Parker Dynaserv G2 User Manual Download Page 64

Page: 64 / 189

5-10

Functions

5.4

Control System

In this section, the

position control part

velocity control part

, and

feed forward

of the driver are explained.

The block diagram of the control system is shown below.

Proportio

nal

control

Integral

control

Position

integral

limiting value

Differential

feedback

Velocity feed

forward

Acceleration
feed forward

＋

Integral main

switch

Velocity

command

filter

Velocity

feedback filter

Velocity

proportional

gain

First order delay

compensation
device setting

Notch

filter 2Ch

Motor

mechanical

system

＃

387

Motor linear

coordinate

command

value

Motor

position

Velocity

sensor

Position

sensor

＋

－

＋

－

＋

－

＋

Position

current

value filter

Motor linear coordinate

current value after filtering

Motor linear coordinate

current position

Velocity value

(digital)

Velocity

command value

after filtering

(digital)

Velocity current

value

after filtering

Velocity current value

Pulse position current value

＃

221

＃

361

←＃

＃

219

，＃

220

＃

152

＃

153

，＃

154

＃

155

＃

360

＃

356

＃

355

＃

388

＃

321

＃

384

＃

366

＃

365

＃

363

＃

364

Velocity error

(digital)

＃

365

Velocity

control part

Position

control part

Feed forward

－

＋

Position feed

forward

Motor linear

coordinate

deviation

＃

389

＃

203

Pulse position command value

＃

320

Pulse position deviation

＃

322

←

＃

Summary of Contents for Dynaserv G2

Page 1: ...Effective March 1 2002 p n 88 020389 01 A Automation Dynaserv G2 Drive User Guide ...

Page 2: ... before proceeding to the operation of the product 3 Please note that the safety protection may be lost and the proper safety may not be guaranteed if the product is not used according to the instructions described in this manual 4 Always make sure that this manual is handy for the operator when using this product If it is stained or lost we will distribute copies upon request subject to charge 5 ...

Page 3: ...when connecting cables to the driver part Make sure to turn the power off when removing the cover of the driver part while performing adjustment operations etc Fire and electric shock warning If any abnormalities such as abnormal noise bad smell or release of fumes that coming from the device are detected while it is in operation turn the power off immediately pull out the power supply plug and co...

Page 4: ...ing may result in fire electric shock or damage of the device Confirm that the proper combination of motor and driver parts is used Using the device with an incorrect configuration may result in failure Be sure to confirm the model MODEL on the rating nameplates Make sure the conditions of temperature humidity dust etc are as specified for the installation and storage environments Do not block the...

Page 5: ...ation this applies only to the DM series 7 The motor surface is magnetized do not place things that can be affected by magnetism close to it 8 The motor part shown in the figure to the right includes a magnetic resolver Strong force impacts or magnetic fields should not be applied to the motor part this applies only to the DR series 9 Make sure to use load attachment screws that are shorter than t...

Page 6: ...l precision 15 Do not place the motor on the floor and other surface in the manner shown in the figure below when carrying and installing the DYNASERV The cables are crushed by the motor s own weight and the copper wires may be broken inside the cables If it cannot be avoided to place the motor in such a manner a support bench should always be placed so that the cables are lifted Furthermore if th...

Page 7: ...ged If such test must be conducted make sure to contact us 17 When connecting the motor with a load the centerlines of both cores should be aligned to a sufficient degree Please note that if the deviation between the two cores becomes 10 µm or more the bearings inside the motor may be damaged The core deviation should be 10 µmm or less ...

Page 8: ...etween Motor and Driver 3 4 3 4 Wiring of Motor AC Power Supply and Ground Cable 3 6 3 5 Wiring of Encoder Cable 3 8 3 6 Wiring of Controller Cable 3 9 3 7 Wiring of Sensor Brake Terminal 3 10 3 8 Wiring of Regenerative Alarm Contact CNA For 500W Level Drive Only 3 11 Chapter 4 Basic Settings for Operating the Motor 4 1 4 1 Procedure Flowchart 4 2 4 2 Preoperation check 4 3 4 3 Installing the PC U...

Page 9: ...erride Function 5 14 5 5 2 Velocity Profile 5 15 5 6 Other Functions 5 17 5 6 1 Settling Wait Position Settling Status and Positioning Status 5 17 5 6 2 Velocity Monitor and Analog Monitor 5 18 5 6 3 Brake Signal 5 18 5 7 Special Parameter Processing 5 19 5 7 1 Internal Generation of Parameter Initial Values 5 19 5 7 2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling Weighte...

Page 10: ...7 7 7 4 6 Jog move command 11 Field 0 7 7 7 4 7 Other convenient commands 7 7 7 5 Parameter Commands 7 8 Chapter 8 DrvGII PC Utility 8 1 8 1 Overview 8 2 8 1 1 Overview of the Operation Menu 8 2 8 1 2 Overview of the Action Menu 8 2 8 1 3 Overview of the Data Management Menu 8 2 8 2 Installation 8 3 8 2 1 Installation under Windows 95 98 98SE Me NT4 0 2000 8 3 8 2 2 Starting the PC Utility 8 5 8 3...

Page 11: ...spection of the Motor Part 10 2 10 2 Maintenance and Inspection of the Driver Part 10 2 10 3 Replacing the Battery for Memory Backup 10 2 10 4 Backup and Restore Operations of Driver Memory Contents 10 3 10 4 1 Backup Operation 10 3 10 4 2 Restore Operation 10 4 10 5 Motor Problems and Corrective Actions 10 5 Chapter 11 Specifications 11 1 11 1 Standard Specifications 11 2 11 2 Torque Speed Charac...

Page 12: ...1 Overview of the Product 1 1 About the DYNASERV DM DR Series 1 2 About the DrvGII Type Driver 1 3 Product Configuration 1 4 Model Names and Codes 1 5 Name and Function of Each Part 1 6 System Configuration Diagram ...

Page 13: ...and the DM flat type Both types are equipped with an optical encoder which is characteristic of the DM series and have the added features of high resolution and high mechanical precision They are actuators with excellent output to space ratios and the best available option for servos for semi conductor manufacturing devices precision test devices etc They can be used in various applications The DY...

Page 14: ...pe motors as well as the LINEARSERV series motors that are of the direct drive type The features include the following 1 The size of the driver is reduced to approximately half of the previous size comparison within our company 2 The internal resolution is increased by a factor of four for the DM series and a factor of two for the DR series 3 It can now support most of the models of the DYNASERV a...

Page 15: ...driver CN4 1 Made by Honda Tsushin Kogyo connector PCR S50FS cover PCR LS50LA Connector for driver CN5 1 Made by Phoenix Contact MC1 5 6 ST 3 81 Terminal for driver CNA 1 Made by Phoenix Contact MC1 5 2 ST 5 08 Standard accessory Regenerative resistor 1 80W 60Ω for 100V or 80W 200Ω for 200V Supplied for drivers whose interface type is the I O contact type Supplied only for 500W level drivers with ...

Page 16: ...ers Box type first digit 0 domestic standard second digit A 500W level without regenerative terminal B 500W level with regenerative terminal K 2kW level with built in regenerative unit L 2kW level without regenerative unit Current A 5A DM small diameter B 6A DM flat C 15A DMB type DRB type DR5000B type D 20A DMA type DRA type DRE type DR5000E type Voltage 1 100V system 2 200V system Interface firs...

Page 17: ...r cable Bottom cap Rating nameplate Upper surface Bottom surface Load installation surface Shaft hole Load installation screw Rotor Base part stator Motor cable Encoder cable DM1004C DM1004B Load installation surface Shaft hole Rating nameplate DR series Rating nameplate Load installation screw Shaft hole Rotor Motor cable Encoder cable Stator installation screw Stator Bottom cap ...

Page 18: ...ay part TB1 Connection of power supply and motor cable CN1 RS232C connnector TB2 Sensor brake terminal CN4 Contact I O connector 1 CN3 Analog monitor connector CN2 Encoder resolver connector Mounting bracket Mounting bracket 2kW level A model with a regenerative terminal is shown Heat sink Regenerative unit 1 ...

Page 19: ...terminal Power supply ground terminal Motor cable phase A terminal Motor cable phase B terminal Motor cable phase C terminal Motor cable ground terminal CNA Regenerative error connector 2kW level Signal ground terminal Settling signal terminal Note 1 All the items shown are of the contact I O type 2 The power supply ground terminal and the motor cable ground terminal are connected within the drive...

Page 20: ...er up Enable Lever down Disable CN4 Controller interface connector Error display LED Displays an error code when an error occurs When resetting 0 lit When operating flashing Check terminal 0 9 8 7 6 5 4 3 2 1 ON V V V A B C GND TB1 RS ID SRV DS SW1 1 4 MOTOR GND LINE 200 230VAC RS EN COIN ZERO GND TEST CN4 TB2 1 7 CN3 CN2 RS232C CN1 COIN AXIS BUSY CRDY SRDY ERR RS ID Rotary switch SW1 Slide switch...

Page 21: ... part DM DR series Home position sensor Over travel sensor Over travel sensor DrvGII type driver PLC Note The allowable combinations between the DYNASERV motors and the DrvGII drivers are as follows 1 The 500W level driver can only be used with the DM1004B 1004C 2 All other DM and DR series should be used with the 2kW level driver Note that they cannot be used with the 500W level driver ...

Page 22: ...2 1 Chapter 2 Installation 2 1 Installation of the Motor 2 2 Installation of the Driver ...

Page 23: ...ould not be too much dust or particles the ventilation should be good and the humidity should be low Note The DYNASERV is not drip or water oil proof If it is used in such an environment a proper drip or water oil proof cover should be applied 2 Mechanical Installation When installing a load on the rotor of the motor make sure to secure a clearance of 1 mm or more between the upper surface of the ...

Page 24: ...d bottom with the front panel in the front Do not put the panel surface into a sideways position or upside down see the figure below The driver box employs a natural air ventilation system Make sure to secure space for ventilation above and below 25 mm or more and right and left 25 mm or more see the figure below Make sure to use the installation holes four places of the upper and lower brackets a...

Page 25: ...e Specification List 3 3 Connection between Motor and Driver 3 4 Wiring of Motor AC Power Supply and Ground Cable 3 5 Wiring of Encoder Cable 3 6 Wiring of Controller Cable 3 7 Wiring of Sensor Brake Terminal 3 8 Wiring of Regenerative Alarm Contact CNA For 500W Level Drive Only ...

Page 26: ...communication cable CP7675S 020 for DOSV 2m CP7577S 020 for PC98 2m Programmable controller 9 Controller cable CP4202G ooo 8 Analog monitor card with cable connector 6 Encoder cable Motor part DM DR series 3 Motor cable 4 Sensor brake cable Operation display pendant including 1 5 m cable PM000AT KC 601A Japanese KC 602A English Sensor 7 Jumper cable Optional parts see separate wiring section for m...

Page 27: ...is required CN1 6 Encoder resolver cable 0 2mm2 twisted pair batch shielded cable outer diameter φ 14 mm or less 10 m or less in length CN2 Maximum 100 mA DC 7 Jumper cable 2 0 mm2 or more TB1 8 Analog monitor card Dedicated cable is required R7033YB cable with connector CN3 9 Controller cable 0 2 to 0 5mm2 batch shielded cable outer diameter φ 9 mm or less 3 m or less in length CN4 Maximum 500 mA...

Page 28: ... white Brown Brown and white Orange Orange and white Chassis ground Red White Black Green Encoder cable Shielded cable 2 DM Series motors models other than the above TB1 CN2 VA VB VC GND 10V 1 GND 12 θSIG0 3 GND 14 θSIG1 5 GND 16 ZERO 9 ZERO 19 ECLK 4 ECLK 13 Motor part Driver part Motor cable Encoder cable Shielded cable Shielded twisted pair cable Red Black Blue Blue and white Brown Brown and wh...

Page 29: ...C GND S0 2 S180 11 S0 6 S180 15 C0 10 C180 20 C0 8 C180 17 Motor part Driver part Motor cable Encoder cable Brown and white Green and white Brown Green Orange and white Blue and white Orange Blue Black Chassis ground Red White Black Green 3 ...

Page 30: ... Ground cable Motor cable AC Red White Black Green 100 115VAC LINE GND MOTOR VA VB VC GND TB1 Driver side 500W level Regenerative resistance AC GND VA VB VC GND Japan Solderless Terminal type N1 25 M4 P N 2 For other DM DR series other than above in connection with 2kW level driver Jumper cable Motor cable Power supply cable Ground cable Driver side 2KW level Japan Solderless Terminal type N2 M4 A...

Page 31: ...orporation LF 200 series 0 5 mm2 or more 15 m or less in length 2 0 mm2 or more 30 m or less in length Optional cable CM6000C Optional cable CM300M or CM0300R Motor cable 0 5 mm2 or more use as thick cable as possible 2 0 mm2 or more use as thick cable as possible Ground cable Third grade ground ground resistance 100Ω or less Jumper wire 2 0 mm2 or more For 100V 80W 60Ω Regenerative resistance For...

Page 32: ...7 17 C180 8 18 ECLK 8 18 8 C0 18 9 19 9 ZERO 19 ZERO 9 19 10 20 10 20 10 C0 20 C180 FG Chassis ground Shielded cable Chassis ground Shielded cable Chassis ground Shielded cable Terminal for CN2 20 11 1 3 2 1 11 13 12 20 10 Chassis ground shielded cable Insertion surface Soldering surface Made by Honda Tsushin Kogyo Connector PCR S2OF Housing PCR LS20LA1 Electric wire specification 0 2 mm2 multiple...

Page 33: ...T 23 IN_MODE 0 32 NC 6 OUT_XOVL 15 PUA_IN 24 IN_MODE 1 33 CRNT_LMT_IN 7 OUT_OVER 16 PUA_IN 25 IN_POSW 0 34 CRNT_LMT_IN 8 OUT_COIN 17 SDB_IN 26 IN_POSW 1 35 NC 9 UA_OUT 18 SDB_IN 27 IN_GAIN 36 NC Electric wire specification 0 2 to 0 5 mm2 or more multiple core batch shielded cable 3 m or less in length Optional cable CP4202G 19 36 18 1 3 2 1 18 36 21 20 19 Insertion surface Chassis ground shielded ...

Page 34: ... DC power supply 1 2 3 4 1 2 3 4 1 2 3 4 Example of sensor connection sensor EE SX670 manufactured by Omron Rated voltage Input specifications 12 24VDC 10 Rated input current 4 1 mA point at 12 VDC 8 5 mA point at 24 VDC Input impedance 3 0kΩ Operating voltage relative to COMP At OFF 3 0 VDC or less At ON 9 0 VDC or more Allowable leakage current OFF is guaranteed at 1 0 mA or less 470Ω 2 7kΩ COMP...

Page 35: ...equence circuit as shown in the figure below in order to prevent burnout incidents Note Build a sequence circuit so that it will turn off the power supply at alarm operation TB1 MC CNA L N MC ON OFF MC Regenerative alarm 250 V AC 0 1 A 30 V DC 1 A MC LINE Driver CNA Made by Phoenix Contact plug MC1 5 2 ST 5 08 7 mm Blade point of the driver used Thickness 0 4mm width 2 5mm clamping torque 0 22 to ...

Page 36: ...ed in this chapter as a preliminary step before commencing device production 4 1 Procedure Flowchart 4 2 Preoperation check 4 3 Installing the PC Utility on the PC 4 3 1 Procedure 4 3 2 Startup 4 4 Preparation 4 4 1 Selecting Communication Port 4 4 2 Selecting Channels 4 4 3 Displaying Communication Strings 4 4 4 Main Menu 4 5 Setting the Status to Servo ON 4 6 Auto tuning 4 7 Performing Homing Op...

Page 37: ...lation of the motor wiring etc Install the software PC utility on your PC Set the status of the motor to Servo ON Operation using the PC utility RS 232C Perform the basic settings required for pulse input Operate pulse input END Perform the settings and pulse input required for operation from the user s controller Adjust the servo gain adjustment Operation using the PC utility RS 232C Perform homi...

Page 38: ...ared by customers 6 Sensor wiring prepared bycustomers 5 Encoder cable CE7800M R ooo PC utility software CN 1 Positioning controller CN 4 3 Items to be checked Check 1 Is the main body fixed on the level block 2 Is the motor not interfering with peripherals 3 Is the power supply line wired properly LINE GND 4 Is the motor cable wired properly VA VB VC GND 5 Is the encoder cable wired properly 6 Is...

Page 39: ..._MODE 1 IN_POSW 0 IN_POSW 1 IN_GAIN IN_FN IN_PLS_DIRECT IN_PACT 91Ω 33Ω 470Ω 2 7KΩ PS2805 or equivalent TLP115A or equivalent MA8330 or equivalent MA8330 or equivalent 2AD1820A or equivalent PS2805 or equivalent AM26LS31 or equivalent AM26LS31 or equivalent AM26LS32 or equivalent 12 to 24 VDC 12 to 24 VDC Controller 09 10 11 12 13 14 15 16 17 18 03 04 05 06 07 08 02 01 19 20 21 22 23 24 25 26 27 2...

Page 40: ... IN_PACT 91Ω 33Ω 1KΩ PS2805 or equivalent TLP115A or equivalent AM26LS31 or equivalent 5VDC 5VDC 09 10 11 12 13 14 15 16 17 18 03 04 05 06 07 08 02 01 19 20 21 22 23 24 25 26 27 28 29 30 LMIT 7407 or equivalent 1KΩ 74LS244 or equivalent DrvGII CN4 I O 5V Specification 200KΩ 200KΩ 470Ω MA8330 or equivalent MA8330 or equivalent 2AD1820A or equivalent PS2805 or equivalent AM26LS31 or equivalent AM26L...

Page 41: ...irst and then install the new version Display the Properties of Adding Removing Programs dialog box and click Set Up 1 Then proceed according to the instructions displayed on the screen The PC utility setup program starts up Proceed with the setup according to the instructions on the screen A dialog box for determining the directory in which to install the PC utility appears see Figure 4 3 1 Figur...

Page 42: ...up is completed the Setup Complete dialog box appear see Figure 4 3 3 Figure 4 3 3 Setup Complete dialog box To start the program select Launch the program file and click Finish If you do not want to start the program just click Finish If you are prompted to restart the computer simply follow the message and restart it Note Remove the floppy disk before restarting the computer 4 ...

Page 43: ... click Start Program P YOKOGAWA_E and then DrvGII Figure 4 3 4 Startup 2 An Version Information dialog box is displayed for several seconds and then the PC utility starts up Figure 4 3 5 Version Information dialog box Figure 4 3 6 After starting up the PC utility Version of PC utility ...

Page 44: ...C Figure 4 4 1 ComPortSelect dialog box Note Settings made in the ComPortSelect dialog box are stored in a file It is not necessary to make settings from the next time you start the PC utility Change the setting as necessary 4 4 2 Selecting Channels When you start the PC utility the Communication mode dialog box appears in the upper left corner of the screen see Figure 4 4 2 If you are using one d...

Page 45: ...ty the Communication string dialog box appears in the upper right corner of the screen See Figure 4 4 3 Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu Figure 4 4 3 Communication string dialog box String sent String received ...

Page 46: ...4 11 4 4 4 Main Menu When you start the PC utility the MainMenu dialog box appears see Figure 4 4 4 See the following chapters for how to start the actual operation Figure 4 4 4 MainMenu dialog box 4 ...

Page 47: ...nMenu and then the I O config L button 2 Enable Servo ON Click the checkmark of 1 under DI and then click the Set S button Caution Make sure to click the Set button after finishing the setting the status will become Servo ON Verify that the S RDY LED on the front panel is turned on Set Servo ON DI 1 to no check Negative setting Set button Click the I O Config L button Click the I O Config I button...

Page 48: ...4 13 3 Reset the driver according to the message in the dialog box 4 Verify that the driver is reset and the SRDY LED on the front panel is turned on Click OK 4 ...

Page 49: ...CW of the motor CW CCW Load installation surface Caution Look carefully from both sides of the load installation surface to check the CW CCW movement When started the motor operates in the CCW direction Take extra care to ensure that there is no mechanical interference with the rotor which is currently in the stop position 2 Click the Servo Cntl S button on the MainMenu Click the Servo Cntl button...

Page 50: ...he operation width varies depending on the velocity rating of the motor Take extra care not to cause any mechanical interference around the rotor How to calculate the operation width Operation width degree motor velocity rating rps x 0 02 x 360 5 Each parameter setting value is displayed and the auto tuning is automatically terminated 4 Click the Auto Tuning Start button After the auto tuning is p...

Page 51: ...e motor CW CCW Load installation surface Caution Look carefully from both sides of the load installation surface to check the CW CCW movement When started the motor operates in the CCW direction Take extra care to ensure that there is no mechanical interference with the rotor 2 Check the setting of the homing direction through the PC utility Click Drive in the Main Menu then Homing MainMenu DriveM...

Page 52: ...es not stop even when the home position sensor is detected Click Abort A to stop the motor then check wiring and auto tuning again 2 If a homing abnormality message is displayed follow the message to adjust the flag position using the limit value as a guideline If an error occurs press ErrReset as well 4 The current setting values for the homing related parameters are displayed 3 Click the Set but...

Page 53: ...n normal DOWN A B Caution 3µs min 3µs min 150ns min The signal should be H when active status for flowing current to the driver photocoupler As for both the UP and DOWN they should be L when normal 150ns min 6µs min The signal should be H when active status for flowing current to the driver photocoupler 300ns min The position command value instructed from the controller interface can change the we...

Page 54: ...ition then back again CW direction stops for one second CCW direction finish Upper surface of the motor load installation surface side Velocity pattern Example of operation Velocity mm sec Time sec Moving distance negative direction 50 degrees Moving distance positive direction 50 degrees 1 0sec 50 0 50 Stop time Setting value of acceleration time Setting value of deceleration time Setting value o...

Page 55: ...4 3 Feed Forward 5 4 4 Servo Stiffness Parameter 5 5 Acceleration Deceleration Function 5 5 1 Velocity Override Function 5 5 2 Velocity Profile 5 6 Other Functions 5 6 1 Settling Wait Position Settling Status and Positioning Status 5 6 2 Velocity Monitor and Analog Monitor 5 6 3 Brake Signal 5 7 Special Parameter Processing 5 7 1 Internal Generation of Parameter Initial Values 5 7 2 Limiting and C...

Page 56: ...separately Note that these parameters are stored in the driver they will not be deleted even if the power is turned off 5 1 2 Mechanical Setting Parameters It is always possible to read these parameters but writing is possible only when operating in mechanical setting mode These parameters are set only once when the device is started up An operational meaning is assigned to each The details of eac...

Page 57: ...g type 0 Test operation Generates a 2 5Hz square wave position command signal for adjustment of the control part Non self end 1 Auto tuning operation Makes the rotor oscillate measures load inertia and load mass and sets the parameters for the control part automatically Self end 2 Reserved 3 Homing move Finds the home position using the hardware over travel signal homing sensor and motor Zero sign...

Page 58: ...width 5 2 3 Auto Tuning Operation This operation makes the rotor oscillate measures the inertia and weight of the load and automatically sets the parameters for the control part It accelerates decelerates with half the rated torque and rated thrust of the motor and measures the inertia and weight of the load from the velocity changes at that time The result of the measurement is written to the 155...

Page 59: ...sition error 29 Offset distance from the Home position 30 Homing complete operation command value 202 Coordinates direction setting 1 OT search move The rotor moves until it finds an over travel OT signal in the opposite side of the homing direction and in the opposite direction of homing direction It is executed only when the OT signal search move is enabled in 21 Enable Disable the over travel s...

Page 60: ...edge search move The rotor moves until it finds the Zero signal edge in the Zero signal edge search direction that was used in the first home sensing move The moving velocity is set to the value in the 13 Homing operation Home sensing feed velocity 1 parameter 6 Home position move The home position is moved to the detected Zero signal edge position Motors that use software Zero signals further per...

Page 61: ...ue 0 7 358 value normal 0 7 358 value 318 value 0 75 358 value warning 0 75 358 value 318 value error Software zero signal type 318 value 0 05 358 value error 0 05 358 value 318 value 0 1 358 value warning 0 1 358 value 318 value 0 4 358 value normal 0 4 358 value 318 value 0 45 358 value warning 0 45 358 value 318 value error 5 ...

Page 62: ...on 26 0 Enabling the proximity signal Invalid during OT search under the homing mode 29 positive value Offset distance from the Home position 202 1 Coordinate direction setting 20 0 Homing direction direction 21 0 Enable disable the over travel Not used signal under the homing mode 25 1 Homing operation Inside Origin inside selection 26 0 Enabling the proximity signal Invalid during OT search unde...

Page 63: ...rdinate values The command unit coordinate system has command values and current values each of which are constantly updated and displayed in the 323 Command unit command value monitor and the 370 Command unit current value monitor respectively 5 3 2 Switching Position Command Pulse Weights The position command value instructed from the controller interface is given to the driver by any pair of th...

Page 64: ...tor mechanical system 387 Motor linear coordinate command value Motor position Velocity sensor Position sensor Position current value filter Motor linear coordinate current value after filtering Motor linear coordinate current position Velocity value digital Velocity command value after filtering digital Velocity current value after filtering Velocity current value Pulse position current value 50 ...

Page 65: ...y when the first order compensation is not set There are two channels available for the notch filter optional The central frequency value can be set independently for each channel via the 153 Notch filter Frequency selection 1 and 154 Notch filter Frequency selection 2 parameters The notch filter has the effect that it improves the gain characteristics of mechanical systems that tend to resonate T...

Page 66: ...bandwidth is set with the 59 Position current value filter frequency parameter The position control part outputs a value before or after being filtered to the 321 Pulse position current value monitor according to the setting status of the 203 Using position current value filter parameter It also calculates the value of the 322 Pulse position deviation monitor using the current value before or afte...

Page 67: ...ers 51 49 selected by IN_GAIN are set In addition the gain of the control system is set automatically and the position integral limiting value parameter 53 is also automatically set to the minimum position integral limiting value that can generate the maximum torque and the maximum thrust in the motor lock status It is not necessary to set parameters related to feed forward and filters again Relat...

Page 68: ...aximum velocity but is limited by the maximum velocity defined within the driver The limited value is displayed in the 357 Maximum velocity monitor 5 5 1 Velocity Override Function The velocity override value is set with the 16 Velocity override percentage 1 parameter The velocity override value can be set in increments of 0 01 from 0 to 200 Please note that if a value greater than 100 is set the ...

Page 69: ...values of the 7 Acceleration time during a trapezoidal move and 8 Deceleration time during a trapezoidal move parameters are set to values equivalent to the maximum velocity shown in the 357 Maximum velocity monitor The actual acceleration deceleration time becomes the value obtained by multiplying the maximum velocity by the velocity ratio during a trapezoidal move By doing so the same accelerati...

Page 70: ...same way the moving part is decelerated at the same deceleration profile and deceleration as the normal deceleration time when the velocity override value is decreased Acceleration s shaped deceleration constant acceleration Waiting for trigger 500ms div NORM 2kS s 150 100 0 Waiting for trigger 500ms div NORM 2kS s 150 100 0 Related parameters 3 Selecting the type of cam profile move 4 Selecting t...

Page 71: ...ttling depending on the load status the settling condition can be obtained without fail by increasing the chattering processing count The position settling status is displayed in the 328 Position settling status monitor It is also displayed with the COIN LED on the front panel it turns on to indicate the position settling status Furthermore it is output to the COIN of the CN3 analog monitor interf...

Page 72: ...gain Position deviation Pulse 71 Positioning error monitoring gain Analog monitor Test operation response Pulse 72 Test operation monitoring gain Analog monitor Position command value Pulse Position current value Pulse 73 Position monitoring gain Analog monitor Position command differential value pps Position current differential value pps 74 Position differential value monitor gain Analog monitor...

Page 73: ...ion offset move feed velocity Value obtained by converting the motor rating velocity 0 1 into command units 31 Operation width under testing mode Value obtained by converting the motor rating velocity 0 002 into command units 32 Operation width under Auto tuning Value obtained by converting the motor rating velocity 0 02 into command units 213 Maximum velocity Value obtained by converting the moto...

Page 74: ...rformed for the following parameters related to velocity at the time of parameter entry and when the power is turned ON Related parameters 9 Feeding velocity 10 Jog velocity 11 Over travel search velocity during a homing move 12 Homing operation Home sensor proximity signal search velocity 13 Homing operation Home sensing feed velocity1 15 Homing operation Origin position offset move feed velocity...

Page 75: ...er Pulse Output 6 4 Operations 6 4 1 Starting an Operation 6 4 2 Aborting an Operation 6 4 3 Timing Charts 6 5 Other Inputs 6 5 1 Pulse Weight Selection PLS_DIRECT 6 5 2 Position Control Bandwidth Selection FN 6 5 3 Velocity Control Bandwidth Selection GAIN 6 5 4 Settling Width Selection POSW 1 0 6 5 5 Disable Position Control Integral Operation PACT 6 5 6 Error reset ERR_RESET 6 5 7 Servo ON SERV...

Page 76: ...OMN1 21 IN_MODE_START 03 OUT_DRDY 22 IN_ABORT 04 OUT_SRDY 23 IN_MODE 0 05 OUT_BUSY 24 IN_MODE 1 06 OUT_XOVL 25 IN_POSW 0 07 OUT_OVER 26 IN_POSW 1 08 OUT_COIN 27 IN_GAIN 09 UA_OUT 28 IN_FN 10 UA_OUT 29 IN_PLS_DIRECT 11 DB_OUT 30 IN_PACT 12 DB_OUT 31 NC 13 Z_OUT 32 NC 14 Z_OUT 33 CRNT_LMT_IN 15 PUA_IN 34 CRNT_LMT_IN 16 PUA_IN 35 NC 17 SDB_IN 36 NC 18 SDB_IN Note Do not connect any terminal with NCs ...

Page 77: ... output signals Total 6 points OUT_DRDY 1 Driver ready Turns ON when it is not in the error status OUT_SEDY 1 Servo ready Turns ON when it is in the servo ready status OUT_OVER 1 Over signal Turns ON when position deviation overflow or excessive velocity occurs OUT_XOVL 1 Overload signal Turns OFF when overload occurs OUT_COIN 1 Position settling signal Turns ON when the position deviation is with...

Page 78: ...t outputs OUT_DRDY OUT_SRDY OUT_BUSY OUT_XOVL OUT_OVER OUT_COIN Maximum load current 0 1A point 0 5 A common ON voltage 0 5VDC or less Leak current at OFF 0 1mA or less Output is ON while the output transistor is ON PS2805 COMP1 OUT_ COMN1 10kΩ MA8330 MA8330 2SD1820A Vcc 1 5kΩ SA 8 2kΩ SB 1kΩ SA SB Rated voltage 12 to 24 VDC 10 Interface type name 5 VDC 10 Position command pulse inputs PUA_IN SDB_...

Page 79: ...l setting it becomes an output signal OUT_ The I O logical settings at the time of shipment from the factory are set to positive logic for all input and output signals In other words the internal input and output signals are set to 1 when the corresponding contact points are turned ON By setting the I O logical setting for IN_SERVO to negative logic using the PC utility it is possible to connect a...

Page 80: ...an change the weight of a single pulse on the interface by the input signal PLS_DIRECT When the status of the input signal PLS_DIRECT is 0 a single pulse on the interface becomes the value set with the 207 Simplified scaling weighted data parameter While the status of the input signal PLS_DIRECT is 1 a single pulse on the interface is independent of the value set with the 207 Simplified scaling we...

Page 81: ...e of the operation start command issuance via MODE_START However note that the dead time for issuing the operation start command will be added to this duration 10ms The total dead time until the motor starts operating is thus 10ms scan time 10ms read delay internal delay time The BUSY output retains the executing status even when an operation ends while MODE_START is giving a command while in stat...

Page 82: ...der Not necessary to consider Self end type In case of end by the operation abort command Non self end type MODE_ABORT MODE_START MODE 1 0 BUSY STATUS1 STATUS0 Not necessary to consider 0 or more STATUS1 STATUS0 Not necessary to consider Not necessary to consider 0 or more STATUS1 STATUS0 Non end type MODE_START MODE 1 0 BUSY STATUS1 STATUS0 Not necessary to consider 0 or more STATUS1 STATUS0 Not ...

Page 83: ...s selected with status 0 6 5 4 Settling Width Selection POSW 1 0 The POSW 1 0 settling width selection signal selects to use either one of 58 and 45 to 47 Position settling width pulse 1 to 4 parameters for the settling width used as the specified range for generating settling signals POSW 1 0 1 0 Settling width value Status 0 Status 0 58 Position settling width pulse 1 Status 0 Status 1 45 Positi...

Page 84: ... below Servo ON OFF SERVO SRV DS Servo ON disable on the front panel Actual servo status Disabled Status 0 Enabled Disabled Servo OFF Status 1 Enabled Servo ON 6 5 8 Current Limit Input The current limit analog input signal gives a current limit from 0 to 100 in proportion to a voltage input of 0 to 10V given by the external source To enable this function enable the 206 Enabling current limit exte...

Page 85: ...on and Setting 7 3 Communication Specifications 7 4 Commands 7 4 1 Start 3 Field 0 7 4 2 Stop 2 7 4 3 Abort 1 7 4 4 Error reset 4 7 4 5 Homing offset position setting 10 7 4 6 Jog move command 11 Field 0 7 4 7 Other convenient commands 7 5 Parameter Commands ...

Page 86: ...ication mode In addition the PC utility optional running under Windows can also be connected to the drivers via the RS232C interface in order to support setting operation and maintenance work on the drivers Refer to Chapter 8 DrvGII PC Utility for a description of how to use the PC utility 7 2 Connection and Setting Connectors and terminal assignment 01 FG 06 05 04 03 02 SG NC TxD RxD 09 08 07 XTB...

Page 87: ... RxD SG 03 02 05 TxD RxD SG Driver 1 PC D sub 9 pin male 09 SG 03 02 05 TxD RxD SG Driver 2 D sub 9 pin male 09 SG 03 02 05 TxD RxD SG Driver 9 D sub 9 pin male 09 SG 05 04 CTS RTS In multi channel communication the host device is assigned to host ID 0 The drivers should be set as slave stations and the IDs should be set for each driver from 1 to 9 in such a way that the station numbers do not ove...

Page 88: ...acter string CR Single channel Multi channel Recognition key Response character string CR Slave station ID 0 Recognition key The recognition key is a function provided so that the host device can recognize that a response is a reply to a specific transmission by the host device A maximum of 15 characters can be included in the recognition key part If more than 15 are added the remainder of the num...

Page 89: ...s Header structure part part Explanation General R Number of fields For the field expression method see the note Normal response character strings to a transmission character string The number of fields changes depending on the content of the response Error ERR Alarm ALM Error alarm code main Error alarm code sub Response character string to a transmission character string at error and alarm Field...

Page 90: ...es depending on the current operating action Refer to the table below The response is issued immediately Operating action name Driver response Test operation Ends the operation when the motor returns to the start position Auto tuning operation Ends the operation when the oscillation command to the motor is completed Homing move Immediately decelerate and stop the move and ends the operation Mechan...

Page 91: ...y this command If a start command is issued during a jog move the move is immediately decelerated and stopped after which the operation is started If the operation is ended after that the motor remains stopped regardless of the jog move status before starting the operation The response is issued immediately 7 4 7 Other convenient commands Command name Command No Number of fields Response at normal...

Page 92: ...hand side must be variables expressed by The right hand side can be direct numerical values or it can contain variables such as a parameter monitor referred to by The response at normal operation is R00 Reference commands Reads the value of parameter Reads the value of monitor Response character string R1D Response character string R1B 00010000 Simple setting commands 400 400 Sets to variable 400 ...

Page 93: ...ws 95 98 98SE Me NT4 0 2000 8 2 2 Starting the PC Utility 8 3 Preparation 8 3 1 Selecting a Communication Port 8 3 2 Selecting Channels 8 3 3 Displaying Communication Strings 8 3 4 Main Menu 8 4 Operation Menu 8 4 1 Terminal 8 4 2 Servo Tuning 8 4 3 Oscilloscope 8 5 Action Menu 8 5 1 Homing 8 5 2 Jog Move 8 5 3 Test Operation 8 6 Data Management Menus 8 6 1 Parameter Manager 8 6 2 I O Set 8 6 3 Pu...

Page 94: ...monitor values 8 1 2 Overview of the Action Menu In the action menu you can set and display parameters display monitors and start or stop actions related to the operations listed below Homing move jog move and Test operation 8 1 3 Overview of the Data Management Menu The data management menu contains the following seven functions Parameter This function allows you to save all the parameters to fil...

Page 95: ...Display the Properties of Adding Removing Programs dialog box and click Set Up 1 Then proceed according to the instructions displayed on the screen The PC utility setup program starts up Proceed with the setup according to the instructions on the screen A dialog box for determining the directory in which to install the PC utility appears see Figure 8 1 Figure 8 1 Choose Destination Location dialog...

Page 96: ... on the screen and change disks When the setup is completed the Setup Complete dialog box appear see Figure 8 3 Figure 8 3 Setup Complete dialog box To start the program select Launch program file and click Finish If you do not want to start the program just click Finish If you are prompted to restart the computer simply follow the message and restart it ...

Page 97: ...t button Program Specified program folder and then YOKOGAWA_E The Version Information dialog box see Figure 8 4 is displayed for several seconds and the PC utility starts up By default the specified program folder is YOKOGAWA_E Figure 8 4 Version Information dialog box Version of the PC utility 8 ...

Page 98: ...he connected PC Figure 8 5 ComPortSelect dialog box Note Settings made in the ComPortSelect dialog box are stored in a file It is not necessary to make settings from the next time you start the PC utility Change the setting as necessary 8 3 2 Selecting Channels When you start the PC utility the Communication mode dialog box appears in the upper left corner of the screen see Figure 8 6 If you are u...

Page 99: ... string dialog box appears in the upper right corner of the screen See Figure 8 7 Any strings that the PC utility sends to the driver as well as any strings received from the driver are displayed regardless of the menu Figure 8 7 Communication string dialog box String sent String received 8 ...

Page 100: ...rvGII PC Utility 8 8 3 4 Main Menu When you start the PC utility the MainMenu dialog box appears see Figure 8 8 See the following chapters for how to start the actual operation Figure 8 8 MainMenu dialog box ...

Page 101: ...ver and at the same time displayed in the display text area 2 When a character string is received from the driver it is displayed in the display text area 3 If you click Resend R the character string transmitted last time is sent again 4 If you click Re edit P the character string transmitted last time is displayed in the input text field 5 It is possible to display a maximum of ten transmitted ch...

Page 102: ...r text field the contents and values of the corresponding parameters are displayed Up to five parameters monitors can be monitored and they can be switched on and off by clicking their respective switch check boxes the update cycle of the parameter monitor values can be shortened by decreasing the number of parameters to be monitored Figure 8 10 Parameter Monitor dialog box Parameter monitor numbe...

Page 103: ... to monitor the on off status of DI and DO points It displays the status of electrical I O signals regardless of the I O logic setting For reference of DI and DO numbers and signal names see Chapter 6 Figure 8 11 I O Monitor dialog box DO status Select DI DO points to display DI status Red on Black off Gray nonexistent I O point Red on Black off Gray nonexistent I O point 8 ...

Page 104: ... Terminal click Error or Alarm S under Monitor to display the Error or Alarm dialog box see figure 8 13 When an error occurs this dialog box displays error message and shows the error history in the display text area When an alarm occurs it displays alarm message and shows the alarm history in the display text area In the display text area the error history is displayed first and a maximum of 16 e...

Page 105: ...ext N parameters monitors with larger numbers than the currently displayed parameters monitors are displayed Figure 8 14 Parameter Monitor help dialog box 6 Command help In the Terminal menu click Command Help C under List to display the Command Help dialog box see Figure 8 15 The Command Help can display the contents of a maximum of ten commands If you click Prev P commands with smaller numbers t...

Page 106: ...several times the estimation of the inertia and weight is completed and reflected in the parameter for inertia weight By changing the servo stiffness setting parameter three parameters the velocity control bandwidth position control bandwidth and position control integral limiter are changed and thus the servo stiffness changes 2 Manual tuning 1 Set the operation mode to the RS232C operation enabl...

Page 107: ...ed into two sections a first order delay filter setting and a notch filter setting 1 To set the first order delay filter Select one from None 20 80 30 120 and 40 160 2 To set the notch filter Manipulate the frequency setting scroll bar and set Clicking the arrows at either end The frequency changes in steps of one Clicking between the slider bar and an arrow The frequency changes in steps of ten D...

Page 108: ...ote The parameter monitor information is obtained automatically from the driver when the Oscilloscope dialog is started Please wait for a while until it becomes ready for use This operation is required only once for the initial use Figure 8 18 Oscilloscope dialog box 12 Vertical axis range selection 12 Auto Simplified terminal 12 Vertical axis range selection 13 Data save 13 Data load ...

Page 109: ... is Single 6 Enter a trigger level Valid when the trigger mode is Single 7 Click the to select a trigger position Valid when the trigger mode is Single 8 Click the to select a time horizontal axis The unit is msec 9 Click Set Start to return to the Oscilloscope dialog box and wait for the completion of data acquisition 10 When the data is obtained Start Acquisition becomes active 11 Click Start Ac...

Page 110: ...ELogStart dialog box as well as the values set by Display position selection and Vertical axis range selection are automatically saved in the oscscope cnd file when the Oscilloscope dialog box is closed When the dialog box is opened next time it displays the previous setting values 14 When Condition and display under Data load is clicked the setting status of the SetCondition ELogStart dialog box ...

Page 111: ...d display parameters display monitors and start or stop actions related to the operations listed below Homing move jog move and Test operation Click Drive D under MainMenu to display the DriveMenu dialog box see Figure 8 20 Figure 8 20 DriveMenu dialog box 8 ...

Page 112: ...s displayed in the changed value text field 2 Enter a value in the changed value text field and click the Enter Return key or click another cell to make the new parameter value valid 3 Repeat steps 1 and 2 as necessary and click Set S to set the changed values in the driver If there is an error in the set value a warning message is displayed and the parameter is read again Parameters whose setting...

Page 113: ...e buttons are disabled Start 1 Set the motor to Servo ON see Chapter 5 2 Click Start D The measured value of the homing is displayed after the homing operation is finished Abort 1 Click Abort A The motor decelerates and stops Error Reset 1 Click ErrReset R Errors that can be recovered are canceled Simplified terminal 1 Click Terminal T 2 Send or receive character strings 8 ...

Page 114: ... is displayed in the changed value text field 2 Enter a value in the changed value text field and click the Enter Return key or click another cell to make the new parameter value valid 3 Repeat steps 1 and 2 as necessary and click Set S to set the changed values in the driver If there is an error in the set value a warning message is displayed and the parameter is read again Parameters whose setti...

Page 115: ... ON see Chapter 5 2 Click Start M Jog stop 1 Click Stop S Error Reset 1 Click ErrReset R Recoverable errors are canceled Simplified terminal 1 Click Terminal T 2 Send or receive character strings 8 5 3 Test Operation To start a test operation click TestMode T under DriveMenu This function is the same as the test operation of servo tuning Note The motor performs reciprocating motions with fine widt...

Page 116: ...er This menu allows you to save all the parameters to files and register them from files in addition to edit the machine setting parameters Click Parameter M under MainMenu to display the Parameter Manager dialog box see Figure 8 23 Figure 8 23 Parameter Manager dialog box ...

Page 117: ...d click Set S to start downloading to the driver If you click Exit X the parameter values are not changed 4 When the downloading is finished follow the message and reset the driver Note If any erroneous data are set the parameters that could not be downloaded are displayed In this case reset the driver once and set the parameters again Note In the case of the machine setting parameters the changed...

Page 118: ...k View file V in the Parameter Manager dialog box 2 Enter the name of the file you want to display Do not enter a file extension prm it is added automatically 3 Click Open O to begin displaying the file contents in the Parameter file display dialog box see Figure 8 25 4 If you want to print the file click Print P 5 Click Exit X and return to the Parameter Manager dialog box Figure 8 25 Parameter f...

Page 119: ... set the logical setting of DI DO points For reference of DI and DO numbers and signal names see Chapter 6 Click I O set I under MainMenu to display the I O configuration dialog box see Figure 8 26 Figure 8 26 I O configuration dialog box 8 ...

Page 120: ...etting of that number 4 Click the check boxes of the I O points to change the logical setting Note An I O point with a check mark is set to positive logic A contact and an I O without a check mark is set to negative logic B contact 5 Click Set S 6 When the setting is completed follow the message and reset the driver 2 Uploading from the driver to a file 1 Click Upload U in the I O configuration di...

Page 121: ...ialog box 2 Enter the name of the file to be downloaded to the driver Do not enter a file extension ioc it is added automatically 3 Click Open O to start downloading If you wish to stop the downloading click Cancel 4 When the downloading is finished follow the message and reset the driver 8 ...

Page 122: ...e Puls configuration dialog box is displayed and the current setting status is read Figure 8 28 Puls configuration dialog box 3 Select the parameter from the combobox 4 Click Set S to start downloading the selected parameter to the driver 5 When the downloading is finished follow the message and reset the driver ...

Page 123: ...ion Display Pendant 9 1 Overview 9 2 Features and Part Names 9 3 Switching Displays 9 4 Terminal Mode Display 9 5 Parameter Monitor Display 9 6 Parameter Settings Display 9 7 I O Monitor Display 9 8 Special Command Display ...

Page 124: ... break can be displayed repeatedly Special command display In this display you can issue common commands in a simple manner Program menu display In this display you can edit copy and delete programs 9 2 Features and Part Names EMG EMG EMG EMG STOP STOP STOP STOP f 0 f 0 f 0 f 0 f 4 f 4 f 4 f 4 7 7 7 7 f 3 f 3 f 3 f 3 f 7 f 7 f 7 f 7 f 2 f 2 f 2 f 2 f 6 f 6 f 6 f 6 f 1 f 1 f 1 f 1 f 5 f 5 f 5 f 5 8...

Page 125: ...splay can be accessed by selecting edit EDT copy CPY or delete DEL _ S N P 001 HOT_ErrEn Mon DATA N P 001 HOT_ErrEn Set DATA N P PLC I00 xxxxxxxx I O SEL N P CMD Abort Spc SEL N P N P Special command display I O monitor display Parameter settings display Terminal mode display Parameter monitor display N P Next Prev functions are assigned to the f3 f7 keys in each display f3 N To the next display f...

Page 126: ...r string and response character string display area Function key content display area Display part 16 characters One line 64 characters 16 lines Input character string buffer _ S N P 50_ S N P Position bandwidth 12 S N P f0 Character selection positive direction The character in changes at every key press f1 S Inputs the selected character The character in is input by pressing this key f2 Inputs f...

Page 127: ... Parameter monitor number setting area n n n n E E E E r r r r r r r r E E E E _ _ _ _ T T T T O O O O H H H H 1 1 1 1 0 0 0 0 0 0 0 0 P P P P N N N N A A A A T T T T A A A A D D D D n n n n o o o o M M M M Function key content display area Data display area Comment display area Parameter monitor number setting area n n n n E E E E r r r r r r r r E E E E _ _ _ _ T T T T O O O O H H H H 1 1 1 1 0 ...

Page 128: ...ult is displayed as in display 5 If a nonexistent number is entered both the data and comment displays show the comment in display 6 In addition if you input a parameter that exists but cannot be written to the data display but not the comment display changes similarly to display 6 1 Initial display 5 Displaying setting result 2 Displaying comment 6 Displaying comment when a number does not exist ...

Page 129: ... I I C C C C L L L L P P P P N N N N L L L L E E E E S S S S O O O O I I I I I O signal block number setting area I O signal type display area Driver input signal status DI00 Reserved DI08 Reserved DI01 Reserved DI09 Reserved DI02 Reserved DI10 Reserved DI03 Reserved DI11 Reserved DI04 Homing detection DI12 Reserved DI05 direction over travel detection DI13 Reserved DI06 direction over travel dete...

Page 130: ...rr Servo ON CMD SrvOn Servo OFF CMD SrvOff Mechanical setting operation start CMD toMode15 Software driver reset CMD RstDrive Motor type request CMD MotorType ROM version request CMD ROM Version Error status request refresh CMD RefErrSts 1 Initial display 2 Displaying command 3 Displaying command result C C C C s s s s t t t t S S S S r r r r r r r r E E E E f f f f e e e e R R R R D D D D M M M M...

Page 131: ...tion of the Motor Part 10 2 Maintenance and Inspection of the Driver Part 10 3 Replacing the Battery for Memory Backup 10 4 Backup and Restore Operations of Driver Memory Contents 10 4 1 Backup Operation 10 4 2 Restore Operation 10 5 Motor Problems and Corrective Actions ...

Page 132: ...parameter data in memory The life span of the lithium battery is normally 20 000 hours When the battery reaches the end of its life an alarm signal will be displayed When this happens replace the battery as soon as possible The following describes the procedure used to replace the battery 1 Back up parameters programs cam data and other important data stored in memory to flash ROM before replacing...

Page 133: ...ility Using the PC utility back up the driver memory contents to an electronic file in the personal computer Perform the following backup operation using the PC utility Parameters upload Programs upload batch Index equal division compensation upload batch Index unequal division upload batch Parts upload batch I O settings upload Backup to the driver s built in flash ROM Back up the driver memory c...

Page 134: ...ms download batch Index equal division compensation download batch Index unequal division download batch Parts download batch I O settings download Restore from the driver s built in flash ROM Restore the driver memory contents from the on board flash ROM by copying the driver memory contents to the driver s built in flash ROM in a batch operation Set the slide switch on the front panel as shown i...

Page 135: ...ections Check the motor connections in phases A B C and GND Refer to the connection diagram and connect correctly The motor rotation is unstable Incorrect motor driver model combination Check the model numbers on the rating nameplates If the combination is incorrect change to the correct combination Ambient temperature is too high Check if the ambient temperature is above 45 C Lower the ambient te...

Page 136: ...apter 11 Specifications 11 1 Standard Specifications 11 2 Torque Speed Characteristics 11 3 External Dimensions Unit mm 11 4 Restrictive Conditions for the Frequency of Repeated Operations DR5000B Series Only ...

Page 137: ...gf m 4 x 10 7 4 x 10 6 Mass kg 29 24 19 14 5 Motor Height refer to dimension diagram mm 188 163 138 113 B Series Item Unit DM1075B 00 1 DM1060B 00 1 DM1045B 00 1 DM1030B 00 1 DM1015B 00 1 Maximum output torque N m kgf m 75 7 5 60 6 0 45 4 5 30 3 0 15 1 5 Rated number of revolutions 100 200V rps 1 0 2 0 1 0 1 5 1 0 2 0 1 5 2 0 2 0 2 0 Encoder resolution p rev 2 621 440 Repeatability accuracy Sec 1 ...

Page 138: ...2 5 Encoder resolution p rev 2 621 440 Absolute accuracy sec Note Repeatability accuracy sec 3 Axial rotational deflection µm p p 10 Radial rotational deflection µm p p 10 Rotor inertia kg m2 5 5 x 10 3 2 5 x 10 3 Withstand load N 50 Mass kg 3 3 Note A Absolute accuracy 20 sec B Absolute accuracy 60 sec 11 ...

Page 139: ...idity rad N m rad kgf m 4 x 10 7 4 x 10 6 Mass kg 65 55 45 36 31 26 Motor Height refer to dimension diagram mm 358 304 250 212 185 158 B Series Item Unit DR1060 B00 1 DR1045 B00 1 DR1030 B00 1 DR1015 B00 1 DR1008 B00 1 Maximum output torque N m kgf m 60 6 0 45 4 5 30 3 0 15 1 5 8 0 8 Rated number of revolutions 100 200V rps 1 0 1 5 1 0 2 0 1 5 2 0 2 0 2 0 Encoder resolution p rev 1 015 808 Repeata...

Page 140: ...3 x 10 5 Moment displacement rigidity rad N m rad kgf m 4 x 10 7 4 x 10 6 Mass kg 48 44 36 32 26 Motor Height refer to dimension diagram mm 355 327 271 243 210 E Series Item Unit DR1070E 00 1 DR1030E 00 1 Maximum output torque N m kgf m 70 7 0 30 3 0 Rated number of revolutions 100 200V rps 1 5 2 0 1 5 2 0 Encoder resolution p rev 1 228 800 Repeatability accuracy Sec 3 Motor driver Rotational posi...

Page 141: ...o 85 R H Should have no condensation Temperature 20 to 85 C Ambient storage conditions Humidity 20 to 85 R H Should have no condensation Operating environment No corrosive gases and dust should be present 5 Driver Part General Specifications Type 500W type 2kW type Model name U A _ U B _ U K _ U L _ Input power supply voltage 100 to 115V AC 10 15 50Hz 60Hz 200 to 230V AC 10 15 50Hz 60Hz 100 to 115...

Page 142: ... notch filter bandwidth 1 Calculates proportional gain and acceleration feed forward gain of the velocity control part automatically based on measurement by the auto tuning operation or manual setting of the load inertia weight with respect to the settings of velocity control bandwidth and acceleration feed forward percentage 2 Calculates position control bandwidth velocity control loop bandwidth ...

Page 143: ... 230 VAC power supply 100 115 VAC power supply DM1004B C Output torque N m 3 DM1004B C No of revolutions rps 2 DR Series No of revolutions rps Output torque N m 4 Type 5000B E No of revolutions rps Output torque N m 3 Type E 2 Type A No of revolutions rps Output torque N m 1 Type B Output torque N m No of revolutions rps 200 230 VAC power supply 100 115 VAC power supply ...

Page 144: ...ircular division L Refer to standard specification Through hole Rotor Stator 6 M6 screw depth 8 Equal circular division Encoder cable Motor cable 3 DM1004B C DM1004C DM1004B 2 M4 through Motor cable Encoder cable 4 φ 7 hole 6 M4 screw depth 6 Equal circular division Hole ƒDM1004C 6 M4 screw depth 6 Herisert effective screw Length 4 Equal circular division 6 φ 4 5 hole φ 8 depth of counter bore 5 E...

Page 145: ...ication Rotor Stator 6 M8 screw depth 12 Equal circular division Motor cable Encoder cable hole 6 M6 screw depth 9 Equal circular division L Refer to standard specification Rotor Stator Motor cable 6 M6 screw depth 12 Equal circular division Encoder cable 6 M5 maximum depth 5 Equal circular division Stator Motor cable 6 M6 maximum depth 12 Equal circular division hole Rotor Encoder cable hole hole...

Page 146: ...11 11 3 Driver Section 1 U A B 500W Type B is shown in the figure 2 U L 2kW level without regenerative unit 11 ...

Page 147: ...11 12 Specifications 11 3 U K 2kW level with regenerative unit ...

Page 148: ...ation uniform speed deceleration and stop if the load conditions and the operation time are set as shown in Figure 11 1 it is necessary to satisfy the equations below In addition if either the average speed number of revolutions or the current duty is known the other can simply be obtained from the graph shown in Figure 11 2 The motor current and speed can actually be measured by the oscilloscope ...

Page 149: ...ncy caused by the driver is restricted by the heat generation of the driver s built in regenerative resistor If a repeated operation is performed using the pattern as shown in Figure 11 3 the repeat frequency as shown in Figure 11 4 is restricted by the load inertia using the number of revolutions as a parameter If the load inertia exceeds 1 kgm2 or if it is necessary to use on DYNASERV DR5000B se...

Page 150: ...on Origin position offset move feed velocity 1 16000000 Motor dependent Axis command unit sec Always 16 Velocity override percentage 1 0 20000 10000 1 100 Always 20 Homing direction 0 1 0 None Always 21 Enable disable the over travel signal under the homing mode 0 1 0 None Always 25 Homing operation Origin inside selection 0 1 1 None Always 27 Enabling the homing flag position error 0 1 1 None Alw...

Page 151: ... velocity monitoring gain digital monitor 0 8 0 None Always 70 Analog monitor selection 0 5 4 None Always 71 Axis positioning error monitoring gain analog monitor 0 8 0 None Always 72 Test operation monitoring gain analog monitor 0 8 0 None Always 73 Position monitoring gain analog monitor 0 14 0 None Always 74 Position differential value monitoring gain analog monitor 0 7 0 None Always 75 Velocit...

Page 152: ... 0 None While in machine setting mode 207 Simplified scaling weighted data 1 64 4 None While in machine setting mode 213 Maximum velocity 1 16000000 Motor dependent Axis command unit sec While in machine setting mode 218 Enables error when over load occurs 0 1 1 None While in machine setting mode 219 Velocity feedback filter use 0 1 0 None While in machine setting mode 220 Velocity feedback filter...

Page 153: ...the acceleration type Always Minimum value 0 Maximum value 1 Initial value 0 Unit None Long Short AccProfeel AccProfeel Select the acceleration type during trapezoidal move 0 Constant acceleration 1 S shaped 5 Selecting the deceleration type Always Minimum value 0 Maximum value 1 Initial value 0 Unit None Long Short DecProfeel DecProfeel Select the deceleration type during trapezoidal move 0 Const...

Page 154: ... value 16000000 Initial value Motor dependent Unit Axis command unit sec Long Short ORG ORG_SearchVel ORG ORGVel Specify the velocity to search the home proximity signal in homing mode This parameter is invalid if the origin proximity signal is not used 13 Homing operation Home sensing feed velocity 1 Always Minimum value 1 Maximum value 16000000 Initial value Motor dependent Unit Axis command uni...

Page 155: ... Maximum value 1 Initial value 1 Unit None Long Short ORG InsideSelect O Inside If the home sensor proximity signal is used in homing mode specify whether the Z signal inside the home sensor proximity signal is used as the origin or the Z signal outside the home sensor proximity signal is used as the origin 0 The Z signal outside the home sensor proximity signal is used as the origin 1 The Z signa...

Page 156: ...ort A TUNE_TaccIni AT_TaccIni Specify the initial value of acceleration deceleration time in auto tuning mode 38 Servo stiffness settings Always Minimum value 3 Maximum value 5 Initial value 3 Unit None Long Short ServoRigidity ServoRigit Specify the servo stiffness The larger the number is specified the stronger the servo stiffness becomes However the motor vibrates more 1 Velocity control width ...

Page 157: ...sed when the position control bandwidth 2 has been selected 49 Velocity control bandwidth 2 Always Minimum value 5 Maximum value 200 Initial value 30 Unit Hz Long Short VelControlFreq2 VelFreq2 Specify the control bandwidth of the velocity control section This parameter is set automatically by either executing auto tuning operation or changing the servo stiffness settings parameter This parameter ...

Page 158: ...Acceleration feed forward gain Always Minimum value 0 Maximum value 200 Initial value 0 Unit Long Short Accelaration_FF_ Acc_FF Specify the acceleration feed forward This parameter calculates the internal gain based on the load inertia load mass 58 Positioning settling pulse width 1 Always Minimum value 0 Maximum value 32767 Initial value 1 Unit pulse Long Short CoinWidth Pls1 Coin_widthP1 Specify...

Page 159: ...ecify the direction detection value when an excessive position deviation error occurs 66 Value causing an error detection in the or CCW direction Always Minimum value 999999 Maximum value 1 Initial value 999999 Unit pulse Long Short PosDevErrLimit PerrLim Specify the direction detection value when an excessive position deviation error occurs 68 Torque limit percentage Always Minimum value 0 Maximu...

Page 160: ...ue 8 Initial value 0 Unit None Long Short PerrMonitorGain PerrMon_G Specify the position deviation monitoring gain of the analog monitor 0 6 55V 32768 pulses 1 6 55V 16384 pulses 2 6 55V 8192 pulses 3 6 55V 4096 pulses 4 6 55V 2048 pulses 5 6 55V 1024 pulses 6 6 55V 512 pulses 7 6 55V 256 pulses 8 6 55V 128 pulses 72 Test operation monitoring gain analog monitor Always Minimum value 0 Maximum valu...

Page 161: ...ng position command differential value and current position differential value gain of the analog monitor 0 6 55V 8192000 pulses 1 6 55V 4096000 pulses 2 6 55V 2048000 pulses 3 6 55V 1024000 pulses 4 6 55V 512000 pulses 5 6 55V 256000 pulses 6 6 55V 128000 pulses 7 6 55V 64000 pulses 75 Velocity monitor selection digital monitor Always Minimum value 0 Maximum value 1 Initial value 0 Unit None Long...

Page 162: ...hes to the built in controller performs an immediate stop and turns the servo OFF immediately 93 IFB_EMG Servo status Always Minimum value 0 Maximum value 5 Initial value 0 Unit None Long Short IfbEmgServoCondition IfbEmgServ Specify the servo status of the motor when executing EMG from the interface board When operating the built in controller axis 0 Maintains the servo status after the axis oper...

Page 163: ...immediate stop 5 Switches to the built in controller performs an immediate stop and turns the servo OFF immediately 95 Over travel error function in the direction processing type Always Minimum value 0 Maximum value 5 Initial value 1 Unit None Long Short Hot_ErrorType Hot_ErrTyp Specify the processing type when an over travel error in the direction occurs When operating the built in controller axi...

Page 164: ...tatus after an immediate stop 4 Switches to the built in controller and turns the servo OFF after an immediate stop 5 Switches to the built in controller performs an immediate stop and turns the servo OFF immediately 98 Deceleration time for immediate stop during trapezoidal move Always Minimum value 1 Maximum value 9999 Initial value 1 Unit msec Long Short TdecTrapezHighAbort TdecT_High Specify t...

Page 165: ... or load mass mounted on the motor If an auto tuning operation is executed the measured value will be set automatically 201 Selection of English Japanese display While in machine setting mode Minimum value 0 Maximum value 1 Initial value 0 Unit None Long Short EnglishDisplay EnglishDsp Specify whether English display or Japanese display is used 0 Japanese display 1 English display 202 Coordinate d...

Page 166: ...a While in machine setting mode Minimum value 1 Maximum value 64 Initial value 4 Unit None Long Short CmdWeight CmdWeight Specify how many pulses a single command unit equals to during a simplified scaling operation Specify in a power of 2 e g 1 2 4 8 213 Axis maximum velocity While in machine setting mode Minimum value 1 Maximum value 16000000 Initial value Motor dependent Unit Axis command unit ...

Page 167: ...mand filter bandwidth While in machine setting mode Minimum value 50 Maximum value 1000 Initial value 1000 Unit Hz Long Short VcmdFilterFreq VcmdFilFrq Specify the bandwidth of a filter to be applied to the velocity command value that is an output from the position control part 222 Enables error when over speed occurs While in machine setting mode Minimum value 0 Maximum value 1 Initial value 1 Un...

Page 168: ...p 5 Switches to the built in controller performs an immediate stop and turns the servo OFF immediately 228 Over load error processing type While in machine setting mode Minimum value 0 Maximum value 5 Initial value 1 Unit None Long Short OverloadErrorType OVL_ErrTyp Specify the processing type when an over load error occurs When operating the built in controller axis 0 Maintains the servo status a...

Page 169: ...stops high level 4 Turns the servo OFF after the axis operation stops high level 5 Stops the axis operation high level and turns the servo OFF immediately When performing the higher controller follow up 0 Switches to the built in controller and maintains the servo status after a deceleration stop 1 Switches to the built in controller and turns the servo OFF after a deceleration stop 2 Switches to ...

Page 170: ...se 323 Command unit command value Axis command unit 324 Scaling data command unit side Axis command unit 325 Scaling data pulse side pulse 328 Position settling status None 335 Interface ready None 337 Overload status None 338 Zero signal status None 339 Sensor group signal status None 340 Excessive position deviation status None 341 Excessive velocity status None 342 Braking OFF None 343 Position...

Page 171: ...69 Present current value A D digit 370 Present command unit value Axis command unit 371 Command unit deviation Axis command unit 372 Present velocity value DC 1 16 digit 373 Motor linear coordinate command second order differential value pulse T2 374 Acceleration feed forward command value digit 375 Position control bandwidth Hz 376 Velocity control bandwidth Hz 377 Position settling width pulse 3...

Page 172: ...dy Unit None Indicates that the driver is ready 305 Servo ready Unit None Indicates that the servo is ready 310 Display of program number under execution Unit None Indicates the program number during execution or after execution 317 Completion of homing status display Unit None Indicates whether a homing operation has been completed after the power is turned on 318 Homing operation The measured va...

Page 173: ...lays the command unit command value 324 Scaling data command unit side Unit Axis command unit Displays the axis scaling data command unit side that is actually used 325 Scaling data pulse side Unit pulse Displays the axis scaling data pulse side that is actually used 328 Position settling status Unit None Indicates that the axis position deviation is within the specified range 335 Interface ready ...

Page 174: ...n hardware over travel signal bit7 Reserved 340 Excessive position deviation status Unit None Displays the excessive position deviation status 341 Excessive velocity status Unit None Displays the excessive velocity status 342 Braking OFF Unit None Indicates that the brake signal is OFF 343 Position control integral main switch status Unit None Displays the position control integral main switch sta...

Page 175: ...y Unit digit rps digit mps Displays the digital velocity sensitivity 357 Maximum velocity Unit Axis command unit sec This parameter is defined by the smaller value of the maximum velocity axis command unit sec set by the user and the maximum velocity axis command unit sec converted from the maximum velocity rps mps set by the motor and driver The position command velocity is restricted by this val...

Page 176: ...resent velocity value 1msec sample 366 Present post filter velocity value Unit 1 16 digit Displays the present post filter velocity value 1msec sample 367 Velocity deviation digital Unit 1 16 digit Displays the velocity deviation 1msec sample 368 Current command value D A Unit digit Displays the current command value D A output value The conversion rate is as follows 1 digit 0 0036 27853 digits 10...

Page 177: ...ntial value of the motor linear coordinate command value example 2 msec 374 Acceleration feed forward command value Unit digit Displays the acceleration feed command value 375 Position control bandwidth Unit Hz Displays the position control bandwidth 376 Velocity control bandwidth Unit Hz Displays the velocity control bandwidth 377 Position settling width Unit pulse Displays the position settling ...

Page 178: ...resent motor linear coordinate value 2msec sample 392 Pre filter current square duty Unit digit Displays the pre filter current square duty decimal point 15 bits 393 Post filter current square duty Unit digit Displays the post filter current square duty decimal point 15 bits 396 Driver code Unit None Displays the driver code 398 Motor code Unit None Displays the motor code 399 Time after power ON ...

Page 179: ...s 43 direction hardware over travel KIND_ERR error TYPE_ELS Others 44 direction software over travel KIND_ERR error TYPE_E2 Stop deceleration 45 direction software over travel KIND_ERR error TYPE_E2 Stop deceleration 46 Emergency stop KIND_RGR Always error TYPE_ELS Others 49 Homing error KIND_ERRALM1 Error operation alarm TYPE_E2 Stop deceleration 50 Cannot execute KIND_ERRALM2 Error operation ala...

Page 180: ...easures TYPE_POR Do not start up Long Short InterfaceBoardError IFB_Err Main cause Failed to initialize the interface board Action to take Contact us Error number 3 Battery alarm Error type KIND_ELS Others Measures TYPE_ELS Others Long Short BatteryAlarm BatteryAlm Main cause Battery voltage for memory backup is low Action to take Replace with a new lithium battery Error number 4 Watchdog error Er...

Page 181: ...e 5 I O logic setting file 6 Index file Type B 7 Absolute accuracy compensation file Action to take Perform the Reset All operation and download all backup data Error number 11 Data error Error type KIND_POR Start up error Measures TYPE_POR Do not start up Long Short DataError DataError Main cause Data that cannot be processed was detected when the power was turned on Subcode 1 Basic data and adju...

Page 182: ...d the process that was prohibited in the coordinate non settling status 2 Out of the command coordinate area 3 Executed a process using the setting that is prohibited Action to take Error number 18 Monitor pulse output error Error type KIND_SYS System error Measures TYPE_SRV Servo OFF Long Short MonitorPulseError MonPlsErr Main cause Monitor pulses cannot be output Action to take Error number 19 S...

Page 183: ...ke Verify the main power supply Error number 22 Over load Error type KIND_RGR Always error Measures TYPE_ELS Others Long Short Overload Overload Main cause The motor use is overloaded Subcode 1 The motor is overheated 2 The power module heat sink is overheated Action to take Error number 23 Excessive position deviation Error type KIND_SRV Servo error Measures TYPE_ELS Others Long Short OverPerr Ov...

Page 184: ... Main cause The direction hardware over travel signal was detected while moving to the direction Action to take Perform an error reset operation then move to the direction Error number 43 direction hardware over travel Error type KIND_ERR error Measures TYPE_ELS Others Long Short Hard_OT_ _direction _Hard_OT Main cause The direction hardware over travel signal was detected while moving to the dire...

Page 185: ...PE_E2 Stop deceleration Long Short EmergencyStop EMG_Stop Main cause An emergency stop instruction was entered Action to take Reset the error Error number 49 Homing error Error type KIND_ERRALM1 Error operation alarm Measures TYPE_E2 Stop deceleration Long Short OriginError OriginErr Main cause An error occurred during homing operation Subcode 1 Locating fixture position problem Action to take Err...

Page 186: ... 52 Timeout Error type KIND_ERRALM1 Error operation alarm Measures TYPE_E2 Stop deceleration Long Short TimeOut TimeOut Main cause A timeout occurred during internal processing Action to take Contact us Error number 53 Cannot calculate Error type KIND_ERRALM1 Error operation alarm Measures TYPE_E2 Stop deceleration Long Short CantCalc CantCalc Main cause The condition that cannot be calculated occ...

Page 187: ...eration alarm Measures TYPE_E2 Stop deceleration Long Short Out_ofRange OutOfRange Main cause The data is out of range Action to take Error number 63 Operation error Error type KIND_ALM Operation alarm Measures TYPE_E2 Stop deceleration Long Short OperationError OperateErr Main cause An operation error occurred Subcode 1 Prohibited operation in machine setting mode 2 Prohibited operation while hol...

Page 188: ...ea that is prohibited to be written Action to take Error number 80 No such command Error type KIND_ALM Operation alarm Measures TYPE_E2 Stop deceleration Long Short NoSuchCommand NoSuchCmd Main cause A non existent command was specified Action to take Error number 81 Not registered Error type KIND_ALM Operation alarm Measures TYPE_E2 Stop deceleration Long Short NotRegistered NotRegistd Main cause...

Page 189: ...conflict Error type KIND_ALM Operation alarm Measures TYPE_E2 Stop deceleration Long Short DeviceConflict DevConflic Main cause An operation was attempted by another device while other device was being operated Action to take ...

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