Panasonic MINAS A5 Series Operating Instructions Manual Download Page 219

Page: 219 / 477

4-3

Before Using the Products

Preparation

Connection

Setup

Adjustment

When in T

rouble

Supplement

1. Details of parameter

List of Parameters

[Class 4] I/F monitor setting

Input
selection

6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R
6,3LQ1R

○ ○ ○ ○

4-33

○ ○ ○ ○

4-34

○ ○ ○ ○

Output
selection

SO1

3LQ1R

/LQHGULYHURXWSXW

SO2

3LQ1R

/LQHGULYHURXWSXW

SO3

3LQ1R

/LQHGULYHURXWSXW

SO4

3LQ1R

/LQHGULYHURXWSXW

SO5

3LQ1R

Open collector output

SO6

3LQ1R

Open collector output

○ ○ ○ ○

4-35

○ ○ ○ ○

$QDORJPRQLWRU

type
output gain

○ ○ ○ ○

4-36

○ ○ ○ ○

$QDORJPRQLWRU

type
output gain

○ ○ ○ ○

20 Type of digital monitor

○ ○ ○ ○

$QDORJPRQLWRURXWSXWVHWXS

○ ○ ○ ○

4-38

$QDORJLQSXW
$,

offset setup

ÀOWHU
RYHUYROWDJHVHWXS

○ ○ ○ ○

$QDORJLQSXW
$,

offset setup

ÀOWHU
RYHUYROWDJHVHWXS

○ ○ ○ ○

$QDORJLQSXW
$,

offset setup

ÀOWHU
RYHUYROWDJHVHWXS

○ ○ ○ ○

4-39

○ ○ ○ ○

31 Positioning complete

,QSRVLWLRQ

range
output setup

○ ̶ ̶ ○

,13KROGWLPH

○ ̶ ̶ ○

34 Zero-speed

○ ○ ○ ○

4-40

35 Speed coincidence range

̶ ○ ○ ̶

$WVSHHG6SHHGDUULYDO

̶ ○ ○ ̶

4-41

37 Mechanical

brake action

at stalling setup
at running setup

○ ○ ○ ○

Mechanical brake action at running
setup

○ ○ ○ ○

4-42

40 Selection of

alarm output

1
2

○ ○ ○ ○

QG3RVLWLRQLQJFRPSOHWH,QSRVLWLRQ

range

○ ̶ ̶ ○

[Class 5] Enhancing setting

00 2nd

numerator of electronic gear

3rd
4th

○ ̶ ̶ ○

4-43

○ ̶ ̶ ○

'HQRPLQDWRURISXOVHRXWSXWGLYLVLRQ

○ ○ ○ ○

2YHUWUDYHOLQKLELWLQSXWVHWXS

○ ○ ○ ○

6HTXHQFHDWRYHUWUDYHOLQKLELW

○ ○ ○ ○

6HTXHQFHDW6HUYR2II

○ ○ ○ ○

4-44

PDLQSRZHU

OFF

sequence
LV trip selection
detection time

○ ○ ○ ○

4-45

○ ○ ○ ○

10 Sequence at alarm

○ ○ ○ ○

11 Torque setup for emergency stop

○ ○ ○ ○

4-46

2YHUORDGOHYHOVHWXS

○ ○ ○ ○

2YHUVSHHGOHYHOVHWXS

○ ○ ○ ○

[Class 5] Enhancing setting

0RWRUZRUNLQJUDQJHVHWXS

○ ̶ ̶ ○

4-46

,)UHDGLQJÀOWHU

○ ○ ○ ○

$ODUPFOHDULQSXWVHWXS

○ ○ ○ ○

4-47

17 Counter clear input mode

○ ̶ ̶ ○

18 Command pulse

inhibit input

,QYDOLGDWLRQ

reading setup

○ ̶ ̶ ○

20 Position setup unit select

○ ̶ ̶ ○

4-48

21 Selection of torque limit

○ ○ ̶ ○

22 2nd torque limit

○ ○ ̶ ○

7RUTXHOLPLWVZLWFKLQJ

setup

1
2

○ ○ ̶ ○

4-49

○ ○ ̶ ○

([WHUQDO

input

SRVLWLYHGLUHFWLRQWRUTXH

limit

QHJDWLYHGLUHFWLRQWRUTXH

limit

○ ○ ̶ ○

27 Input gain of analog torque limit

○ ○ ̶ ○

28 LED initial status

○ ○ ○ ○

4-50

29 RS232

baud rate setup

RS485

○ ○ ○ ○

$[LVDGGUHVV

○ ○ ○ ○

4-51

&RPPDQGSXOVHLQSXWPD[LPXPVHWXS

○ ̶ ̶ ○

3XOVHUHJHQHUDWLYHRXWSXWOLPLWVHWXS

○ ○ ○ ○

34 For manufacturer's use
35 Front panel lock setup

○ ○ ○ ○

[Class 6] Special setting

$QDORJWRUTXHIHHGIRUZDUG
FRQYHUVLRQJDLQ

○ ○ ̶ ○

4-52

9HORFLW\GHYLDWLRQH[FHVVVHWXS

○ ̶ ̶ ̶

04 JOG trial run command speed

○ ○ ○ ○

Position 3rd gain

YDOLGWLPH

scale factor

○ ̶ ̶ ○

7RUTXHFRPPDQGDGGLWLRQDOYDOXH

○ ○ ̶ ○

4-53

3RVLWLYHGLUHFWLRQ

torque
compensation

YDOXH

1HJDWLYHGLUHFWLRQ

○ ̶ ̶ ○

)XQFWLRQH[SDQVLRQVHWXS

○ ○ ○ ○

11 Current response setup

○ ○ ○ ○

13 2nd Inertia ratio

○ ○ ○ ○

4-54

14 Emergency stop time at alarm

○ ○ ○ ○

QGRYHUVSHHGOHYHOVHWXS

○ ○ ○ ○

)URQWSDQHOSDUDPHWHUZULWLQJ

selection

○ ○ ○ ○

3RZHUXSZDLWWLPH

○ ○ ○ ○

19 Encoder Z phase setup

̶ ̶ ̶ ○

4-55

=SKDVHVHWXSRIH[WHUQDOVFDOH

̶ ̶ ̶ ○

6HULDODEVROXWHH[WHUQDOVFDOH=SKDVH

setup

̶ ̶ ̶ ○

$%SKDVHH[WHUQDOVFDOHSXOVH

output method selection

̶ ̶ ̶ ○

23 Disturbance torque compensating gain

○ ○ ̶ ̶

'LVWXUEDQFHREVHUYHUÀOWHU

○ ○ ̶ ̶

4-56

$ODUPODWFKWLPHVHOHFWLRQ

○ ○ ○ ○

31 Real time

auto tuning

estimation speed
custom setup

○ ○ ○ ○

4-57

+\EULGYLEUDWLRQ

suppression

gain

ÀOWHU

̶ ̶ ̶ ○

4-58

̶ ̶ ̶ ○

2VFLOODWLRQGHWHFWLRQOHYHO

○ ○ ○ ○

$ODUPPDVNVHWXS

○ ○ ○ ○

39 For manufacturer's use

Parametr No.

Title

Related Control Mode Detail

page

Class No.

P S T F

Parametr No.

Title

Related Control Mode Detail

page

Class No.

P S T F

Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: [email protected]

Summary of Contents for MINAS A5 Series

Page 1: ...erall AC Servo Motor Driver MINAS A5 series Thank you for purchasing this Panasonic product Before operating this product please read the instructions carefully and save this manual for future use Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

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

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

Page 4: ...to the Connector X2 2 51 5 Wiring to the Connector X3 2 53 6 Wiring to the Connector X4 2 54 7 Wiring to the Connector X5 2 55 8 Wiring to the Connector X6 2 57 9 Wiring to the Connector X7 2 60 10 Timing Chart 2 61 11 Built in Holding Brake 2 65 12 Dynamic Brake 2 67 13 Setup of Parameter and Mode 2 72 14 Setup of command division and multiplication ratio electronic gear ratio 2 84 15 How to Use ...

Page 5: ...en in Trouble 6 1 1 When in Trouble 6 2 2 Setup of gain pre adjustment protection 6 18 3 Troubleshooting 6 21 7 Supplement 7 1 1 Safety function 7 2 2 Absolute System 7 10 3 Setup Support Software PANATERM 7 26 4 Communication 7 27 5 Motor Characteristics S T Characteristics 7 55 6 Dimensions 7 73 7 Options 7 92 Warranty 7 126 Cautions for Proper Use 7 127 After Sale Service Back cover page 1 Befo...

Page 6: ...and dynamic brake resister Don t use the motor in a place subject to exces sive vibration or shock Failure to observe this instruc tion could result in electrical VKRFN LQMXU RU ÀUH Don t use cables soaked in water or oil Failure to observe this instruc tion could result in electrical shocks damages and break downs The installation area should be away from heat generating objects such as a heater ...

Page 7: ...rical shocks Correctly run and arrange wiring Incorrect wiring will result in short circuit electric shock per sonal injury etc After correctly connecting cables insulate the live parts with insulator Incorrect wiring will result short FLUFXLW HOHFWULF VKRFN ÀUH RU malfunction Ground the earth terminal of the motor and driver without fail Floating ground circuit will cause electric shock Install a...

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

Page 9: ...ng of electro magnetic brake or gear head or grease leakage from gear head No protection will cause per sonal injury damage pollution RU ÀUH 8VH WKH PRWRU DQG WKH GULYHU LQ WKH VSHFLÀHG FRP bination Not using the motor and the GULYHU LQ WKH VSHFLÀHG FRPELQD WLRQ ZLOO UHVXOW LQ ÀUH 7HVW UXQ WKH VHFXUHO À HG PRWRU ZLWKRXW ORDGLQJ to verify normal operation and then connect it to the mechanical syste...

Page 10: ... Europaischen Normen EMC Electromagnetic Compatibility UL Underwriters Laboratories CSA Canadian Standards Association Pursuant to the directive 2004 108 EC article 9 2 Panasonic Testing Centre Panasonic Service Europe a division of Panasonic Marketing Europe GmbH Winsbergring 15 22525 Hamburg F R Germany Products shall conform to the statutory regulations applied in the place of destination Only ...

Page 11: ... upper fan on H frame driver is kept deactivated while servo is off for the purpose of energy saving This is normal Inspection Items and Cycles General and normal running condition PELHQW FRQGLWLRQV Ý DQQXDO DYHUDJH ORDG IDFWRU RI RU lower operating hours of 20 hours or less per day Perform the daily and periodical inspection as per the items below Type Cycles Items to be inspected Daily inspectio...

Page 12: ...any HUURU UHSODFHPHQW LV UHTXLUHG even before this standard replacement cycle Cooling fan 2 to 3 years 10 000 to 30 000 hours Aluminum electrolytic capacitor on PCB Approx 5 years Rush current preventive relay Approx 100 000 times depending on working condition Rush current preventive resistor Approx 20 000 times depending on working condition Motor Bearing 3 to 5 years 20 000 to 30 000 hours Oil ...

Page 13: ...1 6 H frame 1 7 D to F frame 400 V 1 8 G frame 400 V 1 9 H frame 400 V 1 10 Specifications 1 11 Block Diagram 1 15 3 Motor Check of the Model 1 21 Parts Description 1 22 4 Check of the Combination of the Driver and the Motor Incremental Specifications 20 bit 1 23 Absolute Specifications 17 bit 1 25 Junction cable for motor 1 27 5 Installation Driver 1 28 Motor 1 32 6 Permissible Load at Output Sha...

Page 14: ...motors assure higher stability with low stiffness machine and high speed high accurate operation with high stiffness machine They can be used in combination with a wide variety of machines This manual is written as a complete guide for you so that you can fully and correctly make use of all functions available from MINAS A5 1Before Using the Products 1 Introduction On Opening the Product Package 0...

Page 15: ...Max current rating of power device Frame size symbol Velocity position torque and full closed FRQWURO W SH Only for position control type MADH MBDH MCDH MDDH MEDH MFDH MGDH MHDH Frame Symbol A5 series A frame A5 series B frame A5 series C frame A5 series D frame A5 series E frame A5 series F frame A5 series G frame A5 series H frame Current rating Symbol Specifications Symbol 1 3 4 5 Single phase ...

Page 16: ...HG LQ IUDPH GULYHU 7KH ÀJXUH DERYH VKRZV FRQQHFWLRQV RQ YHORFLW SRVLWLRQ WRUTXH DQG IXOO FORVHG PRGH GULYHU Only for position control type is not provided with X2 X3 and X5 LED cover Safety by pass prug Screws for earth x2 Charge lamp L1C L2C L1 L2 L3 B1 B3 B2 NC NC is no connect U V W Connector XA for main power connection 05JFAT SAXGSA L JST Connector XB for motor connection 03JFAT SAXGSA L JST ...

Page 17: ...nnection Connector X4 Parallel I O connector Connector X3 Safety function connector Connector X2 for Serial bus Connector X1 USB connector Connector X5 for feedback scale connection Connector X7 Monitor connector Front panel NC is no connect Details of terminal block Note Related page 7KH ÀJXUH DERYH VKRZV FRQQHFWLRQV RQ YHORFLW SRVLWLRQ WRUTXH DQG IXOO FORVHG PRGH GULYHU Only for position control...

Page 18: ...ctor Connector X2 for Serial bus Connector X1 USB connector Connector X5 for feedback scale connection Connector X7 Monitor connector Front panel Details of terminal block Main power input terminals Terminals for motor connection Terminals for external regenerative resistor NC is no connect Terminal cover screw Terminal cover screw Terminal cover Note Related page 7KH ÀJXUH DERYH VKRZV FRQQHFWLRQV...

Page 19: ...ack scale connection Connector X7 Monitor connector Front panel Control terminal for dynamic brake resister Main power input terminals Terminals for motor connection Terminals for external regenerative resistor Details of terminal block NC is no connect Terminal cover Terminal cover screw LED cover Safety by pass prug Note Related page 7KH ÀJXUH DERYH VKRZV FRQQHFWLRQV RQ YHORFLW SRVLWLRQ WRUTXH D...

Page 20: ...nnection Connector X7 Monitor connector Front panel NC NC is no connect Control power input terminals L1 L2 L3 24V 0V B1 B3 B2 NC U V W Main power input terminals Terminals for motor connection Screws for earth x2 Terminals for external regenerative resistor Normally short circuit B3 to B2 Charge lamp Connector X6 for encoder connection Connector X4 Parallel I O connector Connector X3 Safety funct...

Page 21: ...ection Connector X4 Parallel I O connector Connector X3 Safety function connector Connector X2 for Serial bus Connector X1 USB connector Connector X5 for feedback scale connection Connector X7 Monitor connector Front panel Main power input terminals Terminals for motor connection Terminals for external regenerative resistor L1 L2 L3 B1 B2 NC U V W Terminal cover screw Terminal cover screw Terminal...

Page 22: ...tor X1 USB connector Connector X5 for feedback scale connection Connector X7 Monitor connector Front panel Main power input terminals Terminals for motor connection Terminals for external regenerative resistor Terminal cover Terminal cover screw LED cover Safety by pass prug Note Related page 7KH ÀJXUH DERYH VKRZV FRQQHFWLRQV RQ YHORFLW SRVLWLRQ WRUTXH DQG IXOO FORVHG PRGH GULYHU Only for position...

Page 23: ...trol signal Input General purpose 10 inputs The function of general purpose input is selected by parameters Output General purpose 6 outputs The function of general purpose input is selected by parameters Analog signal Input 3 inputs 16Bit A D 1 input 12Bit A D 2 inputs Output 2 outputs Analog monitor 2 output Pulse signal Input 2 inputs Photo coupler input Line receiver input Photocoupler input i...

Page 24: ...amp 0 clamp of internal velocity command with speed zero clamp input is enabled Instantaneous Speed Observer Available 7RUTXH FRQWURO Control input 6SHHG HUR FODPS 7RUTXH FRPPDQG VLJQ LQSXW RQWURO PRGH VZLWFKLQJ Control output 1 Speed coincidence output 2 Speed in limit output Analog input 7RUTXH FRPPDQG input 7RUTXH FRPPDQG LQSXW FDQ EH SURYLGHG E PHDQV RI DQDORJ YROWDJH 3DUDPHWHUV DUH XVHG IRU V...

Page 25: ...oder 5 wire serial Parallel I O connector Control signal Input General purpose 10 inputs The function of general purpose input is selected by parameters Output General purpose 6 outputs The function of general purpose input is selected by parameters Analog signal Output 2 outputs Analog monitor 2 output Pulse signal Input 2 inputs Photo coupler input Line receiver input Photocoupler input is compa...

Page 26: ...velocity setup 2 Speed zero clamp Control output Speed arrival Internal velocity command Switching the internal 8speed is enabled by command input Soft start down function Individual setup of acceleration and deceleration is enabled with 0 to 10s 1000r min Sigmoid acceleration deceleration is also enabled Zero speed clamp 0 clamp of internal velocity command with speed zero clamp input is enabled ...

Page 27: ... Fuse C D frame 100 200 V B1 B3 N P Error detection Voltage detection Sequence control B2 L1C L2C Division processing Feedback scale signal processing limit DC DC X6 U V W M RE 12V 5V PS for gate drive Gate drive PS for RE Alarm signal Pulse train command Pusle output Analog velocity command Control input Division mulitiplication A D A D 16 bit Position Speed Velocity Torque Internal External Devi...

Page 28: ...detection Sequence control B2 L1C L2C Division processing DC DC X6 U V W M RE 12V 5V PS for gate drive PS for RE Fuse Parameter control EEPROM Fan Front panel Display operation control Protective curcuit Alarm signal Pulse train command Pusle output Analog velocity command Control input Control output Division mulitiplication A D A D 16 bit Position Speed Velocity Torque Internal External Deviatio...

Page 29: ...4 Fuse Fuse Voltage detection 12V 5V PS for gate drive PS for RE Fan B1 B3 Error detection Sequence control B2 Division processing X6 Parameter control EEPROM Front panel Display operation control Protective curcuit Alarm signal Pulse train command Pusle output Analog velocity command Control input Control output Division mulitiplication A D A D 16 bit Position Speed Velocity Torque Internal Exter...

Page 30: ...Gate drive L 2 L 3 L 1 B1 B3 N P Fuse Resistor Fuse DC DC 24V 0V U V W M RE 12V 5V PS for gate drive PS for RE Fuse Fan Error detection Sequence control B2 Division processing X6 Parameter control EEPROM Front panel Display operation control Protective curcuit Alarm signal Pulse train command Pusle output Analog velocity command Control input Control output Division mulitiplication A D A D 16 bit ...

Page 31: ...Voltage detection Gate drive B1 B3 Error detection Sequence control B2 Division processing X6 Parameter control EEPROM Front panel Display operation control Protective curcuit Alarm signal Pulse train command Pusle output Analog velocity command Control input Control output Division mulitiplication A D A D 16 bit Position Speed Velocity Torque Internal External Deviation counter Internal speed com...

Page 32: ...r Internal speed command Speed detection Position deviation amp Speed deviation amp Torque limit Current control PWM circuit Encoder signal processing limit X5 Feedback scale signal processing limit X1 X2 X4 USB Serial X3 Safety function L 1 L 2 L 3 DC DC 24V 0V U V W DB1 DB2 M RE N P Gate drive Resistor Fuse Fuse Fuse Voltage detection 12V 5V PS for gate drive PS for RE Fan Note 7KH ÀJXUH DERYH V...

Page 33: ...order product 5 Key way with center tap Products are standard stock items or manufactured by order For details inquire the dealer A B S T Shaft Holding brake Oil seal Without With Round Key way Without With Symbol MSME 750W 400V 1 0kW to 5 0kW MDME MFME MGME MHME C D G H Shaft Holding brake Oil seal Without With Round Key way Without With Symbol 4 5 5 MSMD MHMD MSME MDME MFME MGME MHME 5A 01 02 04...

Page 34: ...les X4 Connector for motor Connector for encoder Oil seal Motor frame Flange Mounting holes X4 Note RU GHWDLOV RI VSHFLÀF PRGHO UHIHU WR WKH LPHQVLRQV RI 6XSSOHPHQW 3 WR 060 WR MSME 750W 400V 1 0kW to 5 0kW MDME 400W to 15 0kW MFME 1 5kW to 4 5kW MGMA 0 9kW to 6 0kW MHME 1 0kW to 7 5kW e g Low inertia type MSME series 50W e g Middle inertia type MDME series 1 0kW Phone 800 894 0412 Fax 888 723 477...

Page 35: ...022G1 200W MADHT1507 MADHT1507E MSME042G1 400W MBDHT2510 MBDHT2510E B frame MSME082G1 750W MCDHT3520 MCDHT3520E C frame MSME102G 1 0kW MDDHT5540 MDDHT5540E D frame MSME152G 1 5kW 3 phase 200V MSME202G 2 0kW MEDHT7364 MEDHT7364E E frame MSME302G 3 0kW MFDHTA390 MFDHTA390E F frame MSME402G 4 0kW MFDHTB3A2 MFDHTB3A2E MSME502G 5 0kW 3 phase 400V MSME084G1 750W MDDHT2412 MDDHT2412E D frame MSME104G 1 0...

Page 36: ...D High inertia 2000r min MHMD021G1 200W MBDHT2110 MBDHT2110E B frame MHMD041G1 400W MCDHT3120 MCDHT3120E C frame Single 3 phase 200V MHMD022G1 200W MADHT1507 MADHT1507E A frame MHMD042G1 400W MBDHT2510 MBDHT2510E B frame MHMD082G1 750W MCDHT3520 MCDHT3520E C frame Single 3 phase 200V MHME High inertia 2000r min MHME102G 1 0kW MDDHT3530 MDDHT3530E D frame MHME152G 1 5kW MDDHT5540 MDDHT5540E 3 phase...

Page 37: ...MSME104S 1 0kW MDDHT3420 MSME154S 1 5kW MDDHT3420 MSME204S 2 0kW MEDHT4430 E frame MSME304S 3 0kW MFDHT5440 F frame MSME404S 4 0kW MFDHTA464 MSME504S 5 0kW Single 3 phase 200V MDME Middle inertia 2000r min MDME102S 1 0kW MDDHT3530 D frame MDME152S 1 5kW MDDHT5540 3 phase 200V MDME202S 2 0kW MEDHT7364 E frame MDME302S 3 0kW MFDHTA390 F frame MDME402S 4 0kW MFDHTB3A2 MDME502S 5 0kW 1500r min MDME752...

Page 38: ...W MDDHT5540 3 phase 200V MHME202S 2 0kW MEDHT7364 E frame MHME302S 3 0kW MFDHTA390 F frame MHME402S 4 0kW MFDHTB3A2 MHME502S 5 0kW 1500r min MHME752S1 7 5kW MGDHTC3B4 G frame 3 phase 400V 2000r min MHME104S 1 0kW MDDHT2412 D frame MHME154S 1 5kW MDDHT3420 MHME204S 2 0kW MEDHT4430 E frame MHME304S 3 0kW MFDHT5440 F frame MHME404S 4 0kW MFDHTA464 MHME504S 5 0kW 1500r min MHME754S1 7 5kW MGDHTB4A2 G ...

Page 39: ...with Brake MSMD 50W to 750W MFMCA0 0EED MFMCB0 0GET 7 101 7 106 MSME 50W to 750W MFMCA0 0NJD Highly bendable type Direction of motor shaft MFMCA0 0NKD Highly bendable type Opposite direction of motor shaft MFMCA0 0RJD Standard bendable type Direction of motor shaft MFMCA0 0RKD Standard bendable type Opposite direction of motor shaft MFMCB0 0PJT Highly bendable type Direction of motor shaft MFMCB0 ...

Page 40: ... temperatures are permissible only for short period such as during transportation 2 Air containing water vapor will become saturated with water vapor as the temperature falls causing dew How to Install 1 Rack mount type Install in vertical position and reserve enough space around the servo driver for ventilation 2 Base mount rear mount is standard for A B C D frame driver 3 To change the mounting ...

Page 41: ...sing a rod terminals or a round terminals If stranded wires are used as they are unexpected accidents such as an electric shock and short circuit or injury may result 7KHUH PLJKW EH D FKDQFH RI VPRNH JHQHUDWLRQ GXH WR WKH IDLOXUH RI WKHVH SURGXFWV 3D DQ H WUD attention when you apply these products in a clean room environment H VXUH WR LQVWDOO D QR IXVH EUHDNHU LQ WKH SRZHU VXSSO Q DGGLWLRQ EH VXU...

Page 42: ...similar environment 7KH XSSHU IDQ RQ WKH IUDPH GULYHU VWRSV GXULQJ VHUYR 2 WR VDYH HQHUJ 7KLV LV QRUPDO I WKH G QDPLF EUDNH LV DSSOLHG GXULQJ RSHUDWLRQ DW D KLJK VSHHG SURYLGH DSSUR PLQXWH dwell period Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake in operable 7KH FDSDFLWDQFH RI FDSDFLWRU LQ WKH SRZHU VXSSO UHFWLÀHU FLUFXLW GHFUHDVHV LWV FDSDFLWDQFH ZLWK...

Page 43: ...table right Conductor Insulation thickness mm Sheath thickness mm Reference Finish O D mm Max conductor resistance 20 C W km Test voltage V 1 min Minimum insulation resistance 0 NP Reference Approx mass kg km Nominal cross section mm2 Structure or shape wires mm2 Outside diameter mm 2 7 0 6 1 8 0 8 1 5 12 0 9 42 1500 2500 170 3 5 7 0 8 2 4 0 8 1 5 13 5 5 30 1500 2500 250 5 5 7 1 0 3 0 1 0 1 5 16 0...

Page 44: ... Lower than 98m s2 10G Enclosure rating Motor only Connector type IP67 except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector 3 4 Altitude Lower than 1000m 1 Ambient temperature to be measured at 5cm away from the motor 2 Permissible temperature for short duration such as transportation 3 7KHVH PRWRUV FRQIRUP WR WKH WHVW FRQGLWLRQV VSHFLÀHG...

Page 45: ... VSHFLÀHG WR HDFK PRGHO 2 Pay an extra attention when you use a rigid coupling Excess bending load may dam age the shaft or deteriorate the bearing life 8VH D ÁH LEOH FRXSOLQJ ZLWK KLJK VWLIIQHVV GHVLJQHG H FOXVLYHO IRU VHUYR DSSOLFDWLRQ LQ order to make a radial thrust caused by micro misalignment smaller than the permis sible value RU SHUPLVVLEOH ORDG RI HDFK PRGHO UHIHU WR 3 3HUPLVVLEOH RDG DW ...

Page 46: ...LVWRUWLRQ Keep the cable free from twists or kinks Distorted cable will cause loose connection lowering performance and reliability DPLQDWLRQ IDFWRU RI FDEOH LQ FDEOH EHDU 3ODFH FDEOHV RQ D ÁDW VXUIDFH LQ SDUDOOHO ZLWKRXW EULQJLQJ WKHP LQWR FRQWDFW ZLWK HDFK other and measure the dimension necessary to cover these cables Then select a ca ble bear which is wider than the measured dimension The lami...

Page 47: ... 0kW 3 0kW 980 588 686 490 196 4 0kW 5 0kW 784 343 MDME 400W to 2 0kW 980 588 686 490 196 3 0kW 784 343 4 0kW 1666 784 980 5 0kW 7 5kW 2058 980 1176 1176 490 11 0kW 15 0kW 4508 1470 1764 2254 686 MGME 0 9kW 980 588 686 686 196 2 0kW 1666 784 980 1176 490 3 0kW 2058 980 1176 1470 4 5kW 6 0kW 1764 588 MFME 1 5kW 980 588 686 490 196 2 5kW 4 0kW 1862 686 784 294 MHMD 200W 400W 392 147 196 245 98 750W ...

Page 48: ...P 20580 L 14 5 3 0kW P 36848 L 14 5 4 0kW 5 0kW P 42336 L 19 7 5kW P 89946 L 20 11 0kW 15 0kW P 200606 L 31 Motor series Motor output Formula of Load and load point relation MGME 0 9kW P 33957 L 14 5 2 0kW P 69384 L 19 3 0kW P 86730 L 19 4 5kW 6 0kW P 89964 L 20 MFME 1 5kW P 25235 L 19 2 5kW P 40376 L 19 4 0kW P 42336 L 19 MHMD 200W P 14945 L 46 400W P 19723 L 65 5 750W P 37044 L 77 MHME 1 0kW 1 5...

Page 49: ...onnecting host computer 2 51 4 Wiring to the connector X2 Connecting communication connector 2 51 5 Wiring to the connector X3 Safety function connector 2 53 6 Wiring to the connector X4 Connection to Host Controller 2 54 7 Wiring to the connector X5 Connect on to External Scale 2 55 8 Wiring to the connector X6 Connection to Encoder 2 57 9 Wiring to the connector X7 Monitor output 2 60 10 Timing ...

Page 50: ...onform to UL508C E164620 1 Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664 1 e g Install in the control box with IP54 enclosure 2 Make sure to install a circuit breaker or fuse which are UL recognized Listed PDUNHG EHWZHHQ WKH SRZHU VXSSO DQG WKH QRLVH ÀOWHU 8VH D FRSSHU FDEOH ZLWK WHPSHUDWXUH UDWLQJ RI Ý RU KLJKHU For rated current of circuit breaker and fuse re...

Page 51: ... 2 No 100 IEC International Electrotechnical Commission EN Europaischen Normen EMC Electromagnetic Compatibility UL Underwriters Laboratories CSA Canadian Standards Association Pursuant to the directive 2004 108 EC article 9 2 Panasonic Testing Centre Panasonic Service Europe a division of Panasonic Marketing Europe GmbH Winsbergring 15 22525 Hamburg F R Germany Only for position control type does...

Page 52: ...ol type is not provided with X3 terminal Insulated DC24V 3 Metallic control box Controller Insulated power supply for interface Power supply Circuit breaker Residual current device RCD Surge absorber Noise filter Noise filter for signal lines 1 Noise filter for signal lines Noise filter for signal lines Noise filter for signal lines Ground PE L1 U X4 XA XB X6 M RE V W L2 L3 24V 0V Noise filter for...

Page 53: ... or 3 phase none none 1RLVH ÀOWHU Servo driver Power line 2m ー none with Servo driver Servo motor Junction cable for motor 20m ー 1 with Servo driver Servo motor Junction cable for encoder 20m ー with with Switch box Servo driver I O cable 3m ー with with Frame ground 1RLVH ÀOWHU FG line 1m ー none none Frame ground 1RLVH ÀOWHU FG line 1m ー none none AC power supply Switch box Power line 1m ー none non...

Page 54: ...le for power cable 3RZHU FDEOH DQG VLJQDO ZLUHV PXVW EH VXIÀFLHQWO LVRODWHG IURP HDFK RWKHU Twisted Servo driver L1C L2C Closely bundled cable United Servo driver L2 L3 L1 Circuit Breaker Install a circuit breaker which complies with IEC Standards and UL recognized Listed and PDUNHG EHWZHHQ SRZHU VXSSO DQG QRLVH ÀOWHU The short circuit protection circuit on the product is not for protection of bra...

Page 55: ... GHWDLOHG VSHFLÀFDWLRQV RI HDFK QRLVH ÀOWHU FRQWDFW WKH PDQXIDFWXUHU KHQ WZR RU PRUH VHUYR GULYHUV DUH XVHG ZLWK D VLQJOH QRLVH ÀOWHU DW WKH FRPPRQ SRZ HU VRXUFH FRQVXOW ZLWK WKH QRLVH ÀOWHU PDQXIDFWXUHU Do not run the input and output wiring on the same passage noise resistance will drop Figure at lower right Isolate the input and output line from each other Figure at lower left 1 Isolate the inp...

Page 56: ...duction capability L1 L2 and L3 should be wound together If not effective increase the number of signal noise filters including power line GHGLFDWHG ÀOWHUV 6HH ÀJXUH EHORZ 0RWRU OLQH KHQ LQVWDOOLQJ WKH VLJQDO QRLVH ÀOWHU LQFOXGLQJ PRWRU OLQH GHGLFDWHG ÀOWHU WR RXU optional cable remove the sheath jacket to the length so that wires can be wound RQ WKH VLJQDO QRLVH ÀOWHU LQFOXGLQJ SRZHU OLQH GHGLFDW...

Page 57: ...h the gap To prevent unfavorable condi tions due to radio frequency activities observe the following control board design and selection instruction The control board should be made of metal which provides electrical continuity The control board should not have electrically isolated conductor All units installed in the casing should be grounded to the case Increasing noise resistance of control I O...

Page 58: ...A 30A DV0PM20043 DV0P1450 DV0P1460 RJ8035 Recommended component 5 60A 3P 1a 0 75mm2 AWG18 600 VAC or more MSME MHME MFME 2 5kW approx 3 8kVA MSME 3 phase 400V 2 0kW approx 3 3kVA 15A FN258L 16 07 Recommended component DV0PM20050 DV0P1460 30A 3P 1a 0 52mm2 AWG20 100 VAC or more MDME MHME MFME 2 5kW approx 3 8kVA MFDH MGME 3 phase 200V 2 0kＷ approx 3 8kVA 50A DV0P3410 DV0P1450 DV0P1460 RJ8035 Recomm...

Page 59: ...fail and the circuit breaker should conform to IEC Standards and UL recognized Listed and marked Suitable for use on a circuit capable of delivering not more than 5 000Arms symmetrical amperes be low the maximum input voltage of the product Remarks 6HOHFW D FLUFXLW EUHDNHU DQG QRLVH ÀOWHU ZKLFK PDWFK WR WKH FDSDFLW RI SRZHU supply including a load condition Terminal block and protective ground ter...

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Page 61: ... QRW PDNH GLVSODFHPHQW ZLULQJ RU LQVSHFWLRQ ZKLOH WKH LV OLW FDXVH RI HOHFWULF VKRFN Wiring to Connector X7 3 RQQHFWLRQ WR PRWRU GULYLQJ SKDVH DQG JURXQG LULQJ WR RQQHFWRU P 2 14 LULQJ WR RQQHFWRU P 2 57 LULQJ WR RQQHFWRU P 2 55 LULQJ WR RQQHFWRU P 2 54 LULQJ WR RQQHFWRU 3 LULQJ WR RQQHFWRU P 2 51 LULQJ WR RQQHFWRU P 2 51 6KRUW FLUFXLW ZLUH WR DUH XVHG IRU WKH VHFRQGDU FLUFXLW 7R FRQQHFW WKHVH WHU...

Page 62: ...DQG IUDPH LVFRQQHFW WKLV RQO ZKHQ WKH H WHUQDO UHJHQHUDWLYH UHJLVWHU LV XVHG Avoid shorting and grounding Don t connect the main power Earth ground this 7R SUHYHQW HOHFWULF VKRFN EH VXUH WR FRQQHFW WKH JURXQG WHUPLQDO RI WKH GULYHU DQG WKH JURXQG WHUPLQDO JURXQG SODWH RI WKH FRQWURO SDQHO 7KH JURXQG WHUPLQDO PXVW QRW EH VKDUHG ZLWK RWKHU HTXLSPHQW 7ZR JURXQG WHUPLQDOV DUH SURYLGHG Don t connect th...

Page 63: ...reen Yellow XA XB X4 36 L ON MC ALM ALM OFF MC ALM Main power supply Control power supply Motor connection Main power supply Control power supply Motor connection Power supply Single phase 100V to 120V 15 10 Single phase 200V to 240V 15 10 Power supply 3 phase 200V to 240V 15 10 XA XB X4 When you use single phase connect the main power between L1 and L3 terminals Coil surge suppression units Remar...

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Page 66: ...RI WKH FRUUHVSRQGLQJ PRWRU RXWSXW WHUPLQDOV 8 9 Avoid shorting and grounding Don t connect the main power Earth ground this 7R SUHYHQW HOHFWULF VKRFN EH VXUH WR FRQQHFW WKH JURXQG WHUPLQDO RI WKH GULYHU DQG WKH JURXQG WHUPLQDO JURXQG SODWH RI WKH FRQWURO SDQHO 7KH JURXQG WHUPLQDO PXVW QRW EH VKDUHG ZLWK RWKHU HTXLSPHQW 7ZR JURXQG WHUPLQDOV DUH SURYLGHG Don t connect the earth cable to other insert...

Page 67: ...rol power supply Motor connection Power supply 3 phase 200V to 230V 15 10 Noise filter Coil surge suppression units These colors are used for optional cable Insulated DC12 to 24V 5 ï Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase E frame 200 V type 2 Preparation 2 6 VWHP RQÀJXUDWLRQ DQG LULQJ Wiring Diagram E frame 200 V type Note Relate...

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Page 69: ...er RQQHFWLRQ WR feedback scale RQQHFWLRQ WR KRVW FRQWUROOHU LULQJ WR RQQHFWRU P 2 57 LULQJ WR RQQHFWRU P 2 55 LULQJ WR RQQHFWRU P 2 54 LULQJ WR RQQHFWRU P 2 53 LULQJ WR RQQHFWRU P 2 51 LULQJ WR RQQHFWRU P 2 51 RQQHFWLRQ WR PRWRU GULYLQJ SKDVH DQG JURXQG These colors are used for optional cable WR DUH XVHG IRU WKH VHFRQGDU circuit To connect these terminals to the primary power supply particularly ...

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Page 71: ...ply Control power supply Motor connection Power supply 3 phase 200V to 230V 15 10 Red White Black Green Coil surge suppression units These colors are used for optional cable Insulated DC12 to 24V 5 ï Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase F frame 200 V type 2 Preparation 2 6 VWHP RQÀJXUDWLRQ DQG LULQJ Wiring Diagram F frame 200 V...

Page 72: ...XW IDLO 7KHUPDO IXVH DQG WKHUPRVWDW DUH EXLOW LQ WR WKH regenerative resistor Option I WKH WKHUPDO IXVH LV DFWLYDWHG LW ZLOO QRW UHVXPH 0RXQW WKH UHJHQHUDWLYH UHVLVWRU RQ LQFRPEXVWLEOH PDWHULDO VXFK DV PHWDO The wiring indicated with the broken line shall be provided only when required L3 L2 L1 L2C L1C 0DLQV Residual current device B1 B2 5HJHQHUDWLYH UHVLVWRU optional 3LQ DQG KHQ RX FRQQHFW DQ H W...

Page 73: ... from our web site RQQHFWLRQ WR 3 3 1 7 50 RQQHFWLRQ WR 56 56 or host controller RQQHFWLRQ WR 6DIHW E SDVV SOXJ RQQHFWLRQ WR encoder RQQHFWLRQ WR feedback scale RQQHFWLRQ WR KRVW FRQWUROOHU LULQJ WR RQQHFWRU P LULQJ WR RQQHFWRU P 2 55 LULQJ WR RQQHFWRU P 2 54 LULQJ WR RQQHFWRU P 2 53 LULQJ WR RQQHFWRU P 2 51 LULQJ WR RQQHFWRU P 2 51 0RQLWRU RXWSXW LULQJ WR RQQHFWRU P 2 60 P 2 26 RQQHFWLRQ WR PRWRU...

Page 74: ...ntactor 3URYLGH DQ 5HDFWRU WR EH VXSSOLHG E FXVWRPHU 7KH YROWDJH DSSOLHG DFURVV DQG PXVW EH 9 RU EHORZ RU 9 RU EHORZ 0DWFK WKH FRQQHFWRU RI WKH PRWRU DQG GULYHU 8 9 µ Avoid shorting and grounding Don t connect the main power RU QRUPDO RSHUDWLRQ GR QRW GLVFRQQHFW WKH VKRUWLQJ EDU IURP DQG UHPRYH WKH EDU RQO ZKHQ WKH H WHUQDO G QDPLF EUDNH UHVLVWRU LV XVHG Earth ground this 7R SUHYHQW HOHFWULF VKRFN...

Page 75: ...erative resistor light yellow External regenerative resistor Power supply 3 phase MC1 Note 1 Normally do not disconnect the shorting bar Note 1 Insulated DC12 to 24V 5 ï Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase G frame 200 V type 2 Preparation 2 6 VWHP RQÀJXUDWLRQ DQG LULQJ Wiring Diagram G frame 200 V type Note Related page The wi...

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Page 77: ...H resistor connect the external regenerative resistor between B1 and B2 set up Pr0 16 to 1 or 2 3LQ DQG KHQ LQVWDOOLQJ DQ H WHUQDO G QDPLF EUDNH resistor connect the magnetic contactor for controlling for external dynamic brake to between LIC and DB1 7KH YROWDJH DSSOLHG DFURVV DQG PXVW EH 9 RU EHORZ RU 9 RU EHORZ 3LQ 1 R QRW FRQQHFW DQ WKLQJ RQQHFWLRQ WR 3 3 1 7 50 RQQHFWLRQ WR 56 56 or host contr...

Page 78: ...tart stop the motor with this Magnetic Contactor 7KH YROWDJH DSSOLHG DFURVV DQG PXVW EH 9 RU EHORZ RU 9 RU EHORZ 3URYLGH DQ 5HDFWRU WR EH VXSSOLHG E FXVWRPHU R QRW FRQQHFW DQ WKLQJ WR 1 0DWFK WKH FRQQHFWRU RI WKH PRWRU DQG GULYHU U V W Avoid shorting and grounding Don t connect the main power Earth ground this 7R SUHYHQW HOHFWULF VKRFN EH VXUH WR FRQQHFW WKH JURXQG WHUPLQDO RI WKH GULYHU DQG WKH J...

Page 79: ... an external protective device e g thermal fuse to monitor the temperature of the external dynamic brake resistor Noise filter Main power supply Control power supply Motor 37 ALM L2 L3 L1C L2C MC1 L1 ALM MCCB Motor connection 36 L ON ALM B1 B2 DB1 NC DB2 U V W ALM OFF Coil surge suppression units Built in thermostat of an external regenerative resistor T1 and T2 terminals Power supply 3 phase MC1 ...

Page 80: ...HUPRVWDW DUH EXLOW LQ WR WKH regenerative resistor Option I WKH WKHUPDO IXVH LV DFWLYDWHG LW ZLOO QRW UHVXPH 0RXQW WKH UHJHQHUDWLYH UHVLVWRU RQ LQFRPEXVWLEOH PDWHULDO VXFK DV PHWDO 5HPDUNV LULQJ RI 0RWRU RQQHFWRU 3LQ SLQ SLQ DQG SLQ DQG WR EH NHSW VKRUWHG IRU QRUPDO RSHUDWLRQ KHQ RX FRQQHFW DQ H WHUQDO UHJHQHUDWLYH resistor disconnect a short circuit wire between B2 and B3 then connect the externa...

Page 81: ...o the primary power supply particularly the 24 VDC power supply for control and the 24 VDC power supply for brake insulation is required Do not connect these terminals to the same power supply High voltage 0RQLWRU RXWSXW LULQJ WR RQQHFWRU P 2 60 RQQHFWLRQ WR feedback scale LULQJ WR RQQHFWRU P 2 55 RQQHFWLRQ WR 3 3 1 7 50 RQQHFWLRQ WR 56 56 or host controller RQQHFWLRQ WR 6DIHW E SDVV SOXJ LULQJ WR...

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Page 83: ...wer supply Motor connection Noise filter Coil surge suppression units Insulated DC24V Insulated DC12 to 24V 5 ï ï Note 1 Shielding the circuit is recommended for the purpose of noise reduction Note 1 Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase D E frame 400 V type 2 Preparation 2 6 VWHP RQÀJXUDWLRQ DQG LULQJ Wiring Diagram D E frame 4...

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Page 85: ...6DIHW E SDVV SOXJ RQQHFWLRQ WR encoder RQQHFWLRQ WR feedback scale RQQHFWLRQ WR KRVW FRQWUROOHU LULQJ WR RQQHFWRU P 2 57 LULQJ WR RQQHFWRU P 2 55 LULQJ WR RQQHFWRU P 2 54 LULQJ WR RQQHFWRU P LULQJ WR RQQHFWRU P LULQJ WR RQQHFWRU P WR DUH XVHG IRU WKH VHFRQGDU FLUFXLW To connect these terminals to the primary SRZHU VXSSO SDUWLFXODUO WKH 9 SRZHU VXSSO IRU FRQWURO DQG WKH 9 SRZHU supply for brake ins...

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Page 87: ...r supply 24V 0V Control power supply Motor connection Coil surge suppression units Insulated DC12 to 24V 5 ï Insulated DC24V ï Note 1 Shielding the circuit is recommended for the purpose of noise reduction Note 1 Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase F frame 400 V type 2 Preparation 2 6 VWHP RQÀJXUDWLRQ DQG LULQJ Wiring Diagram ...

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Page 91: ...DB1 DB2 DB3 DB4 U V W ALM OFF Coil surge suppression units Built in thermostat of an external regenerative resistor light yellow External regenerative resistor Note 2 MC1 Insulated DC12 to 24V 5 ï Insulated DC24V ï Note 1 Compose the circuit so that the main circuit power will be shut off when an error occurs In Case of 3 Phase G frame 400 V type 2 Preparation 2 6 VWHP RQÀJXUDWLRQ DQG LULQJ Wiring...

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Page 93: ...ly particularly the 24 VDC power supply for control the 24 VDC power supply for brake and the 24 VDC power supply for regenerative resistor insulation is required Do not connect these terminals to the same power supply 3LQ DQG KHQ RX FRQQHFW DQ H WHUQDO UHJHQHUDWLYH resistor connect the external regenerative resistor between B1 and B2 set up Pr0 16 to 1 or 2 3LQ DQG KHQ LQVWDOOLQJ DQ H WHUQDO G QD...

Page 94: ...ntactor LUHFW SRZHU VXSSO IRU FRQWURO FLUFXLW 7KH YROWDJH DSSOLHG DFURVV DQG PXVW EH 9 RU EHORZ RU 9 RU EHORZ 3URYLGH DQ 5HDFWRU WR EH VXSSOLHG E FXVWRPHU SKDVH SRZHU VXSSO 9 IRU PDLQ FLUFXLW R QRW FRQQHFW DQ WKLQJ WR 1 0DWFK WKH FRQQHFWRU RI WKH PRWRU DQG GULYHU 8 9 µ Avoid shorting and grounding Don t connect the main power Earth ground this 7R SUHYHQW HOHFWULF VKRFN EH VXUH WR FRQQHFW WKH JURXQ...

Page 95: ...rotective device e g thermal fuse to monitor the temperature of the external dynamic brake resistor Noise filter Main power supply Control power supply Motor 37 ALM L2 L3 24V 0V MC1 MC2 L1 ALM MCCB Motor connection Power supply 3 phase Power supply Neutral point The AC voltage across DB1 and DB2 must be 300 V or below 36 L ON ALM B1 B2 NC DB1 DB2 U V W ALM OFF Coil surge suppression units Coil sur...

Page 96: ...the screw M2 0 19 to 0 21 N m Be sure to use only the screw supplied with the connector to avoid damage Tightening torque of the screw M2 0 19 to 0 21 N m Be sure to use only the screw supplied with the connector to avoid damage 1 2 3 4 5 6 7 FG SHIELD E0V PS E5V PS PIN No Application 1 2 3 4 5 6 7 FG SHIELD 7ï E0V PS BAT E5V PS PIN No Application Electromagnetic brake is a nonpolar device 172167 ...

Page 97: ...lication JN2AS10ML3 R 1 2 3 8 9 10 7 6 5 4 RQQHFWRU IRU HQFRGHU 1 2 3 4 5 6 7 8 9 10 E0V NC PS E5V BATï BAT PS NC FG SHIELD NC PIN No Application MSME 750W 400V 1 0kW to 2 0kW MDME 400W to 2 0kW MGME 0 9kW MHME 1 0kW to 1 5kW MDME 7 5kW to 15 0kW MGME 6 0kW MHME 7 5kW MSME 3 0kW to 5 0kW MDME 3 0kW to 5 0kW MGME 2 0kW to 4 5kW MHME 2 0kW to 5 0kW JL04V 2E24 11PE B R A Brake Brake NC U phase V phas...

Page 98: ...C KHQ SHHOLQJ RII WKH VKHDWK RI WKH FDEOH WDNH FDUH QRW WR GDPDJH RWKHU SRUWLRQV KHQ FULPSLQJ WKH IHUUXOH VXIÀFLHQWO FKHFN WKH VWDWXV RI WKH IHUUXOH DQG FDEOH I WKH FRQGXFWRUV RI WKH cable stick out from the insulation cover or protrude excessively from the tip of the ferrule accidents VXFK DV DQ HOHFWULF VKRFN DQG ÀUH IURP D VKRUW FLUFXLW PD UHVXOW 2 Insert the cable to the connector in the follo...

Page 99: ...Symbol Connector Pin No Contents Signal ground GND 1 Connected to ground of control circuit NC 2 Do not connect RS232 signal TXD 3 RS232 The transmission reception method RXD 4 RS485 signal ï 5 RS485 The transmission reception method 485 6 ï 7 485 8 Frame ground FG Shell Connected with protective earth terminal in the servo driver Connector plug 2040008 1 optional available from Tyco Electronics C...

Page 100: ... andthe driver before inserting pulling out the connector Cable prepared by the user RS485 RS485 RS232 Host controller PC controller Connector X2 Connector X2 Connector X2 Set the axis number Pr5 31 of driver to be connected through RS485 to a value in the range 1 to 31 Set the axis number Pr5 31 of driver to be connected to the host through RS232 to 0 4 Wiring to the connector X2 Connecting host ...

Page 101: ...nput 2 SF2ï 5 SF2 6 EDM output EDMï 7 This is an output for monitoring the failure of the safety function EDM 8 Frame ground FG Shell Connected with protective earth terminal in the servo driver Connector plug 2013595 1 optional available from Tyco Electronics 8 6 4 2 7 5 3 1 Connector pin assignment Viewed from cable 2 Preparation 5 Wiring to the connector X3 Safety function connector Remarks Cau...

Page 102: ...WKH FRQQHFWRU µ DQG 3 QSXWV and outputs on connector X4 6SHFLÀFDWLRQV RI WKH RQQHFWRU Connector at driver side Connecter to be prepared by customer Manufacturer Part name Part No 52986 5079 equivalent Connecter soldering type 54306 5019 equivalent Molex Inc Connector cover 54331 0501 equivalent or 10250 52A2 equivalent Connecter soldering type 10150 3000PE equivalent Sumitomo 3M Connector cover 10...

Page 103: ...for this product are as follows Mitutoyo Corp Magnescale Co Ltd For the details of the external scale product contact each company 2 5HFRPPHQGHG H WHUQDO VFDOH UDWLR LV WHUQDO VFDOH UDWLR If you set up the external scale ratio to smaller value than 50 position loop gain Pr1 00 and Pr 1 05 you may not be able to control per 1 pulse unit even if within the range as described above Setup of larger sc...

Page 104: ...ble 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 X5 6 The maximum power available from the connector X5 is 250 mA at 5 V 5 If you use an external scale requiring more power you should provide the suitable power source by yourself Some external scales need longer initialization period after SRZHU XS RXU GHVLJQ VKRXOG PHHW ...

Page 105: ...rger AWG24 and with higher bending resistance 3 Use twisted pair cable for corresponding signal power wiring 4 Shielding treatment 6KLHOG ZDOO RI WKH GULYHU VLGH W VROGHUV WKH VKHOO RI Connector X6 6KLHOG ZDOO RI WKH PRWRU VLGH manufactured by JAE Small type motor 50W to 750W connect to 6 pins Large type motor 0 9W to 15 0kW connect to 9 pins 5 Connect nothing to the empty terminals of each connec...

Page 106: ...XUHO LQVWDOO WKH JDVNHW LQ SODFH 2WKHUZLVH WKH GHJUHH RI SURWHFWLRQ RI 3 ZLOO QRW EH JXDUDQWHHG MSMD 50W to 750W MHMD 200W to 750W Motor Driver 5V 0V X6 Shell FG Motor 1 2 3 4 5 6 4 5 2 3 6 Twisted pair Encoder cable 172160 1 Tyco Electronics ODFN Purple White Light blue E5V E0V E5V E0V PS PS FG PS PS Caution 2QO WKH W SH RI RQO IRU SRVLWLRQ FRQWURO Caution MSME 750W 400V 1 0kW to 5 0kW MFME 1 5kW...

Page 107: ...DOO WKH JDVNHW LQ SODFH 2WKHUZLVH WKH GHJUHH RI SURWHFWLRQ RI 3 ZLOO QRW EH JXDUDQWHHG Caution RQQHFW WKH EDWWHU IRU DEVROXWH HQFRGHU DFURVV 3 DQG 3 RI WKH MXQFWLRQ FRQQHFWRU WKH figure above EDWWHU KROGHU DQG D EDWWHU FRQQHFWLRQ FDEOH VKRXOG EH WKH RSWLRQ FDEOH RU SUHSDUHG E the user Remarks RQQHFW WKH EDWWHU IRU DEVROXWH HQFRGHU DFURVV 3 DQG 3 RI WKH MXQFWLRQ FRQQHFWRU WKH figure above EDWWHU KR...

Page 108: ...tion control type Leave this pin unconnected 3DUDPHWHU UHUDWHG WR PRQLWRU RXWSXW Parametr No Title Function Class No 4 16 Type of analog monitor 1 Select the type of monitor for analog monitor 1 4 17 Analog monitor 1 output gain Set up the output gain of analog monitor 1 4 18 Type of analog monitor 2 Select the type of monitor for analog monitor 2 4 19 Analog monitor 2 output gain Set up the outpu...

Page 109: ...input POT NOT or external scale input so as to decide their logic until this term The lapse time can be changed with Pr6 18 Wait time after power up Servo Ready output S RDY Servo ON input SRV ON External brake release output BRK OFF output Tr OFF output Tr ON input coupler ON input coupler OFF Control power supply L1C L2C Internal control power supply Action of driver CPU Main power supply L1 L2 ...

Page 110: ...larm Dynamic brake Motor energization Servo Ready output S RDY Servo Alarm output ALM External brake release output BRK OFF when time to fall below value of Pr4 39 is shorter output Tr ON ready value of Pr4 38 Setup value of Pr4 39 when setup value of Pr4 38 is shorter approx 60ms approx 2ms 120ms or longer 1 input coupler ON input coupler OFF input coupler OFF engaged released energized not energ...

Page 111: ... value of Pr5 06 Sequence at servo off 3 Servo ON will not be activated until the motor speed falls below approx 30r min Dynamic brake Motor energization External brake release output BRK OFF Servo ON input SRV ON approx 60ms approx 2ms approx 4ms 1 to 6ms t1 1 output Tr ON Break release input coupler OFF not energized input coupler ON released energized output Tr OFF Break engage input coupler OF...

Page 112: ...Servo ON OFF Action While the Motor Is in Motion Remarks 7LPLQJ DW HPHUJHQF VWRS RU WULS R QRW UHSHDW WKLV VHTXHQFH Caution 1 t1 will be a shorter time of either the setup value of Pr4 38 Mechanical brake action at running setup or elapsing time for the motor speed to fall below Pr4 39 Brake re lease speed setup 2 Even though the SRV ON signal is turned on again during the motor deceleration Servo...

Page 113: ...plement 5HFRPPHQGHG FRPSRQHQWV DUH VSHFLÀHG WR PHDVXUH WKH EUDNH UHOHDVLQJ WLPH Reactance of the cable varies depending on the cable length and it might generate surge voltage Select a surge absorber so that relay coil voltage max rating 30V 50mA and termi nal voltage may not exceed the rating Output Timing of BRK OFF Signal Note RU WKH EUDNH UHOHDVH WLPLQJ DW SRZHU RQ RU EUDNLQJ WLPLQJ DW 6HUYR 2...

Page 114: ... or less 140 or less 1 08 2000 4000 3000 MFME 1 5kW 7 8 or less 4 7 80 or less 35 or less 0 83 DC2V or more 1372 2900 10000 2 5kW 21 6 or less 8 75 150 or less 100 or less 0 75 1470 1500 4 5kW 31 4 or less 2200 MGME 0 9kW 13 7 or less 1 35 100 or less 50 or less 130 0 79 DC2V or more 1176 1500 10000 2 0kW 24 5 or less 4 7 80 or less 25 or less 200 1 3 1372 2900 5440 3 0kW 58 8 or less 150 or less ...

Page 115: ...one of the protective function is activated 4 When over travel inhibit input NOT POT of connector X4 is activated In the above cases from 1 to 4 you can select either activation of the dynamic brake or making the motor free run during deceleration or after the stop with parameter Note that when the control power is off for A to F frame driver the dynamic brake will be kept actived and for G and H ...

Page 116: ...n resistor Provide one dynamic brake resistor for each phase KHQ XVLQJ DQ H WHUQDO G QDPLF EUDNH EH VXUH WR XVH WKH resistor Do not make short circuit Remarks Remarks U phase V phase SKDVH Terminals DB1 DB2 DB3 and DB4 7R FRQQHFW DQ H WHUQDO G QDPLF EUDNH UHVLVWRU GLVFRQQHFW WKH VKRUWLQJ EDU between DB3 and DB4 RQQHFW D PDJQHWLF FRQWDFWRU IRU FRQWURO IRU WKH H WHUQDO G QDPLF EUDNH EHWZHHQ DQG 3URY...

Page 117: ...RG Pin NC R QRW FRQQHFW DQ WKLQJ 24 VDC power supply IRU EUDNH to be supplied by customer 7KHUPDO IXVH RQH IXVH IRU HDFK UHVLVWRU to be supplied by customer Disconnect the shorting bar between DB3 and DB4 0DJQHWLF RQWDFWRU 0 7XUQV RQ RII WKH G QDPLF EUDNH UHVLVWRU Use coil surge suppression units together with this 8VH WKH VDPH PDJQHWLF FRQWDFWRU DV WKDW RI the main circuit 3URYLGH DQ DX LOLDU FRQ...

Page 118: ...ing condition During deceleration After stalling Contents of deviation counter D B D B Free run Free run D B D B Free run Free run D B Free run Free run D B D B Clear Clear Clear Clear Hold Hold Hold Hold Free run Free run D B 0 Setup value of Pr5 06 1 2 3 4 5 6 7 Sequence at main Servo OFF Pr5 06 Contents of deviation counter Driving condition During deceleration After stalling Emergency stop Cle...

Page 119: ... deceleration After stalling Emergency stop clear Torque command to inhibited direction is 0 Torque command to inhibited direction is 0 Torque command to inhibited direction is 0 Torque command to inhibited direction is 0 D B D B Free run Free run D B Free run Free run D B Hold Hold Hold Hold 0 Setup value of Pr5 10 1 2 3 4 5 6 7 Sequence at over travel inhibit input Pr5 10 Driving condition Durin...

Page 120: ...f parameters and writing to the memory EEPROM 2 Monitoring of I O pulse input and load factor 3 Display of the present alarm and reference of the error history 4 Data measurement of the wave form graphic and bringing of the stored data 5 Normal auto gain tuning 6 Frequency characteristic measurement of the machine system Because no production software such as CD ROM is available download the setup...

Page 121: ...ancing setting Parameter for Enhancing setting P 2 79 6 00 to 39 Special setting Parameter for Special setting P 2 81 The Parameter No consists of 2 digits Q WKLV GRFXPHQW IROORZLQJ V PEROV UHSUHVHQW HDFK PRGH Symbol Control mode Setup value of Pr0 01 P Position control 0 S Velocity control 1 T Torque control 2 F Full Closed control 6 P S Position 1st Velocity 2nd control 3 P T Position 1st Torque...

Page 122: ... 11 Output pulse counts per one motor revolution 1 to 262144 2500 P r 4 9 0 12 Reversal of pulse output logic 0 to 3 0 ï 4 11 0 13 1st torque limit 0 to 500 500 1 0 14 Position deviation excess setup 0 to 227 100000 Command unit 0 15 Absolute encoder setup 0 to 2 1 ï 0 16 External regenerative resistor setup 0 to 3 3 0 3 ï 4 12 0 17 Load factor of external regenerative resistor selection 0 to 4 0 ...

Page 123: ...switching 0 to 10 0 ï 4 16 1 16 Delay time of position control switching 0 to 10000 50 0 1ms 1 17 Level of position control switching 0 to 20000 50 ï 4 17 1 18 Hysteresis at position control switching 0 to 20000 33 ï 1 19 Position gain switching time 0 to 10000 33 0 1ms 1 20 Mode of velocity control switching 0 to 5 0 ï 4 18 1 21 Delay time of velocity control switching 0 to 10000 0 0 1ms 1 22 Lev...

Page 124: ...J ÀOWHU VHWXS 0 to 1000 0 0 1Hz 4 23 2 16 2nd damping frequency 0 to 2000 0 0 1Hz 4 22 2 17 QG GDPSLQJ ÀOWHU VHWXS 0 to 1000 0 0 1Hz 4 23 2 18 3rd damping frequency 0 to 2000 0 0 1Hz 4 22 2 19 UG GDPSLQJ ÀOWHU VHWXS 0 to 1000 0 0 1Hz 4 23 2 20 4th damping frequency 0 to 2000 0 0 1Hz 4 22 2 21 WK GDPSLQJ ÀOWHU VHWXS 0 to 1000 0 0 1Hz 4 23 2 22 3RVLWLRQDO FRPPDQG VPRRWKLQJ ÀOWHU 0 to 10000 0 0 1ms 2...

Page 125: ...0 to 20000 30 r min 3 17 Selection of torque command 0 to 2 0 ï 4 29 3 18 Torque command direction selection 0 to 1 0 ï 3 19 Input gain of torque command 10 to 100 30 0 1V 100 3 20 Input reversal of torque command 0 to 1 0 ï 3 21 Speed limit value 1 0 to 20000 0 r min 4 30 3 22 Speed limit value 2 0 to 20000 0 r min 3 23 External scale selection 0 to 2 0 ï 3 24 Numerator of external scale division...

Page 126: ...0551 ï 4 15 SO6 output selection Pin No 40 Open collector output 0 to 00FFFFFFh 394758 ï 4 16 Type of analog monitor 1 0 to 21 0 ï 4 36 4 17 Analog monitor 1 output gain 0 to 214748364 0 ï 4 18 Type of analog monitor 2 0 to 21 4 ï 4 19 Analog monitor 2 output gain 0 to 214748364 0 ï 4 20 Type of digital monitor 0 to 3 0 ï 4 21 Analog monitor output setup 0 to 2 0 ï 4 38 4 22 Analog input 1 AI1 off...

Page 127: ... to the driver is turned off and then on again HÀQLWLRQ RI V PEROV XQGHU 5HODWHG PRGHµ 3 SRVLWLRQ FRQWURO 6 YHORFLW FRQWURO 7 WRUTXH FRQWURO IXOO FORVHG FRQWURO Class 5 Enhancing setting Parametr No Title Range Default Unit Turning on of power supply Related Control Mode Detail page Class No A B frame C frame D E F frame G H frame P S T F 5 00 2nd numerator of electronic gear 0 to 230 0 ï 4 43 5 0...

Page 128: ...ve direction torque limit 0 to 500 500 1 5 27 Input gain of analog torque limit 10 to 100 30 0 1V 100 5 28 LED initial status 0 to 35 1 ï 4 50 5 29 RS232 baud rate setup 0 to 6 2 ï 5 30 RS485 baud rate setup 0 to 6 2 ï 5 31 Axis address 0 to 127 1 ï 4 51 5 32 Command pulse input maximum setup 250 to 4000 4000 kpulse s 5 33 Pulse regenerative output limit setup 0 to 1 0 ï 5 34 For manufactuer s use...

Page 129: ...ulse 4 54 6 20 Z phase setup of external scale 0 to 400 0 ѥV 6 21 Serial absolute external scale Z phase setup 0 to 228 0 pulse 6 22 A B phase external scale pulse output method selection 0 to 1 0 ï 6 23 Disturbance torque compensating gain ï WR 0 6 24 LVWXUEDQFH REVHUYHU ÀOWHU 0 to 2500 53 0 01ms 4 55 6 27 Alarm latch time selection 0 to 10 5 s 6 31 Real time auto tuning estimation speed 0 to 3 1...

Page 130: ...H LPLW Frame Model No Applicable motor Max value of WRUTXH OLPLW Frame Model No Applicable motor Max value of WRUTXH OLPLW D MDDHT5540 MGME092G 225 G MGDHTC3B4 MGME602G 272 MGME092S 225 MGME602S 272 MDDHT3420 MGME094G 225 MDME752G 265 MGME094S 225 MDME752S 265 F MFDHTA390 MGME202G 250 MHME752G 265 MGME202S 250 MHME752S 265 MFDHTB3A2 MGME302G 250 MGDHTB4A2 MGME604G 272 MGME302S 250 MGME604S 272 MGM...

Page 131: ... be different from the previous motor see e g 2 e g 1 Pr0 13 Setup range 0 to 300 Setup value 100 before replacing the motor Rated torque 0 64N m Rated torque 0 32N m MADHT1507 MSME022S1A Pr0 13 Setup range Change to 0 to 300 Setup value Keep 100 after replacing the motor MADHT1507 MSME012S1A Torque limit value 0 32N m 0 32N m x 100 Torque limit value 0 64N m 0 64N m x 100 Set up Pr0 13 to 200 to ...

Page 132: ...ined by selecting value of numerator and denomina tor of electronic gear However an excessively high division or multiplication ratio can not guarantee the operation The ratio should be in a range between 1 1000 and 1000 Excessively high multiplication ratio will cause Err27 2 command pulse multiplication error protection due to varying command pulse input or noises even if the other set WLQJV DUH...

Page 133: ...15 уM L E D 217 1 1 1 R 1 20 3750 215 D 500000 60 2000 217 30000000 2000 217 30000000 262144000 22 20 3750 1 0 00133mm 3750 4 20 217 1 Lead of ball screw L 10mm Gear reduction ratio R 1 Position resolution у0 PP Encoder 17 bit E 217 P r Lead of ball screw L 20mm Gear reduction ratio R 1 Position resolution у0 PP Encoder 17 bit E 217 P r Lead of ball screw L 20mm Gear reduction ratio R 1 Position r...

Page 134: ...r display screen when error occurs and LED will flash about 2Hz LED will flash slowly about 1Hz when warning occurs Mode switching button valid at SELECTION display Press this to switch 4 kinds of mode 1 Monitor Mode 2 Parameter Set up Mode 3 EEPROM Writing Mode 4 Auxiliary Function Mode SET Button valid at any time Press this to switch SELECTION and EXECUTION display 6 1 X7 Note For connector X7 ...

Page 135: ...tection level A1 Over regeneration alarm Regenerative load factor is 85 or more the protection level A2 Battery alarm Battery voltage is 3 2 V or lower A3 Fan alarm Fan has stopped for 1 sec A4 Encoder communication alarm The number of successive encoder communication errors H FHHGV WKH VSHFLÀHG YDOXH A5 Encoder overheat alarm The encoder detects overheat alarm A6 Oscillation detection alarm Oscil...

Page 136: ...ZLWFKLQJ EXWWRQ 0RGH VZLWFKLQJ EXWWRQ 6 7 EXWWRQ P 2 91 P 2 108 P 2 106 P 2 107 SELECTION display Note Caution RX FDQ FKDQJH WKH ÁDVKLQJ GHFLPDO SRLQW ZLWK then shift the digit for data change On power up the monitor mode executed is displayed according to the setup of Pr5 28 LED initial status 2 Preparation 15 How to Use the Front Panel Structure of Each Mode Phone 800 894 0412 Fax 888 723 4773 W...

Page 137: ...5 P 2 107 P 2 111 0RWRU WULDO UXQ 2 P 2 110 XWRPDWLF RIIVHW DGMXVWPHQW WR P 2 109 ODUP FOHDU 3 OHDULQJ RI DEVROXWH HQFRGHU P 2 114 QLWLDOL DWLRQ RI SDUDPHWHU 6 7 EXWWRQ 6 7 EXWWRQ 6 7 EXWWRQ 6 7 EXWWRQ P 2 115 5HOHDVH RI IURQW SDQHO ORFN EXECUTION display 15 How to Use the Front Panel Structure of Each Mode Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 138: ...he operation attempted from the front panel Lock and unlock can be made in one of two ways Procedure Front panel Setup support software PANATERM Lock 1 Set Pr5 35 Front panel lock to 1 and writ the setting to EEPROM 2 Turn on power to the driver 3 The front panel is locked Unlock 1 Execute the auxiliary function mode front panel lock release function 2 Turn on power to the driver 3 The front panel...

Page 139: ...is address Encoder positional deviation Encoder unit External scale deviation External scale unit Hybrid deviation Command unit Voltage across PN V Software version Driver serial number Motor serial number Accumulated operation time Automatic motor recognizing function Temperature information Safety condition monitor Motor speed Positional command speed Velocity control command Torque command Feed...

Page 140: ...or speed positional command speed YHORFLW FRQWURO FRPPDQG DQG WRUTXH FRPPDQG Displays the motor speed r min 0RWRU VSHHG U PLQ Displays positional command speed r min 3RVLWLRQDO FRPPDQG VSHHG U PLQ Displays velocity control command r min 9HORFLW FRQWURO FRPPDQG U PLQ Displays torque command 7RUTXH FRPPDQG 2 Preparation 15 How to Use the Front Panel Monitor Mode EXECUTION display Phone 800 894 0412 ...

Page 141: ...DQG 3XOVH 6XP RPPDQG 3XOVH Low order High order External Scale Feedback Pulse Sum WHUQDO 6FDOH HHGEDFN 3XOVH 6XP To switch between Low order L and High order H press To switch between Low order L and High order H press To switch between Low order L and High order H press 4 Display of Control Mode Position control mode Velocity control mode Torque control mode Full closed control mode 15 How to Use...

Page 142: ...gnal transistor is OFF 6HOHFW WKH 3LQ 1R WR EH PRQLWRUHG E SUHVVLQJ 6KLIW WKH IODVKLQJ GHFLPDO SRLQW ZLWK 6HOHFW Q RU 2XW E SUHVVLQJ RU EXWWRQ 5LJKW VLGH RI GHFLPDO SRLQW 3LQ 1R VHOHFWLRQ HIW VLGH RI GHFLPDO SRLQW QSXW 2XWSXW 3LQ 1R VHOHFWLRQ RZHVW SODFH 3LQ 1R RI RXWSXW VLJQDO Highest place Pin No RI LQSXW VLJQDO 15 How to Use the Front Panel Monitor Mode EXECUTION display Note For detail of inpu...

Page 143: ...nitor Mode EXECUTION display Analog input 1 value unit V Analog input 2 value unit V Analog input 3 value unit V Input signal Input voltage value V Select the signal No to be monitored by pressings Displays the value after offset correction Caution Voltage exceeding 10V can not be displayed correctly Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 144: ...on deviation excess protection 1 Velocity deviation excess protection 25 0 Hybrid deviation excess error protection 26 0 Over speed protection 1 2nd over speed protection 27 0 Command pulse input frequency error protection 2 Command pulse multiplier error protection 28 0 Limit of pulse replay error protection 29 0 HYLDWLRQ FRXQWHU RYHUÁRZ SURWHFWLRQ 30 0 Safety detection 33 0 IF overlaps allocatio...

Page 145: ... 38 0 Over travel inhibit input protection 39 0 Analog input1 excess protection 1 Analog input2 excess protection 2 Analog input3 excess protection 40 0 Absolute system down error protection 41 0 Absolute counter over error protection 42 0 Absolute over speed error protection 43 0 Initialization failure 44 0 Absolute single turn counter error protection 45 0 Absolute multi turn counter error prote...

Page 146: ...short L HG DW A8 External scale error alarm The external scale detects the alarm WR V RU A9 External scale communication alarm The number of successive external scale FRPPXQLFDWLRQ HUURUV H FHHGV WKH VSHFLÀHG YDOXH WR V RU 1 Alarms can be cleared by using the alarm clear Because the all existing alarms are kept cleared while the alarm FOHDU LQSXW 5 LV NHSW 21 EH VXUH WR WXUQ LW 2 GXULQJ QRUPDO RSH...

Page 147: ... regenerative protection This is valid when Pr0 16 External regenerative resistor setup is 0 or 1 Displays the ratio against the rated load Refer to P 6 14 Overload Protection Time Characteristics of When in Trouble Displays the inertia ratio Value of Pr0 04 Inertia Ratio will be displayed as it is 15 How to Use the Front Panel Monitor Mode EXECUTION display Note For alarm function refer to P 4 42...

Page 148: ... is valid and INH is open 07 Command pulse input frequency is low The position command per each control cycle is 1 pulse or smaller due to 1R FRUUHFW HQWU RI FRPPDQG SXOVH 1R FRUUHFW FRQQHFWLRQ WR WKH LQSXW VHOHFWHG ZLWK 3U 1R PDWFKLQJ WR LQSXW VWDWXV VHOHFWHG ZLWK 3U SU 3U 08 CL input is valid While Pr5 17 is 0 Deviation counter clear at level the deviation counter clear input CL is connected to ...

Page 149: ...RXOG EH GLVSOD HG E SUHVVLQJ RU EXWWRQ 7KH VZLWFK RI LQSXW RXWSXW E SUHVVLQJ RU EXWWRQ HIW VLGH RI GHFLPDO SRLQW 3LQ 1R VHOHFWLRQ 5LJKW VLGH RI GHFLPDO SRLQW QSXW 2XWSXW 3LQ 1R VHOHFWLRQ RZHVW SODFH 3LQ 1R of output signal Highest place Pin No of input signal 6KLIW WKH IODVKLQJ GHFLPDO SRLQW ZLWK 12 Display of absolute encoder data Encoder data One revolution data Low order L 6HOHFW WKH GDWD WR EH...

Page 150: ...igh order Select encoder or external scale by pressing or button 14 Display of No of encoder external scale communication errors monitor No of communication errors Select encoder or external scale by pressing or button Encoder External scale 15 Display of communication axis address Displays the value set to Pr5 31 Axis address 16 Display of encoder positional deviation Encoder unit encoder positio...

Page 151: ...rid deviation Command unit Low order High order To switch between Low order L and High order H press 19 Display of voltage across PN V Displays the voltage across PN V only for reference not an instrument 20 Display of Software Version Displays the software version of the driver Example of display Ver 1 00 21 Display of driver serial number Driver serial number Driver serial number Low order Drive...

Page 152: ...ed operation time Displays accumulated operation time h Low order High order To switch between Low order L and High order H press 24 Automatic Motor Recognizing Function Automatic recognition is valid Automatic recognition is invalid 25 Display of temperature Displays the driver temperature C This is not meter readings but only for reference Displays the encoder temperature C This is not meter rea...

Page 153: ...ervo off condition Servo on condition Alarm condition Servo ready condition OFF Dot unlit ON Dot lit Flashing Normal change is possible Dot information 6HOHFW GHVLUHG PRQLWRU RSWLRQ E SUHVVLQJ RU EXWWRQ QSXW SKRWRFRXSOHU 2 QSXW SKRWRFRXSOHU 21 QSXW SKRWRFRXSOHU 2 QSXW SKRWRFRXSOHU 21 2XWSXW SKRWRFRXSOHU 2 2XWSXW SKRWRFRXSOHU 21 Related page P 7 2 safety Phone 800 894 0412 Fax 888 723 4773 Web www ...

Page 154: ...s kept unchanged and the display returns to the parameter number display screen After changing the parameter value and pressing the content will be reflected in the control R QRW H WUHPHO FKDQJH WKH parameter value which change might affect the motor movement very much especially velocity loop or position loop gains Mode switch button Mode switch button Pr0 00 Pr0 00 Pr0 01 Pr6 32 Pr0 01 Pr6 33 3U...

Page 155: ... VZLWFK EXWWRQ Writing completes Writing error Starts writing SELECTION display EEPROM Writing Mode SELECTION display Parameter Setup Mode SELECTION display Auxiliary Function Mode EXECUTION display Note Caution 1 When writing error occurs make writing again If the writing error repeats many times this might be a failure 2 Don t turn off the power during EEPROM writing Incorrect data might be writ...

Page 156: ...WLRQ RI SDUDPHWHU QLWLDOL DWLRQ RI SDUDPHWHU XWRPDWLF 2IIVHW GMXVWPHQW XWRPDWLF 2IIVHW GMXVWPHQW XWRPDWLF 2IIVHW GMXVWPHQW 0RWRU 7ULDO 5XQ OHDULQJ RI EVROXWH QFRGHU ODUP OHDU 5HOHDVH RI IURQW SDQHO ORFN 5HOHDVH RI IURQW SDQHO ORFN SELECTION display Auxiliary Function Mode SELECTION display Monitor Mode EXECUTION display Display example Description Pages to refer 3 3 3 3 3 3 3 SELECTION display EEP...

Page 157: ...referring to structure of each mode P 2 88 SET button HHS SUHVVLQJ XQWLO WKH GLVSOD FKDQJHV WR ZKHQ RX H HFXWH DODUP FUHDU ODUP FOHDU FRPSOHWHV OHDU LV QRW ILQLVKHG 5HOHDVH WKH HUURU E UHVHWWLQJ WKH SRZHU ODUP FOHDU VWDUWV OHDULQJ ILQLVKHV SELECTION display EXECUTION display µ LQFUHDVHV ZKLOH NHHS SUHVVLQJ IRU DSSUR VHF DV WKH OHIW ILJ VKRZV 3UHVV WR FDOO IRU 87 21 GLVSOD 2 Preparation 15 How to U...

Page 158: ...ustment return to SELECTION display by referring to P 2 88 Structure of Each Mode KHQ RX H HFXWH DXWRPDWLF RIIVHW DGMXVWPHQW PDNH FRPPDQG LQSXW WR 9 WKHQ NHHS SUHVVLQJ XQWLO WKH GLVSOD FKDQJHV WR 3UHVV WR FDOO IRU 87 21 GLVSOD 6 7 EXWWRQ XWRPDWLF RIIVHW DGMXVWPHQW ILQLVKHV XWRPDWLF RIIVHW DGMXVWPHQW VWDUWV DPSOH RI QDORJ LQSXW UURU RFFXUV GMXVWPHQW ILQLVKHV QYDOLG PRGH LV VHOHFWHG RU RIIVHW YDOXH ...

Page 159: ...XQGHG RRVH FRQQHFWLRQ 2 Confirmation of power supply and voltage 5DWHG YROWDJH 3 Fixing of the servo motor 8QVWDEOH PRXQWLQJ 4 Separation from the PHFKDQLFDO V VWHP 5 Release of the brake 6 Turn to Servo OFF after finishing the trial run by pressing 1 Inspection on wiring 0LVZLULQJ VSHFLDOO SRZHU LQSXW DQG PRWRU RXWSXW 6KRUW RU JURXQGHG RRVH FRQQHFWLRQ 2 Confirmation of power supply and voltage 5D...

Page 160: ...sing approx 5 sec to shift the decimal point toward left as the left fig shows 7KHQ NHHS SUHVVLQJ XQWLO WKH GLVSOD RI FKDQJHV WR 1RW D VHUYR UHDG VWDWXV 6KXWV RII WKH PDLQ ZKHQ HUURU RFFXUV IWHU WKH 6HUYR 21 RI SUHSDUDWLRQ VWHS IRU WULDO UXQ WKH PRWRU UXQV DW WKH SUHVHW VSHHG ZLWK 3U 3 VSHHG WR 3RVLWLYH GLUHFWLRQ GLUHFWLRQ E SUHVVLQJ 1HJDWLYH GLUHFWLRQ E SUHVVLQJ 3UHSDUDWLRQ VWHS 3UHSDUDWLRQ VWHS ...

Page 161: ...tarts Clearing finishes 3UHVV WR FDOO IRU EXECUTION display SET button SELECTION display EXECUTION display increases while keep pressing for approx 5sec as the left fig shows HHS SUHVVLQJ XQWLO WKH GLVSOD FKDQJHV WR when you execute Clearing of Absolute Encoder Note IWHU FOHDULQJ RI DEVROXWH HQFRGHU ÀQLVKHV UHWXUQ WR 6 7 21 GLVSOD UHIHUULQJ WR VWUXF ture of each mode P 2 88 15 How to Use the Front...

Page 162: ...QJHV WR when you execute Initialization of parameter Caution Parameter cannot be initialized when one of the following error occurs Err11 0 Under voltage protection of control power supply EEPROM related errors Err36 0 Err36 1 Err36 2 Err37 0 Err37 1 and Err37 2 initialization will result in Error display 15 How to Use the Front Panel Auxiliary Function Mode EXECUTION display Note IWHU LQLWLDOL DW...

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Page 165: ...14 Velocity Control Mode 3 15 Torque Control Mode 3 16 Full closed Control Mode 3 17 3 Wiring Diagram to the connector X4 DPSOH RI FRQWURO PRGH VSHFLÀF ZLULQJ 3 18 RQQHFWLQJ DPSOH WR RVW RQWUROOHU 3 20 4 Inputs and outputs on connector X4 Interface Circuit Input 3 30 Interface Circuit Output 3 32 QSXW 6LJQDO DQG 3LQ 1R 3 34 2XWSXW 6LJQDO DQG 3LQ 1R 3 45 5 IF Monitor Settings RZ WR VVLJQ 9DULRXV 2 ...

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Page 178: ... Velocity feed forward 1 10 Gain 1 11 Filter Torque feed forward 1 12 Gain 1 13 Filter Position control 1 00 1st 1 05 2nd Current control Speed detection 6 11 Response setup Torque filter 1 04 1st 1 09 2nd Disturbance observer 6 23 Gain 6 24 Filter Speed detection filter 1 03 1st 1 08 2nd 6 10 Instantaneous speed Torque limit 5 21 Selection 0 13 1st 5 22 2nd Pulse regeneration Pulses output OA OB ...

Page 179: ... 1 12 1 13 2nd setup Mode Delay time Level Hysteresis additional value Torque feed forward Gain Filter Notch filter 2 01 1st Frequency Depth 2 04 2 02 2 05 2nd 2 10 2 11 2 00 Width 2 03 2 06 2 07 2 08 3rd 2 09 2 12 4th Adaptive mode setup Main power supply Torque filter 1 04 1st 1 09 2nd Disturbance observer 6 23 Gain 6 24 Filter Torque limit 5 21 Selection 0 13 1st 5 22 2nd Torque command Motor L...

Page 180: ...bsolute value Offset Filter Gain Reversal Current control 6 11 Main power supply Torque limit 5 21 Selection 0 13 1st 5 22 2nd Torque command Response setup Pulse regeneration Pulses output OA OB OZ Numerator Denominator 0 11 One revolution 0 12 Reversal 5 03 Denomi nator Velocity detection filter 1 03 1st 1 08 2nd 6 10 Instantaneous speed Velocity control 1 01 1st 1 06 1 02 1 07 2nd 0 04 6 10 Ine...

Page 181: ...hing 1 14 2nd setup 1 15 Mode 1 16 Delay time 1 17 Level 1 18 Hysteresis 1 19 Switching time 6 05 3rd setup 6 06 Scale factor 2 22 FIR 2 23 Primary delay Friction compensation 6 07 6 08 6 09 additional value Positive direction Negative direction Torque feed forward 1 12 Gain 1 13 Filter Velocity feed forward 1 10 Gain 1 11 Filter 1 01 1st 1 06 1 02 1 07 2nd 0 04 6 10 Inertia ratio 6 13 2nd inertia...

Page 182: ...rvo Alarm output Positioning complete output External brake release output Torque in limit output Zero speed detection output Deviation counter clear input Command pulse inhibition input Twisted pair 4 7kї 220ї 2 2kї 2 2kї 220ї 2 2kї 2 2kї 7 COM OA OA OB OB OZ OZ GND CZ SPR TRQR SPL GND P ATL TRQR GND N ATL SP IM 21 22 48 24 25 19 49 23 1kї 1kї INTSPD1 INTSPD2 SRV ON GAIN INTSPD3 ZEROSPD C MODE A ...

Page 183: ...ection over travel inhibition input Servo Ready output Servo Alarm output Positioning complete output External brake release output Torque in limit output Zero speed detection output Deviation counter clear input Command pulse inhibition input Twisted pair 4 7kї 220ї 2 2kї 2 2kї 220ї 2 2kї 2 2kї 7 COM OA OA OB OB OZ OZ GND CZ SPR TRQR SPL GND P ATL TRQR GND N ATL SP IM 21 22 48 24 25 19 14 15 16 1...

Page 184: ... A5 A6 B6 A20 B20 220Ω 220Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω CW limit sensor Origin proximity sensor CCW limit sensor 390Ω 3 6kΩ 6 8kΩ GND 24V DC24V Power supply Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Comma...

Page 185: ...itching input CW pulse command output CCW pulse command output Origin input Deviation counter reset output External power supply input Origin proximity input from PLC I O output to PLC I O input GND 24V DC24V Power supply CW limit sensor Origin proximity sensor CCW limit sensor A5 series FPG PP12 AFPG432 Panasonic Electric Works Driver PLC Command pulse input 2 Command sign input 2 Process of shie...

Page 186: ... PP2 AFP2430 Panasonic Electric Works to PLC I O input CW limit sensor Origin proximity sensor CCW limit sensor from PLC I O output to PLC I O input GND 24V DC24V Power supply Driver PLC CW pulse command output CCW pulse command output Origin input Deviation counter reset output External power supply input Origin proximity input Process of shield wire varies with equipment 50 3 4 5 6 23 24 13 25 7...

Page 187: ... Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain switching input Driver PLC CCW limit sensor Origin proximity sensor CW limit sensor CW pulse command output CCW pulse command output Origin input Deviation counter reset output Origin proximity input CCW limit excess input CW limit excess input Process of shie...

Page 188: ...it sensor Origin proximity sensor CW limit sensor A5 series F3YP14 ON F3YP18 ON Yokogawa Electric Corp Driver PLC CW pulse command output CCW pulse command output Origin line driver input Deviation counter reset output 5V power supply for pulse output Origin proximity input CW limit input CCW limit input Process of shield wire varies with equipment 14a 13a 12a 11a 15a 16a 10a 9a 8b 8a 1a 3a 2a 4a ...

Page 189: ...nput Inhibit positive direction travel input Z phase output Command sign input 2 Gain switching input Driver PLC CCW limit sensor Origin proximity sensor CW limit sensor Pulse output A Pulse output B Origin input Deviation counter reset output Contact point input COM External power supply 24VDC input External power supply 24VDC input GND Negative direction limit input Positive direction limit inpu...

Page 190: ...ut Command sign input 2 Gain switching input Driver PLC CCW limit sensor Origin proximity sensor CW limit sensor CW pulse command output CCW pulse command output Origin line driver input Power supply for output Deviation counter reset output Emergency stop input Origin proximity input CCW limit excess input CW limit excess input Process of shield wire varies with equipment 50 3 4 5 6 23 24 13 25 7...

Page 191: ...put Z phase output Command sign input 2 Gain switching input Driver PLC GND 24V DC24V Power supply GND 5V DC5V Power supply CCW limit sensor Origin proximity sensor CW limit sensor CW pulse command output CCW pulse command output Origin line driver input Deviation counter reset output 24V power supply for output Emergency stop input Origin proximity input CCW limit over input CW limit over input 5...

Page 192: ...vel input Z phase output Command sign input 2 Gain switching input Driver PLC CW limit sensor Origin proximity sensor CCW limit sensor CW pulse command output CCW pulse command output Zero point signal Deviation counter clear Common Proximity signal Upper limit Lower limit Drive unit ready 50 3 4 5 6 23 24 13 25 7 30 29 27 31 9 8 35 34 37 36 39 38 41 FG PULS1 PULS2 SIGN1 SIGN2 OZ OZ GND COM CL SRV...

Page 193: ...dy output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain switching input Driver PLC CW limit sensor Origin proximity sensor CCW limit sensor Process of shield wire varies with equipment 50 3 4 5 6 23 24 13 25 7 30 29 27 31 9 8 35 34 37 36 39 38 41 FG PULS1 PULS...

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Page 198: ...F Symbol COM FLUFXLW RQQHFW RI WKH H WHUQDO SRZHU VXSSO WR 9 8VH WKH SRZHU VXSSO YROWDJH RI 9 9 Pin 1R 41 Title of VLJQDO Power supply for control signal Related control mode P S T F Symbol 20ï FLUFXLW RQQHFW RI WKH H WHUQDO SRZHU VXSSO WR 9 7KH SRZHU FDSDFLW YDULHV GHSHQGLQJ RQ D FRPSRVLWLRQ RI 2 FLUFXLW RU PRUH LV recommended Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrw...

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Page 212: ...lated control mode P S T F Symbol CZ FLUFXLW PO2 3 33 SDJH 2SHQ FROOHFWRU RXWSXW RI SKDVH VLJQDO 7KH HPLWWHU VLGH RI WKH WUDQVLVWRU RI WKH RXWSXW FLUFXLW LV FRQQHFWHG WR WKH VLJQDO JURXQG 1 and is not insulated KHQ XVLQJ WKH VLJQDO LVRODWH LW IURP H WHUQDO QRLVH 1RWH WKDW WKH ORJLF RI SKDVH RSHQ FROOHFWRU RXWSXW LV D UHYHUVDO RI WKH OLQH GULYHU RXWSXW 2 ORJLF Note KHQ WKH RXWSXW VRXUFH LV WKH HQFR...

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Page 214: ...arameter Title Symbol 6HWXS YDOXH a contact b contact QYDOLG ï K R QRW VHWXS 3RVLWLYH GLUHFWLRQ RYHU WUDYHO LQKLELWLRQ LQSXW POT K K 1HJDWLYH GLUHFWLRQ RYHU WUDYHO LQKLELWLRQ LQSXW 127 K K 6HUYR 21 LQSXW 1 659 21 K K ODUP FOHDU LQSXW 5 K R QRW VHWXS RQWURO PRGH VZLWFKLQJ LQSXW 2 02 K K DLQ VZLWFKLQJ LQSXW 1 K K HYLDWLRQ FRXQWHU FOHDU LQSXW 3 K R QRW VHWXS RPPDQG SXOVH LQKLELWLRQ LQSXW 4 1 K K 7RUT...

Page 215: ...decimal and decimal numbers should be used respectively The expression of 00 h indicates that the number is hexadecimal The SI1 input connector X4 pin No 8 means that the negative direction over travel inhibition input is set to b contact as a factory default For using the device in the position or full closed control mode the negative direction over travel inhibition input is set to b contact by ...

Page 216: ... SLQ VHW WR LQYDOLG DOZD V KDV WKH RXWSXW WUDQVLVWRU WXUQHG 2 R QRW FKDQJH WKH VHWXS YDOXH VKRZQ LQ WKH WDEOH 1RWH WKDW WKH VHWXS YDOXHV DUH GLVSOD HG LQ GHFLPDO RQ WKH IURQW SDQHO QSXW FLUFXLW UHIHU WR 3 DQG IXQFWLRQ UHIHU WR 3 WR 3 5HODWHG SDJH P 4 35 7KHVH SDUDPHWHUV VKDOO EH VHW E XVLQJ KH DGHFLPDO QXPEHUV 6HWWLQJ VKDOO EH PDGH IRU HDFK FRQWURO PRGH DV VKRZQ LQ H DPSOHV EHORZ 00 ーーーー K 3RVLWLR...

Page 217: ... 4 13 Class 2 Damping control 4 20 Class 3 Verocity Torque Full closed control 4 25 Class 4 I F monitor setting 4 33 Class 5 Enhancing setting 4 43 Class 6 Special setting 4 52 2 Trial Run JOG run Inspection Before Trial Run 4 59 Trial Run by Connecting the Connector X4 4 60 Setup of Motor Rotational Speed and Input Pulse Frequency 4 63 Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email ...

Page 218: ...mode delay time OHYHO hysteresis 4 18 21 22 23 24 4 19 25 26 27 Class 2 Damping control 00 GDSWLYH ÀOWHU PRGH VHWXS 4 20 01 1st notch frequency ZLGWK VHOHFWLRQ depth selection 02 03 04 2nd notch frequency ZLGWK VHOHFWLRQ depth selection 05 06 4 21 07 3rd notch frequency ZLGWK VHOHFWLRQ depth selection 08 09 10 4th notch frequency ZLGWK VHOHFWLRQ depth selection 11 12 13 6HOHFWLRQ RI GDPSLQJ ÀOWHU ...

Page 219: ...ass 5 Enhancing setting 14 0RWRU ZRUNLQJ UDQJH VHWXS 4 46 15 UHDGLQJ ÀOWHU 16 ODUP FOHDU LQSXW VHWXS 4 47 17 Counter clear input mode 18 Command pulse inhibit input QYDOLGDWLRQ reading setup 19 20 Position setup unit select 4 48 21 Selection of torque limit 22 2nd torque limit 23 7RUTXH OLPLW VZLWFKLQJ setup 1 2 4 49 24 25 WHUQDO input SRVLWLYH GLUHFWLRQ WRUTXH limit QHJDWLYH GLUHFWLRQ WRUTXH limi...

Page 220: ...to be used Setup value Content 1st mode 2st mode 0 Position 1 Velocity 2 Torque 3 1 Position Velocity 4 1 Position Torque 5 1 Velocity Torque 6 Full closed KHQ RX VHW XS WKH FRPELQDWLRQ PRGH RI RU RX FDQ VHOHFW HLWKHU WKH VW RU WKH QG ZLWK FRQWURO PRGH VZLWFKLQJ LQSXW 02 KHQ 02 LV RSHQ WKH VW PRGH ZLOO EH selected KHQ 02 LV VKRUWHG WKH QG PRGH ZLOO be selected Don t enter commands 10ms before afte...

Page 221: ...HV XVH RI WKH VHWXS VXSSRUW VRIWZDUH 6 Customize 4 Functions of real time auto gain tuning can be customized to meet the UHTXLUHPHQWV RI WKH VSHFLÀF DSSOLFDWLRQ E FRPELQLQJ GHVLUHG IXQFWLRQV DFFRUGLQJ WR WKH 3U 5HDO WLPH DXWR JDLQ WXQLQJ FXVWRP VHWWLQJµ 1 Velocity and torque controls are the same as in the standard mode 2 Torque control is the same as in the standard mode 9HORFLW FRQWURO LV WKH VD...

Page 222: ...R RI 3U LV VPDOOHU WKDQ WKH DFWXDO WKH VHWXS XQLW RI WKH YHORFLW ORRS JDLQ EHFRPHV VPDOOHU Pr0 05 Selection of command pulse input Range Unit Default Related control mode 0 to 1 0 P F RX FDQ VHOHFW HLWKHU WKH SKRWR FRXSOHU LQSXW RU WKH H FOXVLYH LQSXW IRU OLQH GULYHU DV WKH command pulse input Setup value Content 0 3KRWR FRXSOHU LQSXW 38 6 38 6 6 1 6 1 1 FOXVLYH LQSXW IRU OLQH GULYHU 38 6 38 6 6 1...

Page 223: ... 0LQ QHFHVVDU WLPH ZLGWK ѥV t2 1 t3 1 t4 1 t5 1 t6 1 3HUPLVVLEOH PD LQSXW IUHTXHQF DQG PLQ QHFHVVDU WLPH ZLGWK RI FRPPDQG SXOVH LQSXW VLJQDO 0DNH WKH ULVLQJ IDOOLQJ WLPH RI WKH FRPPDQG SXOVH LQSXW VLJQDO WR ѥV RU VPDOOHU 7KH WDEOH EHORZ VKRZV FRPELQDWLRQV RI 3U RPPDQG SXOVH URWDWLRQDO GLUHFWLRQ VHWXS DQG 3U RPPDQG SXOVH LQSXW PRGH VHWXS 3XOVHV DUH FRXQWHG DW HGJHV LQGLFDWHG E WKH DUURZV DV VKRZQ L...

Page 224: ...OXWLRQ QWHUUHODWLRQVKLS EHWZHHQ 3U 3U DQG 3U GXULQJ 3RVLWLRQ FRQWURO Pr0 08 Pr0 09 Pr0 10 Command division multiplication operation 1 to 1048576 1RW HIIHFW 1RW HIIHFW Encoder resolution Pr0 08 setup value Command pulse input Positional command 5HJDUGOHVV RI VHWXS RI 3U DQG 3U WKLV RSHUDWLRQ LV SURFHVVHG DFFRUGLQJ WR VHWXS YDOXH RI Pr0 08 0 0 0 to 1073741824 Encoder resolution Pr0 10 setup value Co...

Page 225: ... KLJK PXOWLSOLFDWLRQ UDWLR ZLOO FDXVH UU FRPPDQG SXOVH PXOWLSOLFDWLRQ HUURU SURWHFWLRQ GXH WR YDU LQJ FRPPDQG SXOVH LQSXW RU QRLVHV HYHQ LI WKH RWKHU VHWWLQJV DUH ZLWKLQ WKH VSHFLÀHG UDQJH XULQJ IXOO FORVHG FRQWUROOLQJ GR QRW FKDQJH FRPPDQG GLYLVLRQ DQG PXOWLSOLFDWLRQ UDWLR 2WKHUZLVH UU EULG RYHU GHYLDWLRQ DODUP ZLOO EH JHQHUDWHG Pr0 11 Output pulse counts per one motor revolution Range Unit Defau...

Page 226: ...up value 4 Encoder resolution Encoder feedback pulse pulse Output pulse pulse KHQ 3U WKH DERYH SURFHVV LV PDGH DFFRUGLQJ WR 3U VHWXS YDOXH 7KH QXPEHU RI SXOVHV RI UHSURGXFHG SXOVH RXWSXW 2 DQG OB are the number of pulses set in Pr0 11 The resolution of SXOVH RXWSXW SHU RQH UHYROXWLRQ LV HTXDO WR RU OHVV WKH HQFRGHU resolution KHQ WKH RXWSXW VRXUFH LV H WHUQDO VFDOH 1 1 External scale pulse pulse O...

Page 227: ...WHUQDO VFDOH Pr0 13 1st torque limit Range Unit Default Related control mode 0 to 500 500 P S T F Note RX FDQ VHW XS WKH OLPLW YDOXH RI WKH PRWRU RXWSXW WRUTXH RU GHWDLOV RI WRUTXH OLPLW YDOXH UHIHU WR 3 Pr0 14 3RVLWLRQ GHYLDWLRQ H FHVV VHWXS Range Unit Default Related control mode WR Command unit 100000 P F Note 6HW H FHVV UDQJH RI SRVLWLRQDO GHYLDWLRQ E WKH FRPPDQG XQLW GHIDXOW 6HWXS XQLW FDQ EH...

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Page 229: ...RI YHORFLW ORRS 6PDOOHU WKH VHWXS IDVWHU RX FDQ GRJ LQ GHYLDWLRQ DW VWDOO WR 7KH LQWHJUDWLRQ ZLOO EH PDLQWDLQHG E VHWWLQJ WR 7KH LQWHJUDWLRQ HIIHFW ZLOO EH ORVW E VHWWLQJ WR Pr1 03 1st filter of speed detection Range Unit Default Related control mode 0 to 5 0 P S T F RX FDQ VHW XS WKH WLPH FRQVWDQW RI WKH ORZ SDVV ÀOWHU 3 DIWHU WKH VSHHG GHWHFWLRQ LQ steps LJKHU WKH VHWXS ODUJHU WKH WLPH FRQVWDQW ...

Page 230: ...WDQW UHIHU WR 3 DLQ 6ZLWFKLQJ XQFWLRQ RI GMXVWPHQW The function and the content of each parameter is as same as that of the 1st gain and time constant Pr1 10 9HORFLW IHHG IRUZDUG JDLQ Range Unit Default Related control mode 0 to 1000 0 10 300 P F 0XOWLSO WKH YHORFLW FRQWURO FRPPDQG FDOFXODWHG DFFRUGLQJ WR WKH LQWHUQDO SRVLWLRQDO command by the ratio of this parameter and add the result to the spee...

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Page 233: ...WK VZLWFKLQJ PRGH KHQ OHYHO K VWHUHVLV WKH K VWHUHVLV LV LQWHUQDOO DGMXVWHG VR WKDW LW LV HTXDO WR OHYHO Pr1 19 3RVLWLRQ JDLQ VZLWFKLQJ WLPH Range Unit Default Related control mode 0 to 10000 0 1ms 33 P F Caution RU SRVLWLRQ FRQWUROOLQJ I WKH GLIIHUHQFH EHWZHHQ 3U VW JDLQ RI SRVLWLRQ ORRS DQG 3U QG JDLQ RI SRLVRQ ORRS LV ODUJH WKH LQFUHDVLQJ UDWH RI SRVLWLRQ ORRS JDLQ FDQ EH OLPLWHG E this paramet...

Page 234: ... SUHYLRXVO ZLWK WKH VW JDLQ 5HWXUQ WR WKH VW JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH VSHHG FRPPDQG YDULDWLRQV ZDV NHSW EHORZ OHYHO K VWHUHVLV U PLQ V GXULQJ GHOD WLPH SUHYLRXVO ZLWK WKH QG JDLQ 7KH VW JDLQ LV À HG ZKLOH WKH YHORFLW FRQWURO LV QRW DSSOLHG RU WKH VZLWFKLQJ OHYHO DQG WLPLQJ UHIHU WR 3 6HWXS RI DLQ 6ZLWFKLQJ RQGLWLRQ RI GMXVWPHQW Pr1 21 HOD WLPH RI YHORFLW FRQWURO VZLWFKLQJ Range Unit Def...

Page 235: ...Q ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH FRPPDQG ZDV NHSW EHORZ OHYHO K VWHUHVLV SUHYLRXVO GXULQJ GHOD WLPH ZLWK WKH QG JDLQ Pr1 25 HOD WLPH RI WRUTXH FRQWURO VZLWFKLQJ Range Unit Default Related control mode 0 to 10000 0 1ms 0 T RU WRUTXH FRQWUROOLQJ KHQ VKLIWLQJ IURP WKH QG JDLQ WR WKH VW JDLQ ZLWK 3U 7RUTXH FRQWURO VZLWFKLQJ PRGH VHW DW VHW XS WKH GHOD WLPH IURP WULJJHU GHWHFWLRQ WR WKH VZLWFKLQ...

Page 236: ...ion 6HW WKH FHQWHU IUHTXHQF RI WKH VW QRWFK ÀOWHU 7KH QRWFK ÀOWHU IXQFWLRQ ZLOO EH LQYDOLGDWHG E VHWWLQJ XS WKLV SDUDPHWHU WR Pr2 02 VW QRWFK ZLGWK VHOHFWLRQ Range Unit Default Related control mode 0 to 20 2 P S T F Caution 6HW WKH ZLGWK RI QRWFK DW WKH FHQWHU IUHTXHQF RI WKH VW QRWFK ÀOWHU LJKHU WKH VHWXS ODUJHU WKH QRWFK ZLGWK RX FDQ REWDLQ 8VH ZLWK GHIDXOW VHWXS LQ QRUPDO operation Pr2 03 1st n...

Page 237: ... XVHG SDUDPHWHU YDOXH LV DXWRPDWLFDOO VHW Pr2 09 3rd notch depth selection Range Unit Default Related control mode 0 to 99 0 P S T F Caution 6HW WKH GHSWK RI QRWFK DW WKH FHQWHU IUHTXHQF RI WKH UG QRWFK ÀOWHU LJKHU WKH VHWXS VKDOORZHU WKH QRWFK GHSWK DQG VPDOOHU WKH SKDVH GHOD RX FDQ REWDLQ KHQ WKH DSSOLFDEOH ÀOWHU IXQFWLRQ LV XVHG SDUDPHWHU YDOXH LV DXWRPDWLFDOO VHW Pr2 10 4th notch frequency Ran...

Page 238: ... GLVDEOHG DQG SRVLWLRQLQJ FRPSOHWH UDQJH LV ODUJH DQG SXOVHV DUH VWRUHG LQ WKH ÀOWHU DW WKDW WLPH WKH DUHD UHSUHVHQWHG E WKH YDOXH RI SRVLWLRQ FRPPDQG EHIRUH ÀOWHU VXEWUDFWHG E WKH YDOXH RI SRVLWLRQ FRPPDQG DIWHU ÀOWHU DQG LQWHJUDWHG ZLWK WKH WLPH 1RWH WKDW VLQFH WKHVH SXOVHV ZLOO EH GLVFKDUJHG DW D KLJKHU UDWH XSRQ VZLWFKLQJ WR UHWXUQ EDFN WR WKH RULJLQDO SRVLWLRQ WKH PRWRU PD UXQ DW D VSHHG KLJK...

Page 239: ...R WKH SRVLWLRQDO FRPPDQG KHQ D VTXDUH ZDYH FRPPDQG IRU WKH WDUJHW VSHHG 9F LV DSSOLHG VHW XS WKH WLPH FRQVWDQW RI WKH VW GHOD ÀOWHU DV VKRZQ LQ WKH ÀJXUH EHORZ Speed r min Vc Vc 0 632 1 Vc 0 368 1 Positional command smoothing filter setup time ms Pr2 22 0 1 ms Time Positional command before filter Positional command after filter Filter switching waiting time 2 FWXDO ÀOWHU WLPH FRQVWDQW VHWXS YDOXH...

Page 240: ...filter 7KH DFWXDO DYHUDJH WUDYHO WLPH VHWXS YDOXH ð PV KDV WKH PD LPXP DEVROXWH HUURU RI PV IRU D WLPH FRQVWDQW EHORZ PV DQG WKH PD LPXP UHODWLYH HUURU RI IRU D WLPH FRQVWDQW PV RU PRUH KHQ FKDQJLQJ 3U 3RVLWLRQDO FRPPDQG 5 ÀOWHU VWRS WKH FRPPDQG SXOVH DQG ZDLW XQWLO WKH ÀOWHU VZLWFKLQJ ZDLW WLPH KDV HODSVHG 7KH ÀOWHU VZLWFKLQJ ZDLW WLPH LV WKH VHWXS YDOXH ð PV PV ZKHQ WKH VHWXS WLPH LV PV DQG VHWX...

Page 241: ...eed 21 OFF 2nd speed OFF 21 3rd speed 21 21 QDORJ VSHHG command 3 The same as Pr3 00 1 OFF 1st to 4th speed OFF OFF 21 5th speed 21 OFF 21 6th speed OFF 21 21 7th speed 21 21 21 8th speed QWHUQDO FRPPDQG VSHHG VZLWFKLQJ SDWWHUQ VKRXOG EH VR DUUDQJHG DV VKRZQ EHORZ that single input signals are selected alternately If 2 or more input signals are selected VLPXOWDQHRXVO XQVSHFLÀHG LQWHUQDO FRPPDQG VS...

Page 242: ...QWLRQ WR RVFLOODWLRQ FDXVHG E ODUJHU VHWXS RI 3U 3000 Speed r min 3000 Slope at ex factory 10 6 2 4 6 8 10 Positive direction Negative direction Command input voltage V Pr3 03 Reversal of speed command input Range Unit Default Related control mode 0 to 1 1 S Note Caution 6SHFLI WKH SRODULW RI WKH YROWDJH DSSOLHG WR WKH DQDORJ VSHHG FRPPDQG 635 Setup value Motor rotating direction 0 1RQ UHYHUVDO 9R...

Page 243: ...e ï WR r min 0 S 6HW XS LQWHUQDO FRPPDQG VSHHGV VW WR WK Pr3 12 Acceleration time setup Range Unit Default Related control mode 0 to 10000 ms 1000r min 0 S Pr3 13 Deceleration time setup Range Unit Default Related control mode 0 to 10000 ms 1000r min 0 S Caution Set up acceleration deceleration processing time in response to the speed command input 6HW WKH WLPH UHTXLUHG IRU WKH VSHHG FRPPDQG VWHSZ...

Page 244: ... FODPS LQSXW LV LJQRUHG 1 6SHHG FRPPDQG LV IRUFHG WR ZKHQ WKH VSHHG HUR FODPS 5263 LQSXW VLJQDO LV WXUQHG 21 1 2 6SHHG FRPPDQG LV IRUFHG WR ZKHQ WKH VSHHG HUR FODPS 5263 LQSXW VLJQDO LV WXUQHG 21 1 QG ZKHQ WKH DFWXDO PRWRU VSHHG GURSV WR 3U 6SHHG HUR FODPS OHYHO RU EHORZ WKH SRVLWLRQ FRQWURO LV VHOHFWHG DQG VHUYR ORFN LV DFWLYDWHG DW WKLV SRLQW 7KH IXQGDPHQWDO RSHUDWLRQV H FHSW IRU WKLV IXQFWLRQ V...

Page 245: ...Q RI WRUTXH FRPPDQG DPSOH 7RUTXH FRPPDQG LQSXW IRU SRVLWLYH GLUHFWLRQ IRU QHJDWLYH GLUHFWLRQ 1 6SHFLI WKH GLUHFWLRQ ZLWK WRUTXH FRPPDQG VLJQ 7 6 1 2 3RVLWLYH GLUHFWLRQ 21 1HJDWLYH GLUHFWLRQ Pr3 19 Input gain of torque command Range Unit Default Related control mode 10 to 100 0 1V 100 30 T DVHG RQ WKH YROWDJH 9 DSSOLHG WR WKH DQDORJ WRUTXH FRPPDQG 7545 VHW XS WKH FRQYHUVLRQ JDLQ WR WRUTXH FRPPDQG 8...

Page 246: ...Compatible scale Compatible speed 0 SKDVH RXWSXW W SH 1 WHUQDO VFDOH RI SKDVH RXWSXW W SH to 4Mpps DIWHU TXDGUXSOHG 1 Serial communication type LQFUHPHQWDO YHUVLRQ 1 0DJQHVFDOH R WG 65 65 6 6 to 400Mpps 2 Serial communication type DEVROXWH YHUVLRQ 1 Mitsutoyo Corp 7 67 67 0DJQHVFDOH R WG 65 65 to 400Mpps RQQHFW WKH H WHUQDO VFDOH VR WKDW LW LQFUHPHQWV WKH FRXQW DV WKH PRWRU VKDIW WXUQV SRVLWLYH GL...

Page 247: ...OO VFUHZ SLWFK LV PP VFDOH BP SXOVH HQFRGHU UHVROXWLRQ ELWV SXOVHV Encoder resolution per one motor revolution pulse External scale resolution per one motor revolution pulse Pr3 24 1048576 Pr3 25 100000 I WKLV UDWLR LV ZURQJ WKH GLIIHUHQFH EHWZHHQ WKH SRVLWLRQ FDOFXODWHG EDVHG RQ WKH HQFRGHU SXOVHV DQG WKH SRVLWLRQ FDOFXODWHG EDVHG RQ WKH H WHUQDO VFDOH SXOVHV EHFRPHV ODUJH RYHU D ORQJ WUDYHO GLVW...

Page 248: ...HYROXWLRQV VHW E 3U EULG GHYLDWLRQ FOHDU VHWXS FOHDU WKH K EULG GHYLDWLRQ WR 7KLV IHDWXUH DOORZV WKH PRWRU WR EH XVHG LQ DQ DSSOLFDWLRQ ZKHUH K EULG GHYLDWLRQ DFFXPXODWH GXH WR VOLSSDJH HWF Pr3 28 Hybrid deviation excess setup Pr3 29 Hybrid deviation clear setup Pr3 29 Hybrid deviation clear setup Excess hybrid deviation error Hybrid deviation value command unit absolute value No of motor revoluti...

Page 249: ...put 9 6 1 12h 92h Torque command sign input 7 6 1 13h 93h Forced alarm input E STOP 14h 94h QHUWLD UDWLR VZLWFKLQJ LQSXW J SEL 15h 95h Note Caution RU LQSXW SLQ DVVLJQPHQW ZLWK GHIDXOW VHWWLQJ UHIHU WR UHIHU WR 3 RQWURO LQSXW Related page P 3 50 DPSOH RI FKDQJH 7R FKDQJH WKH GHIDXOW VHWWLQJ 1HJDWLYH GLUHFWLRQ RYHU WUDYHO LQKDELWDWLRQ LQSXWµ LQ DOO PRGHV IRU E FRQWDFW WR IRU D FRQWDFW VHW WKH LQSXW...

Page 250: ...ault Related control mode 0 to 00FFFFFFh 00040404h P S T F Pr4 08 SI9 input selection Range Unit Default Related control mode 0 to 00FFFFFFh 00050505h P S T F Pr4 09 SI10 input selection Range Unit Default Related control mode 0 to 00FFFFFFh 00000E88h P S T F Note Caution VVLJQ IXQFWLRQV WR 6 WR 6 LQSXWV 7KHVH SDUDPHWHUV DUH SUHVHQWHG LQ KH DGHFLPDOV Setup procedure is the same as described for Pr...

Page 251: ...o speed detection output signal ZSP 08h Speed coincidence output 9 2 1 09h ODUP RXWSXW 51 K ODUP RXWSXW 51 0Bh 3RVLWLRQDO FRPPDQG 21 2 RXWSXW P CMD 0Ch Positioning complete 2 13 0Dh Speed in limit output V LIMIT 0Eh ODUP DWWULEXWH RXWSXW 0 7 0Fh 6SHHG FRPPDQG 21 2 RXWSXW V CMD Same function can be assigned to 2 or more output signals RQWURO RXWSXW SLQ VHW WR LQYDOLG DOZD V KDV WKH RXWSXW WUDQVLVWR...

Page 252: ... analog monitor 2 RU 3U 7RUTXH FRPPDQG 9 LV RXWSXW DW WKH WRUTXH FRPPDQG 3U VHWXS YDOXH Pr4 20 Type of digital monitor Range Unit Default Related control mode 0 to 3 0 P S T F Select type of the digital monitor Setup value Type of monitor Digital signal output L output H output 0 Positioning complete condition 1RW FRPSOHWHG Completed 1 Positional command LWKRXW FRPPDQG LWK FRPPDQG 2 ODUP 1RW JHQHU...

Page 253: ...3U 5RWDWLRQDO GLUHFWLRQ VHWXS QDORJ LQSXWV DQG DOZD V RXWSXW WHUPLQDO YROWDJH UHJDUGOHVV RI XVDJH RI DQDORJ LQSXW IXQFWLRQ 2QO IRU SRVLWLRQ FRQWURO W SH LV QRW SURYLGHG ZLWK DQDORJ LQSXWV RU WKH FRPPDQG SXOVH LQSXW WKH VSHHG EHIRUH WKH FRPPDQG ÀOWHU VPRRWKLQJ 5 ÀOWHU LV GHÀQHG DV SRVLWLRQDO FRPPDQG VSHHG DQG VSHHG DIWHU ÀOWHU LV GHÀQHG DV LQWHUQDO FRPPDQG VSHHG Command division multiplication proc...

Page 254: ...nput 1 AI1 overvoltage setup Range Unit Default Related control mode 0 to 100 0 1V 0 P S T F 6HW XS WKH H FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW E XVLQJ WKH YROWDJH DVVRFLDWHG ZLWK RIIVHW Pr4 25 Analog input 2 AI2 offset setup Range Unit Default Related control mode ï WR 5 86mV 0 P S T F 6HW XS WKH RIIVHW FRUUHFWLRQ YDOXH DSSOLHG WR WKH YROWDJH IHG WR WKH DQDORJ LQSXW Pr4 26 Analog inp...

Page 255: ...µ Pr4 32 Positioning complete In position output setup Range Unit Default Related control mode 0 to 3 0 P F 6HOHFW WKH FRQGLWLRQ WR RXWSXW WKH SRVLWLRQLQJ FRPSOHWH VLJQDO 13 Setup value Action of positioning complete signal 0 7KH VLJQDO ZLOO WXUQ RQ ZKHQ WKH SRVLWLRQDO GHYLDWLRQ LV VPDOOHU WKDQ 3U 3RVLWLRQLQJ FRPSOHWH UDQJH 1 7KH VLJQDO ZLOO WXUQ RQ ZKHQ WKHUH LV QR SRVLWLRQ FRPPDQG DQG WKH SRVLWL...

Page 256: ...tive direction Negative direction Pr4 35 Speed coincidence range Range Unit Default Related control mode 10 to 20000 r min 50 S T 6HW WKH VSHHG FRLQFLGHQFH 9 2 1 RXWSXW GHWHFWLRQ WLPLQJ 2XWSXW WKH VSHHG FRLQFLGHQFH 9 2 1 ZKHQ WKH GLIIHUHQFH EHWZHHQ WKH VSHHG FRPPDQG DQG WKH PRWRU VSHHG LV HTXDO WR RU VPDOOHU WKDQ WKH VSHHG VSHFLÀHG E WKLV SDUDPHWHU ON ON OFF OFF Motor speed Pr4 35 1 Speed coincide...

Page 257: ... WR SUHYHQW D PLFUR WUDYHO GURS RI WKH PRWRU ZRUN GXH WR WKH DFWLRQ GHOD WLPH WE RI WKH EUDNH IWHU VHWWLQJ XS 3U WE then compose the sequence so as the GULYHU WXUQV WR 6HUYR 2 DIWHU WKH EUDNH LV DFWXDOO DFWLYDWHG ON SRV ON BRK OFF actual brake motor energization release OFF hold release energized hold non energized Pr4 37 tb Pr4 38 Mechanical brake action at running setup Range Unit Default Relate...

Page 258: ...H HQFRGHU GHWHFWV RYHUKHDW DODUP 7 Oscillation detection alarm 2VFLOODWLRQ RU YLEUDWLRQ LV GHWHFWHG 8 Lifetime detection alarm LIH H SHFWDQF RI FDSDFLWRU RU IDQ EHFRPHV VKRUW 9 WHUQDO VFDOH HUURU DODUP 7KH H WHUQDO VFDOH GHWHFWV WKH DODUP 10 WHUQDO VFDOH communication alarm 7KH QXPEHU RI VXFFHVVLYH H WHUQDO VFDOH FRPPXQLFDWLRQ HUURUV H FHHGV WKH VSHFLÀHG YDOXH 7KH XSSHU IDQ RQ WKH IUDPH GULYHU VWR...

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Page 263: ...ommand pulse inhibit input Range Unit Default Related control mode 0 to 1 1 P F Select command pulse inhibit input enable disable Setup value INH input 0 Valid 1 QYDOLG Pr5 19 Command pulse inhibit input reading setup Range Unit Default Related control mode 0 to 4 0 P F Caution 6HOHFW FRPPDQG SXOVH LQKLELW LQSXW HQDEOH GLVDEOH VLJQDO UHDGLQJ SHULRG KHQ WKH VWDWXV RI VHYHUDO VLJQDOV UHDG GXULQJ WKH...

Page 264: ...tive direction Negative direction 0 3 7 WR 9 1 7 ï WR 9 1 VW WRUTXH OLPLW 3U 2 VW WRUTXH OLPLW 3U QG WRUTXH OLPLW 3U 3 TL SEL OFF VW WRUTXH OLPLW 3U 7 6 21 QG WRUTXH OLPLW 3U 4 3 7 WR 9 1 7 WR 9 5 3 7 WR 9 6 TL SEL OFF VW WRUTXH OLPLW 3U QG WRUTXH OLPLW 3U 7 6 21 WHUQDO LQSXW SRVLWLYH GLUHFWLRQ WRUTXH OLPLW 3U WHUQDO LQSXW QHJDWLYH GLUHFWLRQ WRUTXH OLPLW 3U Pr5 22 2nd torque limit Range Unit Defau...

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Page 270: ...setup Range Unit Default Related control mode 0 to 20000 r min 0 P S T F KHQ WKH PRWRU VSHHG H FHHGV WKLV VHWXS WLPH GXULQJ HPHUJHQF VWRS VHTXHQFH LQ DQ DODUP FRQGLWLRQ UU QG RYHUVSHHG SURWHFWLRQ ZLOO EH DFWLYDWHG 7KH RYHU VSHHG OHYHO EHFRPHV WLPHV RI WKH PRWRU PD VSHHG E VHWWLQJ XS WKLV WR Pr6 17 URQW SDQHO SDUDPHWHU ZULWLQJ VHOHFWLRQ Range Unit Default Related control mode 0 to 1 0 P S T F 6SHFL...

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Page 274: ... VHWXS HQDEOH WKHQ 20 ð 2 ð 4 ð 7 ð 8 ð 9 ð Pr6 34 Hybrid vibration suppression gain Range Unit Default Related control mode 0 to 30000 0 1 s 0 F 6HW XS WKH K EULG YLEUDWLRQ VXSSUHVVLRQ JDLQ IRU IXOO FORVHG FRQWUROOLQJ LUVW VHW LW WR WKH YDOXH LGHQWLFDO WR WKDW RI SRLVRQ ORRS JDLQ DQG WKHQ ÀQH WXQH DV QHFHVVDU Pr6 35 Hybrid vibration suppression filter Range Unit Default Related control mode 0 to ...

Page 275: ... OFF after finishing the trial run by pressing 1 Inspection on wiring 0LVZLULQJ VSHFLDOO SRZHU LQSXW DQG PRWRU RXWSXW 6KRUW RU JURXQGHG RRVH FRQQHFWLRQ 2 Confirmation of power supply and voltage 5DWHG YROWDJH 3 Fixing of the servo motor 8QVWDEOH PRXQWLQJ 4 Separation from the PHFKDQLFDO V VWHP 5 Release of the brake 6 Turn to Servo OFF after finishing the trial run by pressing Note HWDLOV RI ZLULQ...

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Page 290: ...LQJ FRQGLWLRQ QRUPDO RSHUDWLRQ PD QRW EH H SHFWHG PDQXDOO VHW WKH QRWFK ÀOWHU WR SUHYHQW UHVRQDQFH Conditions which obstruct adaptive filter action Resonance point 5HVRQDQFH IUHTXHQF LV ORZHU WKDQ WLPHV 5HVRQDQFH SHDN LV ORZ RU FRQWURO JDLQ LV ORZ ZKHUH WKH PRWRU VSHHG LV QRW DIIHFWHG E WKLV 0XOWLSOH UHVRQDQFH RI RU PRUH SRLQWV H LVW Load 0RWRU VSHHG YDULDWLRQ ZLWK KLJK KDUPRQLF FRPSRQHQW LV JHQHU...

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Page 293: ...HQ FRPSDUHG ZLWK WKDW SHUIRUPHG RQ WKH IURQW SDQHO 1 Analog monitor output RX FDQ PHDVXUH WKH DFWXDO PRWRU VSHHG FRPPDQGHG VSHHG WRUTXH DQG GHYLDWLRQ SXOVHV E DQDORJ YROWDJH OHYHO E XVLQJ DQ RVFLOORVFRSH 6HW XS WKH W SHV RI WKH VLJQDOV RU WKH RXWSXW YROWDJH OHYHO ZLWK 3U 6HOHFWLRQ RI VSHHG PRQLWRU DQG 3U 6HOHF WLRQ RI WRUTXH PRQLWRU 2 Waveform graphic function of the PANATERM RX FDQ GLVSOD WKH FRP...

Page 294: ...H FDOFXODWHG YDOXH 0DNH DGMXVWPHQW XVLQJ WKH VWDQGDUG YDOXHV EHORZ Order 1 2 3 4 5 Standard value 300 50 500 250 300 Title Parameter No Pr Pr1 01 Pr1 04 Pr1 00 Pr1 02 Pr1 10 1st gain of velocity loop 1st time constant of torque filter 1st gain of position loop 1st time constant of velocity loop integration Velocity feed forward gain How to adjust Increase the value within the range where no abnorm...

Page 295: ...p by using speed limit value 1 Pr3 21 Pr3 17 1 Set up by using analog input SPL Pr3 17 2 For positive direction set up by using the speed limit value 1 Pr3 21 For negative direction set up by using the speed limit value 2 Pr3 22 KHQ WKH PRWRU VSHHG DSSURDFKHV WR WKH VSHHG OLPLWLQJ YDOXH WRUTXH FRQWURO IROORZ LQJ WKH DQDORJ WRUTXH FRPPDQG VKLIWV WR YHORFLW FRQWURO EDVHG RQ WKH VSHHG OLPLWLQJ value ...

Page 296: ...e minimum value of hybrid deviation excess Pr3 28 within the range where the gap between the motor encoder position and the load feedback scale position will be considered to be an excess 1RWH WKDW WKH K EULG GHYLDWLRQ H FHVV UU PD EH JHQHUDWHG XQGHU RWKHU FRQGL WLRQV WKDQ WKH DERYH VXFK DV UHYHUVHG FRQQHFWLRQ RI WKH H WHUQDO VFDOH RU ORRVH FRQQHFWLRQ RI WKH PRWRU DQG WKH ORDG Caution QWHU WKH FRP...

Page 297: ...orward 2nd gain of position loop 2nd gain of velocity loop 2nd time constant of velocity integration 2nd filter of velocity detection 2nd time constant of torque filter time Action setup of 2nd gain 1st mode of control switching 1st delay time of control switching 1st level of control switching 1st hysteresis of control switching Switching time of position gain Inertia ration Execute manual gain t...

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Page 299: ...y time actual speed Pr1 17 level actual speed Pr1 17 level Pr1 18 hysteresis actual speed Pr1 17 level Pr1 178 hysteresis 1st gain in action 2nd gain at settling 2nd gain proximity of stall 2nd gain for velocity integrating only and 1st gain for others delay 2nd gain 1st 1st command speed S command pulse exists speed N level 1st gain 2nd 1st 2nd 1st switching level switching level Caution ERYH LJ ...

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Page 301: ...nt of frequency width and depth is enabled refer to P 5 22 Suppress resonance point instantaneously Gain frequency velocity response Machine which resonance point varies by each machine or by aging Gain frequency Gain frequency Machine which has small peak nearby velocity response Machine which has multiple resonance points Example of application machine 4 Manual Gain Tuning Basic Suppression of M...

Page 302: ...nd width center frequency Notch depth I O ratio dB A4 series reference A5 series 0 0 41 0 5 0 0 ï 1 0 56 0 59 1 0 01 ï 2 0 71 0 71 2 0 02 ï 3 0 86 0 84 3 0 03 ï 4 1 01 1 4 0 04 ï 5 1 19 5 0 05 ï 6 1 41 6 0 06 ï 7 1 68 7 0 07 ï 8 2 8 0 08 ï 9 2 38 9 0 09 ï 10 2 83 10 0 1 ï 11 3 36 15 0 15 ï 12 4 20 0 2 ï 13 4 76 25 0 25 ï 14 5 66 30 0 3 ï 15 6 73 35 0 35 ï 16 8 40 0 4 ï 17 9 51 45 0 45 ï 18 11 31 5...

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Page 305: ...HTXHQF GDPSLQJ ÀOWHU VHWWLQJ GDPSLQJ IUHTXHQF 3 Setup of damping filter switching selection Pr2 13 RX FDQ VZLWFK WKH VW RU WKH QG GDPSLQJ ÀOWHU GHSHQGLQJ RQ WKH YLEUDWLRQ FRQGLWLRQ RI WKH PDFKLQH Pr2 13 VS SEL2 VS SEL1 1st damping 2nd damping 3rd damping 4th damping 0 1 OFF 21 2 OFF OFF OFF 21 21 OFF 21 21 Pr2 13 Position command direction 1st damping 2nd damping 3rd damping 4th damping 3 3RVLWLYH...

Page 306: ...H LQSXW RI YHORFLW IHHG IRUZDUG 1 12 7RUTXH IHHG IRUZDUG gain 0XOWLSO WKH WRUTXH FRPPDQG FDOFXODWHG DFFRUGLQJ WR WKH YHORFLW FRQWURO FRPPDQG E WKH UDWLR RI WKLV SDUDPHWHU DQG DGG WKH UHVXOW WR WKH WRUTXH FRPPDQG UHVXOWLQJ IURP WKH YHORFLW FRQWURO SURFHVV 1 13 7RUTXH IHHG IRUZDUG ÀOWHU 6HW XS WKH WLPH FRQVWDQW RI VW GHOD ÀOWHU ZKLFK DIIHFWV WKH LQSXW RI WRUTXH IHHG IRUZDUG 6 0 QDORJ WRUTXH IHHG IRU...

Page 307: ... WUDSH RLGDO VSHHG SDWWHUQ XQGHU LGHDO FRQGLWLRQ ZKHUH GLVWXUEDQFH WRUTXH LV QRW DFWLYH Command speed Positional deviation 0 50 100 Time Motor speed Torque feed forward gain Velocity feed forward gain Fixed 100 Positional deviation in the region where acceleration is constant can be reduced by torque feed forward HUR SRVLWLRQDO GHYLDWLRQ LV LPSRVVLEOH LQ DFWXDO VLWXDWLRQ EHFDXVH RI GLVWXUEDQFH WRU...

Page 308: ... DV WRUTXH OLPLW VHWXS DUH FRUUHFWO VHW DVVXULQJ WKDW WKH PRWRU FDQ UXQ VPRRWKO 5HDO WLPH DXWR WXQLQJ VKRXOG EH GLVDEOHG 3U Caution 7KLV IXQFWLRQ GRHV QRW ZRUN SURSHUO RU QR HIIHFW LV REWDLQHG XQGHU WKH IROORZLQJ FRQGL tions Conditions which obstruct instantaneous speed observer action Load DS EHWZHHQ WKH HVWLPDWHG WRWDO ORDG LQHUWLD PRWRU ORDG DQG DFWXDO PDFKLQH LV ODUJH H J DUJH UHVRQDQFH SRLQW ...

Page 309: ...W WKH SRVLWLRQ ORRS JDLQ YHORFLW ORRS JDLQ HWF 3 Setup of instantaneous velocity observer Pr6 10 HQDEOLQJ LQVWDQWDQHRXV VSHHG REVHUYHU IXQFWLRQ WKURXJK IXQFWLRQ H SDQVLRQ VHWXS 3U WKH VSHHG GHWHFWLRQ PHWKRG FKDQJHV WR WKH LQVWDQWDQHRXV VSHHG REVHUYHU KHQ RX H SHULHQFH D ODUJH YDULDWLRQ RI WKH WRUTXH ZDYHIRUP RU QRLVH UHWXUQ WKLV WR DQG UHFRQÀUP WKH DERYH FDXWLRQV DQG KHQ RX REWDLQ WKH HIIHFW VXFK ...

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Page 311: ...UYHU HQDEOH GLVDEOH DQG RSHUDWLRQ PRGH DOZD V HQDEOH HQDEOH RQO ZKHQ VW JDLQ LV VHOHFWHG 2 Setup of Pr6 24 Disturbance observer filter LUVW VHW XS 3U WR D ODUJHU YDOXH DQG FKHFN WKH RSHUDWLRQ ZLWK 3U LVWXUEDQFH WRUTXH FRPSHQVDWLQJ JDLQ VHW WR D ORZ YDOXH DQG WKHQ JUDGXDOO GHFUHDVH WKH VHWXS YDOXH RI 3U ORZ ÀOWHU VHWXS YDOXH DVVXUHV GLVWXUEDQFH WRUTXH HVWLPDWLRQ ZLWK VPDOO GHOD DQG HIIHFWLYHO VXSSU...

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Page 317: ...lid only when 1st gain is selected ELW 6 DPSOH 7R HQDEOH LQHUWLDO UDWLR VZLWFKLQJ 6HWXS YDOXH 0 04 QHUWLD UDWLR 6HW VW LQHUWLD UDWLR RX FDQ VHW XS WKH UDWLR RI WKH ORDG LQHUWLD DJDLQVW WKH URWRU RI WKH PRWRU LQHUWLD 6 13 QG QHUWLD UDWLR 6HW VW LQHUWLD UDWLR RX FDQ VHW XS WKH UDWLR RI WKH ORDG LQHUWLD DJDLQVW WKH URWRU RI WKH PRWRU LQHUWLD How to Use 6HOHFWV VW LQHUWLD UDWLR RU QG LQHUWLD UDWLR DFF...

Page 318: ... IXQFWLRQ ZLOO EH SURSRUWLRQDO WR WKH DPRXQW RI WZLVW EHWZHHQ WKH PRWRU and load Related Parameter Class No Title Function 6 34 EULG YLEUDWLRQ VXSSUHVVLRQ JDLQ 6HW XS WKH K EULG YLEUDWLRQ VXSSUHVVLRQ JDLQ IRU IXOO FORVHG FRQWUROOLQJ LUVW VHW LW WR WKH YDOXH LGHQWLFDO WR WKDW RI SRLVRQ ORRS JDLQ DQG WKHQ ÀQH WXQH DV QHFHVVDU 6 35 EULG YLEUDWLRQ VXSSUHVVLRQ ÀOWHU 6HW XS WKH WLPH FRQVWDQW RI WKH K EU...

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Page 320: ...speed TLC Factory setting 40 pin TL SEL 1 Factory setting no allocation Torque Counter clear command Motor speed Z phase ON ON ON ON ON ON Parameter No 5 22 0 14 5 13 5 21 hits hits 1 2 1 1 1 2 2 2 3 3 Title Setup of 2nd torque limit Excess setup of position deviation Setup of over speed level Selection of torque limit Setup example 50 Set up to less than 100 25000 0 6000r min 3 1 when you make a ...

Page 321: ...value of 2nd torque limit Factory setting 1 TL SEL no allocation Torque limit switching input Factory setting TLC 40 pin Torque in limit output Torque Command Motor speed 1 2 3 4 5 Press fit machine Application example ON ON 5 21 0 13 5 22 0 14 5 13 Selection of torque limit Setup of 1st torque limit Setup of 2nd torque limit Excess setup of position deviation Setup of over speed level 3 200 50 25...

Page 322: ...5 42 MEMO Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 323: ...ubleshooting Motor Does Not Run 6 21 Unstable Rotation Not Smooth Motor Runs Slowly Even with Speed Zero at Velocity Control Mode 6 23 Positioning Accuracy Is Poor 6 24 Origin Point Slips 6 25 Abnormal Motor Noise or Vibration 6 25 Overshoot Undershoot Overheating of the Motor Motor Burn Out 6 26 Motor Speed Does Not Reach to the Setup Motor Revolutions Travel Is Too Large or Small 6 26 Parameter ...

Page 324: ...unction What is Error Code Host controller Aren t the parameter setups wrong Motor does not run Check the cause by referring to P 2 98 Display of Factor of No Motor Running of Preparation and then take necessary measure Is the wiring to Connector X4 correct Or aren t any wires pulled off Is the wiring to Connector X5 in case of full closed control correct Or aren t any wires pulled off Is the wiri...

Page 325: ...llocation error 2 protection 2 IF input function number error 1 protection 3 IF input function number error 2 protection 4 IF output function number error 1 protection 5 IF output function number error 2 protection 6 ÀWWLQJ HUURU SURWHFWLRQ 7 1 ÀWWLQJ HUURU SURWHFWLRQ 1 When in Trouble Protective Function What is Error Code Error code Protective function Attribute Detail page Main Sub History Can ...

Page 326: ...he driver Replace the external UHVLVWRU LI WKH YDOXH LV KDQJH WR WKH RQH ZLWK VSHFLÀHG resistance and wattage 4 Replace the driver with a new one Main power supply under voltage protection PN 13 0 Instantaneous power failure has occurred between L1 and L3 for longer period than WKH SUHVHW WLPH ZLWK 3U 0DLQ SRZHU RII GHWHFWLQJ WLPH ZKLOH 3U 9 WULS selection at the main power off is set to 1 Or the ...

Page 327: ...n resistance between motor wires U V and W and earth wire In case of poor insulation replace the motor 4 Check the balance of resister between each motor line and if unbalance is found replace the motor 5 Check the loose connectors If they are or SXOOHG RXW À WKHP VHFXUHO 6 Replace the servo driver Do not use Servo ON Servo OFF as a means of staring stopping the operation QWHU WKH SXOVHV PV RU ORQ...

Page 328: ...Over regeneration load protection 18 0 Regenerative energy has exceeded the capacity of regenerative resistor 1 Due to the regenerative energy during deceleration caused by a large load inertia converter voltage has risen and the voltage is risen further due to the lack of capacity of absorbing this energy of the regeneration discharge resistor 2 Regenerative energy has not been DEVRUEHG LQ WKH VS...

Page 329: ...ise Encoder cables are connected but communication data has some errors Position deviation excess protection 24 0 Deviation pulses have exceeded the VHWXS RI 3U 1 The motor movement has not followed the command 6HWXS YDOXH RI 3U 3RVLWLRQ deviation excess setup is small 1 Check that the motor follows to the position command pulses Check that the output toque has not saturated in torque monitor Make...

Page 330: ...atio 0DNH D JDLQ DGMXVWPHQW ZKHQ DQ RYHUVKRRW has occurred due to a poor gain adjustment 0DNH D ZLULQJ FRQQHFWLRQ RI WKH HQFRGHU DV per the wiring diagram 2nd Over speed protection 1 The motor rotational speed has exceeded the setup value of Pr6 15 Command pulse input frequency error protection 27 0 The frequency of command pulse input is more than 1 2 times the setting in Pr5 32 Check the command...

Page 331: ...re assigned with two functions Allocate correct function to each connector pin I F input duplicated allocation error 2 protection 1 QSXW VLJQDOV 6 6 6 6 6 are assigned with two functions I F input function number error 1 protection 2 Input signals SI1 SI2 SI3 SI4 SI5 are DVVLJQHG ZLWK XQGHÀQHG QXPEHU I F input function number error 2 protection 3 QSXW VLJQDOV 6 6 6 6 6 DUH DVVLJQHG ZLWK XQGHÀQHG Q...

Page 332: ...n the product to a dealer or manufacturer 1 2 Over travel inhibit input protection 38 0 LWK 3U RYHU WUDYHO LQKLELW LQSXW VHWXS ERWK SRVLWLYH DQG QHJDWLYH over travel inhibit inputs POT NOT have been ON LWK 3U SRVLWLYH RU QHJDWLYH over travel inhibit input has turned ON Check that there are not any errors in switches wires or power supply which are connected to positive direction negative direction...

Page 333: ...ower failure Caution Once this error occurs the alarm cannot be cleared until the absolute encoder is reset KHFN WKH VXSSO YROWDJH DW WKH HQFRGHU VLGH 9 KHFN WKH FRQQHFWLQJ FRQGLWLRQ RI WKH FRQQHFWRU Encoder initialization error protection 1 43 0 Encoder initialization error was detected Replace the motor Absolute single turn counter error protection 1 44 0 Single turn counter error of encoder has...

Page 334: ...RGH ALMC has been turned to 1 KHFN WKH VSHFLÀFDWLRQV RI WKH H WHUQDO scale Remove the causes of the error then clear the external scale error from the front panel And then shut off the power to reset External scale status 1 error protection 1 1 Bit 1 of the external scale error code ALMC has been turned to 1 KHFN WKH VSHFLÀFDWLRQV RI WKH H WHUQDO scale External scale status 2 error protection 1 2 ...

Page 335: ...and the driver has not been matched Replace the motor which matches to the driver Other error 99 0 Excessive noise or the like is detected as an abnormal signal This type of error will occur if the alarm clear is attempted while the safety input 1 safety input 2 is not in normal state input photocoupler is ON 7XUQ RII WKH SRZHU RQFH WKHQ UH HQWHU I HUURU UHSHDWV WKLV PLJKW EH D IDLOXUH Stop using ...

Page 336: ...s not provided with MSME 50W to 750W 200V 750W 400V MDME 400W 400V 600W 400V 7 5kW to 15 0kW MFME MHME 7 5kW and MGME 4 5kW 6 0kW 100 115 0 1 1 10 100 200 300 400 500 Torque Time s 100 115 0 1 1 10 100 200 300 400 500 Torque Motor Type M MD Motor Type M ME MSMD 50W MSMD 100W 100V MSMD 100W 200V MSMD 200W MHMD 200W MSMD 400W MHMD 400W MSMD 750W MHMD 750W Only for position control type Caution Use t...

Page 337: ...XOG EH LQ VHUYR RQ FRQGLWLRQ QSXW VLJQDOV VXFK DV WKH GHYLDWLRQ FRXQWHU FOHDU DQG FRPPDQG LQSXW inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly 3 Cautions 7KLV IXQFWLRQ LV QRW D SURWHFWLRQ DJDLQVW WKH DEQRUPDO SRVLWLRQ FRPPDQG KHQ WKLV VRIWZDUH OLPLW SURWHFWLRQ LV DFWLYDWHG WKH PRWRU GHFHOHUDWHV DQG VWRSV DF FRUGLQJ W...

Page 338: ...n command to the left direction the motor movable range will be expanded further 5 Condition under which the position command input range is cleared 7KH SRVLWLRQ FRPPDQG LQSXW UDQJH ZLOO EH FOHDUHG XQGHU WKH IROORZLQJ FRQGLWLRQV ZKHQ WKH SRZHU LV WXUQHG RQ ZKLOH WKH SRVLWLRQ GHYLDWLRQ LV EHLQJ FOHDUHG HYLDWLRQ FRXQWHU FOHDU LV YDOLG 3U Sequence at over travel inhibition is 2 and over travel inhibi...

Page 339: ...attery voltage is 3 2 V or lower Fan alarm A3 Fan has stopped for 1 sec 2 Encoder communication alarm A4 The number of successive encoder communication HUURUV H FHHGV WKH VSHFLÀHG YDOXH Encoder overheat alarm A5 The encoder detects overheat alarm Oscillation detection alarm A6 Oscillation or vibration is detected Lifetime detection alarm A7 Fixed at no time limit The life expectancy of capacity or...

Page 340: ... actual application WKH IROORZLQJ WZR SURWHFWLYH IHDWXUHV ZLOO EH WULJJHUHG RYHU VSHHG SURWHFWLRQ ZKHQ overshoot occurs and excess positional deviation protection when response to the command delays DOORFDWLQJ WKH WRUTXH LQ OLPLW RXWSXW 7 RI LQWHUIDFH VSHFLÀFDWLRQ WR WKH RXWSXW VLJ nal torque limit condition can be detected externally 3 7 3 3U 3 3U 3 Setup of over speed protection HQHUDWHV UU 2YHU...

Page 341: ...O FRPPDQG SXOVH SXOVH FRPPDQG XQLW V S SRVLWLRQ ORRS JDLQ V Factor in is margin to prevent frequent activation of excess positional deviation protection Note 1 When switching position loop gain Kp select the smallest value for calculation Note 2 When using the positional command filter and damping control add the following values 3RVLWLRQDO FRPPDQG VPRRWKLQJ ILOWHU 9F filter time constant s 3RVLWL...

Page 342: ...UURU SURWHFWLRQ LV LV sued when the deviation of motor position encoder unit and load position external scale unit exceed Pr3 28 Setup of hybrid deviation excess HIDXOW VHWWLQJ LV SXOVH FRPPDQG XQLW HFDXVH WKH GHYLDWLRQ LQ QRUPDO RSHUD tion varies with the operation speed and gain setup Add a margin to this setting ac cording to your operating condition P 4 32 Pr3 28 2 Setup of gain pre adjustment...

Page 343: ...en In the front panel monitor mode is the Pin No corresponding to SRV ON in state Check and make a wiring so as to connect the SRV 21 LQSXW WR 20 Positive negative direction over travel inhibit input RI RQQHFWRU NOT POT is open In the front panel monitor mode is the Pin No corresponding to NOT POT in A state 1 Check and make a wiring so as to connect both 127 327 LQSXWV WR 20 6HW XS 3U WR LQYDOLG ...

Page 344: ...hat the input voltage is applied correctly by setting up Pr3 17 to 1 when you use the P ATL TRQR input Velocity control is invalid Torque Check that the velocity limit input method parameter velocity SPR TRQR SPL input is correct 1 Set up the desired value to Pr3 21 by setting up 3U WR ZKHQ RX XVH WKH SDUDPHWHU VSHHG 2 Check that the input voltage is applied correctly by setting up Pr3 17 to 1 whe...

Page 345: ...ve Negative direction torque limit input can be entered normally KHFN WKH ZLULQJ DQG FRQQHFWLRQ EHWZHHQ 3LQ DQG RI WKH RQQHFWRU XVLQJ GLVSOD IXQFWLRQ RI 2 VLJQDO VWDWXV RUUHFW the wiring and connection so that the deviation counter input can be turned on normally Review the controller 4 Check the wiring and connection between Pin 26 and 41of the RQQHFWRU XVLQJ LVSOD IXQFWLRQ RI 2 VLJQDO VWDWXV RUU...

Page 346: ...orrect Check if the repetition accuracy is same or not If it does not change use a larger capacity motor and driver Velocity loop gain is proportion action at motor in stall 6HW XS 3U DQG 3U RI WLPH FRQVWDQW RI YHORFLW ORRS LQWHJUDWLRQ WR RU VPDOOHU 5HYLHZ WKH ZLULQJ DQG FRQQHFWLRQ VR WKDW WKH FRQQHFWLRQ EHWZHHQ Pin 27 and 41 of the gain switching input connector Connector EHFRPHV RII ZKLOH RX VHW...

Page 347: ... Check the wiring to see only one side of the line driver is connected or not Use a CZ output open collector if the controller is not differential input 6 3 Troubleshooting When in Trouble Abnormal Motor Noise or Vibration ODVVLÀFDWLRQ Causes Measures Wiring Noise is on the speed command Measure the speed command inputs of Pin 14 and 15 of the connector RQQHFWRU with an oscilloscope Reduce noise L...

Page 348: ...ng noise while turning it by hand after shutting off the power Replace the motor and request for repair if the noise is heard Electromagnetic brake is kept engaged left un released Check the voltage at brake terminals Apply the power DC24V to release the brake Motor failure oil water or others Avoid the installation place where the motor is subject to high temperature humidity oil dust or iron par...

Page 349: ...ement 6 3 Troubleshooting When in Trouble Parameter Returns to Previous Setup ODVVLÀFDWLRQ Causes Measures Parameter No writing to EEPROM has been carried out before turning off the power 5HIHU WR 3 3520 ULWLQJ 0RGHµ RI 3UHSDUDWLRQ Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 350: ...6 28 MEMO Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 351: ...ommunication Command 7 39 Details of Communication Command 7 40 5 Motor Characteristics S T Characteristics Motor 7 55 6 Dimensions Driver A frame B frame 7 73 C frame D frame 200 V 7 74 D frame 400 V E frame 200 V 7 75 E frame 400 V F frame 7 76 G frame 7 77 H frame 7 78 Motor 7 79 7 Options Noise Filter 7 94 Surge Absorber 7 98 Noise Filter for Signal Lines 7 99 Junction Cable for Encoder 7 100 ...

Page 352: ... Sequence at alarm is set to free run disable dynamic brake the motor is free run state and requires longer stop distance even if no external force is applied Make sure that this does not cause any problem When power transistor etc becomes defective the motor will move to the extent equivalent of 180 electrical angle max Make sure that this does not cause any problem The STO turns off the current ...

Page 353: ...TO function 6 ï 5 Response time Safety input 1 or 2 enables STO to operate within 5 ms of response time the motor output torque will be turned off 6DIHW HTXLSPHQW VHOI GLDJQRVLV SXOVH Safety output signal from the safety controller and safety sensor may include L pulse for self diagnosis To prevent the L pulse from mis triggering STO function the safety input circuit has EXLOW LQ ÀOWHU WKDW UHPRYH...

Page 354: ...SXW VLJQDO Note When both safety input 1 and 2 are off i e when STO function of 2 safety input channels are active the photocoupler in EDM output circuit turns on Signal Symbol Photocoupler logic Safety input SF1 ON ON OFF OFF SF2 ON OFF ON OFF EDM output EDM OFF OFF OFF ON By monitoring the logics all 4 states of photocoupler shown in the table above the external device can determine the status n...

Page 355: ...uit Motor M ASIC PC PC I_SF1 IL_EMG I_SF2 O_EDM 0ï EDM 6 ï SF2 SF1 6 ï X3 Power section interface 4 3 6 5 8 7 5V 5V 5V 5V 5V 5V in 5V out 5V 5V 5V 5V 3 3V level shifter N μC analog input μC analog input μC port 5V PS Voltage Monitor IL_ERR1 Note 2QO IRU SRVLWLRQ FRQWURO W SH LV QRW SURYLGHG ZLWK 6DIHW IXQFWLRQ FRQQHFWRU Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 356: ... engage output coupler ON Break release output coupler OFF Break engage output coupler ON Break release input coupler ON output coupler OFF energized not energized released engaged Servo ON input SRV ON Motor energization Dynamic brake 2 Servo Ready output S RDY Servo Alarm output ALM External brake release output BRK OFF when time to fall below value of Pr4 39 is shorter when setup value of Pr4 3...

Page 357: ...oupler ON Servo ON command output coupler OFF not ready output coupler ON ready output coupler OFF Alarm output coupler ON not Alarm input coupler OFF input coupler ON output coupler OFF Break engage input coupler ON input coupler OFF output coupler ON generated alarm Servo OFF output coupler OFF not energized Servo ON input SEV ON 1 Safety input 1 Safety input 2 Motor energization EDM output Dyna...

Page 358: ...output source Sefety output source Safety sensor Safety controller Contact output SF1 6 ï SF2 6 ï EDM EDMï Safety input EDM output EDM output Safety input SF1 Control output 1 Control output 2 0V 24V EDM input 6 ï SF2 6 ï EDM EDMï Safety input Contact output Servo driver SF1 6 ï SF2 6 ï 0V A2 T33 T31 S24 S14 EDM EDMï Note 2QO IRU SRVLWLRQ FRQWURO W SH LV QRW SURYLGHG ZLWK 6DIHW IXQFWLRQ FRQQHFWRU ...

Page 359: ...utput 1 Control output 2 0V 24V EDM input 6 ï SF2 6 ï EDM EDMï Servo driver SF1 6 ï SF2 6 ï EDM EDMï EDM output Servo driver SF1 6 ï SF2 6 ï EDM EDMï Safety sensor Capacity requirement per safety output source channel 50 No of connected axes mA 24 VDC supply allowable voltage 24 V 15 Maximum No of connectable axes 8 Note 2QO IRU SRVLWLRQ FRQWURO W SH LV QRW SURYLGHG ZLWK 6DIHW IXQFWLRQ FRQQHFWRU P...

Page 360: ...LRQV E VHWWLQJ XS SDUDP HWHU 8VH WKH PRWRU ZKLFK WK SODFH GHVLJQDWHG IRU URWDU HQFRGHU VSHFLÀFDWLRQV LV 6µ 7 wire type EVROXWH 6SHFLÀFDWLRQV There are 3 connecting methods of the host controller and MINAS A5 driver as described below and select a method depending on the interface of the host controller specs or number of axis to be connected Designate a module ID to Pr5 31 of each MINAS A5 driver ...

Page 361: ...ces interconnect GND terminals of these drivers to prevent potential generation RQÀJXUDWLRQ RI DEVROXWH V VWHP RI VFDOH XVLQJ 56 LQWHUIDFH RQÀJXUDWLRQ RI DEVROXWH V VWHP RI VFDOH XVLQJ 56 LQWHUIDFH Related page 3 RQQHFWLRQ RI RPPXQLFDWLRQ LQHµ Related page 3 RQQHFWLRQ RI RPPXQLFDWLRQ LQHµ No connection to X5 when no external scale is used Motor Relay connector X4 X6 Detection head External scale u...

Page 362: ... might be lost when you replace the battery while the control power of the driver is off After replacing the battery clear the battery alarm Refer to P 7 25 How to Clear the Battery Alarm When you execute the absolute encoder with the front panel refer to P 2 113 of Prepara tion or via communication refer to P 7 54 all of error and multi turn data will be cleared WRJHWKHU ZLWK DODUP DQG RX DUH UHT...

Page 363: ...H EDWWHU RU WKURZ LW LQWR D ÀUH R QRW GLVDVVHPEOH WKH EDWWHU VLQFH IUDJPHQWV RI WKH LQWHULRU SDUWV PD Á LQWR RXU H HV ZKLFK LV H WUHPHO GDQJHURXV W LV DOVR GDQJHURXV WR WKURZ D EDWWHU LQWR D ÀUH or apply heat to it as doing to may cause it to rupture R QRW FDXVH WKH EDWWHU WR EH VKRUW FLUFXLWHG 8QGHU QR FLUFXPVWDQFHV PXVW WKH EDWWHU tube be peeled off W LV GDQJHURXV IRU PHWDO LWHPV WR PDNH FRQWDFW...

Page 364: ... 2h c 2 313 days 24h c 52 days 297 8 mAh Battery life 2000 mAh 297 8 mAh 6 7 6 7159 year 2 1 cycle day 2nd cycle of the above 1 is for rest Annual consumption capacity 10h a 0 0014h b 14h c 313 days 24h c 52 days 640 6 mAh Battery life 2000 mAh 630 6 mAh 3 1 3 1715 year a Current consumption in normal mode 3 6 ѥA b Current consumption at power failure timer mode 280 ѥA Power failure timer mode Act...

Page 365: ...er connect the optional battery for absolute encoder DV0P2990 as per the wiring diagram below Connector of the bat tery for absolute encoder shall be provided by customer as well Install and fix the battery securely If the installation and fixing of the battery is not appro priate it may cause the wire breakdown or damage of the battery Refer to the instruction manual of the battery for handling t...

Page 366: ...e servo ready output S RDY is turned on and then start transfer Setup of serial communication interface on host controller 56 Baud rate 2400 4800 9600 19200 38400 57600 115200bps Data 8 bit Parity none Start bit 1 bit Stop bit 1 bit The baud rate is set according to Pr5 29 Baud rate setup of RS232 communication 56 Baud rate 2400 4800 9600 19200 38400 57600 115200bps Data 8 bit Parity none Start bi...

Page 367: ...YDO IRU D LV VZLWFKLQJ ZKHQ RX ZDQW WR capture multiple axes data W LV UHFRPPHQGHG IRU RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH than 2 times to confirm the absolute data coincide in order to avoid mis operation due to unexpected noise 2 Absolute system Transferring absolute data Data of 1 and 2 are determined by the setup RI 3U LV DGGUHVVµ Axis address example Data of 1 Data of 2 0 00h 2Eh 1 01h ...

Page 368: ...FRPPXQLFDWLRQ PRUH WKDQ WLPHV WR FRQÀUP WKH DEVROXWH GDWD FRLQFLGH LQ RUGHU WR DYRLG mis operation due to unexpected noise 2 Absolute system Transferring absolute data Data of 1 2 and 3 are determined by the setup of 3U LV DGGUHVVµ Axis address example Data of 1 Data of 2 Data of 3 0 not usable with RS485 communication 1 81h 01h 2Dh 2 82h 02h 2Ch 3 83h 03h 2Bh 4 84h 04h 2Ah 5 85h 05h 29h 6 86h 06h...

Page 369: ...D2h 03h 11h Encoder status L Setup value of Pr5 31 Axis address Encoder status H Single turn data L Single turn data M Single turn data H Multi turn data L Multi turn data H 00h Error code Checksum Becomes to 0 when the communication is carried out normally If not 0 capture the absolute data from the driver again Received absolute data 15 characters Remarks Note I WKH PXOWL WXUQ GDWD RI WKH DERYH ...

Page 370: ...m QFRGHU VWDWXV UHSUHVHQWV HUURU RFFXUUHQFH QFRGHU VWDWXV UHSUHVHQWV HUURU RFFXUUHQFH Encoder status L bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 1 2 3 4 5 6 7 Encoder status H bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 Battery error One of the following has occurred Battery alarm multi turn error counter overflow counter error full absolute status Counter overflow multi turn error battery...

Page 371: ... Communication Caution OORZ PV RU ORQJHU LQWHUYDO IRU D LV VZLWFKLQJ ZKHQ RX ZDQW WR capture multiple axes data W LV UHFRPPHQGHG IRU RX WR UHSHDW WKH DERYH FRPPXQLFDWLRQ PRUH than 2 times to confirm the absolute data coincide in order to avoid mis operation due to unexpected noise Data of 1 and 2 are determined by the setup RI 3U LV DGGUHVVµ Axis address example Data of 1 Data of 2 K 3Eh 1 K 3Dh 2...

Page 372: ... 37h K K 36h 9 K K 35h K K 34h 11 K K 33h 12 K K 32h 13 K K 31h 14 K K K 15 K K 2Fh 16 K K 2Eh 17 91h 11h 2Dh 92h 12h 2Ch 19 93h 13h 2Bh 94h 14h 2Ah 21 95h 15h 29h 22 96h 16h K 23 97h 17h 27h 24 K K 26h 25 99h 19h 25h 26 9Ah 1Ah 24h 27 9Bh 1Bh 23h 9Ch 1Ch 22h 29 9Dh 1Dh 21h 9Eh 1Eh K 31 9Fh 1Fh 1Fh Check sum becomes OK ed when the lower 8 bit of the sum of the received absolute data 15 characters ...

Page 373: ...m Becomes to 0 when the communication is carried out normally If not 0 capture the absolute data from the driver again Received absolute data 15 characters External scale absolute data Absolute data 6 10000000000h Absolute data 5 100000000h Absolute data 4 1000000h Absolute data 3 10000h Absolute data 2 100h Absolute data 1 Absolute data of external scale is represented as 48 bit number negative v...

Page 374: ... VWDWXV UHSUHVHQWV HUURU RFFXUUHQFH WHUQDO VFDOH VWDWXV UHSUHVHQWV HUURU RFFXUUHQFH External scale status L bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 External scale status H bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 Remarks RU GHWDLO RI WKH H WHUQDO VFDOH VWDWXV UHIHU WR WKH H WHUQDO VFDOH VSHFLÀFDWLRQ Remarks 7UDQVPLW WKH WHUQDO VFDOH DEVROXWH GDWD ZKLOH IL LQJ WKH PRWRU ZLWK brake by t...

Page 375: ...rm Fan has stopped for 1 sec WR V RU A4 Encoder communication alarm The number of successive encoder communication HUURUV H FHHGV WKH VSHFLÀHG YDOXH WR V RU A5 Encoder overheat alarm The encoder detects overheat alarm WR V RU A6 Oscillation detection alarm Oscillation or vibration is detected WR V RU A7 Lifetime detection alarm The life expectancy of capacity or fan becomes VKRUWHU WKDQ WKH VSHFLÀ...

Page 376: ...tware from our web site and install it to your PC How to Connect Connect to connector X1 USB mini B Download setup support software PANATERM from our web site and install it to your PC 86 FDEOH 7KH FRQQHFWLRQ FDEOH VKRXOG EH SURYLGHG ZLWK 86 PLQL FRQQHFWRU DW WKH GULYHU VLGH and the PC compatible connector on the other end I WKH FDEOH KDV QR QRLVH ÀOWHU LQVWDOO D VLJQDO QRLVH ÀOWHU 90P1460 to both...

Page 377: ...r data 0HULWV RX FDQ ZULWH SDUDPHWHUV IURP WKH KRVW WR WKH GULYHU LQ EDWFK ZKHQ RX VWDUW XS WKH machine RX FDQ GLVSOD WKH UXQQLQJ FRQGLWLRQ RI PDFKLQH WR LPSURYH VHUYLFHDELOLW RX FDQ FRPSRVH PXOWL D LV DEVROXWH V VWHP ZLWK VLPSOH ZLULQJ 7 4 Communication Supplement Outline Note Related page 2QO IRU SRVLWLRQ FRQWURO W SH LV QRW SURYLGHG ZLWK RPPXQLFDWLRQ FRQQHFWRU DQG RQ nector for External Scale 2...

Page 378: ...the host to connec WRU RI RQH GULYHU ZLWK 56 FRPPXQLFDWLRQ DQG FRQQHFW HDFK 0 1 6 ZLWK RS485 communication Set up the Pr5 31 of the driver to 0 which is connected to the host and set up 1 to 31 to other drivers each 7 4 Communication Supplement Specifications RS232 Host Pr5 31 1 Pr5 31 1 Pr5 31 1 Pr5 31 1 X2 X2 X2 X2 Selector etc RS232 X2 RS485 Max 32 axis X2 RS485 X2 X2 RS485 Host Pr5 31 0 Pr5 31...

Page 379: ...V RU ORQJHU LQWHUYDO IRU VZLWFKLQJ WKH D HV ZKLOH FDSWXULQJ GDWD RI PXO tiple axes X2 RS485 X2 RS485 X2 X2 RS485 RS485 Pr5 31 1 Pr5 31 2 Pr5 31 3 Pr5 31 4 Max 31 axis Module ID 0 Host Note 2QO IRU SRVLWLRQ FRQWURO W SH LV QRW SURYLGHG ZLWK RPPXQLFDWLRQ FRQQHFWRU DQG RQ nector for External Scale 2QO IRU SRVLWLRQ FRQWURO W SH GRHV QRW VXSSRUW WKH ELW DEVROXWH VSHFLÀFDWLRQ W VXSSRUWV RQO ELW LQFUHPHQ...

Page 380: ... scale is used Motor Relay connector X4 X6 Detection head External scale unit Relay connector X5 RS485 interface ADM485 or equivalent RS485 RS485 GND 8 7 Servo driver X2 RS485 6 5 1 RS485 GND RS485 RS485 Host controller Positioning controller Communication Method RS232 56 Full duplex asynchronous Half duplex asynchronous Communication baud rate 2400 4800 9600 19200 38400 57600 115200bps 2400 4800 ...

Page 381: ...wing codes are used for line control Title Code Function ENQ 05h Module recognition byte of the transmitted Enquire for transmission EOT 04h Module recognition byte of the transmitted Ready for receiving ACK 06h Acknowledgement NAK 15h Negative acknowledgement ENQ The module host or driver sends out ENQ when it has a block to send EOT The module host or driver sends out EOT when it is ready to rec...

Page 382: ... FRQWURO On entering to transmission mode the module transmits the command block continu ously and then waits for ACK reception Transmission completes at reception of ACK ACK may not be returned at transmission failure of command byte counts If no ACK is received within T2 period or other code than NAK or ACK is received sequence will be retried Retry will start from ENQ 5HFHSWLRQ FRQWURO On enter...

Page 383: ... UHFHS tion time exceeds this setup this represents that the receiver is not ready to receive or it has failed to receive ENQ code in some reason and the driver will re transmit ENQ code to the re ceiver retry times 3HUPLVVLEOH WLPH LQWHUYDO IRU WKH GULYHU WR WUDQVPLW 27 DQG WR UHFHLYH WKH UHFHSWLRQ RI WKH VW FKDUDFWHU FRGH 7KH GULYHU ZLOO UHWXUQ 1 DQG ÀQLVKHV WKH UHFHSWLRQ PRGH LI WKH DFWXDO UHFH...

Page 384: ...8h 131032 OORZ PV RU ORQJHU LQWHUYDO IRU VZLWFKLQJ WKH D LV ZKLOH FDSWXULQJ GDWD RI PXOWLSOH D HV X2 RS485 X2 RS485 X2 X2 RS485 RS232 Pr5 31 0 Pr5 31 1 Pr5 31 2 Pr5 31 3 Host 04 06 05 0B 01 D2 EOT ACK ENQ 05 ENQ 00 01 D2 2D 04 EOT 03 11 00 00 D8 FF 01 00 00 00 00 36 06 ACK MINAS A5 0 81 04 06 80 05 ACK ENQ EOT 81 05 00 01 D2 2D 80 04 ENQ EOT MINAS A5 1 MINAS A5 0 0B 01 D2 03 11 00 00 D8 FF 01 00 0...

Page 385: ...Command Host 04 06 05 01 01 71 EOT ACK ENQ 05 1 Capture of execution right ENQ 01 01 71 01 8C 04 EOT MINAS A5 1 2 Writing of individual parameter 3 Writing of parameter to EEPROM 4 Release of execution right Host 00 8D 04 06 EOT ACK 06 05 06 01 17 00 02 00 E0 ACK ENQ ACK ENQ 00 00 00 MINAS A5 1 Host 05 01 01 17 00 E6 04 ENQ EOT 04 06 05 00 01 27 EOT ACK ENQ MINAS A5 1 Host 06 05 01 01 27 00 D7 D8 ...

Page 386: ...nquiry Transmission of one character Size Command bytes 1 Reception of ENQ and at slave Return ENQ to reception buffer Clear of transmission enquiry reception processing ENQ Transmission of EOT T2 start T2 time out Transmission of NAK T2 stop Reception of command byte counts Size command byte counts 3 Sum command byte counts T1 start T2 stop T1 time out Transmission of NAK T1 stop Success of recep...

Page 387: ...of check sum T2 start Transmission of one character Size Size 1 Reception of module recognition bytes T1 start Reception of of EOT T2 start T1 time out T1 stop Module identification byte isnot module ID and ENQ reception or T1 timeout T1 stop Success of reception Check sum OK ed and module recognition byte is module ID when size becomes o Transmission of ACK T1 stop T2 time out Transmission of NAK...

Page 388: ...ccupation Host to driver Driver to host RS485 bus occupation Symbol T3 T4 T5 Title Continuous inter character time Response time of driver Response time of host Minimum Stop bit length Protocol parameter T6 2ms Maximum Protocol parameter T1 Protocol parameter T2 Protocol parameter T2 4 Communication Specifications Note 2QO IRU SRVLWLRQ FRQWURO W SH LV QRW SURYLGHG ZLWK RPPXQLFDWLRQ FRQQHFWRU DQG R...

Page 389: ...ter POS STATUS I O Read out of status Read out of command pulse counter Read out of feedback pulse counter Read out of present speed Read out of present torque output Read out of present deviation counter Read out of input signal Read out of output signal Read out of present speed torque and deviation counter Read out of status input signal and output signal Read out of external scale Read out of ...

Page 390: ...SSHU 9HUVLRQ ORZHU Error code checksum 0 1 command 0 mode 5 5HDG RXW RI GULYHU PRGH 5HFHSWLRQ GDWD 0 axis checksum 0 5 UURU FRGH 7UDQVPLVVLRQ GDWD ULYHU PRGHO FRQVLVW RI FKDUDFWHUV DQG ZLOO EH WUDQVPLWWHG LQ 6 FRGH H J 0 7 ELW 0 Normal 1 Error 6 5 Command error 56 HUURU 2 1 0 0Dh axis 0RGHO RI GULYHU XSSHU 0RGHO RI GULYHU ORZHU Error code checksum 0 5 command 0 mode 6 5HDG RXW RI 0RWRU 0RGHO 0 axi...

Page 391: ...QG 3520 ZULWLQJ DQG UHOHDVH WKH H HFXWLRQ ULJKW DIWHU WKH DFWLRQ ILQLVKHV PRGH QTXLUHV IRU WKH FDSWXUH RI WKH H HFXWLRQ ULJKW PRGH QTXLUHV IRU WKH UHOHDVH RI WKH H HFXWLRQ ULJKW RX FDQQRW RSHUDWH ZLWK WKH IURQW SDQHO DW RWKHU WKDQ PRQLWRU PRGH ZKLOH WKH H HFXWLRQ ULJKW LV FDSWXUHG YLD FRPPXQLFDWLRQ KHQ WKH PRGXOH IDLOV WR FDSWXUH WKH H HFXWLRQ ULJKW LW ZLOO WUDQVPLW WKH HUURU FRGH RI LQ XVH ELW 1R...

Page 392: ...HDG RXW RI VWDWXV 5HFHSWLRQ GDWD 0 D LV FKHFNVXP 2 0 UURU FRGH 7UDQVPLVVLRQ GDWD SRVLWLYH GLUHFWLRQ QHJDWLYH GLUHFWLRQ UXQQLQJ 7KLV EHFRPHV ZKHQ PRWRU VSHHG DIWHU FRQYHUWHG WR U PLQ LV SRVLWLYH SRVLWLYH GLUHFWLRQ RU QHJDWLYH QHJDWLYH GLUHFWLRQ 6ORZHU WKDQ SHUPLVVLRQ 7KLV EHFRPHV ZKHQ PRWRU VSHHG DIWHU FRQYHUWHG WR U PLQ LV EHORZ U PLQ 7RUTXH LQ OLPLW 7KLV EHFRPHV ZKHQ WRUTXH FRPPDQG LV OLPLWHG E D...

Page 393: ...TXH FRPPDQG ZLOO EH YDOXH IRU QHJDWLYH GLUHFWLRQ DQG YDOXH IRU SRVLWLYH GLUHFWLRQ ELW 1RUPDO UURU 5 4 3 2 0 3 axis DWD SUHVHQW WRUTXH HUURU FRGH checksum 2 5 command 2 mode 2 5HDG RXW RI IHHGEDFN SXOVH FRXQWHU 5HFHSWLRQ GDWD 0 axis checksum 2 2 UURU FRGH 7UDQVPLVVLRQ GDWD 0RGXOH UHWXUQV WKH SUHVHQW SRVLWLRQ RI IHHGEDFN SXOVH FRXQWHU LQ DEVROXWH FRRUGLQDWHV IURP WKH VWDULQJ SRLQW RXQWHU YDOXH ZLOO ...

Page 394: ...Q WKH HQFRGHU LV ORFDWHG DW QHJDWLYH GLUHFWLRQ DJDLQVW SRVLWLRQ FRPPDQG DQG ZKHQ LW LV ORFDWHG at positive direction bit7 0 Normal 1 Error 6 5 Command error 4 56 HUURU Command error 56 HUURU DWD 3 2 1 0 5 axis GDWD GHYLDWLRQ H Error code checksum 2 6 bit7 For manufacturer s use 6 6ZLWFKLQJ RI electronic gear 1 5 6SHHG HUR clamp 4 Control mode switching 3 CCW over travel inhibit CW over travel inhi...

Page 395: ... bit15 For PDQXIDFWXUHU V XVH 14 For PDQXIDFWXUHU V XVH 13 For PDQXIDFWXUHU V XVH 12 11 10 9 Oscillation detection alarm 8 External scale error alarm 7 axis data L data H alarm data L H error code checksum Signal title Servo Ready Servo Alarm Positioning completed Mechanical brake released Zero speed detection Torque in limit At speed Speed arrival In speed Speed coincidence Full closed positionin...

Page 396: ...W VLJQDO DODUP GDWD DODUP GDWD HUURU FRGH checksum 2 A command 2 mode 9 5HDG RXW RI SUHVHQW VSHHG WRUTXH DQG SRVLWLRQDO FRPPDQG GHYLDWLRQ 5HFHSWLRQ GDWD 2 9 UURU FRG 7UDQVPLVVLRQ GDWD 2XWSXW YDOXH RI VSHHG DQG WRUTXH DUH LQ ELW DQG GHYLDWLRQ LQ ELW 8QLW DQG VLJQ RI WKH RXWSXW GDWD LV DV VDPH DV WKDW RI FRPPDQG 1R FRPPDQG PRGH PRGH DQG PRGH ELW 1RUPDO UURU 6 5 RPPDQG HUURU 4 56 HUURU 3 2 1 0 0 axis...

Page 397: ... 6WDWXV QFRGHU 67 6WDWXV 1 bit5 Logical sum of bit0 to bit 5 of status L 2 bit4 logical sum of bit6 and bit 7 of status L bit7 Thermal alarm 6 Signal intensity alarm 5 Signal intensity error 4 Transducer error 3 6 GHWHFWLRQ error 2 Hardware error 1 Initialization error 0 2YHU VSHHG bit7 0 6 0 5 Encoder error 1 4 Encoder error 2 3 0 2 0 1 0 0 0 UURU FRGH bit7 0 Normal 1 Error 6 5 Command error 4 56...

Page 398: ...GDWD 0 UURU FRGH checksum 2 D ELW DEVROXWH 3 K QFRGHU QFRGHU command 2 mode 5HDG RXW RI H WHUQDO VFDOH GHYLDWLRQ DQG VXP RI SXOVHV 5HFHSWLRQ GDWD 2 UURU FRGH 7UDQVPLVVLRQ GDWD WHUQDO VFDOH SXOVH VXP ZLOO UHWXUQ WKH SUHVHQW SRVLWLRQ RI WKH H WHUQDO VFDOH FRXQWHU LQ DEVROXWH FRRUGLQDWHV IURP WKH VWDUWLQJ SRLQW WHUQDO VFDOH SXOVH VXP ZLOO EH IRU QHJDWLYH GLUHFWLRQ DQG IRU SRVLWLYH GLUHFWLRQ WHUQDO VF...

Page 399: ...H WHQGHG WR ELWV DQG UHWXUQHG ELW 1RUPDO UURU 6 DWD UURU 5 Command error 4 56 HUURU DWD UURU Command error 56 HUURU 1R UURU 1 command 7 mode 5HFHSWLRQ GDWD D LV FKHFNVXP 7 UURU FRGH 7UDQVPLVVLRQ GDWD ULWHV WKH SUHVHW SDUDPHWHUV WR 3520 7UDQVPLVVLRQ GDWD ZLOO EH UHWXUQHG DIWHU 3520 ZULWLQJ FRPSOHWHV W PD WDNH PD VHF IRU 3520 ZULWLQJ ZKHQ DOO SDUDPHWHUV KDYH EHHQ FKDQJHG DWD HUURU ZLOO RFFXU ZKHQ ZU...

Page 400: ...Normal 1 Error 6 5 4 3 2 1 0 Command error No Error RS485 error I WKH SDUDPHWHU W SH RU WKH SDUDPHWHU 1R LV RXWVLGH WKH UDQJH UHWXUQV 1R HUURU 3DUDPHWHU YDOXH 0 1 YDOXH DQG 0 YDOXH VKRXOG EH VLJQ H WHQGHG WR ELWV EHIRUH EHLQJ WUDQVPLWWHG 2 D LV parameter type parameter No checksum 7 6 17 11h D LV parameter type parameter No L parameter value H L 0 1 value H L 0 value H Property L H Error code chec...

Page 401: ...0 YDOXH VKRXOG EH VLJQ H WHQGHG WR ELWV EHIRUH EHLQJ WUDQVPLWWHG 3URSHUW ELW 3DUDPHWHU QRW LQ XVH 6 LVSOD LQKLELWHG 5 4 KDQJH DW LQLWLDOL DWLRQ 1 0 ELW 14 11 10 9 8 5HDG RQO UURU FRGH ELW 1RUPDO UURU 6 5 4 1 0 RPPDQG HUURU 1R UURU 56 HUURU K 16 D LV SDUDPHWHU W SH SDUDPHWHU 1R SDUDPHWHU W SH SDUDPHWHU 1R SDUDPHWHU W SH SDUDPHWHU 1R FKHFNVXP 7 7 K D LV SDUDPHWHU W SH SDUDPHWHU 1R SDUDPHWHU YDOXH 0 ...

Page 402: ...HSWLRQ GDWD 0 axis checksum 9 0 UURU FRGH 7UDQVPLVVLRQ GDWD I QR DODUP RFFXUV DODUP 1R EHFRPHV RU DODUP 1R UHIHU WR 3 3URWHFWLYH IXQFWLRQ KDW LV DODUP FRGH RI KHQ LQ 7URXEOH ELW 0 Normal 1 Error 5 4 3 2 1 0 3 axis alarm No Main DODUP 1R 6XE error code checksum 9 0 Command error RS485 error UURU FRGH 6HW WR XQXVHG SDUDPHWHU 2WKHUZLVH GDWD HUURU RFFXUV KHQ GDWD RXWVLGH WKH VSHFLILHG VHWWLQJ UDQJH LV...

Page 403: ... HUURU ZLOO RFFXU ZKHQ RX IDLO WR FOHDU KHQ XQGHU YROWDJH RI FRQWURO SRZHU VXSSO RFFXUV HUURU FRGH RI FRQWURO 9 ZLOO EH UHWXUQHG LQVWHDG RI H HFXWLQJ ZULWLQJ ELW 1RUPDO UURU 6 5 4 3 2 1 0 1 axis UURU FRGH checksum 9 3 DWD UURU RPPDQG HUURU 56 HUURU RPPDQG HUURU 56 HUURU RQWURO 9 command 9 mode 2 DWFK UHDG RXW RI DODUP KLVWRU 5HFHSWLRQ GDWD UURU FRGH 7UDQVPLVVLRQ GDWD RX FDQ UHDG RXW ODVW HUURU HYH...

Page 404: ...9 B UURU FRGH 7UDQVPLVVLRQ GDWD OHDUV DEVROXWH HQFRGHU HUURU DQG PXOWL WXUQ GDWD RPPDQG HUURU ZLOO EH UHWXUQHG ZKHQ RX XVH RWKHU HQFRGHU WKDQ ELW DEVROXWH HQFRGHU ELW 1RUPDO UURU 6 5 4 3 2 0 axis UURU FRGH checksum 9 B RPPDQG HUURU 56 HUURU Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 405: ...ROWDJH MSMD011 1 QSXW YROWDJH WR GULYHU 9 RWWHG OLQH UHSUHVHQWV WRUTXH DW OHVV YROWDJH MSMD011 1 QSXW YROWDJH WR GULYHU 9 RWWHG OLQH UHSUHVHQWV WRUTXH DW OHVV YROWDJH MSMD012 1 Input voltage to driver AC2009 RWWHG OLQH UHSUHVHQWV WRUTXH DW OHVV YROWDJH MSMD012 1 Input voltage to driver AC2009 RWWHG OLQH UHSUHVHQWV WRUTXH DW OHVV YROWDJH Continuous torque vs ambient temp Continuous torque vs ambien...

Page 406: ...ents torque at 10 less voltage MSMD021 1 Input voltage to driver AC100V Dotted line represents torque at 10 less voltage MSMD022 1 Input voltage to driver AC200V Dotted line represents torque at 10 less voltage MSMD022 1 Input voltage to driver AC200V Dotted line represents torque at 10 less voltage Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient te...

Page 407: ...p C torque N m speed r min 2 0 0 1000 2000 3000 4000 5000 4 0 1 3 1 7 Peak running range Continuous running range 3800 3400 50 100 10 0 20 30 40 4 0 0 1000 2000 3000 4000 5000 8 0 3 0 ratio vs rated torque ambient temp C torque N m Peak running range Continuous running range speed r min 3600 3200 50 100 10 0 20 30 40 ratio vs rated torque ambient temp C torque N m speed r min 4 0 0 1000 2000 3000 ...

Page 408: ...UDQJH ratio vs rated torque ambient temp 50 0 20 30 40 ratio vs rated torque ambient temp 50 60 70 0 20 30 40 torque 1ÃP torque 1ÃP ratio vs rated torque VSHHG U PLQ ambient temp 50 0 20 30 40 VSHHG U PLQ ratio vs rated torque ambient temp 50 70 75 0 20 30 40 torque 1ÃP ratio vs rated torque VSHHG U PLQ ambient temp 50 0 20 30 40 torque 1ÃP VSHHG U PLQ ratio vs rated torque ambient temp 50 70 75 0...

Page 409: ...ted torque speed r min ambient temp C 50 100 torque N m speed r min 10 0 20 30 40 ratio vs rated torque with brake ambient temp C 50 70 100 80 10 0 20 30 40 torque N m ratio vs rated torque speed r min ambient temp C 50 100 torque N m speed r min 10 0 20 30 40 ratio vs rated torque with brake ambient temp C 50 70 100 80 10 0 20 30 40 Peak running range Continuous running range 2 0 0 8 0 32 2600 31...

Page 410: ... ambient temp C 50 100 90 torque N m speed r min 10 0 20 30 40 ratio vs rated torque ambient temp C 50 75 100 10 0 20 30 40 ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 torque N m speed r min torque N m speed r min ratio vs rated torque ambient temp C 50 100 10 0 20 30 40 75 torque N m ratio vs rated torque speed r min ambient temp C 50 100 torque N m speed r min 10 0 20 30 40 ratio v...

Page 411: ...5 70 Peak running range Continuous running range 0 1000 2000 3000 4000 5000 20 10 7 0 2 0 3700 3300 060 1 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage 060 1 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage Continuous torque vs ambient temp Continuous torque vs ambient temp with brake without brake torque N m ratio vs rated torque sp...

Page 412: ...0 1000 2000 3000 4000 5000 50 25 15 3200 2800 060 1 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage 060 1 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage 060 1 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient...

Page 413: ...epresents torque at 10 less voltage 0 0 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage 0 0 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient temp Peak running range Peak running range ratio vs rated torque ambient temp C 50 100 10 0 20 30 4...

Page 414: ...00 2100 0 1000 2000 3000 70 35 20 3 1900 2100 without brake Peak running range Peak running range Continuous running range Peak running range Continuous running range 0 0 1 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage 0 0 1 Input voltage to driver AC400V Dotted line represents torque at 10 less voltage 0 0 1 Input voltage to driver AC400V Dotted line represents t...

Page 415: ... 2000 3000 150 75 1500 1700 Continuous torque vs ambient temp ambient temp C speed r min 90 47 8 175 70 52 5 130 ratio vs rated torque ratio vs rated torque ratio vs rated torque Continuous torque vs ambient temp ambient temp C 50 100 10 0 20 30 40 torque N m Peak running range Continuous running range speed r min 0 1000 2000 3000 150 75 1500 1700 175 70 52 5 130 torque N m Peak running range Cont...

Page 416: ...voltage 0 0 1 Input voltage to driver AC200V Dotted line represents torque at 10 less voltage Continuous torque vs ambient temp Continuous torque vs ambient temp Continuous torque vs ambient temp ratio vs rated torque ambient temp C torque N m speed r min ratio vs rated torque ambient temp C torque N m speed r min ratio vs rated torque ambient temp C torque N m speed r min 0 0 1 Input voltage to d...

Page 417: ...0 0 20 30 40 0 1000 2000 3000 20 10 8 4 3 14 1600 1800 50 100 10 0 20 30 40 0 1000 2000 3000 20 10 8 4 3 14 1600 1800 50 100 10 0 20 30 40 0 1000 2000 3000 50 25 18 9 6 28 1400 1600 50 100 10 0 20 30 40 0 1000 2000 3000 70 35 20 14 40 1400 1600 Continuous torque vs ambient temp ratio vs rated torque ambient temp C torque N m speed r min Continuous torque vs ambient temp ratio vs rated torque ambie...

Page 418: ...0 100 10 0 20 30 40 Peak running range 0 1000 2000 3000 150 75 1500 1700 0 0 series N WR N 70 107 50 100 10 0 20 30 40 Peak running range Continuous running range 0 1000 2000 3000 100 50 43 22 1500 1700 KHQ RX ORZHU WKH WRUTXH OLPLW VHWXS 3 DQG running range at high speed might be lowered as well torque speed Continuous running range Running range Torque limit setup 300 Running range Torque limit ...

Page 419: ...000 4000 5000 Peak running range Continuous running range 50 70 100 80 10 0 20 30 40 2 0 0 9 0 5 3600 1 0 0 1000 2000 3000 4000 5000 Peak running range Continuous running range with brake without brake 50 100 10 0 20 30 40 2 0 1 5 1 2 4500 1 0 0 1000 2000 3000 4000 5000 Peak running range Continuous running range 50 70 100 80 10 0 20 30 40 2 0 1 5 1 2 4500 1 0 0 1000 2000 3000 4000 5000 Peak runni...

Page 420: ...nge Continuous running range 50 75 100 10 0 20 30 40 4 0 1 7 1 3 3400 3800 2 0 0 1000 2000 3000 4000 5000 Peak running range Continuous running range 50 100 10 0 20 30 40 8 0 3 0 3200 3600 4 0 0 1000 2000 3000 4000 5000 Peak running range Continuous running range 50 100 10 0 20 30 40 8 0 3 0 3200 3600 4 0 0 1000 2000 3000 4000 5000 Peak running range Continuous running range KHQ RX ORZHU WKH WRUTX...

Page 421: ...ut voltage to driver AC400V Dotted line represents torque at 10 less voltage 50 100 10 0 20 30 40 Peak running range Continuous running range 0 1000 2000 3000 50 25 9 5 20 2400 These are subject to change Contact us when you use these values for your machine design 0 0 series N WR N 50 100 10 0 20 30 40 Peak running range Continuous running range 0 1000 2000 3000 20 10 6 0 4 8 2300 50 100 10 0 20 ...

Page 422: ...N WR N 50 100 10 0 20 30 40 Peak running range Continuous running range 0 1000 2000 3000 50 25 13 2100 1900 50 100 90 85 10 0 20 30 40 with brake with brake without brake Peak running range Continuous running range 0 1000 2000 3000 70 35 20 3 2100 1900 47 8 12 60 50 100 10 0 20 30 40 0 1000 2000 3000 2500 2200 50 100 Peak running range Continuous running range 119 1500 KHQ RX ORZHU WKH WRUTXH OLPL...

Page 423: ...70 Mounting bracket Option Mounting bracket Option Name plate B frame 55 47 5 2 43 6 5 7 7 5 2 180 170 150 ø5 2 ø5 2 55 150 140 Name plate 18 22 4 24 20 4 20 27 125 2 5 3 5 2 5 4 5 130 70 Mounting bracket Option Mounting bracket Option Rack mount type Option Front end mounting Base mount type Standard Back end mounting Related page 3 ULYHUµ 3 ULYHU DQG LVW RI SSOLFDEOH 3HULSKHUDO TXLSPHQWVµ 3 ULYH...

Page 424: ...et Option 65 40 5 2 50 7 5 5 20 20 40 5 2 5 180 170 150 ø5 2 ø5 2 140 65 150 Name plate 15 22 4 24 20 4 22 27 120 2 5 4 2 5 4 5 170 70 18 Mounting bracket Option Mounting bracket Option Rack mount type Option Front end mounting Base mount type Standard Back end mounting 6 Dimensions Driver C frame IUDPH 9 Mass 1 6kg Mass 1 8kg Related page 3 ULYHUµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0RW...

Page 425: ... 5 170 70 18 Mounting bracket Option Mounting bracket Option 85 50 17 5 42 5 5 2 86 198 188 168 86 168 ø 5 2 ø 5 2 5 2 5 2 42 5 50 85 17 5 Direction of air flowing from the internal cooling fan 2 5 3 5 Mounting bracket to shipping specification Mounting bracket deviation from shipping specification Mounting bracket to shipping specification Mounting bracket deviation from shipping specification Na...

Page 426: ...3 1 31 7 22 32 24 130 2 5 193 18 Mass 2 7kg 100 15 65 5 2 5 2 130 250 240 220 130 220 ø 5 2 ø 5 2 5 2 5 2 65 100 130 15 Name plate Direction of air flowing from the internal cooling fan 42 7 214 2 5 3 5 Mounting bracket to shipping specification Mounting bracket deviation from shipping specification Mounting bracket to shipping specification Mounting bracket deviation from shipping specification 2...

Page 427: ...ket to shipping specification Mounting bracket deviation from shipping specification Mounting bracket to shipping specification Mounting bracket deviation from shipping specification Handle 233 334 52 2 5 2 5 3 5 210 210 90 90 90 90 90 90 27 27 12 12 72 72 5 2 5 2 5 2 5 2 5 2 5 2 ø 5 2 ø 5 2 220 235 250 24 23 22 32 125 ø 5 2 ø 5 2 Mass 13 5kg IUDPH 9 6 Dimensions Driver Related page 3 ULYHUµ 3 KHF...

Page 428: ... Base mount type Back end mounting Direction of air flowing from the internal cooling fan 21 ø7 ø7 266 4 Mass 21 0kg Related page 3 ULYHUµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0RWRUµ 3 ULYHU DQG LVW RI SSOLFDEOH 3HULSKHUDO TXLSPHQWVµ Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 429: ...9 KH 3 RH 6 2 TP M3 depth 6 Mass kg Without brake 0 32 0 47 With brake 0 53 0 68 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0RWRUµ 3 6 7 KDUDFWHULVWLFVµ 4 ѮLZ 230 200 7 7 Motor connector Encoder connector Br...

Page 430: ...11 14 19 LA 70 90 LB 50 70 LC 60 80 LE 3 LF 6 5 8 LH 43 53 LZ 4 5 6 D カット寸法 LW 30 35 LK 22 25 RH 10 12 5 17 5 Key way dimensions LW 20 25 25 LK 18 22 5 22 KW 4h9 5h9 6h9 KH 4 5 6 RH 8 5 11 15 5 TP M4 depth 8 M5 depth 10 Mass kg Without brake 0 82 1 2 2 3 With brake 1 3 1 7 3 1 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ...

Page 431: ...2 5 22 KW 3h9 4h9 5h9 6h9 KH 3 4 5 6 RH 6 2 8 5 11 15 5 TP M3 depth 6 M4 depth 8 M5 depth 10 Mass kg Without brake 0 32 0 47 0 82 1 2 2 3 With brake 0 53 0 68 1 3 1 7 3 1 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU D...

Page 432: ...y way dimensions LW 45 55 LK 42 41 51 KW 6h9 8h9 KH 6 7 RH 15 5 18 20 Mass kg Without brake 3 1 3 5 4 4 5 3 8 3 11 0 14 0 With brake 4 1 4 5 5 4 6 3 9 4 12 6 16 0 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0...

Page 433: ...th brake 124 142 5 161 5 171 189 224 LZ 9 Key way dimensions LW 45 55 LK 42 41 51 KW 6h9 8h9 KH 6 7 RH 15 5 18 20 Mass kg Without brake 3 5 4 4 5 3 8 3 11 0 14 0 With brake 4 5 5 4 6 3 9 4 12 6 16 0 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI W...

Page 434: ... 5 129 164 133 152 With brake 114 5 124 119 136 5 155 189 158 177 LZ 9 13 5 Key way dimensions LW 45 55 LK 42 41 51 50 KW 6h9 8h9 10h9 KH 6 7 8 RH 15 5 18 20 30 Mass kg Without brake 3 1 3 5 5 2 6 7 8 0 11 0 15 5 18 6 With brake 4 1 4 5 6 7 8 2 9 5 12 6 18 7 21 8 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high spee...

Page 435: ...116 118 140 LM Without brake 94 111 5 129 164 133 152 With brake 119 136 5 155 189 158 177 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 51 50 KW 8h9 10h9 KH 7 8 RH 18 20 30 Mass kg Without brake 5 2 6 7 8 0 11 0 15 5 18 6 With brake 6 7 8 2 9 5 12 6 18 7 21 8 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed res...

Page 436: ... brake 40 4 58 9 76 3 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0RWRUµ 3 6 7 KDUDFWHULVWLFVµ Motor connector Encoder connector Brake connector M4 through 4 ѮLZ LC 43 5 43 5 Eye bolt Thread 10 M5 through 4 Ѯ...

Page 437: ...thout brake 98 91 111 With brake 123 124 144 LZ 176 Key way dimensions LW 55 LK 50 KW 10h9 KH 8 RH 30 Mass kg Without brake 9 5 13 1 18 2 With brake 12 5 17 2 23 1 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH ...

Page 438: ... 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8h9 10h9 KH 7 8 RH 18 30 Mass kg Without brake 6 7 14 0 20 0 With brake 8 2 17 5 23 5 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0RWRUµ 3 6 7 KDUDFWHULVWLFVµ L...

Page 439: ... brake 111 5 119 5 165 5 With brake 136 5 144 5 190 5 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8h9 10h9 KH 7 8 RH 18 30 Mass kg Without brake 6 7 14 0 20 0 With brake 8 2 17 5 23 5 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQD...

Page 440: ...V 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0RWRUµ 3 6 7 KDUDFWHULVWLFVµ Motor connector Encoder connector Encoder connector Brake connector M4 through Eye bolt Thread 10 LW LK KW KH RH LG 44 LL LR LF LE LM 48 ѮLBh7 ѮSh6 M4 throu...

Page 441: ...7 5 Key way dimensions LW 20 25 25 LK 18 22 5 22 KW 4h9 5h9 6h9 KH 4 5 6 RH 8 5 11 15 5 TP M4 depth 8 M5 depth 10 Mass kg Without brake 0 96 1 4 2 5 With brake 1 4 1 8 3 3 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU ...

Page 442: ...9 10h9 12h9 KH 7 8 RH 18 30 37 0 ï Mass kg Without brake 6 7 8 6 12 2 16 0 18 6 23 0 42 3 With brake 8 1 10 1 15 5 19 2 21 8 26 2 46 2 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed response operation is required 3 KHFN RI WKH 0RGHOµ 3 KHFN RI WKH RPELQDWLRQ RI WKH ULYHU DQG WKH 0RWRUµ 3 6 7 KDUDFWHULVWLFVµ ...

Page 443: ... 116 140 LM Without brake 129 146 5 133 152 165 5 194 5 With brake 154 171 5 158 177 190 5 219 5 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8h9 10h9 KH 7 8 RH 18 30 Mass kg Without brake 6 7 8 6 12 2 16 0 18 6 23 0 With brake 8 1 10 1 15 5 19 2 21 8 26 2 RQQHFWRU VSHFLÀFDWLRQV 5HIHU WR 3 6SHFLÀFDWLRQV RI 0RWRU FRQQHFWRUµ Caution Related page Reduce the moment of inertia ratio if high speed ...

Page 444: ...e DV0PM20043 3 phase 200V 683 8 5 E frame Unit mm Label Terminal cover transparent 2 ø4 5 R Cx Cx Cy L L Cy 2 ø4 5 x 6 75 53 1 1 0 100 0 2 0 88 0 75 0 5 0 12 0 10 0 50 0 60 0 7 0 2 0 11 6 13 0 6 M4 2 1 3 4 Circuit diagram IN OUT A B C D E F G H 115 DV0PM20042 DV0PM20042 DV0P4220 DV0PM20043 105 95 70 43 10 52 5 5 145 DV0P4220 135 125 70 50 10 52 5 5 165 DV0PM20043 136 165 90 80 40 54 5 5 Label A B ...

Page 445: ...F frame Okaya Electric Ind 7 Options Noise Filter 5HFRPPHQGHG FRPSRQHQWV Part No 9ROWDJH specifications for driver Current rating A Applicable driver frame Manufacturer RTHN 5010 3 phase 200V 10 A B C frame TDK Lambda Corp RTHN 5030 30 D frame RTHN 5050 50 E F frame RTHN 5010 195 1 210 2 50 2 6 M4 M4 4 5 10 1 18 5 1 78 1 4 5 1 95 2 18 5 1 RTHN 5030 225 1 240 2 55 2 6 M4 M4 4 5 10 1 18 5 1 85 1 4 5...

Page 446: ... 2μF X2 3x1 5μF X2 3x1mH 3x2mH 3x2 2μF X2 E L3 L2 L1 E L3 L2 L1 LOAD LINE Litze AWG10 M5 35 60 47nF Y2 SH 3x1 5MOhm 3x2 2μF X2 SH 3x2 2μF X2 SH 3x0 65mH 3x1 35mH 3x2 2μF X2 SH E L1 L2 L3 E L1 L2 L3 LOAD LINE part No 9ROWDJH specifications for driver Current rating A Applicable driver frame Manufacturer FS5559 60 34 3 phase 200V 60 G frame Schaffner FS5559 80 34 80 H frame FN258L 16 07 3 phase 400V...

Page 447: ...mm Unit mm 7 Options Noise Filter Caution Use options correctly after reading operation manuals of the options to better un derstand the precautions Take care not to apply excessive stress to each optional part Remarks 6HOHFW D QRLVH ÀOWHU RI FDSDFLW WKDW H FHHGV WKH FDSDFLW RI WKH SRZHU VRXUFH DOVR check for load condition RU GHWDLOHG VSHFLÀFDWLRQ RI WKH ÀOWHU FRQWDFW WKH PDQXIDFWXUHU Phone 800 8...

Page 448: ... s part No Manufacturer DV0P1450 3 phase 200V R A 9 Okaya Electric Ind DV0PM20050 3 phase 400V R A 9 Option part No 9ROWDJH specifications for driver Manufacturer s part No Manufacturer DV0P4190 Single phase 100V 200V R A V 781BWZ 4 Okaya Electric Ind Remarks Take off the surge absorber when you execute a dielectric test to the machine or equip ment or it may damage the surge absorber Related page...

Page 449: ...onnection cable adjust the sheath length at the tip of the cable as required Remarks 5HFRPPHQGHG FRPSRQHQWV Power cable Part No Applicable driver frame Manufacturer RJ8035 E frame 200 V F frame 200 V KK CORP CO JP RJ8095 G frame H frame B A C D1 F E D2 Manufacturer s part No Current value 100kHz ѥ LPHQVLRQ 8QLW PP A B C D1 D2 Core thikness E F RJ8035 35A 9 9 3 170 150 23 80 53 24 R3 5 7 RJ8095 95A...

Page 450: ...pe Opposite direction of motor shaft 0 7 Standard bendable type Direction of motor shaft 0 7 Standard bendable type Opposite direction of motor shaft Specifications For 20 bit incremental encoder Without battery box Also for 17 bit version L ø 5 5 Direction of motor shaft Opposite direction of motor shaft Identification label Title Part No Manufacturer P Part No Connector Driver side 3E206 0100 KV...

Page 451: ...river side 3E206 0100 KV Sumitomo 3M 1 3 MFECA0030MJE Shell kit 3E306 3200 008 5 MFECA0050MJE Connector ZMR 02 J S T Mfg Co Ltd 10 MFECA0100MJE Connector pin SMM 003T P0 5 20 MFECA0200MJE Connector JN6FR07SM1 Japan Aviation Electronics Ind Connector pin LY10 C1 A1 10000 Cable AWG24 4P AWG22 2P Hitachi Cable Ltd 1 Old model number 55100 0670 Japan Molex Inc Part No 0 7 Compatible motor output 400W ...

Page 452: ...ETE Shell kit 3E306 3200 008 5 MFECA0050ETE Connector ZMR 02 J S T Mfg Co Ltd 10 MFECA0100ETE Connector pin SMM 003T P0 5 20 MFECA0200ETE Connector JN2DS10SL1 R Japan Aviation Electronics Ind Connector pin JN1 22 22S PKG100 Cable 0 2mm2 3P Oki Electric Cable Co Ltd 1 Old model number 55100 0670 Japan Molex Inc Part No 0 6 Compatible motor output 0 9kW to 5 0kW IP65 Motor Specifications For 17 bit ...

Page 453: ... type Daiden Co Ltd Part No 0 0 1 Highly bendable type Direction of motor shaft Applicable model MSME 50W to 750W 0 0 1 Highly bendable type Opposite direction of motor shaft 0 0 5 Standard bendable type Direction of motor shaft 0 0 5 Standard bendable type Opposite direction of motor shaft L 50 28 8 ø 6 Direction of motor shaft Opposite direction of motor shaft Motor cable for opposite direction ...

Page 454: ...14 R 5 MFMCE0052ECD Rod terminal 178 J S T Mfg Co Ltd 10 MFMCE0102ECD Nylon insulated round terminal N2 M4 J S T Mfg Co Ltd 20 MFMCE0202ECD Cable ROBO TOP 600V 2 0mm2 Daiden Co Ltd Part No 0 0 3ECT Applicable model MSME 3 0kW to 5 0kW MDME 3 0kW to 5 0kW MHME 3 0kW to 5 0kW MGME 2 0kW to 3 0kW 50 L ø40 5 Ѯ14 Title Part No Manufacturer P Part No Connector JL04V 6A22 22SE EB R Japan Aviation Electro...

Page 455: ...tion Electronics Ind 3 MFMCF0032ECD Cable clamp JL04 2428CK 14 R 5 MFMCF0052ECD Rod terminal 178 Phoenix Contact 10 MFMCF0102ECD Nylon insulated round terminal N2 M4 J S T Mfg Co Ltd 20 MFMCF0202ECD Cable ROBO TOP 600V 2 0mm2 Daiden Co Ltd Part No 0 0 3ECT Applicable model MFME 4 5kW 50 L ø43 7 Ѯ14 Title Part No Manufacturer P Part No Connector JL04V 6A24 11SE EB R Japan Aviation Electronics Ind 3...

Page 456: ...TOP 600V 2 0mm2 Daiden Co Ltd Part No 0 0 2FCD Applicable model MSME 750W to 2 0kW 400V MDME 400W to 2 0kW 400V MFME 1 5kW 400V 2 5kW MGME 0 9kW 400V MHME 1 0kW 400V 1 5kW 400V 2 0kW 50 L 50 L ø43 7 Title Part No Manufacturer P Part No Connector JL04V 6A24 11SE EB R Japan Aviation Electronics Ind 3 MFMCE0032FCD Cable clamp JL04 2428CK 17 R 5 MFMCE0052FCD Rod terminal 178 J S T Mfg Co Ltd 10 MFMCE0...

Page 457: ...Manufacturer P Part No Connector JL04V 6A24 11SE EB R Japan Aviation Electronics Ind 3 MFMCA0033FCT Cable clamp JL04 2428CK 17 R 5 MFMCA0053FCT Nylon insulated round terminal Earth N5 5 5 J S T Mfg Co Ltd 10 MFMCA0103FCT Brake N1 25 M4 20 MFMCA0203FCT Cable ROBO TOP 600V 0 75mm2 and ROBO TOP 600V 3 5mm2 Daiden Co Ltd Caution Related page Option cable does not conform to IP65 and IP67 3 XQFWLRQ FDE...

Page 458: ...Opposite direction of motor shaft 0 0 6 7 Standard bendable type Direction of motor shaft 0 0 6 7 Standard bendable type Opposite direction of motor shaft L 50 26 6 Direction of motor shaft Opposite direction of motor shaft ø 4 3 Identification label Title Part No Manufacturer P Part No Connector JN4FT02SJMR Japan Aviation Electronics Ind 3 MFMCB0030PJT Connector pin ST TMH S C1B 3500 5 MFMCB0050P...

Page 459: ...ble Part No 9 3 This 2 m connector cable contains AWG28 conductors 25 50 52 4 2000 200 0 50 10 0 39 Connector cover 10350 52A0 008 Sumitomo 3M or equivalent Connector 10150 3000PE Sumitomo 3M or equivalent 12 7 18 1 26 7DEOH IRU ZLULQJ Pin No color Pin No color Pin No color Pin No color Pin No color 1 Orange Red1 11 Orange Black2 21 Orange Red3 31 Orange Red4 41 Orange Red5 2 Orange Black1 12 Yell...

Page 460: ...iewed from cable Shell FG 33 11 5 2 7 3 ø6 7 11 10 7 8 1 5 RQQHFWRU LW IRU WHUQDO 6FDOH Part No 9 30 RPSRQHQWV Title Part No Manufacturer Note Connector 08 3 J S T Mfg Co Ltd RU RQQHFWRU 3LQ GLVSRVLWLRQ RI FRQQHFWRU FRQQHFWRU LPHQVLRQV 10 5 32 18 5 13 6 10 4 11 9 7 1 1 3 5 7 2 4 6 8 9 10 PS EXA EXA E0V EXZ EXZ EXB EXB PS E5V Viewed from cable 7 Options RQQHFWRU LW Remarks RQQHFWRU XVH ZLWK FRPPHUF...

Page 461: ...U QDORJ 0RQLWRU 6LJQDO Part No 9 30 RPSRQHQWV Title Part No Number Manufacturer Note Connector 510040600 1 Molex Inc RU RQQHFWRU SLQV Connector pin 500118100 6 3LQ GLVSRVLWLRQ RI FRQQHFWRU FRQQHFWRU LPHQVLRQV 1 MX 1 AM1 2 AM2 3 GND 6 NC 5 NC 4 DM 14 0 3 12 9 0 3 3 35 0 3 0 8 5 3 0 3 RQQHFWRU LW IRU Power Supply Input Part No 9 30 For A to D frame Single row type RPSRQHQWV Title Part No Number Manu...

Page 462: ... L 2 Part No 9 30 For D frame 400 V E frame 400 V and 24 V Input power RPSRQHQWV Title Part No Number Manufacturer Note Connector 02MJFAT SAGF 1 J S T Mfg Co Ltd RU RQQHFWRU Handle lever MJFAT OT 2 Part No 9 30 For D frame 400 V RPSRQHQWV Title Part No Number Manufacturer Note Connector 03JFAT SAYGSA M 1 J S T Mfg Co Ltd RU RQQHFWRU Handle lever J FAT OT L 2 Part No 9 30 For E frame 400 V RPSRQHQW...

Page 463: ...or 7 6 6 0 1 J S T Mfg Co Ltd RU RQQHFWRU Handle lever J FAT OT L 2 RQQHFWRU LW IRU 0RWRU RQQHFWLRQ Part No 9 30 For A to D frame RPSRQHQWV Title Part No Number Manufacturer Note Connector 7 6 1 J S T Mfg Co Ltd RU RQQHFWRU Handle lever J FAT OT 2 Part No 9 30 For E frame RPSRQHQWV Title Part No Number Manufacturer Note Connector 7 6 6 1 J S T Mfg Co Ltd RU RQQHFWRU Handle lever J FAT OT L 2 Part ...

Page 464: ...ectronics Ind For Encoder cable 7 pins Socket contact LY10 C1 A1 10000 7 Motor plug connector JN8FT04SJ1 1 Japan Aviation Electronics Ind For Motor cable 4 pins Socket contact ST TMH S C1B 3500 4 1 Old model number 55100 0670 Japan Molex Inc 3LQ GLVSRVLWLRQ RI FRQQHFWRU 3LQ GLVSRVLWLRQ RI FRQQHFWRU 3LQ GLVSRVLWLRQ RI FRQQHFWRU FRQQHFWRU for encoder cable for motor cable 6 PS 5 PS 2 E0V 1 E5V 4 NC ...

Page 465: ...E 3 0kW to 5 0kW MDME 3 0kW to 5 0kW MHME 2 0kW to 5 0kW MGME 2 0kW to 3 0kW Without brake Specifications Design order 1 RPSRQHQWV Title Part No Number Manufacturer Note Connector Driver side 3E206 0100 KV 1 Sumitomo 3M 1 RU RQQHFWRU SLQV Shell kit 3E306 3200 008 1 Encoder connector JN2DS10SL1 R 1 Japan Aviation Electronics Ind For Encoder cable Connector pin JN1 22 22S PKG100 5 Motor connector JL...

Page 466: ...E 1 5kW 400V 2 5kW to 4 5kW Common to with without brake MHME 1 0kW to 1 5kW 400V 2 0kW to 5 0kW MGME 0 9kW 400V 2 0kW to 4 5kW With brake Specifications Design order 1 RPSRQHQWV Title Part No Number Manufacturer Note Connector Driver side 3E206 0100 KV 1 Sumitomo 3M 1 RU RQQHFWRU SLQV Shell kit 3E306 3200 008 1 Encoder connector JN2DS10SL1 R 1 Japan Aviation Electronics Ind For Encoder cable Conn...

Page 467: ...viation Electronics Ind For Encoder cable Connector pin JN1 22 22S PKG100 5 Motor connector JL04V 6A32 17SE EB R 1 Japan Aviation Electronics Ind For Motor cable Cable clamp JL04 32CK 24 R 2 1 Brake connector N MS3106B14S 2S 1 Japan Aviation Electronics Ind For Brake cable Cable clamp N MS3057 6A 1 1 Old model number 55100 0670 Japan Molex Inc 2 DEOH FRYHU VL H є WR є DEOH FRUH PDWHULDO LV QRW VSH...

Page 468: ...td 1 BAT 14 5 2 BAT Caution This battery is categorized as hazardous substance and you may be required to present an application of hazardous substance when you transport by air both passenger and cargo airlines Battery Box For Absolute Encoder Part No 9 3 RPSRQHQWV DV0P4430 P04090001 R5 112 110 31 27 Related page 3 EVROXWH V VWHPµ Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info ...

Page 469: ...w M4 L6 Pan head 4pcs Dimensions Upper side 47 7 15 10 R 2 2 5 2 5 2 M4 Pan head 24 18 0 2 ø5 2 2 C 5 17 9 5 R2 R1 or less Bottom side 47 40 17 9 5 2 5 2 5 15 10 R 2 5 18 0 2 2 M4 Pan head 2 C 5 5 2 R2 2 R1 R1 or less Part No 9 30 Frame symbol of applicable driver C frame Mounting screw M4 L6 Pan head 4pcs Dimensions Upper side 30 0 2 15 10 R 2 2 5 2 5 2 M4 Pan head 2 C 5 17 9 5 40 20 ø5 2 R2 R1 o...

Page 470: ...9 3 55 0 7 80 1 66 5 1 110Max 90 41 2 55 2 Ѯð M4 4 02 5 9 3 55 0 7 80 1 66 5 1 110Max 95 46 2 60 2 Ѯð M4 2 8 9 30 55 0 7 80 1 66 5 1 110Max 105 56 2 70 2 Ѯð M4 1 39 11 Motor series Power supply Rated output Part No Motor series Power supply Rated output Part No MSME Single phase 100V 50W to 100W DV0P227 MSME 3 phase 200V 2 0kW DV0P223 200W to 400W DV0P228 MDME MSME Single phase 200V 50W to 200W DV...

Page 471: ...OHFWULFDO DSSOLDQFHV DQG JHQHUDO SXUSRVH DUWLFOHVµ ZDV DEROLVKHG RQ 6HSWHPEHU We are pleased to inform you that the procedure to execute the harmonic restraint on JHQHUDO SXUSRVH LQYHUWHU DQG VHUYR GULYHU ZDV PRGLÀHG DV IROORZV OO W SHV RI WKH JHQHUDO SXUSRVH LQYHUWHUV DQG VHUYR GULYHUV XVHG E VSHFLÀF XVHUV DUH XQGHU WKH FRQWURO RI WKH XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KHDY FRQVXPHUV ZKR UH FHLY...

Page 472: ...in thermal fuse blows depending on changes in heat dissipation condition operating temperature limit power supply voltage or load Mount the regenerative resistor on a machine operating under aggressive regenerating condition high power supply voltage large load inertia shorter deceleration time etc and make sure that the surface temperature will not exceed 100 C WWDFK WKH UHJHQHUDWLYH UHVLVWRU WR ...

Page 473: ... is short Install a fan for a forced cooling if necessary Caution Regenerative resistor gets very hot Take preventive measures for fire and burns Avoid the installation near inflammable objects and easily accessible place by hand 7 Options External Regenerative Resistor DV0P4284 DV0PM20048 DV0P4285 DV0PM20049 300 10MAX 9MAX 15 15 300 100 25 10 71 10 14 53 70 5 4 5 290 280 450 300 Ѯ Ѯ 450 450 300 5...

Page 474: ... MDME 400W 400V 600W 400V 1 0kW to 3 0kW NVD07SCD082 KOA CORPORATION 4 0kW to 7 5kW Z15D151 Ishizuka Electronics Co 11kW 15kW NVD07SCD082 KOA CORPORATION MFME 1 5kW 2 5kW 4 5kW MGME 0 9kW to 6 0kW Z15D151 Ishizuka Electronics Co MHME 1 0kW 1 5kW NVD07SCD082 KOA CORPORATION 2 0kW to 7 5kW Z15D151 Ishizuka Electronics Co Phone 800 894 0412 Fax 888 723 4773 Web www clrwtr com Email info clrwtr com ...

Page 475: ...suse improper repair or alteration 2 Failure or damage due to falling or damage during transportation after the origi nal delivery HIHFWV UHVXOWLQJ IURP QHJOHFW RI WKH VSHFLÀFDWLRQ LQ XVH RI WKH SURGXFW DLOXUH RU GDPDJH GXH WR XQUHJXODWHG YROWDJH DQG ÀUH DQG DFW RI QDWXUDO GLVDV WHUV VXFK DV HDUWKTXDNH OLJKWQLQJ ZLQG ÁRRG DQG VDOW SROOXWLRQ 5 Defects resulting from invasion of foreign materials su...

Page 476: ... EHVW HIIRUW WR HQVXUH WKH KLJKHVW TXDOLW RI WKH SURGXFWV KRZ ever application of exceptionally larger external noise disturbance and static electricity or failure in input power wiring and components may result in unexpected action It is highly recommended that you make a fail safe design and secure the safety in the op erative range I WKH PRWRU VKDIW LV QRW HOHFWULFDOO JURXQGHG LW PD FDXVH DQ HO...

Page 477: ...4 TEL 81 72 870 3065 IME10 A1009 2021 After Sale Service Repair For your records The model number and serial number of this product can be found on either the back or the bottom of the unit Please note them in the space provided and keep for future reference Model No M DH M ME Serial No Date of purchase Dealer Name Address Phone 7 1 1 Morofuku Daito Osaka 574 0044 Japan Phone 81 72 871 1212 Panaso...

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Panasonic MINAS A5 Series, Operating Instructions Manual

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