Sanyo Denki Q1AA04003D Instruction Manual Download

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6. Operations

[JOG operation]

6−5

Proc

edur

Item and Contents

Confirming servo motor encoder specifications System parameter setting

Use the AC servo system supporting tool R-Setup to confirm and set the specifications of the encoder.

For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual].

Item

Motor encoder type

Selects the servo motor encoder type.

Setting value

Contents

00：̲Inclemental̲ENC

Incremental encoder

01：̲Absolute̲ENC

Absolute encoder

Incremental encoder function selection

Selects detailed function of

incremental encoder.

This is set when motor encoder type is “incremental encoder”.

Setting value

Contents

00：̲Stanndard

Wire-saving incremental encoder［standard（4

pairs）］

01：̲ 7pairs̲INC-E

Incremental encoder with CS signal（７ pairs）

Incremental encoder resolution

Sets the incremental encoder

resolution.

Sets the pulse number of motor shaft one rotation.

500P/R 〜 65535P/R Setting unit＝Pulse/Rev.

Absolute encoder function selection

Selects detailed function of absolute

encoder.

This is set when the motor encoder type is “absolute encoder”.

setting

Contents

04：PA035C-2.5MH̲Manu

PA035 Synchronous , 2.5Mbps Half duplicate
communication（manual setting）

05：PA035C-4MH̲Manu

PA035 Synchronous , 4.0Mbps Half duplicate

communication（manual setting）

06：RA062C-2.5MH̲Manu

RA062 Synchronous , 2.5Mbps Half duplicate

communication（manual setting）

07：RA062C-4MH̲Manu

RA062 Synchronous , 4.0Mbps Half duplicate
communication（manual setting）

80：RA062M-1MF

RA062 Manchester 1Mbps Full duplicate

communication

81：RA062M-2MF

RA062 Manchester 2Mbps Full duplicate

communication

84：ABS-E

ABS-E 1Mbps （with incremental signal）

Absolute encoder resolution

Sets the absolute encoder resolution.

Sets the pulse number of motor shaft one

rotation.

This is set when the motor encoder type is “absolute encoder”.

Setting

Contents

Setting

Contents

00：̲2048
division

2048
division

06：̲131972
division

131072
division

01：̲4096

division

4096

division

07：̲262144

division

262144

division

02：̲8192

division

8192

division

08：̲524288

division

524288

division

03：̲16384
division

16384
division

09：̲1048576
division

1048576
division

04：̲32768

division

32768

division

0A：̲2097152

division

2097152

division

05：̲65536

division

65536

division

External encoder resolution

Sets the resolution of external encoder

in use.

This is set when the system is full closed control or something.

Sets the pulse number converted to motor shaft one rotation.

500P/R 〜 65535P/R Setting unit＝Pulse/Rev.

Summary of Contents for Q1AA04003D

Page 1: ...SPÓŁKA JAWNA Jana Dlugosza 2 6 Street 51 162 Wrocław Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS 65BA015DDK01 SANYO DENKI ...

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

Page 3: ...TYPE S M0006890C Analogue Pulse Input Type Instruction Manual For Rotary Motor E N G L I S H ...

Page 4: ... offers compatability for a wide range of applications requiring a servo motor ÌPrecautions related to this Instruction Manual In order to fully understand the functions of AC servo amplifier R Series Type S please read this instruction manual thoroughly before using it After reading this manual thoroughly please keep it handy for reference Please contact the dealre or sales representative if ther...

Page 5: ... any retrofitting or modification of the product Consult with your sale representatives or a trained professional technician regarding the installation and maintenance of these devices Special consideration such as redundant services or an emergency generator is required when operating maintaining and controlling devices in certain applications related to human safety or public functions Contact y...

Page 6: ...ion when the device is hot wired After switching the power off wait at least 5 minutes before performing these tasks Electric shock could otherwise result Only technically qualified personnel should transport install wire operate or perform maintenance and inspection on this device Electric shock injury or fire could otherwise result Danger Denotes immediate hazards which WILL probably cause sever...

Page 7: ...powered up Electric shock could otherwise result Do not unplug the connector while the device is powered up Electric shock could otherwise result Caution Please read the User Manual carefully before installation operation maintenance or inspection and perform these tasks according to the instructions Electric shock injury or fire could otherwise result Do not use the amplifier or the motor outside...

Page 8: ...erwise result Do not stand on the device or place heavy objects on top of it Bodily injury could otherwise result Do not obstruct the air intake and exhaust vents and keep them free of debris and foreign matter Fire could otherwise result Make sure the mounting orientation is correct Fire or damage to the device could otherwise result Consult the User Manual regarding the required distance between...

Page 9: ... on the mechanism Bodily injury could otherwise result In the case of an alarm first remove the cause of the alarm and then verify safety Next reset the alarm and restart the device Bodily injury could otherwise result Verify that the power specifications are normal Damage to the device could otherwise result Avoid getting close to the device as a momentary power outage could cause it to suddenly ...

Page 10: ... be exposed to rain water toxic gases or other liquids Damage to the device could otherwise result The built in brake is intended to secure the motor do not use it for regular control Damage to the brake could otherwise result Damage to the device could otherwise result Do not overhaul the device Fire or electric shock could otherwise result Do not remove the nameplate cover attached to the device...

Page 11: ... result Operate within the specified temperature and humidity range Amplifier Temperature 0 C to 55 C Humidity below 90 RH non condensing Motor Temperature 0 C to 40 C Humidity below 90 RH non condensing Burnout or damage to the device could otherwise result Follow the directions written on the outside box Excess stacking could result in collapse Bodily injury could otherwise result The motor angl...

Page 12: ...de Operations and Display 4 7 General Parameter Mode Operations and Display 4 9 Auto adjustment Mode Operations and Display 4 11 Test Run Mode Operations and Display 4 12 System Parameter Mode Operations and Display 4 14 Alarm Trace CPU_VER Operations and Display 4 15 Password Setting 4 16 5 Description of parameters Parameter List 5 1 Parameter Setting Value Group0 Group1 5 7 Parameter Setting Va...

Page 13: ...alculation Confirmation of regenerative electric power 6 External regenerative resistor Dimension 11 International standards International standard conformity Certificate number 18 Compliance with ＥＣ directives Recommended prevention components 20 Dimension Servo amplifier 24 Servo motor 30 Servo motor data sheet Characteristics table 34 Velocity Torque characteristics 38 Options Connector Commun...

Page 14: ...1 Prior to Use Product verification 1 1 Servo motor model number 1 2 Servo amplifier model number 1 3 Servo amplifier part names 1 7 Servo motor part names 1 9 ...

Page 15: ...bnormalities such as damages to the exterior of the device or missing accessories Verify that there are no loose screws on the servo motor or servo amplifier Servo amplifier Servo amp main nameplate AC SERVO SYSTEMS MODEL Q2AA04006DXS21 60W AC200V 0 53A 3000min 1 3φ CI F IP40 SER No 090206001 2002 SANYO DENKI MADE IN JAPAN 00482921 01 Ｑ Servo motor main nameplate Model No Serial No Interpretation ...

Page 16: ...W 550 5 5kW 050 500W 700 7 0kW 075 750W 11K 11kW 100 1 0kW 15K 15kW Maximum rotation speed S 1000min 1 H 3000 3500min 1 M 1500min 1 L 3000min 1 B 2000min 1 D 4500 5000min 1 R 2500min 1 securing brake X No brake B 90 V brake C 24V brake Detector type S Wire saving incremental encoder PP031 PP038 PP062 D Incremental absolute encoder P Wire saving absolute encoder PA035 W Wire saving absolute sensor ...

Page 17: ... type T Torque control type P Position control type X Speed torque switch type Y Position torque switch type U Position speed switch type V Internal speed control type Individual specification 00 Standard product A1 single phase specification AC200V Power input power part details Model numbers by amplifier capacity Input voltage Regenerati ve resistor DB 15A RS1 01 30A RS1 03 50A RS1 05 100A RS1 1...

Page 18: ...3A RS1A03A RS1M03A RS1B03A RS1L10A RS1A10A RS1M10A RS1B10A Q2AA22250H 4P RS1L30A RS1M30A RS1N03A RS1E03A RS1P03A RS1F03A Code for combined sensor type Wire saving incremental Sensor code Measureme nt Resolution P R Abbreviation Hard ID 01 Optical 2000 INC E Ａ 02 Optical 6000 INC E Ａ B1 Optical 131072 PP038 Ａ B2 Optical 10000 PP038 Ａ Wire saving absolute Sensor code Measureme nt Transmission format...

Page 19: ... R Absolute incremental encoder T Full close Power input power part details Model numbers by amplifier capacity Input voltage Regenerative resistor DB 15A RS1 01 30A RS1 03 50A RS1 05 100A RS1 10 150A RS1 15 300A RS1 30 W L A Built in W O M B W A L A AC200V W O B M B W N Built in W O P W E AC100V W O F The design order is noted by alphabetical characters at the end of the Lot Number on the name pl...

Page 20: ...0B22350H RS1 30AH P60B18750R Absolute request sensor 15bit RS1 01AR P50B03003D RS1 03AR P50B07040D RS1 05AR P50B08075D RS1 10AR P60B13200H RS1 15AR P80B22350H RS1 30AR P60B18750R Absolute incremental encoder 2048P R RS1 01AT P50B03003D RS1 03AT P50B07040D RS1 05AT P50B08075D RS1 10AT P60B13200H RS1 15AT P80B22350H RS1 30AT P60B18750R Standard I F such as a wire saving incremental encoder or wire s...

Page 21: ...reen 5 digit 7 segment LED Key to operate the Digital Operator Setup software communication connector ＰＣ Connector for upper device input output signals ＣＮ１ 10250 52A2JL Sumitomo 3M Ltd Main power supply LED CHARGE Red Control power main circuit power input connector ＣＮＡ MSTB2 5 5 GF 5 08 Phoenix Contact Co Ltd Servo motor power connector ＣＮＣ IC2 5 3 GF 5 08 Phoenix Contact Co Ltd External regener...

Page 22: ...istor servo motor power line Protective ground terminal 5 digit 7 segment LED Key to operate the Digital Operator Connector for upper device input output signals ＣＮ１ 10250 52A2JL Sumitomo 3M Ltd Sensor signal connector CN2 10220 52A2JL Sumitomo 3M Ltd Control power status LED POWER green Setup software communication connector ＰＣ Terminal for regeneration resistor control power input Protective gro...

Page 23: ...Q1AA04 Q1AA06 Q1AA07 Q2AA04 Q2AA05 Q2AA07 Q2AA08 Cannon plug type Q1AA10 Q1AA12 Q1AA13 Q1AA18 Q2AA10 Q2AA13 Q2AA18 Q2AA22 Shaft Servo motor power line connector Sensor connector Frame Flange Servo motor power line Sensor cable Sensor Shaft Frame Sensor Flange ...

Page 24: ...ing direction and location 2 3 Arrangement within the machine 2 3 Servo motor 2 5 Waterproofing and dust proofing 2 5 Protective cover installation 2 5 Gear installation 2 6 Integration with the target machinery 2 6 Allowable bearing load 2 8 ...

Page 25: ...ored or out of use for an extended period of time If enclosed in a cabinet The temperature inside the cabinet can exceed the external temperature depending on the power consumption of the device and the size of the cabinet Consider the cabinet size cooling and placement and make sure the temperature around the servo amplifier does not exceed 55 C For longevity and reliability purposes it is recomm...

Page 26: ...e cannot be used where dust or oil mist is present If dust or oil mist accumulates on the device it can cause insulation deterioration or leakage between the conductive parts and damage the servo amplifier If a large noise source is present If inductive noise enters the input signals or the power circuit it can cause a malfunction If there is a possibility of noise inspect the line wiring and take...

Page 27: ...to ensure unobstructed airflow from the heat sinks on the side and from the inside of the servo amplifier If the Q series servo amplifier is installed on its side make sure that the ambient temperature does not exceed 50 C and mount the back panel to a metal plate at least 2mm thick For RS1 03 RS1 05 a fan is attached at the side Therefore it is recommended that the servo amplifier be mounted in a...

Page 28: ...ting in several orientations horizontal or with the shaft on top or bottom is acceptable If the output shaft is used in reduction devices that use grease oil or other lubricants or in mechanisms exposed to liquids the motor should be installed in a perfectly horizontal or downward position In some models there is an oil seal attached to the output shaft If the shaft is facing upwards and the seal ...

Page 29: ...conduits are used on the matching canon connectors Q1 series motors with all flange sizes and Q2 series motors with the 42mm flange size are IP40 rated but IP67 rated waterproofing is also available as an option Q2 series motors with flange sizes of 54mm 76mm and 86mm have IP67 rated waterproofing Protective cover installation Install a protective cover as described below for motors continuously s...

Page 30: ...hould be used on the opposite side of the mechanism as well In addition install a drain to expel the water or oil that may penetrate through this oil seal Integration with the target machinery Refer to the drawing below for correct centering of the motor shaft and the target machinery Please note when using a rigid coupling that even a slight mistake in centering can damage the output shaft Measur...

Page 31: ...mounting holes for smooth coupling of the motor flange rabbet The mounting surface should be flat otherwise damage to the shaft or the load may occur Use the screw at the end of the shaft for installing parts such as the gear pulley or coupling to avoid shock Tapered motor shafts transmit the torque via the tapered surface Make sure the key fits without rattling The tapered surface contact should ...

Page 32: ...200 980 290 290 690 290 290 Q1AA12300 980 290 290 690 290 290 Q1AA13300 2000 390 390 980 390 390 Q1AA13400 2000 390 390 1200 390 390 Q1AA13500 2000 390 390 1200 390 390 Q1AA18450 2300 1900 1900 1500 490 490 Q1 Q1AA18750 3900 2000 2000 1800 590 590 Q2AA04006 150 98 98 98 29 29 Q2AA04010 150 98 98 98 29 29 Q2AA05005 200 200 150 150 78 78 Q2AA05010 200 200 150 150 78 78 Q2AA05020 250 200 150 200 78 7...

Page 33: ...g location make sure that no excessive stress is applied to the cable by allowing a large bending radius Avoid pulling the cable over sharp objects such as cutting scrap that can damage its exterior Make sure the cable is not touching any machinery and that it is out of the path of people and machines Prevent bending or additional weight stress on the cable connection by clamping the cable to the ...

Page 34: ...Protective Circuit 3 7 Description of CN Terminal Low Voltage Circuit 3 9 Description of CN1 Terminal Low Voltage Circuit 3 10 Overall Wiring Diagram of CN1 Low Voltage Circuit 3 11 Wiring Example of CN1 Input Circuit Low Voltage Circuit 3 12 Wiring Example of CN1 Output Circuit Low Voltage Circuit 3 15 Wiring of CN2 Low Voltage Circuit 3 17 Power Source Peripherals Cable Diameter 3 19 ...

Page 35: ...tor plug CN1 connector Model number of input output connector plug housing ＣＮＡ connector plug MSTB2 5 5 STF 5 08 Phoenix Contact ＣＮＣconnector plug IC2 5 3 STF 5 08 Phoenix Contact ＣＮ１connector plug 10150 3000VE SUMITOMO 3M Ltd ＣＮ１connector plug 10350 52A0 008 SUMITOMO 3M Ltd ＣＮ２connector plug 10120 3000VE SUMITOMO 3M Ltd ＣＮ２connector housing 10320 52A0 008 SUMITOMO 3M Ltd ＰＣ connector plug housing...

Page 36: ...or plug 10120 3000VE SUMITOMO 3M Ltd ＣＮ２connector housing 10320 52A0 008 SUMITOMO 3M Ltd ＰＣ connector plug housing amplifier side 3240 12P TO C HIROSE Electric Co Ltd ＰＣ connector plug PC side HDEB 9S HIROSE Electric Co Ltd ＰＣ connector case PC side GM 9L HIROSE Electric Co Ltd Communication cable for R Setup RS232C can be purchased at SANYO DENKI Circuit breaker Will cut off the power to protect ...

Page 37: ...ＰＣ connector plug housing amplifier side 3240 12P TO C HIROSE Electric Co Ltd ＰＣconnector plug PC side HDEB 9S HIROSE Electric Co Ltd ＰＣ connector case PC side GM 9L HIROSE Electric Co Ltd CN2 connector CHARGE POWER r t DL1 DL2 P RB4 RB1 RB2 U V W P C C N 1 C N 2 MODE R S T Communication cable for R Setup RS232C can be purchased at SANYO DENKI Power source for brake Circuit breaker Will cut off th...

Page 38: ... side 3240 12P TO C HIROSE Electric Co Ltd ＰＣconnector plug PC side HDEB 9S HIROSE Electric Co Ltd ＰＣconnector case PC side GM 9L HIROSE Electric Co Ltd CN2 connector DL1 DL2 P U V W P C C N 1 R S T Communication cable for R Setup RS232C can be purchased at SANYO DENKI Power source for brake MODE C N 2 Circuit breaker Will cut off the power to protect the power line in case of an over current or s...

Page 39: ...egeneration power an external regeneration resistance is connected to RB1 RB2 There is no terminal RB4 Regeneration resistance connector RB1 RB2 RB4 RS1 10AA RS1 15AA In case of a built in regeneration resistance RB1 RB4 are short circuited by a short bar at the time of shipment If regeneration power is short remove the short bar between RB1 RB4 open and connect an external regeneration resistance...

Page 40: ...00 AI1 5 8BK B 1000Pcs Pkt 2 5 mm2 14 AI2 5 8BU AI2 5 8BU 1000 AI2 5 8BU B 500Pcs Pkt Note GY Gray RD Red BK Black BU Blue Crimping tool model number 0 25mm2 6mm2 CRIMPFOX UD 6 4 0 75mm2 10mm2 CRIMPFOX UD 10 4 High voltage circuit terminal tightening torque Terminal marking Amplifier type CNA CNB CNC RS1 01 RS1 03 RS1 05 0 5 0 6 N m 1 18 N m M4 screw size Terminal marking Amplifier type R S T DL1 ...

Page 41: ...et either During ALM status output ON or During ALM status output OFF at the selection setting of parameter group A In the case of this wiring set to During ALM status output OFF Single phase AC200 230V MC T S R t r MC MC Alarm RY COM E DC5V DC12V 24V Operation ON OFF CN1 39 46 OUT1 OUT8 24 25 49 U V W DL1 DL2 RB1 RB2 Use output 1 of CN1 39 46 OUT1 OUT8 and set either During ALM status output ON o...

Page 42: ... OUT1 OUT8 24 25 49 U V W DL1 DL2 RB1 RB2 Use output 1 of CN1 39 46 OUT1 OUT8 and set either During ALM status output ON or During ALM status output OFF at the selection setting of parameter group A In the case of this wiring set to During ALM status output OFF In case of a built in regeneration resistance RB1 RB4 are short circuited by a short bar at the time of shipment Usually no connection is ...

Page 43: ...per device upper controller and the Servo amplifier Sensor encoder connector CN2 Connects the sensor encoder circuit of the servo motor Connector terminal number CN1 10150 3000VE Soldered side 24 22 20 18 16 14 12 10 8 6 4 2 25 23 21 19 17 15 13 11 9 7 5 3 1 49 47 45 43 41 39 37 35 33 31 29 27 50 48 46 44 42 40 38 36 34 32 30 28 26 CN2 10120 3000VE Soldered side Pin number is written here 10 8 6 4...

Page 44: ...7 ZO Z phase position signal output 38 SG Common for pins 13 16 8 ZO Z phase position signal output 32 CONT6 Generic input 9 PS Position data output 33 CONT5 Generic input 10 PS Position data output 34 CONT4 Generic input 11 ZOP Z phase Position data output 35 CONT3 Generic input 12 SG Common for pins 3 11 36 CONT2 Generic input 17 SG Common for pins 18 19 37 CONT1 Generic input 18 F TLA Analog cu...

Page 45: ...0 37 CONT1 36 35 34 33 32 CONT2 CONT3 CONT4 CONT5 CONT6 F TLA SG 18 CONT7 SG 14 CONT7 CONT8 16 CONT8 13 15 38 SG IN COM Host unit F PC SG 26 27 F PC 47 R PC SG 28 29 R PC 48 3 4 5 6 7 8 A A B B Z Z 9 10 PS PS 11 17 SG SG ZOP SG OUT PWR 40 OUT1 49 41 42 43 44 45 46 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 24 25 OUT COM OUT COM 39 30 SG MON1 31 SG SG SG SG SG SG SG Host unit ...

Page 46: ... Torque command input Torque control type Input impedance is 10kΩ Torque compensation input circuit DC 2 0V Rated torque Positive side analog current limit input Reverse side analog current limit input DC 2 0V Rated torque Servo amplifier V REF T REF Host unit Twisted pair SG 21 20 10kΩ 1 8kΩ F TLA 18 8 2kΩ 2 2kΩ 0 01μF R TLA 19 8 2kΩ 2 2kΩ 0 01μF 2 2kΩ 0 01μF 10 4kΩ SG SG SG SG SG SG SG 17 T COMP...

Page 47: ...and pulse input Upper device open collector output Connected with open collector transistor circuit Position command input is command pulse input Command pulse input Position control type Three types of command input pulse Forward pulse Reverse pulse Symbol pulse train 90 phase difference two phase pulse train Maximum pulse frequency 150kHz Battery input circuit Connected with back up battery when...

Page 48: ... with line driver Applicable line driver HD26C31 or equivalent manufactured by HITACHI Make sure to connect SG If not malfunction due to noise or damage may be caused Upper device open collector output Connected with open collector transistor circuit CONT COM 50 37 CONT1 36 35 34 33 32 CONT2 CONT3 CONT4 CONT5 CONT6 2 2kΩ 4 7kΩ Twisted pair CONT7 SG 13 14 CONT7 38 CONT8 15 16 CONT8 Twisted pair HD2...

Page 49: ...r and origin Z phase pulse Absolute position data output circuit output circuit line driver Connected with line receiver Applicable line receiver HD26C32 or equivalent manufactured by HITACHI Make sure to connect SG If not malfunction due to noise or damage may be caused Outputs the signals of absolute position data of absolute encoder and absolute sensor Origin Z phase output circuit output circu...

Page 50: ...power Power source voltage range DC5V 5 Power source voltage range DC12V 15V 10 Power source voltage range DC24V 10 Maximum current DC5V 10mA Maximum current DC12V 15V 30mA Maximum current DC24V 50mA Connection example with analog output circuit Analog monitor output circuit Outputs the selection of analog monitor output 1 Load shall be less than 2mA Output resistance shall be １ｋΩ OUT PWR 40 OUT1 ...

Page 51: ...r source 18 SG 5V power source common 19 5V 5V power source 20 SG 5V power source common Absolute encoder with Incremental signal Term inal No Signal name Description 1 BAT 2 BAT Battery 3 A0 4 A0 A phase position signal output 5 BO 6 BO B phase position signal output 7 ZO 8 ZO Z phase position signal output 9 5V 5V power source 10 SG 5V power source common 11 SG 5V power source common 12 5V 5V po...

Page 52: ...rmi nal No Signal name Description 1 BAT 2 BAT Battery 9 5V 5V power source 10 SG 5V power source common 11 SG 5V power source common 12 5V 5V power source 13 ES 14 ES Position data output 15 16 SG 5V power source common 17 5V 5V power source 18 SG 5V power source common 19 5V 5V power source 20 SG 5V power source common Term inal No Signal name External sensor signal 3 A 4 A A phase position sign...

Page 53: ...Q2AA13200H 2000 5 0 Q2AA18200H 2000 5 0 10 Q2AA22250H 2500 5 9 NF50 shape 30A Manufactured by Mitsubish i Ltd RF3020 DLC Manufactured by RASMI S N18 Manufactu red by Mitsubish i Ltd AWG10 or equivale nt AWG10 or equivalent AWG10 or equivalent AW12 or equivalent Q1AA13400D 4000 6 7 Q1AA13500D 5000 8 3 Q1AA18450M 4500 7 4 Q2AA18350H 3500 6 9 Q2AA18450H 4500 7 4 Q2AA18550R 5500 8 4 Q2AA22350H 3500 7 ...

Page 54: ...385596 All Shell kit 10320 52A0 008 Sumitomo 3M Ltd CNA AL 00329461 01 RS1 01 RS1 05 200Vinput only Plug MSTB2 5 5 STF 5 08 CNA AL 00329461 02 RS1 01 RS1 03 100Vinput only Plug MSTB2 5 4 STF 5 08 CNB AL Y0000988 01 RS1 01 RS1 05 for both 100V 200V Plug IC2 5 6 STF 5 08 CNC AL 00329458 01 RS1 01 RS1 05 for both 100V 200V Plug IC2 5 3 STF 5 08 Phoenix Contact Ltd PC AL 00490833 01 All Communication ...

Page 55: ...Display 4 4 Basic Mode Operations and Display 4 7 General Parameter Mode Operations and Display 4 9 Auto adjustment Mode Operations and Display 4 11 Test Run Mode Operations and Display 4 12 System Parameter Mode Operations and Display 4 14 Alarm Trace CPU_VER Operations and Display 4 15 Password Setting 4 16 ...

Page 56: ... value in the left of cursor position all the left digits from cursor position show 9 with a right shift Up Down of Symbol When the display is 0 data will be displayed by pressing the Up key and data by the Down key regardless of the cursor position When the display is other than 0 there will be a left shift or right shift as usual Display of 0 ０００００００００ The data has no light on the furthest lef...

Page 57: ...ching control damping frequency switching Group4 To set high setting control Group8 Settings related to system control Group9 Settings related to generic input signals function condition setting GroupA Settings related to generic output signals monitor output signals set up software GroupB Settings related to system sequence warnings or alarms GroupC Settings related to servo motor encoder Ａｕ Auto...

Page 58: ...ing established Main power supply R S T is ON or is established but Operation Preparation Completion signal is OFF Main power supply established Main power supply R S T is established and Operation Preparation Completion signal is ON Servo is ON Rotates after drawing the character 8 Over travel status at normal rotation Forward rotation is in Over Travel status in position and speed control type O...

Page 59: ...itor Displays velocity command value min 1 07 Torque monitor Displays output torque of motor 08 Torque command monitor Displays torque command value Decimal 09 Position deviation monitor Displays position deviation value Pulse 0A Current position monitor Motor encoder 0B Current position monitor External encoder 0C Command position monitor Displays the current position assumed that the position at...

Page 60: ...After the power supply is turned ON Page 00 is displayed Then the previously displayed page is displayed ob 00 ３ Pressing the cursor key makes the blinking LED move Move the blinking LED to the desired page to be changed ob 00 ４ Pressing the UP key increases the blinking numeric value and the Down key decreases ob 01 ５ WR On the page to be monitored press the ＷＲ key to display the data Refer to di...

Page 61: ...lse s U phase electric angle monitor 359 0 deg Motor usage ratio monitor motor usage ratio monitor estimated value 499 0 Load inertia moment ratio monitor 15000 0 Position loop proportional gain monitor 3000 1 1 s Speed loop proportional gain monitor 2000 1 Hz Torque command filter monitor 2000 1 Hz Load torque monitor estimated value 499 0 Main circuit DC voltage monitor 1000 0 V Amplifier operat...

Page 62: ...nction Condition selection to enable torque limiting function Group9 32 0E ＪＯＧ speedcommand Sets the speed command at JOG operation GroupB 00 0F DividingratioofEncoderpulsedividingoutput Setting of encoder pulse dividing output GroupC 05 ｂＡ 10 Analogspeedcommandoffset Manualoffsetadjustmentofanalogspeedcommand See Chapter 5 Parameter for details of parameters How to set the basic mode See the foll...

Page 63: ...ng value Unit Setting range 0 9999 9999 Page Name Display form fraction Electronic gear Dividing ratio of encoder pulse dividing output Denominator is displayed with a dot at its right Data display of numerator Data display of denominator Ｄ０００１００００１ Name Standard setting value Unit Setting range Electronic gear 1 1 1 32767 32767 1 Dividing ratio of encoder pulse diving output 1 1 1 8192 1 1 How ...

Page 64: ...escription Display status １ MODE Press the ＭＯＤＥ key to display basic mode Gr ２ Page is automatically displayed Once power is turned ON group ０ is displayed and then the previously displayed group and page are displayed Group No Parameter Page No Gr0 00 ３ Pressing the cursor key makes the blinking LED move Move the blinking LED to the group or page to be changed Gr0 00 ４ Pressing the UP key increas...

Page 65: ...to 2 64 from the set value of １１５ WR On the page to be changed press the ＷＲ key to display the numerator data 0 1 Pressing the cursor key makes the blinking LED move Move the blinking LED to the page to be changed 0 1 Pressing the UP key increases the blinking numeric value and the Down key decreases 0 2 WR Press the ＷＲ key and the display will blink 3 times to write the data If writing is impos...

Page 66: ...s the key for cancellation and to return to step 3 Au 01 ｒｄｙ is displayed when execution is possible Move to step 8 Note１ rdy00 ７ｎｏｒｄｙ is displayed when execution is impossible Press the ＭＯＤＥ key to return to step 3 no rdy MODE Press the ＭＯＤＥ key for cancellation and move to step 11 for auto notch and auto damping For analog speed torque command auto offset analog torque addition command auto of...

Page 67: ...0 ３ Pressing the cursor key makes the blinking LED move Move the blinking LED to the page to be changed Ad 00 ４ Pressing the UP key increases the blinking numeric value and the Down key decreases Ad 01 ５ WR On the page to be changed press the ＷＲ key to display confirmation y n Press the key for execution Proceed to step 7 ６ Press the key for cancellation and to return to step 3 Ad 01 ｒｄｙ is displa...

Page 68: ...pe is in use it may not be possible to use this Switch the control mode at the base side 03 _Velo Torq to Velo speed control to use this Note2 At the time of JOG operation if the main circuit power is shut off press the MODE key See the followings for how to operate alarm reset Step Input key Description Display status MODE Press the ＭＯＤＥ key for cancellation and to return to step 3 Ad 01 ８ WR Pre...

Page 69: ... to operate and set the system parameter mode Step Input key Description Display status １ MODE Press the ＭＯＤＥ key to display system parameter mode Sy ２ Page is automatically displayed Once the power source is turned ON Page ００ is displayed then the previously displayed page is displayed Sy 00 ３ Pressing the cursor key makes the blinking LED move Move the blinking LED to the page to be changed Sy 0...

Page 70: ... mode AL ２ Page is automatically displayed Once the power source is turned ON 1st latest alarm is displayed then the previously displayed page is displayed ＡＬ１８５３ Pressing the UP key increases the blinking numeric value and the Down key decreases The blinking number shows the alarm history How to display ＣＰＵ software version See the followings for how to display the ＣＰＵ software version Step ...

Page 71: ...adecimal ５ To release the password input the previously set 4 digit password ０１０００ Press the ＷＲ key and the display blinks 3 times to write or release the password ０１０００ When writing is disabled Ｅｒｒ shows that this is out of setting range ００００ and ＦＦＦＦ are invalid ６ WR When release is disabled Ｅｒｒ shows that this is a wrong password Ｅｒｒ７ MODE Press the ＭＯＤＥ key to return to step 1 For password se...

Page 72: ...Group2 5 9 Parameter setting value Group3 5 10 Parameter setting value Group4 5 12 Parameter setting value Group8 5 13 Parameter setting value Group9 5 18 Parameter setting value GroupA 5 20 Parameter setting value GroupB 5 23 Parameter setting value GroupC 5 26 System parameter setting value 5 28 ...

Page 73: ...nal Gain 1 50 Hz 1 2000 5 8 Ad 14 Velocity Loop Integral Time Constant 1 20 0 ms 0 5 1000 0 5 8 Ad 15 Load Inertia Ratio Load Mass Ratio 1 100 0 15000 5 8 Ad 16 Higher Tracking Control Velocity Compensation Gain 0 0 100 5 8 Ad 17 Acceleration Feedback Gain 0 0 100 0 100 0 5 8 Ad 18 Acceleration Feedback Filter 500 Hz 1 2000 5 8 Ad 20 Torque Command Filter 1 600 Hz 1 2000 5 8 Ad 21 Torque Command F...

Page 74: ...ia Ratio Load Mass Ratio 3 100 0 15000 5 11 Ad 15 Torque Command Filter 3 600 Hz 1 2000 5 11 Ad 20 Position Loop Proportional Gain 4 30 1 s 1 3000 5 11 Ad 21 Position Loop Integral Time Constant 4 1000 0 ms 0 5 1000 0 5 11 Ad 22 Velocity Loop Proportional Gain 4 50 Hz 1 2000 5 11 Ad 23 Velocity Loop Integral Time Constant 4 20 0 ms 0 5 1000 0 5 11 Ad 24 Load Inertia Ratio Load Mass Ratio 4 100 0 1...

Page 75: ...city Compensation Command Input Selection 02 _VCOMP 01 02 5 15 Ad 24 Preset Velocity Compensation Command 0 min 1 9999 9999 5 15 Ad 25 Analog Velocity Command Reference Analog Velocity Compensation Command Ref 500 min 1 V 0 4000 5 15 Ad 26 Velocity Command Acceleration Time Constant 0 ms 0 16000 5 15 Ad 27 Velocity Command Deceleation Time Constant 0 ms 0 16000 5 15 Ad 28 Velocity Limit 65535 min ...

Page 76: ... 18 19 Ad 25 Preset Velocity Command Negative Move Signal Input 00 _Always_ Disable 00 27 5 18 19 Ad 26 Velocity Loop Proportional Control Switching Function 04 _CONT2_ON 00 27 5 18 19 Ba 27 Velocity Compensation Function Select Input 00 _Always_ Disable 00 27 5 18 19 Ad 30 Torque Compensation Function Select Input 1 00 _Always_ Disable 00 27 5 18 19 Ad 31 Torque Compensation Function Select Input...

Page 77: ...24 Ad 21 Following Error Limit 500 X1024 pulse 1 65535 5 24 Ad 22 Overload Warning Level 90 20 100 5 25 Ad 23 Speed Feedback Error ALM_C3 Detection 01 _Enabled 00 01 5 25 Ad 24 Speed Control Error ALM_C2 Detection 00 _Disabled 00 01 5 25 Ad General Parameter Group C Encoder related setting Page Name Standard Value Unit Display Range Reference page Leve l 00 Position detection system choice 00 _Abs...

Page 78: ... Input Type 2 ways depending on the hardware type 5 28 01 Motor Encoder Type 2 ways depending on the hardware type 5 28 02 Incremental Encoder Function Setting 2 ways depending on the hardware type 5 28 03 Incremental Encoder Resolution Setting 500P R 65535P R 5 28 04 Absolute Encoder Function Setting 4 ways depending on the hardware type 5 28 05 Absolute Encoder Resolution Setting 11ways 5 28 06 ...

Page 79: ...lso makes the move of the machine larger Automatic Vibration Suppressor Frequency Tuning Torque Command ASUPTC 20 Setting range Unit Standard value 10 100 25 Sets the torque command value applied to the motor at the time of auto vibration suppressing frequency tuning Larger value makes the tuning more accurate however note that it also makes the move of the machine larger Automatic Vibration Suppr...

Page 80: ...oportional control switching function is disabled this set value is enabled Integral term proportional control is disabled with the set value of 1000 0ms When auto tuning result saving is executed the tuning result is automatically saved in this parameter Load Inertia Ratio Load Mass Ratio 1 JRAT1 15 Setting range Unit Standard value 0 15000 100 Sets inertia moment of the loading device to the mot...

Page 81: ...t change Filter is disabled with the set value of 2000Hz When auto notch filter tuning is executed the tuning result is automatically saved in this parameter TCNFILA Low Frequency Phase Delay Improvement TCNFPA 21 Setting range Unit Standard value 00 02 00 Parameter to improve phase delay at lower frequency than center frequency of torque command notch filter A The larger the value is the greater ...

Page 82: ...z General parameter Group 3 Gain switching control vibration suppressing frequency switching settings Page Contents Position Loop Proportional Gain 2 KP2 00 Setting range Unit Standard value 1 3000 1 s 30 Proportional gain for position controller Position Loop Integral Time Constant 2 TPI2 01 Setting range Unit Standard value 0 5 1000 0 ms 1000 0 Integral time constant for position controller Inte...

Page 83: ...e command Sets the cut off frequency Position Loop Proportional Gain 4 KP4 20 Setting range Unit Standard value 1 3000 1 s 30 Proportional gain for position controller Position Loop Integral Time Constant 4 TPI4 21 Setting range Unit Standard value 0 5 1000 0 ms 1000 0 Integral time constant for position controller Integral term is disabled proportional control with the set value of 1000 0ms Canno...

Page 84: ...e Unit Standard value 5 500 Hz 500 Parameter to set the frequency of vibration suppressing vibration In the servo amplifier the vibration suppressing frequency from 5 to 99Hz is treated by 1H unit and from 100 to 500Hz is by 10Hz unit Operations do not change if set by lower unit than these Vibration suppressing control is disabled when the set value is 500Hz Change this while the motor stops Gene...

Page 85: ...ection Selection Input command Command polarity Rotation direction Selection Position command Forward position command Reverse Velocity command Reverse Velocity command Reverse Torque command Reverse 03 _PC _VC _TC torque command Reverse 07 _PC _VC _TC Analog Input Dead Band VC TC DB 01 Setting range Unit Standard value 00 01 00 _Disabled Select enabled disabled of analog input dead zone Selection...

Page 86: ...tioning from the contents below Selection Contents 00 _Pulse_Interval SpecifyPulseInterval 01 _Pulse_Edge Specify Pulse Edge The set value is enabled after control power is turned ON again Inposition Position Deviation Monitor PDEVMON 18 Setting range Unit Standard value 00 01 00 _After_Filter Select the positioning complete signal ＩＮＰ and position deviation monitor from the contents below Selecti...

Page 87: ...rd value 9999 9999 min 1 0 Parameter for using velocity addition command in a fixed value when velocity addition function is used Analog Velocity Command Reference Analog Velocity Compensation Command Ref VCGN 25 Setting range Unit Standard value 0 4000 min 1 V 500 Parameter for setting analog velocity addition command scaling Velocity Command Acceleration Time Constant TVCACC 26 Setting range Uni...

Page 88: ...ward side forward direction limited at voltage input at F TLA Reverse side reverse direction limited at voltage input at R TLA 02 _Analog_2 External torque limit input is used Forward side F TLA Reverse side R TLA voltage input Forward side forward direction limited at voltage input at F TLA Reverse side reverse direction limited at voltage input at R TLA 03 _Analog_3 External torque limit input i...

Page 89: ...Speed Zero Range ZV 42 Setting range Unit Standard value 50 500 min 1 50 Set value for detecting zero speed status motor stop When the motor speed becomes lower than this value zero speed status is detected Low Speed Range LOWV 43 Setting range Unit Standard value 0 65535 min 1 50 Parameter for setting low speed output range When the speed is lower than this value low speed range is output Speed M...

Page 90: ...rol Switching Function VLPCON 10 Setting range Standard value 00 27 00 _Always_Disable 26 Setting range Standard value 00 27 O4 _CONT2_ON Position Command Pulse Inhibit Function and Velocity Command Zero Clamp Function INH Z STP Velocity Compensation Function Select Input VCOMPS 11 Setting range Standard value 00 27 00 _Always_Disable 27 Setting range Standard value 00 27 00 _Always_Disable Electr...

Page 91: ...ring low speed status speed is less than LOWV 13 _LOWV_OUT Enable the function while low speed status is not kept 14 _VA_IN Enable the function during high speed status speed is more than VA 15 _VA_OUT Enable the function while high speed status is not kept 16 _VCMP_IN Enable the function during speed matching status velocity deviation VCMP 17 _VCMP_OUT Enable the function while speed matching sta...

Page 92: ...or 2 Output Signal Selection MON2 12 Setting range Standard value 00 15 02 _TCMON_2V TR Output signals for analog monitor output 1 2 are selected from the followings 00 Reserved 01 _TMON_2V TR Torque thrust monitor 2V rated torque thrust 02 _TCMON_2V TR Torque thrust command monitor 2V rated torque thrust 03 _VMON_0 2mV min 1 Velocity monitor 0 2mV min 1 04 _VMON_1mV min 1 Velocity monitor 1mV min...

Page 93: ... OFF during control mode switching 0C _TLC_ON The output is ON during torque limiting 26 _F OT_ON The output is ON during positive over travel status 0D _TLC_OFF The output is OFF during torque limiting 27 _F OT_OFF The output is OFF during positive over travel status 0E _VLC_ON The output is ON during velocity limiting 28 _R OT_ON The output is ON during negative over travel status 0F _VLC_OFF Th...

Page 94: ...N2 MON1 Output the positive voltage at both forward rotation positive direction and reverse rotation reverse direction MON2 Output the negative voltage at forward rotation positive direction Output the positive negative voltage 06 _MON1 _MON2ABS MON1 Output the positive voltage at forward rotation positive direction Output the positive negative voltage MON2 Output the positive voltage at both forw...

Page 95: ... Free is operated 05 _SB__DB When Servo OFF Servo Braking is performed After stops Dynamic Braking Over Travel Action Selection ACTOT Setting range Unit Standard value 00 06 00 _CMDINH_SB_SON Operations at over travel are selected from the contents below 11 Selection Contents 00 _CMDINH_SB_SON PC is inhibited and Servo Braking is performed After stops S ON is operated 01 _CMDINH_DB_SON PC is inhib...

Page 96: ...rake In the system where motor speed becomes lower than Speed Zero Range ZV within the set time this setting does not function If set to 0msec brake operation start time is disabled infinite Power Failure Detection Delay Time PFDDLY 16 Setting range Unit Standard value 20 1000 ms 32 The delay time from control power OFF to control power error detection is set The larger value makes the detection o...

Page 97: ...en control power is turned ON The set value is enabled after control power is turned ON again Speed Feedback Error ALM_C3 Detection VFBALM 23 Setting range Unit Standard value 00 01 01 _Enabled Selection Contents 00 _Disabled Disabled 01 _Enabled Enabled Select either one from enabled or disabled of velocity feedback error alarm detection Speed Control Error ALM_C2 Detection VCALM 24 Setting range...

Page 98: ... 01_220nsec Settings for external encoder digital filter are selected from the contents below 02 Selection Contents 00 _110nsec Minimum pulse width 110nsec Minimum phase difference 37 5nsec 01 _220nsec Minimum pulse width 220nsec 02 _440nsec Minimum pulse width 440nsec 03 _880nsec Minimum pulse width 880nsec 04 _75nsec Minimum pulse width 75nsec Minimum phase difference 37 5nsec 05 _150nsec Minimu...

Page 99: ...the followings 06 Selection Contents 00 _Type1 A Phase Signal Not Reversed Z Phase Signal Logic High Active 01 _Type2 A Phase Signal Reversed Z Phase Signal Logic High Active 02 _Type3 A Phase Signal Not Reversed Z Phase Signal Logic Low Active 03 _Type4 A Phase Signal Reversed Z Phase Signal Logic Low Active Encoder Signal Output PS Format PSOFORM Setting range Unit Standard value 00 02 00 _Binar...

Page 100: ...oder Function Setting Absolute encoder type is selected when an absolute encoder is used for the motor encoder Setting range varies depending on the hardware type Can only be selected when 01 _Absolute_ENC is selected at Page０１ motor encoder type 04 Setting Description 04 _PA035C 2 5MH_Manu PA035 Asynchronous 2 5Mbps Half Duplex Manual Setting 05 _PA035C 4MH_Manu PA035 Asynchronous 4Mbps Half Dupl...

Page 101: ...03 _Velo Torq Position Loop Control and Position Loop Encoder Selection Position loop encoder is selected used for position loop control method and position loop control Setting range varies depending on the hardware type 09 Setting Description 00 _Motor_encoder Semi Closed Control Motor Encoder 01 _Ext ENC Fully Closed Control Extenal Encoder External Encoder Resolution Seting Sets the resolution...

Page 102: ...g 6 3 Confirmation Change of servo amplifier specification 6 4 Confirmation Change of servo motor encoder specification 6 5 Confirmation Change of servo motor model number 6 6 JOG operation 6 7 Confirmation of I O signal 6 8 Confirmation of device operation 6 9 Operation sequence 6 10 ...

Page 103: ... set the specifications of the servo amplifier Capacity of amplifier Control power supply input voltage Control power supply input type Main circuit power supply input voltage Main circuit power supply input type Control mode Encoder selection for full close control The regeneration resistance selection 5 Confirmation of servo motor encoder specification Use the AC servo system supporting tool R S...

Page 104: ...ited Please confirm the digital operator on the servo amplifier front is displaying a shape of 8 13 Command input Input the command matched with the control mode in use Confirm the command input at the servo amplifier monitoring function Confirm that command input and the rotation direction are correct 14 Power supply shut off After the servo on signal is turned off turn the power supply off Conne...

Page 105: ...away overload in test run wrong wiring may be the cause of it Do not connect CN1 to servo amplifier after wiring 3 Turning on the power supply Turn on the power supply Confirm that there is no alarm code displayed on the digital operator of servo amplifier If there is one follow the instructions in Chapter 8 Maintenance Normal status Alarm status Code is displayed Servo motor flange is fixed Do no...

Page 106: ... circuit power Change the set value to 01 AC Single phase for single phase use Set value Contents 00 AC 3 phase 3 phase AC power is supplied to main circuit 01 AC Single phase Single phase AC power is supplied to main circuit Control mode Selects the control mode Change the control mode suitable for upper device Seting Contents 00 Torque Torque control 01 Velocity Velocity control 02 Position Posi...

Page 107: ...2 5Mbps Half duplicate communication manual setting 05 PA035C 4MH Manu PA035 Synchronous 4 0Mbps Half duplicate communication manual setting 06 RA062C 2 5MH Manu RA062 Synchronous 2 5Mbps Half duplicate communication manual setting 07 RA062C 4MH Manu RA062 Synchronous 4 0Mbps Half duplicate communication manual setting 80 RA062M 1MF RA062 Manchester 1Mbps Full duplicate communication 81 RA062M 2MF...

Page 108: ...bined motor can be changed at Motor parameter setting Proc edur e Item and Contents 7 Turning ON the power again Power shut off turn ON again Turn OFF the power of servo amplifier and turn it ON again Turning OFF the power makes the parameter re written Without turning OFF the power the parameter cannot be changed Make sure to turn OFF turn ON again Proc edur e Item and Contents 8 Reconfirming the...

Page 109: ... up down key to change ０ｂ to ００ Reverse over travel disabled bA 00 WR Press the WR key for more than 1 sec and the set value is written bA 00 Setting of reverse over travel is to be changed Standard setting at the time of shipment ０ｂ００ Can also be changed from general parameter group 9 page 01 MODE Press the MODE key to terminate Forward ＣＣＷ Reverse ＣＷ Input key Description Display status MODE Pr...

Page 110: ...Group A Page Name Standard set value 00 Generic output １ 18 INP ON 01 Generic output ２ 0C TLC ON 02 Generic output ３ 02 S RDY ON 03 Generic output ４ 0A MBR ON 04 Generic output ５ 33 ALM5 OFF 05 Generic output ６ 35 ALM6 OFF 06 Generic output ７ 37 ALM7 OFF 07 Generic output ８ 39 ALM OFF Generic output signals OUT１ OUT８ shall be allocated to functions necessary to the device referring to Chapter 5 Pa...

Page 111: ...input are resulted from wrong wiring Check the wiring again referring to Chapter3 Wiring Terminal layout Wiring example of input circuit Procedure Item Contents 14 Power shut off Turns OFF the servo ON signal then turns OFF the power supply Procedure １５ Connect the servo motor shaft with the machine and check the operation Procedure Item Contents 15 Command input low speed Input the command low sp...

Page 112: ...ommand acceptance permission Motor excitation BOFFDLY 300msec DB relay waiting time 100msec ＳＲＤＹ Main power supply ON Control source ON Max 2sec Min 0msec ＳＲＤＹ２ Control source Power ON permission signal Main power supply Power ON signal Servo ON signal Dynamic brake signal Motor speed Zero speed range signal Holding brake excitation signal Command acceptance permission signal Motor excitation si...

Page 113: ... ZV setting value Main power supplyOFF Power ON permission OFF ＳＲＤＹＳＲＤＹ２ Command acceptance prohibition Zero speed Servo ON Holding brake excitation alarm status Dynamic brake ON Motor free ZV setting value Main power supplyOFF Power ON permission OFF BONDLY ＳＲＤＹＳＲＤＹ２ Power ON permission Alarm signal Main power supply Operation setup completion signal Servo ON signal Dynamic brake signal Mot...

Page 114: ...ee BONDLY 300msec Servo ON Motor stop Dynamic brake ON ControlsourceOFF Main power supply OFF Power ON output OFF ＳＲＤＹＳＲＤＹ２ Servo ON alarm reset alarm status Main power supply ON alarm released In rush current preventing Min 20msec ＳＲＤＹＳＲＤＹ２ DB relay wait time 100msec Power ON permission Alarm reset signal Alarm signal Main power supply Power ON signal Servo ON signal Operation setup complet...

Page 115: ...7 Adjustment Functions Servo gain tuning 7 1 Functions of Ｇｒｏｕｐ８ 7 7 Functions of Ｇｒｏｕｐ９ 7 25 Functions of ＧｒｏｕｐＢ 7 31 Functions of ＧｒｏｕｐＣ 7 36 Functions of monitors 7 39 ...

Page 116: ...to automatically tune vary depending on the selected auto tuning characteristics 02 ManualTun Manual tuning This is used in order for adjusting the servo gain to the machine and equipment to ensure the maximum response and when characteristics in auto tuning are insufficient Auto tuning characteristics page ０１ Characteristics adjusted to machines and equipment are selected when Auto tuning and Aut...

Page 117: ...Use with horizontal axis No Yes No No Tuning complete Operation unstable No problem with characteristics No No problem with characteristics No Yes Yes No No problem with characteristics Yes Change tuning mode to 01 AutoTun JRAT Fix auto tuning JRAT manual setting Match the characteristics between axes Yes Yes No No problem with characteristics Change to tuning mode 02 ManualTun Manual tuning Set K...

Page 118: ...fer to Chapter 4 Digital operator For how to operate these refer to R SETUP Instruction Manual Using auto tuning result at manual tuning At manual tuning auto tuning result is saved as a batch or by selection using ＲＳＥＴＵＰ and can be used as controlling parameter For how to operate these refer to R SETUP Instruction Manual Note In the setting of TUNMODE 02 ManualTun parameter setting value is use...

Page 119: ...cking control position compensation gain TRCPGN When tracking effect needs to be improved under high resolution of position command increase this parameter after adjustment of high tracking control velocity compensation gain Feed forward gain FFGN Tracking effect of position command can be improved by increasing this gain Under positioning control set this to approximately ３０４０ When high tracking...

Page 120: ...stem may be too high In this case lower the control system gain Also when used together with high tracking control velocity compensation gain vibration suppressing effect may be greater Vibration suppressing control function can be used together with auto tuning Adjustment method of notch filter Set the torque command notch filter to suppress high frequency resonance resulted from coupling and rig...

Page 121: ...tting control parameter and in position setting characteristics can be improved When position command resolution is low set the value of command velocity calculation low pass filter low Set the acceleration compensation so that the position deviation near acceleration conclusion becomes small Set the deceleration compensation so that the position deviation near deceleration conclusion positioning ...

Page 122: ...Velocity command Forward Torque command Reverse 01 PC VC TC Torque command Reverse 05 PC VC TC Input command Command polarity Rotation direction Selected value Input command Command polarity Rotation direction Selected value Position command Forward Position command Reverse Velocity command Reverse Velocity command Reverse Torque command Forward 02 PC VC TC Torque command Forward 06 PC VC TC Input...

Page 123: ... Forward Reverse Forward pulse F PC CN1 26 Reverse pulse R PC CN1 28 Forward pulse F PC CN1 27 Reverse pulse R PC CN1 29 Forward pulse SG CN1 47 Reverse pulse SG CN1 48 There are 2 output types for the host unit the Line driver output and the Open collector output Using line driver output Host unit Twisted pair Servo amplifier CN1 26 CN1 27 CN1 47 CN1 28 CN1 29 CN1 48 Twisted pairs Always connect ...

Page 124: ...maximum frequency Select the position command pulse digital filter setting from the followings according to the command pulse type of the unit in use Forward pulse string Reverse pulse string Selected value Minimum pulse width t Position command input maximum frequency f 00 t 834 nsec ｆ 599 Kpps 01 t 250 nsec ｆ 2 0 Mpps 02 t 500 nsec ｆ 1 0 Mpps 03 t 1 8 μsec ｆ 277 Kpps 04 t 3 6 μsec ｆ 138 Kpps 05 ...

Page 125: ...difference 2 phase pulse F PC Ａ phase t1 t2 t3 R PC T Ｂ phase t4 t5 t6 t7 code pulse string F PC ts4 code ts2 ts3 t8 t9 R PC pulse t3 t1 t2 T Forward rotation pulse Reverse rotation pulse ９０ phase difference 2 phase pulse Code pulse string t1 t8 0 1 μs 0 1 μs 0 1 μs t2 t9 0 1 μs 0 1 μs 0 1 μs ts1 ts2 ts3 ts4 T T T t4 t5 t6 t7 250ns t3 T x100 50 50 50 Reverse Forw Ｂ phase is ahead of A phase by 90 ...

Page 126: ...01 Pulse Edge Positioning at edge Positioning between pulses A phase B phase Positioning at edge Ｇｒｏｕｐ８１８ Positioning complete signal position deviation monitor PDEVMON Position control mode Positioning complete signal when the position control mode is used and position command used for outputting position deviation monitor can be selected from before or after the position command filter passes S...

Page 127: ...N signal Servo OFF Logic can be changed Deviation clear Deviation is cleared in the edge when deviation clear input becomes OFF ON CLR signal Logic can be changed CLR is ON in edge 2H Servo OFF deviation not cleared Deviation clear input level detection Deviation is not cleared when servo is OFF The motor may start suddenly after servo is turned ON with location deviation detected Servo ON signal ...

Page 128: ...setting selection input2 Invalid Valid VC2 internal speed command 2 SP1 internal speed setting selection input1 SP2 internal speed setting selection input2 Valid Valid VC3 internal speed command 3 SP1 internal speed setting selection input1 SP2 internal speed setting selection input2 Invalid Invalid Analog speed command 3 Begin operation with the internal speed command and select the conditions fo...

Page 129: ...nternal speed setting selection input 2 Valid general input CONT4 ON function RUN F internal speed forward start signal input Valid general input CONT5 ON function RUN R internal speed reverse start signal input Valid general input CONT5 OFF function 3500min 1 VC3 2000min 1 VC2 TVCACC 1000min 1 VC1 TVCACC TVCDEC VC1 0min 1 TVCACC TVCDEC TVCACC TVCDEC 1000min 1 VC1 TVCACC 2000min 1 VC2 SP1 ON OFF O...

Page 130: ...l speed addition command Use internal speed addition command value when speed addition function is valid ３ Select the condition for enabling the speed addition function and then input the setting Parameter Group9 Page27 VCOMPS Speed addition function １ Set the analog velocity addition command scaling This is shared with analog velocity command scaling Parameter group 8 page 25 VCGN analog velocity...

Page 131: ...Parameter Group8Page27 TVCDEC Speed command adjustment constant 0 16000 ms 1000min 1 1000min 1 0min 1 TVCACC TVCDEC Speed command acceleration constant Speed command deceleration constant The analog speed command and internal speed command can be used together Ｇｒｏｕｐ８２８ Speed limit command VCLM Speed control mode Position control mode An host limit value can be locked in with the speed limit comma...

Page 132: ...orque addition command value when torque addition function is valid 2H Use internal torque addition command Use internal torque addition command value when torque addition function is valid ３ Select the condition for enabling the torque addition function and then input the setting Parameter Group9Page30 TCOMPS1 Torque addition function１ Parameter Group9Page31 TCOMPS2 Torque addition function２１ Se...

Page 133: ...torque limit value 10 500 ３ Torque limit function enable Parameter Group9 Page32 TL Torque limit function Conditions for enabling torque limit permission function are selected When conditions are valid torque limit is permitted and operation starts If the value is set higher than the maximum output torque TP of the servo motor it will be limited by TP Set this value after considering the accelerat...

Page 134: ...TLA Forward The limit will be the positive voltage input to F TLA Reverse The limit will be the positive voltage input to F TLA 01 _Analog_1 Host unit Servo amplifier CN1 18 CN1 17 CN1 19 02 _Analog_2 Host unit Servo amplifier CN1 18 CN1 17 CN1 19 03 _Analog_3 Host unit Servo amplifier CN1 18 CN1 17 CN1 19 Connect the voltage corresponding to the torque limit to the external torque input pin The r...

Page 135: ...miting the output torque protects the unit mechanism The torque limits during sequence operation support the following sequence operations JOG operation Over travel operation Securing brake standby time Servo brake operation Sequence operation torque limit value setting Parameter Group 8 Page37 SQTCLM Sequence torque operation limit 10 500 If this value is set higher than the maximum output torque...

Page 136: ...signment of the output terminal is the same location as the positioning completion signals above If set to a value greater than the positioning completion range settings the host unit receives the NEAR signal before receiving the positioning completion signal INP and transition to the positioning completion operations is enabled Speed command monitor Speed monitor Position deviation monitor Amount...

Page 137: ...irrespective of the command pulse multiplication and electronic gear settings Incremental encoder 4 times 4x encoder pulses is standard Absolute encoder absolute value is standard Setting the positioning completion signal Parameter GroupA Page0 OUT general output Selection Description 18 INP_ON Output turns ON during positioning completion status 19 INP_OFF Output turns OFF during positioning comp...

Page 138: ...ring low speed status 11 LOWV_OFF Output turns OFF during low speed operation 12 VA_ON Output turns ON during speed transport status 13 VA_OFF Output turns OFF during speed transport status 14 VCMP_ON Output turns ON during speed coincidence status 15 VCMP_OFF Output turns OFF during speed coincidence status Low speed range Low speed signal is sent if speed goes below the set value Parameter Group...

Page 139: ...bled when not in speed coincidence status speed deviation below VCMP set value Low speed status LOWV_IN Function is enabled during low speed status speed below LOWV set value Low speed status LOWV_OUT Function is enabled outside of low speed status speed below LOWV set value V Low speed setting value ｔ LOWV_IN valid LOWV_OUT valid LOWV_IN valid Speed coincidence status VCMP_IN Function is enabled ...

Page 140: ...DINH DB SON If OT occurs command input is disabled the dynamic brake operates and the motor stops After the motor stops the servo turns ON At OT command disabled velocity limit command 0 02 CMDINH Free SON If OT occurs command input is disabled and the free run operates After the motor stops the servo turns ON At OT command disabled velocity limit command 0 03 CMDINH SB SOFF If OT occurs command i...

Page 141: ...l Alarm reset signal Note that any alarm not cleared by simply turning OFF the control power supply cannot be cleared with the alarm reset signal Ｇｒｏｕｐ９０５ Servo ON function S ON Position control mode Speed control mode Torque control mode This function enables the sending of a servo ON signal from the host unit The servo motor can be set to ready status by enabling the servo ON function SON The c...

Page 142: ...ch over function When control mode switch over type is in use there is a possibility that auto notch frequency tuning auto vibration suppressing frequency tuning and JOG operation cannot be used Switch the control mode to the base side disable MS prior to using auto notch frequency tuning auto vibration suppressing frequency tuning and JOG operation Ｇｒｏｕｐ９１１ Position command pulse inhibit functio...

Page 143: ...suppressing frequency selection input １ SUPFSEL1 Vibration suppressing frequency selection input２ SUPFSEL2 4 types of vibration suppressing frequency can be switched and used Conditions for enabling vibration suppressing frequency selection input are allocated When the signal of SUPFSEL1 and SUPFSEL2 combination is valid the set value of corresponding vibration frequency becomes enabled Parameter ...

Page 144: ...time constant TPI is 1000 0ms at standard setting therefore integral function is invalid Ｇｒｏｕｐ９２６ Speed loop comparison control switchover function VLPCON Speed control mode Position control mode Speed loop PI control P control can be used alternatively Activate switching by enabling the speed loop comparison control switching function PCON The conditions for enabling the speed loop comparison co...

Page 145: ...es voltage charged in the condenser for the main circuit power supply in the servo amplifier when power supply to the main circuit is cut However discharge is not possible when the main circuit power supply is ON The conditions for enabling forced discharge function are assigned Forced discharge is possible when the DISCHARGE signal is valid Parameter Group9 Page41 DISCHARGE Forced discharge funct...

Page 146: ...ration at servo OFF Motor free operation after motor stop 03 DB DB Dynamic brake operation at servo OFF Dynamic brake operation after motor stop 04 SB Free Servo brake operation at servo OFF Motor free operation after motor stop 05 SB DB Servo brake operation at servo OFF Dynamic brake operation after motor stop ＧｒｏｕｐＢ１２ Forced stop operation ACTEMR Position control mode Speed control mode Torque...

Page 147: ...r the securing brake operation Parameter GroupB Page13 BONDLY Securing brake operation delay time 0 1000ms Servo ON signal Servo ON Servo OFF Securing brake exc signal Brake excitation off Brake excitation on Command rec perm signal Comm rec perm Motor excitation signal Motor excited BONDLY Motor free A delay in switching off the motor excitation can prevent weight drop as the motor is excited unt...

Page 148: ...citation signal can be output through the generic outputs OUT1 OUT8 Parameter Group9 Page0 OUT Generic output 0A MBR ON ON During securing brake excitation signal output the output turns ON 0B MBR ON OFF During securing brake excitation signal output the output turns OFF ＧｒｏｕｐＢ１５ Brake operation start time BONBGN Position control mode Speed control mode Torque control mode If the motor does not s...

Page 149: ...iminished when this value is increased However even if this value is increased and problem detection is delayed when the power supply to the internal logic circuit is exhausted routine operations at the time of control power supply cut off restart will continue Parameter GroupB Page16 PFDDLY Power failure detection delay time 20 1000 ms When energy to the main circuit power supply is insufficient ...

Page 150: ...d irrespective of electronic gear or command multiplication functions Deviation counter overflow value is set Parameter GroupB Page21 OFLV Deviation counter overflow 1 65535 1024 pulse ＧｒｏｕｐＢ２２ Overload warning function OLWLV Position control mode Speed control mode Torque control mode This function will send a warning before reaching overload alarm status Set the ratio corresponding to the overl...

Page 151: ...mum pulse width 110nsec Minimum phase difference 37 5nsec 01 220nsec Minimum pulse width 220nsec 02 440nsec Minimum pulse width 440nsec 03 880nsec Minimum pulse width 880nsec 04 75nsec Minimum pulse width 75nsec Minimum phase difference 37 5nsec 05 150nsec Minimum pulse width 150nsec 06 300nsec Minimum pulse width 300nsec 07 600nsec Minimum pulse width 600nsec Minimum pulse width A phase B phase M...

Page 152: ...he host unit can be output according to a ratio formula When using in the host unitʼs position loop control input the result obtained after dividing the number of encoder pulses as an integer However when using this function to monitor the host unit input a ratio that is as close to the setup value as possible The output of Z phase is not divided Output can be sin O C CN1 11 Division ratio for the...

Page 153: ...io 1 1 with forward rotation Using the incremental encoder Using the incremental encoder 90 90 A phase B phase Z phase ＧｒｏｕｐＣ０８ Absolute encoder clear function ECLRFUNC Position control mode Speed control mode Torque control mode Select the conditions for enabling absolute encoder clear Parameter Group9 Page03 ECLR Absolute encoder clear function When using a wire saving absolute sensor you can s...

Page 154: ...n command pulse input frequency 2mV kPulse ｓ 11 FMON_10mV kP s position command pulse monitor position command pulse input frequency 10mV kPulse ｓ 12 TLMON_EST_2V TR Load torque thrust monitor estimated value 2V rated torque thrust 13 Sine U U phase electric angle Sin 8 Ｖ peak 14 VBUS_1V DC100V Main circuit DC voltage 1V DC100V 15 VBUS_1V DC10V Main circuit DC voltage 1V DC10V Select this when pol...

Page 155: ...osition command pulse input frequency Displays command pulse frequency being input k Pulse s 0F Ｕ phase electric angle monitor Displays electric angle of Ｕ phase Except for encoder sensor error this is always displayed deg 10 Absolute encoder PS data upper Displays absolute encoder position data PS x2 32 P 11 Absolute encoder PS data lower Displays absolute encoder position data PS Pulse 12 Regene...

Page 156: ...8 Maintenance Trouble Shooting 8 1 Alarm List 8 3 Trouble shooting when Alarm Occurs 8 5 Inspection Parts Overhaul 8 25 ...

Page 157: ...ternal power circuit of servo amplifier is defective Replace the servo amplifier Check if command is entered Reenter the previous command Check if servo is locked Fasten the connecting screws as power line of motor is not connected Check if torque limit is input Because torque limit has been input motor cannot rotate more than load torque 2 7 segment LED displays a rotating character 8 Servo ON st...

Page 158: ...ting stopping Adjust the servo tuning response Reduce the loop gain speed Increase the integral time constant Simplify the acceleration and declaration command Use position command low pass filter Check that there is no defect in mechanical installation Observe by operating one motor Pay attention while coupling and confirm that there is no unbalance 8 Abnormal sound occurs Check whether abnormal ...

Page 159: ...power supply voltage Under voltage of 12 V ＳＢ V ８１Ｈ１０００ Encoder A phase B Phase pulse signal abnormality 1 Incremental encoder A B Z signal line break Power supply break ＤＢ８２Ｈ１０００ Breaking of absolute signal wire Absolute Encoder PS signal line break ＤＢ V ８３Ｈ１０００ External Encoder A phase B phase signal Abnormality Breaking of full close Encoder A B signal line ＤＢ V ８４Ｈ１０００ Abnorma...

Page 160: ... excessive ＳＢ V Ｄ３Ｈ１１０１ Position command pulse frequency Abnormality 2 Position command frequency after electronic gear is high ＳＢ V Control system abnormality ＤＦＨ１１０１１０１ Test mode end Note 1 Detection in Test mode end status ＤＢ V Ｅ１Ｈ１１１１ EEPROM Abnormality Abnormality of amplifier with built in EEPROM ＤＢＥ２Ｈ１１１１ EEPROM check sum Abnormality Error in check sum of EEPROM entire a...

Page 161: ...er 4 Overheat is detected in Power device IPM Confirm that the cooling fan motor for the servo amplifier is working If it is not working replace the servo amplifier Confirm that the temperature of the control panel ambient temperature of the servo amplifier does not exceed 55 If in excess of 55 C check the installation method of the servo amplifier and confirm that the cooling temperature of the c...

Page 162: ...k if effective torque exceeds the rated value Or calculate the motor effective torque from load conditions and operation conditions If the effective torque is excessive check the operating or loading or replace the capacity of the large motor 4 Defect in motor amplifier combination Check if the motor in use matches with the recommended type and replace if it is improper 5 Holding brake of servo mo...

Page 163: ...ion abnormality Cause Status during alarm 1 2 3 4 5 6 7 8 Issued when power supply control is turned ON V Issued when power supply of main circuit is turned ON V V V Issued during operation V V V V V V Corrective actions Cause Investigation and corrective actions 1 Exceeded permitted value of regenerating power in built in regenerative resistance specifications Excessive load inertia or tact time ...

Page 164: ... amp Check the loading condition Abnormalities are detected in the internal temperature of the amplifier regardless of its ambient temperature When an amplifier ambient temperature warning is issued please be sure to check the cooling method of the control panel Alarm code ５２Ｈ In rush prevention resistance overheating only for ＲＳ１３０ Cause Status during alarm 1 2 3 Issued when power supply is turn...

Page 165: ...lt in regenerative resistance absorption power Check the operating conditions so that regenerating power is within permitted absorption power Use an external regeneration resistor 3 Improper wiring of built in regeneration resistor Confirm improper condition and repair if necessary When using a regeneration resistance built in the servo amplifier make sure to set built in regeneration resistance a...

Page 166: ... regenerative resistor is not connected Cause Status during alarm 1 2 3 Issued when power supply control is turned ON V V Issued after operation V V Corrective actions Cause Investigation and corrective actions 1 Improper wiring of external regenerative resistance Check wiring and replace if necessary 2 External regeneration resistor is operating Check the operating conditions Increase the capacit...

Page 167: ...if any abnormality occurs Alarm code 62H Main circuit under voltage Cause Status during alarm 1 2 3 4 5 Issued when power supply control is turned ON V V Issued after power supply of main circuit is turned ON V V Issued during operation alarm resetting is possible V V Issued during operation alarm resetting is not possible V Corrective actions Cause Investigation and corrective actions 1 Power sup...

Page 168: ...tus during alarm 1 2 3 Issued at the time of power on V V Issued during operation V V Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of the servo amplifier Replace the servo amplifier 2 Power supply voltage is within the specified range Confirm that the power supply is set within the specified range 3 Input voltage is fluctuating or stopped Confirm that ...

Page 169: ...encoder 4 Defect in servo amplifier control circuit Replace the servo amplifier 5 Defect in servo motor encoder Replace the servo motor 6 Parameter set to Full close Servo system Edit the parameter and set to Semi close System setup Alarm code 85H Abnormality in initial process of encoder Cause Status during alarm 1 2 3 4 5 Issued when power supply control is turned ON V V V V V Corrective actions...

Page 170: ... the absolute position detector RA062M for the Manchester encoding system Cause Status during alarm 1 Issued when power supply is turned ON V Issued during operation V Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of encoder Turn ON the power supply again if not restored replace the motor Encoder clearing and alarm resetting methods vary depending on th...

Page 171: ... the sensor encoder in use Refer to page 49 Materials Encoder Clear Alarm code A5H Encoder abnormality 3 When abnormalities are detected in the internal part of the absolute position detector for the start stop synchronization system Cause Status during alarm 1 2 3 Issued when power supply is turned ON V V V Issued during motor operations V V Corrective actions Cause Investigation and corrective a...

Page 172: ...arm resetting methods vary depending on the sensor encoder in use Refer to page 49 Materials Encoder Clear Alarm code A7H Encoder abnormality 5 Alarm code A8H Encoder abnormality 6 Alarm code A9H Encoder failure When abnormalities are detected in the internal part of the absolute position detector for the start stop synchronization system Cause Status during alarm 1 2 Issued when power supply is t...

Page 173: ...H Absolute encoder rotations counter abnormality Alarm code B4H Absolute encoder 1 rotation counter abnormality Alarm code B6H Encoder memory error When abnormalities are detected in the internal part of the absolute position detector for the start stop synchronization system Cause Status during alarm 1 2 Issued when control power supply is turned ON V Issued while operation V V Corrective actions...

Page 174: ... resetting methods vary depending on the sensor encoder in use Refer to page 49 Materials Encoder Clear Alarm code B7H Acceleration abnormality When abnormalities are detected in the internal part of the absolute position detector for the start stop synchronization system Cause Status during alarm 1 2 3 Issued while stopping the motor V V Issued while rotating the motor V V V Corrective actions Ca...

Page 175: ... Defect in control panel of servo amplifier Replace the servo amplifier 2 Defect in the encoder of servo motor Replace the servo motor 3 Excessive overshoot while starting Monitor speed with the analog monitor lAdjust the servo parameters if overshoot is excessive l Simplify the acceleration and declaration command pattern l Reduce the load inertia 4 Wiring of U V W phase between servo amplifier a...

Page 176: ...ameters to reduce overshoot and undershoot Increase acceleration and declaration command time Mask the alarm 5 Abnormality in servo amplifier control circuit Replace the servo amplifier For the speed control error alarm an alarm may occur while starting and stopping when load inertia is excessive For this reason in the gravitational axis applications Do not detect is selected as the standard setti...

Page 177: ...otated by an external force Gravity etc during stopping positioning completion Check the load and or increase the motor capacity 7 Valid current limit command is entered by the controller and the current limit setting is reduced Number of encoder pulses does not match with the motor Increase the current limit value or disable the current limit Match the number of motor encoder pulses 8 Settings of...

Page 178: ... V Corrective actions Cause Investigation and corrective actions 1 Normal operation Clear the alarm and restore operation After completion of test mode to confirm any deviation in the controller Alarm code E1H EEPROM abnormality Cause Status during alarm 1 2 Issued when control power supply is turned ON V V Issued during display key operation or computer interface operation V Corrective actions Ca...

Page 179: ...ocess between CPU and ASIC Cause Status during alarm 1 Issued when control power supply is turned ON V Corrective actions Cause Investigation and corrective actions 1 Defect in the servo amplifier control panel Replace the servo amplifier Alarm code E5H Parameter error 1 Cause Status during alarm 1 2 Issued when control power supply is turned ON V V Issued after changing any of system parameters V...

Page 180: ...2 Defect in servo amplifier Replace the servo amplifier Alarm code F1H Abnormality in task process Cause Status during alarm 1 Issued while operating V Corrective actions Cause Investigation and corrective actions 1 Abnormality in control circuit of servo amplifier Replace the servo amplifier Alarm code F2H Initial time out Cause Status during alarm 1 2 Issued when control power supply is turned O...

Page 181: ...e in the air 2 This inspection and replacement period is when water or oil proof functions are required 3 The life expectancy of the battery is approximately 2 years when its power is OFF throughout the year For replacement a lithium battery ER3V 3 6V 1000mAh manufactured by Toshiba Corp is recommended Parts Overhaul Parts indicated in Table 9 5 may deteriorate over time Perform periodic inspectio...

Page 182: ...iod recommended by our company is the life expectancy of lithium battery based on normal usage conditions However if there is high frequency of turning the power ON OFF or the motor is not used for a long period then the life of lithium battery is reduced If the battery power is less than 3 6 V during inspection replace it with new one How to replace absolute encoder back up battery At SANYO DENKI...

Page 183: ...9 Specifications Servo amplifier 9 1 Pulse output 9 4 Serial output 9 5 General servo motor 9 23 Rotation Direction Specifications 9 23 Mechanical specifications 9 24 Holding brake specifications 9 26 ...

Page 184: ...with positive command Torque comm and Input impedance Approx 10k Ω Current input limit DC 2 0V 15 at rated armature current Sequence input signal Servo on Alarm reset Torque limit Encoder clear Forward rotation inhibition Reverse rotation inhibition Command inhibition External trip Forced discharge Emergency stop Change of control mode Proportional control Gain switch Internal speed setting Sequen...

Page 185: ...circuit for the power supply control When the power is turned ON again after disconnection a power supply ON disconnection is repeated over a short time or the ambient temperature and thermistor temperature is high an incoming current exceeding the values listed above may occur Current leakage Since the R series Servo amplifier drives the motor by PWM control of the IPM a high frequency electric c...

Page 186: ...50D 61 Q1AA12100D 47 Q2AA08075D 43 Q2AA08100D 45 Q2AA10100H 50 Q2AA10150H 62 Q2AA13100D 58 RS1 05A Q2AA13150D 63 Q1AA10200D 111 Q1AA10250D 116 Q1AA12200D 101 Q1AA12300D 123 Q1AA13300D 125 Q2AA13200H 93 Q2AA18200H 101 RS1 10A Q2AA22250H 137 Q1AA13400D 146 Q1AA13500D 169 Q1AA18450M 160 Q2AA18350H 138 Q2AA18450H 154 Q2AA18550R 201 Q2AA22350H 137 Q2AA22450R 150 Q2AA22550B 191 RS1 15A Q2AA22700S 222 Q1...

Page 187: ...bout 1 sec AbsoluTte encoder pulse Increment output is delayed for about 250 μs after power ON One pulse is output for every change once per rotation of multiple rotations for Phase Z Does not determine the position relation of Phase Z and Phase A B A single pulse width is output based on the leading or trailing edge of Phase A or Phase B When the division ratio is set other than 1 1 Phase A and P...

Page 188: ...put Transmission method Asynchronous Baud rate ９６００ｂｐｓ Transfer frame １６ frame １０ bit frame Transfer format Refer to page ９７ Transmission error check １ bit even number parity Transfer time １６７ｍｓＴｙｐ Transfer period Approx ４０ｍｓ Refer to page ９１０ Increase method Increase during forward rotation Selection value 02 _Encoder_Signal Encoder signal direct output Transmission method Asynchronous Baud r...

Page 189: ...e 0 D0 D1 D2 D3 D4 0 0 0 0 1 1 LSB x 2 nd frame 0 D5 D6 D7 D8 D9 1 0 0 0 1 1 x 3 rd frame 0 D10 D11 D12 D13 D14 0 1 0 0 1 1 x4 th frame 0 D15 D16 D17 D18 D19 1 1 0 0 1 1 x5 th frame 0 D20 D21 D22 D23 D24 0 0 1 0 1 1 x6 th frame 0 D25 D26 D27 D28 D29 1 0 1 0 1 1 x7 th frame 0 D30 0 D31 0 D32 0 0 1 1 1 0 1 1 MSB MSB x 8 th frame 0 0 0 0 0 0 1 1 1 0 1 1 For ＰＡ０３５Ｃ D0 D16 Absolute value of 1 rotation ...

Page 190: ...ates that transmission data is position data 2 ASCII code 2BH Symbol of multiple rotations data 3 0 ASCII code 30H 4 Highest rank 5 6 0000 8191 7 Lowest rank Multiple rotations data 5 digits 8 ASCII code 2CH End characters 9 0 ASCII code 30H 10 Highest rank 11 12 13 14 000000 131071 15 Lowest rank Absolute value data in 1 rotation 7digits 16 CR ASCII code 0DH Carriage return For ＰＡ０３５Ｃ 1 rotation ...

Page 191: ...fixed Command code CC 4 0 CC 4 0 Command contents 00000 Absolute full data request 00011 Encoder status request 01000 Status clear request 01010 Status data clear request with multiple rotations Encoder status ES 3 0 ES 3 0 Status contents PA035C Accessing sensor accessing memory in the sensor ES0 RA062C Memory operation in the sensor PA035C Battery warning ES1 RA062C 0 fixed PA035C Sensor overhea...

Page 192: ...ta Command CC 4 0 DF0 D0 0 15 DF1 D1 0 15 DF2 D2 0 15 Frame length 00000 D0 0 15 ABS 0 15 D1 0 15 ABS 16 31 D2 0 7 ABS 32 39 D2 8 15 CRC 0 7 4 frames 00011 01000 01010 D0 0 15 ALM 0 15 D1 0 7 00000000 D2 8 15 CRC 0 7 3 frames CRC 0 7 CRC generator polynomial P X X8 X4 X3 X2 1 Applicable range is other than start bit and stop bit of each frame ALM 0 15 Alarm contents differ per the sensor type Chec...

Page 193: ...decimal code output Serial transfer Power supply control Approximately 40 ms Indefinite Ｈ 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Frame 9 Frame 10 Frame 11 Frame 12 Frame 13 Frame 14 Frame 15 Frame 16 Approx 1 04ms Approximately 16 7 ms Selection value 02 _Encoder_Signal Encoder signal direct output IF DF0 DF1 DF2 IF DF0 DF1 D...

Page 194: ... ＣＩＩ in decimal code output Transmission method Asynchronous Baud rate ９６００ｂｐｓ Transfer frame number １６ frame １０ bit Frame Transfer format Refer to page ９１３ Transmission error check １ bit Even number parity Transfer time １６７ｍｓＴｙｐ Transfer period Approx ４０ｍｓ Refer to page ９１５ Increasing direction Increase during forward rotation Selection value 02 _Encoder_Signal Encoder signal direct output ...

Page 195: ...nal signal signal signal x Frame 1 0 D0 D1 D2 D3 D4 0 0 0 0 1 1 LSB x Frame 2 0 D5 D6 D7 D8 D9 1 0 0 0 1 1 x Frame 3 0 D10 D11 D12 D13 D14 0 1 0 0 1 1 x Frame 4 0 D15 D16 D17 D18 D19 1 1 0 0 1 1 x Frame 5 0 D20 D21 D22 D23 BATE 0 0 1 0 1 1 MSB x Frame 6 0 SOT 0 WAR 0 0 1 0 1 0 1 1 x Frame 7 0 0 0 0 0 0 0 1 1 0 1 1 x Frame 8 0 0 0 0 0 0 1 1 1 0 1 1 D0 D10 Absolute value of 1 rotation D11 D23 Absolu...

Page 196: ...h frame Frame number Transmission character Data contents 1 P ASCII code 50H Indicates that transmission data is a position data 2 ASCII code 2BH Code of multiple rotations 3 0 ASCII code 30H 4 Highest rank 5 6 0000 8191 7 Lowest rank Multiple rotations data 5 digits 8 ASCII code 2CH End character 9 0 ASCII code 30H 10 Highest rank 11 12 13 14 0000 2047 15 Lowest rank Absolute value data in 1 rota...

Page 197: ...ncoded Generator polynomial of CRC signal is P X X3 X 1 Structure of each frame First frame Start signal Address signal for modem 1 1 1 0 0 Position signal D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 LSB Frame address signal CRC signal Stop signal 0 CRC0 CRC1 CRC2 0 Second frame Position signal D15 D16 D17 D18 D19 D20 D21 D22 D23 BAT E SOT 0 WAR 0 0 MSB Frame address signal Start signal mode...

Page 198: ...ms Indefinite Ｈ 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Frame 9 Frame 10 Frame 11 Frame 12 Frame 13 Frame 14 Frame 15 Frame 16 Approx 1 04 ms Approx 16 7 ms Selection value 02 _Encoder_Signal Encoder signal direct output Synchronous Manchester encoding Serial 1 st frame 2 nd frame 1 st frame 2 nd frame Output 25μs 16μs 25μs 84...

Page 199: ...al ＡＳＣＩＩ code output Transmission method Asynchronous Baud rate 9600 bps Number of frames transferred １６ frame ０ bit frame Transfer format Refer to page ９１８ Transmission error check 1 bit even number parity Transfer time 16 7 ms Type Transfer period Approx ４０ｍｓ Refer to page ９２０ Increase direction Increase during forward rotation Selection value 02 _Encoder_Signal Encoder signal direct outpu...

Page 200: ...gnal signal Frame 1 0 D0 D1 D2 D3 D4 0 0 0 0 1 1 LSB Frame 2 0 D5 D6 D7 D8 D9 1 0 0 0 1 1 Frame 3 0 D10 D11 D12 D13 D14 0 1 0 0 1 1 Frame 4 0 D15 D16 D17 D18 D19 1 1 0 0 1 1 Frame 5 0 D20 D21 D22 D23 D24 0 0 1 0 1 1 Frame 6 0 D25 0 D26 0 D27 AW0 AW1 1 0 1 0 1 1 MSB MSB Frame 7 0 0 0 0 0 0 0 1 1 0 1 1 Frame 8 0 0 0 0 0 0 1 1 1 0 1 1 D0 D14 Absolute value of 1 rotation D15 D27 Absolute value of mult...

Page 201: ...n character Data contents 1 P ASCII code 50H Shows that transmission data is position data 2 ASCII code 2BH Code for data with multiple rotations 3 0 ASCII code 30H 4 Highest rank 5 6 0000 8191 7 Lowest rank Multiple rotations Data 5digits 8 ASCII code 2CH Delimiter 9 0 ASCII code 30H 10 Highest rank 11 12 13 14 0000 2047 15 Lowest rank Absolute data value in 1 rotation 7 digits 16 CR ASCII code 0...

Page 202: ...ynomial of CRC signal is ＰＸＸ３Ｘ１ Structure of each frame First Frame Start signal Address signal for modem 1 1 1 0 0 Signal position D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 LSB Frame address signal CRC Signal Stop signal 0 CRC0 CRC1 CRC2 0 Second Frame Signal position D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 0 D2 6 0 D2 7 AW0 AW1 MSB Frame address signal Start signal modem signal C...

Page 203: ...y 40 ms Indefinite Ｈ 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Frame 9 Frame 10 Frame 11 Frame 12 Frame 13 Frame 14 Frame 15 Frame 16 Approx 1 04ms Approximately 16 7 ms Selection value 02 _Encoder_Signal Encoder signal direct output Synchronous Manchester encoding Serial 1 st Frame 2 nd Frame 1 st Frame 2 nd Frame output 25μs 1...

Page 204: ...reasing direction Increasing at normal rotation Normal rotation means anticlockwise one as seen from motor shaft axis Absolute value will be minimum value 0 if it increases to maximum Transfer format Structure of Frame 1 Frame 1 11bit Start signal Signal position Address signal Parity Stop 1bit 5bit 3bit SignalSignal 1bit 1bit Structure of each frame Start Address Parity Stop Signal Signal positio...

Page 205: ...t 9 22 Transfer period Power supply control Approximately 11 ms Indefinite Ｈ 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 Frame 1 Frame 2 Frame 3 Frame 4 Frame 5 Frame 6 Frame 7 Frame 8 Approx 1 1 ms Approx 9 2 ms Approx 1s Serial output ＰＳＰＳ ...

Page 206: ... 20 90 without condensation Vibration Classification V 15 Coating Color Munsell N 1 5 equivalent Excitation Method Permanent magnet type Installation Method Flange mounting Rotation Direction Specifications When a command to increase the position command is entered the servo motor rotates in a counterclockwise direction from the load side Encoder Signal Phases Incremental encoder Normal rotation R...

Page 207: ...ions However since a precision detector is fixed to the counter load side of the motor any shock applied to the shaft may cause damage the detector therefore do not subject the shaft to shock under any circumstances Working accuracy The following table shows the accuracy of the servo motor output shaft and precision Total Indicator Reading of the parts surrounding the shaft Items 1 T I R Reference...

Page 208: ...table is fixed to the output shaft of the servo motor This oil seal is produced by NOK Corporation please contact your dealer or sales representative for replacement of the oil seal Servo Motor Model Oil Seal type Type S Servo Motor Model Oil Seal type Type S Ｑ１ＡＡ０４Ｑ２ＡＡ０８ＡＣ０８７５Ａ０Ｑ１ＡＡ０６Ｑ２ＡＡ１０ＡＣ１３０６Ｅ０Ｑ１ＡＡ０７ None Ｑ２ＡＡ１３ＡＣ１６７７Ｅ１Ｑ１ＡＡ１０ＡＣ１３０６Ｅ０Ｑ２ＡＡ１８ＡＣ２３６８Ｅ０Ｑ１ＡＡ１２ＡＣ１６７７Ｅ１Ｑ２ＡＡ１８５５０Ｑ１ＡＡ１３Ａ...

Page 209: ...20 Ｑ１ＡＡ０７０７５Ｄ 2 38 40 20 200 Ｑ１ＡＡ１０１００Ｄ 3 92 40 30 120 Ｑ１ＡＡ１０１５０Ｄ 7 84 Ｑ１ＡＡ１０２００Ｄ 7 84 100 30 140 Ｑ１ＡＡ１０２５０Ｄ 9 80 100 30 140 Ｑ１ＡＡ１２１００Ｄ 3 92 100 30 140 Ｑ１ＡＡ１２２００Ｄ 7 84 100 30 140 Ｑ１ＡＡ１２３００Ｄ 11 8 100 30 140 Ｑ１ＡＡ１３４００Ｄ 19 6 Ｑ１ＡＡ１３５００Ｄ 19 6 120 50 150 Ｑ１ＡＡ１８４５０Ｍ 32 0 150 40 250 Ｑ１Ｑ１ＡＡ１８７５０Ｈ 54 9 300 140 400 Ｑ２ＡＡ０４００６Ｄ 0 191 Ｑ２ＡＡ０４０１０Ｄ 0 319 25 15 100 Ｑ２ＡＡ０５００５Ｄ 0 167 Ｑ２ＡＡ０５０１０Ｄ 0 353 Ｑ２ＡＡ０５０２０Ｄ 0 35...

Page 210: ...319 25 15 100 Ｑ２ＥＡ０５００５Ｄ 0 167 Ｑ２ＥＡ０５０１０Ｄ 0 353 Ｑ２ＥＡ０５０２０Ｄ 0 353 15 10 100 Ｑ２Ｑ２ＥＡ０７０２０Ｄ 0 69 25 15 100 Brake operating time is measured in the following circuit 100VAC 60Hz Varister Diode E DC Brake Brake Exciting voltage Exciting current Holding torque Brake release time Braking deley time 100 100 E DC Ib The brake release time and braking delay time refer to those mentioned in the above tables ...

Page 211: ... International Standards International standard conformity Certificate number 18 Compliance with ＥＣ directives Recommended prevention components 20 Dimension Servo amplifier 24 Servo motor 30 Servo motor data sheet Characteristics table 34 Velocity Torque characteristics 38 Option Connector Communication cable 43 Metal mounting fittings 44 Monitor box 47 Lithium battery EMC kit 48 Encoder clear Cl...

Page 212: ...antaneous maximum instant stall torque value TP to 80 Permitted repetitions There are separate limitations on repetitive operations for both the servo motor and servo amplifier and the conditions of both must be fulfilled simultaneously Permitted repetitions for the servo amplifier When START STOP sequences are repeated frequently confirm in advance that they are within the allowed range Allowed r...

Page 213: ... load torque When cycle time t is predetermined I p t a t b appropriate in the above formula are required When actually determining the system drive mode it is recommended to calculate the load margin and suppress it to Trms 0 7TR When the motor repeats acceleration deceleration and stop status For the operating status shown below the value of permitted repetitions n times min is displayed by foll...

Page 214: ...otor drive when there is no counter weight When usinglike a generator such as the wind out spindle of a winder Load Inertia JL When the servo amplifier is used with a load inertia exceeding the allowable load intertia calculated in terms of the motor shaft a main circuit power overvoltage detection or regenerative error function may be issued at the time of deceleration The following measures must...

Page 215: ...operation tD Delay time from signal display to operation start s Depending on amplifier capacity Refer to following Standard formula When load torque TL is considered as zero ＩＩ１Ｉ２ＪＭＪＬ αＮ βＮ３２πＮｔＤ６０ I Integrated slow down rotation angle rad Jm Motor inertia kg m2 JL Load inertia Motor axis conversion kg m2 α β Refer to the constant table of the dynamic brake Servo Amplifier Model Name Delay...

Page 216: ...brake resistance may fail if the energy ＥＲＤconsumed by dynamic brake resistance during dynamic brake operation exceeds the energy shown in the following table Consult with the dealer or sales representative if such a situation is anticipated Amplifier Model Name ＥＲＤＪＲＳ１０１ＬＡＮＥ３６０ＲＳ１０３ＬＡＮＥ３６０ＲＳ１０５ＡＬ１８００ＲＳ１１０ＡＬ２４５０ＲＳ１１５ＡＬ２４５０ＲＳ１Ａ３０９３８４ Allowable frequency of dynamic br...

Page 217: ...Ｑ１ＡＡ１２３００Ｄ１５３０２７１０７６４０１０４Ｑ１ＡＡ１３３００Ｄ１７８０５３１０７４９２１０４Ｑ２ＡＡ１３２００Ｈ１２３０４８１０７１１７６１０４Ｑ２ＡＡ１８２００Ｈ１４９０３６１０７１９９５１０４ＲＳ１Ａ１０ＲＳ１Ｌ１０Ｑ２ＡＡ２２２５０Ｈ１８３０２４１０７３２２０１０４Ｑ１ＡＡ１３４００Ｄ２１３０２５１０７６４３１０４Ｑ１ＡＡ１３５００Ｄ１５２０２０１０７８４７１０４Ｑ１ＡＡ１８４５０Ｍ０４３０３５１０７２７５１０４Ｑ２ＡＡ１８３５０Ｈ１１４００９１０７３７８９１０４Ｑ２ＡＡ１８４５０Ｈ０７４００９１０７５４９５１０４Ｑ２ＡＡ１８５５０Ｒ０５２００５ ...

Page 219: ...xis J EHB Regeneration energy during deceleration J KEφ Induced voltage constant Vrms min 1 Motor constant KT Torque constant N m Arms Motor constant N Motor rotation speed min 1 Rφ Armature resistance Ω Motor constant Tb Deceleration time s Tb Torque during deceleration N m Tb Tc TF Tc Adjustable speed torque N m TF Friction torque N m Effective regeneration power is calculated ＰM ｔo ＥM PM Effect...

Page 220: ...during decreased deceleration J TUb Torque during increased deceleration N m TUb Increased deceleration time s TD Torque during descending run N m TD TM TF TD Descending run time s TDb Torque during decreased deceleration N m TDb TC TF TM TDb Decreased deceleration time s TM Gravitational load torque N m When the calculation result of either of EVUb EVD or EVDb is negative calculate EM by consider...

Page 221: ...ply Voltage In case of ＡＣ１００Ｖ specification Regeneration power PM Ｗ Calculation Example Servo Amplifier Model Number ＲＳ１Ｌ０１ＡＡ With built in regeneration resistance Input Supply Voltage ＡＣ２００Ｖ Specification Regeneration resistance value １００Ω Built in Regeneration Resistance Monitor Value ０１２ＲｅｇＰ Regeneration power PM Ｗ１９２Ｗ The regeneration power calculated from this monitor value continues to ...

Page 222: ...odel Number PM Up to 125W Up to 250W Below 500W 500W and over Resistor Sign Ｊ 1 Ｋ 2 Ｊ 4 Contact RS1 15 Connection Number Ⅲ Ⅴ Ⅵ Amplifier Model Number PM Up to 250W Below 500W 500W and over Resistor Sign Ｌ１Ｌ２ Contact RS1 30 Connection Number Ⅲ Ⅴ The above resistor sign of a combination of an external regenerative resistor correspond to the following table Please select a resistor model name corr...

Page 223: ...stor Please allocate the connected general purpose input any of ＣＯＮＴ１ＣＯＮＴ６ to Group9 40 External Trip Input Function of General Parameter Parameter Set up Example When connecting the thermostat to ＣＯＮＴ６ The external trip function will be valid when ０ＤＨＣＯＮＴ６ＯＦＦ CONT6 is turned off in Grop6 40 External Trip Input Function Alarm ALM 55 will be output from the servo amplifier when the thermostat of...

Page 224: ...onⅢ ConnectionⅣ ２ Series Connection ConnectionⅤ ２ Parallel Connection ConnectionⅥ ４ Series Parallel Connection RB4 RB1Terminal Short Bar RB1 RB2 CNB Built in Regenerative RB4 RB1 RB2 TerminalBlock RB4 RB1 RB2 CN1 TerminalBlock RB4 RB1 RB2 CN1 TerminalBlock Twisted Wire Twisted Wire RB4 RB1 RB2 CN1 TerminalBlock Twisted Wire RB4 RB1 RB2 CN1 TerminalBlock Twisted Wire ...

Page 225: ... error external trip alarm ALM_55 is issued when this error is detected The two parameters requiring settings are given below Regenerative resistance selection Regenerative resistance built in type ０Ｂ External trip input function General parameter Ｇｒｏｕｐ９４０ Relationship between parameter settings and protection functions Make appropriate settings to regenerative resistance System parameter Page0B ...

Page 226: ...tact Siliconrubberglassbraidedwire0 5mm 2 Siliconrubberglassbraidedwire0 7mm2 Thermo start White Black Silicon rubber glass braided wire Thermo stat Silicon rubber glass braided wire White Black Model number Thermostat 1 REGIST 080W100B Normal close contact 2 REGIST 080W50B Normal close contact Unit ｍｍ Model number Thermostat 1 REGIST 220W50B Normal close contact 2 REGIST 220W20B Normal close cont...

Page 227: ...3 0 3 0 5 Model number Thermostat 1 REGIST 500W20B Normal close contact 2 REGIST 500W20 None 3 REGIST 500W10B Normal close contact 4 REGIST 500W10 None 5 REGIST 500W7B Normal close contact 6 REGIST 500W7 None 7 REGIST 500W14B Normal close contact 8 REGIST 500W14 None Crimping terminal A M5 B 700mm 15 C 350mm 15 φ Thermo stat ...

Page 228: ...Materials Selection Details External Regenerative Resistor Dimension Materials 17 b a b a Model number Thermostat 1 REGIST 1000W6R7B b Contact Point Connection Diagram ...

Page 229: ...l Contact the manufacturer for more details Precautions for conformity standards Make sure to use servo amplifier and servo motor in a proper combination Check Section 1 Prior to use Servo amplifier type number Make sure to install the servo amplifier in your control panel in an environment where the pollution level specified in EN50178 and IEC664 is no less than 2 polution level 1 2 The control p...

Page 230: ...number Classification Category File No UL cUL Servo amplifier Power Conversion Equipment E179775 UL Servo motor Motors Component E179832 Command classification Type File No Low voltage command Servo amplifier Attested certificate B 05 05 30982 044 EMC command Servo amplifier servo motor Attested certificate B9 05 05 30982 045 Low voltage command Ｑ１ servo motor Attested certificate B 04 03 30982 03...

Page 231: ... Voltage Dips Interruptions immunity EN61000 4 11 A1 2001 EMC Directive Servo amplifier servo motor Immunity test Adjustable speed electrical power drive system EN61800 3 1996 A11 2000 Rotating electrical machines Part1 Rating and performance IEC 34 1 Rotating electrical machines Part5 Classification of degrees of protection provided by enclosures of rotating electrical machines IP code IEC34 5 Lo...

Page 232: ...ivity processing on the EMI gasket door and main body of control panel to confirm their conductivty Ground the noise filter frame to the control panel Ground the servo amplifier chassis provided by the customer Use shield cables for the motor power line and sensor cable Ground the shield of motor power wire and sensor cable to the control panel with the clamp Ground and clamp the shield of motor p...

Page 233: ... wiring of the noise filter as much as possible Keep wiring from the noise filter to servo amplifier as short as possible Connect the servo amplifier to the secondary side of noise filter Ｌ１Ｌ２Ｌ３ＰＥＬ１Ｌ１Ｌ２Ｌ２Ｌ３Ｌ３ｒｔＲＳＴ Connected to protective earth terminal ＭＣ Noise filter Ground without fail Toroidal core Servo amplifier Ｌ１Ｌ２ＰＥＬ１Ｌ１Ｌ２Ｌ２ｒｔＲＳ Connected to protective eart...

Page 234: ...ed current 70 A RASMI ELECTRONICS LTD RF1010 DLC Rated voltage Line Neutral 250 V Rated current 10 A SCHAFFNER FS5559 35 33 Rated voltage Line Line 480 V Rated current 35 A Okaya Electric Industries Co Ltd Toroidal core Model Number External diameter Internal diameter Manufacturer 251 211 65 mm 36 mm SCHAFFNER Okaya Electric Industries Co Ltd http www okayaelec co jp RASMI ELECTRONICS LTD http www...

Page 235: ...Materials Dimension RS1 01 Materials 24 V U W RB2 RB1 2 N C C N C P DL2 DL1 R r t S T C N 1 B N C P C N A C CHARGE POWER TION M TION M ...

Page 236: ...Materials Dimension RS1 03 Materials 25 C W U V C C N N 2 S 1 DL1 RB2 DL2 RB1 P B N C R r t C N C A N CHARGE T POWER P C M TION M TION ...

Page 237: ...Materials Dimension RS1 05 Materials 26 N C C 2 C N B N C C 1 N T S t V U W DL1 RB1 RB2 DL2 P r CHARGE POWER C A N C P R TION M TION M ...

Page 238: ...Materials Dimension RS1 10 Materials 27 TION M TION M ...

Page 239: ...Materials Dimension RS1 15 Materials 28 M TION TION M ...

Page 240: ...Materials Dimension RS1 30 Materials 29 TION M TION M ...

Page 241: ...G KL LA LB LE LH LC LZ LR S Q QE LT D1 D2 オイルシール Q1AA04003 77 123 5 0 6 0 008 Q1AA04005 83 129 5 Q1AA04010 102 148 5 Q1AA06020 113 142 Q1AA06040 142 171 Q1AA07075 156 179 5 8 50 90 0 70 0 030 3 100 76 5 5 40 0 16 0 011 35 M5 12 7 5 70 0 50 0 025 41 60 5 5 3 81 0 8 0 009 30 0 14 0 011 4 5 12 M5 オプション 4 7 7 7 5 インクリメンタルブレーキ無しブレーキ付き 6 インクリメンタル 5 30 46 0 30 0 021 2 5 54 40 25 Incremental Without ...

Page 242: ...80 145 0 110 0 035 4 165 130 9 M6 55 Q1AA18450 288 67 338 117 24 11P 16 123 21 65 Q1AA18750 384 72 434 122 54 32 17P 10SL 4P 19 144 22 80 200 0 114 3 0 035 3 230 180 13 5 M8 79 MODEL S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2 Q1AA10100 84 Q1AA10150 109 Q1AA10200 134 Q1AA10250 0 22 0 013 40 3 32 0 6 0 030 6 2 5 159 0 02 0 08 0 08 M6 20 Q1AA12100 76 Q1AA12200 0 22 0 013 40 3 32 0 6 0 030 6 2 5 11...

Page 243: ... 0 50 0 025 2 5 71 5 54 4 5 30 Q2AA07020 98 123 Q2AA07030 105 130 Q2AA07040 112 137 Q2AA07050 120 145 8 50 90 0 70 0 030 3 100 76 5 5 30 Q2AA08050 130 166 Q2AA08075 147 183 Q2AA08100 166 200 8 55 100 0 80 0 030 3 115 86 6 6 35 Incremental MODEL S Q QA QK W T U QE LT D1 D2 Oil seal Q2AA04006 Q2AA04010 0 7 0 009 20 15 Two slot cuts 6 5 0 2 7 None note1 Q2AA05005 Q2AA05010 0 8 0 009 20 15 Two slot cu...

Page 244: ...41 21 80 235 0 200 0 046 4 270 220 13 5 M10 79 Q2AA2211K 335 Q2AA2215K 394 73 32 17P 10SL 4P 19 162 22 80 235 0 200 0 046 4 270 220 13 5 M10 79 MODEL S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2 Q2AA10100 98 Q2AA10150 0 22 0 013 40 3 32 0 6 0 030 6 2 5 128 0 02 0 08 0 08 M6 20 Q2AA13050 47 Q2AA13100 64 Q2AA13150 0 22 0 013 0 6 0 030 6 2 5 81 M6 20 Q2AA13200 0 28 0 013 50 3 42 0 8 0 036 7 3 98 0 0...

Page 245: ... current IS Arms 26 4 27 5 24 8 60 Peak current IP Arms 83 83 83 155 Torque constant KT N m Arms 0 612 0 724 1 37 0 91 Voltage constant for each phase KEφ ｍＶ min １ 21 4 25 3 47 7 31 7 Phase resistance Rφ Ω 0 0478 0 0461 0 0838 0 021 Rated power rate ＱＲ k Ｗ s 251 291 295 443 Inertia Including Wiring INC JM kg m 2 GD 2 4 10 4 6 43 8 47 27 5 52 Aluminium plate ｍｍ t20 470 t20 540 t20 540 t20 540 Const...

Page 246: ...ontinuous stall current IS Arms 0 95 1 92 2 2 4 5 Peak current IP Arms 4 7 7 9 15 5 Torque constant KT N m Arms 0 115 0 0956 0 176 0 161 Voltage constant for each phase KEφ ｍＶ min １ 4 03 3 34 6 13 5 63 Phase resistance Rφ Ω 4 28 1 36 2 21 0 327 Rated power rate ＱＲ k Ｗ s 9 60 18 9 43 4 28 8 Inertia Including Wiring INC JM kg m 2 GD 2 4 10 4 0 01 0 0134 0 0233 0 141 Aluminium plate ｍｍ t6 305 t6 305 ...

Page 247: ...5 9 6 6 8 8 6 Continuous stall current IS Arms 3 1 5 0 4 3 7 6 9 8 1 9 4 Peak current IP Arms 12 15 15 23 7 25 24 5 25 5 Torque constant KT N m Arms 0 482 0 441 0 519 0 441 0 587 0 814 0 937 Voltage constant for each phase KEφ ｍＶ min １ 16 8 15 4 18 1 15 4 20 5 28 4 32 7 Phase resistance Rφ Ω 1 26 0 8 0 800 0 358 0 410 0 477 0 34 Rated power rate ＱＲ k Ｗ s 21 6 29 7 19 5 27 5 37 0 46 0 64 9 Inertia ...

Page 248: ...rrent IP Arms 155 155 155 157 Torque constant KT N m Arms 0 830 1 03 1 29 1 54 Voltage constant for each phase KEφ ｍＶ min １ 29 0 36 0 45 1 53 6 Phase resistance Rφ Ω 0 018 0 017 0 015 0 016 Rated powerrate ＱＲ k Ｗ s 170 240 260 360 Inertia Including Wiring INC JM kg m2 GD2 4 10 4 73 95 186 255 Aluminium plate ｍｍ t20 540 t20 540 t20 540 t20 540 ＡＣ１００Ｖ Input specification Servo Motor model Q2EA 04006...

Page 249: ...que N m 速度トルク特性 Q1AA06040D 400W 0 1 2 3 4 0 1000 2000 3000 4000 5000 6000 速度 min 1 トルク N m 速度トルク特性 Q1AA07075D 750W 0 2 4 6 8 0 1000 2000 3000 4000 5000 6000 速度 min 1 トルク N m 速度トルク特性 Q1AA06020D 200W 0 0 5 1 1 5 2 0 1000 2000 3000 4000 5000 6000 速度 min 1 トルク N m Instantaneous zone Continuous zone Speed torque characteristics Speed min1 Instantaneous zone Continuous zone Speed torque characteristi...

Page 250: ... zone Continuous zone Speed torque characteristics Torque N m Speed min1 Instantaneous zone Continuous zone Speed torque characteristics Torque N m Speed min1 Instantaneous zone Continuous zone Speed torque characteristics Torque N m Speed min1 Instantaneous zone Continuous zone Speed torque characteristics Torque N m Speed min1 Instantaneous zone Continuous zone Speed torque characteristics Torqu...

Page 251: ...aracteristics Torque N m Speed min1 Instantaneous zone Continuous zone Speed torque characteristics Torque N m Speed min1 Speed torque characteristics Torque N m Speed min1 Instantaneous zone Continuous zone 速度トルク特性 Q2AA04006D 60W 0 0 2 0 4 0 6 0 8 0 1000 2000 3000 4000 5000 6000 速度 min 1 トルク N m 速度トルク特性 Q2AA04010D 100W 0 0 5 1 1 5 2 0 1000 2000 3000 4000 5000 6000 速度 min 1 トルク N m 速度トルク特性 Q2AA...

Page 252: ...kW 0 10 20 30 40 0 1000 2000 3000 4000 速度 min 1 トルク N m 速度トルク特性 Q2AA13050H 500W 0 2 4 6 8 0 1000 2000 3000 4000 速度 min 1 トルク N m Instantaneous zone Continuous zone Speed torque characteristics Torque N m Speed min1 Instantaneous zone Continuous zone Speed torque characteristics Torque N m Speed min1 Instantaneous zone Continuous zone Speed torque characteristics Torque N m Speed min1 Instantaneou...

Page 253: ...aneous zone Continuous zone Torque N m Speed min1 Speed torque characteristics Speed torque characteristics Speed torque characteristics 速度トルク特性 Q2AA22450R 4 5kW 0 20 40 60 80 0 1000 2000 3000 4000 速度 min 1 トルク N m 速度トルク特性 Q2AA22550B 5 5kW 0 30 60 90 120 0 1000 2000 3000 速度 min 1 トルク N m 速度トルク特性 Q2AA22700S 7kW 0 50 100 150 200 0 500 1000 1500 速度 min 1 トルク N m Speed torque characteristics Speed ...

Page 254: ... Ltd IC2 5 3 STF 5 08 10150 3000VE 10350 52A0 008 10120 3000VE 10320 52A0 008 MSTB2 5 5 STF 5 08 Amplifier capacity RS1 01 RS1 05 Standard set AL 00393603 CN1 CN2 plug and housing CNA CNC plug Sumitomo 3M Ltd Phoenix Contact Co Ltd IC2 5 3 STF 5 08 10150 3000VE 10350 52A0 008 10120 3000VE Amplifier capacity RS1 10 RS1 15 RS1 30 Standard set AL 00292309 CN1 CN2 plug and housing Sumitomo 3M Ltd 1032...

Page 255: ...el Contents RS1 01 Front AL 00582788 01 Fitting metals １ Tightning screw 6 RS1 03 Front AL 00582789 01 Fitting metals １ Tightning screw 2 RS1 01 RS1 03 Back AL 00582791 01 Fitting metals １ Tightning screw 2 Front AL 00582790 01 Fitting metals １ Tightning screw 6 RS1 05 Back AL 00582792 01 Fitting metals １ Tightning screw 2 Metal mounting fittings of this option employ three number chromate plating...

Page 256: ...Materials Option Metal mounting fittings Materials 45 AL 00582789 01 AL 00582791 01 ...

Page 257: ...Materials Option Metal mounting fittings Materials 46 AL 00582790 01 AL 00582792 01 ...

Page 258: ...EFT CN L RIGHT CN R DM M2 M1 GND GND M1 M2 DM Dedicated cables Model number Remarks AL 00496726 01 Dedicated cables 2 cables Terminal name Function 1A Analog monitor 1 1B Analog monitor 2 2A GND 2B Degital monitor Manufacturer mdel number Manufacturer Connector LY10 DC4 Japan Aviation Electronics Industry Ltd Contact LY10 C1 1 10000 Japan Aviation Electronics Industry Ltd CN1 CN2 ケーブル長 2000 50 1B ...

Page 259: ...S S3L N Japan Aviation Electronics Industry Ltd Contact IL C2 1 10000 Japan Aviation Electronics Industry Ltd Battery ER3VLY Toshiba Battery Co Ltd ＥＭＣ countermeasure kit Model number Remarks Noise filter 3SUP HK30 ER 6B AL 00508115 Toroidal core 251 211 Model number ３ＳＵＰＨＫ３０ＥＲ６Ｂ Mass 2 5kg Model number ２５１１１ Mass 0 3kg 赤赤黒黒 17MAX φ14 5 50 3 24 5 unit general allowance ...

Page 260: ... Ａ７ Abnormal encoder ５ＲＡ０６２Ｃ Power restoration ＰＡ０３５ＣＡ８ Abnormal encoder ６ＲＡ０６２Ｃ Power restoration ＰＡ０３５ＣＡ９ Encoder failure ＲＡ０６２Ｃ Power restoration ＰＡ０３５ＣＢ３ Numerous rotation abnormal ＲＡ０６２Ｃ Power restoration ＰＡ０３５Ｃ Power restoration Ｂ４ One rotation abnormal ＲＡ０６２ＣＰＡ０３５ＣＢ５ Over speed Numerous rotation abnormal ＲＡ０６２Ｃ After Encoder clear input Power restoration ＰＡ０３５ＣＢ６ Memory abnormal ＲＡ０...

Page 261: ...ill be 1 1 If it cannot be used under the above conditon For example Encoder pulse number equivalent of servo motor revolution is ２０００ P R ４times ８０００ P R Command input pulse feed necessary to revolve servo motor once or move one revolution at this time is ８０００ P R However command input pulse feed must be ５００ P R ８０００１６ times are necessary ５００１ If set up value of electronic gear is made to be１６ ...

Page 262: ... If is T 01 _Ext ENC 0A External encoder resolution 2000 0B Regenerative resistance selection If is A or B 02 _External_R If is L or M 01 _Built in_R If is A or B 01 _Built in_R If is L or M 02 _External_R If is A or B 02 _External_R There is no setting to L or M System parameter when shortened model number is shipped In the case of RS1E RS1F RS1N RS1P Set up value Page Name RS1E01A RS1F01A RS1E03...

Page 263: ...ption 3 20 Connector terminal number 3 9 Corrective actions for problems during operation 8 25 CPU software version Digital operator 4 15 Current leakage 9 2 Current loop 7 4 Ｄ Data sheet Servo motor Materials 33 Deceleration time 7 16 Materials 1 Delay time of engaging holding brake BONDLY 7 32 Delay time of releasing holding brake BOFFDLY 7 33 Deviation clear selection 7 12 Description of test r...

Page 264: ... function 4 16 PCFIL 7 4 5 7 Peripherals 3 19 Permitted repetitions Materials 1 Photo coupler input 3 14 3 16 Position command input circuit 3 13 Position command maximum input pulse frequency 9 1 Position command pulse 7 8 Position command pulse count polarity 7 9 Position command pulse digital filter 7 9 Position command pulse inhibit function 7 27 Position command pulse input circuit 3 13 Posit...

Page 265: ...e operation 7 20 Trouble shooting when alarm rings 8 1 Tuning method selecting procedure 7 2 TVI 5 8 7 5 TUV Materials 17 Ｕ UL Materials 17 Ｖ VCFIL 5 8 7 4 Velocity command Acceleration time constant 7 16 Velocity command deceleration time constant 7 16 Velocity command zero clamp function 7 27 Velocity compensation addition function 7 15 velocity input impedance 3 12 9 1 Velocity limit 7 16 Veloc...

Page 266: ...104 Taiwan R O C Phone 886 2 2511 3938 HONG KONG BRANCH 1109 11F New East Ocean Centre 9 Science Museum Road TST East Kowloon Hong Kong Phone 852 2312 6250 SHANGHAI BRANCH Room 2116 Bldg B FAR EAST INTERNATIONAL PLAZA No 317 Xianxia Rd Shanghai 200051 China Phone 86 21 6235 1107 468 Amapola Avenue Torrance California 90501 U S A Phone 1 310 783 5400 P A PARIS NORD II 48 Allee des Erables VILLEPINT...

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