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Panasonic MINAS A4P Series, Instruction Manual

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Panasonic MINAS A4P Series Instruction Manual Download Page 158

158

Manual Gain Tuning (Basic)

torque
command

Adaptive filter

frequency automatic following

frequency

frequency

Depth

width

1st notch filter

2nd notch filter

width

Suppress resonance point 

instantaneously.

Adjustment of  frequency, 

width and depth is enabled.

Gain 

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.151)

torque 
command 
after filtering

(                   )

(                   )

(                   )

Adaptive filter mode

Adaptive filter frequency

SV.Pr23

SV.Pr2F

1 : Adaptive filter is valid.

Displays the table No, corresponding to adaptive filter frequency (not changeable)

1st notch frequency

1st notch 

width selection

2nd notch frequency

2nd notch width selection 

2nd notch depth selection 

SV.Pr1D

SV.Pr1E

SV.Pr28

SV.Pr29

SV.Pr2A

Notch

Notch filter 
characteristics

Machine characteristics at resonance

gain

gain

frequency

frequency

Resonance

Anti-resonance

Set up lower a frequency by 10% from the 

measured one through frequency 

characteristics analysis of the PANATERM

®

.

Set up according to the resonance 

characteristics.

Set up lower a frequency by 10% from the 

measured one through frequency 

characteristics analysis of the PANATERM

®

.

Set up according to the resonance 

characteristics. 

Suppression of Machine Resonance

In case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due to
oscillation caused by axis distortion or other causes. You can suppress the resonance using two types of
filter in these cases.

1. Torque command filter (SV.Pr14 and SV.Pr1C)

Sets up the filter time constant so as to damp the frequency at vicinity of resonance frequency
You can obtain the cut off frequency of the torque command filter in the following formula.
Cut off frequency (Hz) fc = 1 / (2

π

 x parameter setup value x 0.00001)

2. Notch filter

• Adaptive filter (SV.Pr23, SV.Pr2F)

MINASA-A4P series feature the adaptive filter. With this filter you can control vibration of the load
which resonance points vary by machine by machine and normal notch filter or torque filter cannot
respond. The adaptive filter is validated by setting up SV.Pr23 (Adaptive filter mode) to 1.

• 1st and 2nd notch filter (SV.Pr1D, 2E, 28, 29 and 2A)

MINASA-A4P series feature 2 normal notch filters. You can adjust frequency and width with the 1st
filter, and frequency, width and depth with the 2nd filter.

Summary of Contents for MINAS A4P Series

Page 1: ...ying and using Panasonic AC Servo Motor and Driver MINAS A4P 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 2: ...uipments 32 Wiring of the Main Circuit 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 Wiring to the Connector CN X7 Connection to External Scale 40 Wiring to the Connector CN X5 Connection to Host Controller 41 Wiring for Connector CN X5 42 Interface Circuit 43 List of Signal for Connector CN X5...

Page 3: ...ntal Operation Setting 108 Example of Absolute Operation Setting 109 Example of Rotary Axis Operation Setting 110 Example of Dwell Timer Operation Setting 111 Jog Operation 112 Jog Operation 112 Homing 114 Homing Operation 114 Home Sensor Z Phase based on the front end 116 Home Sensor based on the front end 117 Home sensor Z phase based on the rear end 118 Limit Sensor Z phase 120 Limit Sensor 121...

Page 4: ... of Automatic Gain Adjusting Function 151 Manual Gain Tuning Basic 152 Adjustment in Position Control Mode 153 Adjustment in Full Closed Control Mode 154 Gain Switching Function 155 Suppression of Machine Resonance 158 Manual Gain Tuning Application 160 Instantaneous Speed Observer 160 Damping Control 161 When in Trouble page When in Trouble 164 What to Check 164 Protective Function What is Error ...

Page 5: ... 211 Motor with Gear Reducer 217 Dimensions Motor with Gear Reducer 218 Permissible Load at Output Shaft Motor with Gear Reducer 220 Characteristics of Motor with Gear Reducer 221 Block Diagram of Driver 222 Block Diagram by Control Mode 224 Specifications Driver 226 Default Parameters for all the models of A4P Series 228 5 Before Using the Products Preparation Setting Operation Setting Adjustment...

Page 6: ...6 ...

Page 7: ...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 8: ...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 9: ...securely to 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 t...

Page 10: ...ive strong impact shock to the Product Failure to 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 inj...

Page 11: ... with tape This 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 co...

Page 12: ...nce and Inspection 1 Turn on and turn off should be done by operators or inspectors themselves 2 Internal circuit of the driver is kept charged with high voltage for a while even after power off Turn off the power and allow 15 minutes or longer after LED display of the front panel has gone off before performing maintenance and inspection 3 Disconnect all of the connection to the driver when perfor...

Page 13: ...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 hours 5000 hours 3 to 5 years 20 000 to 30 000 hours Life time varies depending on working conditions Refer to the instruction manual attached to the battery for absolute encoder 10 000 hours Guideline for Parts Replacement...

Page 14: ...m positioning more easily A maximum of 60 setting points can be set for 1 moving distance 2 maximum rotation speed in a moving section 3 acceleration time and 4 deceleration time in each moving section and positioning can be performed by an external contact input Moreover in combination with a motor equipped with a 17 bit abso lute encoder positioning can be performed at an absolute position and a...

Page 15: ...ia 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 0kW 4 5kW 5 0kW 1 2 Z Specifications Symbol 100 V 200 V 100 200 comm...

Page 16: ...2P1 MDMA202P1 MDMA302P1 MDMA402P1 MDMA502P1 MHMA052P1 MHMA102P1 MHMA152P1 MHMA202P1 MHMA302P1 MHMA402P1 MHMA502P1 MFMA042P1 MFMA152P1 MFMA252P1 MFMA452P1 MGMA092P1 MGMA202P1 MGMA302P1 MGMA452P1 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 frame D frame E frame F frame D frame E frame F frame C frame D frame E frame ...

Page 17: ...1 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 frame D frame E frame F frame D frame E frame F frame C frame D frame E frame F frame C frame D frame E frame F frame D frame F fr...

Page 18: ...tor CN X1 for power input connection 04JFAT 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 X5 X3B X3A X4 X6 X7 SP IM G Display LED 2 digit ID address setup rotary switch MSD LSD Connector CN X5 for host connection Connector CN X6 for encoder connection Connector CN X7 for external scale c...

Page 19: ... B2 Terminals for motor connection U V W E and F frame e g MEDDT7364P 3 phase 200V 2 0kW E frame Note For details of each model refer to Dimensions P 192 to 194 of Supplement e g MFDDTB3A2P 3 phase 200V 5 0kW F frame X7 X5 X3B X3A X4 SP IM G X6 Terminal cover Screw for cover M3 Screw for cover M3 Display LED 2 digit ID address setup rotary switch MSD LSD Connector CN X5 for host connection Connect...

Page 20: ...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 21: ...shift each mode which is selected by mode switching button to EXECUTION display Mode Switching Button Press this to switch 7 kinds of mode 1 Monitor mode 2 Teaching mode Target position settings established by teaching Test operation 3 Parameter setup mode 4 EEPROM write mode 5 Normal auto gain tuning mode 6 Auxiliary function mode Alarm clear Absolute encoder clear 7 Copy mode Copying of paramete...

Page 22: ...ent Driver Installation Place 1 Indoors where the products are not subjected to rain or direct sun beams The products are not water proof 2 Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide sulfurous acid chlorine ammonia chloric gas sulfuric gas acid alkaline and salt and so on and are free from splash of inflammable gas grinding oil oil mist iron powder or ch...

Page 23: ... 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 24: ...free from splash of inflammable gas grinding oil oil mist iron powder or chips and etc 3 Where the motor is free from grinding oil oil mist iron powder or chips 4 Well ventilated and humid and dust free place far apart from the heat source such as a furnace 5 Easy to access place for inspection and cleaning 6 Vibration free place 7 Avoid enclosed place Motor may gets hot in those enclosure and sho...

Page 25: ... 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 210 List of Permissible Load to Output Shaft of Supple ment Notes on Installation 1 Do not a...

Page 26: ...90 RH free from condensation 20 C to 80 C free from freezing Less than 90 RH free from condensation Lower than 5 9m s2 0 6G 10 to 60Hz Conform to JISC0044 Free fall test 1m for 2 directions 2 cycles Lower than 1000m Console Installation Place 1 Indoors where the products are not subjected to rain or direct sun beam The products are not water proof 2 Where the products are not subjected to corrosiv...

Page 27: ... Connector CN X6 Connection to Encoder 38 Wiring to the Connector CN X3 and 4 Wiring to the Connector CN X7 Connection to External Scale 40 Wiring to the Connector CN X5 Connection to Host Controller 41 Wiring for Connector CN X5 42 Interface Circuit 43 List of Signal for Connector CN X5 44 Setup with the Front Panel 48 Composition of Touch Panel and Display 48 Initial Status of the Front Panel Di...

Page 28: ... connection to external components Handle lever Use this for connector connection Store this after connection for other occasions see page for connection Pin RB1 6 pin 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 be tween RB2 and RB3 then connect the external regenerative resis...

Page 29: ...for individual use Wiring to Connector CN X5 Connection to host controller Wiring to Connector CN X6 Connection to encoder Junction cable for encoder 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 red V phase white W phase black X1 X2 Ground eart...

Page 30: ...esister set up SV Pr6C to 1 or 2 Regenerative resistor optional Remarks When you use an external regenerative resister install an external protective apparatus such as thermal fuse without fail Thermal fuse and thermostat are built in to the regenerative resistor Option If the thermal fuse is activated it will not resume Circuit Breaker NFB Use the circuit breaker matching capacity of the power so...

Page 31: ...ller Wiring to Connector CN X6 Connection to encoder Junction cable for encoder Junction cable for motor Junction cable for brake DC Power supply for brake DC24V to be supplied by customer Connection to motor driving phase and ground High voltage Wiring to Connector CN X7 Connection to external scale Short bar For manufacturers use only CN X3A and X3B Not for individual use U phase V phase W phase...

Page 32: ...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 33: ...4 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 pe...

Page 34: ...ries with the surge absorber Ask the manufacturer of the Magnetic Contactor for the fuse rating Provide an AC Reactor Connect L1 and 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 w...

Page 35: ...C RB1 MC NFB RB3 RB2 U V W L1 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 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 1 2 3 4 1 2 3 4 Remove the short wire when you connect the external regenerative resi...

Page 36: ...ter without fail Provide a surge absorber to a coil of the Magnetic Contactor 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 c...

Page 37: ...r 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 connecter in the following 2 methods a Using the attache...

Page 38: ... 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 39: ...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 40: ... shell FG of CN X7 of the driver without fail 4 Separate the wiring to CN X7 from the power line L1 L2 L3 L1C r L2C t U V W as much as possible 30cm or more Do not pass these wires in the same duct nor bundle together 5 Do not connect anything to the vacant pins of CN X7 6 Cut away the driver s CN X7 cover Content EX5V EX0V EXPS EXPS FG Connector PinNo 1 2 5 6 Case Application Power supply output ...

Page 41: ...ol output signals install a diode in parallel with a relay and in the direction as the Fig shows The driver might be damaged without a diode installment or by reverse direction Frame ground FG is connected to the earth terminal inside of the driver For detailed information refer to P 42 to 47 Specifications of the Connector CN X5 Note For details refer to P 185 Options of Supplement Remarks Tighte...

Page 42: ...rvo ON signal input STB 24 Strobe signal input Point specifying input Multi function input 1 25 Multi function input 2 VDC 12 to 24V MAX 50mA MAX 50mA 34 MAX 50mA 33 MAX 50mA 32 MAX 50mA 31 MAX 50mA 30 MAX 50mA MAX 50mA MAX 50mA MAX 50mA 4 7kΩ 4 7kΩ 4 7kΩ 4 7kΩ 4 7kΩ 4 7kΩ P16IN 7 Point specifying input 4 7kΩ P8IN 6 Point specifying input 4 7kΩ P4IN 5 Point specifying input 4 7kΩ P2IN 4 Point spec...

Page 43: ... side of the output transistor is independent and is connectable individual ly and the one which is common to side of the control pow er supply COM If a recommended primary current value of the photo coupler is 10mA decide the resistor value using the formula of the right Fig Sequence output circuit SO1 Feeds out the divided encoder outputs A B and Z phase in differential through each line driver ...

Page 44: ...nput CCWL 19 CCW drive prohibition input CCWL Connect so as to open COM connection when movable part of the equipment exceeds the movable range in CCW direction When this input is open operation command in CCW direction is not issued Torque is generated SV Pr53 54 and 55 enable for setting of valid invalid input logic and operation P1IN P2IN P4IN P8IN P16IN P32IN 3 4 5 6 7 8 CW over travel inhibit...

Page 45: ...r starts the movement to the specified point When 10ms or more has passed after setting specified point input connect the strobe signal input STB to COM It is possible that the servo driver is unable to read specified point input properly Input STB signal 10ms or longer Also reset STB signal to opened condition after receiving BUSY signal from the servo driver in order to ensure that STB signal is...

Page 46: ...t points is output During high speed normal rotation jog operations the maximum point number set in the SV Pr57 Selecting the number of input points minus 1 is output after the motor has stopped During high speed reverse rotation jog operations the maximum point number set in the SV Pr57 Selecting the number of input points minus 2 is output after the motor has stopped When an alarm has occurred a...

Page 47: ... the first Z phase is fed out When you use the pulse output as the control signal rotate the motor one revolution or more to make sure that the Z phase is fed out at least once before using SV Pr44 SV Pr45 A B Z A B Z synchronized not synchronized SV Pr44 SV Pr45 when the encoder resolution is multiple of 4 SV Pr44 SV Pr45 when the encoder resolution is not multiple of 4 Frame ground Signal ground...

Page 48: ...gment LED of this servo driver When no alarm is given the display shows as follows After approximately 2 seconds All the segments turn on Light check Baud Rate indicated ID address indicated Hyphens indicated An alarm code blinks In the case of overflow When an alarm has been given A dot blinks at the right hand side Normal display Alarm code 0 After approximately 0 5 seconds A set value A set val...

Page 49: ...h polarity rotates to CCW rotates to CW SV Pr07 Control mode Function Application Code Function Torque monitor signal output IM The content of output signal varies depending on SV Pr08 Torque monitor IM selection You can set up the scaling with SV Pr08 value 0 11 12 1 5 Torque command Positional deviation Feeds out the voltage in proportion to the motor torque command with polarity generates CCW t...

Page 50: ...t generate surge voltage Select a surge absorber so that relay coil voltage max rating 30V 50mA and terminal voltage may not exceed the rating Output Timing of BRK OFF Signal For the brake release timing at power on or braking timing at Servo OFF Servo Alarm while the motor is in motion refer to P 133 135 Timing Chart With the parameter SV Pr6B Setup of mechanical brake action while the motor is i...

Page 51: ...13 7 or more 24 5 or more 58 8 or more 0 002 0 018 0 075 0 03 0 09 0 25 0 33 1 35 1 35 4 25 4 7 1 35 4 7 1 35 4 7 8 75 1 35 4 7 35 or less 50 or less 70 or less 50 or less 60 or less 50 or less 80 or less 110 or less 80 or less 100 or less 110 or less 90 or less 80 or less 100 or less 80 or less 150 or less 100 or less 80 or less 150 or less Permissible total work x 103J Permissible work J per one...

Page 52: ...ed when the dynamic brake circuit inside the F frame driver 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 In the above cases from 1 to 3 you can select either activation of the dynamic brake or making the motor free run during deceleration or after the stop with paramete...

Page 53: ... value of SV Pr69 1 2 3 4 5 6 7 Sequence at main Servo OFF SV Pr69 Contents of deviation counter Driving condition During deceleration after stalling Emergency stop Clear D B Emergency stop Clear Free run 8 9 2 Setup of driving condition from deceleration to after stop by Servo OFF SV Pr69 3 Setup of driving condition from deceleration to after stop by activation of protective func tion SV Pr68 To...

Page 54: ...54 MEMO ...

Page 55: ...rameters 77 List of Step Parameters 77 Setup of Torque Limit 78 How to Use the Console 80 Setup with the Console 80 Initial Status of the Console Display 7 Segment LED 80 Mode Change 81 Monitor Mode 82 Teaching Mode 87 Parameter setup mode 91 EEPROM Writing Mode 96 Auto Gain Tuning Mode 97 Auxiliary Function Mode 98 Copying Function Console Only 101 Outline of Setup Support Software PANATERM 103 O...

Page 56: ... screen refer to the instruction manual of the PANATERM Outline of PANATERM With the PANATERM you can execute the followings 1 Setup and storage of parameters and writing to the memory EEPROM 2 Monitoring of I O and pulse input and load factor 3 Display of the present alarm and reference of the error history 4 Data measurement of the wave form graphic and bringing of the stored data 5 Normal auto ...

Page 57: ...tioning procedure ABS absolute position INC relative position Rotary rotation coordinates and Dwell time standby time Inputting the coordinate data for positioning When dwell time is selected in operation mode set the standby time Selecting a speed selection number in positioning Setting the speed by 16 bit positioning parameter Selecting an acceleration speed selecting number in positioning Setti...

Page 58: ...Content Standard default 03 0 to 3 1 Torque limit selection You can set up the torque limiting method for CCW CW direction Setup value 0 1 2 3 CCW Set with SV Pr5E Pr5E is a limit value for both CCW and CW direction CW Set with SV Pr5F 07 0 to 9 3 Speed monitor SP selection You can set up the content of analog speed monitor signal output SP CN X5 Pin43 and the relation between the output voltage l...

Page 59: ...ps 38400bps 57600bps Error of baud rate is 0 5 0F display only Node address Shows the axis number set by a rotary switch at the front panel of the driver The axis number cannot be changed Caution If the console is used specify the set value 2 9600 bps Parameters for Adjustment of Time Constants of Gains and Filters Standard default Servo PrNo Setup range Unit Title Function Content 10 0 to 3000 At...

Page 60: ...ration If it is combined with the adaptive filter use the 2nd notch filter 18 19 1A 1B 1C 0 to 3000 AtoC frame 73 DtoF frame 38 1 to 3500 AtoC frame 35 DtoF frame 18 1 to 1000 1000 0 to 5 0 0 to 2500 AtoC frame 65 DtoF frame 126 1 s Hz ms 0 01ms 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant Set w...

Page 61: ... invalid Refer to P 161 Damping control of Adjustment as well before using this parameter 2A 0 to 99 0 2nd notch depth selection You can set up the 2nd notch depth of the resonance suppressing filter Higher the setup shallower the notch depth and smaller the phase delay you can obtain 29 0 to 4 2 2nd notch width selection You can set up the notch width of 2nd resonance suppressing filter in 5 step...

Page 62: ...n set up the action pattern at the normal mode auto gain tuning e g When the setup is 0 the motor turns 2 revolutions to CCW and 2 revolutions to CW Setup value 0 1 2 3 4 5 6 7 Number of revolution 2 revolution 1 revolution Rotational direction CCW CW CW CCW CCW CCW CW CW CCW CW CW CCW CCW CCW CW CW 23 0 to 2 1 Adaptive filter mode You can set up the action of the adaptive filter 22 0 to 15 A to C...

Page 63: ... Adjustment 2nd Gain Switching Function Standard default Servo PrNo Setup range Unit Title Function Content 30 0 to 1 1 2nd gain action set up Set when performing optimum tuning using the gain switching function Setup value 0 1 Gain selection switching 1st gain SV Pr10 to 14 1st SV Pr10 to 14 2nd gain SV Pr18 to 1C 32 0 to 10000 30 x 166µs 1st control switching delay time Set a time from the detec...

Page 64: ... can set up the pulse counts to be fed out from the pulse output X5 0A Pin 21 0A Pin 22 0B Pin 48 0B Pin 49 In the case that the encoder pulse is output When the control mode is the position control mode and SV Pr46 0 1 SV Pr45 0 You can set up the output pulse counts per one motor revolution for each OA and OB with the SV Pr44 setup Therefore the pulse output resolution after quadruple can be obt...

Page 65: ...ion The pulse of external scale output resolution one resolution 46 0 to 3 0 Pulse output logic inversion You can set up the B phase logic and the output source of the pulse output X5 OB Pin 48 OB Pin 49 With this parameter you can reverse the phase relation between the A phase pulse and the B phase pulse by reversing the B phase logic 1 The output source of SV Pr46 2 3 is valid only at full close...

Page 66: ...ot tripped before homing has completed even if 0 or 1 is selected Setup value 0 1 2 3 Description An operation decelerates stops and trips after the stop An operation stops in deceleration time 0 and trips after the stop An operation decelerates and stops but it does not trip after the stop An operation stops in deceleration time 0 but it does not trip after the stop 57 0 to 3 2 Selecting the numb...

Page 67: ... Setup value 0 1 Description Input is enabled by opening the connection to COM Input is enabled by closing the connection to COM 5D 0 to 1 1 Servo ON input valid Specify whether to enable or disable the servo on input SRV ON CN X5 Pin 23 5C 0 to 6 0 Multi function input 2 Signal selection Set the function of the multi function input 2 EX IN2 CN X5 Pin 25 Note The setting of the multi function inpu...

Page 68: ...5E 5F 0 to 500 500 2 0 to 500 500 2 1st torque limit 2nd torque limit You can set up the limit value of the motor output torque SV Pr5E 1st torque SV Pr5F 2nd torque For the torque limit selection refer to SV 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 cannot change thro...

Page 69: ...e 0 1 Description COIN Positioning completion output DCLON In deceleration output 67 0 to 9 0 Error response at main power off When SV Pr65 Undervoltage error response at main power off is 0 you can set up 1 the action during deceleration and after stalling 2 the clearing of deviation counter 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 D...

Page 70: ...nt a micro travel drop of the motor work due to the action delay time tb of the brake After setting up SV 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 to 100 0 2ms Mechanical brake delay at motor in motion You can set up...

Page 71: ... but no regenerative over load protection is triggered Both regenerative processing circuit and regenerative protection are not activated and built in capacitor handles all regenerative power Regenerative resistor to be used Regenerative processing and regenerative resistor overload 6D 35 to 1000 35 2ms Main power off detection time You can set up the time to detect the shutoff while the main powe...

Page 72: ...alue will be invalidated and 131702 will be the actual numerator The actual calculation of numerator is numerator of external scale division SV Pr78 x 2 to the nth power a set value of SV Pr79 Encoder resolution per one motor revolution External scale resolution per one motor revolution SV Pr78 X 2SV Pr79 SV Pr7A Setup value 0 1 Content Serial data will increase when the detection head travels to ...

Page 73: ...lected 0F 0 to 6000 0 r min 16th speed Specify a speed when Speed Selection 16 has been selected 16 bit positioning PrNo Standard default Setup range Unit Title Function Content 10 0 to 10000 0 ms 1st acceleration Specify acceleration when Acceleration Selection 1 has been selected Specify an acceleration time in a range between 0 to 3000 r min There is a maximum of 10 difference between a calcula...

Page 74: ...0 to 1000 0 ms 4th S shaped acceleration Specify S shaped acceleration when Acceleration Selection 4 has been selected Specify the S shaped acceleration during acceleration time For details refer to page 131 If 0 is specified the linear acceleration time is enabled 1E 0 to 10000 0 ms 4th deceleration Specify deceleration when Deceleration Selection 4 has been selected Specify a deceleration time i...

Page 75: ... 6 7 Description Home sensor Z phase based on the front end Home sensor based on the front end Home sensor Z phase based on the rear end Limit sensor Z phase Limit sensor Z phase homing Bumping homing Data set 35 0 to 1 0 Homing direction Specify an operating direction of homing Setup value 0 1 Description Detects a home position in a positive direction Detects a home position in a negative direct...

Page 76: ...and a CW CCW rotation direction If 0 is specified a sign of the command pulse sum shown on the monitor screen of the console or PANATERM is reversed However for a value of the feedback pulse sum CCW is a positive direction always Note If 1 is specified to this parameter although an error does not occur when wrap around happens an absolute position cannot be guaranteed If wrap around is disabled us...

Page 77: ...vailable range is between 2 and 1073741824 If any value out of this range is specified an error code No 69 undefined data error protection is shown when an operation starts 02 2147483648 to 0 0 Pulse Setting of maximum movement in mi nus direction Specify a maximum travel in a negative direction If 0 is specified a negative direction error code No 72 maxi mum travel limit error protection is disab...

Page 78: ...00 300 500 500 300 300 300 300 300 300 300 300 230 230 300 300 300 300 300 300 235 235 300 300 300 300 300 300 300 300 255 255 300 300 300 300 300 300 D frame E frame F frame MSMA102P1 MSMA102S1 MHMA152P1 MHMA152S1 MDMA152P1 MDMA152S1 MSMA152P1 MSMA152S1 MFMA152P1 MFMA152S1 MAMA082P1 MAMA082S1 MDMA202P1 MDMA202S1 MSMA202P1 MSMA202S1 MHMA202P1 MHMA202S1 MFMA252P1 MFMA252S1 MGMA202P1 MGMA202S1 MDMA3...

Page 79: ...upper limit value might be different from the previous motor see e g 2 e g 1 Pr5E Setup range 0 to 300 Setup value 100 before replacing the motor Rated torque 0 64N m Rated torque 0 19N m MADDT1207P MSMD022P1A Pr5E Setup range Change to 0 to 500 Setup value Keep 100 after replacing the motor MADDT1207P MAMA012P1A Torque limit value 0 19N m 0 19N m x 100 Torque limit value 0 64N m 0 64N m x 100 Set...

Page 80: ...g Test operation 3 Parameter setup mode 4 EEPROM write mode 5 Normal auto gain tuning mode 6 Auxiliary function mode Alarm clear Absolute encoder clear 7 Copy mode Copying of parameters from the driver to the console Copying of parameters from the console to the driver Release of RS232 communication error When RS232 communication error occurs as the Fig below shows release it by pressing and at th...

Page 81: ...o enter the screen Initial state 1 Monitor mode refer to page82 Teaching mode refer to page87 Normal auto gain tuning mode refer to page97 Auxiliary function mode refer to page98 Copy mode refer to page101 Parameter setup mode refer to page91 EEPROM write mode refer to page96 SELECTION display EXECUTION display Note 1 Depends on the settings of the initial LED state of SV Pr01 Press Press Press Pr...

Page 82: ...utput 100 Position control mode Input signal No 0 Active No error currently 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 0 pulses External scale feedback pulse sum is 0 pulses Automatic motor recognizing function is validated RS232 communication P 83 P 83 P 83 P 85 P ...

Page 83: ... LED but only appears Position 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 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 Signal No Hexadecimal number 0 to 1F Active This signal is vali...

Page 84: ...e For manufacturer s use For manufacturer s use For manufacturer s use For manufacturer s use For manufacturer s use Present position output Present position output Present position output Present position output Present position output Present position output For manufacturer s use For manufacturer s use For manufacturer s use For manufacturer s use For manufacturer s use For manufacturer s use F...

Page 85: ...recognition error protection 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 Present error History 0 latest error History 13 oldest error Error code No appears if no error occurs You can refer the last 14 error factors including present one Press to select the factor to be referred Notice For the...

Page 86: ...lid This is always shown Switching of the Driver to be Communicated RS232 communication 1 is always shown Display of Feedback Pulse Sum Command Pulse Sum Display of External Scale Deviation External Scale Feedback Pulse Sum Display of Regenerative Load Factor Display of Over load Factor Shows regenerative resistance load factor in percentage assuming that an operation level of regenerative protect...

Page 87: ...ing the motor check the safety e g whether the wiring is correct whether the servo motor is fixed etc When a trouble e g cable breakage has occurred during a motor operation the servo driver overruns a maximum of approximately 1s Check the safety fully Teaching Mode Setup Operate the motor and set a target position Teaching mode display Then a current position is shown lowest order A current posit...

Page 88: ...ly in a positive direction while pressing it When you keep on pressing the motor rotates continuously in a negative direction while pressing it The rotation speed can be set by16 Pr40 jog speed low When you press during rotation the rotation speed changes to a jog speed high speed Current position low order Point number Parameter number selection To store a current position set a relevant point nu...

Page 89: ...t No 2 is shown below An error has occurred Select a point number using and or Keep on pressing at a desired point number A dot moves and then the motor rotates Point No 1 Point No 60 Point No 2 Movement completed Point No 1 Point number A current position is shown during moving to a point If you press during movement the motor stops To move to the next process press An error occurs if SV Pr02 is ...

Page 90: ...pressing the motor rotates continuously in a positive direction while pressing it When you keep on pressing the motor rotates continuously in a negative direction while pressing it The rotation speed can be set by 16 Pr41 jog speed high When you press during rotation the rotation speed changes to a jog speed high Definition of positive or negative direction of rotation depends on the setting of 16...

Page 91: ... Step parameter refer to page92 16 bit positioning parameter refer to page93 32 bit positioning parameter refer to page94 Servo parameter refer to page95 Parameter setup mode Set the servo driver parameters The parameters are classified as follows Step parameter ST Pr 16 bit positioning parameter 16 Pr 32 bit positioning parameter 32 Pr Servo parameter SV Pr Structure of Parameter Setup Mode ...

Page 92: ...ation mode selection Block selection ST Pr60 ST Pr01 Notice Select an input digit a dot blinks by the SHIFT key and a parameter by the UP DOWN key The step data is shown on the two screens because of a large number of displayed digits If the parameter is a negative value a dot lights When you press the SET key the parameter is modified When you press during parameter setting any parameter in proce...

Page 93: ...he SET key the parameter is modified When you press during parameter setting any parameter in process is not changed and No display is shown again When you have set the parameters write the parameters into EEPROM If you turn the power supply off before writing the parameters into EEPROM those parameters are cleared A parameter that is displayed on this position is enabled after writing a set value...

Page 94: ...WN key The 32 bit positioning parameter is shown on the two screens because of a large number of displayed digits If the parameter is a negative value a dot lights When you press the SET key the parameter is modified When you press during parameter setting any parameter in process is not changed and No display is shown again When you have set the parameters write the parameters into EEPROM If you ...

Page 95: ...before writing the parameters into EEPROM those parameters are cleared Select a target parameter number which is to be referred to and set by and or Press to set a parameter value 1 Select a digit by to change a decimal point 2 Press and or to set a parameter value increases a value and decreases Notice A parameter that is displayed on this position is enabled after writing a set value in EEPROM a...

Page 96: ...nit If the connector is pulled out accidentally insert the connector again and retry from the beginning Notice When you have set the parameters write the parameters into EEPROM If you turn the power supply off before writing the parameters into EEPROM those parameters are cleared Starts writing Finishes writing Writing completes Writing error Starting from the initial LED status press three time a...

Page 97: ...d be paid to secure the safety Starting of the motor Tuning finishes Tuning error Tuning completes machine stiffness No 1 to 9 A 10 to F 15 Note For machine stiffness No refer to P 148 Note To prevent the loss of gain value due to the power shutdown write into EEPROM Press to make EXECUTION DISPLAY to After inhibiting command input and during Servo On status keep pressing until Console LED display...

Page 98: ...ncoder is cleared Structure of Auxiliary Function Mode Starting from the initial LED status Press five time after pressing then brings the display of Auxiliary Function Mode A4P series cannot be used Press Press Select a desired function using and or and press to change into EXECUTION display Clearing of Absolute Encoder refer to page100 Alarm Clear Screen refer to page99 EXECUTION display Operati...

Page 99: ...e 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 five time after pressing then press to make a display to Press to call for EXECUTION display of Keep pressing until the console LED changes to increases by pressing approx 5sec as the right fig shows SELECTION display When you have set the ...

Page 100: ...m the beginning Notice If an error code No 40 is shown on the console immediately after purchase clear the absolute encoder through the console Press five 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 as the left fig shows SELECT...

Page 101: ...is written into EEPROM console The servo parameter and driver type code are copied from the servo driver into the console and the driver type code of the servo parameter is written into EEPROM console Remarks If error is displayed repeat the procedures from the beginning Press for releasing error Starting from initial LED status Press six time after pressing then press to make a display to Press t...

Page 102: ...isconnect 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 Press to call for EXECUTION DISPLAY of Keep pressing until the console display LED change increases by press...

Page 103: ...s 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 disc according to the procedures below to log on Procedure of install 1 Turn on the power of the computer to log on the supporting OS Exit the existing logged on softwar...

Page 104: ...ing 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 supporting OS Refer to the instruction manual of supporting OS for start 4 Select the PANATERM with program and click 5 The screen turns to PANATERM after showing opening splash for approx 2sec For more detailed information for oper...

Page 105: ...or 121 Z Phase Homing 122 Bumping Homing 122 Data Set 123 Homing Offset Operation 124 Emergency Stop Operation Deceleration and Stop Operation 125 Temporary Stop Operation 126 Block Operation 127 Continuous Block Operation 127 Combined Block Operation 128 Sequential Operation 130 S shaped Acceleration Deceleration Function 131 Timing Chart 132 Operation Timing after Power ON 132 When an Error Alar...

Page 106: ...me The two types of block operations below can be executed Continuous block operation Several step operations can be performed continuously Once an operation starts the operation continues to a specified point number Combined block operation A step operation is performed according to combined several point numbers This is useful when you want to change the speed during a step operation A point num...

Page 107: ... are disabled Specify an operation point number in the point specifying input P1IN to P32IN CN X5 Pin 3 4 5 6 7 and 8 By connecting closing the open strobe signal input STB CN X5 Pin 24 to COM when 10 ms has passed after inputting the point specifying input P1IN to P32IN an operation starts according to a set value of a point number specified in procedure 3 Check whether a driver is executed by an...

Page 108: ... 6 If a motor operation completes although the strobe signal input STB CN X5 Pin 24 does not return to the OPEN state after the in operation signal output BUSY CN X5 Pin 28 turns OFF the in operation signal output BUSY is still in the OFF state When the in operation signal output BUSY has turned OFF be sure to return the strobe signal input STB to the OPEN state 7 Any step operation is unacceptabl...

Page 109: ...ration for movement Speed VEL1 Origin 0 Speed Deceleration DEC1 Time End position Point 1 set value 1000000 Start position X VEL1 ACC1 DEC1 16 Pr 00 10 12 Parameter name Positioning setting first speed Positioning acceleration setting 1st Positioning deceleration setting 1st Setting of 16 bit positioning parameter 1 Set the 16 bit positioning parameter in the table above and specify the step param...

Page 110: ...ting time Speed Acceleration Deceleration Block No Caution 1 Control mode The rotary axis operation is enabled only for the position control SV Pr02 0 If the rotary axis operation is specified for the full closed control SV Pr02 6 an error code No 69 undefined data error protection is shown 2 Restrictions on parameter If the rotary axis operation is used the restrictions below are imposed to the p...

Page 111: ...ed Caution 1 If a waiting time set value unit 10 ms is larger than 214748364 the waiting time is a maximum of 214748364 x 10 ms 2 To interrupt the dwell timer operation input emergency stop or deceleration and stop signal assigned by the multi function input EX IN1 and EX IN2 CN X5 Pin 22 and 25 Speed VEL2 Speed VEL1 ACC1 DEC1 Origin 0 Speed Time Waiting time Point 1 set value 500 x 10 ms 5 s End ...

Page 112: ...obe signal input STB CN X5 Pin 24 to COM i e close the opened connection The maximum point number depends on a set value of SV Pr57 selection of number of input points 2 Multi function input 1 and 2 EX IN1 and EX IN2 CN X5 Pin 22 and 25 To start the operation specify the high speed normal rotation jog or high speed reverse rotation jog by SV Pr5A multi function input 1 signal selection or SV Pr5C ...

Page 113: ...ion after homing has completed an operation stops due to maximum travel limit error protection error code No 72 and stops according to an operation at alarm occurrence However the maximum travel limit error protection does not work during the jog operation before homing completes 5 For the jog operation by an external signal high speed normal rotation jog operation and high speed reverse rotation ...

Page 114: ...en given In this case eliminate the cause of the alarm clear the alarm and execute the homing Then the homing can be completed When the homing starts The homing is not completed even if the homing starts When the homing finishes normally the homing is completed If the homing is interrupted due to input of an operation stop emergency stop temporary stop or deceleration and stop servo off trip etc t...

Page 115: ... 6 7 and 8 By connecting closing the open strobe signal input STB CN X5 Pin 24 to COM when 10 ms has passed after inputting the point specifying input P1IN to P32IN an operation starts according to a set value of a point number specified in procedure 3 Check whether a driver is executed by an operation command If the driver is executed open the strobe signal input STB again If a transistor of the ...

Page 116: ...d for the homing operation 0 to 6000 r min Specify the offset operation speed if the home offset operation is performed 0 to 6000 r min For the home offset operation refer to page 124 Specify the acceleration for the homing operation in a range between 0 to 3000 r min Specify the deceleration for the homing operation in a range between 3000 to 0 r min Specify an operating direction for the homing ...

Page 117: ...home sensor at the front end in a direction of homing by 16 Pr30 Homing speed high get out of the home sensor area once detect the home sensor at the front end by 16 Pr31 Homing speed low again and define that point as a home position 1 A starting point is between the home sensor and negative direction limit sensor also on the negative direction limit sensor Home sensor Direction of homing L SPD L...

Page 118: ...ld like to ask you to design so that a sensor signal does not vary beyond the sensor signal width when the motor is decelerating after it detects the home sensor or limit sensor 4 In this system delay time of a maximum of 2 ms is caused when detecting the home sensor front end at the part and therefore the home position varies to the extent of a maximum of homing speed low multiplied by 2 ms Home ...

Page 119: ...t a sensor signal does not vary beyond the sensor signal width when the motor is decelerating after it detects the home sensor or limit sensor 4 We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase detection start position L SPD out of the home sensor area in a figure shown above The number of Z phase counts may vary A position where the Z phase is ...

Page 120: ...ration setting For a set value 0 or 2 deceleration and stop For a set value 1 or 3 stop in the deceleration time 0 3 We would like to ask you to design so that a sensor signal does not vary beyond the sensor signal width when the motor is decelerating after it detects the limit sensor 4 We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase detection ...

Page 121: ...w to decelerate at the detection of a limit sensor depends on the settings of SV Pr55 Over travel inhibit input operation setting For a set value 0 or 2 deceleration and stop For a set value 1 or 3 stop in the deceleration time 0 3 We would like to ask you to design so that a sensor signal does not vary beyond the sensor signal width when the motor is decelerating after it detects the limit sensor...

Page 122: ... position of homing is near the Z phase output position the number of Z phase counts may vary Bumping Homing Example An operation in a positive direction Description Specify the low speed for the homing operation 0 to 6000 r min Specify the offset operation speed if the home offset operation is performed 0 to 6000 r min For the home offset operation refer to page 124 Specify the acceleration for t...

Page 123: ... Specify the deceleration for the homing operation in a range between 3000 to 0 r min Specify an operating direction for the homing 0 positive direction 1 negative direction Specify a type of homing 6 Bumping Homing Specify whether or not to perform the home offset operation 0 Not perform 1 Perform For the home offset operation refer to page 124 Specify the bumping detection time 0 to 10000 ms Spe...

Page 124: ...tting are 0 an operation trips due to the error code No 69 undefined data error protection and stops according to an operation at alarm occurrence 2 Do not set home offset out of a maximum travel limit range The error code No 72 maximum travel limit error protection may be shown 3 Set the home offset appropriately so that a position of command position 0 is not in the over travel inhibit input ran...

Page 125: ... operation signal output BUSY In deceleration output DCLON Positioning completion output COIN Current position output P1OUT to P32OUT Transistor ON Transistor ON Transistor OFF Transistor ON Transistor ON Transistor OFF Does not change Transistor ON Transistor OFF Transistor OFF Open Open Close Command Actual motion MAX 10ms For emergency stop Decelerates according to 16 Pr No 49 deceleration time...

Page 126: ...be restarted by opening again the multi function input 1 or multi function input 2 to which the temporary stop is assigned After the restart check the completion of operation etc in the same procedure as a step operation 1 2 3 4 Procedure Temporary Stop Operation Positioning completion output in deceleration output COIN DCLON CN X5 Pin 27 In SV Pr64 output signal selection you can select COIN or D...

Page 127: ...umber of Single block setting 16 Pr54 block operation type setting 0 1 Description Continuous block operation Combined block operation Point specifying input P1IN to P32IN Speed Strobe signal input STB In operation signal output BUSY In deceleration output DCLON Positioning completion output COIN Point output P1OUT to P32OUT Transistor OFF Transistor OFF Transistor ON Open Open Transistor ON Trans...

Page 128: ...OFF Transistor ON Transistor ON Transistor OFF Deceleration DEC1 Speed VEL2 An operation does not stop and the speed changes from VEL1 into VEL2 Speed VEL1 MAX ACC1 01 02 Transistor OFF Transistor OFF Transistor OFF MAX 10ms MAX 10ms 1 01H 1 01H 2 02H Deceleration DEC2 Open Open Close Travel 1000 5000 15000 pulses MIN10ms Transistor ON Transistor ON Block Operation Absolute operation Absolute Dwel...

Page 129: ...ned as a combined block operation by the Block designation the motor moves to the first point by step stops once moves back and then starts an opera tion to the next point 6 The change into the last point number point 10 in this example of the in operation signal output BUSY CN X5 Pin 28 and the current position output P1OUT to P32OUT CN X5 Pin 29 30 31 32 33 and 34 is made only when the last step...

Page 130: ... sequential operation the maximum point number can be specified in a range between 1 and 60 because the setting of SV Pr57 selection of number of input points is disabled Example of Operation 16 Pr52 sequential operation setting 1 enabled 16 Pr53 a maximum point number of sequential operation 3 Power supply turns on STB Homing operation Open Close 1st time homing operation 2nd time Operation at po...

Page 131: ...00 p r encoder For acceleration deceleration setting 1000 ms an available set range of S shaped acceleration deceleration is S shaped acceleration deceleration setting ms 127950 1000 1 126 950 ms Therefore for the S shaped acceleration deceleration setting of 127 ms or more the linear acceleration deceleration is enabled 2500 p r encoder 17 bit encoder S shaped acceleration deceleration setting ms...

Page 132: ...rom approx 1 5 sec after the start of initializing microcomputer Please set the signals especially for protective function for example over travel inhibit input CWL CCWL or emergency stop input EMG STP so as to de cide their logic until this term ON OFF Point setting Approx 100ms or more 1 MIN 10ms Control power supply L1C L2C Internal control power supply Microcomputer Main power supply L1 L2 L3 ...

Page 133: ...n an alarm has been given the homing is not completed So all the transistors of the current posi tion output P1OUT to P32OUT CN X5 Pin 29 30 31 32 33 and 34 turn OFF point 0 Alarm Dynamic brake Motor energization normal not alarm alarm engaged 2 non energized released energized alarm Servo Ready output S RDY Current position output 3 P1OUT to P32OUT 0 5 to 5 ms t1 1 engaged OFF engaged OFF release...

Page 134: ...o the multi function input 1 EX IN1 CN X5 Pin 22 or multi function input 2 EX IN2 CN X5 Pin 25 by SV Pr5A multi function input 1 signal selection or SV Pr5C multi function input 2 signal selection to enable the Alarm Clear Alarm Clear is started when the disabled strobe signal input has been enabled The signal logic of multi function input can be changed by SV Pr59 multi function input 1 signal lo...

Page 135: ...uence at servo off also 3 For the action of dynamic brake at alarm occurrence refer to an explanation of Pt69 Sequence at Servo OFF Parameter setup at each control mode as well 4 Once the servo turns off the current position output P1OUT to P32OUT CN X5 Pin 29 30 31 32 33 and 34 is held to be unchanged until the next point operation is completed OFF OFF ON engaged 2 released not energized engaged ...

Page 136: ...to the motor execute an absolute encoder setup Refer to P 138 Setup initialization of Absolute Encoder It is recommended to perform ON OFF action once a day after installing the battery for refreshing the battery A battery error might occur due to voltage delay of the battery if you fail to carry out the battery refreshment Replacement of the Battery It is necessary to replace the battery for abso...

Page 137: ...may cause a high current to flow all at once which will not only reduce the battery performance but also generate considerable heat possibly leading to the rupture of the battery 5 This battery is not rechargeable Under no circumstances must any attempt be made to recharge it The disposal of used batteries after they have been replaced may be subject to restrictions imposed by local governing auth...

Page 138: ...5V E0V PS PS FG Case Twisted pair Title Connector Connector pin Clamping Jig Part No ZMR 2 SMM 003T P0 5 YRS 800 Manufacturer J S T J S T J S T 50 Lead wire Part No DV0P2060 Lithium battery by Toshiba Battery Co Ltd ER6V 3 6V 2000mAh Setup Initialization of Absolute Encoder Execute the setup of absolute encoder in the following cases Initial setup of the machine When absolute system down error pro...

Page 139: ...splay appears when absolute encoder clearing is executed 4 Operate the key as shown below in the EXECUTION display 5 Turn the power supply off once and turn it on again Clearing Absolute Encoder Using a console 1 Turn the power supply on and mount it to the machine when you find a position where a machine home position and single turn data of the absolute encoder become 0 A position of single turn...

Page 140: ...sed in positive and negative set up the reversal of external scale direction SV Pr7C to 1 5 Set up the external scale division ratio SV Pr78 7A using the formula below We recommend 1 20 external scale division ratio 20 If the external scale division ratio is set to a value smaller than 50 position loop gain SV Pr10 18 control per pulse may not be performed If the external scale division ratio is s...

Page 141: ... 148 Release of Automatic Gain Adjusting Function 151 Manual Gain Tuning Basic 152 Adjustment in Position Control Mode 153 Adjustment in Full Closed Control Mode 154 Gain Switching Function 155 Suppression of Machine Resonance 158 Manual Gain Tuning Application 160 Instantaneous Speed Observer 160 Damping Control 161 141 ...

Page 142: ...adjustment Automatic adjustment Ready for command input Action O K Action O K Yes Yes Action O K Real time auto gain tuning Default Normal mode auto gain tuning Release of auto adjusting function Manual gain tuning Finish adjustment Writing to EEPROM Consult to authorized dealer see P 144 see P 148 see P 151 see P 152 No No Load characteristics vary Yes No Yes No No No Yes Yes Release of auto adju...

Page 143: ... 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 full closed cont...

Page 144: ...ion 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 Setup value 0 1 2 3 4 5 6 7 Real time auto gain tuning not in use normal mode vertical...

Page 145: ...riting starts temporary display Finish Writing completes Writing error occurs Insert the console connector to CN X6 of the driver then turn on the driver power Press to return to after writing finishes SELECTION display 3 Set up SV Pr22 Machine stiffness at auto tuning to 0 or smaller value 4 Turn to Servo ON to run the machine normally 5 Gradually increase SV Pr22 Machine stiffness at auto tuning...

Page 146: ...ward Feed forward filter time constant Velocity observer 2nd gain action set up 1st control switching mode 1st control switching delay time 1st control switching level 1st control switching hysteresis Position loop gain switching time Real Time Auto GainTuning Mode Parameters Which Are Automatically Set Following parameters are automatically adjusted Also following parameters are automatically set...

Page 147: ... the results of real time auto gain tuning SV Pr20 Inertia ratio will be written into EEPROM at every 30 minutes When you turn the power supply on again auto gain tuning will be executed using this data as initial values 4 When you enable the real time auto gain tuning SV Pr27 Velocity observer will be disabled automati cally 5 During the trial run and frequency characteristics measurement of PANA...

Page 148: ...cillation occurs shut off the main power or turn to Servo OFF immediately Bring back the gain to default with parameter setup Refer to cautions of P 95 Auto Gain Tuning Mode of Setting as well Normal Mode Auto GainTuning Control mode Others Conditions under which the normal mode auto gain tuning is activated Applies to all control modes Servo ON status Position command Motor torque Servo driver Po...

Page 149: ... 10 300 50 524 250 999 0 10 0 1 10 30 50 33 20 557 310 3 0 10 300 50 649 310 999 0 10 0 1 10 30 50 33 20 Stiffness value represents parameters with fixed value Default for A to C frame is 4 and 1 for D to F frame 2 Lower limit for stiffness value is 10 for 17 bit encoder and 25 for 2500P r encoder Title Pr No Estimated load inertia ratio Auto Gain Tuning Action 1 In the normal mode auto gain tunin...

Page 150: ...c the motor repeats max 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 to ...

Page 151: ...ns are described when you want to invalidate the real time auto gain tuning of default or the adaptive filter Caution Execute the release of the automatic adjusting functions while all action stop Servo OFF Invalidation of Real Time Auto Gain Tuning You can stop the automatic calculation of SV Pr20 Inertial ratio and invalidate the real time auto gain tuning by setting up SV Pr21 Real time auto tu...

Page 152: ...ing wave graphic function of the setup support software PANATERM 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 SV Pr07 Speed monitor SP selection and SV ...

Page 153: ... velocity loop integration time constant Velocity feed forward Increase the value within the range where no abnormal noise and no vibration occur If they occur lower the value When vibration occurs by changing SV Pr11 change this value Setup so as to make SV Pr11 x SV Pr14 becomes smaller than 10000 If you want to suppress vibration at stopping setup larger value to SV Pr14 and smaller value to SV...

Page 154: ...d deviation excess Err 25 will be triggered when the work or load travels a long distance When you set up SV Pr78 to 0 the encoder pulse counts will be automatically set up 2 Setup of hybrid deviation excess Set up the minimum value of hybrid deviation excess SV Pr78 within the range where the gap between the motor encoder position and the load external scale position will be considered to be an e...

Page 155: ... switching time 20 Inertia ration Execute manual gain tuning without gain switching Enter the known value from load calculation Measure the inertia ratio by executing nor mal auto gain tuning Default is 250 Set up the same value as SV Pr10 14 1st gain to SV Pr18 1C 2nd gain Set up SV Pr30 35 Gain switching condition Adjust SV Pr11 and 14 at stopping 1st gain Servo Parameter No SV Pr Gain Switching...

Page 156: ... 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 SV Pr31 Hysteresis 2 SV Pr34 3 0 05 166 µs r min 4 pulse r min r min 6 1 Delay time SV Pr32 and 37 will be valid only when returning from 2nd to 1st gain 2 Hysteresis is defined as the fig below shows 3 When you make it a condition that there is 10 torque variation during 166µs set up t...

Page 157: ...gain 1st 1st speed N Fig F Fig G delay 2nd gain 1st COIN 1st at stall no position command x SV Pr32 delay time actual speed SV Pr33 level actual speed SV Pr33 level SV Pr34 hysteresis actual speed SV Pr33 level SV Pr34 hysteresis 1st gain in action 2nd gain at settling 2nd gain proximity of stall 2nd gain for velocity integrating only and 1st gain for others command speed S position command exists...

Page 158: ...ency characteristics analysis of the PANATERM Set up according to the resonance characteristics Set up lower a frequency by 10 from the measured one through frequency characteristics analysis of the PANATERM Set up according to the resonance characteristics Suppression of Machine Resonance In case of a low machine stiffness you cannot set up a higher gain because vibration and noise occur due to o...

Page 159: ...SV Pr23 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 measurem...

Page 160: ...experience a large variation of the torque waveform or noise return this 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 SV Pr20 Inertia ratio while observing the position deviation waveform and actual speed waveform to obtained the least variation If ...

Page 161: ... effect will be lost Remark Limit the damping filter setup with the following formula 10 0 Hz Damping frequency Damping filter setup Damping frequency 3 Setup of damping filter switching selection SV Pr24 You can switch the 1st or the 2nd damping filter depending on the vibration condition of the machine Control mode Conditions under which the damping control is activated Control mode to be either...

Page 162: ...162 MEMO ...

Page 163: ...oes Not Run Motor Stops During an Operation 172 Point Deviates Positioning Accuracy is Poor 173 Home Position Slips 173 Abnormal Motor Noise or Vibration 173 Overshoot Undershoot Overheating of the Motor Motor Burn Out 174 Parameter Returns to Previous Setup 174 Display of Communication port or driver cannot be detected Appears on the Screen While Using the PANATERM 174 163 ...

Page 164: ... triggered you cannot clear with alarm clear input 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 prot...

Page 165: ...e converter portion of the control power supply has exceeded the specified value 1 Power supply voltage has exceeded the permissible input voltage Voltage surge due to the phase advancing capacitor or UPS Uninterruptible Power Supply have occurred 2 Disconnection of the regeneration discharge resistor 3 External regeneration discharge resistor is not appro priate and could not absorb the regenerat...

Page 166: ...s miswiring has occurred by connecting the motor cable to other axis 7 SV Pr72 setup has been low Check that the torque current does not oscillates nor fluctuate up an down very much on the graphic screen of the PANATERM Check the over load alarm display and load factor with the PANATERM 1 Increase the capacity of the driver and motor Set up longer acceleration deceleration time Lower the load 2 M...

Page 167: ...Pr7B Setup of hybrid deviation excess at full closed control Check the connection between the motor and the load Check the looseness slippage and backlash Check the connection between the external scale and the driver Check that the variation of the motor position encoder feedback value and the load position external scale feedback value is the same sign when you move the load Check that the numer...

Page 168: ...speed error protection 42 The motor speed has exceeded the specified value when only the supply from the battery has been supplied to 17 bit encoder during the power failure Check the supply voltage at the encoder side 5V 5 Check the connecting condition of the connector CN X6 You cannot clear the alarm unless you clear the absolute encoder Absolute single turn counter error protection 44 Single t...

Page 169: ...ibit input in an operating direction was detected in a step operation and jog operation after homing completes Both of CCW over travel inhibit input CCWL CN X5 Pin 19 and CW over travel inhibit input CWL CN X5 Pin 20 were in the OPEN state Check the switch limit sensor cable and power supply connected to the over travel inhibit input CCWL CWL for error Check the operation command and the mount of ...

Page 170: ... input range 0 clearance the movable range of the motor is within 2147483647 for both CCW and CW direction 3 at Servo ON 2 when SV Pr26 Software limit setup is other than 0 Once the motor gets out of the 2 condition the software limit protection will be invalidated until the later mentioned 5 Condition under which the position command input range is cleared is satisfied The position command input ...

Page 171: ...teristics func tioning of the PANATERM 4 Example of movement 1 When no position command is entered Servo ON status The motor movable range will be the travel range which is set at both sides of the motor with SV Pr26 since no position command is entered When the load enters to the Err34 occurrence range oblique line range software limit protection will be activated 2 When the load moves to the rig...

Page 172: ...g of the control mode in the console or the monitor mode of PANATERM may be wrong The torque limit may be smaller than correct torque necessary for an operation A parameter necessary for an operation may not be set If any parameter is not set the error code No 68 or 69 is shown An operation command may exceed the maximum travel range in a positive direction and or negative direction The setting of...

Page 173: ...types below is used 16 Pr36 1 Home sensor based on the front end 4 Limit sensor Chattering of home sensor Z LS input Noise is on the encoder line Review the set value of the homing speed 16 Pr30 31 Check home sensor input signal of the controller with oscilloscope Review the wiring near to proximity dog and make a noise measure or reduce noise Reduce noise installation of noise filter or ferrite c...

Page 174: ... the driver and the motor Select a correct combination of them referring to the instruction manual or catalogue Check that the motor does not generate rumbling noise while turning it by hand after shutting off the power Replace the motor and request for repair if the noise is heard Check the voltage at brake terminals Apply the power DC24V to release the brake Avoid the installation place where th...

Page 175: ...ut Shaft 210 Motor Characteristics S T Characteristics 211 Motor with Gear Reducer 217 Dimensions Motor with Gear Reducer 218 Permissible Load at Output Shaft Motor with Gear Reducer 220 Characteristics of Motor with Gear Reducer 221 Block Diagram of Driver 222 Block Diagram by Control Mode 224 Specifications Driver 226 Default Parameters for all the models of A4P Series 228 ...

Page 176: ... consumers Those products are required to conform to the EU unified standards and to furnish the CE marking on the products However our AC servos meet the relevant EC Directives for Low Voltage Equipment so that the machine or equipment comprising our AC servos can meet EC Directives EMC Directives MINAS Servo System conforms to relevant standard under EMC Directives setting up certain model condi...

Page 177: ...ver Voltage specifications for driver Power Supply 100V type Single phase 100V 10 to 115V 10 50 60Hz A B and C frame 15 15 200V type Single phase 200V 10 to 240V 10 50 60Hz B C frame 15 15 200V type Single 3 phase 200V 10 to 240V 10 50 60Hz C D frame 15 15 200V type 3 phase 200V 10 to 230V 10 50 60Hz E F frame 15 15 1 This product is designed to be used at over voltage category Installation catego...

Page 178: ...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 179: ...system conform to UL508C 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 Ap...

Page 180: ...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 H I Content NC NC NC U phase V phase ...

Page 181: ...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 Brake MFMCA0 2FCT Encoder 17bit 7 wire With battery holder...

Page 182: ... 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 Electronics AMP Oki Electric Cable ...

Page 183: ... 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 6A22 22SE EB R JL04 2022CK 14 R N5 5 5 ROBO TOP 600V 3 5mm2 L m 3 5 10 20 Part No MFMCA00...

Page 184: ...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 185: ... 13 14 15 16 17 18 19 20 21 22 23 24 Gray Red2 Gray Black2 White Red2 White Black2 Yellow Red2 Yellow Black2 Pink Red2 Pink Black2 Orange Red3 Orange Black3 Gray Red3 Gray Black3 25 26 27 28 29 30 31 32 33 34 35 36 White Red3 White Black3 Yellow Red3 Yellow Black3 Pink Red3 Pink Black3 Orange Red4 Orange Black4 Gray Red4 Gray Black4 White Red4 White Black4 Connector Connector cover Title 54331 036...

Page 186: ...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 187: ...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 188: ...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 189: ...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 190: ...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 191: ...hnology 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 ...

Page 192: ...rminals CN X2 External scale terminals CN X7 75 6 5 Name plate Mounting bracket Option Mounting bracket Option 41 B frame Mass 1 1kg Connector at driver side Refer to P 188 Mounting bracket for driver of Options when you use the optional mounting bracket Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1 Manufacturer Molex Inc Molex Inc Molex Inc J S T Mfg Co Ltd Molex Inc Molex Inc J S T Mf...

Page 193: ...rol signal terminals CN X5 Encoder terminals CN X6 External scale terminals CN X7 D frame Mass 1 7kg Connector at driver side Refer to P 188 Mounting bracket for driver of Options when you use the optional mounting bracket Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A CNX2 CNX1 Manufacturer Molex Inc Molex Inc Molex Inc J S T Mfg Co Ltd Molex Inc Molex Inc J S T Mfg Co Ltd J S T Mfg Co Ltd Connec...

Page 194: ...ol power input terminals Regenerative resistor connecting terminals Short between B1 and B2 in normal operation Name plate F frame Mass 6 0kg Connector at driver side Connector sign CNX7 CNX6 CNX5 CNX4 CNX3B CNX3A Manufacturer Molex Inc Molex Inc Molex Inc J S T Mfg Co Ltd Molex Inc Molex Inc Connector type 53460 0629 or equivalent 53460 0629 or equivalent 529863679 or equivalent MD S8000 10 or eq...

Page 195: ...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 196: ...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 186 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 197: ...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 186 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 198: ...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 186 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 199: ... 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 180 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 200: ...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 180 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake With brake Without brake With br...

Page 201: ...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 180 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 202: ... 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 180 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 203: ...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 180 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 204: ... 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 180 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 205: ...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 180 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without ...

Page 206: ...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 180 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 207: ...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 180 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 208: ...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 180 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 209: ...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 180 Options Motor model Motor output Mass kg Connector Plug specifications Rotary encoder specifications Without brake...

Page 210: ...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 211: ...ient 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 CContinuous 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 Co...

Page 212: ...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 213: ...64 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 to...

Page 214: ...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 215: ...mp 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 ...

Page 216: ... 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 217: ...e 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...

Page 218: ...5 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 50 70 50 70 90 70 90 12...

Page 219: ... M6 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 ...

Page 220: ...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 extrta 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 221: ...peed 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...

Page 222: ...l input Control output Division mulitiplication Deviation counter Position deviation amp Front panel Display operation control Parameter control Protective curcuit Error detection EEPROM Sequence control Torque limit Current control Division processing Encoder signal processing limit Internal Block Diagram of MINAS A4P Driver A B C and D frame 12V 5V PS for gate drive PS for RE Fan D frame only Bl...

Page 223: ...M Control output B2 Fan Front panel RS232 Display operation control Parameter control Protective curcuit Error detection Sequence control Internal Block Diagram of MINAS A4P Driver E and F frame 12V 5V PS for gate drive PS for RE Speed detection Speed deviation amp PWM circuit Division mulitiplication Deviation counter Position deviation amp Torque limit Current control Division processing Encoder...

Page 224: ...9 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 Selection Division Pr44 Numerator Pr45 Denominator Pr46 S...

Page 225: ... 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 proportion Pr12 1st integration Pr19 2nd proportion Pr1A 2nd integration Pr20 Inertia ratio Notch filter Pr1D 1st frequency Pr1E 1st width Pr28 2n...

Page 226: ...000 m or less 5 88 m s2 or less 10 to 60 Hz Continuous operation at resonance point is not allowed IGBT PWM method sinusoidal drive Select Position control or Full closed control by parameter 17 Bit resolution 131072 7 serial absolute encoder 2500 p r resolution 10000 5 serial incremental encoder Compatible with ST771 and AT500 made by Mitutoyo Corporation CW over travel inhibit CCW over travel in...

Page 227: ...mined at real time in the state of actual operation and gain corresponding to the rigidity is set automatically Load inertia is determined by driving the equipment with operation command within the driver and gain corresponding to the rigidity is set automatically Available only for position control A function to improve the speed detection accuracy achieve the quick response and at the same time ...

Page 228: ...5 56 57 58 59 5A 5B 5C 5D 5E 5F 60 61 62 63 64 65 66 67 68 69 6A 6B 6C 6D 6E 6F 70 71 72 73 74 75 76 77 78 79 7A 7B 7C 7D 7E 7F Default 5 500 0 0 10000 10000 0 0 10000 0 0 10000 1 0 2 0 0 0 2 1 0 1 1 2 1 1 0 1 0 1 500 500 131 50 1000 0 0 1 0 0 0 0 0 0 0 3 35 0 0 25000 0 0 0 0 0 0 0 10000 0 10000 100 0 0 0 0 Parameter For manufacturer s use For manufacturer s use For manufacturer s use For manufact...

Page 229: ... Homing type Home complete type Homing skip Bumping detection time Torque limit for bumping homing Homing Z phase count setting For manufacturer s use For manufacturer s use For manufacturer s use For manufacturer s use Jog speed low Jog speed high Acceleration setting in jog operation Setting of S shaped acceleration in jog operation Setting of deceleration in jog operation Setting of S shaped de...

Page 230: ...230 MEMO ...

Page 231: ...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 232: ...y in the operative range If the motor shaft is not electrically grounded it may cause an electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment and may result in the bearing noise Checking and verification by customer is required Failure of this product depending on its content may generate smoke of about one cigarette Take this into considerat...

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