls below approx 30r min Dynamic brake Motor energization Brake release output BRK OFF Servo ON input SEV ON approx 40ms approx 2ms approx 2ms 1 to 5ms t1 1 released ON OFF not energized ON released energized engaged OFF OFF engaged 2 engaged 3 not energized engaged OFF Timing Chart...

Page 47: ...be activated until the motor speed falls below approx 30r min 5 For the motor energization during deceleration at Servo OFF refer to an explanation of Pr69 Sequence at Serve OFF Parameter setup at each control mode as well OFF OFF ON engaged 3 released not energized engaged 3 4 not energized 5 energized engaged OFF released ON engaged OFF released ON No servo ON until the motor speed falls below a...

Page 48: ...rake release timing at power on or braking timing at Servo OFF Servo Alarm while the motor is in motion refer to P 42 Timing Chart With the parameter Pr6B Setup of mechanical brake action while the motor is in motion you can set up a time between when the motor enters to a free run from energized status and when BRK OFF signal turns off brake will be engaged when the Servo OFF or alarm occurs whil...

Page 49: ... less 20 or less 15 or less 15 or less 100 50 or less 130 70 or less 200 50 or less 130 35 or less 150 25 or less 200 70 or less 200 50 or less 130 25 or less 200 70 or less 200 35 or less 150 100 or less 450 50 or less 130 25 or less 200 50 or less 130 MSMD MAMA MQMA MSMA MDMA MHMA MFMA MGMA 50W 100W 200W 400W 750W 100W 200W 400W 1 0kW 1 5kW 2 0kW 3 0kW 4 0kW 5 0kW 1 0kW 1 5kW 2 0kW 3 0kW 4 0kW 5...

Page 50: ...side 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 input CWL CCWL of CN X5 is activated In the above cases from 1 to 4 you can select either activation of the dynamic brake or making the motor free run during deceleration ...

Page 51: ...driving condition from deceleration to after stop by Servo OFF Pr69 3 Setup of driving condition from deceleration to after stop by activation of protective func tion 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 Clear Clear Clear Hold Hold Hold Hold Free run Free run D B 0 Setup value of Pr69 1 2 3 4 5 6 7 Sequence at main Servo OFF Pr69 Contents of ...

Page 52: ...et put acceleration 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 origin input Z phase Proximity dog off Decelerates at an entry of the proximity input and stops at an en...

Page 53: ...el of the driver 2 Combination of the setup support software PANATERM Option DV0P4460 English Japanese version and PC 3 Console DV0P4420 option Note For setup of the parameters on PC screen refer to the instruction manual of the PANATERM How to Connect Setup of Parameter and Mode Remarks Connect the console connector to the connector CN X4 of the driver securely Do not pull the cable to insert unp...

Page 54: ...You can set up a mode and select a mechanical stiffness You can set up parameters related to gain switching 1st 2nd You can set up an input form directional selection of command pulses dividing of encoder output pulse and set up a division multiplier ratio of command pulse You can set up an input gain of command pulse reverse polarity and adjust offset You can also set up internal speeds 1 to 8th ...

Page 55: ...t Related Control Mode Parameter No Pr Default Set up of parameter Range Unit Related Control Mode Parameter No Pr Default 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 27 28 29 2A 2B 2C 2D 2E 0 to 3000 1 to 3500 1 to 1000 0 to 5 0 to 2500 2000 to 2000 0 to 6400 0 to 3000 1 to 3500 1 to 1000 0 to 5 0 to 2500 100 to 1500 0 to 4 0 to 1 100 to 1500 0 to 4 0 to 99 0 to 2000 200 to 2000 0 to 2000 200...

Page 56: ... filter mode Selection of damping filter switching Setup of action at normal mode auto gain tuning Setup of software limit Adaptive filter frequency Set up of parameter Range Unit Related Control Mode Parameter No Pr Default 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F 0 to 1 0 to 10 0 to 10000 0 to 20000 0 to 20000 0 to 10000 0 to 5 0 to 10000 0 to 20000 0 to 20000 0 to 500 1 0 30 50 33 20 0 0...

Page 57: ...ng Counter clear input mode For manufacturer s use Set up of parameter Range Unit Related Control Mode Parameter No Pr Default 50 51 52 53 54 55 56 74 75 76 77 57 10 to 2000 0 to 1 2047 to 2047 20000 to 20000 20000 to 20000 20000 to 20000 20000 to 20000 20000 to 20000 20000 to 20000 20000 to 20000 20000 to 20000 0 to 6400 500 1 0 0 0 0 0 0 0 0 0 0 r min V 0 3mV r min r min r min r min r min r min ...

Page 58: ... main power shut off Setup to torque at emergency stop For manufacturer s use Excess setup of positional deviation Excess setup of analog input Setup of over load level Setup of over speed level A B frame 3 C D E frame 0 Parameters for Sequence Parameters for Full Closed Control Set up of parameter Range Unit Related Control Mode Parameter No Pr Default 78 1 79 1 7A 1 7B 1 7C 1 7D 7E 7F 0 to 32767...

Page 59: ...e when you replace the combination of the motor and the driver Pay attention to the followings 1 When the motor torque is limited When you replace the motor series or to the different wattage motor you need to reset the torque limit setup because the rated toque of the motor is different from the previous motor see e g 1 2 When you want to obtain the max motor torque You need to reset the torque l...

Page 60: ...ical value increases by pressing decreases by pressing SET Button valid at any time Press this to switch SELECTION and EXECUTTION display Setup with the Console Composition of Touch Panel and Display Display LED 6 digit All of LED will flash when error occurs and switch to error display screen Displays ID No address of selected driver in 2 digits The value set in Pr00 address is ID No Parameter No...

Page 61: ...er ID of the selected driver Dot flashes when RS485 is connected Set up ID of the connecting Driver with and approx 0 6sec When ID No of the driver is other than 0 In case of communication with RS232 only In case of communication with other drivers which are connected via RS485 When ID No of the driver is 0 1 sec approx 0 6 sec approx 0 6 sec approx 0 6 sec flashes for approx 0 6 sec each for init...

Page 62: ...TION display Monitor mode Parameter set up mode EEPROM writing mode Mode switching button Mode switching button Mode switching button Mode switching button Mode switching button Console only Front panel Mode switching button SET button Note You can change the flashing decimal point with then shift the digit for data change Auto gain tuning mode Auxiliary function mode Copy function ...

Page 63: ...s from the driver to the console P 77 Clear of absolute encoder P 74 Auto offset adjustment front panel only P 73 Alarm clear P 75 Trial run JOG P 78 Clear of external scale error front panel only P 80 Copying of parameters from the console to the driver EXECUTION display SET button SET button SET button SET button SET button SET button ...

Page 64: ...arts displays for only a moment Writing finishes Writing completes Writing error occurs Remarks will be displayed when you change the parameter setup which change will be validated only after the reset Turn off the power of the driver then reset it When writing error occurs repeat the writing If the writing error persists the console might be a failure Do not shut down the power during EEPROM writ...

Page 65: ...zing function 5 deviation pulses 1000r min Torque output 100 Position control mode Input signal No 0 Active No error currently Software version of 0 23 No alarm 30 of permissible regenerative power 28 of overload factor Inertia ratio 100 Feedback pulse sum is 50 pulses Command pulse sum is 10 pulses External scale deviation is 5 pulses External scale feedback pulse sum is 500 pulses Automatic moto...

Page 66: ... mode Velocity control mode Torque control mode Full closed control mode Display of I O Signal Status Displays the control input and output signal to be connected to CN X5 connector Use this function to check if the wiring is correct or not Input signal Output signal Lowest place No of input signal Highest place No of input signal Lowest place No of output signal Highest place No of output signal ...

Page 67: ...ction When one of the errors which are listed in error history occurs this error and history o shows the same error No When error occurs the display flashes Error code No and its content 11 12 13 14 15 16 18 21 23 24 25 26 27 28 29 34 35 36 37 38 Under voltage protection for control power Over voltage protection Under voltage protection for main power Over current protection Overheat protection Ov...

Page 68: ...is is valid when Pr6C Selection of external regenerative resistor is 0 or 1 Displays the ratio against the rated load Refer to P 258 Overload Protection Time Characteristics of When in Trouble Display of Inertia Ratio Display of Feedback Pulse Sum Command Pulse Sum and External Scale Feedback Pulse Sum Displays the inertia ratio Value of Pr20 Inertia ratio will be displayed as it is Total sum of p...

Page 69: ...ter offset correction CCWTL analog input value unit V CWTL analog input value unit V Input signal Note Voltage exceeding 10V can not be displayed correctly Input voltage value V Select the signal No to be monitored by pressings Switching of the Driver to be Communicated RS232 communication Displays the ID of the connected driver ID cannot be switched RS485 communication Select the ID of the driver...

Page 70: ...rection Either one of the valid torque limit setup value of Pr5E 1st or Pr5F 2nd is set to 5 or lower than the rating While Pr03 is 0 analog torque limit input accepted CCW analog torque limit input CCWTL is negative voltage and speed command is CCW direction CW analog torque limit input CWTL is positive voltage and speed command is CW direction Pr43 is 0 Command pulse inhibition input is valid an...

Page 71: ...ess or to set up the value of parameter Value increases with decreases with 1 You can change the decimal point with then shift the digit for data change Press to shift to arrowed direction Press to shift to reversed direction You can change the value which digit has a flashing decimal point Parameter value Note Each parameter has a limit in number of places for upper shifting After setting up para...

Page 72: ...rn off the power during EEPROM writing Incorrect data might be written If this happens set up all of parameters again and re write after checking the data Starts writing Finishes writing Writing completes Writing error Starting from the initial LED status press two time after pressing then brings the display of EEPROM Writing Mode Keep pressing until the display changes to when you execute writing...

Page 73: ... to 9 A 10 to F 15 Note For machine stiffness No refer to P 238 Note To prevent the loss of gain value due to the power shutdown write into EEPROM Press to make EXECUTION DISPLAY to Starting from the initial LED status press three time after pressing then brings the display of normal auto gain tuning then press to select the machine stiffness No After inhibiting command input and during Servo On s...

Page 74: ... 6 by pressing 6 5 4 3 2 1 1 Stiffness setup of real time auto gain tuning Start of fit gain Stiffness 15 Stiffness 1 Stiffness 0 Display Contents Expansion function 2 Action setup of real time auto gain tuning Start of fit gain Valid Valid Valid Valid Valid Valid Valid Invalid Display Contents Expansion function 3 Status of real time auto gain tuning action display only Invalid Valid Estimating l...

Page 75: ...display referring to structure of each mode P 60 and 61 Remarks Don t disconnect the console from the driver between and Should the connector is pulled out insert it again and repeat the procedures from the beginning Starting from the initial LED status Press four time after pressing then press to make a display to Press to call for EXECUTION display of Keep pressing until the console LED changes ...

Page 76: ...utomatic offset adjustment make command input to 0V then keep pressing until the display changes to Notes This function is invalid at position control mode You cannot write the data only by executing automatic offset adjustment Execute a writing to EEPROM when you need to reflect the result afterward increases by pressing approx 5sec as the right fig shows Automatic offset adjustment starts Invali...

Page 77: ...he mechanical system 5 Release of the brake 6 Turn to Servo OFF after finishing the trial run by pressing Trial Run JOG Run You can make a trial run JOG run without connecting the Connector CN X5 to the host controller such as PLC Remarks Separate the motor from the load detach the Connector CN X5 before the trial run Bring the user parameter setups especially Pr11 14 and 20 to defaults to avoid o...

Page 78: ...aution If such trouble as disconnection of cable or connector occurs during trial run the motor makes over run for maximum 1 sec Pay an extra attention for securing safety Not a Servo Ready Or SRV ON signal is not entered Not a servo ready status Shuts off the main when error occurs Press to call for EXECUTION DISPLAY of Then keep pressing until the display of Console LED changes to Then keep pres...

Page 79: ...oder finishes return to SELECTION display referring to structure of each mode P 60 and 61 Remarks Don t disconnect the console from the driver between to Should the connector is pulled out insert it again and repeat the procedures from the beginning Press four time after pressing to setup auxiliary function mode then with make a display to Press to call for EXECUTION DISPLAY of Then keep pressing ...

Page 80: ...r has occurred Clearing of absolute encoder completes After cleaning of External scale Error return to SELECTION display referring to the structure of each mode P 60 and 61 Press four time after pressing to setup auxiliary function mode then with make a display to Press to call for EXECUTION DISPLAY of Then keep pressing until the display of Console LED changes to increases by pressing approx 5sec...

Page 81: ...nnect the console from the driver between to Should the connector is pulled out insert it again and repeat the procedures from the beginning Note If the error display repeats frequently check the broken cable disconnection of the connector misoperation due to noise or failure of console Starting from initial LED status Press five time after pressing then press to make a display to Press to call fo...

Page 82: ...lay referring to structure of each mode P 60 and 61 Remarks Don t disconnect the console from the driver between to Should the connector is pulled out insert it again and repeat the procedures from the beginning Note If the error display repeats frequently check the broken cable disconnection of the connector misoperation due to noise or failure of console Starting from initial LED status Press fi...

Page 83: ...104 Trial Run by Connecting the Connector CN X5 104 Real Time Auto Gain Tuning 106 Outline 106 Applicable Range 106 How to Operate 106 Adaptive Filter 107 Parameters Which are Automatically Set 107 Parameter Setup 108 Parameters for Functional Selection 108 Parameters for Adjustment of Time Constant of Gains and Filters 111 Parameters for Auto Gain Tuning 112 Parameters for Adjustment 2nd Gain Swi...

Page 84: ...ntrol Pr11 1st proportion Pr12 1st integration Pr19 2nd proportion Pr1A 2nd integration Pr20 Inertia ratio Notch filter Pr1D 1st frequency Pr1E 1st width Pr28 2nd frequency Pr29 2nd width Pr2A 2nd depth Pr2F Adaptation Torque filter Motor Torque command monitor Pr14 1st time constant Pr1C 2nd time constant Pr5E 1st limit Pr5F 2nd limit Pr4D Average travel times Primary delay smoothing Pr4C Selecti...

Page 85: ...S RDY ALM COIN BRKOFF BRKOFF TLC V DC 12 to 24V ZSP COM SIGNH1 SIGNH2 GND PULSH1 PULS PULSH2 FG COIN ALM 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 13 50 Servo ON input Gain switching input Electronic gear switching input Control mode switching input 26 Damping control switching input Divider Alarm clear input CCW over travel inhibition input A phase output B phase output Z ph...

Page 86: ...F L H PULS L H SIGN OPC1 PULS2 OPC2 GND SIGN2 220Ω 220Ω 2 2kΩ 2 2kΩ VDC 1 4 2 6 13 3 44 45 13 2kΩ 43kΩ 43kΩ 2kΩ 220Ω GND H L H L PULS SIGN AM26C32 or equivalent 46 47 2kΩ 43kΩ 43kΩ 2kΩ 220Ω H L H L PULS SIGN AM26C32 or equivalent represents twisted pair represents twisted pair Connect to contacts of switches and relays or open collector output transistors When you use contact inputs use the switch...

Page 87: ... encoder signals in open collector This output is not insulated Receive this output with high speed photo couplers at the host side since the pulse width of the Z phase signal is nar row Open collector output PO2 There are two outputs the speed monitor signal 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 imped...

Page 88: ...ed with the setup of Pr66 Sequence at over travel inhibit Default is Emergency stop with dynamic brake Pr66 0 damping control switching input 26 SI P 84 VS SEL Function varies depending on the control mode Becomes to a speed zero clamp input ZEROSPD In case Pr06 is 2 at torque control ZERPSPD is invalid Becomes to an input of damping control switching VS SEL While Pr24 Damping filter switching sel...

Page 89: ...nt to the motor will be shut off You can select the dynamic brake action and the deviation counter clearing action at Servo OFF with Pr69 Sequence at Servo OFF Caution 1 Servo ON input becomes valid approx 2 sec after power on see P 42 Timing Chart of Preparation 2 Never run stop the motor with Servo ON OFF 3 After shifting to Servo ON allow 100ms or longer pause before entering the pulse command ...

Page 90: ...trol Torque control Torque control Pr43 0 1 Default Content INH is valid INH is valid Deviation counter clear input 30 SI P 84 CL Function varies depending on the control mode Input CL which clears the positional deviation counter and full closed deviation counter You can clear the counter of positional deviation and full closed deviation by connecting this to COM You can select the clearing mode ...

Page 91: ...heir Functions You can select appropriate interface out of two kinds depending on the command pulse specifications Pulse train interface exclusive for line driver Pr41 Setup value Setup of command pulse rotational direction Pr42 Setup value Setup of command pulse input mode Signal title CCW command B phase advances toAby 90 B phase delays fromAby 90 CW command Command pulse format t1 A phase B pha...

Page 92: ...h Pr50 Speed command input gain Pr51 Speed command input reversal Pr52 Speed command offset Pr57 Speed command filter setup Function varies depending on Pr5B Selection of torque command This input is invalid Pr5B 0 1 Pr02 3 4 Others Content Torque command TRQR will be selected Set up the torque TRQR gain polarity offset and filter with Pr5C Torque command input gain Pr5D Torque command input rever...

Page 93: ...D Torque command input reversal Offset and filter cannot be set up Becomes to the analog torque limit input to CCW CCWTL Limit the CCW torque by applying positive voltage 0 to 10V Approx 3V rated toque Invalidate this input by setting up Pr03 Torque limit selection to other than 0 CW Torque limit input 18 AI P 84 CWTL Function varies depending on Pr02 Control mode setup Resolution of A D converter...

Page 94: ...ler than the setup value of Pr60 Positioning complete range You can select the feeding out method with Pr63 Setup of positioning complete output Output of full closed positioning complete EX COIN The output transistor will turn ON when the absolute value of full closed position deviation pulse becomes smaller than the setup value of Pr60 Positioning complete range You can select the feeding out me...

Page 95: ...ected to signal ground GND and is not insulated Max output frequency is 4Mpps after quadrupled Z phase output 19 PO2 P 85 CZ 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 When the output source is the encoder If the encoder resolution X is multiple of 4 Z phase will be fed out synchro...

Page 96: ... pulse counts with polarity positional command to CCW of motor position positional command to CW of motor position Feeds out the voltage in proportion to the full closed deviation pulse counts with polarity positional command to CCW of external scale position positional command to CW of external scale position Pr08 0 11 12 1 5 6 10 Speed monitor signal output 43 AO P 85 SP The content of the outpu...

Page 97: ...put Signals Others and Their Functions Title of signal Pin No Symbol Function I F circuit Signal ground 13 15 17 25 GND Signal ground This output is insulated from the control signal power COM inside of the driver Frame ground 50 FG This output is connected to the earth terminal inside of the driver ...

Page 98: ...5 6 19 13 7 30 29 27 31 9 8 35 34 37 36 39 38 41 CCW pulse command input Origin input Deviation counter reset output Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Gain switching input Alarm clear input CW over travel inhibit input CCW over travel inhibit input PLC FPG C32T FP Driver A4 series Z phase output Origin proximity sensor CW limit sen...

Page 99: ... TC A CLR CCWL CWL S RDY S RDY ALM ALM COIN COIN COM 3 4 5 6 23 24 13 7 30 29 27 31 9 8 35 34 37 36 39 38 41 CCW pulse command input Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input CW over travel inhibit input CCW over travel inhibit input PLC FP2 PP2 AFP2430 Driver A4 series Z phase output from PLC I O output to PLC I O input ...

Page 100: ... travel inhibit input CCW over travel inhibit input PLC F3NC11 0N Driver A4 series Z phase output Origin proximity sensor CW limit sensor CCW limit sensor from PLC I O output to PLC I O input V GND CW pulse command output CCW pulse command output Origin line driver input 3 5kΩ Emergency stop input Origin proximity input CCW limit input CW limit input 5V power supply for pulse output 220Ω 220Ω 4 7k...

Page 101: ... output Positioning complete output Alarm clear input CW over travel inhibit input CCW over travel inhibit input PLC F3YP14 0N F3YP18 0N Driver A4 series Z phase output from PLC I O output to PLC I O input V GND CW pulse command output CCW pulse command output Origin line driver input Deviation pulse clear signal output Origin proximity input CCW limit input CW limit input 5V power supply for puls...

Page 102: ...Origin line driver input Deviation counter reset output Power supply for output Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Gain switching input Alarm clear input CW over travel inhibit input CCW over travel inhibit input Emergency stop input PLC CS1W NC113 Driver A4 series Z phase output from PLC I O output to PLC I O input Origin proximity...

Page 103: ...ete output Gain switching input Alarm clear input CW over travel inhibit input CCW over travel inhibit input PLC CS1W NC133 Driver A4 series Z phase output from PLC I O output to PLC I O input V GND GND V CW pulse command output CCW pulse command output Origin line driver input Deviation counter reset output 24V power supply for output Emergency stop input Origin proximity input CCW limit over inp...

Page 104: ...se command input Origin line driver input Deviation counter reset output Power supply for output Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Gain switching input Alarm clear input CW over travel inhibit input CCW over travel inhibit input Emergency stop input PLC C200H NC211 Driver A4 series Z phase output from PLC I O output to PLC I O inpu...

Page 105: ...GN2 OZ OZ GND COM CL SRV ON GAIN A CLR CCWL CWL S RDY S RDY ALM ALM COIN COIN COM 3 4 5 6 23 24 13 7 30 29 27 31 9 8 35 34 37 36 39 38 41 CCW pulse command input Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Gain switching input Alarm clear input CW over travel inhibit input CCW over travel inhibit input PLC A1SD75 AD75P1 Driver A4 series Z ph...

Page 106: ...Factor for No Motor Running of Preparation COM 7 29 41 3 4 5 6 COM SRV ON PULS1 PULS2 SIGN1 SIGN2 1kΩ 1kΩ CW CCW pulse input in case of open collector input CN X5 in case of line receiver input DC 12V 24V DC 12V Title Setup of control mode Invalidation of over travel inhibit input Selection of command pulse input Mode setup of command pulse input Inhibition setup of command pulse input Counter cle...

Page 107: ...shaft by 60 enter the command of 8192 213 pulses from the host controller To rotate the output shaft by 60 enter the command of 10000 pulses from the host controller 60 Note Defaults of Pr48 and Pr49 are both 0 and encoder resolution is automatically set up as numerators Defaults of Pr48 and Pr49 are both 0 and encoder resolution is automatically set up as numerators Remarks Max input pulse freque...

Page 108: ...Auto filter adjustment Torque command Motor current Motor speed Motor Encoder How to Operate 1 Bring the motor to stall Servo OFF 2 Set up Pr21 Real time auto gain tuning mode setup to 1 7 Default is 1 3 Set up Pr22 Machine stiffness at real time auto gain tun ing to 0 or smaller value 4 Turn to Servo ON to run the machine normally 5 Gradually increase Pr22 Machine stiffness at real time auto gain...

Page 109: ...r such as backlash When acceleration deceleration is very extreme such as more than 30000 r min per 1 s Notes When the real time auto gain tuning is valid you cannot change parameters which are automatically adjusted Pr31 becomes 10 at position or full closed control and when Pr21 Setup of Real Time Auto Gain Tuning Mode is 1 to 6 and becomes 0 in other cases Note Even though Pr23 is set up to oth...

Page 110: ...Setup value 0 1 2 3 4 5 6 Control mode 1st mode 2nd mode Position Velocity Torque Position Position Velocity Full closed Velocity Torque Torque 1st 2nd close open C MODE 10ms or longer 10ms or longer open 1st 1 When you set up the combination mode of 3 4 or 5 you can select either the 1st or the 2nd with control mode switching input C MODE When C MODE is open the 1st mode will be selected When C M...

Page 111: ... so that you can prevent the work load from damaging the machine due to the over travel With this input you can set up the action of over travel inhibit input Cautions 1 When Pr04 is set to 0 and over travel inhibit input is entered the motor deceler ates and stops according to the preset sequence with Pr66 Sequence at over travel inhibition For details refer to the explanation of Pr66 2 When both...

Page 112: ...arm output Fan lock alarm output External scale alarm output In speed Speed coincidence output 0A 0 to 8 1 Selection of ZSP output You can assign the function of the zero speed detection output ZSP CN X5 Pin 12 Setup value 0 1 2 3 4 5 6 7 8 Note For details of function of each output of the left refer to the table of P 92 Selection of TCL and ZSP outputs Function Torque in limit output Zero speed ...

Page 113: ...on effect will be lost by setting to 1000 13 0 to 5 0 1st filter of speed detection 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 constant you can obtain so that you can decrease the motor noise however response becomes slow Use with a default value of 0 in normal operation 15 2000 to 2000 300 0 1 Velocity feed for...

Page 114: ...up value 0 1 2 3 4 5 6 7 Real time auto gain tuning Invalid Normal mode Vertical axis mode No gain switching Varying degree of load inertia in motion Little change Gradual change Rapid change Little change Gradual change Rapid change Little change Standard default PrNo Setup range Unit Title Function Content 1D 100 to 1500 1500 Hz 1st notch frequency You can set up the frequency of the 1st resonan...

Page 115: ... achieve both high response and reduction of vibration at stall by using this instantaneous speed observer Setup value 0 1 Instantaneous speed observer setup Invalid Valid You need to set up the inertia ratio of Pr20 correctly to use this function If you set up Pr21 real time auto gain tuning mode setup to other than 0 valid Pr27 becomes 0 invalid 23 0 to 2 1 Setup of adaptive filter mode You can ...

Page 116: ... using this parameter 2C 200 to 2000 0 0 1Hz Setup of 1st damping filter While you set up Pr2B 1st damping frequency set this up to smaller value when torque saturation occurs and to larger value when you need faster action Use with the setup of 0 in normal operation Refer to P 250 Damping control of Adjustment Caution Setup is also limited by 10 0 Hz Pr2B Pr2C Pr2B 2D 0 to 2000 0 0 1Hz 2nd dampin...

Page 117: ...tive Pr33 0 Pr34 Pr32 1st gain 2nd gain 1st gain 31 0 to 10 0 1st mode of control switching You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1 1 Fixed to the 1st gain regardless of GAIN input when Pr31 is set to 2 and Pr03 Torque limit selection is set to 3 2 For the switching level and the timing refer to P 243 Gain Switching Function of Adjustment Setup value ...

Page 118: ...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 CW pulse train CCW pulse train pulse train Signal 90 phase difference 2 phase pulse A B phase CW pulse train CCW pulse train pulse train Signal Line driver interface Open collector interface Pulse train interface exclusive to line driver Pulse train interface Input I F of PULS SIG...

Page 119: ...olution obtained from the above formula is multiple of 4 Z phase synchronizes with A phase In other case the Z phase width equals to output with the encoder resolution and becomes narrower than A phase hence does not synchronize with A phase The pulse output resolution per one revolution Pr44 Numerator of pulse output division X4 Pr44 Numerator of pulse output division Pr45 Denominator of pulse ou...

Page 120: ...n you cannot obtain the required speed due to the limit of pulse generator of the host controller Block diagram of electronic gear Numerator selection of electronic gear 1 Select the 1st or the 2nd with the command electronic gear input switching DIV CN X5 Pin 28 when numerator 0 when the numerator is 0 Default Numerator Pr48 49 X2Pr4A is automat ically set equal to encoder resolution and you can ...

Page 121: ... Pr48 1 x 2 Pr4B 5000 Pr4A 0 Pr48 10000 x 2 Pr4B 5000 Pr4A 0 Pr4A 15 Pr48 1 x 2 Pr4B 10000 Pr48 2500 x 2 Pr4B 10000 4D 0 to 31 0 Setup of FIR smoothing You can set up the moving average times of the FIR filter covering the command pulse Setup value 1 become average travel times 4C 0 to 7 1 Setup of primary delay smoothing Smoothing filter is the filter for primary delay which is inserted after the...

Page 122: ...le to the load machine strength you can use this function to limit the max torque speed 200 100 Rated Rating 100 200 300 torque 300 Max Max CW CCW when Pr5E 150 Standard default PrNo Setup range Unit Title Function Content 60 0 to 32767 131 Pulse Positioning com plete In position range You can set up the timing to feed out the positioning complete signal COIN CN X5 Pin 39 The positioning complete ...

Page 123: ...0 Sequence at over travel inhibit You can set up the running condition during deceleration or after stalling while over travel inhibit input CCWL Connector CN X5 Pin 9 or CWL Connector CN X5 Pin 8 is valid Caution In case of the setup value of 2 torque limit during deceleration will be limited by the setup value of Pr6E Torque setup at emergency stop Setup value 0 1 2 During deceleration Dynamic b...

Page 124: ... when clearing the alarm Refer to P 43 Timing Chart When an error alarm occurs at Servo ON command status of Preparation Setup value 0 1 2 3 During deceleration DB Free run DB Free run After stalling DB DB Free run Free run Action Deviation counter content Hold Hold Hold Hold 69 0 to 9 0 Sequence at Servo Off You can set up 1 the action during deceleration and after stalling 2 the clear treatment ...

Page 125: ...rgized 30 r min 6C 0 to 3 for A B frame 3 for C to F frame 0 Selection of external regenerative resistor With this parameter you can select either to use the built in regenerative resistor of the driver or to separate this built in regenerative resistor and externally install the regenerative resistor between RB1 and RB2 of Connector CN X2 in case of A to D frame between P and B2 of terminal block...

Page 126: ...d control Err24 Error detection of position deviation excess becomes invalid when you set up this to 0 72 0 to 500 0 Setup of over load level You can set up the over load level The overload level becomes 115 by setting up this to 0 Use this with 0 setup in normal operation Set up other value only when you need to lower the over load level The setup value of this parameter is limited by 115 of the ...

Page 127: ...Connecting the Connector CN X5 139 Real Time Auto Gain Tuning 140 Outline 140 Applicable Range 140 How to Operate 140 Adaptive Filter 141 Parameters Which are Automatically Set 141 Parameter Setup 142 Parameters for Functional Selection 142 Parameters for Adjustment of Time Constant of Gains and Filters 146 Parameters for Auto Gain Tuning 147 Parameters for Adjustment 2nd Gain Switching Function 1...

Page 128: ...nd speed monitor Velocity control Pr11 1st proportion Pr12 1st integration Pr19 2nd proportion Pr1A 2nd integration Pr20 Inertia ratio Notch filter Pr1D 1st frequency Pr1E 1st width Pr28 2nd frequency Pr29 2nd width Pr2A 2nd depth Pr2F Adaptation Torque filter Pr14 1st time const Pr1C 2nd time const Pr5E 1st limit Pr5F 2nd limit Motor Encoder Feedback pulses OA OB OZ Division Pr44 Numerator Pr45 D...

Page 129: ...lear input A phase output B phase output Z phase output Z phase output open collector Servo Ready output Servo alarm output Positioning complete output Brake release output Torque in limit output Select with Pr09 Select with Pr0A 14 15 16 17 18 43 42 26 Speed zero clamp input Velocity command input 0 to 10V CCW torque limit input 0 to 10V CW torque limit input 10 to 0V Velocity monitor output Torq...

Page 130: ...nd CWTL 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 2kΩ B characteristics 1 2W or larger R with 200Ω 1 2W or larger A D converter resolution o...

Page 131: ...e encoder signals in open collector This output is not insulated Receive this output with high speed photo couplers at the host side since the pulse width of the Z phase signal is nar row Open collector output PO2 There are two outputs the speed monitor signal 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 impe...

Page 132: ...lidated with the setup of Pr66 Sequence at over travel inhibit Default is Emergency stop with dynamic brake Pr66 0 Speed zero clamp input 26 SI P 128 ZEROSPD Function varies depending on the control mode Becomes to a speed zero clamp input ZEROSPD In case Pr06 is 2 at torque control ZERPSPD is invalid Becomes to an input of damping control switching VS SEL While Pr24 Damping filter switching selec...

Page 133: ... open open short short open open short short Pin 33 INTSPD1 INH open short open short open short open short Selection of Internal Speed You can switch the numerator of electronic gear By connecting to COM you can switch the numerator of electronic gear from Pr48 1st numerator of electronic gear to Pr49 2nd numerator of electronic gear For the selection of command division multiplication refer to t...

Page 134: ...ol Torque control Torque control Pr43 0 1 Default Content INH is valid INH is valid Selection 2 input of internal command speed 30 SI P 128 INTSPD2 Function varies depending on the control mode Input CL which clears the positional deviation counter and full closed deviation counter You can clear the counter of positional deviation and full closed deviation by connecting this to COM You can select ...

Page 135: ...locity control is selected Set up the gain polarity offset and filter of the Speed command with Pr50 Speed command input gain Pr51 Speed command input reversal Pr52 Speed command offset Pr57 Speed command filter setup Function varies depending on Pr5B Selection of torque command This input is invalid Pr5B 0 1 Pr02 Others Content This input becomes invalid Speed limit SPL will be selected Set up th...

Page 136: ...et up Becomes to the analog torque limit input to CCW CCWTL Limit the CCW torque by applying positive voltage 0 to 10V Approx 3V rated toque Invalidate this input by setting up Pr03 Torque limit selection to other than 0 CW Torque limit input 18 AI P 128 CWTL Function varies depending on Pr02 Control mode setup Resolution of A D converter used in this input is 16 bit including 1 bit for sign 511 L...

Page 137: ...sition deviation pulse becomes smaller than the setup value of Pr60 Positioning complete range You can select the feeding out method with Pr63 Setup of positioning complete output Output of full closed positioning complete EX COIN The output transistor will turn ON when the absolute value of full closed position deviation pulse becomes smaller than the setup value of Pr60 Positioning complete rang...

Page 138: ... is not insulated Max output frequency is 4Mpps after quadrupled Z phase output 19 PO2 P 129 CZ 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 When the output source is the encoder If the encoder resolution X is multiple of 4 Z phase will be fed out synchronizing with A phase In other ...

Page 139: ... out the voltage in proportion to the full closed deviation pulse counts with polarity positional command to CCW of external scale position positional command to CW of external scale position Pr08 0 11 12 1 5 6 10 Speed monitor signal output 43 AO P 129 SP The content of the output signal varies depending on Pr07 Speed monitor IM selection You can set up the scaling with Pr07 value Feeds out the v...

Page 140: ...6 X7 Display LED CN X6 ground Power supply Motor Machine 1 Wiring inspection Miswiring Especially power input motor output Short Earth Loose connection 2 Check of power voltage Rated voltage 3 Fixing of the motor Unstable fixing 4 Separation from mechanical system 5 Release of the brake ...

Page 141: ... COM 3 Enter the power to the driver 4 Confirm the default values of parameters 5 Connect the Servo ON input SRV ON CN X5 Pin 29 and COM CN X5 Pin 14 to turn to Servo ON and energize the motor 6 Close the speed zero clamp input ZEROSPD and apply DC voltage between velocity command input SPR CN X5 Pin 14 and GND CN X5 Pin 15 and gradually increase from 0V to confirm the motor runs 7 Confirm the mot...

Page 142: ... frequency calculation Load inertia calculation Adaptive Filter Current control Auto gain setup Auto filter adjustment Torque command Motor current Motor speed Motor Encoder How to Operate 1 Bring the motor to stall Servo OFF 2 Set up Pr21 Real time auto gain tuning mode setup to 1 7 Default is 1 3 Set up Pr22 Machine stiffness at real time auto gain tun ing to 0 or smaller value 4 Turn to Servo O...

Page 143: ... 30000 r min per 1 s Notes When the real time auto gain tuning is valid you cannot change parameters which are automatically adjusted Pr31 becomes 10 at position or full closed control and when Pr21 Setup of Real Time Auto Gain Tuning Mode is 1 to 6 and becomes 0 in other cases Note Even though Pr23 is set up to other than 0 there are other cases when adaptive filter is automatically invalidated R...

Page 144: ...f control mode You can set up the control mode to be used Setup value 0 1 2 3 4 5 6 Control mode 1st mode 2nd mode Position Velocity Torque Position Position Velocity Full closed Velocity Torque Torque 1st 2nd close open C MODE 10ms or longer 10ms or longer open 1st 1 When you set up the combination mode of 3 4 or 5 you can select either the 1st or the 2nd with control mode switching input C MODE ...

Page 145: ...set sequence with Pr66 Sequence at over travel inhibition For details refer to the explanation of Pr66 2 When both of CCWL and CWL inputs are opened while Pr04 is set to 0 the driver trips with Err38 Overtravel inhibit input error judging that this is an error 3 When you turn off the limit switch on upper side of the work at vertical axis applica tion the work may repeat up down movement because o...

Page 146: ...input INH input CL input 06 0 to 2 0 Selection of ZEROSPD input You can set up the function of the speed zero clamp input ZEROSPD CN X5 Pin 26 Setup value 0 1 2 Function of ZEROSPD Pin 26 ZEROSPD input is ignored and the driver judge that it Is not in speed zero clamp status ZEROSPD input becomes valid Speed command is taken as 0 by opening the connection to COM Becomes speed command sign You can ...

Page 147: ...xternal scale Over regeneration alarm trigger output Overload alarm output Absolute battery alarm output Fan lock alarm output External scale alarm output In speed Speed coincidence output 0A 0 to 8 1 Selection of ZSP output You can assign the function of the zero speed detection output ZSP CN X5 Pin 12 Setup value 0 1 2 3 4 5 6 7 8 Note For details of function of each output of the left refer to ...

Page 148: ...ndard default Parameters for Adjustment of Time Constants of Gains and Filters Standard default PrNo Setup range Unit Title Function Content 11 1 to 3500 AtoC frame 35 DtoF frame 18 Hz 1st gain of velocity loop You can determine the response of the velocity loop In order to increase the response of overall servo system by setting high position loop gain you need higher setup of this velocity loop ...

Page 149: ...e normal auto gain tuning the load inertial will be automatically estimated after the preset action and this result will be reflected in this parameter The inertia ratio will be estimated at all time while the real time auto gain tuning is valid and its result will be saved to EEPROM every 30 min Caution If the inertia ratio is correctly set the setup unit of Pr11 and Pr19 becomes Hz When the iner...

Page 150: ... frame 4 D to F frame 1 Selection of machine stiffness at real time auto gain tuning You can set up the machine stiffness in 16 steps while the real time auto gain tuning is valid Caution When you change the setup value rapidly the gain changes rapidly as well and this may give impact to the machine Increase the setup gradually watching the movement of the machine low machine stiffness high low se...

Page 151: ...r30 setup must be 1 2nd gain selection when the toque command variation is larger than the setups of Pr33 1st level of control switching and Pr34 1st hysteresis of control switching Fixed to the 1st gain 2nd gain selection when the command speed is larger than the setups of Pr33 1st level of control switching and Pr34 1st hysteresis at control switching 2 2 2 1 Standard default PrNo Setup range Un...

Page 152: ...in 27 Pr30 setup must be 1 2nd gain selection when the torque command variation is larger 2nd gain selection when the speed command variation acceleration is larger 2nd gain selection when the command speed is larger 32 0 to 10000 30 x 166µs 1st delay time of control switching You can set up the delay time when returning from the 2nd to the 1st gain while Pr31 is set to 3 or 5 to 10 33 0 to 20000 ...

Page 153: ...on per one revolution cannot be greater than the encoder resolution In the above setup the pulse output resolution equals to the encoder resolution Z phase is fed out once per one revolution of the motor When the pulse output resolution obtained from the above formula is multiple of 4 Z phase synchronizes with A phase In other case the Z phase width equals to output with the encoder resolution and...

Page 154: ...orque Control 50 10 to 2000 500 r min V Input gain of speed command You can set up the relation between the voltage applied to the speed command input SPR CN X5 Pin 14 and the motor speed You can set up a slope of the relation between the command input voltage and the motor speed with Pr50 Default is set to Pr50 500 r min hence input of 6V becomes 3000r min Cautions 1 Do not apply more than 10V to...

Page 155: ...xactly to the speed command input SPR TRQR or connect to the signal ground then set this parameter up so that the motor may not turn when you compose a position loop with the host Set this parameter up so that the deviation pulse may be reduced to 0 at the Servo Lock status 2 Automatic adjustment For the details of operation method at automatic offset adjustment mode refer to P 73 Auxiliary Functi...

Page 156: ...on Content 5E 5F 0 to 500 500 2 0 to 500 500 2 1st torque limit setup 2nd torque limit setup You can set up the limit value of the motor output torque Pr5E 1st torque Pr5F 2nd torque For the torque limit selection refer to Pr03 Torque limit selection Caution You cannot set up a larger value to this parameter than the default setup value of Max output torque setup of System parameter which you cann...

Page 157: ...w the specified value before detecting the main power shutoff regardless of the Pr65 setup Refer to P 42 Timing Chart At Power ON of Preparation as well Setup value 0 1 Action of main power low voltage protection When the main power is shut off during Servo ON Err13 will not be triggered and the driver turns to Servo OFF The driver returns to Servo ON again after the main power resumption When the...

Page 158: ... 5 6 7 8 9 During deceleration DB Free run DB Free run DB Free run DB Free run Emergency stop Emergency stop After stalling DB DB Free run Free run DB DB Free run Free run DB Free run Action Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear 68 0 to 3 0 Sequence at alarm You can set up the action during deceleration or after stalling when some error occurs while eith...

Page 159: ...echanical brake action at running You can set up time from when detecting the off of Servo ON input signal SRV ON CN X5 Pin 29 is to when external brake release signal BRK OFF CN X5 Pin 10 and 11 turns off while the motor turns to servo off during the motor in motion Refer to P 45 Timing Chart Servo ON OFF action while the motor is in motion of Preparation as well Set up to prevent the brake deter...

Page 160: ...o 1000 35 2ms Detection time of main power off You can set 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 1000 6E 0 to 500 0 Torque setup at emergency stop You can set up the torque limit in case of emergency stop as below During deceleration of over travel inhibit with the setup 2 of Pr66 Sequenc...

Page 161: ...Run by Connecting the Connector CN X5 171 Real Time Auto Gain Tuning 172 Outline 172 Applicable Range 172 How to Operate 172 Parameters Which are Automatically Set up 173 Parameter Setup 174 Parameters for Functional Selection 174 Parameters for Adjustment of Time Constant of Gains and Filters 177 Parameters for Auto Gain Tuning 178 Parameters for Adjustment 2nd Gain Switching Function 179 Paramet...

Page 162: ...e const 1st limit 2nd limit Numerator Denominator Selection when Pr5B Torque command selection is 0 when Pr5B Torque command selection is 1 CCWTL TRQR Command speed monitor Feedback pulses OA OB OZ Division Pr44 Numerator Pr45 Denominator Pr46 Selection Monitor of actual speed Velocity detection filter Multiplication Pr13 1st Pr1B 2nd Speed detection Input setup Pr5C Gain Pr5D Reversal 16bitA D SP...

Page 163: ...orque command input or velocity limit input 0 to 10V Velocity monitor output Torque monitor output Z phase output open collector Servo Ready output Servo Alarm output At speed signal output Brake release output Torque in limit output Select with Pr09 Zero speed detection output Select with Pr0A Wiring example when control mode Pr02 0 or Pr5B 1 CCWTL TRQR GND 16 17 CW torque limit input 0 to 10V 33...

Page 164: ...nd CWTL 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 2kΩ B characteristics 1 2W or larger R with 200Ω 1 2W or larger A D converter resolution o...

Page 165: ...encoder signals in open collector This output is not insulated Receive this output with high speed photo couplers at the host side since the pulse width of the Z phase signal is nar row Open collector output PO2 There are two outputs the speed monitor signal 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 impeda...

Page 166: ...lidated with the setup of Pr66 Sequence at over travel inhibit Default is Emergency stop with dynamic brake Pr66 0 Speed zero clamp input 26 SI P 162 ZEROSPD Function varies depending on the control mode Becomes to a speed zero clamp input ZEROSPD In case Pr06 is 2 at torque control ZERPSPD is invalid Becomes to an input of damping control switching VS SEL While Pr24 Damping filter switching selec...

Page 167: ...ting to Servo ON allow 100ms or longer pause before entering the pulse command Control mode switching input 32 SI P 162 C MODE You can switch the control mode as below by setting up Pr02 Control mode setup to 3 5 Caution Depending on how the command is given at each control mode the action might change rapidly when switching the control mode with C MODE Pay an extra attention Pr02 setup 3 4 5 Open...

Page 168: ... up the torque TRQR gain polarity offset and filter with Pr5C Torque command input gain Pr5D Torque command input reversal Pr52 Speed command offset Pr57 Speed command filter setup Speed limit SPL will be selected Set up the speed limit SPL gain offset and filter with Pr50 Speed command input gain Pr52 Speed command offset Pr57 Speed command filter setup Function becomes valid when the control mod...

Page 169: ...rity of the com mand with Pr5C Torque command input gain Pr5D Torque command input reversal Offset and filter cannot be set up Content Pr02 2 4 5 4 5 Other Becomes to the torque command input TRQR Set up the gain and polarity of the command with Pr5C Torque command input gain Pr5D Torque command input reversal Offset and filter cannot be set up Becomes to the analog torque limit input to CCW CCWTL...

Page 170: ...r than the setup value of Pr60 Positioning complete range You can select the feeding out method with Pr63 Setup of positioning complete output Output of full closed positioning complete EX COIN The output transistor will turn ON when the absolute value of full closed position deviation pulse becomes smaller than the setup value of Pr60 Positioning complete range You can select the feeding out meth...

Page 171: ...cted to signal ground GND and is not insulated Max output frequency is 4Mpps after quadrupled Z phase output 19 PO2 P 163 CZ 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 When the output source is the encoder If the encoder resolution X is multiple of 4 Z phase will be fed out synchro...

Page 172: ...to the full closed deviation pulse counts with polarity positional command to CCW of external scale position positional command to CW of external scale position Pr08 0 11 12 1 5 6 10 Speed monitor signal output 43 AO P 163 SP The content of the output signal varies depending on Pr07 Speed monitor IM selection You can set up the scaling with Pr07 value Feeds out the voltage in proportion to the mot...

Page 173: ...tor does not run correctly refer to P 68 Display of factor for No motor running of Preparation Refer to P 183 Parameter Setup Parameters for Velocity and Torque Control COM SRV ON SPR TRQR GND COM 7 29 14 15 41 DC 12V 24V DC 10V Title Setup of control mode Invalidation of over travel inhibit input Selection of ZEROSPD 4th speed of speed setup Selection of torque command Torque command input gain T...

Page 174: ... Servo driver Real time auto gain tuning Resonance frequency calculation Load inertia calculation Adaptive Filter Current control Auto gain setup Auto filter adjustment Torque command Motor current Motor speed Motor Encoder How to Operate 1 Bring the motor to stall Servo OFF 2 Set up Pr21 Real time auto gain tuning mode setup to 1 7 Default is 1 3 Set up Pr22 Machine stiffness at real time auto ga...

Page 175: ...d however these are not failures as long as they disappear immediately If they persist over 3 reciprocating operations take the following mea sures in possible order 1 Write the parameters which have given the normal operation into EEPROM 2 Lower the setup of Pr22 Selection of machine stiffness at real time auto gain tuning 3 Set up both Pr21 Setup of real time auto gain tuning and Pr23 Setup of a...

Page 176: ...Setup value 0 1 2 3 4 5 6 Control mode 1st mode 2nd mode Position Velocity Torque Position Position Velocity Full closed Velocity Torque Torque 1st 2nd close open C MODE 10ms or longer 10ms or longer open 1st 1 When you set up the combination mode of 3 4 or 5 you can select either the 1st or the 2nd with control mode switching input C MODE When C MODE is open the 1st mode will be selected When C M...

Page 177: ...er Setup value 0 1 2 Action CCWL CWL input Valid Invalid Valid Input CCWL CN X5 Pin 9 CWL CN X5 Pin 9 Connection to COM Close Open Close Open Normal status while CCW side limit switch is not activated Inhibits CCW direction permits CW direction Normal status while CW side limit switch is not activated Inhibits CW direction CCW direction permitted Both CCWL and CWL inputs will be ignored and over t...

Page 178: ...rm output Fan lock alarm output External scale alarm output In speed Speed coincidence output 0A 0 to 8 1 Selection of ZSP output You can assign the function of the zero speed detection output ZSP CN X5 Pin 12 Setup value 0 1 2 3 4 5 6 7 8 Note For details of function of each output of the left refer to the table of P 168 Selection of TCL and ZSP outputs Function Torque in limit output Zero speed ...

Page 179: ...ill be lost by setting to 1000 13 0 to 5 0 1st filter of speed detection 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 constant you can obtain so that you can decrease the motor noise however response becomes slow Use with a default value of 0 in normal operation 14 0 to 2500 AtoC frame 65 DtoF frame 126 0 01ms 1st...

Page 180: ... tuning With higher setup such as 3 the driver respond quickly to the change of the inertia during operation however it might cause an unstable operation Use 1for normal operation Setup value 0 1 4 7 2 5 3 6 Real time auto gain tuning Invalid Normal mode Varying degree of load inertia in motion Little change Gradual change Rapid change Standard default PrNo Setup range Unit Title Function Content ...

Page 181: ...locity control or 1st 2nd gain switching 1 Switch the PI P action with the gain switching input GAIN CN X5 Pin 27 PI is fixed when Pr03 Torque limit selection is 3 2 For switching condition of the 1st and the 2nd refer to P 243 Gain Switching Function of Adjustment Setup value 0 1 Gain selection switching 1st gain PI P switching enabled 1 1st 2nd gain switching enabled 2 GAIN input Open with COM C...

Page 182: ...loop gain only at gain switching while the 1st and the 2nd gain switching is valid Caution The switching time is only valid when switching from small position gain to large position gain Pr35 Kp1 Pr10 166 166 166 166µs Kp2 Pr18 1st gain e g 2nd gain bold line thin line 1st gain 0 0 1 1 2 2 3 3 Kp1 Pr10 Kp2 Pr18 3D 0 to 500 300 r min JOG speed setup You can setup the JOG speed Refer to P 75 Trial R...

Page 183: ...e per one revolution of the motor When the pulse output resolution obtained from the above formula is multiple of 4 Z phase synchronizes with A phase In other case the Z phase width equals to output with the encoder resolution and becomes narrower than A phase hence does not synchronize with A phase The pulse output resolution per one revolution Pr44 Numerator of pulse output division X4 Pr44 Nume...

Page 184: ...ce of Pr46 2 3 is valid only at full closed control Setup value 0 2 1 3 A phase OA B phase OB non reversal B phase OB reversal at motor CCW rotation at motor CW rotation Pr46 0 1 2 1 3 1 B phase logic Non reversal Reversal Non reversal Reversal Output source Encoder position Encoder position External scale position External scale position PrNo Setup range Title Function Content Standard default No...

Page 185: ... Unit Title Function Content 52 2047 to 2047 0 0 3mV Speed command offset You can make an offset adjustment of analog speed command SPR CN X5 Pin 14 with this parameter The offset volume is 0 3mV per setup value of 1 There are 2 offset methods 1 Manual adjustment and 2 Automatic adjustment 1 Manual adjustment When you make an offset adjustment with the driver alone Enter 0 V exactly to the speed c...

Page 186: ...nd Pr5F are ignored Caution You cannot set up a larger value to this parameter than the default setup value of Max output torque setup of System parameter which you cannot change through operation with PANATERM or panel Default value varies depending on the combination of the motor and the driver For details refer to P 57 Setup of Torque Limit of Preparation Setup value is to be given in against t...

Page 187: ...meter is invalid when Pr6D Detection time of main power OFF 1000 Err13 Main power under voltage protection is triggered when setup of P66D is long and P N voltage of the main converter falls below the specified value before detecting the main power shutoff regardless of the Pr65 setup Refer to P 42 Timing Chart At Power ON of Preparation as well Setup value 0 1 Action of main power low voltage pro...

Page 188: ...content after the main power is shut off Setup value 0 1 2 3 4 5 6 7 8 9 During deceleration DB Free run DB Free run DB Free run DB Free run Emergency stop Emergency stop After stalling DB DB Free run Free run DB DB Free run Free run DB Free run Action Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear 68 0 to 3 0 Sequence at alarm You can set up the action during de...

Page 189: ...Action While the Motor Is at Stall of Preparation as well Set up to prevent a micro travel drop of the motor work due to the action delay time tb of the brake After setting up Pr6a tb then compose the sequence so as the driver 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 Pr6A tb 6B 0...

Page 190: ...triggered Both regenerative processing circuit and regenerative protection are not activated and built in capacitor handles all regenerative power Standard default PrNo Setup range Unit Title Function Content Regenerative resistor to be used Regenerative processing and regenerative resistor overload 6D 35 to 1000 35 2ms Detection time of main power off You can set up the time to detect the shutoff...

Page 191: ...204 Wiring to the External Scale Connector CN X7 205 Real Time Auto Gain Tuning 206 Outline 206 Applicable Range 206 How to Operate 206 Adaptive Filter 207 Parameters Which are Automatically Set up 207 Parameter Setup 208 Parameters for Functional Selection 208 Parameters for Adjustment of Time Constant of Gains and Filters 211 Parameters for Auto Gain Tuning 212 Parameters for Adjustment 2nd Gain...

Page 192: ...oftware PANATERM 3 Move the work and check the travel from the initial values of the above 2 4 If the travel of the feedback sum and the external scale feedback pulse sum are reversed in positive and negative set up the reversal of external scale direction Pr7C to 1 5 Set up the external scale division ratio Pr78 7A using the formula below If the design value of the external scale division ratio i...

Page 193: ...n Pr44 Numerator Pr45 Denominator Pr46 Selection Pr47 Z phase Velocity feed forward Pr15 Gain Pr16 Filter Speed detection filter Pr13 1st Pr1B 2nd Speed detection Encoder reception processing Position control Pr10 1st Pr18 2nd Encoder External scale External scale reception processing External scale correction Pr78 Numerator Pr79 Numerator multiplier Pr7A Denominator Velocity control Pr11 1st prop...

Page 194: ...2 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 13 50 Servo ON input Gain switching input Electronic gear switching input 26 Damping control switching input Divider Alarm clear input CCW over travel inhibition input Z phase output open collector CW over travel inhibition input Servo Ready output Servo Alarm output Full closed positioning complete output Brake release output Torque in limit output ...

Page 195: ... 6 13 1 2 ON OFF ON OFF L H PULS L H SIGN OPC1 PULS2 OPC2 GND SIGN2 220Ω 220Ω 2 2kΩ 2 2kΩ VDC 1 4 2 6 13 3 represents twisted pair represents twisted pair Connect to contacts of switches and relays or open collector output transistors When you use contact inputs use the switches and relays for micro current to avoid contact failure Make the lower limit voltage of the power supply 12 to 24V as 11 4...

Page 196: ...ector This output is not insulated Receive this output with high speed photo couplers at the host side since the pulse width of the Z phase signal is nar row Open collector output PO2 There are two outputs the speed monitor signal 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 instrum...

Page 197: ...CWL input is validated with the setup of Pr66 Sequence at over travel inhibit Default is Emergency stop with dynamic brake Pr66 0 damping control switching input 26 SI P 193 VS SEL Function varies depending on the control mode Becomes to a speed zero clamp input ZEROSPD In case Pr06 is 2 at torque control ZERPSPD is invalid Becomes to an input of damping control switching VS SEL While Pr24 Damping...

Page 198: ...g the pulse command Electronic gear division multiplication switching input 28 SI P 193 DIV Function varies depending on the control mode Caution Do not enter the command pulse 10ms before after switching Deviation counter clear input 30 SI P 193 CL Function varies depending on the control mode Input CL which clears the positional deviation counter and full closed deviation counter You can clear t...

Page 199: ...details of the setup refer to the table of P 131 Selection of Internal Speed of Velocity Control Mode This input is invalid Position Full closed control Velocity control Torque control Pr43 0 1 Default Content INH is valid INH is valid Numerator selection of electronic gear Setup of electronic gear CN X5 Pin 28 DIV Open Short 1st numerator of electronic gear Pr48 x 2 or Automatic setup by setting ...

Page 200: ...appropriate interface out of two kinds depending on the command pulse specifications Pulse train interface exclusive for line driver Pr41 Setup value Setup of command pulse rotational direction Pr42 Setup value Setup of command pulse input mode Signal title CCW command B phase advances toAby 90 B phase delays fromAby 90 CW command Command pulse format t1 A phase B phase t1 t1 t1 t1 t1 t1 t1 t2 t2 ...

Page 201: ...p the torque TRQR gain polarity offset and filter with Pr5C Torque command input gain Pr5D Torque command input reversal Pr52 Speed command offset Pr57 Speed command filter setup Speed limit SPL will be selected Set up the speed limit SPL gain offset and filter with Pr50 Speed command input gain Pr52 Speed command offset Pr57 Speed command filter setup Control mode Function becomes valid when the ...

Page 202: ...al Offset and filter cannot be set up Becomes to the analog torque limit input to CCW CCWTL Limit the CCW torque by applying positive voltage 0 to 10V Approx 3V rated toque Invalidate this input by setting up Pr03 Torque limit selection to other than 0 CW Torque limit input 18 AI P 193 CWTL Function varies depending on Pr02 Control mode setup Resolution of A D converter used in this input is 16 bi...

Page 203: ...ion pulse becomes smaller than the setup value of Pr60 Positioning complete range You can select the feeding out method with Pr63 Setup of positioning complete output Output of full closed positioning complete EX COIN The output transistor will turn ON when the absolute value of full closed position deviation pulse becomes smaller than the setup value of Pr60 Positioning complete range You can sel...

Page 204: ...e output circuit is connected to the signal ground GND and is not insulated Note When the output source is the encoder If the encoder resolution X is multiple of 4 Z phase will be fed out synchronizing with A phase In other case the Z phase width will be equal to the encoder resolution and will not synchronize with A phase because of narrower width than that of A phase When output source is the ex...

Page 205: ...tage in proportion to the full closed deviation pulse counts with polarity positional command to CCW of external scale position positional command to CW of external scale position Pr08 0 11 12 1 5 6 10 Speed monitor signal output 43 AO P 194 SP The content of the output signal varies depending on Pr07 Speed monitor IM selection You can set up the scaling with Pr07 value Feeds out the voltage in pr...

Page 206: ...d 4 Content EX5V EX0V EXPS EXPS FG Connector PinNo 1 2 5 6 Case Application Power supply output for external scale I F of external scale signals serial signal Frame ground Cautions 1 Following external scale can be used for full closed control AT500 series by Mitutoyo Resolution 0 05 µm max speed 2 m s ST771 by Mitutoyo Resolution 0 5 µm max speed 2 m s 2 Recommended external scale ratio is 1 20 E...

Page 207: ...le for the external scale to be the twisted pair with bundle shielding and to having 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 ...

Page 208: ...Auto filter adjustment Torque command Motor current Motor speed Motor Encoder How to Operate 1 Bring the motor to stall Servo OFF 2 Set up Pr21 Real time auto gain tuning mode setup to 1 7 Default is 1 3 Set up Pr22 Machine stiffness at real time auto gain tun ing to 0 or smaller value 4 Turn to Servo ON to run the machine normally 5 Gradually increase Pr22 Machine stiffness at real time auto gain...

Page 209: ...ng parameters are automatically adjusted Also following parameters are automatically set up Notes When the real time auto gain tuning is valid you cannot change parameters which are automatically adjusted Pr31 becomes 10 at position or full closed control and when Pr21 Setup of Real Time Auto Gain Tuning Mode is 1 to 6 and becomes 0 in other cases Note Even though Pr23 is set up to other than 0 th...

Page 210: ...Setup value 0 1 2 3 4 5 6 Control mode 1st mode 2nd mode Position Velocity Torque Position Position Velocity Full closed Velocity Torque Torque 1st 2nd close open C MODE 10ms or longer 10ms or longer open 1st 1 When you set up the combination mode of 3 4 or 5 you can select either the 1st or the 2nd with control mode switching input C MODE When C MODE is open the 1st mode will be selected When C M...

Page 211: ...u can prevent the work load from damaging the machine due to the over travel With this input you can set up the action of over travel inhibit input Cautions 1 When Pr04 is set to 0 and over travel inhibit input is entered the motor deceler ates and stops according to the preset sequence with Pr66 Sequence at over travel inhibition For details refer to the explanation of Pr66 2 When both of CCWL an...

Page 212: ...arm output Fan lock alarm output External scale alarm output In speed Speed coincidence output 0A 0 to 8 1 Selection of ZSP output You can assign the function of the zero speed detection output ZSP CN X5 Pin 12 Setup value 0 1 2 3 4 5 6 7 8 Note For details of function of each output of the left refer to the table of P 201 Selection of TCL and ZSP outputs Function Torque in limit output Zero speed...

Page 213: ...rd You can set up the velocity feed forward volume at position control Higher the setup smaller positional deviation and better response you can obtain however this might cause an overshoot 16 0 to 6400 50 0 01ms Time constant of feed forward filter You can set up the time constant of 1st delay filter inserted in velocity feed forward portion You might expect to improve the overshoot or noise caus...

Page 214: ...up value 0 1 2 3 4 5 6 7 Real time auto gain tuning Invalid Normal mode Vertical axis mode No gain switching Varying degree of load inertia in motion Little change Gradual change Rapid change Little change Gradual change Rapid change Little change Standard default PrNo Setup range Unit Title Function Content 1D 100 to 1500 1500 Hz 1st notch frequency You can set up the frequency of the 1st resonan...

Page 215: ...an set up the machine stiffness in 16 steps while the real time auto gain tuning is valid Caution When you change the setup value rapidly the gain changes rapidly as well and this may give impact to the machine Increase the setup gradually watching the movement of the machine low machine stiffness high low servo gain high low response high Pr22 0 1 14 15 26 0 to 1000 10 0 1 revolution Setup of sof...

Page 216: ...ontrol which suppress vibration at the load edge The driver measures vibration at load edge Setup unit is 0 1 Hz The setup frequency is 10 0 to 200 0 Hz Setup of 0 to 99 becomes invalid Refer to P 250 Damping control as well before using this parameter 2C 200 to 2000 0 0 1Hz Setup of 1st damping filter While you set up Pr2B 1st damping frequency set this up to smaller value when torque saturation ...

Page 217: ...3 1st level of control switching and Pr34 1st hysteresis of control switching Fixed to the 1st gain 2nd gain selection when the command speed is larger than the setups of Pr33 1st level of control switching and Pr34 1st hysteresis at control switching 2nd gain selection when the positional deviation is larger than the setups of Pr33 1st control switching level and Pr34 1st hysteresis of control sw...

Page 218: ... phase advances to A by 90 B phase delays from A by 90 t1 A phase B phase t1 t1 t1 t1 t1 t1 t1 t2 t2 t2 t3 t2 t4 L H t5 t4 t6 t6 t6 t6 t5 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 CW pulse train CCW pulse train pulse train Signal 90 phase difference 2 phase pulse A B phase CW pulse train CCW pulse train pulse t...

Page 219: ...t resolution after quadruple can be obtained from the formula below Pr45 0 The pulse output resolution per one revolution can be divided by any ration according to the formula below Cautions The encoder resolution is 131072 P r for the 17 bit absolute encoder and 10000 P r for the 5 wire 2500P r incremental encoder The pulse output resolution per one revolution cannot be greater than the encoder r...

Page 220: ...st numerator of electronic gear 2nd numerator of electronic gear Multiplier of electronic gear numerator Denominator of electronic gear Electronic gear Command pulse division multiplication function Purpose of this function 1 You can set up any motor revolution and travel per input command unit 2 You can increase the nominal command pulse frequency when you cannot obtain the required speed due to ...

Page 221: ...ep motion of the motor while the command pulse is rough Actual examples which cause rough command pulse are 1 when you set up a high multiplier ratio 10 times or more 2 when the command pulse frequency is low 4E 0 to 2 1 Counter clear input mode You can set up the clearing conditions of the counter clear input signal which clears the deviation counter 1 Min time width of CL signal Setup value 0 1 ...

Page 222: ...le to the load machine strength you can use this function to limit the max torque speed 200 100 Rated Rating 100 200 300 torque 300 Max Max CW CCW when Pr5E 150 Standard default PrNo Setup range Unit Title Function Content 60 0 to 32767 131 Pulse Positioning com plete In position range You can set up the timing to feed out the positioning complete signal COIN CN X5 Pin 39 The positioning complete ...

Page 223: ...ation as well Setup value 0 1 Action of main power low voltage protection When the main power is shut off during Servo ON Err13 will not be triggered and the driver turns to Servo OFF The driver returns to Servo ON again after the main power resumption When the main power is shut off during Servo ON the driver will trip due to Err13 Main power low voltage protection 66 0 to 2 0 Sequence at over tr...

Page 224: ...the action during deceleration and after stalling 2 the clearing of deviation counter content after turning to Servo OFF SRV ON signal CN X5 Pin 29 is turned from ON to OFF The relation between the setup value of Pr69 and the action deviation counter clearance is same as that of Pr67 Sequence at Main Power Off Refer to P 44 Timing Chart Servo ON OFF action while the motor is at stall of Preparatio...

Page 225: ...C D E and F frame 1 2 3 A B frame Built in resistor External resistor External resistor No resistor Regenerative processing circuit will be activated and regenerative resistor overload protection will be triggered according to the built in resistor approx 1 duty The driver trips due to regenerative overload protection Err18 when regenerative processing circuit is activated and its active ratio exc...

Page 226: ...can setup the external scale resolution per one motor revolution with Pr7A Encoder resolution per one motor revolution External scale resolution per one motor revolution Pr78 X 2Pr79 Pr7A Setup value 0 1 Content Serial data will increase when the detection head travels to the right viewed from the mounting side count Serial data will decrease when the detection head travels to the right viewed fro...

Page 227: ...uto Gain Tuning Basic 240 Adjustment in Position Control Mode 241 Adjustment in Velocity Control Mode 241 Adjustment in Torque Control Mode 242 Adjustment in Full Closed Control Mode 242 Gain Switching Function 243 Suppression of Machine Resonance 246 Automatic Gain Setup Function 248 Manual Auto Gain Tuning Application 249 Instantaneous Speed Observer 249 Damping Control 250 Adjustment ...

Page 228: ...least time delay and as faithful as possible against the commands from the host controller You can make a gain adjustment so that you can run the motor as closely as possible to the commands and obtain the optimum performance of the machine e g Ball screw Procedures Start adjustment Automatic adjustment Ready for command input Auto adjustment of stiffness Action O K Action O K Yes Yes Action O K R...

Page 229: ... the driver Describes the cautions when you invalidate the real time auto gain tuning or adaptive filter which are defaults Execute the manual adjustment when real time auto gain tun ing cannot be executed due to the limitation of control mode and load condition or when you want to obtain an optimum re sponse depending on each load Adjustment of position control mode Adjustment of velocity control...

Page 230: ...The motor is running continuously at low speed of 100 r min or lower Acceleration deceleration is slow 2000 r min per 1 s or low Acceleration deceleration torque is smaller than unbalanced weighted viscous friction torque When the speed condition of 100 r min or more and acceleration deceleration condition of 2000 r min per 1 s are not maintained for 80 ms Load Load inertia Action pattern How to O...

Page 231: ...eases with and decreases with Press default values Writing to EEPROM Press Press Bars increase as the right fig shows by keep pressing approx 5sec Writing starts temporary display Finish Writing completes Writing error occurs Return to SELECTION display after writing finishes referring to Structure of each mode P 60 and 61 of Preparation Insert the console connector to CN X6 of the driver then tur...

Page 232: ...er cases Caution 1 After the start up you may experience abnormal noise and oscillation right after the first Servo ON or increase of Pr22 Selection of machine stiffness at real time auto gain tuning until the load inertia is identified estimated or the adaptive filter is stabilized however these are not failures as long as they disappear immediately If they persist over 3 reciprocating operations...

Page 233: ...ish of command Action pattern Conditions which obstruct Fit Gain action The position command is small such as less than 2 revolutions When the positioning cannot be completed before the start of the next position command even though the positioning command has been completed Acceleration deceleration is rapid such as 30000 r min per 1 s Command waveform Positioning complete Accel deceleration 3000...

Page 234: ...N display 1 Bring the front panel display to EXECUTION display of the Fit Gain screen For operation of the front panel refer to P 72 of Preparation 2 Start up the Fit Gain function by pressing for approx 3sec after lowering the stiffness to 0 while the dot on the right lower cor ner flashes 3 Enter the position command which satisfies the action pattern condition of P 228 Applicable Range Caution ...

Page 235: ...2nd gain setup 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 gain 2nd mode of control switching Following parameters are automatically adjusted Also following parameters are automatically set up Caution During the Fit Gain movement you may experience some noise and vibration however th...

Page 236: ...equency estimation Load inertia estimation Adaptive Filter current control Gain auto setup Filter auto adjustment Torque command Motor current Motor speed Motor Encoder Resonance point Command pattern Load Conditions which obstruct adaptive filter action 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 reso...

Page 237: ... mode switch ing will be held Invalidation of Adaptive Filter When you set up Pr23 Setup of adaptive filter to 0 the adaptive filter function which automatically follows the load resonance will be invalidated If you invalidate the adaptive filter which have been working correctly noise and vibration may occur due to the effect of resonance which have been suppressed Therefore execute the copying f...

Page 238: ...h parameter setup Refer to cautions of P 71 Auto Gain Tuning Mode of Preparation as well Normal Mode Auto GainTuning Outline The motor will be driven per the command with a pat tern generated by the driver automatically The driver estimates the load inertia from the necessary torque and sets up an appropriate gain automatically Applicable Range This function works under the following condition Con...

Page 239: ...rd 16 Velocity FF filter 18 2nd gain of position loop 19 2nd gain of velocity loop 1A 2nd time constant of velocity loop integration 1B 2nd filter of speed detection 1C 2nd time constant of torque filter 2 20 Inertia ratio 27 Setup of instantaneous velocity observer 30 2nd gain setup 31 1st mode of control switching 1 32 1st delay time of control switching 33 1st level of control switching 34 1st ...

Page 240: ...ax 5 cycles of CCW CW rotation 2 revolutions each direction per one cycle Tuning may finish before 5th cycles however this is not an error 5 Write the gain value to EEPROM to prevent them from being lost due to the power shut off Drive method Ball screw direct connection Ball screw timing belt Timing belt Gear Rack Pinion Others low stiffness machine Machine stiffness No 8 14 6 12 4 10 2 8 0 8 Cau...

Page 241: ...resonance which have been suppressed Therefore execute the copying function of the setup of adaptive filter Pr2F to the 1st notch frequency Pr1D from the Fit gain screen of the front panel refer to P 72 Fit Gain Screen of Preparation or set up Pr1D 1st notch frequency manually by using the table below then invalidate this filter Pr2F 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 1st notc...

Page 242: ...TERM or by measuring the analog voltage waveform using a monitoring function 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 Pr07 Selection of speed monitor and Pr08 Selection of torque monitor For details refer to P 41 Wiring ...

Page 243: ... 4 5 Standard value 30 50 50 25 300 Title of parameter 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 the value within the range where no abnormal noise and no vibration occur If they occur lower the value When vibration occurs...

Page 244: ...ition Control Mode and make adjustments of parameters per the procedures except cautions of P 190 Outline of Full Closed Control difference of command unit necessity of position loop unit conversion and difference of electronic gear Here we explain the setup of external scale ratio hybrid deviation excess and hybrid control at initial setup of full closed control 1 Setup of external scale ratio Se...

Page 245: ...st gain Parameter No Pr Caution 1 Enter the command pulses based on the external scale reference 2 The external scales to used for full closed control are as follows AT500 series by Mitutoyo Resolution 0 05 µm max speed 2 m s ST771 by Mitutoyo Resolution 0 5 µm max speed 2 m s 3 To prevent the runaway and damage of the machine due to the setup of the external scale setup the hybrid deviation exces...

Page 246: ...ion is large Position command exists Not in positioning complete nor in full closed positioning complete Speed Command exists velocity A C D E F C G Delay time 1 Pr32 Setup parameters at position control full closed control Level Pr33 3 0 05 166 µs r min 4 pulse r min r min 6 Setup of gain switching condition Switching condition to 2nd gain Fig Pr31 Hysteresis 2 Pr34 3 0 05 166 µs r min 4 pulse r ...

Page 247: ...C level delay 2nd gain 1st 1st speed N deviation pulse Fig D level delay 2nd gain 1st 1st Fig E delay 2nd gain 1st 1st speed N Fig F Fig G delay 2nd gain 1st COIN 1st at stall no command pulse x Pr32 delay time actual speed Pr33 level actual speed Pr33 level Pr34 hysteresis actual speed Pr33 level Pr34 hysteresis 1st gain in action 2nd gain at settling 2nd gain proximity of stall 2nd gain for velo...

Page 248: ...frequency velocity response Example of application machine Machine which resonance point varies by each machine or by aging Machine which has multiple resonance points Machine which has small peak nearby velocity response Gain frequency Gain frequency Copying of the setup from the adaptive filter to 1st notch filter is enabled refer to P 253 torque command after filtering 1st and 2nd notch filter ...

Page 249: ...Setup of adaptive filter mode to 0 while you make measurement Notes 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 when you measure a high frequency band and a larger sampling rate when you measure a low frequency band in order to obtain a better measure...

Page 250: ...meter No 10 11 12 13 14 18 19 1A 1B 1C Title of parameter 1st gain of position loop 1st gain of velocity loop 1st time constant of velocity loop integration 1st filter of speed detection 1st time constant of torque filter time 2nd gain of position loop 2nd gain of velocity loop 2nd time constant of velocity loop integration 2nd filter of speed detection 2nd time constant of torque filter Parameter...

Page 251: ...s to 0 and reconfirm the above cautions and 1 When you obtain the effect such as a reduction of the variation of the torque waveform and noise search an optimum setup by making a fine adjustment of Pr20 Inertia ratio while observing the posi tion deviation waveform and actual speed waveform to obtained the least variation If you change the position loop gain and velocity loop gain the optimum valu...

Page 252: ...mping frequency 3 Setup of damping filter switching selection Pr24 You can switch the 1st or the 2nd damping filter de pending on the vibration condition of the machine Control mode Conditions under which the damping control is activated Control mode to be either or both position control or and full closed control Pr02 0 Position control Pr02 3 1st control mode of position and velocity control Pr0...

Page 253: ... Zero at Velocity Control Mode 261 Positioning Accuracy Is Poor 262 Origin Point Slips 263 Abnormal Noise or Vibration 263 Overshoot Undershoot Overheating of the Motor Motor Burn Out 264 Motor Speed Does Not Reach to the Setup Motor Revolution Travel Is Too Large or Small 264 Parameter Returns to Previous Setup 264 Display of Communication port or driver cannot be detected Appears on the Screen W...

Page 254: ... with alarm clear input A CLR For resumption shut off the power to remove the cause of the error and re enter the power Following errors will not be stored in the error history Control power supply under voltage protection Error code No 11 Main power supply under voltage protection Error code No 13 EEPROM parameter error protection Error code No 36 EEPROM check code error protection Error code No ...

Page 255: ...nput 5 Failure of servo driver failure of the circuit Measure the voltage between lines of connector L1 L2 and L3 1 Increase the power capacity Change the power supply Remove the causes of the shutdown of the magnetic contactor or the main power supply then re enter the power 2 Set up the longer time to Pr6D Main power off detecting time Set up each phase of the power correctly 3 Increase the powe...

Page 256: ... the monitor screen of the PANATERM Do not use in the continuous regenerative brake application 1 Check the running pattern velocity monitor Check the load factor of the regenerative resistor and over regeneration warning display Increase the capacity of the driver and the motor and loosen the deceleration time Use the external regenerative resistor 2 Check the running pattern speed monitor Check ...

Page 257: ...the motor cable if they are bound together Connect the shield to FG refer to wiring diagram Deviation counter overflow protection 29 34 Deviation counter value has exceeded 227 134217728 Check that the motor runs as per the position com mand pulses Check that the output toque has not saturated in torque monitor Make a gain adjustment Set up maximum value to Pr5E 1st torque limit setup and Pr5F 2nd...

Page 258: ...f Supplement You cannot clear the alarm unless you clear the absolute encoder Absolute counter over error protection 41 Multi turn counter of the 17 bit absolute encoder has exceeded the specified value Set up an appropriate value to Pr0B Absolute encoder setup Limit the travel from the machine origin within 32767 revolutions Absolute over speed error protection 42 The motor speed has exceeded the...

Page 259: ...cess protection 65 Higher voltage than 10V has been applied to the analog command input CCWTL CN X5 Pin 16 This protective function is validated when CCWTL is valid such cases as 1 Torque control when Pr02 Control mode setup is 5 or Pr02 is2 or 4 and when Pr5B Torque command selection is 1 2 Position control Velocity control and Full closed control when Pr03 Torque limit selection is 0 Check the c...

Page 260: ...ou can prevent the work from colliding to the machine end caused by motor oscillation 2 Applicable range This function works under the following conditions Control mode Others Conditions under which the software limit works Either at position control mode or full closed control mode Pr02 0 Position control Pr02 3 1st control mode of Position control Velocity control Pr02 4 1st control mode of Posi...

Page 261: ... at Servo ON When the position command to the right direction is entered the motor movable range will be ex panded by entered position command and the movable range will be the position command input range Pr26 setups in both sides 3 When the load moves to the left at Servo ON When the position command to the left direction the motor movable range will be expanded further 5 Condition under which t...

Page 262: ...al or external switching of speed setup to either one of 1 2 or 3 when you use the internal speed command 1 Check and make wiring so as to connect speed zero clamp input to COM 2 Set up Pr06 Selection of ZEROSPD input to 0 invalid 1 Check that the input voltage is applied correctly by setting up Pr5B Selection of torque command to 0 when you use SPR TRQR input 2 Check that the input voltage is app...

Page 263: ... so that the Servo ON signal can be turned on normally Review the controller 2 Check the wiring and connection between Pin 18 and 17 16 and 17 of the connector CN X5 using tester or oscilloscope Correct the wiring and connection so that CW CCW torque limit input can be entered normally 3 Check the wiring and connection between Pin 30 and 41 16 and 17 of the connector CN X5 using display function o...

Page 264: ...etup of Pr60 within the range where no chattering of complete signal occurs Lower the command pulse frequency Change the division multiplication ratio of 1st and 2nd numerator of command division multiplication Pr48 and Pr4B Use a pulse line interface exclusive to line driver when pulse line interface is used Check if the repetition accuracy is same or not If it does not change use a larger capaci...

Page 265: ...lace the motor to check Request for repair Check the noise of the motor while running the motor with no load Replace the motor to check Request for repair Wiring Adjustment Installation Origin Point Slips Classification Causes Measures Z phase is not detected Homing creep speed is fast Chattering of proximity sensor proximity dog sensor output Noise is on the encoder line No Z phase signal output ...

Page 266: ...or repair if the noise is heard Check the voltage at brake terminals Apply the power DC24V to release the brake Avoid the installation place where the motor is subject to high temperature humidity oil dust or iron particles Check the running pattern working condition and operating status and inhibit the operation under the condition of the left Adjustment Installation Classification Causes Measure...

Page 267: ...ons Motor 327 Permissible Load at Output Shaft 342 Motor Characteristics S T Characteristics 343 Motor with Gear Reducer 349 Dimensions Motor with Gear Reducer 350 Permissible Load at Output Shaft Motor with Gear Reducer 352 Motor Characteristics S T Characteristics Motor with Gear Reducer 353 Block Diagram of Driver 354 Block Diagram of Driver by Control Mode 356 Specifications Driver 358 Homing ...

Page 268: ... each data Applicable Mode You can use all of MINAS A4 series driver in absolute specifications by setting up parameter 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 A4 driver as described below and select a method depending on the interface of the host controller s...

Page 269: ... Module ID 0 Host RSW ID 1 RSW ID 2 RSW ID 3 RSW ID 4 Max 15 axis Host controller RS485 Interface ADM485 or equivalent Motor Positioning controller Next driver RS485 RS485 GND 7 8 4 Servo driver CN X3 CN X4 CN X5 CN X6 RS485 7 8 4 RS485 GND RS485 RS485 GND Set up RSW ID of the front panel to 1 to F Battery for absolute encoder Battery for absolute encoder is required to store the multi turn data i...

Page 270: ...t of the Battery It is necessary to replace the battery for absolute encoder 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 275 How to Clear the Battery Alarm Caution When you execute the absolute enc...

Page 271: ... only corrode the surrounding parts but also give rise to the danger of short circuiting since it is electri cally conductive For this reason ensure that the battery is replaced periodically 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...

Page 272: ...lute encoder connect the optional battery for absolute encoder DV0P2060 or DV0P2990 as per the wiring diagram below Connector of the battery for absolute encoder shall be provided by customer as well Cautions Install and fix the battery securely If the installation and fixing of the battery is not appropriate it may cause the wire breakdown or damage of the battery Refer to the instruction manual ...

Page 273: ...urn on the power again Setup Operation of Absolute Encoder Bars increase while keep pressing approx 3sec Absolute encoder clearing starts Motor trial run mode Alarm clear mode Auxiliary function mode Mode Selection Execution Note In case of incremental encoder display appears when absolute encoder clear starts Absolute encoder clear mode 3 Execute the following key operation at EXECUTION DISPLAY 4...

Page 274: ... 05h transmission Host requests for absolute data to driver Host receives absolute data from driver 04h transmission 06h transmission 15h transmission Reception of absolute data 15 characters 04h reception 06h reception 05h reception Check sum OK ed reception 01h transmission 00h transmission 2Dh transmission 1 2 D2h transmission Data of 1 and 2 are determined by the setup of RSW ID of the front p...

Page 275: ...86h 87h 88h 89h 8Ah 8Bh 8Ch 8Dh 8Eh 8Fh Data of 2 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh Data of 3 2Dh 2Ch 2Bh 2Ah 29h 28h 27h 26h 25h 24h 23h 22h 21h 20h 1Fh not usable with RS485 communication Host requests for absolute data to driver Host receives absolute data from driver Transmission starts transmission finishes 06h transmission 15h transmission Check sum OK ed reception ...

Page 276: ...ommunication is carried out normally If not 0 capture the absolute data from the driver again Single turn data Single turn data H x 10000h Single turn data M x 100h Single turn data L Multi turn data Multi turn data H x 100h Multi turn data L Date 0 to 65535 Range 32767 to 32767 Refer to next page Encoder status Received absolute data 15 characters Single turn data CW origin CCW 1 0 0 1 1 2 131071...

Page 277: ...attery After replacement clear the battery alarm in the following 3 methods a CN X5 Connecting Alarm clear input A CLR to COM for more than 120ms b Executing the alarm clear function in auxiliary function mode by using the console option c Click the Battery warning Clear button after select the Absolute encoder tab in the monitor display window by using the PANATERM option Over regeneration alarm ...

Page 278: ...V0P1960 DOS V Outline of Setup Support Software PANATERM Setup support software Setup disc of PANATERM DV0P4460 English Japanese version Supporting OS Windows 98 Windows 2000 Windows Me Windows XP Install the PANATERM to Hard Disc Cautions Notes 1 15MB capacity of hard disc is required OS to be Window 98 Windows 2000 Windows Me or Win dows XP 2 Install the PANATERM to a hard disc using the setup d...

Page 279: ...ions Notes 1 Once the PANATERM is installed in the hard disc you do not need to install every time you log on 2 Connect the driver to a power supply the motor and encoder before you log on Refer to the instruction manual of supporting OS for start Procedure of log on 1 Turn on the power of the computer and log on the supporting OS 2 Turn on the power of the driver 3 Click the start bottom of the s...

Page 280: ...r 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 Following application software and cables are prepared as options For the operation of the PANATERM refer to the instruction manual of the PANATERM DV0P1960 ...

Page 281: ...D 3 RS485 RS485 RS485 Host Max 16 axis RS485 X4 X3 X4 X3 X4 X4 X3 RSW ID 1 RSW ID 2 RSW ID 3 RSW ID 4 RS485 RS485 RS485 Module ID 0 Host Max 15 axis Set up the module ID of MINAS A4 to RSW of the front panel In the above case you can set any value of 0 to F 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 mul...

Page 282: ...XD G G TXD RS485 RS485 FG Case FG Case ADM485 or equivalent SN751701 or equivalent 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 Note 1 Do not connect anything to Pin 1 Pin 2 and Pin 6 of connector CN X4 and Pin 1 Pin 2 Pin 3 Pin 5 and Pin 6 of connector CN X3 2 You cannot connect RS232 to connector CN X3 Connectors CN X3 and CN X4 are MD S8000 10 by JST or equivalent FG Case ...

Page 283: ...85 RXD G G FG Case TXD RS485 RS485 ADM485 or equivalent SN751701 or equivalent Connectors CN X3 and CN X4 are MD S8000 10 by JST or equivalent 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 FG Case FG Case Note Do not connect anything to Pin 1 Pin 2 and Pin 6 of connector CN X4 and Pin 1 Pin 2 Pin 3 Pin 5 and Pin 6 of connector CN X3 ...

Page 284: ...ceived command and time for switching the line and transmission reception control will added to the actual communication time List of User Parameters for Communication PrNo 00 0C 0D Axis address Baud rate setup of RS232 communication Baud rate setup of RS485 communication Check the RSW ID value of the front panel at control power on This value becomes the axis number at serial communication Setup ...

Page 285: ...de when it receives ENQ while waiting for EOT after transmitting ENQ by giving priority to ENQ of master side Transmission control On entering to transmission mode the module transmits the command block continuously and then waits for ACK reception Transmission completes at reception of ACK ACK may not be returned at transmis sion failure of command byte counts If no ACK is received within T2 peri...

Page 286: ...nd ENQ EOT or in the transmission reception data block Time out error occurs and the driver returns NAK to the transmitter when the actual reception time has exceeded this setup time T2 Permissible time interval for the driver to transmit ENQ and to receive EOT If the actual recep tion time exceeds this setup this represents that the receiver is not ready to receive or it has failed to receive ENQ...

Page 287: ...X3 X4 X4 X3 RSW ID 0 RSW ID 1 RSW ID 2 RSW ID 3 RS485 RS485 RS485 Host Allow 500ms or longer interval for switching the axis while capturing data of multiple axes Caution See the below for the captured data Refer to P 299 Read out of Absolute Encoder of details of communication command for the data composition Multi turn data 0000h 0 Single turn data 01FFD8h 131032 04 06 05 0B 01 D2 EOT ACK ENQ 05...

Page 288: ...o the host with RS232C Date is presented in hexadecimals Caution For details of command refer to P 290 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 A4 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 03 01 18 0B 00 00 D9 ACK ENQ ACK ...

Page 289: ...ption of other than ACK or 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...

Page 290: ... 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 is not module ID and ENQ reception or T1 timeout T1 stop in Success of reception Check sum OK ed and module...

Page 291: ...ission 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 4ms 2ms Maximum Protocol parameter T1 Protocol parameter T2 Protocol parameter T2 Caution Above time represent...

Page 292: ...unter Read out of status input signal and output signal Read out of external scale Read out of absolute encoder Read out of external scale deviation and sum of pulses PARAMETER Individual read out of parameter Individual writing of parameter Writing of parameter to EEPROM ALARM Read out of present alarm data Individual read out of user alarm history Batch read out of alarm history Clear of user al...

Page 293: ... in ASCII code e g MSMD012S1 bit7 0 Normal 1 Error 6 5 Command error 4 RS485 error 3 2 1 0 0Dh axis Model of motor upper Model of motor lower Error code checksum 0 6 command 1 mode 1 Setup of RS232 Protocol Parameter Reception data 3 axis T1 T2 checksum 1 1 RTY M S Error code Transmission data Until this command completes previous set up protocol parameter will be processed After this command has ...

Page 294: ... Transmission data Capture the execution right to prevent the conflict of the operation via communication and that with the front panel Enquires for the capture of the execution 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 cann...

Page 295: ...s are defined as follows CCW CW torque generating This becomes 1 when torque command is positive CCW or negative CW CCW CW running This becomes 1 when motor speed after converted to r min is positive CCW or negative CW Slower than DB permission This becomes 1 when motor speed after converted to r min is below 30r min Torque in limit This becomes 1 when torque command is limited by analog input or ...

Page 296: ...tput value in 16 bit Torque command will be value for CW and value for CCW 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 coordinates from the staring point Counter v...

Page 297: ... against position command and when it is located at CCW 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 Reserved 6 Switching of electronic gear 5 Speed zero clamp 4 Control mode switching 3 CCW over travel inhibit CW over travel inhibit 2 1 Alarm clear 0 Servo ON bit15 Reserved 14 Reserved...

Page 298: ... Reserved 27 Reserved 26 Reserved 25 Reserved 24 Reserved 7 axis data L data H alarm data L H error code checksum alarm data bit8 External scale bit7 Over load bit6 Fan lock bit5 Over regeneration bit0 Battery Signal title Servo Ready Servo Alarm Positioning completed Release of mechanical brake Zero speed detection Torque in limit At speed Speed arrival In speed Speed coincidence Full closed posi...

Page 299: ...control mode status input signal 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...

Page 300: ...larm 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 Error code bit7 0 N...

Page 301: ...ommand error 4 RS485 error 3 2 1 0 0Bh axis encoder ID 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 Accumulation and Deviation Reception data 2 E Error code Transmission data External scale FB pulse sum will return the present position of the external scale counter in abs...

Page 302: ...rror 4 RS485 error Data Error Command error RS485 error 3 No Error 2 1 0 1 axis error code checksum 8 1 command 8 mode 4 Writing of Parameters to EEPROM Reception data 0 axis checksum 8 4 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 parameters have been changed ...

Page 303: ...Reception data 0 axis checksum 9 2 Error code Transmission data You can read out last 14 error events bit7 0 Normal 1 Error 6 5 4 3 2 1 0 0Fh axis alarm No alarm No alarm No Error code checksum 9 2 command 9 mode 0 Read out 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 252 Protective function What...

Page 304: ...e 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 9 mode 3 Alarm History Clear Reception data 0 axis checksum 9 3 Error code Transmission data Clears the alarm 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...

Page 305: ...e 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 Error code bit7 0 Normal 1 Error 6 5 4 3 2 1 0 9 axis parameter value L H MIN value L H MAX value L H Property L H Error code checksum B 0 Command error No Error RS485 error Property bit7 Parameter not in use 6 Display inhibited 5 for special customer 4 Change at initia...

Page 306: ...ion data Designate 0 to 7 to page No and write 16 parameters from each specified page Set up o to parameters not in use without fail or data error will occur Data error will also occurs when data exceeding the setup range is transmitted No error will be returned when other No than 0 to 7 is entered to page No bit7 0 Normal 1 Error 6 5 4 3 2 1 0 2 axis page No Error code checksum B 2 Data Error Com...

Page 307: ...305 Supplement Supplement MEMO ...

Page 308: ...1 R x L 4 N F x D E x 60 5 modifying the above formula 5 electronic gear ratio can be found in the formula 6 D N x E F x 60 6 Notes 1 Make a position resolution M as approx 1 5 to 1 10 of the machine positioning accuracy consider ing a mechanical error 2 Set up Pr48 and Pr4B to any values between 1 to 10000 3 You can set up any values to a numerator and denominator however action by an extreme div...

Page 309: ...17 17 2 2 15 50 x 60 x 750 2 1 500000 x x x 60 10000 1 x 2 15 17 17 2 M x x L E D R 1 D 500000 x 60 2000 x 2 1 3 3 30000000 2 x 1000 x 2 15 2 1 1 1 x x x 20 x 0 00133mm 3750 2 15 17 2 20 3750 1 2 3750 x 4 20 15 2 x 3750 1 x 2 x 2 3750 1 x 2 2 1 17 Lead of ball screw L 10mm Gear reduction ratio R 1 Position resolution M 0 005mm Encoder 2500P r E 10000P r Lead of ball screw L 20mm Gear reduction rat...

Page 310: ...cautions in using options Use options correctly after reading operation manuals of the options to better understand the precautions Take care not to apply excessive stress to each optional part Peripheral Equipments Installation Environment Use the servo driver in the envi ronment of Pollution Degree 1 or 2 prescribed in IEC 60664 1 e g Install the driver in control panel with IP54 protection stru...

Page 311: ...sted and marked between power supply and noise filter Noise Filter When you install one noise filter at the power supply for multi axes application contact to a manufacture of the noise filter Option part No DV0P4170 Single phase 100V 200V Applicable driver frame A and B frame Manufacturer s part No SUP EK5 ER 6 Manufacturer Okaya Electric Ind A B C D E F G H 115 DV0P4180 105 95 70 43 10 52 5 5 14...

Page 312: ...er s part No R A V 781BXZ 4 Manufacturer Okaya Electric Ind Option part No DV0P4190 Single phase 100 200V Manufacturer s part No R A V 781BWZ 4 Manufacturer Okaya Electric Ind 2 3 ø4 2 0 2 41 1 UL 1015 AWG16 281 5 5 1 11 1 28 5 1 4 5 0 5 200 30 0 1 2 1 2 3 1 2 Voltage specifications for driver Voltage specifications for driver Option part No DV0P3410 3 phase 200V Applicable driver frame F frame Ma...

Page 313: ...08C File No 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 Install a circuit breaker or fuse which are UL recognized LISTED marked between the power supply and the noise filter without fail For the rated current of the circuit breaker or fuse refer to P 32 Driver and List of Applicable Peripheral E...

Page 314: ...e W phase Earth JL04V 2E20 4PE B R by Japan Aviation Electronics or equivalent D A B C A PIN No B C D Content U phase V phase W phase Earth JL04V 2E22 22PE B R by Japan Aviation Electronics or equivalent D A B C MSMA MDMA MFMA MHMA MGMA Pin disposition for encoder connector B A C G PIN No H A F I B E D C Content NC NC NC U phase V phase W phase Earth Earth NC D E C H I G A F B A PIN No B C D E F G...

Page 315: ...Encoder 17bit 7 wire With battery holder for absolute encoder MFECA0 0ESE Without battery holder for absolute encoder MFECA0 0ESD 2500P r 5 wire MFECA0 0ESD Motor without Brake MFMCD0 2ECD Brake MFMCA0 2FCD Encoder 17bit 7 wire With battery holder for absolute encoder MFECA0 0ESE Without battery holder for absolute encoder MFECA0 0ESD 2500P r 5 wire MFECA0 0ESD Motor without Brake MFMCD0 2ECT Brak...

Page 316: ...o MFECA0030EAM MFECA0050EAM MFECA0100EAM MFECA0200EAM L m 3 5 10 20 Part No MFECA0030EAE MFECA0050EAE MFECA0100EAE MFECA0200EAE Title Connector Connector Connector pin Cable Manufacturer Molex Inc Tyco Electronics AMP Oki Electric Cable Co Part No 551055100 0600 or 55100 0670 lead free 172161 1 170365 1 0 20mm2 x 4P Title Connector Connector Connector pin Cable Manufacturer Molex Inc Tyco Electron...

Page 317: ...T MFMCD0102ECT MFMCD0202ECT Title Straight plug Cable clamp Nylon insulated round terminal Cable Manufacturer Japan Aviation Electronics Ind J S T Mfg Co Ltd Daiden Co Ltd Part No JL04V 6A20 4SE EB R JL04 2022CK 14 R N2 5 ROBO TOP 600V 2 0mm2 Title Straight plug Cable clamp Nylon insulated round terminal Cable Manufacturer Japan Aviation Electronics Ind J S T Mfg Co Ltd Daiden Co Ltd Part No JL04V...

Page 318: ...0362 1 N1 25 M4 ROBO TOP 600V 0 75mm2 Fig 5 1 Fig 4 1 Fig 4 2 Fig 4 3 Title Straight plug Cable clamp Rod terminal Cable Part No JL04V 6A20 18SE EB R JL04 2022CK 14 R AI2 5 8BU N2 M4 N1 25 M4 ROBO TOP 600V 0 75mm2 and ROBO TOP 600V 2 0mm2 Manufacturer Japan Aviation Electronics Ind Phoenix J S T Mfg Co Ltd Daiden Co Ltd Title Straight plug Cable clamp Cable Part No JL04V 6A20 18SE EB R JL04 2022CK...

Page 319: ...INTSPD1 35 S RDY 37 ALM 39 COIN EX COIN AT SPEED 41 COM 43 SP 45 PULSH2 47 SIGNH2 49 OB 1 OPC1 3 PULS1 5 SIGN1 7 COM 9 CCWL 11 BRK OFF 13 GND 15 GND 17 GND 19 CZ 21 OA 23 OZ 2 OPC2 4 PULS2 6 SIGN2 8 CWL 10 BRK OFF 12 ZSP 14 SPR TRQR SPL TRQR 16 CCWTL 18 CWTL 20 NC 22 OA 24 OZ 50 FG 25 GND Cautions 1 Check the stamped pin No on the connector body while making a wiring 2 For the function of each sig...

Page 320: ...600 or 55100 0670 lead free Number Part No Manufacturer 172161 1 170365 1 172159 1 Note 170366 1 1 Part No DV0P4380 2 Components For brake purchase our optional brake cable 6 PS 5 PS 2 E0V 1 E5V 4 E0V 3 E5V Case FG 1 BAT 2 BAT 3 FG 4 PS 5 PS 6 NC 7 E5V 8 E0V 9 NC 1 U 2 V 3 W 4 E 17 bit absolute Applicable motor models Applicable motor models Connector Connector Connector Connector pin Connector pi...

Page 321: ...n Electronics Industry Ltd Japan Aviation Electronics Industry Ltd Manufacturer Molex Inc Japan Aviation Electronics Industry Ltd Japan Aviation Electronics Industry Ltd Number 1 1 1 1 1 Title Connector Straight plug Cable clamp Straight plug Cable clamp Part No 55100 0600 or 55100 0670 lead free N MS3106B20 29S N MS3057 12A N MS3106B20 4S N MS3057 12A 17 bit absolute incremental encoder 2500P r i...

Page 322: ...n head 5 2 11 0 2 9 5 21 15 2 6 17 10 2 6 7 2 6 R 2 M4 Pan head 2 6 10 17 2 6 7 15 21 9 5 11 0 2 ø5 2 2 M4 Pan head 2 6 10 17 2 6 15 28 9 5 18 0 2 5 2 7 2 6 R 2 M4 Pan head 18 0 2 28 15 2 6 10 2 6 17 9 5 7 ø5 2 2 M4 Pan head 5 2 2 6 10 17 2 6 15 40 9 5 30 0 2 20 2 M4 Pan head 30 0 2 9 5 40 15 2 6 17 10 2 6 20 ø5 2 2 M4 Pan head 5 2 5 17 9 5 36 0 2 40 0 2 10 5 2 2 6 10 2 6 15 60 2 M4 Pan head 40 10...

Page 323: ...try According to those guidelines the Japan Electrical Manufacturers Association JEMA have prepared tech nical documents procedure to execute harmonic restraint JEM TR 198 JEM TR 199 and JEM TR 201 and have been requesting the users to understand the restraint and to cooperate with us On January 2004 it has been decided to exclude the general purpose inverter and servo driver from the Guidelines f...

Page 324: ...ion near inflammable objects and easily accessible place by hand Caution Regenerative resistor gets very hot 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 Resistance Rated power reference 140 5 C B contact Open Close capacity resistance load 4A 125VAC 10...

Page 325: ...nology Corp Mitutoyo Corp Cable The above list is for reference only We may change the manufacturer without notice As of Nov 2004 81 44 833 4311 http www iwakimusen co jp 81 3 5436 7608 http www chemi_con co jp 81 3 3621 2703 http www semitec co jp 81 6 6233 9511 http www renesas com jpn 81 3 5201 7229 http www tdk co jp 81 3 3424 8120 http www okayatec co jp 81 3 3780 2717 http www jae co jp 81 3...

Page 326: ... Regenerative resistor connecting terminals CN X2 Do not use RB3 Motor connecting terminals CN X2 External scale terminals CN X7 Mounting bracket Option Mounting bracket Option Name plate Base mount type Standard Back end mounting Connector at driver side Refer to P 322 Mounting bracket for driver of Options when you use the optional mounting bracket Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN...

Page 327: ...inal CN X3 RS232 RS485 communication terminal CN X4 Control signal terminals CN X5 Encoder terminals CN X6 Control power input terminals CN X1 Regenerative resistor connecting terminals CN X2 Do not use RB3 Motor connecting terminals CN X2 External scale terminals CN X7 Mounting bracket Option Mounting bracket Option Name plate Base mount type Standard Back end mounting Connector at driver side Co...

Page 328: ...me plate 75 Air movement inside out Air movement inside out Connector at driver side Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 Manufacturer Molex Inc Molex Inc Molex Inc J S T Mfg Co Ltd J S T Mfg Co Ltd Connector type 53460 0629 or equivalent 53460 0629 or equivalent 529865079 or equivalent MD S8000 10 or equivalent MD S8000 10 or equivalent Connector at driver side Connector sign CN X7 CN X6 ...

Page 329: ...L L 110 5 138 127 154 5 111 139 126 154 139 167 154 182 160 192 5 175 207 5 24 8 48 22 42 2 7 34 3 4 14 12 5 3h9 3 6 2 0 65 0 85 0 71 0 91 1 1 1 5 1 2 1 6 1 5 1 9 1 6 2 0 3 3 4 0 3 4 4 1 L R S L A L B L C L D L E L F L G L H L Z L W L K K W K H R H Key way dimensions 30 11 70 50 60 3 7 43 4 5 20 18 4h9 4 8 5 30 14 70 50 60 3 7 43 4 5 25 22 5 5h9 5 11 35 19 90 70 80 3 8 53 6 25 22 6h9 6 15 5 Cautio...

Page 330: ...F LL LR ØSh6 ØLBh7 LH LN ØLA Brake connector Motor connector Encoder connector LW KW TP KH RH LK Key way dimensions 4 ØLZ 2500P r Incremental 17 bit Absolute Incremental 2500P r Incremental 17 bit Absolute Incremental Refer to P 318 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L L R S L A L ...

Page 331: ...formation 220 200 LE LF LL LR ØSh6 ØLBh7 LH ØLA Brake connector Motor connector Encoder connector LW KW TP KH RH LK Key way dimensions 4 ØLZ LC Refer to P 318 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L L R S L A L B L C L D L E L F L G L H L N L Z L W L K K W K H R H T P Key way dimensio...

Page 332: ...er for the latest information LL LR LE LF 200 220 Ø LBh7 LH Ø Sh6 øLA Brake connector Motor connector 4 ØLZ 7 7 Encoder connector LW KW TP KH RH LK Key way dimensions LC Refer to P 318 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L L R S L A L B L C L D L E L F L G L H L Z L W L K K W K H R ...

Page 333: ... Dimensions are subject to change without notice Contact us or a dealer for the latest information Key way dimensions LW LK KW KH RH LL LR LF LE Ø LBh7 LH LG Ø Sh6 4 ØLZ ØLA ØLD Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dimensions Cautions Red...

Page 334: ...mensions are subject to change without notice Contact us or a dealer for the latest information Ø145 LZ Ø135 ØLD Key way dimensions LW LK KW KH RH LL LR LF LE Ø LBh7 LH LG Ø Sh6 4 ØLZ ØLA ØLD Motor Brake connector Encoder connector LC LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With br...

Page 335: ...to change without notice Contact us or a dealer for the latest information Key way dimensions LW LK KW KH RH LL LR LF LE ØLBh7 LH LG ØSh6 4 ØLZ ØLD ØLA Motor Brake connector Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dimensions Cautions Reduce ...

Page 336: ... to change without notice Contact us or a dealer for the latest information Key way dimensions LW LK KW KH RH LL LR LF LE ØLBh7 LH LG ØSh6 4 ØLZ ØLD ØLA Motor Brake connector Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dimensions Cautions Reduce...

Page 337: ...3 25 0 28 5 25 0 28 5 L R S L A L B L C L D L E L F L G L H L Z L W L K K W K H R H Key way dimensions LW LK KW KH RH LL LR LF LE ØLBh7 LH LG ØSh6 4 ØLZ ØLD ØLA Motor Brake connector Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dimensions Caution...

Page 338: ... 182 207 L R S L A L B L C L D L E L F L G L H L Z L W L K K W K H R H MGMA 900W to 2 0kW 4 ØLZ LW KW LK KH RH ØLA ØLD ØSh6 LR LE LL LF LH LG Key way dimensions Motor Brake connector Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dimensions Caution...

Page 339: ...r the latest information MGMA 3 0kW MGMA 4 5kW 4 ØLZ ØLA ØLD Ø Sh6 Ø L Bh7 LR LE LL LF LH LG 4 ØLZ ØLA ØLD LW KW LK KH RH Eye bole Thread 10 ØL Bh7 ØSh6 LR LL LF LE LH LG Key way dimensions Motor Brake connector Encoder connector Motor Brake connector Encoder connector LC LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without ...

Page 340: ...ct to change without notice Contact us or a dealer for the latest information Key way dimensions Motor Brake connector Encoder connector LL LR LF LE ØLBh7 ØSh6 LH LG 4 ØLZ ØLD ØLA LW LK KW KH RH LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dimensions Cautions Redu...

Page 341: ...ubject to change without notice Contact us or a dealer for the latest information Key way dimensions LL LR LF LE ØLBh7 ØSh6 LH LG 4 ØLZ ØLD ØLA LW LK KW KH RH Motor Brake connector Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dimensions Cautions ...

Page 342: ...1 6 175 200 175 200 200 225 200 225 L R S L A L B L C L D L E L F L G L H L Z L W L K K W K H R H Key way dimensions LW LK KW KH RH LL LR LF LE ØLBh7 LH LG ØSh6 4 ØLZ ØLD ØLA Motor Brake connector Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With brake L L Key way dime...

Page 343: ...L B L C L D L E L F L G L H L Z L W L K K W K H R H Dimensions are subject to change without notice Contact us or a dealer for the latest information Key way dimensions LW LK KW KH RH LL LR LF LE ØLBh7 LH LG ØSh6 4 ØLZ ØLD Ø LA Motor Brake connector Encoder connector LC Refer to P 312 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake...

Page 344: ...8 784 588 686 588 784 980 117 6 196 392 490 686 117 6 196 686 980 686 980 686 980 1176 68 6 245 392 392 490 784 68 6 245 490 784 490 784 392 490 784 686 1176 1470 58 8 98 147 147 196 343 58 8 98 196 343 196 343 147 196 294 196 490 50W 100W 200W 400W 750W MSMD Motor series Motor output Formula of Load and load point relation P 3533 L 39 Unit N 1kgf 9 8N L P Note When the load point varies calculate...

Page 345: ...ent temp torque N m Continuous torque vs ambient temp 1 0 0 1000 2000 3000 4000 5000 2 0 torque N m speed r min Peak running range Continuous running range 50 0 10 20 30 40 100 ambient temp C Continuous torque vs ambient temp ratio vs rated torque 1 91 0 64 0 5 0 1000 2000 3000 4000 5000 1 0 torque N m speed r min Peak running range Continuous running range 50 0 10 20 30 40 100 ambient temp C Cont...

Page 346: ...ed r min Peak running range Continuous running range with brake ratio vs rated torque 0 5 0 1000 2000 3000 4000 5000 1 0 torque N m speed r min 75 70 50 0 10 20 30 40 100 ambient temp C Peak running range Continuous running range Continuous torque vs ambient temp with brake without brake ratio vs rated torque 0 25 0 1000 2000 3000 4000 5000 0 5 torque N m speed r min 70 60 50 0 10 20 30 40 100 amb...

Page 347: ... 2 0 0 1000 2000 3000 4000 5000 4 0 torque N m speed r min 90 50 0 10 20 30 40 100 ambient temp C Peak running range Continuous running range Continuous torque vs ambient temp ratio vs rated torque 3 8 1 3 2 0 0 1000 2000 3000 4000 5000 4 0 torque N m speed r min Peak running range Continuous running range 75 50 0 10 20 30 40 100 ambient temp C Continuous torque vs ambient temp ratio vs rated torq...

Page 348: ...bient temp torque N m Continuous torque vs ambient temp 5 0 1000 2000 3000 4000 5000 10 speed r min Peak running range Continuous running range 50 0 10 20 30 40 100 ambient temp C ratio vs rated torque 7 5 0 1000 2000 3000 3500 4000 5000 15 speed r min Peak running range 0 10 20 30 40 100 85 50 ambient temp C Continuous running range ratio vs rated torque 9 5 14 3 4 77 3 18 10 0 1000 2000 3000 400...

Page 349: ... 25 0 50 speed r min 1000 2000 3000 Peak running range Continuous running range 50 0 10 20 30 40 100 ambient temp C ratio vs rated torque 42 9 14 3 0 10 20 30 40 100 85 70 50 ambient temp C 25 0 50 speed r min 1000 2000 3000 without brake with brake Peak running range Continuous running range ratio vs rated torque 35 0 70 speed r min 1000 2000 3000 0 10 20 30 40 100 90 85 50 ambient temp C Peak ru...

Page 350: ... m speed r min ambient temp C Continuous torque vs ambient temp torque N m speed r min ambient temp C Continuous torque vs ambient temp torque N m speed r min ambient temp C Continuous torque vs ambient temp torque N m speed r min ambient temp C Continuous torque vs ambient temp torque N m speed r min ambient temp C Continuous torque vs ambient temp torque N m speed r min ambient temp C Continuous...

Page 351: ...A frame B frame C frame C frame Power supply Rated output of motor Model No of driver Frame of driver 100W 200W 400W 100W 200W 400W 750W 750W Reduction ratio of 1 5 MSMD011P 2N MSMD021P 2N MSMD041P 2N MSMD012P 2N MSMD022P 2N MSMD042P 2N MSMD082P 2N MSMD082P 2N Reduction ratio of 1 9 MSMD011P 3N MSMD021P 3N MSMD041P 3N MSMD012P 3N MSMD022P 3N MSMD042P 3N MSMD082P 3N MSMD082P 3N Reduction ratio of 1...

Page 352: ... 9 1 15 1 25 1 5 1 9 1 15 1 25 191 5 202 234 183 5 218 5 229 238 248 5 263 5 255 5 270 5 283 221 5 232 264 220 255 265 5 274 5 285 300 292 5 307 5 320 92 79 98 5 112 122 115 5 135 149 68 56 5 76 86 5 98 93 112 5 123 5 24 22 5 25 5 24 22 5 25 5 40 8 22 5 42 52 2 40 8 22 5 42 52 2 6 6 5 8 6 6 5 8 32 50 32 50 61 50 61 32 50 32 50 61 50 61 20 30 20 30 40 30 40 20 30 20 30 40 30 40 50 70 50 70 90 70 90...

Page 353: ...6 M8 M6 M8 M5 M6 M5 M6 M8 M6 M8 12 20 12 20 12 20 12 20 4 x 4 x 16 6 x 6 x 22 4 x 4 x 16 6 x 6 x 22 8 x 7 x 30 6 x 6 x 22 8 x 7 x 30 4 x 4 x 16 6 x 6 x 22 4 x 4 x 16 6 x 6 x 22 8 x 7 x 30 6 x 6 x 22 8 x 7 x 30 2 5 3 5 2 5 3 5 4 3 5 4 2 5 3 5 2 5 3 5 4 3 5 4 32 43 53 32 43 53 1 02 1 17 2 17 1 54 2 52 2 9 3 3 4 4 5 7 6 1 1 23 1 38 2 38 2 02 3 00 3 4 3 8 4 9 5 2 6 5 6 9 0 0910 0 0853 0 0860 0 0885 0 ...

Page 354: ...uilt in to the motor If an excessive impact is applied to the motor while assembling it to the machine the encoder might be damaged Pay an extra attention at assembly 1 5 1 9 1 15 1 25 1 5 1 9 1 15 1 25 1 5 1 9 1 15 1 25 1 5 1 9 1 15 1 25 Motor output 100W 200W 400W 750W Motor output Radial thrust Permissible load at shaft Thrust load A and B direction 490 588 784 1670 490 1180 1470 1670 980 1180 ...

Page 355: ...ed r min 20 0 torque N m 10 0 16 2 5 39 40 0 torque N m 20 0 28 5 9 51 0 200 333 speed r min 60 0 torque N m 30 0 47 5 15 8 0 100 120 200 speed r min 80 0 79 2 torque N m 40 0 26 4 0 500 600 1000 speed r min 0 333 400 555 speed r min 20 0 torque N m 10 0 16 2 5 39 40 0 torque N m 20 0 28 5 9 51 0 200 333 speed r min 60 0 torque N m 30 0 15 8 47 5 0 100 120 200 speed r min 80 0 torque N m 40 0 79 2...

Page 356: ...plication A D A D 16 bit Position Speed Velocity Torque Internal External Deviation counter Internal speed command Speed detection Division processing Position deviation amp Display operation control Parameter control Protective curcuit Error detection Voltage detection EEPROM Sequence control Speed deviation amp Torque limit Current control PWM circuit Encoder signal processing limit Control outp...

Page 357: ...y operation control Protective curcuit Error detection Alarm signal Pulse train command Pusle output Analog velocity command Control input Control output E and F frame Voltage detection Division mulitiplication A D A D 16 bit Position Speed Velocity Torque Internal External Deviation counter Internal speed command Speed detection Division processing Position deviation amp Speed deviation amp Torqu...

Page 358: ...stant Pr5E 1st limit Pr5F 2nd limit Pr4D Average travel times Primary delay smoothing Pr4C Selection Division Pr44 Numerator Pr45 Denominator Pr46 Selection Velocity feed forward Pr15 Gain Pr16 Filter Speed detection filter Pr13 1st Pr1B 2nd Speed detection Encoder reception processing Position control Pr10 1st Pr18 2nd Encoder FIR smoothing SPR Acceleration Deceleration limit Pr58 Acceleration Pr...

Page 359: ...put setup Pulse train Full closed position deviation monitor Actual speed monitor Command speed monitor Position deviation monitor Feedback pulses OA OB OZ Pr40 Input selection Pr41 Reversal Pr42 Mode Division Multiplication Pr48 1st numerator Pr49 2nd numerator Pr4A Multiplier Pr4B Denominator Damping control Pr2B 1st frequency Pr2C 1st filter Pr2D 2nd frequency Pr2E 2nd filter Motor Torque comma...

Page 360: ... B and Z phase or external scale pulse EXA EXB and EXZ phase in line driver Z phase and EXZ phase pulse is also fed out in open collector 1 1 communication to a host with RS23 interface is enabled 1 n communication up to 15 axes to a host with RS485 interface is enabled 1 5 keys MODE SET UP DOWN SHIFT 2 LED 6 digit A and B frame no built in regenerative resistor external resistor only C to F frame...

Page 361: ... limit switching input 1 Speed arrival at speed Setup of scale and rotational direction of the motor against the command voltage is enabled with parameter with the permissible max voltage input Å 10V and 6V rated speed default setup Individual torque limit for both CW and CCW direction is enabled 3V rated torque 1 5000 8 speed with parameter setup Individual setup of acceleration and deceleration ...

Page 362: ... torque limit 2nd torque limit 1st Pin 40 TLC Torque in limit Pin 27 GAIN TL SEL Torque Counter clear command 50 Motor speed 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 5F 70 73 03 09 Remarks Make the Pin 27 H Off Open after the Hit Stop Homing is completed hits hits 1 2 1 1 1 2 2 2 3 3 Title Setup of 2nd torque limi...

Page 363: ... 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 03 09 5E 5F 70 73 Setup of 2nd torque limit Selection of alarm output Setup of 1st torque limit Setup of 2nd torque limit Excess setup of position deviation Setup of over speed level 3 0 200 50 25000 0 Parameter No Title Setup example ...

Page 364: ...362 MEMO ...

Page 365: ...ita Electric Industrial Co Ltd Marketeing Group Tokyo Kyobashi MID Bldg 2 13 10 Kyobashi Chuo ku Tokyo 104 0031 TEL 03 3538 2961 FAX 03 3538 2964 Osaka 1 1 Morofuku 7 chome Daito Osaka 574 0044 TEL 072 870 3065 FAX 072 870 3151 ...

Page 366: ...ring and com ponents may result in unexpected action 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 custom...

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Panasonic Minas A4 Series, Instruction Manual

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