Panasonic MINAS A6 Series Operating Instructions Manual Download Page 316

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5-24

2. Real-Time Auto-Gain Tuning

Two-degree-of-freedom control mode – Synchronous type

Class No.

Title

Function

Load fluctuation

compensation gain

When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, sets to 90%.
When set to Pr 6.10 bit14=0, set to 0%.

Load fluctuation
compensation filter

When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, updates to match rigidity.
When set to Pr 6.10 bit14=0, value is held.

Load estimation filter

When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, set to 0 ms.

Torque compensation
frequency 1

Regardless value of the Pr 6.10 bit 14, sets to 0.

Torque compensation
frequency 2

Regardless value of the Pr 6.10 bit 14, sets to 0.

Load estimate numbers

When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, sets to 4.
When set to Pr 6.10 bit14=0, set to 0.

In case Pr 0.02 “Real-time automatic tuning mode setting” = 6, (load fluctuation

response mode), the setting will be changed to the following.

Class No.

Title

Function

Function expansion setup

Load fluctuation suppression function always

become enabled (bit1 = 1)

Load fluctuation

compensation gain

Sets to 100%.

Load fluctuation
compensation filter

Updates to match rigidity.

Load estimation filter

Sets to 0.13 ms.

Torque compensation
frequency 1

Updates to match rigidity.

Torque compensation
frequency 2

Updates to match rigidity.

Load estimate numbers

Sets to 4.

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Summary of Contents for MINAS A6 Series

Page 1: ...asonic product Before operating this product please read the instructions carefully and save this manual for future use Read the the Safety Operating Instructions before using the products P 6 to 9 This product is for industrial equipment Don t use this product at general household Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin 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 Buy ...

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

Page 4: ...tor X1 2 32 4 Wiring to the Connector X2 2 32 5 Wiring to the Connector X3 2 34 6 Wiring to the Connector X4 2 35 7 Wiring to the Connector X5 2 36 8 Wiring to the Connector X6 2 38 9 Timing Chart 2 41 10 Built in Holding Brake 2 45 11 Dynamic Brake 2 47 12 Setup of Parameter and Mode 2 50 13 Setup of command division and multiplication ratio electronic gear ratio 2 72 14 How to Use the Front Pane...

Page 5: ...5 72 6 When in Trouble 6 1 1 When in Trouble 6 2 2 Setup of gain pre adjustment protection 6 29 3 Troubleshooting 6 32 7 Supplement 7 1 1 Safety function 7 2 2 Absolute System 7 10 3 Outline of setup Support Software PANATERM 7 26 4 Communication 7 27 5 Motor Characteristics S T Characteristics 7 57 6 Dimensions 7 78 7 Options 7 108 Warranty 7 148 Cautions for Proper Use 7 149 After Sale Service B...

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 shock injury or fire Don t use cables soaked in water or oil Failure to observe this instruc tion could result in electrical shocks damages and break downs The installation area should be away from heat generating objects such as a heate...

Page 7: ...ical 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 circuit electric shock fire or malfunction Ground the earth terminal of the motor and driver without fail Floating ground circuit will cause electric shock Install a...

Page 8: ...t give strong impact shock to the motor shaft Failure to observe this 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 cha...

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

Page 10: ...cle 9 2 Panasonic Testing Centre Panasonic Service Europe a division of Panasonic Marketing Europe GmbH Winsbergring 15 22525 Hamburg F R Germany When export this product follow statutory provisions of the destination country 1 A6 series SE type and SG type don t correspond to the functional safety standards 2 Information related to the Radio Waves Act South Korea This servo driver is a Class A co...

Page 11: ...e they can discolor or damage the exterior case Inspection Items and Cycles General and normal running condition Ambient conditions 30 C annual average load factor of 80 or lower operating hours of 20 hours or less per day Perform the daily and periodical inspection as per the items below Type Cycles Items to be inspected Daily inspection Daily Ambient temperature humidity speck dust or foreign ob...

Page 12: ...se hours or cycles are reference When you experience any error replacement is required even before this standard replacement cycle Cooling fan 2 to 3 years 10000 to 30000 hours Aluminum electrolytic capacitor on PCB Approx 5 years Rush current preventive relay Approx 100000 times depending on working condition Rush current preventive resistor Approx 20000 times depending on working condition Motor...

Page 13: ...del 1 4 Parts Description A to B frame 1 5 C to D frame 1 5 E frame 1 6 F frame 1 6 Specifications 1 7 Block Diagram 1 14 3 Motor Check of the Model 1 16 Parts Description 1 18 4 Check of the Combination of the Driver and the Motor Absolute Specifications 23 bit 1 19 5 Installation Driver 1 20 Motor 1 24 6 Permissible Load at Output Shaft Motor 1 27 Buy www ValinOnline com Phone 844 385 3099 Email...

Page 14: ... Position Speed Torque and Full closed used in A5 series will be continuously equipped in A6 series and parameter specificatioins will be compatible as well Furthermore we have improved damping control added extra one frequency selectable notch filter and made it possible to control two damping filters during 2DOF By simply replacing conventional model to A6 series you can expect improved performa...

Page 15: ... Multi function Type USB communication Absolute system RS232 485 communication Modbus communication 1 Block Operation 1 By Modbus communication By input signal Safety function Command pulse input Analog voltage input Feedback scale connect Connector Standard Type Communication Type Multi function Type X1 USB connector X2 Serial communication connector X3 Safety function connector X4 I O connector ...

Page 16: ...ion 7 4 5 6 1 3 10 12 8 9 N T No functional safety Safety torque off N S RTEX Analog Pulse E G F Standard type Communication type Multi function type Frame size symbol MAD MBD MCD MDD MED MFD Frame Symbol A frame B frame C frame D frame E frame F frame Series L Series name A6 series Special specifications letters and numbers Power supply Interface specifications Driver specifications Rotary specif...

Page 17: ...ection Front panel Screws for earth x2 Safety by pass prug 1Before Using the Products 2 Driver Parts Description Note Connector XA and XB are attached in A to D frame driver P RB B Safety by pass prug Charge lamp Connector XA for main power connection 05JFAT SAXGGKK A JST Connector XB for motor connection 06JFAT SAXGGKK A JST Terminals for external regenerative resistor Normally short circuit RB t...

Page 18: ... for Serial bus Connector X1 USB connector Connector X5 for feedback scale connection Front panel 2 Driver Parts Description F frame P RB B N Terminal cover Safety by pass prug Control power input terminals Main power input terminals Terminals for motor connection Screws for earth x2 Terminals for external regenerative resistor Normally short circuit RB to B Charge lamp Connector X6 for encoder co...

Page 19: ...output open collector 1 output Feed out the encoder feedback pulse A B and Z phase or feedback scale pulse EXA EXB and EXZ phase in line driver Z phase and EXZ phase pulse is also fed out in open collector When Block motion and full closed control is valid pulse signal can not be output Communication function USB Connection with PC etc RS232 1 1 communication to a host RS485 1 n communication to a...

Page 20: ... origin return invalidation setting is set to invalid External scale position information monitor function under semi closed control Available Block operation Available 1 Velocity control Control input Internal command velocity selection 1 Internal command velocity selection 2 Internal command velocity selection 3 speed zero clamp etc Control output Speed arrival etc Analog input Velocity command ...

Page 21: ...Division Multiplica tion of command pulse Process command pulse frequency electronic gear ratio 1 to 230 1 to 230 as positional command input Use electronic gear ratio in the range 1 1000 times to 8000 times Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input Analog input Torque limit command input Individual torque limit for both positive and negative direct...

Page 22: ...ignal Input 2 inputs Photocoupler input Line receiver input Photocoupler input is compatible with both line driver I F and open collector I F Line receiver input is compatible with line driver I F Output 4 outputs Line driver 3 output open collector 1 output Feed out the encoder feedback pulse A B and Z phase in line driver Z phase is also fed out in open collector Communication function USB Conne...

Page 23: ...sly Model type damping filter Maximum of 2 may be used simultaneously Two degree of freedom control system Available Load variation suppression function Available Position compare output function Available Condition Block operation valid setting Return to origin completed state in increment mode when block operation origin return invalidation setting is set to invalid External scale position infor...

Page 24: ...output Output from I F connector pin 42 pin 43 Pulse signal Input 2 inputs Photocoupler input Line receiver input Photocoupler input is compatible with both line driver I F and open collector I F Line receiver input is compatible with line driver I F Output 4 outputs Line driver 3 output open collector 1 output Feed out the encoder feedback pulse A B and Z phase or feedback scale pulse EXA EXB and...

Page 25: ...y Model type damping filter Maximum of 2 may be used simultaneously Two degree of freedom control system Available Load variation suppression function Available Position compare output function Available Condition Block operation valid setting Return to origin completed state in increment mode when block operation origin return invalidation setting is set to invalid External scale position informa...

Page 26: ...essing Encoder signal processing C D frame 100 V 200 V DC DC M RE X1 X2 X3 X4 X6 X5 U V W L1 L2 L3 L1C L2C P RB N P N B Voltage detection Feedback scale unit Front panel Internal voltage Fuse Fuse Resister Fuse USB Alarm signal Serial Safety function Pulse train command Pusle output Analog velocity command Control input Control output Gate drive Current detection Control curcuit Feedback scale sig...

Page 27: ...put Gate drive Current detection Control curcuit Feedback scale signal processing Encoder signal processing F frame 200 V DC DC M RE X1 X2 X3 X4 X6 X5 U V W L1 L2 L3 L1C L2C P RB N B Voltage detection Feedback scale unit Front panel Internal voltage Fuse Fuse Resister Fuse USB Alarm signal Serial Safety function Pulse train command Pusle output Analog velocity command Control input Control output ...

Page 28: ... W 0 85 kW 1 0 kW 1 0 kW 1 3 kW 1 5 kW 1 8 kW 2 0 kW 2 4 kW 2 9 kW 3 0 kW 4 0 kW 4 4 kW 5 0 kW Special specifications Motor structure Motor structure Voltage specifications Specifications Type Series Symbol Symbol Series name Symbol Motor rated output Design order Symbol Specifications Output Rotary encoder specifications Specifications Symbol Format Pulse count Resolution Wire count Absolute Stan...

Page 29: ...0 A A B B C C C C D D D D S S T T U U U U V V V V 1 2 1 2 1 2 ３４ 1 2 ３４ 1 2 1 2 1 2 ３４ 1 2 ３４ Threaded 10 dig 11 dig MSMF MDMF MGMF MHMF Above 100 C C C C D D D D G G G G H H H H 5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8 Motor I F Connector type Leadwire type Motor structure Holding brake Oil seal Symbol Shaft Without With Key way Round Without With With Protective lip 10 dig 11 dig Motor I F Connector ...

Page 30: ... Mounting holes X4 Motor frame Mounting holes X2 Connector for motor Connector for encoder Oil seal Motor frame Flange Mounting holes X4 Note For details of specific model refer to the Dimensions of Supplement P 7 84 to 7 107 MSMF 50 W to 1 0 kW 80 MQMF 100 W to 400 W MHMF 50 W to 1 0 kW 80 MSMF 1 0 kW 100 to 5 0 kW MDMF 1 0 kW to 5 0 kW MGMF 850 W to 4 4 kW MHMF 1 0 kW 130 to 5 0 kW e g Low inert...

Page 31: ...0 W MBDL 21S B frame MQMF041L1 400 W MCDL 31S C frame Single 3 phase 200 V MQMF012L1 100 W MADL 05S A frame MQMF022L1 200 W MADL 15S MQMF042L1 400 W MBDL 25S B frame Single 3 phase 200 V MDMF Middle inertia 2000 r min MDMF102L1 1 0 kW MDDL 45S D frame MDMF152L1 1 5 kW MDDL 55S 3 phase 200 V MDMF202L1 2 0 kW MEDL 83S E frame MDMF302L1 3 0 kW MFDL A3S F frame MDMF402L1 4 0 kW MFDL B3S MDMF502L1 5 0 ...

Page 32: ...sly use the driver for along time at the resonance point Altitude Lower than 1000 m 1 Extreme 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 venti...

Page 33: ... as an electric shock and short circuit or injury may result There might be a chance of smoke generation due to the failure of these products Pay an extra attention when you apply these products in a clean room environment Be sure to install a circurt breaker MCCB in the power supply In addition be sure to ground the grounding terminal or grounding wire provided In order to prevent electric shock ...

Page 34: ...hould be given if the mo tor is used in a clean room or similar environment If the dynamic brake is applied during operation at a high speed provide approx 10 minute dwell period Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake in operable The capacitance of capacitor in the power supply rectifier circuit decreases its capacitance with age To prevent a sec...

Page 35: ... by in the 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 MW km 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 ...

Page 36: ...n Motor only Lower than 49 m s2 5 G at running 24 5 m s2 2 5 G at stall Impact Motor only Lower than 98 m s2 10 G 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 Motor only Leadwire type IP65 except rotating portion of output shaft and connecting pin part of the motor connector and th...

Page 37: ...pecified to each model 2 Pay an extra attention when you use a rigid coupling Excess bending load may dam age the shaft or deteriorate the bearing life 3 Use a flexible coupling with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permis sible value For permissible load of each model refer to P 1 26 Permissibl...

Page 38: ...bles Cable distortion Keep the cable free from twists or kinks Distorted cable will cause loose connection lowering performance and reliability Lamination factor of cable in cable bear Place cables on a flat surface in parallel without bringing them into contact with each other and measure the dimension necessary to cover these cables Then select a ca ble bear which is wider than the measured dime...

Page 39: ...490 196 4 0 kW 5 0 kW 784 343 MQMF 100 W 147 88 117 6 68 6 58 8 200 W 400 W 392 147 196 245 98 MDMF 1 0 kW to 2 0 kW 980 588 686 490 196 3 0 kW 784 343 4 0 kW 5 0 kW 1666 784 980 MGMF 850 W to 1 8 kW 980 588 686 686 196 2 4 kW 1666 784 980 1176 490 2 9 kW 4 4 kW 1470 MHMF 50 W 147 88 117 6 68 6 49 100 W 58 8 200 W 400 W 392 147 196 245 98 750 W 1 0 kW 80 686 294 392 392 147 1 0 kW 130 1 5kW 980 58...

Page 40: ...0 W P 14639 L 36 400 W P 17579 L 48 MDMF 1 0 kW 2 0 kW P 19110 L 11 5 3 0 kW P 34496 L 11 5 4 0 kW 5 0 kW P 42336 L 19 Motor series Motor output Formula of Load and load point relation MGMF 850 W 1 8 kW P 26754 L 11 5 2 4 kW P 63504 L 19 2 9 kW P 63504 L 19 4 4 kW P 79380 L 19 MHMF 50 W P 3240 L 29 100 W P 4380 L 43 200 W P 15741 L 41 400 W P 20176 L 59 750 W P 36005 L 66 1 0 kW 80 P 41101 L 79 1 ...

Page 41: ...r X4 Connection to Host Controller 2 35 7 Wiring to the connector X5 Connect on to External Scale 2 36 8 Wiring to the connector X6 Connection to Encoder 2 38 9 Timing Chart Timing on power up 2 41 Alarm 2 42 Servo Lock 2 43 Servo ON OFF 2 44 10 Built in Holding Brake Outline 2 45 Specifications 2 46 11 Dynamic Brake Outline 2 47 Condition setting chart 2 48 12 Setup of Parameter and Mode Outline ...

Page 42: ... of 75 C or higher Make sure to install a circuit breaker MCCB or fuse which are UL recognized on the power supply Use a copper cable with temperature rating of 75 C or higher 2 Short Circuit Current Rating SCCR This driver conform to the power source witch is less than the maximum input voltage less than 5000 A symmetrical current 3 The NEC National Electric Code The branch circuit of the protect...

Page 43: ... No 100 04 Radio Waves Act South Korea KC 2 KN11 KN61000 4 2 3 4 5 6 8 11 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 ...

Page 44: ...hown on the figure should be directly grounded through PE Because these conditions for EMC directive are affected by status of connected de vices wiring connection and location compliance should be checked after complet ing installation 2 Preparation 1 Conformance to international standards Composition of Peripheral Equipments Metaric control box 100 V 200 V Controller Insulated power supply for i...

Page 45: ...ferrite coil Power wire If sheathed jacketed remove the sheath jacket to the length so that wires L1 L2 L3 can be wound on the ferrite coil including power line dedicated filter For effective noise reduction capability L1 L2 and L3 should be wound together If not effective increase the number of signal noise filters including power line dedicated filters See figure below Motor line When installing...

Page 46: ... insulated power supply of DC12 to 24 V which has CE marking or complies with EN60950 Use sheathed jacketed cable twisted cable or closely bundled cable for power cable Power cable and signal wires must be sufficiently isolated from each other Twisted Servo dr ver L1C L2C Closely bundled cable United Servo dr ver L2 L3 L1 Circuit Breaker Install a circuit breaker which complies with IEC Standards ...

Page 47: ...d specifications of each noise filter contact the manufacturer When two or more servo drivers are used with a single noise filter at the common pow er source consult with the noise filter manufacturer 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 input ...

Page 48: ...ged Residual current device Install a residual current device RCD at primary side of the power supply Select a RCD of type B prescribed in IEC60947 2 JISC8201 2 2 Grounding 1 To prevent electric shock be sure to connect the ground terminal of the driver and the ground terminal PE of the control panel 2 The ground terminal must not be shared with other equipment Two ground ter minals are provided N...

Page 49: ...l 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 signal When noise is applied to the control input output it causes displacement and malfunc tioning of I O signal X1 to X6 are secondary side circuit which s...

Page 50: ...pprox 6 0 kVA 100 A 3P 1a 4 5 kW approx 6 8 kVA 5 0 kW approx 7 5 kVA List of Applicable diameter cables Driver Voltage 1 Rated output Required Power at the rated load Diameter and withstand voltage of main circuit cable Crimp terminal for main circuit terminal block Diameter and withstand voltage of control power supply cable Crimp terminal for control power supply terminal block Diameter and wit...

Page 51: ...ble for use on a circuit capable of delivering not more than 5 000 Arms symmetrical amperes be low the maximum input voltage of the product Remarks Select a circuit breaker and noise filter which match to the capacity of power supply including a load condition Terminal block and protective ground terminals Use a copper conductor cables with temperature rating of 75 C or higher Use the attached exc...

Page 52: ... on the nameplate from the power source Symmetric current should be 5000 Arms or below If the short circuit current on the power source exceeds this value use a current limiting device e g current limiting fuse current limiting circuit breaker or transformer Note Wiring of Main Connector XA Circuit Breaker MCCB To protect power supply line from overload ing install a wiring circuit breaker rated t...

Page 53: ...on to PC PANATERM Connection to RS232 RS485 or host controller Connection to Safety controller Wiring to Connector X3 P 2 34 Wiring to Connector X2 P 2 32 Wiring to Connector X1 P 2 32 Connection to encoder Connection to feedback scale Wiring to Connector X6 P 2 38 Wiring to Connector X5 P 2 36 Junction cable for encoder Junction cable for motor Connection to motor driving phase and ground Wiring ...

Page 54: ...ed by manufacturer Never start stop the motor with this Magnetic Contactor Provide an AC Reactor Connect L1 and L1C and L3 and L2C at single phase use 100 V and 200 V and don t use L2 Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Don t connect anything to N Avoid shorting and grounding Don t connect the main power Earth ground this To prevent e...

Page 55: ...ALM Motor connection 172159 1 172167 1 XA XB X4 36 L ON MC ALM Built in thermal protector of an external regenerative resistor light yellow External regenerative resistor External regenerative resistor In Case of Leadwire type 1 Red White Black Green 2 3 4 1 2 3 4 Noise filter Main power supply Control power supply Motor 37 ALM L2 L3 L1C L2C P MC MCCB ALM OFF N B U V W L1 Coil surge suppression un...

Page 56: ...e capacity of the power supply Noise Filter NF Removes external noise from the power lines And reduces an effect of the noise generated by the servo driver Magnetic Contactor MC Turns on off the main power of the servo driver Use coil surge suppression units together with this Never start nor stop the servo motor with this Magnetic Contactor Reactor L to be supplied by customer Reduces harmonic cu...

Page 57: ... to P 2 31 for connection Junction cable for encoder Junction cable for motor Connection to PC PANATERM Connection to RS232 RS485 or host controller Connection to Safety controller Connection to encoder Connection to feedback scale Connection to host controller 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock Connection to motor driving phase and ground ...

Page 58: ...ovide an AC Reactor Connect L1 and L1C and L3 and L2C at single phase use 100 V and 200 V and don t use L2 Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Don t disconnect the shorting cable between B2 and B3 C and D frame type Disconnect this only when the external regenerative register is used Avoid shorting and grounding Don t connect the main...

Page 59: ...ative resistor light yellow External regenerative resistor Note 1 Short wire Note 1 Short wire In Case of Leadwire type 1 Red White Black Green 2 3 4 1 2 3 4 Noise filter Main power supply Control power supply Motor 37 ALM L2 L3 L1C L2C P MC MCCB ALM OFF RB B U V W L1 Coil surge suppression units ALM Motor connection XA XB X4 36 L ON MC ALM Built in thermal protector of an external regenerative re...

Page 60: ... noise generated by the servo driver Magnetic Contactor MC Turns on off the main power of the servo driver Use coil surge suppression units together with this Never start nor stop the servo motor with this Magnetic Contactor Reactor L to be supplied by customer Reduces harmonic current of the main power Apply the voltage designated on the nameplate from the power source Symmetric current should be...

Page 61: ...ction for other occasions Refer to P 2 31 for connection Junction cable for encoder Connection to PC PANATERM Connection to RS232 RS485 or host controller Connection to Safety controller Connection to encoder Connection to feedback scale Connection to host controller 1 Do not make displacement wiring or inspection while the LED is lit cause of electric shock Connection to motor Wiring to Connector...

Page 62: ...with this Magnetic Contactor Provide an AC Reactor Don t disconnect the shorting cable between RB and B Disconnect this only when the external regenerative register is used Do not connect anything to N Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Avoid shorting and grounding Don t connect the main power Earth ground this To prevent electric sh...

Page 63: ...me 200 V type Power supply 3 phase 200 V 15 to 240 V 10 Noise filter External regenerative resistor Motor 37 ALM L2 L3 L1C L2C P MC MCCB ALM OFF RB B N U V W L1 Coil surge suppression units ALM XA XC XB X4 36 L ON MC ALM Main power supply Control power supply Motor connection Built in thermal protector of an external regenerative resistor light yellow Insulated DC12 to 24 V 5 Note 1 Short wire Not...

Page 64: ...ignated on the nameplate from the power source Symmetric current should be 5000 Arms or below If the short circuit current on the power source exceeds this value use a current limiting device e g current limiting fuse current limiting circuit breaker or transformer P B L3 L2 L1 L2C L1C Regenerative resistor optional When you use an external regenerative resistor install an external protective appa...

Page 65: ...ed by customer Setup support software PANATERM Please download from our web site Connection to PC PANATERM Connection to RS232 RS485 or host controller Connection to Safety controller Connection to encoder Connection to feedback scale Connection to host controller Wiring to Connector X6 P 2 38 Wiring to Connector X5 P 2 36 Wiring to Connector X4 P 2 35 Wiring to Connector X3 P 2 34 Wiring to Conne...

Page 66: ... noise filter Provide coil surge suppression units to the coil of the Magnetic Contactor recommended by manufacturer Never start stop the motor with this Magnetic Contactor Provide an AC Reactor Don t disconnect the short bar between RB and B Disconnect this only when an external regenerative register is used Do not connect anything to N Match the colors of the motor lead wires to those of the cor...

Page 67: ...er supply 3 phase 200 V 15 to 230 V 10 Note 1 Frame No Short bar Accessory Built in regenerative resistor Connection of terminal block In case of using an external regenerative resistor In case of not using an external regenerative resistor F frame with with Remove the short bar accessory from between RB B Connect an external regenerative resistor between P B Shorted between RB B with an attached ...

Page 68: ...rew M2 0 19 N m 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 N m 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 BAT E0V PS BAT E5V PS PIN No Application Electromagnetic brake is a nonpolar device 172167 1 172169 1 1 U phase V phase W phase Ground PIN No 2 3...

Page 69: ...round PE PE 3 4 5 2 1 3 4 5 2 1 PE Connector for motor Connector for motor Motor with brake Connector for motor and brake Motor with brake Connector for motor and brake MQMF MHMF 200 W to 1 0 kW 80 MHMF 50 W 100 W Tightening torque of the screw M2 0 085 N m to 0 095 N m screwed to plastic Be sure to use only the screw supplied with the connector to avoid damage Tightening torque of the screw M2 0 ...

Page 70: ...ctor for brake A B C D JL10 2E20 4PE B JL10 2E22 22PE B U phase V phase W phase Ground PIN No Application B C D A Connector for motor JL10 2E20 18PE B JL10 2E24 11PE B G H A F I B E D C NC U phase V phase W phase Ground Ground NC with Brake Brake without Brake NC PIN No Application with Brake Brake without Brake NC with Brake Brake without Brake NC with Brake Brake without Brake NC A B C D E F G H...

Page 71: ...sulation cover or protrude excessively from the tip of the ferrule accidents such as an elec tric shock and fire from a short circuit may result A to C 100 V 200 V D 200 V specifications Cables Compatible with Connector Conductor Size AWG18 to 14 Sheath Outline φ 2 1 mm to φ 3 8 mm Recommended Connector Bar Terminal Conductor Size AWG18 Terminal Model Number AI0 75 8GY Phoenix Contact Ltd E 200 V ...

Page 72: ...bol Connector Pin No Contents Signal ground GND 1 Connected to ground of control circuit NC 2 Do not connect RS232 signal TXD 3 RS232 The transmission reception method RXD 4 RS485 signal 485 5 RS485 The transmission reception method 485 6 485 7 485 8 Frame ground FG Shell Connected with protective earth terminal in the servo driver Connector plug 1 2201855 1 or 2040008 1 optional available from Ty...

Page 73: ...nnect up to 31 drivers with the host For details refer to P 7 28 Communication of Supplement 4 Wiring to the connector X2 Connecting host computer Remarks X1 to X6 are used for the secondary circuit To connect these terminals to the primary power supply particularly the 24 VDC power supply for brake insulation is required Do not connect these terminals to the same power supply Connector X2 Connect...

Page 74: ... 4 Safety input 2 SF2 5 SF2 6 EDM output EDM 7 This is an output for monitoring the failure of the safety function EDM 8 Frame ground FG Shell Connected with protective earth terminal in the servo driver Connector plug 2201855 1 or 2013595 1 optional available from Tyco Electronics 8 6 4 2 7 5 3 1 Connector pin assignment Viewed from cable Safety bypass plug supplied with the driver internal wirin...

Page 75: ...upply particularly the 24 VDC power supply for brake insulation is required Do not connect these terminals to the same power supply Tips on wiring 2 Preparation 6 Wiring to the connector X4 Connection to Host Controller Controller 3 m or shorter 30 cm or longer Power supply Motor COM GND 1 Connector X4 COM FG VDC 2 Peripheral apparatus such as host controller should be located within 3 m Separate ...

Page 76: ...ccommodate two incremental and absolute type as the corresponding serial signals for external scale Please is whether or not the external scale is your maker is available at our website 2 Recommended external scale ratio is 1 40 External scale ratio 1280 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 ...

Page 77: ...e 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 power up Your design should meet this operation timing after power up 7 When driving the external scale from an external power supply keep the EX5V pin open circuit so that it does not rece...

Page 78: ...of input power to encoder side connector should be in the range 4 75 VDC 5 25 VDC When you make your own encoder junction cable for connectors refer to P 7 111 Options Connector Kit for Motor and Encoder connection of Supplement 1 Refer to the Wiring Diagram below 2 Cable to be Shielded twisted pair cable with core diameter of 0 18 mm2 or larger AWG24 and with higher bending resistance 3 Use twist...

Page 79: ... cable or prepared by the user X6 X6 battery battery Shell FG Shell FG X6 Shell FG battery Connect the battery for absolute encoder across 6P and 5P of the junction connector the figure above A battery holder and a battery connection cable should be the option cable or prepared by the user Twisted pair Twisted pair 5 V 0 V 1 2 3 4 5 6 4 1 3 7 Encoder cable Motor Driver E5V E0V PS PS 9 PS 5 BAT 6 S...

Page 80: ...0 29P by Japan Aviation Electronics Ind Motor Driver 5 V 0 V 1 2 3 4 5 6 7 8 1 2 4 5 3 Twisted pair Unconnect Unconnect Unconnect Encoder cable 172161 1 by Tyco Electronics 172169 1 by Tyco Electronics E5V E0V E5V E0V BAT BAT PS PS FG PS PS Motor Black Purple Yellow Green White Light blue Pink Red H G K L J Connector 3E206 0100 KV Shell kit 3E306 3200 008 Sumitomo 3M or equivalent Connector 3E106 ...

Page 81: ...time after power up 4 Servo ON status output SRV ST is a signal indicating that it has received the Servo On input please note that it is not an indication showing command input is possible 2 Preparation 9 Timing Chart Timing on power up Related page P 4 6 to P 4 85 Details of parameter output Tr OFF output Tr ON input coupler ON input coupler OFF 10 ms or longer 2 10 ms or longer 2 OFF OFF ON res...

Page 82: ...mal released energized output Tr ON not Alarm alarm engaged 2 non energized output Tr OFF not ready output Tr OFF Alarm 0 5 ms to 5 ms t1 1 output Tr OFF Break engage engaged OFF output Tr ON Break release Setup value of Pr4 39 output Tr ON Break release motor speed motor speed t1 1 Setup value of Pr4 38 Alarm Dynamic brake Motor energization Servo Ready output S RDY Servo Alarm output ALM Externa...

Page 83: ...wing command input is possible 2 Preparation 9 Timing Chart Servo Lock Related page P 4 47 4 54 Details of Parameter 9 Timing chart Alarm approx 60 ms approx 2 ms 120 ms or longer 1 input coupler ON input coupler OFF input coupler OFF engaged released energized not energized output Tr OFF Break engage output Tr ON Break release output Tr ON ready output Tr OFF alarm output Tr ON not alarm no input...

Page 84: ...ived the Servo On input please note that it is not an indication showing command input is possible Related page P 2 47 Dynamic brake 2 Preparation 9 Timing Chart Servo ON OFF input coupler OFF input coupler OFF input coupler ON engaged 3 released not energized engaged 3 4 not energized 5 energized Output Tr OFF Output Tr ON engaged OFF released ON No servo ON until the motor speed falls below appr...

Page 85: ... 5 Recommended components are specified to measure the brake releasing time Reactance of the cable varies depending on the cable length and it might generate surge voltage Select a surge absorber so that relay coil voltage max rating 30 V 50 mA and ter minal voltage may not exceed the rating Output Timing of BRK OFF Signal Note For the brake release timing at power on or braking timing at Servo OF...

Page 86: ...ss 30 or less 3100 5108 MGMF 850 W 1 3 kW 1 8 kW 13 7 or more 1 12 100 or less 50 or less 0 79 DC2 V or more 1470 2160 10000 2 4 kW 25 0 or more 4 7 80 or less 25 or less 1 29 1800 3000 5440 2 9 kW 4 4 kW 44 1 or more 3 93 150 or less 30 or less 3100 5108 MHMF 50 W 100 W 0 38 or more 0 002 35 or less 20 or less 0 30 DC1 V or more 39 2 4 9 30000 200 W 400 W 1 6 or more 0 018 50 or less 0 36 105 44 ...

Page 87: ... brake resistor is capable of handling up to 3 continu ous halts at the rated revolutions with max permissible inertia When overheated un der more critical operating conditions the brake will blow out and should be replaced with a new one You can activate the dynamic brake in the following cases 1 When the main power is turned off 2 At Servo OFF 3 When one of the protective function is activated 4...

Page 88: ... run Free run D B D B Clear Clear Clear Clear Hold Hold Hold Hold Free run Free run Emergency stop Clear D B Emergency stop Clear Free run D B 0 Setup value of Pr5 07 1 2 3 4 5 6 7 8 9 Sequence at main power off Pr5 07 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 S...

Page 89: ... of torque at emergency stop when the setup value is 2 Changes will be validated after the control power is turned on DB Hold Hold 0 Setup value of Pr5 05 1 2 Sequence at over travel inhibit input Pr5 05 Contents of deviation counter Driving condition During deceleration After stalling Emergency stop clear Torque command to inhibited direction is 0 Torque command to inhibited direction is 0 Torque...

Page 90: ...eters 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 sup po...

Page 91: ... setting P 2 63 7 00 to 93 Special setting Parameter for Special setting P 2 66 8 00 to 19 For manufactuer s use Not be used P 2 67 9 00 to 50 For manufactuer s use Not be used P 2 68 15 00 to 35 For manufactuer s use Not be used P 2 69 The Parameter No consists of 2 digits In this document following symbols represent each mode Symbol Control mode Setup value of Pr0 01 P Position control 0 S Veloc...

Page 92: ...r of external regenerative resistor selection 0 to 4 0 0 18 For manufactuer s use 0 Class 1 Gain adjustment 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 P S T F 1 00 1st gain of position loop 0 to 30000 480 320 0 1 s 4 16 1 01 1st gain of velocity loop 1 to 32767 270 180 0 1 Hz 1 02 1st time constant of velo...

Page 93: ...to 20000 0 1 19 Position gain switching time 0 to 10000 10 0 1 ms 1 20 Mode of velocity control switching 0 to 5 0 4 21 1 21 Delay time of velocity control switching 0 to 10000 0 0 1 ms 1 22 Level of velocity control switching 0 to 20000 0 1 23 Hysteresis at velocity control switching 0 to 20000 0 4 22 1 24 Mode of torque control switching 0 to 3 0 1 25 Delay time of torque control switching 0 to ...

Page 94: ...r manufactuer s use 84 126 1 51 For manufactuer s use 250 1 52 For manufactuer s use 1000 1 53 For manufactuer s use 1000 1 54 For manufactuer s use 0 1 55 For manufactuer s use 480 320 1 56 For manufactuer s use 270 180 1 57 For manufactuer s use 210 310 1 58 For manufactuer s use 84 126 1 59 For manufactuer s use 250 12 Setup of Parameter and Mode List of Parameters Caution The symbol attached t...

Page 95: ...le Range Default Unit Turning on of power supply Related Control Mode Detail page Class No A B frame C frame D E F frame P S T F 2 00 Adaptive filter mode setup 0 to 6 0 4 23 2 01 1st notch frequency 50 to 5000 5000 Hz 2 02 1st notch width selection 0 to 20 2 2 03 1st notch depth selection 0 to 99 0 2 04 2nd notch frequency 50 to 5000 5000 Hz 2 05 2nd notch width selection 0 to 20 2 4 24 12 Setup ...

Page 96: ...R filter 0 to 10000 10 0 1 ms 4 28 2 24 5th notch frequency 50 to 5000 5000 Hz 4 29 2 25 5th notch width selection 0 to 20 2 2 26 5th notch depth selection 0 to 99 0 2 27 1st damping width setting 0 to 1000 0 2 28 2nd damping width setting 0 to 1000 0 2 29 3rd damping width setting 0 to 1000 0 2 30 4th damping width setting 0 to 1000 0 2 31 For manufactuer s use 0 4 30 2 32 For manufactuer s use 0...

Page 97: ...to 20000 0 r min 3 07 4th speed of speed setup 20000 to 20000 0 r min 3 08 5th speed of speed setup 20000 to 20000 0 r min 3 09 6th speed of speed setup 20000 to 20000 0 r min 3 10 7th speed of speed setup 20000 to 20000 0 r min 3 11 8th speed of speed setup 20000 to 20000 0 r min 3 12 Acceleration time setup 0 to 10000 0 ms 1000 r min 3 13 Deceleration time setup 0 to 10000 0 ms 1000 r min 3 14 S...

Page 98: ...No 28 0 to 00FFFFFFh 4108 4 05 SI6 input selection Pin No 29 0 to 00FFFFFFh 197379 4 06 SI7 input selection Pin No 30 0 to 00FFFFFFh 3847 4 07 SI8 input selection Pin No 31 0 to 00FFFFFFh 263172 4 08 SI9 input selection Pin No 32 0 to 00FFFFFFh 328965 4 09 SI10 input selection Pin No 33 0 to 00FFFFFFh 3720 4 10 SO1 output selection Pin No 10 11 0 to 00FFFFFFh 197379 4 41 4 11 SO2 output selection ...

Page 99: ...s 4 46 4 34 Zero speed 10 to 20000 50 r min 4 35 Speed coincidence range 10 to 20000 50 r min 4 36 At speed Speed arrival 10 to 20000 1000 r min 4 47 4 37 Mechanical brake action at stalling setup 0 to 10000 0 1 ms 4 38 Mechanical brake action at running setup 0 to 10000 0 1 ms 4 39 Brake release speed setup 30 to 3000 30 r min 4 48 4 40 Selection of alarm output 1 0 to 28 0 4 41 Selection of alar...

Page 100: ...ount 32768 to 32767 0 0 1μs 4 57 Position compare output assignment setting 2147483648 to 2147483647 0 4 51 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 P S T F 5 00 2nd numerator of electronic gear 0 to 230 0 4 52 5 01 3rd numerator of electronic gear 0 to 230 0 5 02 4th numerator ...

Page 101: ...ing filter 0 to 3 0 5 16 Alarm clear input setup 0 to 1 0 5 17 Counter clear input mode 0 to 4 3 4 57 5 18 Invalidation of command pulse inhibit input 0 to 1 1 5 19 Command pulse inhibit input reading setup 0 to 5 0 5 20 Position setup unit select 0 to 1 0 4 58 5 21 Selection of torque limit 0 to 6 1 5 22 2nd torque limit 0 to 500 500 1 5 23 Torque limit switching setup 1 0 to 4000 0 ms 100 5 24 T...

Page 102: ...on time setting 0 to 10000 0 ms 1000 r min 5 57 Slow stop S shape acceleration and deceleration setting 0 to 1000 0 ms 5 58 Modbus mirror register setting 1 1 32768 to 32767 24591 5 59 Modbus mirror register setting 2 1 32768 to 32767 24592 5 60 Modbus mirror register setting 3 1 32768 to 32767 16421 5 61 Modbus mirror register setting 4 1 32768 to 32767 24613 4 65 5 62 Modbus mirror register sett...

Page 103: ...g 11 1 32768 to 32767 16398 5 82 Modbus mirror register setting 12 1 32768 to 32767 16402 5 83 Modbus mirror register setting 13 1 32768 to 32767 16411 5 84 Modbus mirror register setting 14 1 32768 to 32767 16405 5 85 Modbus mirror register setting 15 1 32768 to 32767 16406 5 86 Modbus mirror register setting 16 1 32768 to 32767 0 Class 6 Special setting Parametr No Title Range Default Unit Turni...

Page 104: ...p 0 to 32767 0 pulse 4 71 6 20 Z phase setup of external scale 0 to 400 0 μs 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 4 72 6 23 Load fluctuation correction gain 100 to 100 0 6 24 Load fluctuation correction filter 10 to 2500 53 0 01 ms 6 27 Alarm latch time selection 0 to 10 5 s 6 28 Special function sel...

Page 105: ... s use 0 6 54 For manufacturer s use 0 6 57 Torque saturation error protection detection time 0 to 5000 0 ms 4 80 6 58 Serial absolute external scale Z phase shift amount 1 2147483648 to 2147483647 0 pulse 6 60 2nd damping depth 0 to 1000 0 6 61 1st resonance frequency 0 to 3000 0 0 1Hz 4 81 6 62 1st resonance damping ratio 0 to 1000 0 6 63 1st anti resonance frequency 0 to 3000 0 0 1Hz 6 64 1st a...

Page 106: ...e 0 7 05 For manufacturer s use 0 7 06 For manufacturer s use 0 7 07 For manufacturer s use 0 7 08 For manufacturer s use 0 7 09 For manufacturer s use 0 7 10 For manufacturer s use 0 7 11 For manufacturer s use 0 7 12 For manufacturer s use 0 7 13 For manufacturer s use 0 7 14 Main power turn off warning detection time 0 to 2000 0 ms 7 15 For manufacturer s use 0 7 16 For manufacturer s use 0 7 2...

Page 107: ... frame C frame D E F frame P S T F 7 21 For manufacturer s use 1 4 84 7 22 Special function enhancement setting 1 32768 to 32767 0 7 23 For manufacturer s use 0 7 24 For manufacturer s use 0 7 25 For manufacturer s use 0 7 26 For manufacturer s use 0 7 27 For manufacturer s use 0 7 28 For manufacturer s use 0 7 29 For manufacturer s use 0 7 30 For manufacturer s use 0 7 31 For manufacturer s use 0...

Page 108: ... 8 03 For manufacturer s use 0 8 04 For manufacturer s use 100 8 05 For manufacturer s use 0 8 10 For manufacturer s use 0 8 12 For manufacturer s use 0 8 13 For manufacturer s use 0 8 14 For manufacturer s use 0 8 15 For manufacturer s use 0 8 19 For manufacturer s use 0 Class 9 For manufacturer s use Parametr No Title Range Default Unit Turning on of power supply Related Control Mode Detail page...

Page 109: ...frame P S T F 9 17 For manufacturer s use 0 4 84 9 18 For manufacturer s use 0 9 19 For manufacturer s use 0 9 20 For manufacturer s use 0 9 21 For manufacturer s use 0 9 22 For manufacturer s use 200 9 23 For manufacturer s use 50 9 24 For manufacturer s use 100 9 25 For manufacturer s use 40 9 26 For manufacturer s use 40 9 27 For manufacturer s use 1000 9 28 For manufacturer s use 1 9 29 For ma...

Page 110: ...Pr0 13 Pr5 22 Pr5 11 Pr5 25 and Pr5 26 2 Preparation 12 Setup of Parameter and Mode Setup of Torque Limit Frame Model No Applicable motor Max value of torque limit A MADL 01 MHMF5AZL1 350 MADL 11 MQMF011L1 350 MHMF011L1 350 MADL 05 MHMF5AZL1 350 MQMF012L1 350 MHMF012L1 350 MADL 15 MQMF022L1 350 MHMF022L1 350 B MBDL 21 MQMF021L1 350 MHMF021L1 350 MBDL 25 MQMF042L1 350 MHMF042L1 350 C MCDL 31 MQMF04...

Page 111: ...besides the combination of designation For details of combination refer to P 1 19 4 Check of the Combination of the Driver and the Motor e g 2 before replacing the motor after replacing the motor Pr0 13 Setup range 0 to 300 Setup value 300 Pr0 13 Setup range change to 0 to 300 Setup value Keep 300 Rated torque 0 32 N m Set up Pr0 13 to 300 to obtain the max output torque MADLT15SF MSMF022L1A MADLT...

Page 112: ...n be determined 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 se...

Page 113: ...n resolution D F 60 N E Pr0 09 41943040 Pr0 10 100000 Pr0 09 8388608 Pr0 10 15000 D Pr0 10 Pr0 09 Motor rotational speed r min N F 60 E D M L E D R 1 D 500000 60 2000 223 2000 500 30 2000 223 15000 8388608 Lead of ball screw L 10 mm Gear reduction ratio R 1 Position resolution M 0 005 mm Encoder 23 bit E 223 P r Lead of ball screw L 20 mm Gear reduction ratio R 1 Position resolution M 0 0005 mm Li...

Page 114: ...t for data changing to higher digit Display LED 6 digit Switch to error display screen when error occurs and LED will flash about 2 Hz LED will flash slowly about 1 Hz 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...

Page 115: ... Oscillation detection alarm Oscillation or vibration is detected A7 Lifetime detection alarm The life expectancy of capacity or fan becomes shorter than the specified time A8 External scale error alarm The external scale detects the alarm A9 External scale communication alarm The number of successive external scale communication errors exceeds the specified value AC Deterioration diagnosis warnin...

Page 116: ... to the setup of Pr5 28 LED initial status 2 Preparation 14 How to Use the Front Panel Structure of Each Mode Mode switching button Initial status of the Console LED Monitor mode Mode switching button Parameter set up mode EEPROM writing mode Auxiliary function mode Mode switching button Mode switching button SET button P 2 80 P 2 98 P 2 96 P 2 97 SELECTION display Buy www ValinOnline com Phone 84...

Page 117: ...P 4 2 Details of parameter P 2 81 to 95 P 2 97 P 2 102 Motor trial run JOG P 2 100 Automatic offset adjustment AI1 to 3 P 2 99 Alarm clear P 2 103 Clearing of absolute encoder P 2 104 Initialization of parameter SET button SET button SET button SET button P 2 105 Release of front panel lock P 2 106 Battery refresh EXECUTION display Buy www ValinOnline com Phone 844 385 3099 Email CustomerService v...

Page 118: ...ration 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 is un...

Page 119: ...lt in command error and not executed In addition connection of set up support software PANATERM USB communication cannot be established Execution right has been acquired by RS232 RS485 Modbus communications No operations other than monitor mode can be made from the front panel Set up support software PANATERM USB communication is connected Please refer to P 7 27 Communication for RS232 RS485 commu...

Page 120: ...munication axis address Encoder positional deviation Encoder unit External scale deviation External scale unit Hybrid deviation Command unit Voltage across PN V Software version Driver serial number Motor serial number Accumulated operation time Automatic motor recognizing function Temperature information Safety condition monitor For manufacturer s use For manufacturer s use For manufacturer s use...

Page 121: ...command 2 Preparation 14 How to Use the Front Panel Monitor Mode EXECUTION display Low order High order Positional command deviation To switch between Low order L and High order H press eg Positional command deviation 10339025 Displays the motor speed r min Motor speed r min Displays positional command speed r min Positional command speed r min Displays velocity control command r min Velocity cont...

Page 122: ... High order Command Pulse Sum Command Pulse Sum Command Pulse Low order High order External Scale Feedback Pulse Sum External Scale Feedback Pulse Sum To switch between Low order L and High order H press To switch between Low order L and High order H press To switch between Low order L and High order H press Position control mode Velocity control mode Torque control mode Full closed control mode B...

Page 123: ...fer to P 6 2 Protective Function Shift the flashing decimal point with Input signal Output signal Pin No Active 1 Inactive 1 1 When input signal Active Input signal photocoupler is ON Inactive Input signal photocoupler is OFF When output signal Active Output signal transistor is ON Inactive Output signal transistor is OFF Select the Pin No to be monitored by pressing Select In or Out by pressing o...

Page 124: ...t 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 10 V can not be displayed correctly Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 125: ...er speed protection 1 2nd over speed protection 27 0 Command pulse input frequency error protection 1 Absolute clear abnormal protection 2 Command pulse multiplier error protection 28 0 Limit of pulse replay error protection 29 0 Deviation counter overflow abnormality protection 1 Counter overflow protection 1 2 Deviation counter overflow abnormality protection 2 31 0 Safety function error protect...

Page 126: ...lute status error protection 48 0 Encoder Z phase error protection 49 0 Encoder CS signal error protection 50 0 External scale connection error protection 1 External scale communication error protection 51 0 External scale status 0 error protection 1 External scale status 1 error protection 2 External scale status 2 error protection 3 External scale status 3 error protection 4 External scale statu...

Page 127: ...arm The number of successive external scale communication errors exceeds the specified value 1 s to 10 s or AC Deterioration diagnosis warning Load characteristic estimates and torque command under constant speed has exceeded the set range 1 s to 10 s or C3 Main power off warning In case that Pr7 14 Detection time of main power off warning is 10 to 1999 the mains power between L1 and L3 has stoppe...

Page 128: ... use For manufacturer s use Regenerative Load Factor Over load Factor Display the ratio against the alarm trigger level of regenerative protection This is valid when Pr0 16 External regenerative resistor setup is 0 or 1 Displays the ratio against the rated load Refer to P 6 14 Overload Protection Time Characteristics of When in Trouble Inertia Ratio Displays the inertia ratio Value of Pr0 04 Inert...

Page 129: ... Pr5 18 is 0 Command pulse inhibition input 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 No correct entry of command pulse No correct connection to the input selected with Pr0 05 No matching to input status selected with Pr0 06 pr Pr0 07 08 CL input is valid While Pr5 17 is 0 Deviation counter clear at lev...

Page 130: ...es on that pin should be displayed by pressing or button The switch of input output by pressing or button Left side of decimal point Pin No selection Right side of decimal point Input Output Pin No selection Lowest place Pin No of output signal Highest place Pin No of input signal Encoder data One revolution data Low order L Select the data to be displayed by pressing or button One revolution data...

Page 131: ...ale position Low order Absolute external scale position High orde 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 16 Display of encoder positional deviation Encoder unit Displ...

Page 132: ...h order To switch between Low order L and High order H press Hybrid deviation Command unit Low order High order To switch between Low order L and High order H press Displays the voltage across PN V only for reference not an instrument Displays the software version of the CPU 2 in driver Example of display Ver 1 00 Displays the software version of the CPU 1 in driver Example of display Ver 1 00 For...

Page 133: ...H press or Example of display Serial number P15040001N Driver serial number Driver serial number Low order Driver serial number High order Motor serial number Motor serial number Low order Motor serial number High order To switch between Low order L and High order H press or Example of display Serial number 15040001N Displays accumulated operation time h Low order High order To switch between Low ...

Page 134: ...monitor option by pressing or button Input photocoupler OFF Input photocoupler ON Input photocoupler OFF Input photocoupler ON Output photocoupler OFF For manufacturer s use Output photocoupler ON Related page P 7 2 safety 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 readings but o...

Page 135: ...tor electrical power Ｗｈ eg 1 Monitor data 15000 within the display range of lower L eg 2 Monitor data 10315000 if data exceeds the display range of lower L Display of chang to Precautions If the monitor data is displayed with lower L and higher H displays of the front panel are as follows Example 1 Monitor data 15000 within the display range of lower L Buy www ValinOnline com Phone 844 385 3099 Em...

Page 136: ... Prolonged depression of updates the parameter in the driver Note that the parameter value selected by or is not reflected until is pressed in this way To cancel the value selected by or press instead of and the driver internal parameter value is kept unchanged and the display returns to the parameter number display screen After changing the parameter value and pressing the content will be reflect...

Page 137: ...he Front Panel EEPROM Writing Mode SET button increases while keep pressing for approx 5sec as the right fig shows When you change the parameters which contents become valid after resetting will be displayed after finishing wiring Turn off the control power once to reset Keep pressing until the display changes to when you execute writing Start flashes instantaneously and is difficult to check visu...

Page 138: ...eter AI1 Automatic Offset Adjustment AI2 Automatic Offset Adjustment AI3 Automatic Offset Adjustment Motor Trial Run Clearing of Absolute Encoder Alarm Clear Battery refresh Release of front panel lock Release of front panel lock SELECTION display Auxiliary Function Mode SELECTION display Monitor Mode EXECUTION display Display example Description Pages to refer P 2 100 2 P 2 100 2 P 2 100 2 P 2 10...

Page 139: ...ing to structure of each mode P 2 76 SET button Keep pressing until the display changes to when you execute alarm crear Alarm clear completes Clear is not finished Release the error by resetting the power Alarm clear starts Clearing finishes SELECTION display EXECUTION display increases while keep pressing for approx 5sec as the left fig shows Press to call for EXECUTION display 2 Preparation 14 H...

Page 140: ...return to SELECTION display by referring to P 2 76 Structure of Each Mode When you execute automatic offset adjustment make command input to 0 V then keep pressing until the display changes to Press to call for EXECUTION display SET button Automatic offset adjustment finishes Automatic offset adjustment starts Example of Analog input1 AI1 Error occurs Adjustment finishes Invalid mode is selected o...

Page 141: ... voltage Rated voltage 3 Fixing of the servo motor Unstable mounting 4 Separation from the mechanical system 5 Release of the brake 6 Turn to Servo OFF after finishing the trial run by pressing 1 Inspection on wiring Miswiring Especially power input and motor output Short or grounded Loose connection 2 Confirmation of power supply and voltage Rated voltage 3 Fixing of the servo motor Unstable moun...

Page 142: ...sec to shift the decimal point toward left as the left fig shows Then keep pressing until the display of LED changes to Not a servo ready status Shuts off the main when error occurs After the Servo ON of preparation step 2 for trial run the motor runs at the preset speed with Pr6 04 JPG speed to Positive direction direction by pressing Negative direction by pressing Preparation step 1 Preparation ...

Page 143: ...rts Clearing finishes Press to call for EXECUTION display SET button SELECTION display EXECUTION display increases while keep pressing for approx 5sec as the left fig shows Keep pressing until the display changes to when you execute Clearing of Absolute Encoder Note After clearing of absolute encoder finishes return to SELECTION display referring to struc ture of each mode P 2 76 14 How to Use the...

Page 144: ...ges to when you execute Initialization of parameter Caution Parameter cannot be initialized when one of the following error occurs Err11 0 Under voltage protection of control power supply EEPROM related errors Err36 0 Err36 1 Err36 2 Err37 0 Err37 1 and Err37 2 initialization will result in Error display 14 How to Use the Front Panel Auxiliary Function Mode EXECUTION display Note After initializat...

Page 145: ... for EXECUTION display SET button SELECTION display EXECUTION display increases while keep pressing for approx 5sec as the left fig shows Keep pressing until the display changes to when you execute Release of front panel lock 14 How to Use the Front Panel Auxiliary Function Mode EXECUTION display Note After release of front panel lock finishes return to SELECTION display referring to structure of ...

Page 146: ...urrence of an error Cause Connection other than 23 bit absolute encoder made Set to full close control mode Pr 0 01 6 Incremental mode being used Pr0 15 1 Start of battery refresh Battery refresh in progress Note 1 When running Battely refresh Battely alarm may occer in that case please run the clear Battely alarm Press no long pressing required End Press to call for EXECUTION display SET button K...

Page 147: ...ive 3 16 Velocity Control Mode Two degree of freedom control effective 3 17 Torque Control Mode 3 18 Full closed Control Mode Two degree of freedom control noneffective 3 19 Full closed Control Mode Two degree of freedom control effective 3 20 3 Wiring Diagram to the connector X4 Example of control mode specific wiring 3 21 Connecting Example to Host Controller 3 23 4 Inputs and outputs on connect...

Page 148: ...ion Pr0 05 Selection of command pulse input 0 to 2 You can select either the photocoupler input or the exclusive input for line driver as the command pulse input 0 Photocoupler input PULS1 PULS2 SIGN1 SIGN2 1 Exclusive input for line driver PULSH1 PULSH2 SIGNH1 SIGNH2 2 Photocoupler input PULS1 PULS2 SIGN1 SIGN2 250 kpulse s or less Pr0 06 Command pulse rotational direction setup 0 to 1 Sets the c...

Page 149: ...ft Pr0 09 1st numerator of electronic gear 0 to 1073741824 Set the numerator of division multiplication operation made according to the command pulse input Pr0 10 Denominator of electronic gear 1 to 1073741824 Set the Denominator of division multiplication operation made according to the command pulse input For details of these parameters refer to P 4 6 to P 4 85 Details of parameter Note 3 Positi...

Page 150: ...ding ratio can be set by setting numerator of division to Pr0 11 and denominator of division to Pr5 03 Pr5 33 Pulse regenerative output limit setup 0 to 1 Enable disable detection of Err28 0 Pulse regenerative limit protection Pr6 20 Z phase setup of external scale 0 to 400 μs Set up the Z phase regenerative width of feedback scale in unit of time Pr6 21 Serial absolute external scale Z phase setu...

Page 151: ...on INH function The command pulse input counting process can be forcibly terminated by using the command pulse inhibit input signal INH When INH input is ON the servo driver ig nores the command pulse disabling pulse counting function At then A large number of pulses of the positional command filter function and the command frequency muliti plication function is cleared The default setting of this...

Page 152: ...age applied to the analog speed command SPR set up the conversion gain to motor command speed Pr3 03 Reversal of speed command input 0 to 1 Specify the polarity of the voltage applied to the analog speed command SPR Pr4 22 Analog input 1 AI1 offset setup 5578 to 5578 0 359 mV Set up the offset correction value applied to the voltage fed to the analog input 1 Pr4 23 Analog input 1 AI1 filter 0 to 6...

Page 153: ... internal command speeds 1st to 4th Pr3 08 5th speed of speed setup Set up internal command speeds 1st to 5th Pr3 09 6th speed of speed setup Set up internal command speeds 1st to 6th Pr3 10 7th speed of speed setup Set up internal command speeds 1st to 7th Pr3 11 8th speed of speed setup Set up internal command speeds 1st to 8th For details of these parameters refer to P 4 6 to P 4 85 Details of ...

Page 154: ...r to the input speed command Using this function you can use the soft start when inputting stepwise speed command or when using internal speed setup You can also use S shaped acceleration decelera tion function to minimize shock due to change in speed Relevant parameters Parameter No Title Range Unit Function Pr3 12 Acceleration time setup 0 to 10000 ms 1000 r min Set up acceleration processing ti...

Page 155: ...on Parameter value Pr3 21 Pr3 22 1 For Pr0 01 Control mode setup 5 velocity torque control the torque command input is the analog input 2 AI2 12 bit resolution For details of these parameters refer to P 4 35 Details of parameter Selection of torque command 1 3 Selection of torque command2 Servo dr ver Host contro er Torque contro sect on Ana og torque command AI1 10 V ZEROSPD nput AT SPEED output ...

Page 156: ... 23 Analog input 1 AI1 filter 0 to 6400 0 01 ms Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 1 Relevant parameters Selection of torque command 2 Parameter No Title Range Unit Function Pr3 18 Torque command direction selection 0 to 1 Select the direction positive negative direction of torque command Pr3 19 Input gain of tor...

Page 157: ...ll stop the motor Relevant parameters Selection of torque command 1 3 Parameter No Title Range Unit Function Pr3 21 Speed limit value 1 0 to 20000 r min Set up the speed limit used for torque controlling Pr3 22 Speed limit value 2 0 to 20000 r min Pr3 15 Speed zero clamp function selection 0 to 3 You can set up the function of the speed zero clamp input Relevant parameters Selection of torque comm...

Page 158: ...nd Speed detection Position detection External scale We recommend the external scale division ratio of External scale division ratio 1280 1 40 3 1 Outline of mode Connection Full closed Control Mode How to make an initial setup of parameters related to external scale 1 Turn on the power after checking the wiring 2 Check the values initial feedback pulse sum and external scale feedback pulse sum wi...

Page 159: ...eversal of direction of external scale 0 to 3 Reverse the direction of external scale feedback counter For details of these parameters refer to P 4 6 to P 4 85 Details of parameter Note 2 Setup of external scale division ratio Set up the division ratio of encoder resolution and external scale resolution Relevant parameters Parameter No Title Range Function Pr3 24 Numerator of external scale divisi...

Page 160: ...n 1 11 Filter Torque feed forward 1 12 Gain 1 13 Filter Position control 1 00 1st 1 05 2nd Current control Speed detection Torque filter 1 04 1st 1 09 2nd Load fluctuant restrain function 6 23 Compens ation gain 6 24 Compens ation filter 6 73 Designate filter 6 74 1st frequence 6 75 2nd frequence 6 76 Times Speed detection filter 1 03 1st 1 08 2nd Torque limit 5 21 Selection 0 13 1st 5 22 2nd 5 02...

Page 161: ... Velocity feed forward 1 10 Gain Torque feed forward 1 12 Gain 1 13 Filter Position control 1 00 1st 1 05 2nd Current control Speed detection Torque filter 1 04 1st 1 09 2nd Speed detection filter 1 03 1st 1 08 2nd Torque limit 5 21 Selection 0 13 1st 5 22 2nd Pulse regeneration Pulses output OA OB OZ Numerator Denominator 0 11 One revolution 0 12 Reversal 5 03 Denomi nator 5 02 4th numerator Comm...

Page 162: ... 2 03 2 06 2 07 2 08 3rd 2 09 2 12 4th 2 24 2 25 2 26 5th Adaptive mode setup Main power supply Torque filter 1 04 1st 1 09 2nd Torque limit 5 21 Selection 0 13 1st 5 22 2nd Torque command Motor Load Encoder 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 Velocity control 1 01 1st 1 06 1...

Page 163: ...2 10 2 11 2 00 Width 2 03 2 06 2 07 2 08 3rd 2 09 2 12 4th 2 24 2 25 2 26 5th Adaptive mode setup Main power supply Torque filter 1 04 1st 1 09 2nd Torque limit 5 21 Selection 0 13 1st 5 22 2nd Torque command Motor Load Encoder 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 Velocity con...

Page 164: ...ol Main power supply Torque limit 5 21 Selection 0 13 1st 5 22 2nd Torque command 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 Velocity control 1 01 1st 1 06 1 02 1 07 2nd 0 04 6 10 Inertia ratio 6 13 2nd inertia ratio Notch filter 2 01 1st Frequency Width 2 04 2 02 2 05 2nd 2 10 2 11...

Page 165: ...actor 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 ratio Speed detection filter 1 03 1st 1 08 2nd Pulse regeneration Encoder feedback pulses output OA OB OZ Numerator Den...

Page 166: ...ty feed forward 1 10 Gain Adjustment filter Command response filter 6 48 6 49 2 22 6 49 Time constant Damping term Damping term Time constant 1 01 1st 1 06 1 02 1 07 2nd 0 04 6 10 Inertia ratio 6 13 2nd inertia ratio Speed detection filter 1 03 1st 1 08 2nd Pulse regeneration Encoder feedback pulses output OA OB OZ Numerator Denominator 0 11 One revolution 0 12 Reversal 5 03 Denomi nator Main powe...

Page 167: ...ion type can not be used Pin14 15 16 18 Please do not connect anything 33 2 kΩ 20 kΩ 20 kΩ18 7 kΩ 20 kΩ 000 P 1000 P 33 2 kΩ 20 kΩ 20 kΩ18 7 kΩ 20 kΩ 000 P 1000 P 39 kΩ 470 P 470 P 470 P 39 kΩ 33 kΩ 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 1 kΩ 1 kΩ INTSPD1 INTSPD2 SRV ON GAIN INTSPD3 ZEROSPD C MODE A CLR POT NOT S RDY S RDY ALM BRKOFF BRKO...

Page 168: ...s A6 Series standard type and communication type can not be used Pin14 15 16 18 Please do not connect anything 33 2 kΩ 20 kΩ 20 kΩ 8 7 kΩ 20 kΩ 000 P 000 P 33 2 kΩ 20 kΩ 20 kΩ 8 7 kΩ 20 kΩ 000 P 000 P 39 kΩ 470 P 470 P 470 P 39 kΩ 33 kΩ 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 17 43 18 42 49 23 47 kΩ 1 kΩ 1 kΩ INH CL SRV ON GAIN DIV1 ZER...

Page 169: ...mit excess Limit excess A6 series 50 3 4 5 6 23 24 13 25 7 30 29 27 31 9 8 35 34 37 36 39 38 41 FG PULS1 PULS2 SIGN1 SIGN2 OZ OZ GND COM CL SRV ON GAIN A CLR POT NOT S RDY S RDY ALM ALM INP INP COM Process of shield wire varies with equipment 24 V GND FP7 AFP7PP02T L 2 axes AFP7PP04T L 4 axes Panasonic devices SUNX from PLC I O output to PLC I O input A10 B10 A11 B11 A12 A13 B12 B14 A16 B16 B13 A1...

Page 170: ... 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 560 Ω 6 8 kΩ FG FG 24 V GND from PLC I O output to PLC I O input Pulse train interface exclusive for line driver Pulse train interface exclusive for line driver Use this interface when you use pulse command frequency between 500 kpulse s and 8 Mpulse s 44 45 46 47 PULSH1 PULSH2 SIGNH1 SIGNH2 Command pulse input 1 Command sign input 1 to PLC I O input A1 B1 A2 B2 A4 B3 ...

Page 171: ...COM CL SRV ON GAIN A CLR POT NOT S RDY S RDY ALM ALM INP INP COM 220 Ω 220 Ω 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ to PLC I O input FG FG 24 V GND A1 B1 A2 B2 A5 B5 A6 B6 B7 A7 A19 B19 A20 B20 220 Ω 1 6 kΩ Pulse train interface exclusive for line driver Pulse train interface exclusive for line driver Use this interface when you use pulse command frequency between 500 kpulse s and 8 Mpulse s 44...

Page 172: ...ver 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 shield wire varies with equipment Y0 Y1 X2 COM Y2 COM X3 X5 X6 5 6 kΩ 3 kΩ 5 6 kΩ 5 6 kΩ 50 3 4 5 6 19 13 25 7 30 29 27 31 9 8 35 34 37 36 39 38 41 FG PULS1 PULS2 ...

Page 173: ...ries Driver PLC Pulse output A Pulse output B Deviation counter reset output External power supply 24 VDC input Origin input Contact point input COM Positive direction limit input GND 24 V DC24 V Power supply Negative direction limit input Encoder Z phase input Encoder Z phase input Pulse output GND Process of shield wire varies with equipment F3YP22 0P F3YP24 0P F3YP28 0P Yokogawa Electric Corp 1...

Page 174: ...NP INP COM 220 Ω 220 Ω 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4a 3a 6a 5a 19a 20a 17a 14a 1a 1b 13a 9a 8a 7a 240 Ω 7 4 kΩ 7 4 kΩ 7 4 kΩ Command pulse input 2 Counter clear input Servo ON input Servo Ready output Servo Alarm output Positioning complete output Alarm clear input Inhibit negative direction travel input Inhibit positive direction travel input Z phase output Command sign input 2 Gain...

Page 175: ...er 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 50 3 4 5 6 23 24 13 25 7 30 29 27 31 9 8 35 34 37 36 39 38 41 FG PULS1 PULS2 SIGN1 SIGN2 OZ OZ GND COM CL SRV ON GAIN ...

Page 176: ...nsor CW pulse command output CCW pulse command output Origin line driver input Deviation counter reset output 24 V power supply for output Emergency stop input Origin proximity input CCW limit over input CW limit over input 5 V power supply for pulse output 50 3 4 5 6 23 24 13 25 7 30 29 27 31 9 8 35 34 37 36 39 38 41 FG PULS1 PULS2 SIGN1 SIGN2 OZ OZ GND COM CL SRV ON GAIN A CLR POT NOT S RDY S RD...

Page 177: ...10 13 14 12 11 6 7 3 1 2 4 7 kΩ 4 7 kΩ 4 3 kΩ When connecting please make sure to use twisted pair cable 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ Pulse train interface exclusive for line driver Pulse train interface exclusive for line driver Use this interface when you use pulse command frequency between 500 kpulse s and 8 Mpulse s 44 45 46 47 PULSH1 PULSH2 SIGNH1 SIGNH2 Command pulse input 1 Com...

Page 178: ... 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 PULS2 SIGN1 SIGN2 OZ OZ GND COM CL SRV ON GAIN A CLR POT NOT S RDY S RDY ALM ALM INP INP COM 220 Ω 220 Ω 1 3 4 14 15 16 19 26 36 40 2 kΩ 2 kΩ 4 3 kΩ 4 3 kΩ 4 3 kΩ 1 2 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ 4 7 kΩ A6 series Pulse train interface exclusive for line driver Pulse train interface exclusive...

Page 179: ...n method has better noise immunity We recommend this to secure the signal transmission 2 Open collector I F Permissible max input frequency of command pulse input signal 200 kpulse s The method which uses an external control signal power supply VDC Current regulating resistor R corresponding to VDC is required in this case Connect the specified resister as below R should be placed close to the dri...

Page 180: ...nd register R connect as the right Fig shows When the variable range of each input is made as 10 V to 10 V use VR with 2 kΩ B characteristics 1 2 W or larger R with 200 Ω 1 2 W or larger A D converter resolution of each command input is as follows 1 ADC1 16 bit AI1 2 ADC2 12 bit AI2 AI3 For function refer to P 3 46 P 3 47 represents twisted pair 44 45 13 46 47 20 kΩ 2 kΩ 2 kΩ 20 kΩ 120 Ω PULS S GN...

Page 181: ...When accepting the output signal through a logic circuit e g gate influence from noises should be prevented For the recommended primary current value refer to the data sheet of the equipment and photocoupler to be used VDC SO1 to 4 ALM etc ALM etc COM 41 ZSP TLC Insta toward the d rect on as the f g shows w thout fa Max rat ng 30 V 50 mA R kΩ VDC V 2 5 V 10 12 V to 24 V Pay attention to the polari...

Page 182: ... Z phase signal is narrow For function refer to P 3 51 AO Analog monitor output Related control mode P S T F There are two outputs the speed monitor signal output SP and the torque monitor signal output IM Output signal width is 10 V The output impedance is 1 kΩ Pay an attention to the input impedance of the measuring instrument or the external circuit to be connected Resolution 1 Speed monitor ou...

Page 183: ...elated control mode P S T F Symbol COM I F circuit Connect of the external DC power supply 12 V to 24 V Use the power supply voltage of 12 V 5 to 24 V 5 Pin No 41 Title of signal Power supply for control signal Related control mode P S T F Symbol COM I F circuit Connect of the external DC power supply 12 V to 24 V The power capacity varies depending on a composition of I O circuit 0 5 A or more is...

Page 184: ...the table next page Command pulse input format Pulse train interface supports both line driver and open collector Pin No 1 3 4 Title of signal Command pulse input 2 Related control mode P S T F Symbol Pin No 1 OPC1 Pin No 3 PULS1 Pin No 4 PULS2 I F circuit PI1 P 3 33 Pin No 2 5 6 Title of signal Command pulse sign input 2 Related control mode P S T F Symbol Pin No 2 OPC2 Pin No 5 SIGN1 Pin No 6 SI...

Page 185: ...ry time width of command pulse input signal Pr0 06 setup value Command pulse rotational direction setup Pr0 07 setup value Command pulse input mode setup Signal title Positive direction command Negative direction command Command pulse format 0 or 2 0 1 3 0 or 2 1 1 3 PULS SIGN PULS SIGN PULS SIGN PULS SIGN PULS SIGN PULS SIGN 90 phase difference 2 phase pulse A B phase Positive direction pulse tra...

Page 186: ... Normal Open Symbol SI7 Pin No 31 Title of signal SI8 input Pr4 07 00040404h 263172 A CLR Normal Open A CLR Normal Open A CLR Normal Open Symbol SI8 Pin No 32 Title of signal SI9 input Pr4 08 00050505h 328965 C MODE Normal Open C MODE Normal Open C MODE Normal Open Symbol SI9 Pin No 33 Title of signal SI10 input Pr4 09 00000E88h 3720 INH Normal Colse INTSPD1 Normal Open Symbol SI10 Note Relatedpag...

Page 187: ... travel inhibit input The operation with this input turned ON is set up in Pr5 04 Setup of over travel inhibit input When using this function set Pr5 04 Setup of over travel inhibit input to a value other than 1 so that the input is OFF when the moving portion of the machine exceeds this signal range toward negative direction Title of signal Deviation counter clear input Related control mode P S T...

Page 188: ... Control mode switching input Related control mode P S T F Symbol C MODE Default assignment 32 SI9 I F circuit SI P 3 33 Caution Selects a control mode This signal is required in all control modes No setting will cause an error Do not input any command 10 ms before and after changing the control mode Title of signal Electronic gear division multiplication switching input 1 Related control mode P S...

Page 189: ...tching input TL SEL Torque limit switching setup Pr5 23 Pr5 24 Positive direction Torque limit Negative direction Torque limit 0 Analog input 1 1 Pr0 13 2 Pr0 13 Pr5 22 3 OFF Valid Pr0 13 ON Pr5 22 4 Analog input 1 5 6 OFF Pr0 13 Pr5 22 ON Pr5 25 Pr5 26 1 To specify the torque limit value by an analog input refer to Pr5 21 Analog torque limit function Setup of rate of change after torque limit swi...

Page 190: ...nd speeds Relationship between Pr3 00 Switching between internal and external speed setup and internal command speed selection 1 3 and the speed command selected Pr3 00 Selection 1 of internal command speed INTSPD1 Selection 2 of internal command speed INTSPD2 Selection 3 of internal command speed INTSPD3 Selection of speed command 1 OFF OFF No effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON...

Page 191: ...5 Pr3 18 Torque command direction selection Title of signal Forced alarm input Related control mode P S T F Symbol E STOP Default assignment I F circuit SI P 3 33 Generates Err87 0 Forced alarm input error Title of signal Inertia ratio switching input Related control mode P S T F Symbol J SEL Default assignment I F circuit SI P 3 33 Selects 1st inertia ratio or 2nd inertia ratio according to the i...

Page 192: ...mbol N ATL I F circuit AI P 3 34 Specify the torque limit for each direction value by the analog voltage Pr5 21 Positive direction Torque limit input P ATL Negative direction Torque limit input N ATL Positive direction Torque limit Negative direction Torque limit 0 0 V to 10 V 10 V to 0 V P ATL N ATL 1 Set up through parameter 1 2 3 4 0 V to 10 V 0 V to 10 V P ATL N ATL 5 0 V to 10 V No effect P A...

Page 193: ...to 0 V No effect Positive direction 1 No effect Voltage 0 V to 10 V OFF Positive direction Voltage 10 V to 0 V Voltage 0 V to 10 V ON Negative direction Voltage 10 V to 0 V When internal command speed select 1 and 2 are ON Title of signal Torque command input Related control mode P S T F Symbol TRQR I F circuit AI P 3 34 Input the torque command in the form of analog voltage When Pr3 17 Torque com...

Page 194: ...070707h 460551 ZSP ZSP ZSP Symbol SO5 Pin No 40 Title of signal SO6 output Pr4 15 00060606h 394758 TLC TLC TLC Symbol SO6 Note The function is changed by the setting of parameter For details refer to P 4 39 See Functions assignable to control output as shown below No function assigned Related page P 3 56 Function allocatable to control input Title of signal Servo Alarm output Related control mode ...

Page 195: ...d Title of signal Torque in limit signal output Related control mode P S T F Symbol TLC Default assignment 40 SO6 I F circuit SO P 3 35 Outputs the torque in limit signal Turns ON the output transistor upon limit of torque Title of signal Zero speed detection output signal Related control mode P S T F Symbol ZSP Default assignment 12 SO5 I F circuit SO P 3 35 Outputs the zero speed detection signa...

Page 196: ...n L1 and L3 has stopped instantaneously for more than the time prescribed in Pr7 14 14 bit14 1 The means that a time in the range 1 s to 10 s or no time limit can be selected through Pr6 27 Warning latching time Note that the battery warning and the end of life warning have no time limit 2 Select the warning output signal 1 WARN1 or warning output signal 2 WARN2 through Pr4 40 Warning output selec...

Page 197: ...CMP2 Pin No 49 OB OCMP2 I F circuit PO1 P 3 35 Pin No 23 24 Title of signal Z phase output Position compare output 3 Related control mode P S T F Symbol Pin No 23 OZ OCMP3 Pin No 24 OZ OCMP3 I F circuit PO1 P 3 35 Feeds out the divided encoder signal or feedback scale signal A B Z phase in differential equivalent to RS422 Ground for line driver of output circuit is connected to signal ground GND a...

Page 198: ...when motor velocity of Pr5 75 Deterioration diagnosis velocity setting is within the range of PR4 35 velocity concurrence width There is a hysteresis of 10 r min in concurrence judgment for deterioration diagnosis velocity Pin No ー Title of signal Position compare output Related control mode P S T F Symbol CMP OUT I F circuit PO2 P 3 36 The output transistor is turned ON when the actual position h...

Page 199: ...Analog monitor output 1 Related control mode P S T F Symbol SP I F circuit AO P 3 36 Definition of the output signal varies with the output of Pr4 16 analog monitor 1 type The output signal is identical to the analog monitor 1 on the front monitor For output setting refer to P 4 42 Details of parameter Output Signals Others and Their Functions Pin No 13 15 17 25 Title of signal Signal ground Relat...

Page 200: ...ver travel inhibition input POT 01h 81h Negative direction over travel inhibition input NOT 02h 82h Servo ON input 1 SRV ON 03h 83h Alarm clear input A CLR 04h Do not setup Control mode switching input 2 C MODE 05h 85h Gain switching input GAIN 06h 86h Deviation counter clear input 3 CL 07h Do not setup Command pulse inhibition input 4 INH 08h 88h Torque limit switching input TL SEL 09h 89h Dampin...

Page 201: ...isplay is in decimal six digits For setting functions and parameters hexadecimal 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 th...

Page 202: ...table 1 Note that the setup values are displayed in decimal on the front panel Output circuit refer to P 3 35 36 and function refer to P 3 48 to P 3 51 Related page P 4 41 These parameters shall be set by using hexadecimal numbers Setting shall be made for each control mode as shown in examples below 00 ーーーー h Position Full closed control 00 ーーーー h Speed control 00 ーーーー h Torque control Set an ap...

Page 203: ...losed control 4 31 Class 4 I F monitor setting 4 39 Class 5 Enhancing setting 4 52 Class 6 Special setting 4 68 Class 7 Special setting 4 84 Class 8 For manufacturer use 4 85 Class 9 For manufacturer use 4 85 Class 15 For manufacturer use 4 85 2 Trial Run JOG run Inspection Before Trial Run 4 86 Trial Run by Connecting the Connector X4 4 87 Setup of Motor Rotational Speed and Input Pulse Frequency...

Page 204: ...ontrol switching level 4 21 23 Velocity control switching hysteresis 4 22 24 Torque control switching mode 25 Torque control switching delay time 26 Torque control switching level 27 Torque control switching hysteresis 28 For manufacturer s use 29 For manufacturer s use 30 For manufacturer s use 31 For manufacturer s use 32 For manufacturer s use 33 For manufacturer s use 34 For manufacturer s use...

Page 205: ...ion selection 19 Torque commandinput gain Class 3 Velocity Torque Full closed control 20 Torque command input reversal 4 36 21 Speed limit value 1 22 Speed limit value 2 23 External scale selection numerator of division denominator of division reversal of direction Z phase disconnection detection disable 4 37 24 25 26 4 38 27 28 Hybrid deviation excess setting 29 Hybrid deviation clear setting Cla...

Page 206: ...ion time setting 4 64 57 Slow stop S shape acceleration and deceleration setting 58 Modbus mirror register setting 1 59 Modbus mirror register setting 2 60 Modbus mirror register setting 3 61 Modbus mirror register setting 4 4 65 62 Modbus mirror register setting 5 63 Modbus mirror register setting 6 64 Modbus mirror register setting 7 65 Modbus mirror register setting 8 66 Deterioration diagnosis...

Page 207: ... manufacturer s use 26 For manufacturer s use 27 For manufacturer s use 28 For manufacturer s use 29 For manufacturer s use 30 For manufacturer s use 31 For manufacturer s use Parametr No Title Related Control Mode Detail page Class No P S T F 1 Details of parameter List of Parameters Class 7 Special settin 32 For manufacturer s use 4 84 33 For manufacturer s use 34 For manufacturer s use 35 For m...

Page 208: ...and Communication type setting range is 0 1 3 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 1 When you set up the combination mode of 3 4 or 5 you can select either the 1st or the 2nd with control mode switching input C MODE When C MODE is open the 1st mode will be selected When C MODE is shorted the...

Page 209: ... gain tuning custom setting 1 Velocity and torque controls are the same as in the standard mode 2 Torque control is the same as in the standard mode 3 Velocity control is the same as in the vertical axis mode Torque control is the same as in the standard mode 4 Certain function s is not available in a specific control mode Refer to description in Pr6 32 Two degree of freedom control mode standard ...

Page 210: ...c friction compensation and viscous friction compensation among load characteristics while holding gain filter setting 5 Load characteristic measurement Estimate load characteristics without changing basic gain setting or friction compensation setting with the help of the setup support software 6 Load fluctuation response mode Use this mode when you wish to make robust adjustments for fluctuating ...

Page 211: ...nge Unit Default Related control mode 0 to 2 0 P F A6 according to pulse specifications you can choose any one of the most appropriate interface from the two interfaces When using open collerctor I F Pr0 05 2 that is recommended For command pulse input you can select either the photocoupler input or the exclusive input for line driver as the command pulse input Setup value Content PIN NO Signal na...

Page 212: ...Make the rising falling time of the command pulse input signal to 0 1 µs or smaller When parameter Pr0 07 0 or 2 if parameter Pr0 08 10000 2 phase pulse input 2500 pulse per one motor revolution When parameter Pr0 07 1 or 3 if parameter Pr0 08 10000 because of the rotation of a single pulse so input 10000 pulse per one motor revolution PULS1 2 SIGN1 2 PULSH1 2 SIGNH1 2 The table below shows combin...

Page 213: ...enabled when Pr0 08 command pulse counts per one motor revolution 0 Interrelationship between Pr0 08 Pr0 09 and Pr0 10 during Position control Pr0 08 Pr0 09 Pr0 10 Command division multiplication operation 1 to 8388608 Not effect Not effect Encoder resolution Pr0 08 setup value Command pulse input Positional command Regardless of setup of Pr0 09 and Pr0 10 this operation is processed according to ...

Page 214: ...ing value of numerator and denominator of electronic gear However an excessively high division or multiplication ratio cannot 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 settings are within the speci...

Page 215: ... output OA and OB are the number of pulses set in Pr0 11 The resolution of pulse output per one revolution is equal to or less the encoder resolution When the output source is external scale 1 1 External scale pulse pulse Output pulse pulse Division ratio is 1 1 1 to 8388608 Pr0 11 setup value Pr5 03 setup value Encoder feedback pulse or external scale pulse pulse Output pulse pulse If Pr5 03 is n...

Page 216: ...e limit value of the motor output torque For details of torque limit value refer to P 2 84 Pr0 14 Position deviation excess setup Range Unit Default Related control mode 0 to 1073741824 Command unit 100000 P F Note Set excess range of positional deviation by the command unit default Setup unit can be changed to encoder unit through Pr5 20 position setup unit selection If the unit is changed set up...

Page 217: ...regenerative protection are not activated and built in capacitor handles all regenerative power Install an external protection such as thermal fuse when you use the external regenerative resistor Otherwise the regenerative resistor might be heated up abnormally and result in burnout regardless of validation or invalidation of regenerative over load protection When you use the built in regenerative...

Page 218: ... at stall to 0 The integration will be maintained by setting to 9999 The integration effect will be lost by setting to 10000 Pr1 03 1st filter of speed detection Range Unit Default Related control mode 0 to 5 0 P S T F You can set up the time constant of the low pass filter LPF after the speed detection in 6 steps Higher the setup larger the time constant you can obtain so that you can decrease th...

Page 219: ... pairs of gain or time constant 1st and 2nd For details of switching the 1st and the 2nd gain or the time constant refer to P 5 34 Gain Switching Function of Adjustment The function and the content of each parameter is as same as that of the 1st gain and time constant Pr1 10 Velocity feed forward gain Range Unit Default Related control mode 0 to 4000 0 1 1000 P F Multiply the velocity control comm...

Page 220: ...gain is gradually increased with the torque feed forward filter is set at approx 50 0 5 ms Positional deviation at a constant acceleration deceleration can be minimized close to 0 by increasing the torque forward gain This means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque...

Page 221: ...w level hysteresis pulse previously over delay time with the 2nd gain Unit of level and hysteresis pulse is set as the encoder resolution for positional control and external scale resolution for full closed control 7 Position command exists Valid for position and full closed controls Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain Return to the 1st gain whe...

Page 222: ...internally adjusted so that it is equal to level Pr1 19 Position gain switching time Range Unit Default Related control mode 0 to 10000 0 1 ms 10 P F Caution For position controlling If the difference between Pr1 00 1st gain of position loop and Pr1 05 2nd gain of poison loop is large the increasing rate of position loop gain can be limited by this parameter The position loop gain will increase ov...

Page 223: ... speed command variations exceeded level hysteresis 10 r min s previously with the 1st gain Return to the 1st gain when the absolute value of the speed command variations was kept below level hysteresis 10 r min s during delay time previously with the 2nd gain The 1st gain is fixed while the velocity control is not applied 5 Speed command is large Valid for velocity controls Shift to the 2nd gain ...

Page 224: ...he torque command was kept below level hysteresis previously during delay time with the 2nd gain Pr1 25 Delay time of torque control switching Range Unit Default Related control mode 0 to 10000 0 1 ms 0 T For torque controlling When shifting from the 2nd gain to the 1st gain with Pr1 24 Torque control switching mode set at 3 set up the delay time from trigger detection to the switching operation P...

Page 225: ... related to the 3rd and 4th notch filters will be updated based on the results of adaptive performance Use of this setup value is recommended when using 2 adaptive filters 6 For manufacturer s use PANATERM s fit gain function used internally Do not use this setup value in the normal condition Pr2 01 1st notch frequency Range Unit Default Related control mode 50 to 5000 Hz 5000 P S T F Caution Set ...

Page 226: ...width of notch at the center frequency of the 3rd notch filter Higher the setup larger the notch width you can obtain Use with default setup in normal operation When the applicable filter function is used parameter value is automatically set Pr2 09 3rd notch depth selection Range Unit Default Related control mode 0 to 99 0 P S T F Caution Set the depth of notch at the center frequency of the 3rd n...

Page 227: ...ction Contents of setup values 4 to 6 will differ with enabled disabled switching of two degree of freedom control mode Position control Two degree of freedom control mode disabled Setup value VS SEL1 1st model 2nd model 3st model 4st model 4 5 6 Same action as set value 0 Position control Two degree of freedom control mode enabled Setup value VS SEL1 1st model 2nd model 4 5 OFF ON Setup value Pos...

Page 228: ... 0 to 300 0 Hz Setup of 0 to 9 becomes invalid Refer to P 5 37 Suppression of Machine Resonance as well before using this parameter Pr2 15 1st damping filter setup Range Unit Default Related control mode 0 to 1500 0 1 Hz 0 P F Pr2 17 2nd damping filter setup Range Unit Default Related control mode 0 to 1500 0 1 Hz 0 P F Pr2 19 3rd damping filter setup Range Unit Default Related control mode 0 to 1...

Page 229: ...er When a square wave command for the target speed Vc is applied set up the time constant of the 1st delay filter as shown in the figure below 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 1 Actual filter time constant setup value 0 1 ms has t...

Page 230: ...al command smoothing filter setup time ms Pr2 23 0 1 ms 1 Time Filter switching waiting time 2 Positional command before filter Positional command after filter 1 The actual average travel time setup value 0 1 ms has the maximum absolute error of 0 2 ms for a time constant below 10 ms and the maximum relative error of 1 6 for a time constant 10 ms or more 2 When changing Pr2 23 Command FIR filter s...

Page 231: ...ion Pr2 26 5th notch depth selection Range Unit Default Related control mode 0 to 99 0 P S T F Caution Set the depth of notch at the center frequency of the 5th notch filter Higher the setup shallower the notch depth and smaller the phase delay you can obtain Pr2 27 1st vibration control width setting Range Unit Default Related control mode 0 to 1000 0 P F To conduct fine tuning of 1st vibration s...

Page 232: ...er use Range Unit Default Related control mode 0 Pr2 33 For manufacturer use Range Unit Default Related control mode 0 Pr2 34 For manufacturer use Range Unit Default Related control mode 0 Pr2 34 For manufacturer use Range Unit Default Related control mode 0 Pr2 36 For manufacturer use Range Unit Default Related control mode 0 Pr2 37 For manufacturer s use Range Unit Default Related control mode 0...

Page 233: ... speed ON ON 4th speed 2 OFF OFF No effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON Analog speed command 3 The same as Pr3 00 1 OFF 1st to 4th speed OFF OFF ON 5th speed ON OFF ON 6th speed OFF ON ON 7th speed ON ON ON 8th speed Internal command speed switching pattern should be so arranged as shown below that single input signals are selected alternately If 2 or more input signals are se...

Page 234: ...em Pay an extra attention to oscillation caused by larger setup of Pr3 02 3000 Speed r min 3000 Slope at ex factory 10 6 2 4 6 8 10 Positive direction Negative direction Command input voltage V Pr3 03 Reversal of speed command input Range Unit Default Related control mode 0 to 1 1 S Note Caution Specify the polarity of the voltage applied to the analog speed command SPR Setup value Motor rotating ...

Page 235: ...eeds 1st to 8th Pr3 12 Acceleration time setup Range Unit Default Related control mode 0 to 10000 ms 1000 r min 0 S Pr3 13 Deceleration time setup Range Unit Default Related control mode 0 to 10000 ms 1000 r min 0 S Caution Set up acceleration deceleration processing time in response to the speed command input Set the time required for the speed command stepwise input to reach 1000 r min to Pr3 12...

Page 236: ...lamp input is ignored 1 Speed command is forced to 0 when the speed zero clamp ZEROSPD input signal is turned ON 1 2 Speed command is forced to 0 when the speed zero clamp ZEROSPD input signal is turned ON 1 And when the actual motor speed drops to Pr3 16 Speed zero clamp level or below the position control is selected and servo lock is activated at this point The fundamental operations except for...

Page 237: ...t the direction positive negative direction of torque command Setup value Designation 0 Specify the direction with the sign of torque command Example Torque command input for positive direction for negative direction 1 Specify the direction with torque command sign TC SIGN OFF Positive direction ON Negative direction Pr3 19 Input gain of torque command Range Unit Default Related control mode 10 to...

Page 238: ...in 0 T Pr3 17 Pr3 21 Pr3 22 Pr3 15 Speed zero clamp ZEROSPD Analog torque command direction Speed limit value 0 0 to 20000 No effect 0 No effect No effect Pr3 21 setup value 1 to 3 OFF Pr3 21 setup value ON 0 2 0 to 20000 0 to 20000 0 No effect Positive direction Pr3 21 setup value Negative direction Pr3 22 setup value 0 to 20000 0 to 20000 1 to 3 OFF Positive direction Pr3 21 setup value Negative...

Page 239: ...hase or Z phase wiring error protection will occur Pr3 24 Numerator of external scale division Range Unit Default Related control mode 0 to 8388608 0 F Set up the numerator of the external scale dividing setup When setup value 0 encoder resolution is used as numerator of the division Pr3 25 Denominator of external scale division Range Unit Default Related control mode 1 to 8388608 10000 F Caution ...

Page 240: ...on As the motor turns the number of revolutions set by this parameter the hybrid deviation is cleared to 0 No clearing is made with setup value 0 Hybrid deviation clear feature As the motor reaches the number of revolutions set by Pr3 29 Hybrid deviation clear setup clear the hybrid deviation to 0 This feature allows the motor to be used in an application where hybrid deviation accumulate due to s...

Page 241: ...input in all modes for b contact to for a contact set the input to 00020202h For easier setting use the setup support software PANATERM Do not setup to a value other than that specified in the table Do not assign specific function to 2 or more signals Duplicated assignment will cause Err33 0 I F input multiple assignment error 1 or Err33 1 I F input multiple assignment error 2 When measuring frequ...

Page 242: ...fault Related control mode 0 to 00FFFFFFh 00040404h 263172 P S T F Pr4 08 SI9 input selection Range Unit Default Related control mode 0 to 00FFFFFFh 00050505h 328965 P S T F Pr4 09 SI10 input selection Range Unit Default Related control mode 0 to 00FFFFFFh 00000E88h 3720 P S T F Note Caution Assign functions to SI2 to SI10 inputs These parameters are presented in hexadecimals Setup procedure is th...

Page 243: ...t signal output TLC 07h Zero speed detection output signal ZSP 08h Speed coincidence output V COIN 09h Alarm output 1 WARN1 0Ah Alarm output 2 WARN2 0Bh Positional command ON OFF output P CMD 0Ch Positioning complete 2 INP2 0Dh Speed in limit output V LIMIT 0Eh Alarm attribute output ALM ATB 0Fh Speed command ON OFF output V CMD 10h Servo on status output SRV ST Same function can be assigned to 2 ...

Page 244: ... For Pr4 18 4 Torque command 1 V is output at the torque command Pr4 19 setup value Pr4 20 For manufacturer s use Range Unit Default Related control mode 0 Plese fixed to 0 Pr4 16 Pr4 18 Type of monitor Unit Output gain for setting Pr4 17 Pr4 19 0 0 Motor speed r min 500 1 Positional command speed 4 r min 500 2 Internal positional command speed 4 r min 500 3 Velocity control command r min 500 4 To...

Page 245: ...ith analog inputs 3 For temperature information from the encoder a value appears only when 23 bit absolute encoder is used For other encoders 0 is always output 4 For the command pulse input the speed before the command filter smoothing FIR filter is defined as positional command speed and speed after filter is defined as internal command speed Command division multiplication process Positional co...

Page 246: ...sive level of the input voltage of analog input 1 by using the voltage associated with offset Pr4 25 Analog input 2 AI2 offset setup Range Unit Default Related control mode 342 to 342 5 86 mV 0 P S T F Set up the offset correction value applied to the voltage fed to the analog input 2 Pr4 26 Analog input 2 AI2 filter Range Unit Default Related control mode 0 to 6400 0 01 ms 0 P S T F Set up the ti...

Page 247: ...nal deviation is smaller than Pr4 31 Positioning complete range 2 7 The signal will turn on when there is no position command the zero speed detection signal is ON and the positional deviation is smaller than Pr4 31 Positioning complete range 3 8 The signal will turn on when there is no position command and the positional deviation is smaller than Pr4 31 Positioning complete range Then holds ON st...

Page 248: ...otating direction There is hysteresis of 10 r min speed ZSP ON Pr4 34 10 r min Pr4 34 10 r min Positive direction Negative direction Pr4 35 Speed coincidence range Range Unit Default Related control mode 10 to 20000 r min 50 S T Set the speed coincidence V COIN output detection timing Output the speed coincidence V COIN when the difference between the speed command and the motor speed is equal to ...

Page 249: ...hen the motor turns to Servo OFF while the motor is at stall Set up to prevent a micro travel drop of the motor work due to the action delay time tb of the brake After setting up Pr4 37 tb then compose the sequence so as the driver turns to Servo OFF after the brake is actually activated ON SRV ON BRK OFF actual brake motor energization release OFF hold release energized hold non energized Pr4 37 ...

Page 250: ...detection alarm Oscillation or vibration is detected 8 Lifetime detection alarm Life expectancy of capacitor or fan becomes short 9 External scale error alarm The external scale detects the alarm 10 External scale communication alarm The number of successive external scale communication errors exceeds the specified value 11 Velocity command ON OFF output When Pr7 14 main power off alert detection ...

Page 251: ...e L level respectively 1 Output photocoupler for SO1 to 6 will turn OFF during pulse output and OCMP 1 to 4 will be H level respectively Use 0 normally Pr4 47 Pulse output select Range Unit Default Related control mode 0 7 0 P S T F Selects signal to be output from pulse regeneration output position compare output terminal Setup value Designation 0 OA OB OZ CZ 1 OCMP1 OCMP2 OZ CZ 2 OA OB OCMP3 OCM...

Page 252: ...n value for position compare 5 Pr4 53 Position compare value 6 Range Unit Default Related control mode 2147483648 to 2147483647 Command unit 0 P F Sets comparison value for position compare 6 Pr4 54 Position compare value 7 Range Unit Default Related control mode 2147483648 to 2147483647 Command unit 0 P F Sets comparison value for position compare 7 Pr4 55 Position compare value 8 Range Unit Defa...

Page 253: ...its bit Designation bit0 3 Position com １ bit4 7 Position com ２ bit8 11 Position com ３ bit12 15 Position com ４ bit16 19 Position com ５ bit20 23 Position com ６ bit24 27 Position com ７ bit28 31 Position com ８ Set value Setup value Designation 0000 Invalid output 0001 Assigned to SO1 or OCMP1 0010 Assigned to SO2 or OCMP2 0011 Assigned to SO3 or OCMP3 0100 Assigned to SO4 or OCMP4 0101 Assigned to SO...

Page 254: ...controlling encoder resolution is set as a numerator When the setting value is 0 for full closed controlling both numerator and denominator are set to 1 Pr5 03 Denominator of pulse output division Range Unit Default Related control mode 0 to 8388608 0 P S T F For details refer to P 4 11 Pr5 04 Over travel inhibit input setup Range Unit Default Related control mode 0 to 2 1 P S T F Set up the opera...

Page 255: ...rolled in order to clear the position deviation and external scale deviation home position return action must be conducted to return 4 Because in the event that the setting is 2 in Pr5 04 Drive prohibition input setting Err38 0 Drive prohibition input protection occurs when either one of POT or NOT turns ON the motor operates not in accordance with this setting but in accordance with Pr5 10 Sequen...

Page 256: ...operate to reduce the deviation to 0 Remember these requirements if you want to maintain the positional deviation external scale deviation 3 Deceleration period is the time required for the running motor to speed down to 30 r min Once the motor speed drops below 30 r min it is treated as in stop state regardless of its speed 4 Positional deviation external scale deviation is always cleared to 0 If...

Page 257: ...shut off continuously The main power off detection is invalid when you set up this to 2000 Pr5 10 Sequence at alarm Range Unit Default Related control mode 0 to 7 0 P S T F Specify the status during deceleration and after stop after occurrence of alarm Setup value During deceleration 3 After stalling Positional deviation external scale deviation 0 Dynamic Brake DB action Dynamic Brake DB action Ho...

Page 258: ... speed protection occurs The over speed level becomes 1 2 times of the motor max speed by setting up this to 0 Pr5 14 Motor working range setup Range Unit Default Related control mode 0 to 1000 0 1 revolution 10 P S T F You can set up the movable range of the motor against the position command input range When the motor movement exceeds the setup value software limit protection of Err34 0 will be ...

Page 259: ...r input refer to P 3 40 Pr5 18 Invalidation of command 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 Invalid Pr5 19 Command pulse inhibit input reading setup Range Unit Default Related control mode 0 to 5 0 P F Select command pulse inhibit input enable disable signal reading period When the...

Page 260: ...e direction Negative direction 0 P ATL 0 V to 10 V N ATL 10 V to 0 V 1 1st torque limit Pr0 13 2 1st torque limit Pr0 13 2nd torque limit Pr5 22 3 TL SEL OFF 1st torque limit Pr0 13 TL SEL ON 2nd torque limit Pr5 22 4 P ATL 0 V to 10 V N ATL 0 V to 10 V 5 P ATL 0 V to 10 V 6 TL SEL OFF 1st torque limit Pr0 13 2nd torque limit Pr5 22 TL SEL ON External input positive direction torque limit Pr5 25 E...

Page 261: ...iving TL SEL with Pr5 21 Selection of torque limit set at 6 The value of parameter is limited to the maximum torque of the applicable motor For details of torque limit value refer to P 2 84 Pr5 26 External input negative direction torque limit Range Unit Default Related control mode 0 to 500 500 P S F Note Set up negative direction torque limit upon receiving TL SEL with Pr5 21 Selection of torque...

Page 262: ...cturer use 11 Analog input value 25 External scale deviation External scale unit 41 For manufacturer use 12 Error factor and reference of history 26 Hybrid deviation Command unit 42 For manufacturer use 13 Alarm Display 27 Voltage across PN V You can select the type of data to be displayed on the front panel LED 7 segment at the initial status after power on For details of display refer to P 2 88 ...

Page 263: ...wer than 1000 a digital filter of the specification shown below is enabled against the command pulse input Pr5 32 setting range Digital filter Pr0 05 0 2 Pr0 05 1 250 400 ns 2 time reading 400 ns 2 time reading 251 to 499 200 ns 2 time reading 200 ns 2 time reading 500 to 999 100 ns 2 time reading 1000 to 2999 25 ns 2 time reading 3000 to 8000 1 time reading thru Pr5 33 Pulse regenerative output l...

Page 264: ...t Related control mode 0 to 10000 ms 0 P S T F To set waiting time to be added from the receipt of Modbus communication request till the transmission of response data Note Delay time will be generated for the creation of response data even if the value is set to 0 zero Pr5 40 Modbus communication timeout time Range Unit Default Related control mode 0 to 10000 ms 0 P S T F To set the time required ...

Page 265: ... need to write input OFF Pr5 45 Quadrant projection positive direction compensation value Range Unit Default Related control mode 1000 to 1000 0 1 0 P F To set positive direction high precision torque compensation value for quadrant projection Pr5 46 Quadrant projection negative direction compensation value Range Unit Default Related control mode 1000 to 1000 0 1 0 P F To set negative direction hi...

Page 266: ... processing This parameter will become valid when Pr6 10 Function enhancement setting bit 15 1 Pr5 57 Slow stop S shape acceleration and deceleration setting Range Unit Default Related control mode 0 1000 ms 0 P Sets the S shape time for immediate stop deceleration stop deceleration processing This parameter will become valid when Pr6 10 Function enhancement setting bit 15 1 Pr5 58 Modbus mirror r...

Page 267: ...e judgment time Range Unit Default Related control mode 0 to 10000 0 1s 0 P S T F Sets time for deemed convergence of real time auto tuning load characteristics estimate when deterioration diagnosis warning function is valid Pr6 97 bit 1 1 Pr5 67 Deterioration diagnosis inertia ratio upper limit Range Unit Default Related control mode 0 to 10000 0 P S T F Pr5 68 Deterioration diagnosis inertia rat...

Page 268: ...nosis judgment of load characteristics estimate after completion of convergence when deterioration diagnosis warning is valid Pr6 97 bit 1 1 Pr5 75 Deterioration diagnosis velocity setting Range Unit Default Related control mode 20000 to 20000 r min 0 P S T F Outputs deterioration diagnosis velocity output V DIAG when the motor velocity is in the range of Pr5 75 Pr4 35 velocity coinciding width wh...

Page 269: ... 4422h Mirror register 11 Pr5 82 Modbus mirror register setting 12 Range Unit Default Related control mode 32768 to 32767 16402 P S T F Sets register address linked to Modbus register address 4423h Mirror register 12 Pr5 83 Modbus mirror register setting 13 Range Unit Default Related control mode 32768 to 32767 16411 P S T F Sets register address linked to Modbus register address 4424h Mirror regi...

Page 270: ...ed mathematically as follows Torque command 100 input voltage V Pr6 00 setup value 0 1 Pr6 02 Velocity deviation excess setup Range Unit Default Related control mode 0 to 20000 r min 0 P When the speed deviation difference between internal positional command and actual speed exceeds this value Err24 2 Speed over deviation protection occurs This protection is not detected when the setup value is 0 ...

Page 271: ...de for real time auto tuning is valid Pr6 10 Function expansion setup Range Unit Default Related control mode 32768 to 32767 16 P S T F Set up the function in unit of bit Function Setup value 0 1 bit 0 Not used Fixed to 0 bit 1 Load fluctuation control funtion Invalid Valid bit 2 Not used Fixed to 0 bit 3 Inertia ratio switching Invalid Valid bit 4 Current response improvement Invalid Valid bit 5 ...

Page 272: ...ergency stop in an alarm condition Exceeding this time puts the system in alarm state When setup value is 0 immediate stop is disabled and the immediate alarm stop is enabled Pr6 15 2nd over speed level setup Range Unit Default Related control mode 0 to 20000 r min 0 P S T F When the motor speed exceeds this setup time Err26 1 2nd over speed protection will be activated The over speed level become...

Page 273: ...ion of external scale 1 to 268435456 After the power is fed to the driver the Z phase as it crosses the zero at the absolute position of external scale is output in synchronous with the A phase Subsequently the Z phase is output at the A phase output pulse intervals set to this parameter When Pr6 58 0 The absolute position output of the external scale is identical to the Z phase of the Pr6 58 sett...

Page 274: ...ompensating gain Range Unit Default Related control mode 100 to 100 0 P S F Sets the compensation gain for the load fluctuation Pr6 24 Load fluctuation compensating filter Range Unit Default Related control mode 10 to 2500 0 01 ms 53 P S F Sets the filter time constant for the load fluctuation Pr6 27 Alarm latch time selection Range Unit Default Related control mode 0 to 10 5 P S T F Set up the la...

Page 275: ...ith the real time auto tuning being valid A higher setup value assures faster response to a change in load characteristics but increases variations in disturbance estimation Result of estimation is saved to EEPROM every 30 minutes Setup value Mode Description 0 No change Stop estimation of load characteristics 1 Almost constant Response to changes in load characteristics in every minute 2 Slower c...

Page 276: ...lue other than 0 stop estimation 3 to 2 Inertia ratio update Set up update to be made based on result of the load characteristics estimation of Pr0 04 Inertia ratio Setup value Function 0 Use the current setup 1 Update by the estimated value To enable the inertia ratio update set Bits 1 0 load characteristic measurement to 1 enable The inertia ratio will not be updated unless both settings are mad...

Page 277: ...time auto tuning is enabled Setup value Function 0 Use the current setup 1 Disable gain switching 2 Enable gain switching To set this setting to a value other than 0 set Bits 3 2 Inertia ratio update to 1 enable Inertia ratio is enabled disabled by the setting of Bits 1 and 0 load characteristics measurement Caution This parameter should be setup bit by bit To prevent setting error use of the setu...

Page 278: ...e hybrid vibration suppression filter for full closed controlling While driving under full closed control gradually increase the setup value and check changes in the response Pr6 36 Dynamic brake operation input Range Unit Default Related control mode 0 to 1 0 P S T F Sets between enabling and disabling dynamic brake DB operation input by I O Note This function is available only when the main powe...

Page 279: ...it5 A2 Battery warning bit0 A3 Fan warnin bit6 A4 Encoder communication warning bit4 A5 Encoder overheat warning bit3 A6 Oscillation detection warning bit9 A7 Lifetime detection warning bit2 A8 External scale error warning bit8 A9 External scale communication warning bit10 AC Deterioration diagnosis warning bit7 C3 Main power off warning bit12 Pr6 41 Anti vibration depth 1 Range Unit Default Relat...

Page 280: ...nly when bit0 is set to 1 Enabled 1 For details of the type refer to P 5 10 Real time auto tuning two degree of freedom control standard type and P 5 17 Real time auto tuning two degree of freedom control synchronous type Pr6 48 Adjust filter Range Unit Default Related control mode 0 to 2000 0 1 ms Size A 11 Size B C 12 Size D E F 17 P S F Set time constant of adjustment filter for two degree of f...

Page 281: ...e result is added to the torque command as compensation value The unit is Rated torque 0 1 10000 r min Pr6 51 Immediate cessation completion wait time Range Unit Default Related control mode 0 to 10000 ms 0 P S T F When immediate stop alarm is occurs turn off brake release output BRK OFF and set the time during which the current flows through the motor Pr6 52 For manufacturer s use Range Unit Defa...

Page 282: ...te stop alarm this function is disabled and Err16 1 is not generated Torque Torque limit Torque command Torque controlling signal output TLC Servo Alarm output ALM not Alarm OFF OFF OFF ON ON Err16 1 occurs Pr6 57 setup value ms or less Pr6 57 setup value ms Time If torque saturation condition has not continued for Pr6 57 setup value ms Err16 1 will not generate and count is cleared When torque sa...

Page 283: ...t Related control mode 0 to 1000 0 P Sets the antiresonance damping ratio of the 1st model type resonance oppression notch filter Pr6 65 1st response frequency Range Unit Default Related control mode 0 to 3000 0 1Hz 0 P Sets the response frequency of the 1st model type resonance oppression notch filter Pr6 66 2nd resonance frequency Range Unit Default Related control mode 0 to 3000 0 1Hz 0 P Sets ...

Page 284: ...ime constant for the load estimation Pr6 74 Torque compensating frequency 1 Range Unit Default Related control mode 0 to 5000 0 1Hz 0 P S Sets the filtering frequency 1 F1 for the output of velocity control Pr6 74 Torque compensating frequency 1 and Pr6 75 Torque compensating frequency 2 are inzhe following range Ttorque compensating is valid Pr6 75 32 Pr6 74 Pr6 75 1 0 Hz Pr6 75 Torque compensati...

Page 285: ... it goes lower than 0 Internal value will be set to 65535 in case Pr0 15 is set to 0 or 2 absolute mode Pr6 97 Function expansion setting 3 Range Unit Default Related control mode 2147483648 to 2147483647 0 P S T F Sets various function in bit units function Setup value bit0 Quadrant projection compensation function enhancement 0 Invalid 1 valid bit1 Deterioration diagnosis warning function 0 Inva...

Page 286: ...e set for Pr7 14 is long and the P N voltage at the main power converter area is reduced to the specified value or below before the warning is detected Err13 0 Main power insufficient voltage protection is invoked earlier than the warning Pr7 22 Special function enhancement setting 1 Range Unit Default Related control mode 32768 to 32767 0 P S T F Sets various function in bit units bit Function Se...

Page 287: ...tup Class 15 Special setting 4 1 Details of parameter Setup Class 9 Special setting Parameter is all manufacturers use Please do not change the default parameters Parameter is all manufacturers use Please do not change the default parameters Parameter is all manufacturers use Please do not change the default parameters Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 288: ... of power supply and voltage Rated voltage 3 Fixing of the servo motor Unstable mounting 4 Separation from the mechanical system 5 Release of the brake 6 Turn to Servo OFF after finishing the trial run by pressing Note Wiring details please refer to P 2 12 Overall Wiring Wiring of the Main Circuit Wiring Diagram The drive in the diagram is a multi functional Buy www ValinOnline com Phone 844 385 3...

Page 289: ...ational speed at monitor mode whether rotational speed is as per the setup or not and the motor stops by stopping the command pulse or not 10 If the motor does not run correctly refer to P 2 102 Display of Factor for No Motor Running of Preparation Wiring Diagram Parameter Pr No Title Setup value 0 01 Control mode setup 0 5 04 Over travel inhibit input setup 1 0 05 Selection of command pulse input...

Page 290: ...otational direction selection Pr3 03 Reversal of speed command input 10 If the motor does not run correctly refer to P 2 102 Display of Factor for No Motor Running of Preparation Wiring Diagram Parameter Pr No Title Setup value 0 01 Control mode setup 1 5 04 Over travel inhibit input setup 1 3 15 Speed zero clamp function selection 1 3 00 Speed setup Internal External switching Set up as required ...

Page 291: ...lowing parameters Pr3 19 Input gain of torque command Pr3 20 Input reversal of torque command Pr3 21 Speed limit value 1 9 If the motor does not run correctly refer to P 2 102 Display of factor for No motor run ning of Preparation Wiring Diagram Parameter Pr No Title Setup value 0 01 Control mode setup 2 5 04 Over travel inhibit input setup 1 3 15 Speed zero clamp function selection 0 3 17 Selecti...

Page 292: ... and input pulse counts 60 Pulley ratio Gear ratio Total reduction ratio Gear 18 60 12 73 18 365 When setting the command division and multiplication ratio as numerator denominator express it as Pr0 09 Pr0 10 with Pr0 08 0 For full closed controlling setting of Pr0 08 is ig nored and settings of Pr0 09 and Pr0 10 are always applied e g When you want to rotate the motor by 60 with the load of total...

Page 293: ...tion Damping Control 5 41 Model type damping filter 5 43 Feed forward function 5 47 Load variation suppression function 5 50 3rd gain switching function 5 53 Friction torque compensation 5 55 Inertia ratio switching function 5 57 Hybrid vibration damping function 5 59 Quadrant projection suppression function 5 60 Two degree of freedom control mode Position control 5 62 Two degree of freedom contro...

Page 294: ...feed forward 500 Inertia ratio 100 2000 2000 0 0 0 375 250 125 0 0 375 250 125 0 0 37 250 125 r min Command Speed Motor actual speed Gain setup Low Gain setup High Gain setup High feed forward setup No Start adjustment Adjust by using fit gain function Yes Yes Fit gain function No Fit gain function is a function of the setup support software PANATERM Please use the software and the manual by downl...

Page 295: ...hence you cannot set the higher gain You can suppress the resonance with two kinds of filter P 5 37 Manual gain tuning application You can obtain the higher performance while you are not satisfied with the performance obtained with the basic adjustment using the following application functions P 5 41 Damping control Damping control P 5 41 Model type damping filter P 5 43 Feed forward function Velo...

Page 296: ...operation pat tern or start manual gain tuning refer to P 5 27 Conditions which obstruct real time auto gain tuning action Load inertia The load is too small or large compared to the rotor inertia less than 3 times or more than 20 times The load inertia changes too quickly Load The machine stiffness is extremely low Nonlinear characteristics such as backlash exist Action pattern The motor is runni...

Page 297: ...ts 4 When the load characteristics are determined Pr0 04 Inertia ratio is updated In a specific mode the following parameters are changed Pr6 07 Torque command additional value Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction torque compensation value Load characteristics estimation speed can be set by Pr6 31 Real time auto tuning esti mation speed 5 When value of Pr0 ...

Page 298: ...ing function updates the following basic gain setup parameters according to Pr0 03 Real time auto tuning stiffness setup Class No Title Function 1 00 1st gain of position loop When stiffness setup is valid updates the parameter based on the setup value Refer to P 5 9 Basic gain parameter setup table 1 01 1st gain of velocity loop 1 02 1st time constant of velocity loop integration 1 04 1st time co...

Page 299: ...me of torque control switching 1 26 Level of torque control switching 1 27 Hysteresis at torque control switching Parameters which are always set to invalid The following settings are always set to invalid when Pr0 02 Real time auto tuning setup is not 0 Class No Title Function 6 10 Function expansion setup The bit bit3 for inertia ratio switching function permission is internally invalidated 6 13...

Page 300: ...on value Pr6 08 Positive direction compensation value and Pr6 09 Negative direction compensation value to 0 4 Disabale load variation suppression function bit1 0 after Pr 6 10 bit14 0 2 When abnormal noise and oscillation occur Pr0 04 Inertia ratio or Pr6 07 Torque command additional value Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction torque compensation value might...

Page 301: ...0 Since the estimation result of Pr0 04 Inertia ratio remains and if this parameter be comes clearly abnormal value manually set to the appropriate value which is obtained from suitable formula or calculation If power is turned off within 30 minutes after the end of tuning process the result of the real time auto tuning is not saved If the result is not saved manually write parameters to EEPROM an...

Page 302: ...140 10000 200 1140 11 1 320 180 310 126 380 180 10000 126 880 12 390 220 250 103 460 220 10000 103 720 13 1 480 270 210 84 570 270 10000 84 590 14 630 350 160 65 730 350 10000 65 450 15 720 400 140 57 840 400 10000 57 400 16 900 500 120 45 1050 500 10000 45 320 17 1080 600 110 38 1260 600 10000 38 270 18 1350 750 90 30 1570 750 10000 30 210 19 1620 900 80 25 1880 900 10000 25 180 20 2060 1150 70 2...

Page 303: ...tly set assuming that the motor can run smoothly Caution Real time auto gain tuning may not be executed properly under the conditions described below Under these conditions change the load conditions or operation patterns or start manual gain tuning refer to P 5 27 and subsequent Conditions which obstruct real time auto gain tuning Load inertia Load is small or large compared with the rotor inerti...

Page 304: ...ng with the help of the setup support software 6 Fit gain mode To be used for fine adjustment of rigidity setting after completion of fit gain Control parameter is automatically set according to Pr0 03 Real time auto tuning stiff ness setup Example of real time auto tuning setup 1 When performing adjustment focusing on settling time by using PTP control It is recommended to use quick response mode...

Page 305: ...nsation gain Load characteristics estimation speed can be set by Pr6 31 Real time auto tuning esti mation speed 5 When value of Pr0 03 Real time auto tuning stiffness setup is increased the motor re sponsiveness will be improved Determine the most appropriate stiffness in relation to the positioning setup time and vibration condition 6 To save the result to memory write the date to EEPROM If power...

Page 306: ...g is valid Pr0 02 1 to 4 updates the setup value according to the stiffness Refer to P 5 9 Basic gain parameter setup table 1 01 1st gain of velocity loop 1 02 1st time constant of velocity loop integration 1 04 1st time constant of torque filter 1 05 2nd gain of position loop 1 06 2nd gain of velocity loop 1 07 2nd time constant of velocity loop integration 1 09 2nd time constant of torque filter...

Page 307: ...id Pr0 02 1 to 4 1 24 Mode of torque control switching 1 25 Delay time of torque control switching Sets to 10 if real time auto tuning is valid Pr0 02 1 to 4 1 26 Level of torque control switching Sets to 0 if real time auto tuning is valid Pr0 02 1 to 4 1 27 Hysteresis at torque control switching 6 05 Position 3rd gain valid time Sets to 0 invalid when in standard response mode or high speed resp...

Page 308: ...6 10 bit14 0 set to 0 6 24 Load variation compensation filter When set to Pr 6 10 bit14 1 in case of stiffness setting is enabled updates to match rigidity When set to Pr 6 10 bit14 0 value is held 6 73 Load estimation filter When set to Pr 6 10 bit14 1 in case of stiffness setting is enabled sets to 0 13 ms When set to Pr 6 10 bit14 0 set to 0 ms 6 74 Torque compensation frequency 1 Regardless va...

Page 309: ...ue Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction compensation value Pr6 50 Viscous friction com pensation gain will be written to EE PROM every 30 minutes When you turn on the power again the auto gain tuning will be executed using the latest data as initial val ues 4 Because the control gain is updated while the motor stops changed setting value of Pr0 03 Real time...

Page 310: ...268 107 24 1450 10 175 140 400 200 212 85 23 1140 11 320 180 310 126 139 55 16 880 12 390 220 250 103 113 45 13 720 13 480 270 210 84 92 37 11 590 14 630 350 160 65 71 28 9 450 15 720 400 140 57 62 25 8 400 16 900 500 120 45 50 20 7 320 17 1080 600 110 38 41 17 6 270 18 1350 750 90 30 33 13 5 210 19 1620 900 80 25 28 11 5 180 20 2060 1150 70 20 22 9 4 140 21 2510 1400 60 16 18 7 4 110 22 3050 1700...

Page 311: ...gnals such as deviation counter clear and command input inhibit and parameters except for controls such as torque limit setup are correctly set assuming that the motor can run smoothly Caution Real time auto gain tuning may not be executed properly under the conditions described below Under these conditions change the load conditions or operation patterns or start manual gain tuning refer to P 5 2...

Page 312: ...e mode Use this mode when you wish to make robust adjustments for fluctuating loads Control parameter is automatically set according to Pr0 03 Real time auto tuning stiff ness setup Example of real time auto tuning setup When using this function for the first time with multijoint robot set initial stiffness to a lower value in accordance with the load capacity in the synchronous friction com pensa...

Page 313: ... 03 Real time auto tuning stiffness setup is increased the motor re sponsiveness will be improved Determine the most appropriate stiffness in relation to the positioning setup time and vibration condition 6 To save the result to memory write the date to EEPROM Caution If power is turned off within 30 minutes after the end of tuning process the result of the real time auto tuning is not saved If th...

Page 314: ...e according to the stiffness Refer to P 5 9 Basic gain parameter setup table 1 01 1st gain of velocity loop 1 02 1st time constant of velocity loop integration 1 04 1st time constant of torque filter 1 05 2nd gain of position loop 1 06 2nd gain of velocity loop 1 07 2nd time constant of velocity loop integration 1 09 2nd time constant of torque filter 6 48 Adjust filter In the synchronous mode syn...

Page 315: ...Pr0 02 1 to 4 1 21 Delay time of velocity control switching 1 22 Level of velocity control switching 1 23 Hysteresis at velocity control switching 1 24 Mode of torque control switching 1 25 Delay time of torque control switching 1 26 Level of torque control switching 1 27 Hysteresis at torque control switching 6 05 Position 3rd gain valid time When the real time auto tuning remains valid Pr0 02 1 ...

Page 316: ...6 75 Torque compensation frequency 2 Regardless value of the Pr 6 10 bit 14 sets to 0 6 76 Load estimate numbers When set to Pr 6 10 bit14 1 in case of stiffness setting is enabled sets to 4 When set to Pr 6 10 bit14 0 set to 0 In case Pr 0 02 Real time automatic tuning mode setting 6 load fluctuation response mode the setting will be changed to the following Class No Title Function 6 10 Function ...

Page 317: ... Pr6 08 Positive direction torque compensation value Pr6 09 Negative direction compensation value Pr6 50 Viscous friction com pensation gain will be written to EE PROM every 30 minutes When you turn on the power again the auto gain tuning will be executed using the latest data as initial val ues 4 Because the control gain is updated while the motor stops changed setting value of Pr0 03 Real time a...

Page 318: ...400 200 23 1140 140 1140 231 66 11 320 180 310 126 16 880 180 880 290 83 12 390 220 250 103 13 720 220 720 346 99 13 480 270 210 84 11 590 270 590 413 118 14 630 350 160 65 9 450 350 450 512 146 15 720 400 140 57 8 400 400 400 570 163 16 900 500 120 45 7 320 500 320 678 194 17 1080 600 110 38 6 270 600 270 678 194 18 1350 750 90 30 5 210 750 210 678 194 19 1620 900 80 25 5 180 900 180 678 194 20 2...

Page 319: ...bling the motor to run normally Caution In the following condition normal operation may not be expected manually set the notch filter to prevent resonance Conditions which obstruct adaptive filter action Resonance point Resonance frequency is lower than 3 times Resonance peak is low or control gain is low where the motor speed is not affected by this Multiple resonance of 3 or more points exist Lo...

Page 320: ...alue 4 Clear result of adaptation Parameters related to the 3rd and 4th notch filter are disabled and results of adaptive operation are cleared 5 High precision adaptive filter Two adaptive filters are enabled Parameters related to the 3rd and 4th notch filters will be updated based on the results of adaptive performance Use of this setup value is recommended when using 2 adaptive filters 6 For ma...

Page 321: ...ime auto gain tuning 3 Invalidate the adaptive filter by setting up Pr2 00 Setup of adaptive filter mode to 0 Reset of inertia calculation and adaptive action 4 Set up the notch filter manually 2 Abnormal sound or oscillation may excessively change the setup value of 3rd and 4th notch filters If such change occurs disable the adaptive filter as described in step 3 above change setup value of Pr2 0...

Page 322: ...ware PANATERM installed on the PC accurate adjustment can be positively quickly and easily done when compared with that performed on the front panel Waveform graphic function of the PANATERM You can display the command to the motor motor movement speed torque command and deviation pulses as a waveform graphic on PC display Refer to P 7 26 Outline of the Setup Support Software PANATERM of Supplemen...

Page 323: ...nertia ratio of Pr0 04 Measure the ratio or setup the calculated value 3 Make adjustment using the standard values below Order 1 2 3 4 5 Standard value 300 50 500 250 300 Title Parameter No Pr 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 adju...

Page 324: ... limit value 1 Pr3 21 For negative direction set up by using the speed limit value 2 Pr3 22 When the motor speed approaches to the speed limiting value torque control follow ing the analog torque command shifts to velocity control based on the speed limiting value In order to stabilize the movement under the speed limiting you are required to set up the parameters according to the above mentioned ...

Page 325: ... to 0 the encoder feedback pulse counts will be automati cally set up 2 Setup of hybrid deviation excess Setuptheminimumvalueofhybriddeviationexcess Pr3 28 withintherangewherethe gap between the motor encoder position and the load feedback scale position will be considered to be an excess Note that the hybrid deviation excess Err25 0 may be generated under other condi tions than the above 1 such a...

Page 326: ...op 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 tuning without gain switching Set up the same value as Pr...

Page 327: ...1st gain 1 Fixed to 2nd gain 2 Gain switching input 3 Torque command A 4 Variation of speed command is large B 4 10 r min s 4 10 r min s 5 Speed command C r min r min Torque control mode Setup of gain switching condition Setup parameters at torque control mode Delay time 1 Level Hysteresis 2 Pr1 24 Switching condition to 2nd gain Fig Pr1 16 1 25 Pr1 17 1 26 Pr1 18 1 27 0 Fixed to 1st gain 1 Fixed ...

Page 328: ...1 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 Above Fig does not reflect a timing lag of gain switching due to hyst...

Page 329: ...requency Notch frequency is automatically set to the 2nd resonance frequency estimated by the adaptive filter In no resonance point is found the frequency is set to 5000 Pr2 11 4th notch width selection Automatically set when 2 adaptive filters are active Pr2 12 4th notch depth selection Notch filter Pr2 01 to 2 12 Pr2 24 to 2 26 MINASA 6 series feature 5 normal notch filters You can adjust freque...

Page 330: ...s small peak nearby velocity response Machine which has multiple resonance points Example of application machine 4 Manual Gain Tuning Basic Suppression of Machine Resonance Notch Notch filter characteristics Machine characteristics at resonance gain gain frequency frequency Resonance Anti resonance Related page P 4 6 to P 4 85 Details of parameter Pr2 24 5th notch frequency Set the center frequenc...

Page 331: ...100 The table below shows this value in dB on the right Notch width Band width center frequency Notch depth I O ratio dB A6 series 0 0 5 0 0 1 0 59 1 0 01 40 2 0 71 2 0 02 34 3 0 84 3 0 03 30 5 4 1 4 0 04 28 5 1 19 5 0 05 26 6 1 41 6 0 06 24 4 7 1 68 7 0 07 23 1 8 2 8 0 08 21 9 9 2 38 9 0 09 20 9 10 2 83 10 0 1 20 11 3 36 15 0 15 16 5 12 4 20 0 2 14 13 4 76 25 0 25 12 14 5 66 30 0 3 10 5 15 6 73 3...

Page 332: ...while you make measurement When you set a larger value of offset than the amplitude setup and make the motor run to the one direction at all time you can obtain a better measurement result Set up a smaller sampling rate when you measure a high frequency band and a larger sampling rate when you measure a low frequency band in order to obtain a better mea surement result When you set a larger amplit...

Page 333: ...01 4 1st control mode of position control and torque control Pr0 01 6 Full closed control Caution This function does not work properly or no effect is obtained under the following condi tions Conditions which obstruct the damping control effect Load condition Vibration is triggered by other factors than command such as disturbance Ratio of resonance frequency and anti resonance frequency is large ...

Page 334: ...ng a larger value the torque rip ple increases at the command changing point as shown in the following figure Set up a value within the range where no torque saturation occurs under the actual condition If torque saturation occurs the vibration suppression effect will be lost Setting range of the damping filter should be limited as follows 10 0 Hz damping frequency damping filter setting damping f...

Page 335: ...easurement of anti resonance frequency components and resonance frequency components which thus requires frequency characteristics analysis and the setting of optimum parameter values Applicable Range This function can only be applicable when the following conditions are satisfied Conditions under which the Model type resonance oppression notch filter is activated Control mode Control mode to be T...

Page 336: ...anti resonance frequency anti resonance attenuation ratio and response frequency will be used for damping frequency damping depth and damping filter setting To completely disable this function all of the five parameters of resonance frequency resonance attenuation ratio anti resonance frequency anti resonance attenuation ratio and response frequency should be set to 0 How to Use The determination ...

Page 337: ...ak The smaller the setup value the smaller the attenuation ratio higher resonance peak 6 65 1st response frequency Defines the response frequency of the model type damping filter s load The unit is 0 1 Hz 6 66 2nd resonance frequency Defines the 2nd resonance frequency of the model type damping filter s load The unit is 0 1 Hz 6 67 2nd resonance damping ratio Defines the 2nd resonance attenuation ...

Page 338: ... of 4 to 6 in Pr 2 13 Damping filter switching selection to enable model type damping control 5 Activate the motor and fine tune the parameters in the following sequence so that vi bration components including command position deviation become small 1 Anti resonance frequency 2 Anti resonance attenuation ratio 3 Resonance frequency 4 Resonance attenuation ratio 6 Once the setting where vibration i...

Page 339: ...torque feed forward can be used Class No Title Function 1 10 Velocity feed forward gain Multiply the velocity control command calculated according to the internal positional command by the ratio of this parameter and add the result to the speed command resulting from the positional control process 1 11 Velocity feed forward filter Set the time constant of 1st delay filter which affects the input o...

Page 340: ...he velocity forward filter setup value Usage example of torque feed forward To use the torque feed forward correctly set the inertia ratio Use the value that was determined at the start of the real time auto tuning or set the inertia ratio that can be calculated from the machine specification to Pr0 04 Inertia ratio The torque feed forward will become effective as the torque feed forward gain is g...

Page 341: ...nput 3 is converted to the torque via Pr6 00 Analog torque feed forward conversion gain setup and added to the torque command in CCW direction if it is positive voltage or in CW direction if negative The voltage V applied to the analog input 3 is converted to the motor torque command through the process as shown in the graph below The slope represents when Pr6 00 30 The slope changes as the setup ...

Page 342: ...l parameters such as deviation counter clear command inhibit and torque limit are appropriately set enabling the motor to run normally Real time automatic tuning is invalid Pr0 02 0 Caution Effect may not be expected in the following condition Conditions which obstruct disturbance observer action Load The rigidity is low the anti resonance point is at low frequency range of 10 Hz or below The load...

Page 343: ... filter Defines the filter time constant against load variation 6 73 Load estimation filter Defines the filter time constant for load estimation 6 74 Torque compensating frequency 1 Defines the filter frequency 1 against the velocity control output Torque compensation is enabled when the relation between Pr 6 74 Torque compensation frequency 1 and Pr 6 75 Torque compensation frequency 2 satisfies ...

Page 344: ...and variation will improve disturbance suppression performance and reduce motor velocity variation and encoder position deviation When an abnormal sound at high frequency 1 kHz or above is generated increase the value in Pr 6 76 Load estimation count When vibration at low frequency 10 Hz or below is produced after operation stops increase the value in Pr 6 23 Load variation compensation gain No ch...

Page 345: ... switching function is activated Control mode Control mode to be either or both position control or and full closed control Others Should be in servo on condition Input signals such as the deviation counter clear and command input inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Related Parameter Class No Title Functio...

Page 346: ...nce to 1st gain to Pr6 06 Position 3rd gain magnification ratio If 3rd gain is not used set Pr6 05 to 0 and Pr6 06 to 100 The 3rd gain is enabled only for position control or full closed control During the 3rd gain period only position loop gain speed proportional gain becomes 3rd gain during other periods 1st gain setting is used When the 2nd gain switching condition is established during 3rd gai...

Page 347: ...Parameter Combine the following 3 parameters to setup appropriate friction torque compensation Class No Title Function 6 7 Torque command additional value Set up the offset load compensation value usually added to the torque command in a control mode except for the torque control mode 6 8 Positive direction torque compensation value Set up the dynamic friction compensation value to be added to the...

Page 348: ...xis is applied to the motor Certain loads such as belt driven shaft requires high dynamic friction torque which lengthens positioning setting time or varies positioning accuracy These problems can be minimized by setting the friction torque of every rotating direction into individual pa rameters Pr6 08 Positive direction torque compensation value and Pr6 09 Negative direction torque compensation v...

Page 349: ...l Pr0 01 6 Full closed control Others Should be in servo on condition Input signals such as the deviation counter clear and command input inhibit and parameters except for controls such as torque limit setup are correctly set assuring that the motor can run smoothly Real time auto tuning should be disabled Pr0 02 0 Adaptive filter should be disabled Pr2 00 0 Instantaneous speed observer should be ...

Page 350: ...le inertial ratio switching Setup value 8 0 04 Inertia ratio Set 1st inertia ratio You can set up the ratio of the load inertia against the rotor of the motor inertia 6 13 2nd Inertia ratio Set 2nd inertia ratio You can set up the ratio of the load inertia against the rotor of the motor inertia How to Use Select 1st inertia ratio or 2nd inertia ratio according to the inertia ratio select input J S...

Page 351: ...oothly Caution The effect of this function will be proportional to the amount of twist between the motor and load Related Parameter Class No Title Function 6 34 Hybrid vibration suppression gain Set up the hybrid vibration suppression gain for full closed controlling First set it to the value identical to that of poison loop gain and then fine tune as necessary 6 35 Hybrid vibration suppression fi...

Page 352: ...acklash etc When action patterns are changed Related Parameter Class No Title Function 5 45 Quadrant projection positive direction compensation amount Sets amount of compensation to be added to torque command when the position command is in positive direction and quadrant projection compensation function is enabled 5 46 Quadrant projection negative direction compensation amount Sets amount of comp...

Page 353: ...ession function is adjusted through disturbance suppression setting to measure quadrant projection If the level is unsatisfactory fine adjustment can be conducted using the quadrant projection suppression function 1 Reclose control power supply after enabling quadrant projection suppression function Pr 6 47 bit14 1 2 Set initial values to Pr 5 47 0 Pr 5 48 Pr 1 04 Pr 5 49 0 3 Measure the magnitude...

Page 354: ...ile checking the response Class No Title Function 6 47 Function expansion settings 2 Set up various functions bit by bit bit 0 Two degree of freedom control mode 0 Invalid 1 Valid bit 3 Two degree of freedom control real time auto tuning select 0 Standard type 1 Synchronous type The least significant bit is represented by bit0 For bit3 two degree of freedom control real time auto tuning select thi...

Page 355: ...it 0 to 4 Without attenuation term functions as 1st filter Value of digit 5 to 9 The 2nd filter attenuation term ζ is 1 0 0 86 0 71 0 50 and 0 35 in that order Example To set command filter ζ 1 0 adjustment filter 1 ζ 0 71 Setup value 75 1st digit 5 ζ 1 0 2nd digit 7 ζ 0 71 Pr2 22 Command smoothing filter is applied as time constant of command filter 6 50 Viscous friction compensation gain Adds th...

Page 356: ...ameters while checking the response Class No Title Function 6 47 Function expansion settings 2 Set up various functions bit by bit bit 0 Two degree of freedom control mode 0 Invalid 1 Valid The least significant bit is represented by bit0 2 22 First order filter time constant for command While the two degree of freedom control real time auto tuning is selected time constant of command filter is ap...

Page 357: ...required finely adjust the following parameters manually while checking the responses Class No Title Function 6 47 Function expansion settings 2 Set up various functions bit by bit bit 0 Two degree of freedom control mode 0 Invalid 1 Valid bit 3 Two degree of freedom control real time auto tuning select 0 Standard type 1 Synchronous type The least significant bit is represented by bit0 bit 3 two d...

Page 358: ...s 4 when two of model type damping controls are valid the damping ratio is fixed to 1 0 when the secondary filter is chosen Ex In the event that you want to have ζ 1 0 for the command response filter and ζ 0 71 for the adjustment filter 1 the setting value is 75 5 for the first digit ζ 1 0 and 7 for the second digit ζ 0 71 Pr 2 22 Command smoothing filter is applied for the time constant of comman...

Page 359: ...Torque command Applicable Range This function can be applicable only when the following condition are satisfied 2 stage torque filter operating condition Control Mode Can be used in any control mode Others Should be servo on condition Factors other than control parameters such as torque limit should be properly setup allowing motor to operate normally Caution Excessively high setup value makes con...

Page 360: ...attenuation term of 2 stage torque filter This setup value is used to switchover between 1st and 2nd filter of 2 stage filter 0 to 49 Operates as 1st filter 50 to 1000 Operates as 2nd filter with ζ 1 0 when setup value is 1000 Standard value is 1000 smaller setup value will cause oscillation How to Operate When high frequency oscillation cannot be completely prevented by 1st and 2nd torque filter ...

Page 361: ...the positioning action and homing action into account when you set put ac celeration deceleration time with parameter since this affect these action as well For the details of homing observe the instruction manual of the host controller Example of Homing Action Proximity dog on Decelerates at an entry of the proximity input and stops at an entry of the first origin input Z phase Proximity dog off ...

Page 362: ...setting 40 pin TL SEL 1 Factory setting no allocation Torque Counter clear command Motor speed Z phase ON ON ON Parameter No 5 22 0 14 5 13 5 21 hits 1 2 1 1 2 2 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 6000 r min 3 1 when you make a point where the work load hits as an ...

Page 363: ... 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 2...

Page 364: ...urce Encoder comms Available External scale comms Available External scale A B phase Available Compare value Set quantity 8 points Set range 32 bit with sign Applicable range This function is available only when the following conditions are satisfied Conditions where position compare output function are valid Control Mode Either position control or full closed control Others Block operation set to...

Page 365: ...nnector pin No 48 49 Connector pin No 23 24 Connector pin No 19 0 OA OB OZ CZ 1 OCMP1 OCMP2 OZ CZ 2 OA OB OCMP3 OCMP3 3 OCMP1 OCMP2 OCMP3 OCMP3 4 OA OB OZ OCMP4 5 OCMP1 OCMP2 OZ OCMP4 6 OA OB OCMP3 OCMP4 7 OCMP1 OCMP2 OCMP3 OCMP4 OA OB OZ and CZ are pulse output signals and OCMP1 OCMP2 OCMP3 and OCMP4 are position compare output 4 48 Position compare output polarity select 1 Sets position compare ...

Page 366: ...t bits bit0 3 Position compare 1 bit4 7 Position compare 2 bit8 11 Position compare 3 bit12 15 Position compare 4 bit16 19 Position compare 5 bit20 23 Position compare 6 bit24 27 Position compare 7 bit28 31 Position compare 8 Set value 0000 Output invalid 0001 Assigned to SO1 or OCMP1 0010 Assigned to SO2 or OCMP2 0011 Assigned to SO3 or OCMP3 0100 Assigned to SO4 or OCMP4 0101 Assigned to SO5 011...

Page 367: ...reversed or when the external scale position has passed the position compare value a state where pulse output is ON will continue from the time of the most recent passing until the output pulse width set value is reached When stopped at the same position as the position compare value a single pulse will be output similar to the case of passing over Position compare output sition compare value 4 48...

Page 368: ...trol mode Position compare output function automatically compensates the output for errors caused by time delay of encoder serial communications etc taking reference on the previous motor velocity Furthermore the amount of compensation can be set by adjustment of Pr4 56 Position compare output delay compensation amount Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 369: ...otation upper limit value Sets the upper limit value for absolute multi rotation data When the multi rotation data exceeds this set value the multi rotation data will turn to 0 Inversely if it goes less than 0 it will change to the set value When Pr0 15 is set to 0 or 2 absolute mode the upper limit value for the absolute multi rotation data shall be 65535 regardless of the set value Notes This se...

Page 370: ...on diagnosis inertia ratio lower limit value 5 69 Deterioration diagnosis unbalanced load upper limit value Sets the upper and lower limit values for unbalanced load estimate in deterioration diagnosis judgment when deterioration diagnosis warning is valid Pr6 97 bit 1 1 and load characteristics estimate convergence has been completed The set resolution shall be in units of 0 2 5 70 Deterioration ...

Page 371: ...n setting 3 Bit 1 to set the deterioration diagnosis warning function to valid or invalid 0 invalid 1 valid Precautions When the upper limit value is set to the maximum value the upper limit judgment will become invalid When the lower limit value is set to the minimum value the lower limit judgment will become invalid In case upper limit value lower limit value then both the upper limit and lower ...

Page 372: ...Deterioration diagnosis velocity output V DIAG is ON when the motor velocity is within the range of Pr4 35 Velocity coinciding width of Pr5 75 deterioration diagnosis set velocity When deterioration diagnosis velocity output V DIAG is turned ON torque command average calculation will start and after lapse of the set time of Pr5 76 deterioration diagnosis judgment by torque command average will bec...

Page 373: ... Setup of gain pre adjustment protection 6 29 3 Troubleshooting Motor Does Not Run 6 32 Unstable Rotation Not Smooth Motor Runs Slowly Even with Speed Zero at Velocity Control Mode 6 34 Positioning Accuracy Is Poor 6 35 Origin Point Slips 6 36 Abnormal Motor Noise or Vibration 6 36 Overshoot Undershoot Overheating of the Motor Motor Burn Out 6 37 Motor Speed Does Not Reach to the Setup Motor Revol...

Page 374: ...1 When in Trouble When in Trouble Protective Function What is Error Code Host controller Aren t the parameter setups wrong Motor does not run Check the cause by referring to P 2 102 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 cor...

Page 375: ... Error Code Error code Protective function Attribute Detail page Main Sub History Can be cleared Immediate stop 3 39 0 Analog input1 excess protection 6 11 1 Analog input2 excess protection 2 Analog input3 excess protection 40 0 Absolute system down error protection 4 41 0 Absolute counter over error protection 42 0 Absolute over speed error protection 4 43 0 Incremental encoder initialization err...

Page 376: ...the value is 3 Change the specified regeneration resistance value to wattage 4 Change to the one with specified resistance and wattage 5 Check that Pr0 16 Main power supply under voltage protection PN 13 0 Instantaneous power failure has occurred between L1 and L3 for longer period than the preset time with Pr5 09 Main power off detecting time while Pr5 08 LV trip selection at the main power off i...

Page 377: ...or pulled out fix them securely 6 Replace the servo driver Do not use Servo ON Servo OFF as a means of staring stopping the operation 7 Enter the pulses 100 ms or longer after Servo ON 8 Replace the driver 9 Increase capacity of servo driver and motor Set up longer acceleration deceleration time Reduce the load IPM error protection IPM Intelligent Power Module 1 Over heat protection 15 0 Temperatu...

Page 378: ...rror protection detect time Check operation of the driver Refer to Measures described for Err16 0 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 e...

Page 379: ...es are connected but communication data has some errors Position deviation excess protection 24 0 Deviation pulses have exceeded the setup of Pr0 14 1 The motor movement has not followed the command 2 Setup value of Pr0 14 Position 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 a gai...

Page 380: ...otection 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 pulse input for frequency Absolute clear abnormal protection 1 Absolute encode multi rotation clear has been executed when a block operation was enabled Pr 6 28 is non 0 C...

Page 381: ...tion has exceeded 230 1 1073741823 in pulse units Or the value ofpositioning deviation has exceeded 230 1073741824 in command units Confirm that motor rotates in accordance with the positioning command Confirm that output torque has not saturated by the torque monitor Adjust gain Set Pr 0 13 1st torque limit setting and Pr5 22 2ndtorque limit setting to maximum Connect encoder connection wiring as...

Page 382: ...tia ratio 2 Increase the setup value of Pr5 14 Or Set Pr5 14 to 0 to disable the protective function EEPROM parameter error protection 36 0 Data in parameter storage area has been damaged when reading the data from EEPROM at power on Set up all parameters again If the error persists replace the driver it may be a failure Return the product to the dealer or manufacturer 1 EEPROM check code error pr...

Page 383: ... the built in capacitor voltage dropped below specified value Caution Once this error occurs the alarm cannot be cleared until the absolute encoder is reset After connecting the power supply for the battery clear the absolute encoder If you use the incremental system Pr 0 15 sets the absolute encoder is set to 1 Absolute counter over error protection 41 0 Multi turn counter of the absolute encoder...

Page 384: ...e of Z phase of serial incremental encoder has been detected Failure of encoder Replace the motor Incremental Encoder CS signal error protection 49 0 CS signal logic error of serial incremental encoder has been detected Failure of encoder Replace the motor External scale wiring error protection 50 0 Communication between the external scale and the driver has been interrupted in certain times and d...

Page 385: ...ALMC has been turned to 1 Check the specifications of the external scale External scale status 5 error protection 1 5 Bit 5 of the external scale error code ALMC has been turned to 1 Check the specifications of the external 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 A phase wiring error protection 55 0 A phase ...

Page 386: ...n case the cable connecting the external scale is long In case the motor line and the external scale connecting cable are bundled together separate them Connect shield to FG Refer to external scale connecting diagram Multi rotation upper limit value inconsistency error protection 3 At continuous rotating absolute encoder function there was a disagreement between the upper limit value of encoder mu...

Page 387: ... Pr3 23 to match the type of the connected external scale Parameter setting error protection 6 8 Block operation origin offset Pr60 49 has been set outside the range in absolute mode origin offset valid setting Pr60 48 bit 1 1 under infinite rotation absolute mode when block operation is valid Pr6 28 0 Please confirm the set values of parameters Block operation error protection 94 0 1 During the e...

Page 388: ...her causes Some error has occurred inside of the driver while triggering self diagnosis function of the driver Turn off power once and turn on again Even so if an error indication appears and an error occurs failure is possible Discontinue the use and replace the motor and servo driver Return to a dealer for investigation repair Buy www ValinOnline com Phone 844 385 3099 Email CustomerService vali...

Page 389: ...50 300 350 Time s Torque MSMF10 15 20 30 40 50 MSMF30 When the servo lock MSMF10 15 20 30 40 50 During the rotaption MSMF10 15 20 40 50 When the servo lock 1 0 1 1 10 100 1000 100 150 200 250 300 350 Time s Torque MQMF01 11 MQMF01 When the servo lock Duringthe rotaption 0 1 1 10 100 1000 100 150 200 250 300 350 Time s Torque MQMF02 04 11 2 MQMF02 When the servo lock MQMF04 When the servo lock MQMF...

Page 390: ...0 250 300 350 Time s Torque MDMF40 50 MDMF50 When the servo lock MDMF40 50 During the rotaption MDMF40 When the servo lock 11 2 0 1 1 10 100 1000 100 150 200 250 300 350 Time s Torque MGMF09 13 18 1 MGMF09 13 18 When the servo lock Duringthe rotaption 0 1 1 10 100 1000 100 150 200 250 300 350 Time s Torque MGMF24 29 44 11 MGMF24 29 44 When the servo lock Duringthe rotaption 1 When in Trouble Prote...

Page 391: ...ring the rotaption 0 1 1 10 100 1000 100 150 200 250 300 350 Time s Torque MHMF08 09 5 MHMF08 When the servo lock MHMF09 When the servo lock MHMF08 09 During the rotaption 10 100 1000 Time s MHMF10 15 20 MHMF10 15 When the servo lock MHMF10 15 20 During the rotaption MHMF20 When the servo lock MHMF Overload protection time characteristics 10 100 1000 Time s MHMF30 40 50 MHMF50 When the servo lock ...

Page 392: ...case Err26 0 is displayed but because Err26 1 is also gener ated internally immediate stop unsupported alarm is given priority and immediate stop is not performed Furthermore if the setup value of Pr6 15 is lower than that of Pr5 13 Err26 1 is gener ated before Err26 0 disabling immediate stop Time Motor speed velocity command Alarm Not generated Generated Err26 0 Immediate stop supported alarm Er...

Page 393: ...ount Err34 0 Allowable motor operating range abnormal protection detection process ing will be invalid when the allowable motor operating range Encoder pulse or Ex ternal pulse units exceeds 231 1 Position command input range and actual motor position for judgment managed inside the amplifier will be cleared and Err34 0 Allowable motor operating range abnormal protection detection processing will ...

Page 394: ...anded further 5 Condition under which the position command input range is cleared The position command input range will be 0 cleared under the following conditions when the power is turned on while the position deviation is being cleared Deviation counter clear is valid Pr5 05 Sequence at over travel inhibition is 2 and over travel inhibition input is valid At the beginning and ending of trial run...

Page 395: ...arm that must respond to an immediate stop is generated after turning OFF the brake release output BRK OFF set the time to maintain the motor energization In the case of zero setting the drop prevention function is disabled Drop prevention function action when alarm that must respond to an imme diate stop Motor stops at 30 r min or lower Motor runs at 30 r min or higher Motor speed Deceleration st...

Page 396: ...shape acceleration and deceleration setting 0 to 1000 ms Sets the S shape time for deceleration under slow stop This function will become effective when Pr6 10 Function enhancement setting bit 15 is set to 1 Pr6 10 Function enhancement settings 32768 to 32767 ー bit 10 Fall prevention function position deviation processing under alarm 0 Invalid maintain 1 Valid clear Normally set to 1 to activate f...

Page 397: ...er to P 6 3 3 Please set Pr6 14 Immediate stop time under alarm to a value that is sufficiently long in length than the completion of slow stop operation The stop judgment under slow stop operation is based on actual velocity Therefore the time required for the actual deceleration may take longer than the maximum deceleration time In the immediate stop operation from immediate stop response alarm ...

Page 398: ...he range where 1 In case of linear deceleration Pr5 57 0 Linear deceleration brake distance revolution Linear decelerating time s 60 2 1000 1000 2 For S shape deceleration Pr5 57 0 60 2 1000 Velocity control command at time of starting deceleration r min Pr5 57 ms Velocity control command at time of starting deceleration r min Pr5 56 ms 1000 r min 1000 1000 Linear deceleration brake distance revol...

Page 399: ...bit 6 A4 Encoder communication warning The number of successive encoder communication errors has exceeded the specified value 5 Pr6 38 bit 4 A5 Encoder overheat warning 4 Encoder temperature has exceeded the specified value 6 Pr6 38 bit 3 A6 Oscillation detection warning Oscillation or vibration has been detected 7 Pr6 38 bit 9 A7 Lifetime detection warning The life expectancy of capacity or fan h...

Page 400: ...n those listed in the above table 3 Each warning detection can be disabled by Pr6 38 Warning mask setup and Pr6 37 Warning mask setting 2 The corresponding bits are indicated in the table The warning detection will be disabled by bit 1 4 Encoder thermal warning is effective only when 23 bit absolute encoder 20 bit abso lute encoder and 20 bit incremental serial encoder are used If other encoders a...

Page 401: ...t setup is lower than the value required during the actual application the following two protective features will be triggered over speed protection when overshoot occurs and excess positional deviation protection when response to the command delays By allocating the torque in limit output TLC of interface specification to the output sig nal torque limit condition can be detected externally P 3 48...

Page 402: ...e position deviation protection Position command smoothing accumulator pulse count P1 Vc set value for Pr2 22 10000 x 2 Position command FIR filter accumulator pulse count P2 Vc set value for Pr2 23 10000 2 Adjustment filter accumulator pulse count P3 Vc Set value for Pr6 48 10000 Damping filter accumulator pulse count P4 Vc π damping frequency Hz Damping frequency is 1 10 of the set values for Pr...

Page 403: ...quency pulse s in encoder unit or full closed unit Kp Position loop gain 1 s Note 5 NOTE 3 When switching position loop gain Kp select the smallest value for calculation Note 6 When Pr5 20 1 setups of positional command filter and damping control have no effect P 4 14 Pr0 14 P 4 58 Pr5 20 5 Motor working range setup During the position control or full closed control this function detects the motor...

Page 404: ...e Pin No corresponding to SRV ON in state Check and make a wiring so as to connect the SRV ON input to COM Positive negative direction over travel inhibit input of Connector X4 NOT POT is open In the front panel monitor mode is the Pin No corresponding to NOT POT in A state 1 Check and make a wiring so as to connect both NOT POT inputs to COM 2 Set up Pr5 04 to 1 invalid and reset the power Comman...

Page 405: ...d correctly by setting up Pr3 17 to 0 when you use SPR TRQR input 2 Check that the input voltage is applied correctly by setting up Pr3 17 to 1 when you use the P ATL TRQR input Velocity control is invalid Torque Check that the velocity limit input method parameter velocity SPR TRQR SPL input is correct 1 Set up the desired value to Pr3 21 by setting up Pr3 17 to 0 when you use the parameter speed...

Page 406: ...normally 3 Check the wiring and connection between Pin 30 and 41 of the Connector X4 using display function of I O signal status Correct the wiring and connection so that the deviation counter input can be turned on normally Review the controller 4 Check the wiring and connection between Pin 26 and 41of the Connector X4 using Display function of I O signal status Correct the wiring and connection ...

Page 407: ... the repetition accuracy is same or not If it does not change use a larger capacity motor and driver Velocity loop gain is proportion action at motor in stall Set up Pr1 02 and Pr1 07 of time constant of velocity loop integration to 9999 or smaller Review the wiring and connection so that the connection between Pin 27 and 41 of the gain switching input connector Connector X4 becomes off while you ...

Page 408: ...e a CZ output open collector if the controller is not differential input 6 3 Troubleshooting When in Trouble Abnormal Motor Noise or Vibration Classification Causes Measures Wiring Noise is on the speed command Measure the speed command inputs of Pin 14 and 15 of the connector Connector X4 with an oscilloscope Reduce noise installation of noise filter or ferrite core shield treatment of I F cables...

Page 409: ...otor does not generate rumbling noise while turning it by hand after shutting off the power Replace the motor and request for repair if the noise is heard Electromagnetic brake is kept engaged left un released Check the voltage at brake terminals Apply the power DC24 V to release the brake Motor failure oil water or others Avoid the installation place where the motor is subject to high temperature...

Page 410: ...s to Previous Setup Classification Causes Measures Parameter No writing to EEPROM has been carried out before turning off the power Refer to P 2 109 EEPROM Writing Mode of Preparation Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 411: ...ne 7 27 Specifications 7 28 List of Communication Command 7 39 Details of Communication Command 7 40 5 Motor Characteristics S T Characteristics Motor 7 57 6 Dimensions Driver A frame 7 78 B frame 7 79 C frame 7 80 D frame 7 81 E frame 7 82 F frame 7 83 Motor 7 84 7 Options Noise Filter 7 108 Surge Absorber 7 110 Ferrite core 7 111 Junction Cable for Encoder 7 112 Junction Cable for Motor Without ...

Page 412: ... external force e g gravity force on vertical axis is exerted on it Provide an external brake etc as necessary to secure the motor Note that the purpose of motor with brake is holding and it cannot be used for braking application When parameter Pr5 10 Sequence at alarm is set to free run disable dynamic brake the motor is free run state and requires longer stop distance even if no external force i...

Page 413: ...turns off to activate STO function SF2 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 Safety equipment self diagnosis L pulse Safety output signal from the safety controller and safety sensor may include L pulse for self diagnosis To prevent the L pulse from mis triggering STO function the safety input circuit has ...

Page 414: ...tput 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 normal or abnormal of safety input circuit and EDM output circuit That is to say in the case of an anomaly although both safety input 1 and 2 ...

Page 415: ...ment Safety Circuit Block Diagram EDM EDM SF2 SF2 SF1 SF1 X3 4 3 6 5 8 7 4 7 kΩ 4 7 kΩ 10 Ω 1 kΩ 1 kΩ Cutoff PWM M Cutoff PWM EDM P 2 2 Conformance to international standards P 2 74 How to Use the Front Panel P 3 33 Inputs and outputs on connector X4 Re ated page Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 416: ...1 1 input coupler OFF STO output coupler ON Safety input 1 Safety input 2 3 EDM output max 5 ms max 6 ms 0 5 to 5 ms Setup value of Pr4 38 Setup value of Pr4 38 motor speed Setup value of Pr4 39 motor speed Setup value of Pr4 39 1 t1 is the value set to Pr4 38 Setup of mechanical brake action at running or the time at which the motor revolution speed drops below the time set to Pr4 39 Brake releas...

Page 417: ...off Photocoupler OFF Servo off command Photocoupler ON Servo on command Photocoupler OFF Not ready Photocoupler ON Ready Photocoupler OFF Brake action Photocoupler ON Photocoupler OFF Photocoupler ON Photocoupler OFF Non energized flow Servo ON input SRV ON 1 Safety input 1 Safety input 2 Motor energization EDM output Dynamic brake 4 Servo Ready output S RDY Brake release output BRK OFF Max 6 ms A...

Page 418: ...put source Safety sensor Safety controller Contact output SF1 SF1 SF2 SF2 EDM EDM Safety input EDM output EDM output Safety input SF1 Control output 1 Control output 2 0 V 24 V EDM input SF1 SF2 SF2 EDM EDM Safety input Contact output Servo driver SF1 SF1 SF2 SF2 0 V A2 T33 T31 S24 S14 EDM EDM P 2 2 Conformance to international standards P 2 74 How to Use the Front Panel P 3 33 Inputs and outputs ...

Page 419: ... VDC supply allowable voltage 24 V 15 Maximum No of connectable axes 8 The number of connectable axes shown in the figure is for reference only EDM output depends on external circuit because saturated voltage Vce sat of approx 1 0 V in the built in photocoupler varies with collector current Amount of current flowing to SF input is 5 mA per circuit When increasing the number of axes to be connected...

Page 420: ... the present position information as serial data to obtain the absolute position of each axis by processing each data Absolute Specifications There are 2 connecting methods of the host controller and MINAS A6 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 A6 driver...

Page 421: ...t GND terminals of drivers to common GND to establish reference voltage of signals Configuration of absolute system of scale using RS232 interface Configuration of absolute system of scale using RS485 interface Re ated page P 7 28 Connection of Communication Line Re ated page P 7 28 Connection of Communication Line No connection to X5 when no external scale is used Motor Relay connector X4 X6 Dete...

Page 422: ...e turning on the control power Data stored in the encoder might be lost when you replace the battery while the control power of the driver is off After replacing the battery clear the battery alarm Refer to P 7 25 How to Clear the Battery Alarm When you execute the absolute encoder with the front panel refer to P 2 102 of Prepa ration or via communication refer to P 7 56 all of error and multi tur...

Page 423: ...eak out it will not only corrode the surrounding parts but also give rise to the danger of short circuiting since it is electrically conductive For this reason ensure that the battery is replaced periodically 3 Do not disassemble the battery or throw it into a fire Do not disassemble the battery since fragments of the interior parts may fly into your eyes which is extremely dangerous It is also da...

Page 424: ... cycles day Annual consumption capacity 10 h a 0 0014 h b 2 h c 2 313 days 24 h c 52 days 75 1 mAh Battery life 2000 mAh 75 1 mAh year 26 6 year 2 1 cycle day 2nd cycle of the above 1 is for rest Annual consumption capacity 10 h a 0 0014 h b 14 h c 313 days 24 h c 52 days 168 9 mAh Battery life 2000 mAh 168 9 mAh year 11 8 11 841 year a Current consumption in normal mode 0 µA b Current consumption...

Page 425: ... 7 9 H G T S K L J 2 Absolute system Battery for Backup Installation When you make your own cable for absolute encoder Caution When you make your own cable for absolute encoder connect the optional battery for absolute encoder DV0P2990 as per the wiring diagram below Connector of the battery for absolute encoder shall be provided by customer as well Install and fix the battery securely If the inst...

Page 426: ...ernal scale from the servo driver to the host controller turn on power and wait until the servo ready output S RDY is turned on and then start transfer Setup of serial communication interface on host controller RS232 Baud rate 2400 4800 9600 19200 38400 57600 115200 bps 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 communica...

Page 427: ...col For details of communication refer to P 7 27 Communica tion 2 Absolute system Transferring absolute data Data of 1 and 2 are determined by the setup of Pr5 31 Axis address Axis address example Data of 1 Data of 2 0 00h 2Eh 1 01h 2Dh 2 02h 2Ch 3 03h 2Bh 4 04h 2Ah 5 05h 29h 6 06h 28h 7 07h 27h 8 08h 26h 9 09h 25h 10 0Ah 24h 11 0Bh 23h 12 0Ch 22h 13 0Dh 21h 14 0Eh 20h 15 0Fh 1Fh 16 10h 1Eh 17 11h...

Page 428: ...axis switching when you want to capture multiple axes data It is recommended for you to repeat the above communication more than 2 times to confirm the absolute data coincide in order to avoid mis operation due to unexpected noise 2 Absolute system Transferring absolute data Data of 1 2 and 3 are determined by the setup of Pr5 31 Axis address Axis address example Data of 1 Data of 2 Data of 3 0 no...

Page 429: ...CW Error Absolute counter over error protection Normal Error Multi turn data 0Bh Axis address D2h 03h 11h Encoder status L Setup value of Pr5 31 Axis address Encoder status H Single turn data L Single turn data M Single turn data H Multi turn data L Multi turn data H 00h Error code Checksum Becomes to 0 when the communication is carried out normally If not 0 capture the absolute data from the driv...

Page 430: ... Absolute multi turn counter error protection Err40 0 Absolute system down error protection Alarm No A2 Battery alarm Encoder status L 1 represents error occurrence Encoder status H 1 represents error occurrence Encoder status L bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 1 2 3 4 5 6 7 Encoder status H bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 Battery error One of the following has occurre...

Page 431: ...g to the RS232 communication protocol For details of communication refer to P 7 27 Communica tion Data of 1 and 2 are determined by the setup of Pr5 31 Axis address Axis address example Data of 1 Data of 2 0 00h 3Eh 1 01h 3Dh 2 02h 3Ch 3 03h 3Bh 4 04h 3Ah 5 05h 39h 6 06h 38h 7 07h 37h 8 08h 36h 9 09h 35h 10 0Ah 34h 11 0Bh 33h 12 0Ch 32h 13 0Dh 31h 14 0Eh 30h 15 0Fh 2Fh 16 10h 2Eh 17 11h 2Dh 18 12h...

Page 432: ... communication 1 81h 01h 3Dh 2 82h 02h 3Ch 3 83h 03h 3Bh 4 84h 04h 3Ah 5 85h 05h 39h 6 86h 06h 38h 7 87h 07h 37h 8 88h 08h 36h 9 89h 09h 35h 10 8Ah 0Ah 34h 11 8Bh 0Bh 33h 12 8Ch 0Ch 32h 13 8Dh 0Dh 31h 14 8Eh 0Eh 30h 15 8Fh 0Fh 2Fh 16 90h 10h 2Eh 17 91h 11h 2Dh 18 92h 12h 2Ch 19 93h 13h 2Bh 20 94h 14h 2Ah 21 95h 15h 29h 22 96h 16h 28h 23 97h 17h 27h 24 98h 18h 26h 25 99h 19h 25h 26 9Ah 1Ah 24h 27 9...

Page 433: ...ute data 2 Absolute data 3 Absolute data 4 Absolute data 5 Absolute data 6 Error code Checksum Becomes to 0 when the communication is carried out normally If not 0 capture the absolute data from the driver 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 10...

Page 434: ...6 and bit 7 of external scale status L Logical sum of bit0 to bit 5 of external scale status L External scale status L 1 represents error occurrence External scale status H 1 represents error occurrence External scale status L bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 External scale status H bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0 0 0 0 Remarks For detail of the external scale status refer t...

Page 435: ...ecified value 1 s to 10 s or A5 Encoder overheat alarm The encoder detects overheat alarm 1 s to 10 s or A6 Oscillation detection alarm Oscillation or vibration is detected 1 s to 10 s or A7 Lifetime detection alarm The life expectancy of capacity or fan becomes shorter than the specified time Fixed at A8 External scale error alarm The external scale detects the alarm 1 s to 10 s or A9 External sc...

Page 436: ... our web site and install it to your PC How to Connect Connect to connector X1 USB mini B Download setup support software PANATERM from our web site and install it to your PC USB cable The connection cable should be provided with USB mini B connector at the driver side and the PC compatible connector on the other end If the cable has no noise filter install a signal noise filter DV0P1460 to both e...

Page 437: ...rameters from the host to the driver in batch when you start up the machine You can display the running condition of machine to improve serviceability You can compose multi axis absolute system with simple wiring To the use of Modbus communications client RS485 serial communications corresponding to our compant unique commands and Modbus Using the modbus customers please refer to the Technical Ref...

Page 438: ...ng as the host has no difficulty in control RS232 and RS485 communication When you connect one host to multiple MINAS A6 connect the host to connector X2 of one driver with RS232 communication and connect each MINAS A6 with 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 RS2...

Page 439: ...st to multiple MINAS A6 with RS485 communication set up the Pr5 31 of each front panel of MINAS A6 to 1 to 31 Allow 50 ms or longer interval for switching the axes while capturing data of mul tiple axes X2 RS485 Max 31 axis X2 RS485 X2 X2 RS485 RS485 Module ID 0 Host Pr5 31 1 Pr5 31 2 Pr5 31 3 Pr5 31 4 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 440: ... No connection to X5 when no external 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 Connect GND terminals of drivers to common GND to establish reference voltage of signals Communication Method RS232 RS48...

Page 441: ...ing the line and transmission reception control will added to the actual communication time Caution Handshake code Following codes are used for line control Title Code Function ENQ 05h Module recognition byte of the transmitted Enquire for transmission EOT 04h Module recognition byte of the transmitted Ready for receiving ACK 06h Acknowledgement NAK 15h Negative acknowledgement ENQ The module host...

Page 442: ... when it receives ENQ while waiting for EOT after transmitting ENQ by giving priority to ENQ of master side Transmission control On entering to transmission mode the module transmits the command block 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...

Page 443: ...ed ed this setup time T2 Permissible time interval for the driver to transmit ENQ and to receive EOT If the actual recep tion time exceeds this setup this represents that the receiver is not ready to receive or it has failed to receive ENQ code in some reason and the driver will re transmit ENQ code to the re ceiver retry times Permissible time interval for the driver to transmit EOT and to receiv...

Page 444: ...solute Encoder of details of communication command for the data composition Multi turn data 0000h 0 Single turn data 01FFD8h 131032 Allow 50ms or longer interval for switching the axis while capturing data of multiple axes RS232 Pr5 31 0 Pr5 31 1 Pr5 31 2 Pr5 31 3 Host X2 RS485 X2 RS485 X2 X2 RS485 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 M...

Page 445: ... with RS232 Date is presented in hexadecimals Caution For details of command refer to P 7 40 Details of Communication Command Host 04 06 05 01 01 71 EOT ACK ENQ 05 1 Capture of execution right ENQ 01 01 71 01 8C 04 EOT MINAS A6 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 ...

Page 446: ...ry times T2 stop Clearance of transmission buffer Reception of ACK Reset of retry times T2 stop Clear of transmission enquiry Transmission of one character Size Command bytes 1 Reception of ENQ and at slave Return ENQ to reception buffer 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 ...

Page 447: ...on buffer Reception of ACK Reset of retry times T2 stop Clearance of transmission enquiry Size becomes 0 Trransmission 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 a...

Page 448: ...r transmission Permission for transmission ACK NAK Data block T5 T4 T3 T3 T5 T4 T5 Host to driver Driver to host RS485 bus occupation Host to driver Driver to host RS485 bus occupation Symbol T3 T4 T5 Title Continuous inter character time Response time of driver Response time of host Minimum Stop bit length Protocol parameter T6 2 ms Maximum Protocol parameter T1 Protocol parameter T2 Protocol par...

Page 449: ...ad motor serial number INIT Obtain release execution right Set RS232 protocol parameter Set RS485 protocol parameter POS STATUS I O Read status Read command pulse counter Read feedback pulse counter Read current velocity Read current torque output Read current deviation counter Read input signal Read output signal Read current velocity torque and deviation counter Read status input signal and outp...

Page 450: ...er Lower Error code checksum 0 1 command 0 mode 5 Read driver model Reception data 0 axis checksum 0 5 Error code Transmission data Model name of driver is transmitted in 12 ASCII code characters Example MADLT15SF bit7 0 Normal 1 Error 6 5 Command error 4 RS485 error 3 2 1 0 0Dh axis Driver model name higher Driver model name lower Error code checksum 0 5 command 0 mode 6 Read motor model 0 axis c...

Page 451: ...erial in the month Lower Serial in the month Higher Error code checksum 0 A Error code bit7 0 Normal 1 Error 6 5 Command error 4 RS485 error 3 2 1 0 command 0 mode B Read motor serial number Rece ved data 0 axis checksum 0 B Transm tted data Read the motor production serial number Serial in the month Lower Higher is binary data Range of serial number in the month Higher Lower is 0 255 Serial numbe...

Page 452: ...ction finishes mode 1 Enquires for the capture of the execution right mode 0 Enquires for the release of the execution right You cannot operate with the front panel at other than monitor mode while the execution right is captured via communication When the module fails to capture the execution right it will transmit the error code of in use bit7 0 Normal 1 Error 6 5 4 3 mode error 2 1 0 in use 1 a...

Page 453: ...ue L H error code checksum 2 1 command 2 mode 0 Read out of status Reception data 0 axis checksum 2 0 Error code Transmission data positive direction negative direction running This becomes 1 when motor speed after converted to r min is positive positive direction or negative negative direction Slower than DB permission This becomes 1 when motor speed after converted to r min is below 30 r min Tor...

Page 454: ...or positive direction bit7 0 Normal 1 Error 6 5 4 3 2 1 0 3 axis Data present torque L H error code checksum 2 5 command 2 mode 2 Read out of feedback pulse counter Reception data 0 axis checksum 2 2 Error code Transmission data Module returns the present position of feedback pulse counter in absolute coordinates from the staring point Counter value will be for negative direction and for positive ...

Page 455: ...mmand unit Output value in 32bit Becomes when the encoder is located at negative direction against position command and when it is located at positive direction bit7 0 Normal 1 Error 6 5 Command error 4 RS485 error Command error RS485 error Data 3 2 1 0 5 axis data deviation L H Error code checksum 2 6 bit7 For manufacturer s use 6 Switching of electronic gear 1 5 Speed zero clamp 4 Control mode s...

Page 456: ...For manufacturer s use 14 For manufacturer s use 13 For manufacturer s use 12 11 10 9 Oscillation detection alarm 8 External scale error alarm 7 axis data L data H alarm data L H error code checksum Signal title Servo Ready Servo Alarm Positioning completed Mechanical brake released Zero speed detection Torque in limit At speed Speed arrival In speed Speed coincidence Control regeneration brake Co...

Page 457: ...ut signal L input signal H output signal L output signal H alarm data L alarm data H error code checksum 2 A command 2 mode 9 Read out of present speed torque and positional command deviation Recept on data 2 9 Error cod Transm ss on data Output value of speed and torque are in 16 bit and deviation in 32bit Unit and sign of the output data is as same as that of command No 24 command 2 mode 4 25 mo...

Page 458: ...data Returs overload ratio in the overload load ratio 0 2 unit 500 100 Error code bit7 0 Normal 1 Error 6 5 4 RS485 error 3 2 1 0 9 axis Manufacturer use L H Manufacturer use L H Overload load vaule L H Manufacturer use L H Manufacturer use L H Error code checksum 2 B Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 459: ... control Status L Externa sca e ID Error code bit7 0 Normal 1 Error 6 5 Command error 4 RS485 error 3 2 1 0 Please refer to external scale specifications for details of external scale ID 2 C 11 0Bh axis External scale ID L H Status L H L Absolute position data 48bit H Error code checksum Please refer to the external scale specifications for details of external scale status Absolute position data 4...

Page 460: ...r code checksum 2 D Encoder ID L Encoder ID H command 2 mode E Read external scale deviation and aggregate pulse Recept on data 2 E Error code Transm ss on data External scale FB pulse sum will return the present position of the external scale counter in absolute coordinates from the starting point External scale FB pulse sum will be for negative direction and for positive direction External scale...

Page 461: ... bit7 0 Normal 1 Error 6 Data Error 5 Command error 4 RS485 error Data Error Command error RS485 error 3 No Error 2 1 0 command 7 mode 2 Recept on data 0 axis checksum 7 2 Error code Transm ss on data Write set parameters into EEPROM Transmission data will be replied after completion of writing into EEPROM It may take about 5 seconds maximum to write onto the EEPROM when all parameters are changed...

Page 462: ...mal 1 Error 6 5 4 3 2 1 0 Command error No Error RS485 error Returns number error in case parameter classification and parameter number are out of range 32bit code extended value will be returned for parameter MIN and MAX values 2 axis Parameter classification Parameter No checksum 7 6 17 11h axis Parameter classification Parameter No L Parameter value H L MIN value H L MAX value H Attribute L H E...

Page 463: ...y bit7 Unused parameter 6 Display prohibited 5 4 Change at initialize 3 2 1 0 bit15 14 13 12 11 10 9 8 Read only Error code bit7 0 Normal 1 Error 6 5 4 3 2 1 0 Command error No Error RS485 error 10h 16 axis 1 Parameter classification 1 Parameter No 2 Parameter classification 2 Parameter No 8 Parameter classification 8 Parameter No checksum 7 7 129 81h axis 1 Parameter classification 1 Parameter No...

Page 464: ...a 0 axis checksum 9 0 Error code Transm ss on data Alarm No is 0 zero when no alarm is generated Alarm No refer to P 6 3 Protective Function bit7 0 Normal 1 Error 6 5 4 3 2 1 0 3 axis Alarm No Main alarm No Sub Error code checksum 9 0 Command error RS485 error Error code Please make sure to set all unused parameters to 0 zero Failure to do this may result in data error Data error will also occur w...

Page 465: ...rm data history Data error in case of clear failure In case of control power supply LV error code Control LV will be returned and write will not take place bit7 0 Normal 1 Error 6 5 4 3 2 1 0 1 axis Error code checksum 9 3 Data Error Command error RS485 error Command error RS485 error Control LV command 9 mode 2 Read batch alarm history Recept on data Error code Transm ss on data Reads alarm going...

Page 466: ...m 9 B Error code Transm ss on data Clears absolute encoder error and multiple rotation data Returns encoder error when absolute encoder is not in use bit7 0 Normal 1 Error 6 5 4 3 2 1 0 1 axis Error code checksum 9 B Command error RS485 error Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 467: ...u use these values for your machine design Without oil seal With oil seal MSMF5AZL1 Input voltage to driver AC100 V 200 V MSMF5AZL1 Input voltage to driver AC100 V 200 V Peak running range with brake without brake Continuous torque vs ambient temp ambient temp C 50 60 100 70 10 0 20 30 40 0 3000 6000 ratio vs rated torque Continuous torque vs ambient temp ambient temp C 50 100 10 0 20 30 40 Contin...

Page 468: ...ltage to driver AC200 V Dotted line represents torque at 10 less voltage MSMF012L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage ratio vs rated torque Continuous torque vs ambient temp ambient temp C 50 70 100 75 10 0 20 30 40 with brake without brake ratio vs rated torque Continuous torque vs ambient temp ambient temp C speed r min 95 50 100 10 0 20 30 40 have b...

Page 469: ...ents torque at 10 less voltage 50 100 10 0 20 30 40 Continuous torque vs ambient temp ambient temp C 50 100 80 70 10 0 20 30 40 Continuous torque vs ambient temp ambient temp C with brake without brake have brake and no brake have same characteristics orque N m speed r min Peak running range 4600 0 3000 6000 Continuous running range 1 0 2 0 speed r min Peak running range 3100 2600 0 3000 6000 Cont...

Page 470: ... Dotted line represents torque at 10 less voltage MSMF042L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage 50 90 100 10 0 20 30 40 ratio vs rated torque Continuous torque vs ambient temp ambient temp C orque N m speed r min 50 100 75 10 0 20 30 40 ratio vs rated torque Continuous torque vs ambient temp ambient temp C ambient temp C Continuous torque vs ambient tem...

Page 471: ...6000 8 0 4 0 speed r min orque N m speed r min 4200 3600 0 3000 6000 10 5 0 ratio vs rated torque MSMF092L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage Continuous torque vs ambient temp ambient temp C 50 100 10 0 20 30 40 have brake and no brake have same characteristics speed r min Without oil seal orque N m 3200 3600 0 3000 6000 8 0 4 0 orque N m 4200 3600 0 ...

Page 472: ...que at 10 less voltage With oil seal These are subject to change Contact us when you use these values for your machine design orque N m Peak running range Continuous running range ratio vs rated torque Continuous torque vs ambient temp speed r min ambient temp C 10 5 50 100 0 1000 2000 3000 4000 5000 10 0 20 30 40 4200 3800 MSMF202 L1 Input voltage to driver AC200 V Dotted line represents torque a...

Page 473: ...3000 4000 5000 40 20 3100 2800 ratio vs rated torque Continuous torque vs ambient temp ambient temp C 50 100 10 0 20 30 40 orque N m Peak running range Continuous running range speed r min 0 90 1000 2000 3000 4000 5000 50 25 3200 35 2800 MSMF series 3 0 kW to 5 0 kW have brake and no brake have same characteristics have brake and no brake have same characteristics have brake and no brake have same...

Page 474: ...nput voltage to driver AC200 V Dotted line represents torque at 10 less voltage MQMF012L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage Continuous torque vs ambient temp ambient temp C 50 70 100 75 10 0 20 30 40 with brake without brake ratio vs rated torque Continuous torque vs ambient temp ambient temp C orque N m speed r min Continuous torque vs ambient temp a...

Page 475: ...ne represents torque at 10 less voltage 50 100 10 0 20 30 40 ratio vs rated torque Continuous torque vs ambient temp ambient temp C orque N m speed r min Peak running range 4100 3300 0 3000 6000 Continuous running range 1 0 2 0 have brake and no brake have same characteristics speed r min 50 100 80 70 10 0 20 30 40 ambient temp C with brake without brake ratio vs rated torque orque N m orque N m P...

Page 476: ...ver AC200 V Dotted line represents torque at 10 less voltage MQMF042L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage 50 100 10 0 20 30 40 ratio vs rated torque Continuous torque vs ambient temp Continuous torque vs ambient temp ambient temp C orque N m speed r min 50 100 75 10 0 20 30 40 50 100 75 10 0 20 30 40 ratio vs rated torque Continuous torque vs ambient t...

Page 477: ...ke have same characteristics have brake and no brake have same characteristics have brake and no brake have same character stics ratio vs rated torque Continuous torque vs ambient temp ambient temp C 50 100 10 0 20 30 40 orque N m speed r min 0 1000 2000 3000 30 15 16 19 2200 6 9 Peak running range Continuous running range Peak running range Continuous running range Peak running range Continuous r...

Page 478: ...resents torque at 10 less voltage MDMF series 3 0 kW to 5 0 kW With oil seal MDMF302L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage ratio vs rated torque Continuous torque vs ambient temp ambient temp C orque N m speed r min 0 1000 2000 3000 50 25 29 11 6 2200 2400 MDMF502L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage ratio v...

Page 479: ...ambient temp ambient temp C orque N m 0 1000 2000 3000 30 15 14 17 8 3 1500 2200 speed r min 0 1000 2000 3000 20 10 12 5 1 14 23 3 1500 2300 have brake and no brake have same characteristics have brake and no brake have same characteristics have brake and no brake have same characteristics Peak running range Continuous running range Peak running range Continuous running range Peak running range Co...

Page 480: ...10 0 20 30 40 have brake and no brake have same characteristics MGMF292L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage ratio vs rated torque Continuous torque vs ambient temp speed r min orque N m 0 1000 2000 3000 50 25 13 7 1 1500 2100 1900 Peak running range Continuous running range MGMF442L1 Input voltage to driver AC200 V Dotted line represents torque at 10 ...

Page 481: ...0 3000 6000 orque N m Peak running rang 0 6 0 08 0 08 Peak running range Continuous running range Continuous running range torque speed When you lower the torque limit setup Pr0 13 and 5 22 running range at high speed might be lowered as well Continuous running range Running range Torque limit setup 300 Running range Torque limit setup 200 Running range Torque limit setup 100 Note that the motor c...

Page 482: ...C100 V 200 V Without oil seal With oil seal These are subject to change Contact us when you use these values for your machine design Continuous torque vs ambient temp ambient temp C 50 70 100 75 10 0 20 30 40 Continuous torque vs ambient temp ambient temp C w th brake with brake without brake 50 100 10 0 20 30 40 Continuous torque vs ambient temp ratio vs rated torque speed r min 50 70 100 75 10 0...

Page 483: ... characteristics have brake and no brake have same characteristics speed r min orque N m 2 0 1 0 2400 0 3000 6000 orque N m 2 0 1 0 3800 4600 0 3000 6000 ratio vs rated torque w th brake 50 70 100 80 10 0 20 30 40 without brake ratio vs rated torque with brake 50 70 100 80 10 0 20 30 40 without brake orque N m 2 0 1 0 2400 0 3000 6000 orque N m 2 0 1 0 3800 4600 0 3000 6000 0 32 0 32 0 32 0 9 0 9 ...

Page 484: ...nts torque at 10 less voltage Without oil seal With oil seal These are subject to change Contact us when you use these values for your machine design Continuous torque vs ambient temp ambient temp C Continuous torque vs ambient temp ambient temp C 50 100 10 0 20 30 40 Continuous torque vs ambient temp speed r min 50 100 75 10 0 20 30 40 Continuous torque vs ambient temp ambient temp C 50 100 10 0 ...

Page 485: ...o vs rated torque Continuous torque vs ambient temp speed r min ambient temp C 50 100 10 0 20 30 40 have brake and no brake have same characteristics 6000 orque N m 3300 0 3000 10 5 0 ratio vs rated torque Continuous torque vs ambient temp speed r min ambient temp C 50 100 10 0 20 30 40 have brake and no brake have same characteristics orque N m 3500 0 3000 6000 4 0 8 0 6000 orque N m 3300 0 3000 ...

Page 486: ...ne represents torque at 10 less voltage With oil seal These are subject to change Contact us when you use these values for your machine design ratio vs rated torque Continuous torque vs ambient temp speed r min ambient temp C 50 100 10 0 20 30 40 MHMF202L1 Input voltage to driver AC200 V Dotted line represents torque at 10 less voltage ratio vs rated torque Continuous torque vs ambient temp ambien...

Page 487: ...ratio vs rated torque Continuous torque vs ambient temp ambient temp C speed r min have brake and no brake have same characteristics 0 1000 2000 3000 50 25 29 10 9 2400 2200 orque N m 0 1000 2000 3000 50 25 13 13 8 1900 2100 orque N m orque N m 0 1000 2000 3000 70 35 28 36 4 3 1900 2100 Peak running range Continuous running range Peak running range Continuous running range Peak running range Conti...

Page 488: ...ng bracket Option Mounting bracket Option Re ated page P 1 4 Driver P 1 19 Check of the Combination of the Driver and the Motor P 2 10 Driver and List of Applicable Peripheral Equipments Mass 0 8 kg Mass 0 9 kg A frame Base mounting type Unit mm A frame Rack mounting type Unit mm Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 489: ...et Option φ 150 130 55 150 140 5 14 10 4 14 4 90 10 43 5 2 6 90 5 2 6 Dimensions Driver B frame Base mounting type Unit mm B frame Rack mounting type Unit mm Mass 1 0 kg Mass 1 1 kg Re ated page P 1 4 Driver P 1 19 Check of the Combination of the Driver and the Motor P 2 10 Driver and List of Applicable Peripheral Equipments Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin co...

Page 490: ...ounting bracket Option Mass 1 7 kg C frame Base mounting type Unit mm C frame Rack mounting type Unit mm 6 Dimensions Driver Mass 1 6 kg Re ated page P 1 4 Driver P 1 19 Check of the Combination of the Driver and the Motor P 2 10 Driver and List of Applicable Peripheral Equipments Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 491: ...40 10 60 40 10 2 5 18 151 19 85 150 40 2 5 2 Mounting bracket Option Mounting bracket Option Mass 2 1 kg 6 Dimensions Driver D frame Base mounting type Unit mm D frame Rack mounting type Unit mm Re ated page P 1 4 Driver P 1 19 Check of the Combination of the Driver and the Motor P 2 10 Driver and List of Applicable Peripheral Equipments Buy www ValinOnline com Phone 844 385 3099 Email CustomerSer...

Page 492: ...nation of the Driver and the Motor P 2 10 Driver and List of Applicable Peripheral Equipments Mass 2 7 kg φ 2 5 2 50 198 188 2 5 2 50 85 40 168 160 22 5 153 2 5 153 5 40 22 5 33 18 6 6 52 5 2 5 2 φ Mounting bracket to shipping specificat on Mounting bracket to shipping specification E frame Rack mounting type Unit mm Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 493: ...2 kg φ 47 5 162 70 30 100 2 5 2 250 240 100 2 5 2 130 220 162 70 30 2 5 169 6 6 31 16 5 2 5 2 φ Mounting bracket t s ipping sp cifica i n Mounting bracket t shipping sp cifica i n F frame Rack mounting type Unit mm Re ated page P 1 4 Driver P 1 19 Check of the Combination of the Driver and the Motor P 2 10 Driver and List of Applicable Peripheral Equipments Mass 5 2 kg Buy www ValinOnline com Phon...

Page 494: ...With brake 0 53 0 68 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the moment of inertia ratio if high speed response operation is required P 1 16 Check of the Model P 1 19 Check of the Combination of the Driver and the Motor P 7 57 P 7 58 S T Characteristics Shaft end spec Encoder connector Brake connector Motor connector LL 5 7 LR LF LE LN...

Page 495: ... W Motor model MSMF 5AZL1 1 01 L1 1 LL Without brake 72 92 With brake 102 122 LR 25 S 8 LA 45 LB 30 LC 38 LE 3 LF 6 LH 46 6 LM Without brake 48 68 With brake 78 98 LT 24 LN 23 43 LZ 3 4 Key way dimensions LW 14 LK 12 5 KW 3 KH 3 RH 6 2 TP M3 depth 6 Mass kg Without brake 0 32 0 47 With brake 0 53 0 68 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page R...

Page 496: ...22 KW 4 5 6 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 2 8 With brake 1 3 1 7 3 1 3 6 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the moment of inertia ratio if high speed response operation is required P 1 16 Check of the Model P 1 19 Check of the Combination of the Driver and the Motor P 7 59 P 7...

Page 497: ...26 LZ 4 5 6 Key way dimensions LW 20 25 LK 18 22 5 22 KW 4 5 6 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 2 8 With brake 1 3 1 7 3 1 3 6 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the moment of inertia ratio if high speed response operation is required P 1 16 Check of the Model P 1 19 Check of the...

Page 498: ...118 LM Without brake 92 110 5 129 5 141 160 195 With brake 119 137 5 156 5 166 188 223 LZ 9 Key way dimensions LW 45 55 LK 42 41 51 KW 6 8 KH 6 7 RH 15 5 18 20 Mass kg Without brake 3 6 4 6 5 6 8 7 11 5 14 5 With brake 4 7 5 6 6 6 9 9 13 2 16 1 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the moment of inertia ratio if high speed response o...

Page 499: ... LG 84 LH Without brake 90 113 118 With brake 101 113 118 LM Without brake 92 110 5 129 5 141 160 195 With brake 119 137 5 156 5 166 188 223 LZ 9 Key way dimensions LW 45 55 LK 42 41 51 KW 6 8 KH 6 7 RH 15 5 18 20 Mass kg Without brake 4 6 5 6 8 7 11 5 14 5 With brake 5 6 6 6 9 9 13 2 16 1 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the mo...

Page 500: ...8 22 5 KW 3 4 5 KH 3 4 5 RH 6 2 8 5 11 TP M3 depth 6 M4 depth 8 M5 depth 10 Mass kg Without oil seal Without brake 0 54 1 1 1 5 With brake 0 79 1 5 2 0 With oil seal Without brake 0 57 1 2 1 6 With brake 0 82 1 6 2 1 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the moment of inertia ratio if high speed response operation is required P 1 16 ...

Page 501: ...h oil seal Without brake 43 2 49 3 61 8 With brake 64 5 72 9 85 4 LT 16 5 LZ 4 5 6 Key way dimensions LW 14 20 25 LK 12 5 18 22 5 KW 3 4 5 KH 3 4 5 RH 6 2 8 5 11 TP M3 depth 6 M4 depth 8 M5 depth 10 Mass kg Without oil seal Without brake 0 54 1 1 1 5 With brake 0 79 1 5 2 0 With oil seal Without brake 0 57 1 2 1 6 With brake 0 82 1 6 2 1 Connector specifications Refer to P 2 28 Specifications of M...

Page 502: ... 14 20 20 5 LK 12 5 18 18 KW 3 4 5 KH 3 4 5 RH 6 2 8 5 11 TP M3 depth 6 M4 depth 8 M5 depth 10 Mass kg Without brake 0 57 1 2 1 6 With brake 0 82 1 6 2 1 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the moment of inertia ratio if high speed response operation is required P 1 16 Check of the Model P 1 19 Check of the Combination of the Drive...

Page 503: ...hout brake 56 2 62 3 74 8 With brake 77 5 85 9 98 4 LR 30 35 S 8 11 14 LA 70 90 LB1 50 70 LB2 49 4 69 4 LC 60 80 LE1 1 5 LE2 12 1 LF 5 7 8 LH 44 54 LM Without brake 39 7 45 8 58 3 With brake 61 69 4 81 9 LT 16 5 LZ 4 5 6 Key way dimensions LW 14 20 20 5 LK 12 5 18 18 KW 3 4 5 KH 3 4 5 RH 6 2 8 5 11 TP M3 depth 6 M4 depth 8 M5 depth 10 Mass kg Without brake 0 57 1 2 1 6 With brake 0 82 1 6 2 1 Conn...

Page 504: ... S 22 24 35 LA 145 200 LB 110 114 3 LC 130 176 LD 165 233 LE 6 3 2 LF 12 18 LG 60 LH Without brake 105 118 140 With brake 116 118 140 LM Without brake 77 91 105 133 116 131 With brake 105 119 133 161 145 160 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 51 50 KW 8 10 KH 7 8 RH 18 20 30 Mass kg Without brake 4 6 5 7 6 9 9 3 13 4 15 6 With brake 6 1 7 2 8 4 10 9 16 8 19 0 Connector specifications Refe...

Page 505: ...61 176 With brake 150 164 178 206 190 205 LR 55 65 70 S 22 24 35 LA 145 200 LB 110 114 3 LC 130 176 LD 165 233 LE 6 3 2 LF 12 18 LG 84 LH Without brake 105 118 140 With brake 116 118 140 LM Without brake 77 91 105 133 116 131 With brake 105 119 133 161 145 160 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 51 50 KW 8 10 KH 7 8 RH 18 20 30 Mass kg Without brake 4 6 5 7 6 9 9 3 13 4 15 6 With brake 6 1...

Page 506: ... LR 55 70 S 22 35 LA 145 200 LB 110 114 3 LC 130 176 LD 165 233 LE 6 3 2 LF 12 18 LG 60 LH Without brake 105 140 With brake 116 140 LM Without brake 77 91 105 116 131 With brake 105 119 133 145 160 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8 10 KH 7 8 RH 18 30 Mass kg Without brake 4 6 5 7 6 9 13 4 15 6 With brake 6 1 7 5 8 4 16 8 19 0 Connector specifications Refer to P 2 28 Specification...

Page 507: ...ake 122 136 150 161 176 With brake 150 164 178 190 205 LR 55 70 S 22 35 LA 145 200 LB 110 114 3 LC 130 176 LD 165 233 LE 6 3 2 LF 12 18 LG 84 LH Without brake 105 140 With brake 116 140 LM Without brake 77 91 105 116 131 With brake 105 119 133 145 160 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8 10 KH 7 8 RH 18 30 Mass kg Without brake 4 6 5 7 6 9 13 4 15 6 With brake 6 1 7 5 8 4 16 8 19 0 ...

Page 508: ...l Without brake 57 5 71 5 With brake 91 4 105 4 LR 25 S 8 LA 46 LB 30 LC 40 LE 3 LF 5 LH 33 LZ 4 3 Key way dimensions LW 14 LK 12 5 KW 3 KH 3 RH 6 2 TP M3 depth 6 Mass kg Without oil seal Without brake 0 29 0 4 With brake 0 51 0 62 With oil seal Without brake 0 31 0 42 With brake 0 53 0 64 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the mo...

Page 509: ...53 5 67 5 With brake 87 4 101 4 With oil seal Without brake 57 5 71 5 With brake 91 4 105 4 LR 25 S 8 LA 46 LB 30 LC 40 LE 3 LF 5 LH 34 5 LM Without oil seal Without brake 36 9 50 9 With brake 70 8 84 8 With oil seal Without brake 40 9 54 9 With brake 74 8 88 8 LT 16 6 LZ 4 3 Key way dimensions LW 14 LK 12 5 KW 3 KH 3 RH 6 2 TP M3 depth 6 Mass kg Without oil seal Without brake 0 29 0 40 With brake...

Page 510: ...h oil seal With protect lip Without brake 53 5 67 5 With brake 87 4 101 4 LR 30 S 8 LA 46 LB1 30 LB2 29 6 LC 40 LE1 1 5 LE2 12 1 LF 5 LH 33 LZ 4 3 Key way dimensions LW 14 LK 12 5 KW 3 KH 3 RH 6 2 TP M3 depth 6 Mass kg Without brake 0 31 0 42 With brake 0 53 0 64 Connector specifications Refer to P 2 28 Specifications of Motor connector Caution Re ated page Reduce the moment of inertia ratio if hi...

Page 511: ... series High inertia Motor output 50 W 100 W Motor model MHMF 5AZL1 3 01 L1 3 LL With oil seal With protect lip Without brake 53 5 67 5 With brake 87 4 101 4 LR 30 S 8 LA 46 LB1 30 LB2 29 6 LC 40 LE1 1 5 LE2 12 1 LF 5 LH 34 5 LM Without brake 36 9 50 9 With brake 70 8 84 8 LT 16 6 LZ 4 3 Key way dimensions LW 14 LK 12 5 KW 3 KH 3 RH 6 2 TP M3 depth 6 Mass kg Without brake 0 31 0 42 With brake 0 53...

Page 512: ... 95 4 108 2 With brake 100 3 117 3 129 141 8 LR 30 35 S 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 Key way dimensions LW 20 25 LK 18 22 5 22 KW 4 5 6 KH 4 5 6 RH 8 5 11 15 5 TP M4 depth 8 M5 depth 10 Mass kg Without oil seal Without brake 0 75 1 1 2 2 2 7 With brake 1 1 1 5 2 9 3 4 With oil seal Without brake 0 78 1 2 2 3 2 8 With brake 1 2 1 6 3 0 3 5 Connector specificat...

Page 513: ... LR 30 35 S 11 14 19 LA 70 90 LB 50 70 LC 60 80 LE 3 LF 6 5 8 LH 44 54 LM Without oil seal Without brake 51 68 75 4 88 2 With brake 80 3 97 3 109 121 8 With oil seal Without brake 54 5 71 5 78 9 91 7 With brake 83 8 100 8 112 5 125 3 LT 16 5 LZ 4 5 6 Key way dimensions LW 20 25 LK 18 22 5 22 KW 4 5 6 KH 4 5 6 RH 8 5 11 15 5 TP M4 depth 8 M5 depth 10 Mass kg Without oil seal Without brake 0 75 1 1 ...

Page 514: ...brake 67 5 84 5 91 9 104 7 With brake 96 8 113 8 125 5 138 3 LR 35 40 S 11 14 19 LA 70 90 LB1 50 70 LB2 49 4 69 4 LC 60 80 LE1 1 5 LE2 12 1 LF 6 5 8 LH 43 53 LZ 4 5 6 Key way dimensions LW 20 20 5 25 LK 18 18 22 KW 4 5 6 KH 4 5 6 RH 8 5 11 15 5 TP M4 depth 8 M5 depth 10 Mass kg Without brake 0 78 1 2 2 3 2 8 With brake 1 2 1 6 3 0 3 5 Connector specifications Refer to P 2 28 Specifications of Moto...

Page 515: ...p Without brake 67 5 84 5 91 9 104 7 With brake 96 8 113 8 125 5 138 3 LR 35 40 S 11 14 19 LA 70 90 LB1 50 70 LB2 49 4 69 4 LC 60 80 LE1 1 5 LE2 12 1 LF 6 5 8 LH 44 54 LM Without brake 51 68 75 4 88 2 With brake 80 3 97 3 109 121 8 LT 16 5 LZ 4 5 6 Key way dimension LW 20 20 5 25 LK 18 18 22 KW 4 5 6 KH 4 5 6 RH 8 5 11 15 5 TP M4 depth 8 M5 depth 10 Mass kg Without brake 0 78 1 2 2 3 2 8 With brak...

Page 516: ...R 70 80 S 22 35 LA 145 200 LB 110 114 3 LC 130 176 LD 165 233 LE 6 3 2 LF 12 18 LG 60 LH Without brake 105 140 With brake 116 140 LM Without brake 105 119 116 131 145 5 161 5 With brake 133 147 145 160 174 5 190 5 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8 10 KH 7 8 RH 18 30 Mass kg Without brake 6 1 7 7 11 3 13 8 16 2 19 6 With brake 7 6 9 2 14 6 17 2 19 4 22 8 Connector specifications R...

Page 517: ... 190 5 206 5 With brake 178 192 190 205 219 5 235 5 LR 70 80 S 22 35 LA 145 200 LB 110 114 3 LC 130 176 LD 165 233 LE 6 3 2 LF 12 18 LG 84 LH Without brake 105 140 With brake 116 140 LM Without brake 105 119 116 131 145 5 161 5 With brake 133 147 145 160 174 5 190 5 LZ 9 13 5 Key way dimensions LW 45 55 LK 41 50 KW 8 10 KH 7 8 RH 18 30 Mass kg Without brake 6 1 7 7 11 3 13 8 16 2 19 6 With brake 7...

Page 518: ...R 6 D frame DV0PM20043 3 phase 200 V 3SUP HU50 ER 6 E frame Unit mm Label Terminal cover transparent 2 ø4 5 R Cx Cx Cy L L Cy 2 ø4 5 x 6 75 53 1 1 0 100 0 2 0 88 0 75 0 5 0 12 0 10 0 50 0 60 0 7 0 2 0 11 6 13 0 6 M4 2 1 3 4 Circuit diagram IN OUT A B C D E F G H 115 DV0PM20042 DV0PM20042 DV0P4220 DV0PM20043 105 95 70 43 10 52 5 5 145 DV0P4220 135 125 70 50 10 52 5 5 165 DV0PM20043 136 165 90 80 40...

Page 519: ...c Ind 7 Options Noise Filter Recommended components Part No Voltage specifications for driver Current rating A Applicable driver frame Manufacturer RTHN 5010 Single phase 100 V 200 V 3 phase 200 V 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 ...

Page 520: ...urer s part No Manufacturer DV0P1450 3 phase 200 V R A V 781BXZ 4 Okaya Electric Ind Option part No Voltage specifications for driver Manufacturer s part No Manufacturer DV0P4190 Single phase 100 V 200 V 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 Re ated page P 2 2 Conform...

Page 521: ... mm 39 1 34 1 30 1 13 1 Mass 62 8 g To connect the noise filter to the connector XB connection cable adjust the sheath length at the tip of the cable as required Remarks Recommended components Part No Applicable driver frame Manufacturer RJ8035 E frame 200 V F frame 200 V KK CORP CO JP B A C D1 F E D2 Manufacturer s part No Current value 100kHz μH Dimension Unit mm A B C D1 D2 Core thikness E F RJ...

Page 522: ...P 8 wire Hitachi Electric Cable Co Ltd Part No MFECA0 0EAD Compatible motor output MSMF 50 W to 1 0 kW 口80 MQMF 100 W to 400 W MHMF 50 W to 1 0 kW 口80 Leadwire type Specifications For encode Without battery box Unit mm L ø6 5 14 16 4 4 Title Part No Manufacturer L m Part No Connector Driver side 3E206 0100 KV Sumitomo 3M or equivalent 3 0 26 0 00 MFECA0030EAD 5 0 30 0 00 MFECA0050EAD Shell kit 3E3...

Page 523: ...60 0 00 MFECA0200MJD Cable AWG24 4P AWG22 2P Hitachi Electric Cable Co Ltd Part No MFECA0 0MJE Highly bendable type Direction of motor shaft MFECA0 0MKE H gh y bendab e type Oppos te d rect on of motor shaft MFECA0 0TJE Standard bendable type Direction of motor shaft MFECA0 0TKE Standard bendab e type Oppos te d rect on of motor shaft Compatible motor output MSMF 50 W 1 0 kW 80 MQMF 100 W 400 W MH...

Page 524: ...ic Cable Co Ltd Part No MFECA0 0EPE Compatible motor output MSMF 1 0 kW 100 to 5 0 kW MDMF 1 0 kW to 5 0 kW MHMF 1 0 kW 130 to 5 0 kW MGMF 0 85 kW to 4 4 kW Specifications For encode With battery box JL10 One touch lock type Unit mm Title Part No Manufacturer L m Part No Connector Driver side 3E206 0100 KV Sumitomo 3M or equivalent 3 0 26 0 00 MFECA0030EPE Shell kit 3E306 3200 008 5 0 30 0 00 MFEC...

Page 525: ...onics Ind 10 0 40 0 00 MFECA0100ESD Cable clamp N MS3057 12A 20 0 60 0 00 MFECA0200ESD Cable 0 2 mm2 3P 6 wire Oki Electric Cable Co Ltd Part No MFECA0 0ESE Compatible motor output MSMF 1 0 kW 100 to 5 0 kW MDMF 1 0 kW to 5 0 kW MHMF 1 0 kW 130 to 5 0 kW MGMF 0 85 kW to 4 4 kW Specifications For encode With battery box screwed type Unit mm ø8 ø37 3 L 110 300 Title Part No Manufacturer L m Part No ...

Page 526: ...ctric Cable Co Ltd Part No MFECA0 0ETE Compatible motor output MSMF 1 0 kW 100 to 5 0 kW MDMF 1 0 kW to 5 0 kW MHMF 1 0 kW 130 to 5 0 kW MGMF 0 85 kW to 4 4 kW Specifications For encode With battery box JN2 One touch lock type Unit mm L 110 300 ø8 ø20 Title Part No Manufacturer L m Part No Connector Driver side 3E206 0100 KV Sumitomo 3M or equivalent 3 0 26 0 00 MFECA0030ETE Shell kit 3E306 3200 0...

Page 527: ...Daiden Co Ltd Part No MFMCA0 0NJD Highly bendable type Direction of motor shaft Applicable model MSMF 50 W to 1 0 kW 80 Connector type MFMCA0 0NKD Highly bendable type Opposite direction of motor shaft MFMCA0 0RJD Standard bendable type Direction of motor shaft MFMCA0 0RKD Standard bendab e type Oppos te d rect on of motor shaft Unit mm L 50 28 8 ø6 Direction of motor shaft Opposite direction of m...

Page 528: ...ble type Direction of motor shaft MFMCA0 0UGD Highly bendable type Opposite direction of motor shaft MFMCA0 0WFD Standard bendable type Direction of motor shaft MFMCA0 0WGD Standard bendab e type Oppos te d rect on of motor shaft Applicable model MQMF 100 W to 400 W MHMF 200 W to 1 0 kW 80 Connector type Unit mm Direction of motor shaft Opposite direction of motor shaft 26 6 L1 50 20 ø6 8 Identifi...

Page 529: ...lon insulated round terminal N2 M4 J S T Mfg Co Ltd 20 0 60 0 00 MFMCA0202EUD Cable ROBO TOP 600 V 2 0 mm2 4 wire Dyden Corporation Part No MFMCE0 2EUD Applicable model MHMF 2 0 kW One touch lock type Unit mm L 50 ø12 7 Title Part No Manufacturer L m Part No Connector JL10 6A22 22SE EB Japan Aviation Electronics Ind 3 0 26 0 00 MFMCE0032EUD Connector pin JL04 2022CK 14 R 5 0 30 0 00 MFMCE0052EUD R...

Page 530: ...0 00 MFMCD0202ECD Cable ROBO TOP 600 V 2 0 mm2 4 wire Dyden Corporation Part No MFMCE0 2ECD Applicable model MHMF 2 0 kW Screwed type Unit mm 50 L ø40 5 12 5 Title Part No Manufacturer L m Part No Connector JL04V 6A22 22SE EB R Japan Aviation Electronics Ind 3 0 26 0 00 MFMCE0032ECD Connector pin JL04 2022CK 14 R 5 0 30 0 00 MFMCE0052ECD Rod terminal NTUB 2 J S T Mfg Co Ltd 10 0 40 0 00 MFMCE0102E...

Page 531: ...FMCA0103EUT Cable ROBO TOP 600 V 3 5 mm2 4 wire Dyden Corporation 20 0 60 0 00 MFMCA0203EUT Part No MFMCA0 3ECT Applicable model MSMF 3 0 kW to 5 0 kW MDMF 3 0 kW to 5 0 kW MHMF 3 0 kW to 5 0 kW MGMF 2 9 kW 4 4 kW Screwed type Unit mm L 50 ø14 3 Title Part No Manufacturer L m Part No Connector JL04V 6A22 22SE EB R Japan Aviation Electronics Ind 3 0 26 0 00 MFMCA0033ECT Cable clamp JL04 2022CK 14 R...

Page 532: ... type Part No MFMCD0 3FUT Applicable model MGMF 2 4 kW One touch lock type L L 50 50 ø14 3 ø 9 4 Title Part No Manufacturer L m Part No Connector JL04V 6A24 11SE EB R Japan Aviation Electronics Ind 3 0 26 0 00 MFMCD0033FUT Cable clamp JL04 2428CK 17 R 5 0 30 0 00 MFMCD0053FUT Rod terminal TMENTC3 5 11S NICHIFU Co Ltd 10 0 40 0 00 MFMCD0103FUT Nylon insulated round terminal Earth N5 5 5 J S T Mfg C...

Page 533: ...Co Ltd 10 0 40 0 00 MFMCE0103ECT Nylon insulated round terminal N5 5 5 J S T Mfg Co Ltd 20 0 60 0 00 MFMCE0203ECT Cable ROBO TOP 600 V 3 5 mm2 4 wire Dyden Corporation Part No MFMCD0 3FCT Applicable model MGMF 2 4 kW Screwed type L 50 L 50 ø14 3 ø 9 8 ø43 7 Title Part No Manufacturer L m Part No Connector JL04V 6A24 11SE EB R Japan Aviation Electronics Ind 3 0 26 0 00 MFMCD0033FCT Cable clamp JL04...

Page 534: ...ndable type Direction of motor shaft MFMCA0 0VGD Highly bendable type Opposite direction of motor shaft MFMCA0 0XFD Standard bendable type Direction of motor shaft MFMCA0 0XGD Standard bendab e type Oppos te d rect on of motor shaft Applicable model MQMF 100 W to 400 W MHMF 200 W to 1 0 kW 口 80 Connector type Unit mm Direction of motor shaft Opposite direction of motor shaft 25 9 20 50 L1 ø6 8 Ide...

Page 535: ...Ltd 20 0 60 0 00 MFMCA0202FUD Brake N1 25 M4 Cable ROBO TOP 600 V 0 75 mm2 2 wire ROBO TOP 600 V 2 0 mm2 4 wire Dyden Corporation Part No MFMCE0 2FUD Applicable model MHMF 2 0 kW One touch lock type Unit mm L L 50 50 ø12 7 ø 9 4 Title Part No Manufacturer L m Part No Connector JL10 6A24 11SE EB Japan Aviation Electronics Ind 3 0 26 0 00 MFMCE0032FUD Cable clamp JL04 2428CK 17 R 5 0 30 0 00 MFMCE00...

Page 536: ... Co Ltd 20 0 60 0 00 MFMCA0202FCD Brake N1 25 M4 Cable ROBO TOP 600 V 0 75 mm2 2 wire ROBO TOP 600 V 2 0 mm2 4 wire Dyden Corporation Part No MFMCE0 2FCD Applicable model MHMF 2 0 kW Screwed type Unit mm Title Part No Manufacturer L m Part No Connector JL04V 6A24 11SE EB R Japan Aviation Electronics Ind 3 0 26 0 00 MFMCE0032FCD Cable clamp JL04 2428CK 17 R 5 0 30 0 00 MFMCE0052FCD Rod terminal NTU...

Page 537: ...MFMCA0103FUT Brake N1 25 M4 20 0 60 0 00 MFMCA0203FUT Cable ROBO TOP DP6 2501 0 75 mm2 2 wire ROBO TOP DP6 2501 ３５ mm2 4 wire Dyden Corporation Part No MFMCA0 3FCT Applicable model MSMF 3 0 kW to 5 0 kW MDMF 3 0 kW to 5 0 kW MHMF 3 0 kW to 5 0 kW MGMF 2 9kW 4 4 kW Screwed type Unit mm L 50 L 50 ø14 3 ø 9 4 Title Part No Manufacturer L m Part No Connector JL04V 6A24 11SE EB R Japan Aviation Electr...

Page 538: ...ions of Motor connector Part No MFMCB0 0PJT H gh y bendab e type D rect on of motor shaft MFMCB0 0PKT H gh y bendab e type Oppos te d rect on of motor shaft MFMCB0 0SJT Standard bendab e type D rect on of motor shaft MFMCB0 0SKT Standard bendab e type Oppos te d rect on of motor shaft Applicable model MSMF 50 W to 1 0 kW 80 Connector type Unit mm L 50 26 6 Direction of motor shaft Opposite directi...

Page 539: ...able Part No DV0P4360 Unit mm 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 ø8 Table for wiring 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 Oran...

Page 540: ...7 11 10 7 8 1 5 Viewed from cable Shell FG Remarks Do not connect anything to NC pins 7 Options Connector Kit Remarks Connector X1 use with commercially available cable Configuration of connector X1 USB mini B For crimp tool etc necessary to produce a cable access the web site of the manufacturer or consult with the manufacturer for details For inquiries of manufacturer refer to P 7 147 List of Pe...

Page 541: ...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 Connector Kit for Encoder Part No DV0PM20010 Components Title Part No Manufacturer Note Connector 3E206 0100 KV Sumitomo 3M 1 For Connector X6 Shell kit 3E306 3200 008 1 Old model number 55100 0670 Japan Molex Inc Pin disposition of connector connector X6 Dimensions Unit mm Viewed from cable Shell kit Connector S...

Page 542: ...rt No Number Manufacturer Note Connector 04JFAT SAXGSA L 1 J S T Mfg Co Ltd For Connector XC Handle lever J FAT OT L 2 39 3 27 6 26 1 2 3 5 4 A B 4 1 5 4 2 1 3 3 When connection multiple axes in series make sure the sum of the current value does not exceed the rated current 11 25 A of DV0PM20033 When using drivers MDDL 55 in single phase power supply do not use DV0PM20033 Unit mm Remarks Driver pa...

Page 543: ...connector Pin disposition of connector connector X6 for encoder cable for motor cable Connector Kit for Motor Encoder Connection Part No DV0P4290 Applicable model MSMF 50 W to 1 0 kW 口 80 MQMF 100 W to 400 W MHMF 50 W to 1 0 kW 口 80 Without brake Title Part No Number Manufacturer Note Connector Driver side 3E206 0100 KV 1 Sumitomo 3M or equivalent For Connector X6 6 pins Shell kit 3E306 3200 008 1...

Page 544: ...S 6 E5V 5 BAT PE E 3 W 2 V 1 U 1 U 2 V 3 W PE E Direction of motor shaft Opposite direction of motor shaft Pins 2 and 5 are left unused NC when used in incremental system Gasket Gasket Gasket Gasket 5 PS 2 E0V 1 E5V 4 NC 1 3 NC 1 Components 1 Old model number Connector 55100 0670 Japan Molex Inc Connector Kit for Motor Encoder Connection Part No DV0P20036 Applicable model MSMF 1 0 kW 口 100 to 2 0 ...

Page 545: ...pan Aviation Electronics Ind For Motor cable Cable clamp JL04 2022CK 14 R 1 1 Old model number Connector 55100 0670 Japan Molex Inc Part No DV0P20039 Applicable model MSMF 3 0 kW to 5 0 kW MDMF 3 0 kW to 5 0 kW MHMF 2 0 kW to 5 0 kW MGMF 2 9 kW 4 4 kW With brake Components Title Part No Number Manufacturer Note Connector Driver side 3E206 0100 KV 1 Sumitomo 3M or equivalent 1 For Connector X6 6 pi...

Page 546: ... 3E206 0100 KV 1 Sumitomo 3M or equivalent 1 For Connector X6 6 pins Shell kit 3E306 3200 008 1 Encoder Connector N MS3106B20 29S 1 Japan Aviation Electronics Ind For Encoder cable Connector pin N MS3057 12A 1 Motor Connector N MS3106B20 18S 1 Japan Aviation Electronics Ind For Motor cable Cable clamp N MS3057 12A 1 1 Old model number Connector 55100 0670 Japan Molex Inc Part No DV0P4340 Applicabl...

Page 547: ...ation Electronics Ind For Motor cable 6 pins Connector pin JN11S35H3A1 6 Part No DV0PM24583 Applicable model MSMF 3 0 kW to 5 0 kW MDMF 3 0 kW to 5 0 kW MHMF 3 0 kW to 5 0 kW MGMF 2 9 kW to 4 4kW For Encoder connector JN2 One touch lock type Without brake Components Title Part No Number Manufacturer Note Connector Driver side 3E06 0100KV 1 Sumitomo 3M or equivalent For Connector X6 6 pins Shell ki...

Page 548: ...nics Ind For Motor cable Cable clamp JL04 2428 CK 17 R 1 Connector Kit for Motor Encoder Connection Part No DV0PM24587 Applicable model MSMF 1 0 kW 口 100 to 2 0 kW MDMF 1 0 kW to 2 0 kW MHMF 1 0 kW 口 130 to 1 5 kW MGMF 0 85kW to 1 8kW For Encoder connector JL10 One touch lock type Without brake Components Title Part No Number Manufacturer Note Connector Driver side 3E06 0100KV 1 Sumitomo 3M or equ...

Page 549: ...r Encoder connector JL10 One touch lock type With brake Components Title Part No Number Manufacturer Note Connector Driver side 3E06 0100KV 1 Sumitomo 3M or equivalent For Connector X6 6 pins Shell kit 3E306 3200 008 1 Connector JL10 6A20 29S EB 1 Japan Aviation Electronics Ind For Encoder cable Connector pin JL04 2022 CK 09 R 1 Connector JL10 6A24 11SE EB 1 Japan Aviation Electronics Ind For Moto...

Page 550: ...lation of one prevent the charging diode to DVOP2990 Caution This battery is categorized as hazardous substance and you may be required to present an application of hazardous substance when you transport by air both passenger and cargo airlines Battery Box For Absolute Encoder Part No DV0P4430 Components Unit mm DV0P4430 P04090001 R5 112 110 31 27 Re ated page P 7 10 Absolute system Buy www ValinO...

Page 551: ...ottom side sharing 2pcs M4 L6 Pan head 4pcs Dimensions Upper side and Bottom side 2 M4 Pan head Unit mm 2 5 15 28 29 14 10 5 2 21 7 10 11 5 R 1 or less Ｒ 2 R1 2 R2 Φ 5 2 2 C 5 Part No DV0PM20101 Frame symbol of applicable driver C frame D frame Mounting screw Upper side 2pcs Bottom side 2pcs M4 L6 Pan head 4pcs Dimensions Upper side Unit mm R 1 o r l e s s 2 R2 3 Φ 5 2 2 C 5 2 M4 Pan head 10 40 20...

Page 552: ...0 1 113 160Max 170 100 3 0 115 2 4 7φ 12 M5 0 557 25 Fig 2 DV0P227 55 0 7 80 1 66 5 1 110Max 90 41 2 55 2 4 5φ 10 M4 4 02 5 DV0P228 55 0 7 80 1 66 5 1 110Max 95 46 2 60 2 4 5φ 10 M4 2 8 DV0PM20047 55 0 7 80 1 66 5 1 110Max 105 56 2 70 2 4 5φ 10 M4 1 39 11 Driver series Power supply Rated output Part No Driver series Power supply Rated output Part No MADL 01S single phase 100V 50 W DV0P227 MADL 05S...

Page 553: ...l appliances and general purpose articles was abolished on September 6 2004 We are pleased to inform you that the procedure to execute the harmonic restraint on general purpose inverter and servo driver was modified as follows 1 All types of the general purpose inverters and servo drivers used by specific users are under the control of the Guidelines for harmonic restraint on heavy consumers who r...

Page 554: ... 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 Select and install a fan that maintains the surface temperature of re...

Page 555: ... in thermal fuse of regenerative resistor is intended to prevent from ignition during the failure of the driver and not intended to suppress the surface temperature of the resistor Be attached the regenerative resistance to non combustible material such as metal Built in thermal fuse of regenerative resistor is intended to prevent from ignition during the failure of the driver and not intended to ...

Page 556: ...0 kW to 3 0 kW TNR9G820K NIPPON CHEMI CON CORPORATION 4 0 kW Z15D151 SEMITEC Corporation 5 0 kW NVD07SCD082 KOA Corporation MGMF 0 85 kW to 1 8 kW TNR9G820K NIPPON CHEMI CON CORPORATION 2 4 kW to 2 9 kW Z15D151 SEMITEC Corporation 4 4 kW NVD07SCD082 KOA Corporation MHMF 50 W to 1 0 kW 口 80 TNR15G271K NIPPON CHEMI CON CORPORATION 1 0 kW 口 130 to 1 5 kW TNR9G820K NIPPON CHEMI CON CORPORATION 2 0 kW ...

Page 557: ...g the Products 2 Preparat on 3 Connect on 4 Setup 5 Ad ustment 6 When n Troub e 7 Supp ement 7 7 Options Supplement List of Peripheral Equipments Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 558: ...suse improper repair or alteration 2 Failure or damage due to falling or damage during transportation after the origi nal delivery 3 Defects resulting from neglect of the specification in use of the product 4 Failure or damage due to unregulated voltage and fire and act of natural disas ters such as earthquake lightning wind flood and salt pollution 5 Defects resulting from invasion of foreign mat...

Page 559: ...hich require a lesser air contamination We have been making the best effort to ensure the highest quality of the products how 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...

Page 560: ...machine or equipment 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 Date of purchase Year Month Day Model No Store name Phone Panasonic Corporation Motor Business Division 7 1 1 Morofuku Daito Osaka 574 0044 Japan Panasonic Corporation 2016 Buy www Val...

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Panasonic MINAS A6 Series, Operating Instructions Manual

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