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Sanyo Denki SANMOTION 3E S Instruction Manual Download Page 377

 

10.4 Safe-Torque-Off operation 

10-12 

 

 

 

 

 

 

 

 

 

1

0

 

Sa

fe-T

orq

ue-O

ff fu

nctio

n

 

 

 

■

 

In case that set value of the quick stop option code (Index 0x605A-0 [QSTOP]) is 0. 

 

When safety input 1 or 2 is turned off, this setting blocks servo motor current, and then stops 
servo motor with dynamic brake after.   

 

  The state moves to safe-torque-off state after period of delay time (500ms max.) from 

turning off safety input.    Dynamic brake is activated on turning off safety input. 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

*  Dynamic brake circuit and holding brake excitation signal are not safety-related sections.     

 
 
 
 

Safety input 1 
Safety input 2 

Servo motor current 

Holding brake excitation 

signal  

Servo On state 

Safe-Torque-Off state 

Released  

Brake-activated 

Stoppage (Motor-free) 

Off 

On 

Dynamic brake signal 

Released 

Brake-activated 

Velocity monitor   

Within 20ms

Stop with dynamic brake 

Servo On state 

Safe-torque-off state

Max.700ms

Servo amplifier state 

(Without delay circuit) 

Servo amplifier state 

(With delay circuit) 

Power On state

Summary of Contents for SANMOTION 3E S

Page 1: ...M0011696D Instruction Manual TYPE S For Rotary Motor Linear Motor Interface ...

Page 2: ......

Page 3: ... Cable Model No AL 00690525 01 2B 1B 1A 2A 20 5 20 5 2000 50 1 3 4 2 20 5 20 5 CN1 CN2 Note 1 A pair of the dedicated cable shown above model number AL 00690525 01 are supplied with the Monitor Box model number Q MON 3 Correction after Dedicated Cable Model No AL 00690525 01 2B 1B 1A 2A 20 5 20 5 2000 50 1 3 4 2 20 5 20 5 CN1 CN2 Note 1 A pair of the dedicated cable shown above model number AL 006...

Page 4: ...e for R1AA10200F and R1AA10250F is corrected p 7 5 Alarm history amount is corrected to 15 p 7 28 Description is corrected because fixed monitor display can change initialization completion time p 7 28 Description is changed as below in 2 seconds after powering up after initialization completion p 8 1 8 3 Description for analog interface is changed for EtherCAT interface p 8 4 Communication system...

Page 5: ... hazards that will probably cause severe bodily injury or death as a result of incorrect operation Denotes immediate hazards which will probably cause severe bodily injury or death as a result of incorrect operation Denotes hazards which could cause bodily injury and product or property damage as a result of incorrect operation Caution Even those hazards denoted by this symbol could lead to a seri...

Page 6: ...ound terminal should always be grounded to the unit or control board The ground terminal of the motor should always be connected to the protective ground terminal of the amplifier Electric shock could otherwise result Do not touch the inside of the amplifier Electric shock could otherwise result Do not damage the cable do not apply unreasonable stress to it do not place heavy items on it and do no...

Page 7: ...essive heat Burn could otherwise result In terms of designing safety systems using the Safe Torque Off function personnel who have expertise of relevant safety standard are supposed to do that job with good understanding of this instruction manual Injury or damage to the device could otherwise result Please read the User Manual carefully before installation operation maintenance or inspection and ...

Page 8: ... stored for a period of 3 years or longer Confirmations such as bearings and the brakes are necessary Transportation Caution When handling or moving this equipment do not hold the device by the cables the motor shaft or detector portion Damage to the device or bodily injury could otherwise result Keep in mind that it is dangerous at the time of conveyance if it falls and overturns Bodily injury co...

Page 9: ...he User Manual regarding the required distance inside the amplifier disposition Fire or damage to the device could otherwise result Open the box only after checking its top and bottom location Bodily injury could otherwise result Verify that the products correspond to the order sheet packing list Injury or damage could result Take care of falling or overturning of the device during installation Us...

Page 10: ...s action will cause faulty operation Must add the surge absorbing diode if inductive load as relay connect to the control signal output of the amplifier Please take care of polarity of the diode that will be cause of failure Do not connect 90 VDC or AC power to the 24 VDC Brake of the servo motor Also do not connect 400 VAC to the 200 VAC Fan of the servo motor An electrical short or fire could ot...

Page 11: ...fety Next reset the alarm and restart the device Bodily injury could otherwise result Check that input power supply voltage is keeping a specification range Damage to the device could otherwise result Avoid getting close to the device as a momentary power outage could cause it to suddenly restart although it is designed to be safe even in the case of a sudden restart Bodily injury could otherwise ...

Page 12: ...result Avoid frequent on and off power supply Inner parts might get premature failure in case of repeating ON OFF of power supply 30 times or more per day otherwise 5 times or more per hour Mandatory Install an external emergency stop circuit that can stop the device and cut off the power instantaneously Install an external protective circuit to the amplifier to cut off the power from the main cir...

Page 13: ... result Please contact your distributor or sales office if repairs are necessary Disassembly could render the device inoperative Damage to the device could otherwise result Prohibited Do not overhaul the device Fire or electric shock could otherwise result Do not measure the insulation resistance and the pressure resistance Damage to the device could otherwise result Absolutely do not unplug the c...

Page 14: ...mes 1 24 1 5 1 Servo amplifier 1 24 1 5 2 Power unit 1 33 1 5 3 Amplifier unit 1 34 1 5 4 Servo motor 1 36 1 5 5 Linear motor 1 43 2 Specifications 2 1 Servo motor 2 1 2 1 1 General specifications 2 1 2 1 2 Exterior dimensions specifications mass 2 1 2 1 3 Cooling fan specifications 2 1 2 1 4 Mechanical specifications mechanical strength working accuracy 2 2 2 1 5 Oil seal type 2 3 2 1 6 Holding b...

Page 15: ...nstantaneous tolerance decreasing the rotation angle of the dynamic brake 2 33 2 10 Regeneration process 2 39 2 10 1 Minimum values of Built in external regenerative resistor 2 39 2 10 2 Allowable regenerative power 2 39 3 Installation 3 1 Servo amplifier 3 1 3 1 1 Precautions 3 1 3 1 2 Unpacking 3 2 3 1 3 Mounting direction and location 3 3 3 1 4 Arrangement within the cabinet 3 4 3 2 Rotary moto...

Page 16: ...coder cable specification 4 36 4 3 5 Encoder cable length 4 36 4 4 Wiring for thermostat of servo motor FAN for 400 VAC 4 37 4 4 1 Connector model number for thermostat of servo motor FAN 4 37 4 5 External alarm input dynamic brake signal and thermostat 4 38 4 5 1 Pin assignment of external alarm input CN8 RS3W60 4 38 4 5 2 Wiring of external alarm input CN8 RS3W60 4 38 4 5 3 Terminal block pin as...

Page 17: ...4 6 3 Auto tuning function 6 5 6 3 1 Selection of tuning method 6 5 6 3 2 Automatically adjusted parameters in auto tuning 6 10 6 3 3 Adjustable main parameters during auto tuning 6 12 6 3 4 Unavailable functions during auto tuning 6 13 6 3 5 Auto tuning characteristic selection 6 14 6 3 6 Adjustment method for auto tuning 6 15 6 3 7 Monitoring servo gain adjustment parameters 6 15 6 3 8 Manual tu...

Page 18: ...2 2 Control Power Supply Establish Indicator Code POW 7 4 7 3 Digital Operator Indicator 7 5 7 3 1 Digital Operator Names and Functions 7 5 7 3 2 Mode changes 7 5 7 4 Digital Operator Display Form 7 6 7 5 Status Display Mode 7 9 7 5 1 Servo Amplifier Status Display 7 9 7 5 2 Forward Inverse Limit state Display 7 9 7 5 3 Display of linear motor magnetic pole position detection process 7 10 7 5 4 Di...

Page 19: ...ration of system components 9 1 9 1 2 Internal block diagram 9 2 9 1 3 Combination encoder 9 3 9 1 4 Wiring 9 4 9 1 4 1 Signal names and its pin numbers for external encoder EN2 9 4 9 1 4 2 EN2 pin assignment 9 5 9 1 5 Basic setting of full closed system 9 6 9 1 5 1 Specification confirmation 9 6 9 1 5 2 System parameter setting 9 7 9 1 5 3 Full closed encoder selection 9 8 9 1 5 4 Feedback pulse ...

Page 20: ...off state 10 9 10 4 2 Restoration from safe torque off state 10 10 10 4 3 Safe Torque Off during servo motor running 10 11 10 4 4 Safe Torque Off during servo motor stoppage 10 13 10 4 5 Deviation clear 10 14 10 4 6 Safety input signal failure detection 10 14 10 5 Error Detection Monitor EDM 10 15 10 5 1 Specifications 10 15 10 5 2 Connection example 10 15 10 5 3 Error detection method 10 16 10 6 ...

Page 21: ... 3 5 Specification of external regenerative resistor 11 16 11 3 6 Connection of regenerative resistor 11 17 11 3 7 Thermostat connection of external regenerative resistor 11 20 11 3 8 Protection function of regenerative resistor 11 20 11 3 9 Confirmation method of regeneration power PM in actual operation 11 21 11 3 10 Precautions for external regenerative resistor use 11 22 12 Appendix 12 1 Stand...

Page 22: ... 12 43 12 8 7 Power cable for servo motor FAN 12 53 12 8 8 External regenerative resistor 12 54 12 8 9 Thermostat cable for servo motor FAN 12 54 12 8 10 Servo motor FAN power cable 12 55 12 8 11 External regenerative resistor 12 56 12 8 12 Connection cable between units 12 56 12 8 13 Copper bus bar 12 57 12 9 Optional parts dimensions 12 58 12 9 1 Battery peripherals dimensions 12 58 12 9 2 Monit...

Page 23: ...1 2 1 Contents 1 4 1 2 2 Precautions related to these instructions 1 5 1 3 Illustration of system components 1 6 1 4 Model number structure 1 15 1 4 1 Servo Motor Model Number 1 15 1 4 2 Linear Motor Model Number DS DD series 1 17 1 4 3 Linear Motor Model Number DS DD series Small type 1 18 1 4 4 Linear Motor Model Number DT series 1 19 1 4 5 Power Unit Model Number 1 20 1 4 6 Servo Amplifier Mode...

Page 24: ...ed power supply single axis type and two 2 models of separated power supply model ten 10 types capacity totally This product is corresponded the Rotary Motor R series and allows using an absolute encoder and incremental encoder as motor encoder It is also allows using an incremental encoder and Heidenhain made absolute encoder Endat 2 2 as external encoder of full closed system Battery for the mot...

Page 25: ...gh safe performance 2 Eco Efficient Lower power consumption Up to 10 loss reduction by equipping new generation power device And decreasing waste of energy by controlling speed of fan that cools depending on load condition and environment temperature Especially standby power requirement at servo off is decreased 10 maximum and fan noise decreased also Power consumption visualization Power consumpt...

Page 26: ...relationship between servo amplifier capacity and combined motor has changed See detail in 1 4 2 Servo amplifier model number The setup software The setup software for AC servo amplifier SANMOTION R 3E Model is SANMOTION MOTOR SETUP SOFTWARE SANMOTION R ADVANCED MODEL SETUP SOFTWARE is not able to use Please download SANMOTION MOTOR SETUP SOFTWARE from our Website And prepare commercial USB cable ...

Page 27: ...strations and explanations of wiring Chapter 5 Linear motor Explanation of how to use with linear motor combination Chapter 6 Servo Tuning Explanation of servo adjustment as auto tuning manual tuning Chapter 7 Digital Operator Explanation of the LED display and use of the digital operator Chapter 8 Maintenance Explanation of troubleshooting when alarms occur and inspection Chapter 9 Dedicated func...

Page 28: ...s granted to reproduce or omit a portion of the attached figures as abstracts for use The contents of this manual may be modified without prior notice as revisions or additions are created regarding the usage method of the product Modifications are performed as per the revisions of this manual Although the manufacturer has taken all possible measures to ensure the veracity of the contents of this ...

Page 29: ...ectromagnetic contactor Brake power source SANMOTION R 3E Model With EtherCAT Interface Motor power USB To next amplifier Connects I O signal of Safe Torque Off function to safety devices as safety unit safety PLC Host equipment Motor encoder General I O connector Connects homing probing and general signals Servo motor 1 3 Illustration of system components RS3 01 02 03 05 rotary motor Used in case...

Page 30: ...motor Noise filter Wiring breaker MCCB T S R Brake power source Normally built in regenerative resistor of servo amplifier is used for operation An external regenerative resistor is used in case of insufficient capacity such as may be caused by high frequency of use Motor power Switches power On Off Please place safeguard circuit Electromagnetic contactor General I O connector Connects homing prob...

Page 31: ...r RS3 10 15 rotary motor Noise filter Wiring breaker MCCB T S R Brake power source Built in regenerative resistor Short circuits RB4 RB1 External regenerative resistor Remove short bar RB4 RB1 Connect the register to RB1 RB2 Switches power On Off Please place safeguard circuit Normally built in regenerative resistor of servo amplifier is used for operation An external regenerative resistor is used...

Page 32: ...rake SANMOTION R 3E Model With EtherCAT Interface Servo motor RS3 30 rotary motor Used in case of insufficient capacity such that may be caused by high frequency of use although internal regenerative resistor is enough in usual Brake power source General I O connector Connects homing probing and general signals To next amplifier Safety unit safety PLC etc Connects I O signal of Safe Torque Off fun...

Page 33: ...rameter setup and monitoring through communication with a PC Setup software USB Noise filter Wiring breaker MCCB Installed to protect power line from external noise Used to protect power line Turns off the power supply when overload runs Switches power On Off Please place safeguard circuit t r t Host equipment To next amplifier Safety unit safety PLC etc Connects I O signal of Safe Torque Off func...

Page 34: ...th a PC Switches power On Off Please place safeguard circuit T S R Electromagnetic contactor Brake power output Motor power USB Normally built in regenerative resistor of servo amplifier is used for operation An external regenerative resistor is used in case of insufficient capacity such as may be caused by high frequency of use External regenerative resistor Control power 24VDC Motor encoder Serv...

Page 35: ...tc Connects I O signal of Safe Torque Off function to safety devices as safety unit safety PLC T S R Noise filter Wiring breaker MCCB Installed to protect power line from external noise Used to protect power line Turns off the power supply when overload runs Enables parameter setup and monitoring through communication with a PC Motor Setup Software USB Electromagnetic contactor Switches power On O...

Page 36: ... line Turns off the power supply when overload runs Enables parameter setup and monitoring through communication with a PC Motor Setup Software USB Electromagnetic contactor Switches power On Off Please place safeguard circuit External regenerative resistor Brake power output Host equipment To next amplifier General I O connector Connects homing probing and general signals Safety unit safety PLC e...

Page 37: ... protect power line Turns off the power supply when overload runs Control Power DC24V Power ground Be sure to grounding Power ground Be sure to grounding DC power wiring Refer the section 4 5 5 for wiring of dynamic brake signal and external regenerative resistor thermostat TH1 1 TH1 2 Terminal for thermal signal DB1 DB2 Output for dynamic brake contact External regenerative resistor Motor power S...

Page 38: ...2500 3000min 1 L 3000 4000min 1 H 3000 3500min 1 V 2500 3000min 1 D 4000 4500 5000min 1 F 6000min 1 Existence and spec for securing brake X No brake B With brake 90V DC C With brake 24V DC Encoder type H Single turn absolute encoder P Battery backup absolute encoder R Battery less absolute encoder W Resolver type battery less absolute encoder S Wire saving incremental encoder See page 1 15 for kin...

Page 39: ...er rotation Multi turn amount Transfer method Single turn absolute encoder PA035S H 131072 17bit Half duplex asynchronous 2 5Mbps Battery backup absolute encoder PA035C P 131072 17bit 65536 16bit Half duplex asynchronous 2 5Mbps Battery less absolute encoder HA035 R 131072 17bit 65536 16bit Half duplex asynchronous 2 5Mbps Resolver type battery less absolute encoder RA035C W 131072 17bit 65536 16b...

Page 40: ...256mm 512 512mm DS 030 C 1 N2 E C 1 00 Linear motor series DS Flat type with core DD Twin type with core Magnet width 030 30mm 050 50mm 075 75mm 100 100mm 150 150mm Type C Coil Coil length Flat type with core DS Twin type with core DD 1 200mm 226mm 2 376mm 402mm 3 552mm 578mm 4 754mm DD075 only Cooling options N2 Standard winding Y2 Standard winding DD050 DD075 Y4 Standard winding DD030 Hall effec...

Page 41: ... C1 130mm B4 349mm C2 253mm Power supply voltage A 200 VAC Winding specification N Standard winding Hall effect sensor specification E Line driver Standard A None Thermal specification A No thermal Cable length 1 300mm 2 600mm Specification identification 00 Standard DS 045 M C512 A 00 Linear motor series DS Flat type with core DD Twin type with core Magnet width 045 45mm 035 35mm Type M Magnet ra...

Page 42: ...00 VAC Winding specification N Standard winding Hall effect sensor specification E Line driver Standard A None Thermal specification A No thermal Cable length 1 300mm 2 600mm Specification identification 00 Standard DT 030 M 512 B 00 Linear motor series DT Center magnet type Magnet width 030 30mm Type M Magnet rail Magnet rail length 128 128mm 256 256mm 288 288mm 512 512mm Cover A Without cover B ...

Page 43: ... Torque Off function RS3 PA XX Series name RS3 SANMOTION R 3E Model series Unit type PA Power unit with external generative resistor Input power voltage A Main circuit 200 VAC Control 200 VAC C Main circuit 400 VAC Control 24 VDC Power unit capacity 270 27 kW 550 55 kW It shall be used dedicated power unit matching with combination servo motor rated output Specification identification None Standar...

Page 44: ... Model series Input voltage A Main circuit 200 VAC Control 200 VAC E Main circuit 100 VAC Control 200 VAC C Main circuit 400 VAC Control 24 VDC D Main circuit 560 VDC Control 24 VDC W Main circuit 280 VDC Control 200 VAC Servo Amplifier capacity 01 10A 02 20A 100 200V AC 25A 400V AC 03 30A 05 50A 07 75A 10 100A 15 150A 30 300A 60 600A 80 800A See page 1 20 for servo amplifier capacity and combinat...

Page 45: ...R2AA06020F R2AA06040F R2AA06040H R2AA08020F R2AA08040F R5AA06020F R5AA06040F R5AA06040H RS3A03 R1AA08075V R1AA10100H R1AA10150H R2AA08075F R2AAB8100H R2AA10075F R2AA13050D R2AA13050H R2AA13120B R5AA08075D R5AA08075F RS3A05 R1AA08075F R1AA10100F R1AA10150F R1AA10200H R1AA10250H R2AAB8075F R2AAB8100F R2AA10100F R2AA13120D R2AA13120L R2AA13180H R2AA13200L RS3A07 R1AA10200F R1AA10250F R1AA13300H R2AA1...

Page 46: ... Amplifier unit model number Servo motor model number 400 VAC RS3PAC550 RS3D80 R2CA3255KB Servo amplifier capacity and combination linear motor 200V AC DS030C3N2 DS050C3N2 DS075C3N2 DD030C2Y4 DD050C1Y2 DD075C1Y2 and DD045CB4AN are able to combine with either RS3A07 or RS3A10 Input voltage Servo amplifier model number Linear motor model number 200V RS3A03 DS030C1N2 DS050C1N2 DS075C1N2 DS045CC1AN DT...

Page 47: ...nternal capacitor has charge even if power is OFF Do not touch power terminal during lighting There is a risk of electric shock 8 Main circuit power input CNA For input terminal of main circuit power 9 Control power input CNA For input terminal of control power 10 Regenerative resistor terminal CNA Connect the resistor between RB1 and RB2 There are two kind of regenerative resistor internal and ex...

Page 48: ... power is OFF Do not touch power terminal during lighting There is a risk of electric shock 8 Main circuit power input CNA For input terminal of main circuit power 9 Control power input CNC For input terminal of control power 10 Regenerative resistor terminal CNA Connect the resistor between RB1 and RB2 There are two kind of regenerative resistor internal and external 11 Motor power terminal CNB 1...

Page 49: ...s charge even if power is OFF Do not touch power terminal during lighting There is a risk of electric shock 8 Main circuit power input terminal For input terminal of main circuit power 9 Control power input CNA For input terminal of control power 10 Regenerative resistor terminal Connect the resistor between RB1 and RB2 There are two kind of regenerative resistor internal and external 11 Motor pow...

Page 50: ... working 11 Motor power terminal 12 Grounding terminal 13 USB connector for PC communication PC 4 Analog monitor connector CN5 For measuring analog signal such as velocity or current with dedicated cable 14 For EtherCAT communication connector IN OUT 15 For general I O signal connector CN2 16 For safety device connecting connector CN4 5 CN6 For maintenance 17 For motor encoder EN1 6 Front panel co...

Page 51: ...rounding a power unit 4 Regenerative resistor terminal Connect the resistor between RB1 and RB2 5 DC output terminal for main circuit Connect to DC DC of the amplifier unit 6 Frame ground Connect to the frame ground of amplifier unit and upper controller 7 Main circuit power LED Red Lighting on when main circuit power is ON Continue lighting during internal capacitor has charge even if power is OF...

Page 52: ...tery connection CN3 20 Rotary switch for station alias setting 21 Frame grounding Connect to frame grounding of power unit No Name Use 1 Digital operator display For servo amplifier status alarm code and data display for parameter input 2 Digital operator key For parameter setting test operation etc 3 Control power status LED Blue Lighting on when control power inputted and control circuit is work...

Page 53: ...ctric shock 8 Main circuit power input CNA For input terminal of main circuit power 9 Regenerative resistor connector CNC For built in regenerative resistor make short circuit of RB4 RB1 For external regenerative resistor remove short bar RB4 RB1 and connect the register to RB1 RB2 Note Do not connect short wire to RB1 RB2 10 Control power input CND or input terminal of control power 11 Holding br...

Page 54: ...charge even if power is OFF Do not touch power terminal during lighting There is a risk of electric shock No Name Use 8 Main circuit power input terminal For input terminal of main circuit power 9 Terminal block for external regenerative resistor and motor power 10 Grounding terminal 11 Control power input and holding brake power output Terminal block for control power input and holding brake powe...

Page 55: ...s charge even if power is OFF Do not touch power terminal during lighting There is a risk of electric shock No Name Use 8 Main circuit power input terminal For input terminal of main circuit power 9 Terminal block for external regenerative resistor and motor power 10 Grounding terminal 11 Control power input and holding brake power output Terminal block for control power input and holding brake po...

Page 56: ...wer Make sure to connect power grounding cable to terminal E 4 Regenerative resistor terminal RB1 RB2 Connect the resistor between RB1 and RB2 5 DC output terminal for main circuit DC DC Connect to DC DC of the amplifier unit 6 Frame ground Connect to the frame ground of amplifier unit 7 Main circuit power LED Red Lighting on when main circuit power is ON Continue lighting during internal capacito...

Page 57: ...If not used be sure to make short circuit between terminals 4 Terminal for dynamic brake signal DB1 DB2 Terminal for dynamic brake signal timing output contact 24 VDC output Use for construction of dynamic brake circuit externally 5 DC input terminal for main circuit DC DC Connect to DC DC of the power unit 6 Motor power line U1 V1 W1 E Connect to motor terminal block U1 V1 W1 Be sure to connect m...

Page 58: ... dedicated cable 5 CN6 For maintenance 6 Front panel cover 7 Main circuit power LED Red Lighting on when main circuit power is ON Continue lighting during internal capacitor has charge even if power is OFF Do not touch power terminal during lighting There is a risk of electric shock No Name Use 8 USB connector for PC communication PC 9 For EtherCAT communication connector IN OUT 10 For general I O...

Page 59: ...0 R1AA18750 R1AA1811K R1AA1815K R1 servo motor 40 to 80 mm sq R1 A04 R1 A06 R1AA08 Fan motor Frame Shaft Flange Brake Servo motor power and ground connector Encoder connector Brake connector Fan connector Encoder Frame Shaft Flange Brake Encoder Brake cable Encoder cable Servo motor power cable ...

Page 60: ...30 mm sq 3 to 5 kW R2 servo motor 130 mm sq 0 5 to 2 kW 180 mm sq 3 5 to 4 5 kW R1AA10100 R1AA10150 R1AA10200 R1AA10250 R1AA13300 R1AA13400 R1AA13500 R2AA13 R2AA18350 R2AA18450 Brake Frame Shaft Flange Servo motor power cable Brake cable Encoder cable Encoder Encoder Frame Shaft Flange Servo motor power brake and ground connector Encoder connector Brake ...

Page 61: ...A18750 R2 servo motor 180 mm sq 11 kW R2AA1811K Encoder Frame Shaft Flange Servo motor power and ground connector Brake Encoder connector Brake connector Fan motor Frame Shaft Flange Servo motor power and ground connector Encoder connector Brake Encoder Fan connector Brake connector ...

Page 62: ...rvo motor 220 mm sq 7 to 15 kW R2AA22700 R2AA2211K R2AA2215K Encoder Frame Shaft Flange Encoder connector Brake Encoder Shaft Flange Servo motor power and ground connector Encoder connector Brake Brake connector Frame Servo motor power ground and brake connector ...

Page 63: ...A10075 R2CA10100 R2CA13050 R2CA13120 R2CA13180 R2CA13200 R2CA13350 R2CA18450 R2CA18550 R2CA13050 R1 servo motor 180mm sq 5 5 to 15kW R1CA18550 R1CA18750 R1CA1811K R1CA1815K Fan motor Frame Shaft Flange Brake Encoder connector Brake connector Fan connector Encoder Servo motor power and ground connector Encoder Frame Shaft Flange Encoder connector Brake Servo motor power brake and ground connector ...

Page 64: ...otor 220mm sq 21kW R2 servo motor 220mm sq 20kW 275mm sq 30kW R1CA2220K R2CA2220K R2CA2830K Encoder Frame Shaft Flange Brake Encoder connector Brake connector Servo motor power and ground connector Shaft Frame Cooling fan Flange Terminal block Servo motor power terminal encoder connector Air intake Exhaust ...

Page 65: ...art names 1 42 1 Preface R2 sevo motor 320 mm sq 55 kW R2CA3255K Shaft Terminal box Encoder Flange Flame V U U F F V W F W 1 Motor power wire Cooling fan power line Connector for thermostat Encoder connector ...

Page 66: ...r magnet type with core DT030 Stage Cableveyor Linear motor Coil Linear guide Linear guide rail Linear motor Magnet rail Shock absorber Linear motor Magnet rail Linear motor Coil Cableveyor Stage Linear guide Linear guide rail Shock absorber Linear motor Magnet rail Linear motor Coil Cableveyor Stage Shock absorber Linear guide Linear guide rail ...

Page 67: ...ecifications 2 13 2 3 3 Battery specification 2 13 2 4 Linear encoder 2 14 2 4 1 Applicable linear encoder 2 14 2 5 Servo amplifier 2 15 2 5 1 General specifications 2 15 2 5 2 General Input Output 2 18 2 6 Power supply calorific value 2 19 2 6 1 Main circuit power supply capacity control power supply capacity 2 19 2 6 2 Inrush current leakage current 2 22 2 6 3 Calorific value 2 24 2 7 Operation ...

Page 68: ... terminal box working part by customer and fan motor Oil Sealing Motor flange size 100 or less No oil seal but optionally available Exceptionally motor flange size 100 of R1 motor With oil seal Motor flange size 130 or over With oil seal Ambient temperature 0 to 40 C Storage temperature 20 to 65 C Ambient humidity 20 to 90 without condensation Vibration classification V15 Excitation method Permane...

Page 69: ...motor is V15 or less at maximum rotation speed for a single servo motor unit and is measured as indicated in the figure below Shock resistance Install the shaft of servo motor in a horizontal direction shown in the figure below This shaft should withstand shock acceleration up to 98m s2 when shock is applied in an upward downward direction for two 2 times However since a precision motor encoder is...

Page 70: ... indicate square flange dimensions in millimeters 2 1 5 Oil seal type S Type oil seal as shown in the table below is fixed to the output shaft of the servo motor This oil seal is produced by NOK Corporation Please contact us for replacement of this oil seal Please contact us for oil seal replacement Servo motor model number Oil seal type R1 A04 Standard N A Optional G Type R1 A06 Standard N A Opti...

Page 71: ...andard With oil seal S Type R1CA10 Standard Double Lip seal type R1CA13 Standard S Type R1CA18 Standard S Type R1CA22 Standard With oil seal S Type R2CA10 Standard N A Optional S Type R2CA13 Standard Double Lip seal type R2CA18 Standard S Type R2CA22 Standard S Type R2CA28 Standard With oil seal S Type R2CA3255KB Standard With oil seal S Type Please contact us for specifications of the other model...

Page 72: ...ndex 0x2025 Delay Time of Releasing Holding Brake BOFFDLY and Index 0x2024 Delay Time of Engaging Holding Brake BONDLY by seeing the time in the table below as reference In use of the signal from other device for holding brake excitation control also refer the time in the table below Release delay time is same for varistor and diode Servo motor model number Static friction torque N m Release delay...

Page 73: ...F R2AA10100F R2AA13050 3 50 30 120 R2AA13120 9 0 100 130 R2AA13180 R2AA13200 12 0 140 R2AA18350 22 0 120 50 150 R2AA18450H 32 0 150 60 250 R2AA18550 42 0 150 60 250 R2AA18750H 54 9 300 140 400 R2AA1811KR 100 300 140 400 R2AA22500L 42 150 60 250 R2AA22700S 90 300 140 400 R2AA2211KB R2AA2215KB R2AA2220KB 170 250 350 R2AA2225KB R2AA2830KV R2EA04003F 0 32 25 15 100 R2EA04005F R2EA04008F R2EA06010F 0 3...

Page 74: ...CA18550H 54 9 300 325 140 165 400 425 R1CA18750L R1CA1811KR 75 R1CA1815KB 120 60 85 600 625 R1CA2220KV There is no model with brake R2 R2CA10075F 3 92 40 65 20 45 200 225 R2CA10100F R2CA13050 3 50 30 55 120 145 R2CA13120 9 0 100 125 130 155 R2CA13180 R2CA13200 12 0 140 165 R2CA18350 22 0 120 145 50 75 150 175 R2CA18450H 32 0 150 175 60 85 250 275 R2CA18550 42 0 150 175 60 85 250 275 R2CA18750 54 9...

Page 75: ...A R2 A motor with oil seal and brake In terms of servomotors with oil seal and or brake the following de rating ratio has to be applied to the torque characteristic in the continuous speed range Oil seal Brake Without oil seal With oil seal With no brake Degree of decrease rating 2 With brake Degree of decrease rating 1 Degree of decrease rating 2 R1AA06040F R1AA08075 R1EA04005F R1EA04010F R1EA060...

Page 76: ...torage temperature 20 to 65 C Ambient humidity 20 to 90 without condensation Excitation method Permanent magnet type Elevation Less than 1000m 2 2 2 Exterior dimensions specifications mass Described on another document M0011791 2 2 3 Mechanical specifications Vibration resistance Install the linear motor horizontally shown in the figure below so when vibration occurs in any of three 3 directions u...

Page 77: ... two 2 times 2 2 4 Moving direction of linear motor DD DS DT series Forward moving direction of linear motor is defined as the direction to where power line lead pulled out when position command inputs a command to increase Moving forward Moving in the reverse direction Linear encoder signal phase Moving forward Moving in the reverse direction Horizontal direction Up down Phase A Phase B Phase B i...

Page 78: ...30 RS3A10 DS030C3N2 330 DS050C1N2 330 DS050C3N2 330 DS075C1N2 330 DS075C3N2 330 DS045CC1AN 155 DS100C2N2 330 DT030C01AN 240 DS150C2N2 330 RS3A05 DS030C2N2 330 DD030C2Y4 330 DS050C2N2 330 DD030C3Y4 330 DS075C2N2 330 DD050C1Y2 330 DS100C1N2 330 DD075C1Y2 330 DS150C1N2 330 DD045CB4AN 290 DD030C1Y4 330 RS3A15 DS100C3N2 330 RS3A07 DS030C3N2 330 DS150C3N2 330 DS050C3N2 330 DD050C2Y2 330 DS075C3N2 330 DD...

Page 79: ...S data can be confirmed by ABSPS in 7 8 Monitor display mode Name code Motor model number encoder code Resolution per rotation Single turn Multi turn part amount Multi turn Transfer method Battery less absolute encoder HA035 R 131 072 17bit 1 048 576 20bit 8 388 608 23bit 65536 16bit Half duplex asynchronous 2 5Mbps 4Mbps Single turn absolute encoder PA035S H 131 072 17bit 1 048 576 20bit Half dup...

Page 80: ...e 1 Please contact us for the motor model number with the other incremental encoder except above Servo motor rotation direction and encoder signal phase Motor rotation direction and motor encoder signal phases are related as follows When Z Phase is at high level both Phases A and B cross the low level once every rotation 2 3 3 Battery specification Model ER3VLY produced by Toshiba Lifestyle Produc...

Page 81: ...r manufacturer for the details of performance specification warranty and installation Absolute encoder EnDAT2 2 interface is only applicable Manufacturer Series name Power supply voltage Resolution Maximum speed Effective measurement distance Maximum Heidenhain Corporation LIC4100 5V 5 0 01μm 0 005μm 0 001μm 6m s 28 440mm LIC2100 0 1μm 0 05μm 6m s 6 020mm LC400 0 01μm 0 001μm 3m s 2 040mm Above ta...

Page 82: ... 0 7 0 7 0 8 1 5 2 3 4 2 4 8 9 8 Withinternal regenerative resistor 0 8 0 8 0 9 1 6 2 5 4 2 5 0 None Note 1 Power source voltage should be within the specified range 200 VAC Power input type Specified power supply range 170 to 264 VAC 100 VAC Power input type Specified power supply range 85 to 132 VAC Note 2 200 VAC single phase input type corresponds only to RS3 01 RS3 02 RS3 03 RS3 05 Note 3 100...

Page 83: ...egory of servo amplifier is III EN61800 5 1 For a control power 24V DC and interface DC power use a DC power supply with reinforced insulation of input output General specifications Power unit Amplifier unit combination of 400 VAC 800 A Control function Speed control Torque control Position control Changed by parameter Control method IGBT PWM control Sinusoidal drive Main Circuit Power Note 1 Thre...

Page 84: ...circuit Built in Note 6 Monitor Speed monitor VMON 2 0 V 10 at 1 000 min 1 Torque Thrust TCMON 2 0 V 10 at 100 Note 5 For RS3C30 just DB signal output circuit is built in Note 6 For RS3C15 30 regenerative resistor is external type only Built in functions Power unit Amplifier unit combination of 200 VAC 600 A 400 VAC 800 A Protection functions Over current Current detection error Overload Regenerat...

Page 85: ...n Emergency Stop Min 250 μsec Min 250 μsec Forward direction limit switch Reverse direction limit switch Forced discharge input External trip input Min 8 msec Min 8 msec Generic output is transmitted when the set function has held longer than 125μsec inside the servo amplifier General output signals Sequence output signals Photorelay output SYNC Source connection x 2 outputs External power supply ...

Page 86: ...1 0 R5AA06020F 200 0 6 R5AA06040F 400 1 0 R5AA06040H 400 1 0 RS3A03 R1AA08075V 750 1 6 R1AA10100H 1 000 2 3 R1AA10150H 1 500 3 0 R2AA08075F 750 1 6 R2AAB8100H 1 000 2 0 R2AA10075F 750 1 7 R2AA13050D 550 1 2 R2AA13050H 550 1 2 R2AA13120B 1 200 2 2 R5AA08075D 750 1 6 R5AA08075F 750 1 6 RS3A05 R1AA08075F 750 1 6 R1AA10100F 1 000 2 3 R1AA10150F 1 500 3 0 R1AA10200H 2 000 4 0 R1AA10250H 2 500 5 0 R2AAB...

Page 87: ...0250F 5 000 8 3 R2AA18350D 3 500 7 0 R2AA18450H 4 500 7 4 R2AA18550R 5 500 8 4 R2AA22500L 5 000 9 6 R2AA22700S 7 000 12 2 RS3A30 R1AA18550H 5 500 9 3 R1AA18750L 7 500 11 6 R1AA1811KR 11 000 16 0 R1AA1815KB 15 000 21 4 R2AA18550H 5 500 9 3 R2AA18750H 7 500 11 6 R2AA1811KR 11 000 16 0 R2AA2211KB 11 000 16 0 R2AA2215KB 15 000 21 4 RS3PAA270 RS3W60 R1AA2220KV 21K 28 80 Note 1 R2AA2220KB 20K 28 R2AA283...

Page 88: ... 3 7 59 R1CA13300V 3 000 5 2 58 R2CA10100F 1 000 1 8 49 R2CA13120F 1 200 2 3 54 R2CA13180D 1 800 3 3 54 R2CA13200H 2 000 3 7 58 R2CA18350L 3 500 6 0 71 RS3C10 R2CA18350D 3 500 6 0 77 R2CA18450H 4 500 7 6 72 R2CA18550R 5 500 9 5 72 RS3C15 R1CA18550H 5 500 7 0 98 R1CA18750L 7 500 9 5 98 R1CA1811KR 11 000 13 8 100 R1CA1815KB 15 000 18 2 110 R2CA18550H 5 500 7 0 88 R2CA18750H 7 500 9 4 96 R2CA2211KB 1...

Page 89: ...ve are at the condition of ordinary temperatures 240 VAC input Using thermistor for inrush prevention circuit of control power supply Inrush current which exceed value above might flow if power cycled frequently in short time or ambient temperature is higher Inrush current 400V AC input Input Voltage Servo amplifier capacity Control power Maximum value between1ms after input Main circuit power Max...

Page 90: ...more motors leakage current from each motor should be added These values are applicable when a tough rubber sheath cable of 2 meter is used as a power line In the case of a shorter or longer cable length values of the above table should be selected as closely as possible The machine should be grounded so that dangerous voltage does not occur at the main part of the machine such as the operation pa...

Page 91: ...0 R5AA06040F 31 R5AA06040H 22 RS3A03 R1AA08075V 43 R1AA10100H 45 R1AA10150H 60 R2AA08075F 43 R2AAB8100H 45 R2AA10075F 43 R2AA13050D 44 R2AA13050H 40 R2AA13120B 50 R5AA08075D 43 R5AA08075F 43 RS3A05 R1AA08075F 45 R1AA10100F 60 R1AA10150F 70 R1AA10200H 70 R1AA10250H 80 R2AAB8075F 45 R2AAB8100F 52 R2AA10100F 50 R2AA13120D 68 R2AA13120L 60 R2AA13180H 87 R2AA13200L 87 RS3A07 R1AA10200F 100 R1AA10250F 1...

Page 92: ...H 365 R2AA1811KR 430 R2AA2211KB 440 R2AA2215KB 450 RS3W60 Input voltage Power unit Amplifier unit Servo motor model number Power unit Amplifier unit total calorific value W 200V AC RS3PAA270 RS3W60 R1AA2220KV 890 R2AA2220KB 890 R2AA2830KV 960 100V AC Input voltage Servo amplifier capacity Servo motor model number Servo amplifier total calorific value W 100V AC RS3E01 R2EA04003F 13 RS3E02 R1EA04005...

Page 93: ... 288 R1CA18750L 333 R1CA1811KR 385 R1CA1815KB 450 R2CA18550H 293 R2CA18750H 344 R2CA2211KB 423 R2CA2215KV 475 RS3C30 R1CA2220KV 536 R2CA2220KV 643 R2CA2830KV 700 Optional alphabetical letter Calorific values above are the condition of rated motor output operation Calorific value of regenerative resistor is not included RS3D80 Input voltage Servo amplifier capacity Servo motor model number Power un...

Page 94: ...0C3N2 91 DS050C3N2 91 DS075C3N2 93 DD030C2Y4 110 DD050C1Y2 110 DD075C1Y2 110 DD045CB4AN 75 DD035CC2AN 70 RS3A10 DS030C3N2 91 DS050C3N2 91 DS075C3N2 93 DS100C2N2 135 DS150C2N2 135 DD030C2Y4 110 DD030C3Y4 138 DD050C1Y2 110 DD075C1Y2 110 DD045CB4AN 75 RS3A15 DS100C3N2 185 DS150C3N2 185 DD050C2Y2 210 DD075C2Y2 210 RS3A30 DD050C3Y2 270 DD075C3Y2 275 DD075C4Y2 380 Optional alphabetical letter Calorific ...

Page 95: ...petitive operations for both the servo motor and servo amplifier and the conditions of both must be met simultaneously Frequency of permitted repetitions for the servo amplifier When Start Stop sequences are repeated frequently confirm in advance that the frequency of repetitions are within tolerance range Allowed repetitions differ depending on the type capacity load inertia moment accel decel to...

Page 96: ...riate 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 8TR When the motor repeats acceleration deceleration and stop status In operating status shown below the value of permitted repetitions n times minutes is found with the following equation TP Peak Torque at stall N m TR Rated torque N Moto...

Page 97: ...hen there is no center weight Using like a generator such as the wind out spindle of a winder Load inertia moment JL When the servo amplifier is used with a load inertia moment exceeding the allowable load inertia moment calculated in terms of the motor shaft main circuit power over voltage detection or regenerative error function may be issued at the time of the operation Reduce the torque limit ...

Page 98: ...nitor output Connector model number on board DF11 4DP 2DSA 01 Housing model number on receiving equipment DF11 4DS 2C Connector model number on receiving equipment DF11 2428SCA Analog monitor connector CN5 Analog monitor output 1 MON1 CN5 3 Analog monitor output 2 MON2 CN5 4 GND CN5 1 CN5 4 2 3 1 RS3A _ ...

Page 99: ...nitor output Output voltage 2V 1000min 1 Reverse rotation Forward rotation 2V 0 1000min 1 Output voltage 2V 1000min 1 Reverse rotation Forward rotation 2V 0 1000min 1 Output voltage 2V 1000min 1 Reverse rotation Forward rotation 0 1000min 1 Without polarity inversion With polarity inversion ABS Absolute value output Output voltage 2V TR Reverse rotation Forward rotation 2V 0 TR Output voltage 2V T...

Page 100: ...ent abnormal heat can generate due to dynamic brake resistance Take precautions against Overheat alarm of the dynamic break or failure of dynamic brake resistance Please consult us if such a situation is evident Dynamic brake circuit is not included to servo amplifier RS3C30 and amplifier unit RS3D80 Please contact us for external dynamic brake resistor selection Instantaneous tolerance of dynamic...

Page 101: ... axis conversion kg m2 N Servo motor rotation speed in feed rate V min 1 I Integrated stage down rotation angle rad TL Load torque N m Linear motor The consumption of energy ERD by dynamic brake resistance in one dynamic brake operation is as follows Rφ Linear motor phase winding resistance Ω M Movable part kg Movable part M MC ML MC Mover mass kg ML Load mass kg V Last minute velocity before dece...

Page 102: ... R5AA06020F 15 36 2 92 10 6 0 2 10 4 R5AA06040F 10 11 1 55 10 6 0 416 10 4 R5AA06040H 6 09 2 3 10 6 0 416 10 4 RS3A03 R1AA08075V 4 35 6 57 10 7 0 719 10 4 R1AA10100H 2 6 1 21 10 6 1 4 10 4 R1AA10150H 1 31 6 87 10 7 2 0 10 4 R2AA08075F 5 84 9 10 10 8 1 82 10 4 R2AAB8100H 3 09 3 83 10 7 2 38 10 4 R2AA10075F 6 04 1 2 10 6 2 0 10 4 R2AA13050D 6 46 2 14 10 6 3 1 10 4 R2AA13050H 4 37 3 55 10 6 3 1 10 4 ...

Page 103: ...0R 0 53 7 10 9 68 10 4 R2AA22500L 0 8 0 41 10 7 55 10 4 R2AA22700S 0 16 7 10 9 136 10 4 RS3A30 R1AA18550H 1 08 4 10 9 33 10 4 R1AA18750L 0 67 2 10 9 42 10 4 R1AA1811KR 0 41 2 10 9 64 10 4 R1AA1815KB 0 26 2 10 9 86 10 4 R2AA18550H 1 13 4 10 9 68 10 4 R2AA18750H 0 72 2 10 9 98 10 4 R2AA1811KR 0 51 3 10 9 110 10 4 R2AA2211KB 0 42 1 10 9 178 10 4 R2AA2215KB 0 35 1 10 9 237 10 4 RS3E01 R2EA04003F 187 5...

Page 104: ...8 1 05 10 6 12 2 10 4 R2CA18350L 0 30 2 19 10 7 40 10 4 RS3C10 R2CA18350D 0 26 5 20 10 8 40 10 4 R2CA18450H 0 15 5 30 10 8 50 10 4 R2CA18550R 0 13 3 10 10 8 68 10 4 RS3C15 R1CA18550H 0 17 2 70 10 8 33 10 4 R1CA18750L 0 12 2 20 10 8 42 10 4 R1CA1811KR 0 06 1 50 10 8 64 10 4 R1CA1815KB 0 05 1 30 10 8 86 10 4 R2CA18550H 0 18 2 30 10 8 68 10 4 R2CA18750H 0 13 1 70 10 8 98 10 4 R2CA2211KB 0 07 8 00 10 ...

Page 105: ...E 3 6 15E 5 10 9 DS075C3N2 8 91E 4 5 59E 5 14 8 DD030C2Y4 2 21E 3 1 22E 4 15 0 DD050C1Y2 3 25E 3 1 09E 4 11 2 DD075C1Y2 1 63E 3 9 95E 5 14 7 DD045CB4AN 2 30E 3 1 62E 4 8 6 DD035CC2AN 2 30E 3 1 62E 4 5 0 RS3A10 DS030C3N2 4 46E 3 6 83E 5 7 8 DS050C3N2 1 74E 3 6 15E 5 10 9 DS075C3N2 8 91E 4 5 59E 5 14 8 DS100C2N2 2 09E 3 3 21E 5 12 6 DS150C2N2 9 60E 4 2 96E 5 17 8 DD030C2Y4 2 21E 3 1 22E 4 15 0 DD030...

Page 106: ...e resistor RS3C02A A 80Ω 80Ω RS3C05A A 40Ω 40Ω RS3C10A A 20Ω 20Ω RS3C15A L Without built in regenerative resistor 13Ω RS3C30A M Without built in regenerative resistor 6 5Ω RS3PAC550 Without built in regenerative resistor 2 4Ω is optional number or alphabetical letter 2 10 2 Allowable regenerative power Servo amplifier model Built in regenerative resistor use PRI External regenerative resistor use ...

Page 107: ...2 5 Waterproofing and dust proofing 3 6 3 2 6 Protective cover installation 3 7 3 2 7 Gear installation and Integration with the target machinery 3 7 3 2 8 Allowable bearing load 3 9 3 2 9 Cable installation considerations 3 12 3 3 Linear motor 3 13 3 3 1 Precautions on linear motor installation 3 13 3 3 2 Unpacking 3 16 3 3 3 Installation of flat type linear motor with core 3 17 3 3 4 Installatio...

Page 108: ...d the servo amplifier does not exceed 55 C For longevity and reliability purposes it is recommended to keep the temperature below 40 C If there is a vibration source nearby Protect the servo amplifier from vibration by installing it on a base with a shock absorber If there is a heat generator nearby If the ambient temperature might increase by convection or radiation make sure the temperature near...

Page 109: ...lifier is the same as ordered The model number is located on the main nameplate following the word MODEL Verify that there is no problem in the appearance of servo amplifier Verify that there are no loose screws on the servo amplifier Interpretation of the serial number Month 2 digit Year 2 digit Day 2 digit Serial number 4 digit Revision A abbreviated Servo amplifier Servo amplifier main nameplat...

Page 110: ...on 3 3 3 1 3 Mounting direction and location For metal fittings of front mounting see 12 6 Optional parts Rear mounting Front mounting Ventilation Attached to servo amplifier 2 M8 2 M8 RS3PAC550 RS3D80 Ventilation ...

Page 111: ...ace on both sides of the servo amplifier to ensure unobstructed airflow from the heat sinks on the side and from the inside of the servo amplifier For RS3 02 RS3 03 RS3 05 a cooling fan is attached at the side Therefore it is recommended that the servo amplifier be mounted in an arrangement as shown below Arrangement above is order of RS3 05 RS3 03 RS3 02 and RS3 01 from left side Arrangement abov...

Page 112: ...is the same as ordered The model number is located on the main nameplate following the word MODEL Verify that there is no problem in the appearance of servo motor Verify that there are no loose screws on the servo motor 3 2 3 Installation Please note the following regarding the installation location and mounting method The servo motor is designed for indoor use Make sure to Install it indoors Do n...

Page 113: ...able outlet should be installed facing downwards as nearly vertical as possible In vertical installation create a cable trap to prevent oily water from getting into the motor 3 2 5 Waterproofing and dust proofing The protection inside the motor conforms to IEC standards IEC60034 5 However such protection is suitable only for short term use For regular use additional sealing measures are required B...

Page 114: ...connectors lead outlets facing downwards create a sag in the cable to prevent water or oil from entering the motor 3 2 7 Gear installation and Integration with the target machinery The oil level of the gear box should be below the oil seal lip for a slight spraying effect on the lip Create a hole to prevent pressure build up inside the gear box as pressure can cause water or oil to penetrate the o...

Page 115: ...ammer and hit the front flange area For mounting to a machine create accurate enough 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 servo motor shafts transmit the torque via the ...

Page 116: ...R Direction F Direction F1 R1 R1 A04005 150 98 98 98 29 29 R1 A04010 150 98 98 98 29 29 R1 A06020 390 200 200 200 68 68 R1AA06040 390 200 200 200 68 68 R1AA08075 590 390 390 340 200 200 R1AA10100 980 290 290 690 290 290 R1AA10150 980 290 290 690 290 290 R1AA10200 980 290 290 690 290 290 R1AA10250 980 290 290 690 290 290 R1AA13300 2000 390 390 980 390 390 R1AA13400 2000 390 390 980 390 390 R1AA1350...

Page 117: ...0 200 200 R2AAB8075 590 780 290 340 200 200 R2AAB8100 590 780 290 340 200 200 R2AA10075 590 780 290 340 200 200 R2AA10100 590 780 290 340 200 200 R2AA13050 980 1400 1400 640 490 490 R2AA13120 1700 1900 1900 640 490 490 R2AA13180 1700 1900 1900 640 490 490 R2AA13200 1700 1900 1900 640 490 490 R2AA18350 2300 1900 1900 1500 290 290 R2AA18450 2300 1900 1900 1500 290 290 R2AA18550 3900 2000 2000 1800 5...

Page 118: ...1CA13300 2000 390 390 980 390 390 R1CA18550 3900 2000 2000 1800 590 590 R1CA18750 3900 2000 2000 1800 590 590 R1CA1811K 3900 2000 2000 1800 590 590 R1CA1815K 3900 2000 2000 2700 1500 1500 R1CA2220K 3900 2000 2000 2700 1500 1500 R2 R2CA10075 590 780 290 340 200 200 R2CA10100 590 780 290 340 200 200 R2CA13050 980 1400 1400 640 490 490 R2CA13120 1700 1900 1900 640 490 490 R2CA13180 1700 1900 1900 640...

Page 119: ... pass cables through the areas having possibility that machine corner scrapes against cables or personnel machines may tread on cables Take measures such as clamp to machines so as not to apply flexion stress and own weight stress onto each connecting point of cables When motor and cables need to be transferred with cableveyor cable carrier bending radius of cable shall be determined by referring ...

Page 120: ...s between magnetic bodies Coil is not mounting magnet in however consisting of magnetic substances Magnet rail body is wrapped in plastic bag and protection material styrene foam whose thickness is approximately 20mm is enclosed on the surface of magnet to reduce magnetic attraction Do not remove the protection material until just before mounting process Operators shall not wear any rings watches ...

Page 121: ...y 4000N 400kgf per 100cm2 10cm square of the opposing area generates If you suspend unpacking return the unpacked items to the original packing state If you leave the magnet rail as it is strong attraction generates between magnetic bodies your hand may be gotten stuck in and this can cause severe physical impairment Magnet rail Magnetic material Magnet surface magnetic body Magnet rail Magnet sur...

Page 122: ...cause deformation or removal and then damages to the product Take care not to drop items such as tools bolts especially magnetic materials onto magnet rail surface This can cause deformation and damage of cover crack and chip on magnet and then damages to the product Magnet rail Bolt washer Any tools Any tools Stainless steel cover Edge Magnet rail ...

Page 123: ...s marked after each product nameplate MODEL Nameplate is placed onto coil and magnet rail respectively Position to which nameplate placed varies depending on linear motor models Installing incorrect model number product can result in injuries or damages Check servo motor exterior to see if any problems Check servo motor screws to see if any looseness Nameplate is placed here Magnet rail Nameplate ...

Page 124: ...ace clean 4 Face all the nameplates on magnet rail in the same direction 5 Make sure that mounting front surface is the back surface even surface to install magnet rail Closing the front surface to the mounting surface generates magnetic attraction this can cause injuries or damages 6 Place magnet rails with all their positioning pin hole placed in the same direction on the same side Please be awa...

Page 125: ...ers stuck between coil and base Please use the spacer thinner than magnet rail in some degree 3 Secure the coil with all the mounting screws Use screw strength class more than 10 9 and use thread locker And tightening torque and mating length of mounting screw depends on the values written in the outline drawing of coil Assembly dimension between magnet rail and coil depends on the values written ...

Page 126: ...e coil is over the magnet rail The attraction when mounting generates value in cycle of approximately 16mm 5 Mount the last half of the magnet rail 6 The installation is completed when motor mounting completed Perform wirings Series Attraction DS030C Approx 60N DS045C Approx 100N DS050C Approx 100N DS075C Approx 150N DS100C Approx 200N DS150C Approx 300N Stage Cableveyor Linear motor Coil Linear g...

Page 127: ...ration of magnetic attraction 3 Place stage onto coil fasten the coil and stage lift the coil including stage by using removal bolts with removal taps placed in the stage separate coil from nonmagnetic spacer and then remove the nonmagnetic spacer 4 Move the stage down to be locked with guide block in a parallel fashion by pushing removal screw down in order After that remove the removal bolts Sta...

Page 128: ...n the operating environments Always keep magnet rail surface clean 4 Install magnet rails so that two magnet surfaces convex side of both magnet rails face each other Make sure not to let the both magnet rails being attracted each other by inserting nonmagnetic spacer Width 30 to 80mm height more than 100mm between the magnet rails facing each other for your safety 5 To place magnet rail the surfa...

Page 129: ...ength magnet rail not yet mounted shall be more than 50mm longer than coil length 2 Mount dummy magnet rail on the stroke area magnet rail not mounted insert motor coil into the area dummy magnet rail mounted Take care not to get your fingers stuck between motor coil and base Prepare the dummy magnet rail for D C1 4 only Refer to the outline drawing for shape Magnet rail fixed Nonmagnetic spacer N...

Page 130: ...n DD C1 4 When using off centric pin perform gap adjustment from the upper side of the stage Place more than four off centric pin holes on the stage These hole positions shall be located on the points of motor coil top board with which off centric pin ends contact If stress of off centric pin is applied to the area other than top board motor coil can be damaged For hole position of off centric pin...

Page 131: ...g the bolts side to side If the bolts are too short to reach the top board of coil insert spacer between the end of bolt and top board 0 2 mm or less is recommended for the difference between two points of the gap between dummy magnet rail and motor coil By using positioning pin DD CB DD CC DD CB and DD CC have pin holes for positioning on the coil mounting side Prepare the positioning pins to mac...

Page 132: ...il is over the magnet rail The attraction when mounting generates value in cycle of approximately 16mm 5 Remove dummy magnet rail and mount the last half of the magnet rail 6 Perform wirings after completing motor installation Series Attraction DD030C Approx 120N DD035C Approx 160N DD045C Approx 200N DD050C Approx 200N DD075C Approx 300N Linear motor Magnet rail Linear motor Coil Cableveyor Stage ...

Page 133: ...foreign substances depending on the operating environments Always keep magnet rail surface clean 4 Face all the nameplates on magnet rail in the same direction 5 Make sure that nameplate is lower side mounting side to install magnet rail If it is to be mounted upside down strong magnetic attraction is generated and this can cause injuries or damages Moreover this can cause a motor force reduction ...

Page 134: ...es written in the outline drawing of coil Assembly dimension between magnet rail and coil depends on the values written in the outline drawing of coil Adjusting gap Make sure to perform gap adjustment only within the area motor coil faces dummy magnet rail Strong magnetic attraction is acting on motor coil within the area magnet rails face each other so this can cause injuries and damages DT C has...

Page 135: ...e below The attraction goes off when the entire coil is over the magnet rail The attraction when mounting generates value in cycle of approximately 16mm 5 Mount the last half of the magnet rail 6 The installation is completed when motor mounting completed Perform wirings Linear motor Magnet rail Linear motor Coil Cableveyor Stage Shock absorber Linear guide Linear guide rail Series Attraction DT03...

Page 136: ... bearing The recommend interval of grease refilling is either every 1500 to 1700km of mileage or every 8 to 10 months whichever is shorter Grease refilling shall be performed as follows Refill grease into grease refilling hole of PT 1 8 on counter output shaft side until grease overflows from grease check hole on output shaft side Rub the grease overflowed off thoroughly Recommended single grease ...

Page 137: ...3 Wiring of motor encoder 4 31 4 3 1 EN1 EN2 signal names and pin numbers 4 31 4 3 2 EN1 EN2 pin assignment 4 33 4 3 3 Connector model number for motor encoder 4 34 4 3 4 Recommended encoder cable specification 4 36 4 3 5 Encoder cable length 4 36 4 4 Wiring for thermostat of servo motor FAN for 400V AC 4 37 4 4 1 Connector model number for thermostat of servo motor FAN 4 37 4 5 External alarm inp...

Page 138: ...cted with grounding wire of power supply and of servo motor Regeneration resistance connector RB1 RB2 RB4 RS3 01 RS3 02 RS3 03 RS3A05 RS3A30 RS3W60 Connects regenerative resistance to terminal RB1 and RB2 Built in regenerative resistor model has already connected at factory setting Connects external regenerative resistor to terminal RB1 and RB2 when regenerative performance is insufficient RB4 ter...

Page 139: ...l power connector of RS3C02 05 10 left right pins below are connected However do not use them for different side of daisy chain in multi axis connection Connector pin of some amplifier may be insufficient of current capacity If daisy chain is required to multi axis connection use left side pins only in the white line circle below for avoiding flow of total current into contact point of connector F...

Page 140: ...ative resistor to RB1 and RB2 terminals Control power terminal 24V 0V Power unit Amplifier unit 24 VDC 15 Thermostat connecting terminal TH1 1 TH1 2 Amplifier unit Connects a thermostat normally close b contact of external dynamic brake resistor Dynamic brake contact output terminal DB1 DB2 Amplifier unit The terminal for outputting a contact of magnet switch for external dynamic brake Contact rat...

Page 141: ...es shorter by heat related deterioration In this case we recommend using heat resistant vinyl wires HIV 4 1 3 Wire size allowable current AWG size Nominal cross sectional area mm2 Conductor resistance Ω km Allowable current over ambient temperature A 30 C 40 C 55 C 20 0 5 39 5 6 6 5 6 4 2 19 0 75 26 0 8 8 7 0 5 4 18 0 9 24 4 9 0 7 7 5 8 16 1 25 15 6 12 0 11 0 8 3 14 2 0 9 53 23 0 20 0 15 0 12 3 5 ...

Page 142: ...0100H R1AA10150H R2AA08075F R2AAB8100H R2AA10075F R2AA13050D R2AA13050H R2AA13120B R5AA08075D R5AA08075D R5AA08075F R1AA08075F 2 0 14 RS3A05 R1AA10100F R1AA10150F R1AA10200H R1AA10250H R2AAB8075F R2AAB8100F R2AA10100F R2AA13120D R2AA13120L R2AA13180H R2AA13200L Mark shows optional number or alphabetical letter The information in this table is based on rated armature current flowing through three b...

Page 143: ...00V AC Servo motor model No Motor power U V W Combination servo amplifier Main circuit power supply R S T Control power supply Regenerative resistance mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No R2EA04003F 0 5 20 RS3 01 1 25 16 1 25 16 1 25 16 2 0 14 R2EA04005F RS3 02 R1EA04005F R1EA04010F R2EA04008F R2EA06010F R1EA06020F 0 75 19 RS3 03 2 0 14 2 0 14 R2EA06020F Mark shows optional numbe...

Page 144: ...2AA2830KV Mark shows optional number or alphabetical letter The information in this table is based on rated armature current flowing through three bundled lead wires at ambient temperature of 40 C When wires are bundled or put into a wire duct take the allowable current reduction ratio into account At high ambient temperature service life of the wires becomes shorter by heat related deterioration ...

Page 145: ...2215KV R1CA2220KV 14 5 6 RS3C30 14 5 6 3 5 12 14 5 6 R2CA2220KV R2CA2830KV Input voltage 400 VAC 800 A Servo motor model No Motor power U V W Combination servo amplifier Main circuit power supply R S T Control power supply Regenerative resistance mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No R2CA3255KB 22 4 RS3PAC550 RS3D80 60 2 0 1 25 16 22 4 50 0 The information in this table is based o...

Page 146: ...pply Regenerative resistor mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No DS030C1N2 0 75 19 RS3A03L 2 0 14 1 25 16 2 0 14 2 0 14 DS050C1N2 DS075C1N2 DS045CC1AN DS030C2N2 2 0 14 RS3A05L DS050C2N2 DS075C2N2 DS100C1N2 DS150C1N2 DS030C3N2 5 5 10 RS3A07L 5 5 10 3 5 12 5 5 10 DS050C3N2 DS075C3N2 DS030C3N2 5 5 10 RS3A10L 5 5 10 5 5 10 5 5 10 DS050C3N2 DS075C3N2 DS100C2N2 DS150C2N2 DS100C3N2 8 0 8...

Page 147: ... supply R S T Control power supply Regenerative resistor mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No mm2 AWG No DT030CD1AN 0 75 19 RS3A03L 2 0 14 1 25 16 2 0 14 2 0 14 Input voltage 200V AC DD series twin type linear motor Linear motor model No Motor power U V W Combination servo amplifier Main circuit power supply R S T Control power supply Regenerative resistor mm2 AWG No mm2 AWG No mm2 AWG No m...

Page 148: ...amp type Plug clamp model number Straight Angle Straight Angle R1AA10100 N MS3106B20 15S N MS3057 12A MS06B20 15S 12 N MS3108B20 15S N MS3057 12A MS08B20 15S 12 Note 1 Note 1 R1AA10150 R1AA10200 R1AA10250 R1AA13300 N MS3106B24 11S N MS3057 16A MS06B24 11S 16 N MS3108B24 11S N MS3057 16A MS08B24 11S 16 R1AA13400 R1AA13500 R2AA13050 R2AA13120 R2AA13180 R2AA13200 R2AA18350 R2AA18450 R2AA22500 R2AA227...

Page 149: ...57A 12A MS08B20 15S 12 Note 1 Note 1 R1CA10200V R2CA10075F R2CA10100F R1CA13300V N MS3106B24 11S N MS3057 16A MS06B24 11S 16 N MS3108B24 11S N MS3057 16A MS08B24 11S 16 R2CA13050D R2CA13120R R2CA13120F R2CA13180H R2CA13180D R2CA13200L R2CA13200H R2CA18350L R2CA18350D R2CA18450H R2CA18550R R2CA18550H R1CA18550H N MS3106B32 17S N MS3057 20A MS06B32 17S 20 N MS3108B32 17S N MS3057 20A MS08B32 17S 20 ...

Page 150: ...ervo motor model number Plug model number for cooling fan Plug Manufacturer model number Cable clamp Manufacturer model number Plug and Cable clamp SANYO DENKI model number Cooling fan specifications Straight Angle R1CA18750L R1CA1811KR R1CA1815KB R1CA2220KV N MS3106B10SL 4S N MS3057 4A MS06B10SL 4S 4 N MS3108B10SL 4S N MS3057 4A MS08B10SL 4S 4 Power Single phase Thermostat None R2CA2220KV JL04V 6...

Page 151: ... line for N MS3106 8 B24 11S Pin assignment Viewed from motor Cannon plug for power line for N MS3106 8 B32 17S Pin assignment Viewed from motor Cannon plug for brake line for JL04V 6 8 A10SL 3SE EB Pin assignment Viewed from motor Cannon plug for cooling fan for N MS3106 8 B10SL 4S Pin assignment Viewed from motor Cannon plug for cooling fan for L04V 6A 8 18 12SE EB R Pin assignment Viewed from m...

Page 152: ...e of the CN2 16 19 OUT1 OUT2 outputs and set either during ALM status output ON or during ALM status output OFF with the selection setting of Index 0x20F9 General output function selection When relay or induction coil load connect to CN2 output need to connect surge absorbing diode In order to avoid the failure of the amplifier please make sure of polarity of the diode 5V DC 12 to 24V DC Three pha...

Page 153: ...Index 0x20F9 General output function selection When relay or induction coil load connect to CN2 16 19 OUT1 OUT2 outputs need to connect surge absorbing diode In order to avoid the failure of the amplifier please make sure of polarity of the diode COM E 5V DC 12 to 24V DC CN2 OUT1 16 OUT2 18 OUT1 17 OUT2 19 Single phase 200 to 240V AC 50 60 Hz or Single phase 100 to 120V AC 50 60 Hz COM CN2 OUT1 16...

Page 154: ...ion When relay or induction coil load connect to CN2 16 19 OUT1 OUT2 outputs need to connect surge absorbing diode In order to avoid the failure of the amplifier please make sure of polarity of the diode Three phase 380 to 480V AC 50 60 Hz Emergency stop COM CN2 OUT1 16 OUT2 18 OUT1 17 OUT2 19 Servo motor RB1 RB2 MC M 0V T U S R 24 V W Noise filter 5V DC 12 to 24V DC Operation ON OFF ALM Diode MC ...

Page 155: ...d the surge absorbing diode to if inductive load as relay connect to CN2 16 to 19 OUT1 OUT2 Please take care of polarity of the diode that will be cause of failure 3 phase 200 to 240 VAC 50 60 Hz COM Servo motor RB1 RB2 M U E V W Noise filter ALM 5 VDC 12 to 24 VDC MC t r External regenerative resistor DC DC DC DC Amplifier unit E DC power supply r t DB1 DB2 MC MS for external DB Timing output for...

Page 156: ... OUT1 OUT2 outputs need to connect surge absorbing diode In order to avoid the failure of the amplifier please make sure of polarity of the diode Three phase 380 to 480 VAC 50 60 Hz Emergency stop COM CN2 OUT1 16 OUT2 18 OUT1 17 OUT2 19 Servo motor RB1 RB2 MC1 M 0V T U S R 24 V W Noise filter 5V DC 12 to 24V DC Operation ON OFF ALM Diode MC1 ALM MC B B Motor holding brake 24V power supply Connects...

Page 157: ...er 24 VDC Power Amplifier 36pin cable SANMOTION R 3E Model RS3PAC550 SANMOTION R 3E Model RS3D80 RB2 RB1 L1 L2 L3 Three phase 380 to 480 VAC 50 60 Hz Magnetic Contactor MC1 Noise filter Dynamic brake resistor 2 MC3 MC2 MC3 Power supply 24 VDC Emergency stop Operation ON OFF MC1 ALM MC1 Refer the section 11 3 7 for connection of external regenerative resistor thermostat TH1 2 COM 5 VDC 12 to 24 VDC...

Page 158: ... 36pin cable SANMOTION R 3E Model RS3PAC550 SANMOTION R 3E Model RS3D80 RB2 RB1 L1 L2 L3 Three phase 380 to 480 VAC 50 60 Hz Magnetic Contactor MC1 Noise filter Dynamic brake resistor 2 MC3 MC2 MC3 Power supply 24 VDC Emergency stop Operation ON OFF MC1 ALM MC1 Refer the section 11 3 7 for connection of external regenerative resistor thermostat TH1 2 COM 5 VDC 12 to 24 VDC CN2 OUT1 16 OUT2 18 OUT1...

Page 159: ...s wire sizes Manufactured by Phoenix Contact mm2 AWG Model number 1Pcs Pkt 1000Pcs Pkt Taped components 0 75 mm2 19 AI0 75 8GY AI0 75 8GY 1000 AI0 75 8GY B 1000Pcs Pkt 1 0 mm2 18 AI1 8RD AI1 8RD 1000 AI1 8RD B 1000Pcs Pkt 1 5 mm2 16 AI1 5 8BK AI1 5 8BK 1000 AI1 5 8BK B 1000Pcs Pkt 2 5 mm2 14 AI2 5 8BU AI2 5 8BU 1000 AI2 5 8BU B 500Pcs Pkt 4 0mm2 12 AI4 10GY Note1 5 5mm2 10 A6 10 Note1 Note2 Note1 ...

Page 160: ... 0 6 N m Wire size 4mm2 over 0 7 to 0 8 N m 0 5 to 0 6 N m 1 18 N m M4 screw size Terminal marking Servo amplifier model number R S T RB4 RB1 RB2 U V W CNA RS3A10 1 18 N m M4 screw size 0 5 to 0 6 N m RS3A15 Terminal marking Servo amplifier model number R S T P U V W RB1 RB2 CNA RS3A30 3 73 N m M6 screw size 1 18 N m M4 screw size 0 5 to 0 6 N m will be any number or alphabet RS3W60 Terminal marki...

Page 161: ... size Terminal marking Servo amplifier model number R S T RB1 RB2 U V W 24V 0V B B RS3C30 2 0 N m M5 screw size 1 2 N m M4 screw size 2 45 N m M5 screw size Terminal marking Servo amplifier model number TH1 1 TH1 2 DB1 DB2 RS3C30 1 2 N m M4 screw size 端子記号 Unit model number R S T RB1 RB2 24V 0V RS3PAC550 12 0 N m M10 screw size 3 0 N m M6 screw size 1 2 N m M4 screw size 端子記号 Unit model number U1 ...

Page 162: ...are connected to 75 ohm resistor as the left drawing Also center of pulse trance are connected to 75 ohm resistor as the left drawing Note 1 Servo amplifier 7 3 4 5 6 1 2 CONT7 CONT7 OUT1 OUT1 8 RX RX TX TX 1 2 16 17 OUT2 OUT2 18 19 20 21 22 23 24 25 13 26 SG SG RXD RXD TXD TXD HWGOFF1 HWGOFF1 4 3 HWGOFF2 HWGOFF2 6 5 EDM EDM 8 7 1 2 BAT 1 2 BAT EN1 9 BAT EN1 10 BAT CONT1 CONT1 3 4 CONT2 CONT2 5 6 ...

Page 163: ...lar plug with shield Either straight or crossed cables can be used for the port connection because an automatic crossover function Automatic discriminating feature for MDI MDI X called Auto MDI MDI X is installed IN port0 OUT port1 Terminal number Signal Ethernet Connection Description 1 TX Transmitting signals 2 TX Transmitting signals 3 RX Receiving signals 4 75Ω Connection 5 75Ω Connection 6 RX...

Page 164: ...uct which has out of range dimension at C from top end of connector housing to lower side of terminal is used it gives excessive stress to mating connector and may cause a damage of terminal or connector and a communication error by contact failure 1 2 3 6 TX TX RX RX IN Port0 OUT Port1 TX TX RX RX 1 2 3 6 1 2 3 6 TX TX RX RX IN Port0 OUT Port1 TX TX RX RX 1 2 3 6 Slave 1st axis Slave 2nd axis Sla...

Page 165: ...Torque Off state Connection circuit Connected to a relay or open collector transistor circuit Power supply voltage range 24V DC 10 Internal impedance 2 2kΩ 4 HWGOFF1 Safety input 2 5 HWGOFF2 6 HWGOFF2 Error detection monitor 7 EDM This is a signal to monitor errors of Safe Torque Off function Connection circuit Connected to a photo coupler or relay circuit Power supply voltage range Uext 24V DC 10...

Page 166: ...input3 9 CONT4 General purpose input4 10 CONT4 General purpose input4 11 CONT5 General purpose input5 12 CONT5 General purpose input5 13 SG Signal ground 14 CONT6 General purpose input6 15 CONT6 General purpose input6 16 OUT1 General purpose output1 17 OUT1 General purpose output1 18 OUT2 General purpose output2 19 OUT2 General purpose output2 20 Reserved Do not connect anything 21 Reserved Do not...

Page 167: ...e 5V DC 5 Max current value 50mA Power supply voltage range 12 to 15V DC 10 Max current value 50mA Power supply voltage range 24V DC 10 Max current value 50mA When host unit input circuit is a TTL or CMOS input the maximum current value shall be 20mA or less 17 OUT1 General output 1 18 OUT2 General output 2 19 OUT2 General output 2 20 21 Reserved Do not connect anything 22 RXD For the position syn...

Page 168: ...servo motor Encoder and outer shields are not connected inside the servo motor equipped with this encoder Note 3 Do not connect anything to 3 to 6 pins Single turn absolute encoder Encoder code H Servo Amplifier EN1 Terminal No Signal name Flange size 220mm or less Servo motor plug pin number For lead wire type Flange size 275mm Servo motor plug pin number Description Remarks Note 1 1 5V 9 Red 7 P...

Page 169: ...and a ground of motor encoder Note 3 Do not connect anything to 3 to 6 9 and 10 pins Wire saving incremental encoder Encoder code S Servo Amplifier EN1 EN2 Terminal No Signal name Flange size 220mm or less Servo motor plug pin number For lead wire type Flange size 275mm Servo motor plug pin number Description Remarks Note 1 1 5V 9 Red 7 Power supply Twisted pair Recommended 2 SG 10 Black 8 Power s...

Page 170: ...s vary depending on encoders to be connected so please carefully perform wiring Connector model number Molex Japan LLC Model Number Applicable wire size Applicable cable diameter Plug connector 54593 1016 AWG30 to AWG18 Plug cable cover set 54599 1016 φ 7 to φ 9 9 10 7 8 1 2 5 6 3 4 ...

Page 171: ...A06010 R2 A06020 R2AA08020 R2AA06040 R2AA08040 R2AA08075 R2AAB8075 R2AAB8100 R2AA10075 R2AA10100 R5AA06020 R5AA06040 R5AA08075 Lead wire type R1AA10100 R1AA10150 R1AA10200 R1AA10250 R1AA13300 R1AA13400 R1AA13500 R1AA18550 R1AA18750 R1AA1811K R1AA1815K R2AA13050 R2AA13120 R2AA13180 R2AA13200 R2AA18350 R2AA18450 R2AA18550 R2AA18750 R2AA1811K R2AA22500 R2AA22700 R2AA2211K R2AA2215K JN2DS10SL1 R Strai...

Page 172: ... Electronics Industry Ltd Motor model number Type Model number Qty Applicable wire size Except R2CA2830K Manual crimping type JN1 22 20S R PKG100 Note 1 AWG20 JN1 22 22S PKG100 Note 1 AWG21 to AWG25 JN1 22 26S PKG100 Note 1 AWG26 to AWG28 Soldering type JN1 22 22F PKG100 Note 1 AWG20 max Note 1 At our site order will be accepted from one piece At manufacturer site order will be accepted 1 pack eac...

Page 173: ...ductor size AWG26 to AWG18 SQ mm2 0 15 to 0 75 The conductor resistance value is recommended with the cable length actually used 4 3 5 Encoder cable length Maximum cable lengths by conductor sizes of power supply cable 5V SG Conductor size Conductor resistance Ω km 20 Length m AWG 26 150 or less 5 24 100 or less 10 22 60 or less 15 20 40 or less 25 18 25 or less 40 SQ mm2 0 15 150 or less 5 0 2 10...

Page 174: ... for thermostat of flange size 280 and 320 mm servo motor FAN Motor model number Model number Applicable wire size R2CA2830K R2CA3255K 5557 02R AWG22 to AWG28 Contact model number Molex Japan LLC Type Model number Applicable wire size Manual crimping type 5556T2L AWG22 to AWG28 Flange size 280 320 mm thermostat connector of servo motor FAN pin assignment Viewed from motor ...

Page 175: ...amic brake resistor In case of no connection to CN8 In case of connecting thermostats for a fan motor and for a servo motor In case of connecting thermostats for an external dynamic brake resistor servo motor and fan motor 1 2 3 4 CN8 Short circuit the pin 1 and 2 Short circuit the pin 3 and 4 Motor 1 2 3 4 CN8 Thermal signal wiring for fan motor Thermal signal wiring for servo motor Motor 1 2 3 4...

Page 176: ...lt us for the other usage Wiring of dynamic brake signal only Use Form b contact Normally Close to magnetic contact MC of external dynamic brake circuit Wiring of dynamic brake signal and dynamic brake resistor thermostat Use Form b contact Normally Close to magnetic contact MC of external dynamic brake circuit Wiring of fan motor thermostat In case of using nothing Do short circuit between TH1 1 ...

Page 177: ...l and dynamic brake resistor thermostat Use Form b contact Normally Close to magnetic contact MC of external dynamic brake circuit Wiring of servo motor thermostat In case of using nothing Do short circuit between TH1 1 and TH1 2 Terminal block Do short circuit between TH1 1 and TH1 2 MC2 MC3 TH1 1 TH1 2 DB1 DB2 External dynamic brake resistor TH1 1 TH1 2 DB1 DB2 Thermostat signal wire of external...

Page 178: ...A08040F 1 0 R5AA06020F 0 6 R5AA06040F 1 0 R5AA06040H 1 0 RS3 03 R1AA08075V 1 6 R1AA10100H 2 3 R1AA10150H 3 0 R2AA08075F 1 6 R2AAB8100H 2 0 R2AA10075F 1 7 R2AA13050D 1 2 R2AA13050H 1 2 R2AA13120B 2 2 R5AA08075D 1 6 R5AA08075F 1 6 RS3A05 R1AA08075F 1 6 Model NF32 15A MITSUBISHI ELECTRIC R1AA10100F 2 3 R1AA10150F 3 0 R1AA10200H 4 0 R1AA10250H 5 0 R2AAB8075F 1 6 R2AAB8100F 2 3 R2AA10100F 2 3 R2AA13120...

Page 179: ... Input voltage Power unit Amplifier unit Servo motor model No Main circuit power supply rating kVA Molded Case Circuit Breaker MCCB Noise filter Magnetic contact Surge absorber 200V AC RS3PAA270 RS3W60 R1AA2220KV 28 Model NF125 100A MITSUBISHI ELECTRIC 3SUPF CH 150MF F OKAYA ELECTRIC INDUSTRIES CO LTD S T65 MITSUBISHI ELECTRIC LV275DI U4 OKAYA ELECTRIC INDUSTRIES CO LTD R2AA2220KB 28 R2AA2225KB 35...

Page 180: ...ctric Co Ltd HF3100C SZC SOSHIN ELECTRIC Co Ltd HS50 Hitachi Industrial Equipment Systems Co Ltd R1CA18750L 9 5 R1CA1811KR 13 8 R1CA1815KB 18 2 R2CA18550H 7 0 R2CA18750H 9 4 R2CA2211KB 13 6 R2CA2215KV 18 4 RS3C30 R1CA2220KV 24 2 BW125JAGU 3P100 Fuji Electric Co Ltd H100C Hitachi Industrial Equipment Systems Co Ltd R2CA2220KV 27 5 R2CA2230KV 36 2 Input voltage Power unit Amplifier unit model number...

Page 181: ... S T21 MITSUBISHI ELECTRIC DS050C3N2 3 5 DS075C3N2 3 8 DD030C2Y4 4 5 DD050C1Y2 4 4 DD075C1Y2 4 8 DD045CB4AN 3 2 DD035CC2AN 3 0 RS3A10L DS030C3N2 3 5 DS050C3N2 3 5 DS075C3N2 3 8 DS100C2N2 5 5 DS150C2N2 5 5 DD030C2Y4 4 5 DD030C3Y4 6 8 Model NF63 50A MITSUBISHI ELECTRIC S T35 MITSUBISHI ELECTRIC DD050C1Y2 4 4 Model NF63 30A MITSUBISHI ELECTRIC S T21 MITSUBISHI ELECTRIC DD075C1Y2 4 8 DD045CB4AN 3 2 Mo...

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Page 183: ...f system parameters 5 6 5 3 2 Setting of linear encoder 5 7 5 3 3 Setting of magnetic pole position parameters 5 8 5 3 4 Setting of moving direction 5 10 5 4 Test operation 5 11 5 4 1 Check of installation and wiring 5 11 5 4 2 Preparation before operation 5 12 5 4 3 Magnetic pole position estimation 5 13 5 2 4 Check of operation 5 14 5 5 Precautions 5 15 5 5 1 When you use SANYO DENKI servo ampli...

Page 184: ...tor SANMOTION R 3E Model With EtherCAT Interface Motor power USB To next amplifier Connects I O signal of Safe Torque Off function to safety devices as safety unit safety PLC Host equipment General I O connector Connects homing probing and general signals Linear motor Hall effect sensor 5 1 Illustration of system components RS3A01 02 03 05 Used in case of insufficient capacity such that may be cau...

Page 185: ...ifier can supply 5 1 to 5 5 VDC 300mA Please prepare external power supply if the specifications for power supply needed for linear encoder you use are different Note 4 Make sure to connect power supply common Servo Amplifier EN1 Terminal No Signal name DS DD series linear motor Description Remarks Note 1 1 5V Wiring depending on linear encoder specification As note please prepare linear encoder a...

Page 186: ...S DD series linear motor Lead wire spec Description Remarks Note 1 1 5V Red Power supply Twisted pair 2 SG Black Power supply common Note 3 3 5V Power supply Twisted pair 4 SG Power supply common Note 3 5 S2 Green V phase signal output Twisted pair 6 S2 Purple 7 S1 Blue U phase signal output Twisted pair 8 S1 Brown 9 S3 White W phase signal output Twisted pair 10 S3 Yellow Note 2 Ground Ground Shi...

Page 187: ...dered side Wirings vary depending on encoders to be connected so please carefully perform wiring Connector model number Molex Japan LLC 9 10 7 8 1 2 5 6 3 4 Model Number Applicable wire size Applicable cable diameter Plug connector 54593 1016 AWG30 to AWG18 Plug cable cover set 54599 1016 φ 7 to φ 9 ...

Page 188: ...ually used 5 2 4 Encoder cable length Maximum cable lengths by conductor sizes of power supply cable 5V SG The values above are for the case power supply 5V SG line is wired in a pair Conductor resistance varies depending on conductor specifications Conductor size Conductor resistance Ω km 20 Length m AWG 26 150 or less 5 24 100 or less 10 22 60 or less 15 20 40 or less 25 18 25 or less 40 SQ mm2 ...

Page 189: ...PE Encoder type code Sets linear encoder and CS normalization method you use Incremental encoder Encoder option CS decision CS normalization 0x0800 Incremental encoder with CS Hall effect sensor Phase U 0x0810 Incremental encoder with CS Hall effect sensor Phase Z 0x0820 Incremental encoder with CS Hall effect sensor None 0x0830 Wire saving incremental encoder Hall effect sensor Phase Z 0x0840 Wir...

Page 190: ...ational velocity as a guide Value to select Contents 00 _110nsec Minimum pulse width 110ns Minimum phase difference37 5ns 01 _220nsec Minimum pulse width 220ns Minimum phase difference75ns 02 _440nsec Minimum pulse width 440ns Minimum phase difference150ns 03 _880nsec Minimum pulse width 880ns Minimum phase difference300ns 04 _ 75nsec Minimum pulse width 75ns Minimum phase difference37 5ns 05 _150...

Page 191: ...ontents 00 Type1 S3 not reversed S2 not reversed S1 not reversed 01 Type2 S3 not reversed S2 not reversed S1 reversed 02 Type3 S3 not reversed S2 reversed S1 not reversed 03 Type4 S3 not reversed S2 reversed S1 reversed 04 Type5 S3 not reversed S2 not reversed S1 not reversed 05 Type6 S3 reversed S2 not reversed S1 reversed 06 Type7 S3 reversed S2 reversed S1 not reversed 07 Type8 S3 reversed S2 r...

Page 192: ...ction Sets valid condition of magnetic pole position estimation for linear motor without Hall effect sensor output function Value to select Contents 02 _CONT1_ON Function enabled when general input CONT1 is ON 03 _CONT1_OFF Function enabled when general input CONT1 is OFF 04 _CONT2_ON Function enabled when general input CONT2 is ON 05 _CONT2_OFF Function enabled when general input CONT2 is OFF 06 ...

Page 193: ...t Position command plus 00 PC _VC _TC 20 PC _VC _TC 40 PC _VC _TC 60 PC _VC _TC APMON The value on present position monitor decreases Value to select Position command minus 00 PC _VC _TC 20 PC _VC _TC 40 PC _VC _TC 60 PC _VC _TC APMON The value on present position monitor increases Value to select Position command plus 80 PC _VC _TC A0 PC _VC _TC C0 PC _VC _TC E0 PC _VC _TC APMON The value on pres...

Page 194: ...g Connection Turn power on Please wire the servo amplifier linear motor and host unit by following 4 Wiring As note do not connect CN1 to the amplifier Supply power Check that the display of upper of servo amplifier front face does not show alarm code If alarm code is shown please take corrective action by following 8 3 Trouble shooting when alarm activated If is not shown at 7 segment LED even if...

Page 195: ... function ID4E CS offset monitor and then set the indicated data to Index 0x20F1 5 CS offset value For the CS offset value please set the average of CS offset value which are picked up from 3 points center and both end of linear motor stroke or more through the magnetic pole position estimation Set 0x0900 or 0x0920 CS decision Encoder absolute position to Index 0x20FF 2 Encoder type code And make ...

Page 196: ... Magnetic pole position estimation in another document M0010842 for operation method of the setup software For the magnetic pole position estimation forward reverse force command is performed and pole position is estimated by detecting the acceleration Force command will be larger automatically if the acceleration is small Pay attention to motor movement because motor moves slightly during the fun...

Page 197: ...ion where motor power line lead pulled out Please perform operation with safety speed How to operate through the setup software Select JOG operation at the menu of Test Operation See the manual M0010842 7 1 JOG operation for detail of the setup software operation How to operate through the digital operator See 7 6 1 Velocity controlled JOG Operation for detail of the digital operator operation Rev...

Page 198: ...r encoder you use When using linear motor at maximum moving rate set the value of minimum pulse width or less to Index 0x20F1 2 motor incremental encoder digital filter setting value ENFIL factory setting is default set value minimum pulse width 220nsec When connection of phase sequence or polarity of motor power line linear encoder signal line and hall sensor signal line when you use is not corre...

Page 199: ...eparation status of magnetic pole position estimation 3 seven segment LEDs blink because of an alarm emergency stop etc start running automatic execution after deactivating alarm emergency stop At the time of moving to preparation status of magnetic pole position estimation when the function of magnetic pole position estimation is set in any other mode than automatic mode the automatic execution d...

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Page 201: ...y control 6 19 6 4 3 Basic manual tuning method for position control 6 19 6 5 The function of making servo gain higher 6 20 6 5 1 Velocity loop phase lead compensation 6 20 6 5 2 Position loop phase lead compensation 6 21 6 5 3 Torque feed forward compensation 6 22 6 6 Model following control function 6 23 6 6 1 Manual tuning method for model following control 6 24 6 6 2 Switching of the Feedback ...

Page 202: ...ency are adjusted automatically corresponding to the load inertia moment ratio and the responses that are already set This method is used when the Load inertia moment ratio could not be estimated correctly with auto tuning Manual Tuning Set all parameters such as Load inertia moment ratio servo gain filter frequency etc manually This method is used when characteristics during auto tuning are insuf...

Page 203: ...achine stand vibration though at the CP Continuous Path control like cutting work of machine tool Minor vibration suppression This function is suppressing minor vibration against velocity feedback during servo motor stop Disturbance impact suppression function High order integral control Uses when desired to suppress disturbance impact into control system by decreasing the velocity loop integral t...

Page 204: ... Set the below functions depending on desired tuning Desired tuning Reference section Fine tuning of servo gain 6 4 Manual tuning function Raise servo gain 6 5 The function of making servo gain higher Shorten positioning settle time 6 6 Model following control function Suppress machine resonance 6 7 Auto notch filter tuning function Suppress machine vibration 6 8 Vibration suppression function Sup...

Page 205: ...set This function will be valid when Index 0x2060 1 Adaptive notch filter function E ADNFE is selected Adaptive notch filter starts an operation with getting the value of Index 0x2014 05 Torque Command Notch Filter E TCNFILE as the initial value Tuning result of Adaptive notch filter is saved to Torque Command Notch Filter E TCNFILE every 30 minutes automatically Set 0x01 No_Saving to Index 0x2060...

Page 206: ...ing Control 1 General Purpose 0x01 Positioning2 Positioning Control 2 High Response 0x02 Positioning3 Positioning Control 3 High Response FFGN Manual Setting 0x03 Positioning4 Positioning Control 4 High Response Horizontal Axis Limited 0x04 Positioning5 Positioning Control 5 High Response Horizontal Axis Limited FFGN Manual Setting 0x05 Trajectory1 Trajectory Control 1 0x06 Trajectory2 Trajectory ...

Page 207: ... only with excessively long acceleration deceleration time constants or with only low torque in low velocity this mode cannot be used Also for operations with high disturbance torque or with major mechanical clearance this mode cannot be used Use in 01 _AutoTun_JRAT Fix Automatic Tuning JRAT Manual Setting Based on Index 0x200D 1 Load inertia moment ratio 1 JRAT1 which has to be set the servo ampl...

Page 208: ...annot be adjusted manually Select for high response positioning Parameters shown in table at section 6 3 2 cannot be adjusted manually Select this mode to adjust Index 0x2008 1 Feed Forward Gain FFGN manually The following parameter is able to adjust manually if not use model following vibration suppression control The following parameter is able to adjust manually if using model following vibrati...

Page 209: ...tiple axes respectively Adjust Index 0x2005 1 Position Loop Proportional Gain 1 KP1 Index 0x2008 1 Feed Forward Gain FFGN The following parameter is able to adjust manually if not use model following vibration suppression control The following parameter is able to adjust manually if using model following vibration suppression control Selection Contents 04 Positioning5 Positioning control 5 for hig...

Page 210: ...lue suitable for equipment rigidity This does not function when 02 ManualTun of the Tuning mode is selected Group0 ID03 Auto Tuning Automatic Parameter Saving ATSAVE Load inertia moment ratio obtained from the result of auto tuning is automatically saved in Index 0x200D 1 Load Inertia Moment Ratio 1 JRAT1 every 30 minutes The select value is effective when auto tuning is used This does not functio...

Page 211: ...e 3 Manual setting is available on 01 Positioning Control 2 High Response is selected at the Auto Tuning Characteristic ATCHA Note 4 Manual setting is available on 00 Positioning Control 1 General Purpose 01 Positioning Control 2 High Response 02 Positioning Control 3 High Response FFGN Manual Setting 05 Trajectory Control 1 or 06 Trajectory Control 2 KP FFGN Manual Setting are selected at the Aut...

Page 212: ...ble on 00 Positioning1 General Purpose 01 Positioning2 High Response 02 Positioning3 High Response FFGN Manual Setting 05 Trajectory1 or 06 Trajectory2 KP FFGN Manual Setting are selected at the Auto Tuning Characteristic ATCHA Index Sub Idx Symbol Name Remarks 0x2017 0x01 KM1 Model Control Gain 1 0x2068 0x02 MFFGN Model velocity feed forward gain Note 1 Note 2 Index Sub Idx Symbol Name Remarks 0x...

Page 213: ...NFILE Torque Command Notch Filter E 0x202D 0x05 TCNFDE TCNFILE Depth Selection 0x2067 0x01 CPVSFQ CP vibration suppression control frequency 0x2067 0x02 CPVSLV CP vibration suppression control level 0x2067 0x03 CPVSSH CP vibration suppression control characteristics selection 0x2051 0x02 FBHPLS Minor vibration suppression pulse compensation value 0x2051 0x03 FBHTIM Minor vibration suppression puls...

Page 214: ...following control settings Model following control is able to use when 0x01 AutoTun_JRAT Fix is set to Index 0x2002 1 Tuning mode If 0x00 AutoTun is set select 00 Standard or 01 Model1 to Index 0x20F3 1 Position control selection PCNTSEL Index Sub Idx Symbol Name 0x2001 0x00 GC Gain Switching Selection 0x2000 0x00 PLPCON Position Loop Proportional Control Switching Function 0x2000 0x00 VLPCON Velo...

Page 215: ...time Change Auto Tuning Characteristic to 03 Positioning4 Positioning Control 4 High Response Horizontal Axis Limited Change Auto Tuning Characteristic to 04 Positioning5 Positioning Control 5 High Response Horizontal Axis FFGN Manual Setting Are there any problems with response or setting time Tuning completed Match the characteristics between the axes Chang Auto Tuning Characteristic 05 Trajecto...

Page 216: ... Set Auto Tuning Response ATRES at a low value initially and allow the machine to work about 10 times or more by commanding from upper controller When response is low and the positioning settling time is slow after machine movement try to improve the response and settling times by increasing Auto Tuning Response ATRES gradually If increasing the response has caused the machine to get vibration low...

Page 217: ...tion Loop Proportional Gain 1 1 s 0x2008 0x01 FFGN Velocity Feed Forward Gain 0x200E 0x00 TRCPGN Higher Tracking Control Position Compensation Gain 0x200B 0x01 KVP1 Velocity Loop Proportional Gain 1 Hz 0x200C 0x01 TVI1 Velocity Loop Integral Time Constant 1 ms 0x200D 0x01 JRAT1 Load Inertia Moment Ratio 1 0x200F 0x01 AFBK Acceleration Feedback Gain 0x200E 0x00 TRCVGN Higher Tracking Control Veloci...

Page 218: ...his moving low pass filter smoothes the position command pulse Sets time constants The position command pulse will become smoother by setting this parameter when the electronic gear ratio is high or position command pulse is coarse Index 0x2004 0 Position Command Filter PCFIL When the position command resolution is low set this parameter to suppress the ripples contained in the position command A ...

Page 219: ...lue as Velocity Loop Proportional Gain 1 KVP1 becomes velocity control responsive band Index 0x200C 1 Velocity Loop Integral Time Constant 1 TVI1 Set this to TVI1 ms 1000 KVP1 Hz as a rough indication Index 0x200D 1 Load inertia moment ratio 1 JRAT1 Set this value to the calculation shown below Index 0x200E 0 Higher Tracking Control Velocity Compensation Gain TRCVGN Tracking effect can be improved...

Page 220: ...nance try the procedure again 6 4 3 Basic manual tuning method for position control Set value of Index 0x200B 1 Velocity Loop Proportional Gain 1 KVP1 as high as possible within the range that mechanical system can stably work without any vibration or oscillation If vibration increases lower the value Set value of Index 0x200C 1 Velocity Loop Integral Time Constant 1 TVI1 by referring to TVI1 ms 1...

Page 221: ...hen confirm increase of phase margin at higher frequency Index 0x2062 1 Velocity loop phase lead compensation gain VLPHLK is able to increase up to the value of allowed phase margin at higher frequency Velocity Loop Proportional Gain 1 KVP1 is able to increase up to the value of allowed phase margin at around of Velocity Loop Proportional Gain 1 KVP1 Velocity loop phase lead compensation gain Sets...

Page 222: ...gain PLPHLK up to eliminating overshoot Able to increase Position Loop Proportional Gain 1 KP1 up to the value that allowed overshoot Position loop phase lead compensation gain Sets the compensation value of Position loop phase lead compensation General parameters Group1 Basic Control parameter settings This function will be disabled when 0 is set Position loop phase lead compensation frequency Se...

Page 223: ...ol type this function will be disabled when 0 is set to Index 0x2008 1 Feed Forward Gain FFGN This function will be disabled at torque control type This function will be disabled at model following vibration suppression control Able to use the function along with the auto tuning except when 00 Positioning1 Positioning Control 1 General Purpose is set to Index 0x2002 2 Auto Tuning Characteristic AT...

Page 224: ...en using this function together with the auto tuning See 6 6 1 Manual tuning method for model following control when setting the parameter manually without the auto tuning See 6 6 3 Model velocity feed forward differential compensation for command following improvement after the auto tuning or the manual tuning Setting parameters System parameters Model following control cannot be used when in vel...

Page 225: ...ical vibration etc and the response time is insufficient use Torque notch filter and or FF Vibration suppression frequency to suppress resonance and attempt it again Adjustable parameters in Model following control In addition to the parameters in Standard position control the following parameters are also adjustable General Parameters Group3 Model following control settings Model Control Gain 1 K...

Page 226: ...with auto tuning at the same time Model following control Model following vibration suppression control can be used with full closed control at the same time Model following vibration suppression control standard position control switching function Sets the valid condition for Model following vibration suppression control General parameters Group9 Function enabling condition settings Control mode ...

Page 227: ... control This function will be disabled when 0 is set Model velocity feed forward differential time constant Sets the time constant of Model velocity feed forward differential compensation General parameters Group3 Model following control This function will be disabled when 0 00ms is set This function will be enabled when the value except 0 is set to Model velocity feed forward gain MFFGN Model ve...

Page 228: ... 0x200B 1 Velocity loop proportional gain 1 KVP1 is too high Lower the Auto tuning response ATRES or Velocity loop proportional gain 1 KVP1 Torque command notch filter function can be used together with Auto tuning at the same time Holding torque falls while auto notch filter is running Do not use as a gravity axis Torque command value for auto notch filter tuning Setting the Torque command value ...

Page 229: ... notch filter frequency for mechanical dispersion Please set lower value than ADNFLE Adaptive notch filter E auto saving Selects valid invalid of the function that saves mechanical resonant frequency automatically General parameters Group0 Auto Tuning Index Sub Idx Symbol Name Unit Setting range 0x2060 0x01 ADNFE Adaptive notch filter function E 00 to 01 Select value Content 00 Adp_Filter Disable ...

Page 230: ...nalysis When you measure the anti resonance and resonance frequencies using System analysis set the Frequency range selection in the low range If you set the range in a high range the ant resonance and resonance frequencies in suppressible ranges created by the Model following vibration suppression control may not be measured 1 125Hz for Frequency range selection is recommended For use of the syst...

Page 231: ...This is the proportional gain of the Model following controlling position controller and set response for Model control system Adjust by referring to KM1 KP1 as a rough indication Model control damping coefficient MZETA This is parameter which changes velocity proportional gain of Model following control The parameter value will be ζ 0 866 by 0 and ζ 1 0 by 100 Overshoot Suppression Filter OSSFIL ...

Page 232: ...rameters Group1 Basic control parameter settings General parameters Group3 Model following control settings Index Sub Idx Symbol Name Unit Setting range 0x2007 0x01 JRAT1 Load Inertia Moment Ratio 1 100 to 3000 0x2011 0x01 TCFIL1 Torque Command Filter 1 Hz 100 to 1000 Index Sub Idx Symbol Name Unit Setting range 0x2017 0x01 KM1 Model Control Gain 1 1 s 15 to 315 ...

Page 233: ...ase lower Position Loop Proportional Gain 1 KP1 or Velocity Loop Proportional Gain 1 KVP1 When used together with Index 0x200E 0 Higher Tracking Control Velocity Compensation Gain TRCVGN vibration suppression effect may be improved FF vibration suppression control function can be used with auto tuning at the same time Holding torque falls while Auto FF Vibration Suppression Frequency tuning is exe...

Page 234: ... Loop Proportional Gain 1 KP1 or Index 0x200B 1 Velocity Loop Proportional Gain 1 KVP1 may be too high In this case lower Position Loop Proportional Gain 1 KP1 or Velocity Loop Proportional Gain 1 KVP1 Setting parameter General parameters Group2 FF vibration suppression control Notch filter Disturbance observer settings Do not change the setting value when the servo motor is running General parame...

Page 235: ... in the FF vibration suppression function Do not change the vibration suppression frequency when the servo motor is running Index Sub Idx Symbol Name Unit Setting range 0x2010 0x01 SUPFSELA1 FF Vibration Suppression Frequency Select Input A1 00 to 29 0x2010 0x02 SUPFSELA2 FF Vibration Suppression Frequency Select Input A2 00 to 29 0x2010 0x03 SUPFSELB1 FF Vibration Suppression Frequency Select Inp...

Page 236: ...ation suppression control level This is the parameter which sets impact of CP vibration suppression control General parameters Group2 FF Feed Forward vibration suppression control Notch filter Disturbance observer settings Effect of CP vibration control will be larger when increasing this value Please stop servo motor when selecting this value CP vibration suppression control characteristics selec...

Page 237: ...n enabling condition settings Minor vibration suppression pulse compensation value Sets the compensation amount of Minor vibration suppression function for velocity feedback General parameters Group2 FF Feed Forward vibration suppression control Notch filter Disturbance observer settings Sets by multiple of FBHTIM Minor vibration suppression pulse compensation frequency Sets the number of Minor vi...

Page 238: ...Proportional Gain 1 KVP1 became large High order integral control gain HKVIK is able to increase up to phase margin will be allowed value at high frequency range Velocity Loop Integral Time Constant 1 TVI1 is able to decrease till phase margin will be allowed value at near of Velocity Loop Proportional Gain 1 KVP1 High order integral control can not use along with higher tracking control For use o...

Page 239: ...uency range Parameters for using the Disturbance Observer Group9 Functions enabling conditions settings General parameters Group2 FF Feed Forward vibration suppression control Notch filter Disturbance observer settings Disturbance observer characteristics are prepared as 00_Low Low frequency disturbance suppression 01_Middle Mid frequency disturbance suppression and 02_High High frequency disturba...

Page 240: ...s enabling conditions settings General parameters Group2 FF Feed Forward vibration suppression control Notch filter Disturbance observer settings Effective velocity for compensating stick slip behavior STV Stick slip behavior compensation will work when internal velocity command of servo amplifier is below of this value Retention time for compensating stick slip behavior STHLD Stick slip behavior ...

Page 241: ... Form 7 6 7 5 Status Display Mode 7 9 7 5 1 Servo Amplifier Status Display 7 9 7 5 2 Forward Inverse Limit state Display 7 9 7 5 3 Display of linear motor magnetic pole position detection process 7 10 7 5 4 Display of warning state 7 10 7 5 5 Alarm Display 7 11 7 5 6 How to Reset Alarm When Alarm Occurring 7 11 7 6 Trial Run Mode 7 12 7 6 1 Velocity controlled JOG Operation 7 12 7 6 2 Encoder clea...

Page 242: ...D GREEN RUN indicator LED GREEN ERR indicator LED RED Names 7 1 1 IN OUT Link Activity Indicator Code IN L A OUT L A Link Activity Indicator Green LED can confirm physical link state and operation status of each port with Lighting Extinguishing Blinking Explanation of Link Activity Indicator state is shown below Link Activity Indicator Link Activity Link Activity Indicator LED State Yes No ON ligh...

Page 243: ...OPERATIONAL state Single flash SAFE OPERATIONAL SAFE OPERATIONAL state On OPERATIONAL OPERATIONAL state Flickering INITIALISATION or BOOTSTRAP INIT state not ready in initialization state or in Bootstrap state Firmware download is under operation Please refer to ERR RUN LED display state and flickering cycle for details of the flickering cycle RUN LED display state and Flickering Cycle Blinking PR...

Page 244: ...and or object Single flash Invalid ESM change Error has been set in AL status register because ESM has changed slave independently In cases of transition to Safe Operational automatically with synchronization error etc Double flash Application Watchdog timeout Application Watchdog timeout has occurred SyncManager Watchdog timeout has occurred On PDI Watchdog timeout PDI Watchdog timeout has occurr...

Page 245: ...GE Main Circuit Power Supply Indicator Red LED shows the main circuit power R S T has been input and power is charging in the main circuit power supply smoothing capacitor The LED stays ON until electric discharge has completed even after the main circuit power supply has shut down Make sure not to touch the servo amplifier until this LED goes OFF Electric shock may result 7 2 2 Control Power Supp...

Page 246: ...e ON for more than 1s causes page decrement 7 3 2 Mode changes MODE Change is performed by MODE operation of the Push Button Switch Switches as following order MODE Switching Order Status Display MODE Displays the establishment of control or main power supply Servo ON over travel warning and alarm status Also performs Alarm Reset Test operation MODE JOG Operation Auto Tuning Result Writing and Enc...

Page 247: ...us Position of 10 display 10 to 99 Plus Position of 100 display 100 to 999 Plus Position of 1000 display 1000 to 9999 Plus Position of 10000 display 10000 to 99999 Symbol Digital operator display Range of a digit display Plus Position of 1 display 0 to 9 Plus Position of 10 display 10 to 99 Plus Position of 100 display 100 to 999 Plus Position of 1000 display 1000 to 9999 Minus Position of 1000 di...

Page 248: ... digit display Digits of msec unit 0 to 999 Digits of sec unit 0 to 59 Digits of minute unit 0 to 59 Lower 4 digits of hour unit 0 to 9999 Higher 4 digits of hour unit 0 to 9999 Average power range Example display Unit 999999 9 W Average power 99950 0 W kW 99950 0 W Average power 9995 0 W kW 9995 0 W Average power 1000 0 W kW 999 9 W Average power 999 9 W W 1000 0 W Average power 9995 0 W kW 9995 ...

Page 249: ...isplay range of regenerative power is automatically changed depending on the value to indicate optimum range Regenerative power range Example display Unit 0 000 W Regenerative power 99 999 W W 100 000 W Regenerative power 999 995 W W 999 995 W Regenerative power 9 999 950 W W 9 999 950 W Regenerative power W ...

Page 250: ...eration preparation completion signal established Main power supply R S T is established and operation preparation completion signal is ON EtherCAT FSA Switch ON Disabled Ready to Switch ON or Switch ON Servo is ON Shows 8 shape continuously EtherCAT FSA Operation Enabled The state firmware is re writing Shows the state that flash ROM of amplifier CPU is being re written by the firmware downloaded...

Page 251: ...ition setting 7 5 4 Display of warning state Descriptions of each warning are shown at 8 2 1 Warning List Confirm occurring warning by the digital operator referring 7 16 Monitor display or by warning information of the setup software For operation of the setup software see another document M0010842 Note 1 For RS3D80 it shows when either of power unit or amplifier unit into warning status Marking ...

Page 252: ...d 7 5 6 How to Reset Alarm When Alarm Occurring Alarm can be reset with the Digital Operator except for alarms necessary for re input of power Process Displayed character number code MODE key operation How to operate 1 MODE Make the state Status Display where the alarm No is displayed 2 WR Changes to as the left after turn ON MODE key 1sec or more Alarm will be cleared by pushing WR key 3 Display ...

Page 253: ...in CCW direction with one long push of MODE key Default value 50min 1 Note 1 6 MODE Returns to Process 3 by pushing MODE key once 7 MODE Ends Process by pushing MODE key once and shows display on the left Note 1 The number of rotations can be changed to an arbitrary number at GroupD ID00 in the setup software For stopping during operation please push the MODE button MODE is pushed in Process 2 Cha...

Page 254: ...turns to Process 2 by pushing MODE key 7 MODE Displays Alarm History mode by pushing MODE key 7 6 3 Automatic Tuning Result Writing Process Displayed character number code Key input operation How to operate 1 MODE Push MODE key until it shows display on the left Display changes and right end LED blinks 2 INC Push MODE key more than 1 sec to display Ad 02 on left 3 WR Displays turSL mode by pushing...

Page 255: ...g brake control 7 14 7 Digital Operator 7 7 Holding brake control disabled For servo motor R2CA3255KB there is no specification with brake For amplifier unit RS3D80 there is no output of holding brake excitation ...

Page 256: ...alarm occurrence by pushing WR key Hour unit lower 4 digits 8 INC Displays elapsed time until alarm occurrence by pushing WR key Hour unit higher 4 digits 9 MODE Returns to Process 3 by pushing MODE key once 10 MODE Returns to Process 3 11 MODE Changes to the next monitor display mode 7 8 2 Clear Alarm History Process Displayed character number code Key input operation How to operate 1 MODE Displa...

Page 257: ... on the left then you can change the display The right end of the LED blinks after the change 2 INC DEC Displays ID that requests monitoring 3 WR Displays set data and status 4 WR Displays as on the left Repeat from Process 2 when another parameter setting is following 5 MODE Changes to the next status display mode Displays as on the left in Process 3 for reserved parameters that cannot be shown ...

Page 258: ...ercentage monitor 41 TRMS Effective torque monitor 42 ETRMS Effective torque monitor Estimated value 44 VBUS Main circuit DC voltage monitor V 45 ENTMP Encoder temperature monitor degreeC 46 MATEMP Amplifier internal temperature monitor degreeC 47 RUNTIM Amplifier operation time h mm ss ms 4A MAVEPOW1 Average power monitor W 4B MAVEPOW2 Average power monitor kW 4C RegPOW Regenerative power monitor...

Page 259: ... S ON 5 Servo OFF and stop state S OFF 6 Emergency stop state EMR 11 Alarm and power OFF state ALARM_P OFF 12 Alarm and power ON state ALARM_P ON 16 Alarm and emergency stop state ALARM_EMR 22 Gate OFF and power ON state GATE OFF_P ON Bit 3 2 1 0 Function Regenerative overload Overload Servo amplifier temperature Bit 7 6 5 4 Function Excessive deviation Control power decrease Velocity command unde...

Page 260: ... General output OUT2 to 1 monitor OUT2 1 Displays generic output terminal status It will be in a photo coupler excitation state by 1 or ON 07 Incremental encoder signal monitor INC E MON Displays incremental encoder signal status 1 or ON shows an incoming signal level H state Bit 3 2 1 0 Function EN1 encoder Z phase signal EN1 encoder B phase signal EN1 encoder A phase signal Bit 7 6 5 4 Function ...

Page 261: ...e displayed range the maximum reverse polarity value will be displayed Setup software displays the data to ID12 Digital operator displays the data to ID12 ID13 by hexadecimal notation 32 bit data 14 Position deviation monitor PMON Displays the position deviation value Setup software displays values in decimal notation Digital operator displays values in hexadecimal notation Display range Unit 9223...

Page 262: ...N Displays the torque command value 19 Acceleration monitor ACCMON Displays the servo motor acceleration Setup software displays values in decimal notation Digital operator displays values in hexadecimal notation Display range Unit 2147483648 to 2147483647 min 1 Display range Unit 2147483648 to 2147483647 min 1 Display range Unit 499 9 to 499 9 ID Data range Display range Unit 15 Bit31 to Bit0 H 8...

Page 263: ...nit at the setup software Displays with 10mV unit at the digital operator 33 34 Absolute encoder PS data monitor motor encoder ABSPS Displays position data of absolute encoder Setup software displays the data to ID33 Actual display range varies depending on the encoder specifications Digital operator displays the data to ID33 ID34 by hexadecimal notation 32 bit data Display range Unit 12000 to 120...

Page 264: ...the working ratio of regenerative resistor 41 Effective torque monitor TRMS Displays effective torque Depending on the operation pattern it may take some hours to become stable 42 Effective torque monitor Estimated value ETRMS Displays the effective torque estimation value Estimates from short time operation This can be confirmed shortly if the same operation pattern is repeated 44 Vbus monitor VB...

Page 265: ... type accuracy will be 30 at the accel decel operation with 100 effective torque Accuracy may be worse when it is used at the instantaneous area of Velocity torque characteristics 4B Average electric power monitor MAVEPOW2 Average electric power monitor shows a measurement result every 1 minute Not shown with the motor except R series When 3 phase 200V AC is used to the 200V AC input type accuracy...

Page 266: ...switching and auto tuning function 55 Velocity Loop Integral Time Constant monitor TVI MON Displays the present Velocity Loop Integral Time Constant Value can check when using gain switching and auto tuning function 56 Torque Command Filter monitor TCFIL MON Displays the present Torque Command Filter Value can check when using gain switching and auto tuning function 58 Frequency monitor E for adap...

Page 267: ...the external encoder frequency of incremental encoder Setup software displays values in decimal notation Digital operator displays values in hexadecimal notation 32 bit data 66 Axes sync error monitor SYNERR Displays position deviation error between own axis and counterpart axis Setup software displays values in decimal notation Digital operator displays values in hexadecimal notation Display rang...

Page 268: ...r communication MOTE ERRAT Displays the error rate of motor encoder communication 74 Error rate of external encoder communication EXTE ERRAT Displays the error rate of external encoder communication 77 Remaining life of a holding brake HBLF Displays the remaining life of a holding brake Displays only when combining with the motor which has holding brake Not shown if combine with the motor which do...

Page 269: ... display mode but in the setting value 00 STATUS servo amplifier status monitor the display will be different from the code display in the monitor mode and will show the amplifier status in the status display mode or Ξ In the state of alarm occurring requiring safety function input requiring motor magnetic pole detection or detecting the poles the monitor display prioritize these status over the f...

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Page 271: ... 8 2 2 Alarm list 8 5 8 3 Trouble shooting when alarm activated 8 9 8 3 1 Alarm display 8 9 8 3 2 Corrective action for alarm 8 10 8 3 3 Correspondence table for EnDat Error message and alarm code 8 58 8 4 Encoder clear and alarm reset 8 59 8 5 Inspection 8 60 8 6 Service parts 8 61 8 6 1 The parts requiring Inspection 8 61 8 6 2 Replacing battery for motor encoder 8 63 ...

Page 272: ...d HWGOFF2 inputs The motor does not rotate although 7 segment LED is drawing a character 8 Investigation Assumed causes and corrective actions Check an inputting command by communication parameter 0x2106 Internal Velocity Command Monitor 0x2107 Internal Torque Command Monitor 0x60FC Internal Position Command Value Inputting a command if the monitor value is zero Check the servo motor is locked or ...

Page 273: ... in System parameter When performing the work for correction and investigation processing about wiring be sure to intercept power supply Servo motor runs away Investigation Assumed causes and corrective actions Check the servo motor power line Phase order of servo motor power line is wrong Check the wiring of encoder cable Wiring of the encoder is incorrect When performing the work for correction ...

Page 274: ...shield processing of motor encoder signal line are correct Confirm that the wiring for motor encoder line and servo motor power line are not installed in the same duct Confirm that the power supply voltage is sufficient The multi turn part of the absolute encoder cannot be cleared by clearing the encoder although the absolute encoder that has multi turn is used Investigation Assumed causes and cor...

Page 275: ...estricting torque command While restricting the torque command by torque restriction value Restricting velocity command While restricting the velocity command by velocity restriction value Excessive position deviation While position deviation exceeds warning setting value Dual position error excess The difference between servo motor position and load position is exceeding the warning set value Ada...

Page 276: ...x5210 Current Detection Error 0 Abnormality of electric current detection value DB Yes 23 Bit1 0x5210 Current Detection Error 1 Abnormality of Electric current detection circuit DB Yes 24 Bit1 0x5210 Current Detection Error 2 Abnormality in communication with Electric current detection circuit DB Yes 25 Bit1 0x8312 Safe Torque Off Error 1 Logic unmatched in safe torque off input DB No 26 Bit1 0x83...

Page 277: ...r DB Note 4 A6 Bit0 0x7300 Absolute Encoder Internal Error 6 Encoder internal error DB Note 4 A9 Bit0 0x7300 Absolute Encoder Internal Error 9 Encoder internal error DB Note 4 AA Bit0 0x7320 Absolute Encoder Internal Error 10 Encoder internal error DB Note 4 AC Bit0 0x7320 Absolute Encoder Internal Error 12 Encoder internal error DB Note 4 AD Bit0 0x7320 Absolute Encoder Internal Error 13 Encoder ...

Page 278: ...iation difference Position Deviation difference exceeds setup value DB Yes DE Bit0 0xFF01 Parameter Change Completion Motor encoder code parameter change is completed No DF Bit0 0xFF00 Test Run Close Note6 Detection in Test mode end status DB Yes Control system Memory system abnormality E1 Bit7 0x5530 Memory Error 1 Abnormality of amplifier with built in EEPROM DB No E2 Bit7 0x6310 Memory Error 2 ...

Page 279: ... clear may sometimes be needed An encoder clear and the alarm reset method change with motor encoders in use Please refer to 8 4 Encoder clear and the alarm reset method Note 5 When there is a rapid motor slow down simultaneous with servo ON there is a possibility that a break in the motor s power line cannot be detected Note 6 Alarm that occurs in Test mode end status is not recorded in the alarm...

Page 280: ...ervo amplifier status code Display Description Take appropriate action based on 8 3 2 Corrective action for alarm Status code Code Status 1 Power OFF status P OFF 2 Power ON status P ON 3 Servo ready status S RDY 4 Servo ON status S ON 5 Servo OFF status S OFF 6 Emergency stop status EMR F Initial status Servo amplifier status code Alarm code ...

Page 281: ...ctions 1 Defect in communication cable Confirm contact failure of communication cable wiring 2 Malfunction due to noise Confirm proper grounding of the amplifier Check the shielding of the encoder cable Add ferrite core or similar countermeasures to against noise 3 Defect in internal circuit of servo amplifier Replace the servo amplifier Alarm code 18 IN lost link Alarm code 19 OUT lost link Port ...

Page 282: ...mality in drive power supply Overheating of drive module Status at the time of alarm Cause 1 2 3 4 Issued when control power is turned ON Issued at input of servo ON Issued while starting and stopping the servo motor Issued after operation for some time Corrective actions Cause Investigation and corrective actions 1 Short circuit is there at U V W phases of amplifier or wiring between amplifier an...

Page 283: ...Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of servo amplifier Replace the servo amplifier 2 Malfunction due to noise Confirm proper grounding of the amplifier Add ferrite core or similar countermeasures to against noise Alarm code 25 Safe Torque Off error 1 Logic unmatched in safe torque off input Status at the time of alarm Cause 1 2 Occurred in abo...

Page 284: ...t in internal circuit of servo amplifier Replace the servo amplifier 2 Malfunction due to noise Check grounding of the amplifier Take care of noise by adding ferrite core etc Alarm code 27 Fan stop Speed reduction of fan Status at the time of alarm Cause 1 2 Occurred during the operation Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of servo amplifier R...

Page 285: ... Defect in servo motor and servo amplifier combination Check if the motor in use matches with the recommended type and replace if it is improper 5 Holding brake of servo motor has not released Check that the wiring and voltage of the holding brake are correct if not correct it If the above are OK replace the servo motor 6 Wiring of U V W phase between servo amplifier and motor is wrong Check the w...

Page 286: ...r 4 Defect in servo motor and servo amplifier combination Check if the motor in use matches with the recommended type and replace if it is improper 5 Holding brake of servo motor has not released Check that the wiring and voltage of the holding brake are correct if not correct it If the above are OK replace the servo motor 6 Wiring of U V W phase between servo amplifier and motor is wrong Check th...

Page 287: ...g at built in or external regenerative resistor model Check the wiring conditions and correct it if improper 4 Regenerative resistor wire breaks For built in regeneration resistor specifications replace the servo amplifier For external regeneration resistor specifications replace the regeneration resistor 5 Resistance value of external regenerative resistor is excessive Replace to the resister tha...

Page 288: ...1 Reverse Direction Force Limit Value 4 Defect in internal circuit of servo amplifier Replace the servo amplifier 5 Wiring of U V W phase between servo amplifier and linear motor is wrong Check the wiring conditions and correct it if improper 6 Wiring of A B phase of linear encoder is wrong Check the wiring conditions and correct it if improper 7 Linear encoder resolution setting is wrong Set corr...

Page 289: ...Overheat Overheating detection of dynamic brake resistor Status at the time of alarm Cause 1 2 3 4 5 Issued when control power supply is turned ON Issued during operation Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of servo amplifier Replace the servo amplifier 2 Dynamic Brake operation is repeated too frequently Use the dynamic brake so as not to exc...

Page 290: ...ditions to keep that consumption power is below of allowable power Use an external regenerative resistor 3 Resistor wiring is wrong at built in regenerative resistor model Check the wiring conditions and correct it if improper When using a regenerative resistor built in the servo amplifier make sure to set 0x01 Built in_R at the Index 0x20FD 2 Regenerative Resistor Selection This setting decides e...

Page 291: ...t in internal circuit of servo amplifier Replace the servo amplifier When thermal signal of the external regenerative resistor is connected Status at the time of alarm Cause 1 2 3 Issued when control power is turned ON Issued after operation for some time Corrective actions Cause Investigation and corrective actions 1 Improper wiring of external regenerative resistance Check the wiring conditions ...

Page 292: ...mperature This temperature is measured at the point very near to driving module It is different from measurement point of temperature monitor for R ADVANCED MODEL at the point near to control IC of control board Alarm Code 61 Over Voltage DC Excess voltage of main circuit Status at the time of alarm Cause 1 2 3 4 Issued when control power is turned ON Issued when main circuit power supply is turne...

Page 293: ... no external power supply to R S T when the main circuit is OFF 5 Defect in internal circuit of servo amplifier Replace the servo amplifier Alarm Code 63 Main Power Supply phase loss 1 phase of the 3 phase main circuit power supply disconnected Status at the time of alarm Cause 1 2 3 Issued when control power is turned ON Issued when main circuit power supply is turned ON Issued during operation C...

Page 294: ... 1 2 Issued when control power is turned ON Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of servo amplifier Replace the servo amplifier 2 Defect in external circuit Restart the power supply after removing the connector CN1 Check the external circuit if alarm is not issued Alarm Code 73 Control Circuit voltage reduction 2 Under voltage of 5V Status at t...

Page 295: ...o amplifier and motor encoder are not combined properly Replace with servo motor equipped with proper encoder 3 Defect in internal circuit of servo amplifier Replace the servo amplifier 4 Defect in internal circuit of motor encoder Replace the servo motor Alarm Code 83 Encoder Connector 2 Disconnection Incremental encoder A B Z signal line break Power supply break Use of EN1 with motor encoder in ...

Page 296: ...l circuit of motor encoder Replace the servo motor Use of EN2 with external encoder Status at the time of alarm Cause 1 2 3 4 Issued when control power is turned ON Issued during operation Corrective actions Cause Investigation and corrective actions 1 For external encoder wiring Improper wiring Connector is removed Loose connection Encoder cable is too long Encoder cable is too thin Check the wir...

Page 297: ...normality in initial process of absolute encoder Status at the time of alarm Cause 1 2 3 4 5 Issued when control power is turned ON Corrective actions Cause Investigation and corrective actions 1 For motor encoder wiring Improper wiring Connector is removed Loose connection Encoder cable is too long Encoder cable is too thin Check the wiring conditions and correct it if improper Confirm that the e...

Page 298: ...se 1 Issued during motor operation Corrective actions Cause Investigation and corrective actions 1 Malfunction due to noise concerned to linear encoder wiring Confirm proper grounding of the amplifier Check the shielding of the encoder cable Add ferrite core or similar countermeasures to against noise ...

Page 299: ...upply voltage is above 4 75 V and correct it if improper Alarm Code 89 External Encoder Initial Process Error Abnormality in initial process of absolute encoder Status at the time of alarm Cause 1 2 3 4 Issued during operation Corrective actions Cause Investigation and corrective actions 1 For external encoder wiring Improper wiring Connector is removed Loose connection Encoder cable is too long E...

Page 300: ...when control power is turned ON Corrective actions Cause Investigation and corrective actions 1 Combined external encoder is not apply to servo amplifier Replace to our recommended encoder Refer the section 9 1 3 Alarm Code A0 Absolute Encoder Internal Error 0 Encoder failure Status at the time of alarm Cause 1 2 Issued when control power is turned ON Issued during operation Corrective actions Cau...

Page 301: ... vary depending on the motor encoder in use Please refer to 8 4 Encoder Clear and Alarm Reset Methods Alarm Code A2 Absolute Encoder Internal Error 2 Encoder internal error Status at the time of alarm Cause 1 2 3 Issued while stopping the servo motor Issued while rotating the servo motor Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of motor encoder Tur...

Page 302: ...circuit of motor encoder Turn ON the power supplies again if not corrected replace the servo motor 2 Malfunction due to noise Confirm proper grounding of the amplifier Check the shielding of the encoder cable Add ferrite core or similar countermeasures to against noise 3 Motor rotation speed exceeds the permitted velocity Check the operation condition and reduce the maximum rotation speed Encoder ...

Page 303: ...rm reset methods vary depending on the motor encoder in use Please refer to 8 4 Encoder Clear and Alarm Reset Methods Alarm Code A9 Absolute Encoder Internal Error 9 Encoder internal error Status at the time of alarm Cause 1 2 3 Issued when control power is turned ON Issued while stopping the servo motor Issued while rotating the servo motor Corrective actions Cause Investigation and corrective ac...

Page 304: ...ring operation Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of external encoder Turn ON the power supplies again if not corrected replace the external encoder 2 Malfunction due to noise Confirm proper grounding of the amplifier Check the shielding of the encoder cable Add ferrite core or similar countermeasures to against noise ...

Page 305: ...Code C2 Velocity Control Error Torque command and acceleration direction are not matching Status at the time of alarm Cause 1 2 3 4 Issued while due to input of Servo ON Issued when command has entered Issued while starting and stopping the servo motor Corrective actions Cause Investigation and corrective actions 1 Wiring of U V W phase between servo amplifier and motor is wrong Check the wiring c...

Page 306: ...odel Following Vibration Suppression Control Error Operation pattern is not match with model tracking vibration suppression control Status at the time of alarm Cause 1 2 3 4 Issued when position command pulse is entered Corrective actions Cause Investigation and corrective actions 1 Setup of model control gain is high Lower model control gain 2 The accel decel time of a position command is short L...

Page 307: ...per 6 Motor is being rotated by an external force Gravity etc during stopping positioning completion Check the load or increase the servo motor capacity 7 Valid torque limit command is entered by the controller and its setting is too small Setting of a velocity limit command is too small Motor encoder pulse setting is not match with actual servo motor Enlarge a torque limit value or disable a torq...

Page 308: ...entering position command Corrective actions Cause Investigation and corrective actions 1 Difference between previous present position commands is so large Decrease a travel distance by command input 2 Position command may not be received by CRC error occurring Add ferrite core or similar countermeasures to against noise Alarm Code D4 Axes sync5 error excess Position deviation error between own ax...

Page 309: ...e motor encoder pulse number of the servo motor 4 External encoder resolution is mismatched Review the Index 20FF 3 External encoder resolution according to 9 1 5 4 Feedback pulse setting 5 The polarity of external encoder does not match to the motor encoder Check the wiring conditions of external encoder and correct it if improper Set the Index 0x20F1 4 External Encoder Polarity Selection EX ENPO...

Page 310: ...arm Code D7 Amplifier communication error Amplifier communication error during axes sync operation Status at the time of alarm Cause 1 2 3 4 5 Issued when control power is turned ON Issued during operation Corrective actions Cause Investigation and corrective actions 1 Wiring between amplifiers wrong wiring connector is unplugged connector has contact failure cable is too long Check the wiring and...

Page 311: ...being rotated by an external force Gravity etc during stopping positioning completion Check the load or increase the servo motor capacity 9 Valid torque limit command is entered by the controller and its setting is too small Setting of a velocity limit command is too small Motor encoder pulse setting is not match with actual servo motor Enlarge a torque limit value or disable a torque limitation E...

Page 312: ...caused by the alarm detecting change of motor code encoder code system parameter Set value becomes valid after control power cycle so issuing alarm Shutdown control power and startup servo amplifier again Alarm Code DF Test mode has closed Detection in Test mode end status Status at the time of alarm Cause 1 Occurred after execution of test mode Corrective actions Cause Investigation and correctiv...

Page 313: ...arm Code E2 Memory Error 2 Error in check sum of EEPROM entire area Status at the time of alarm Cause 1 2 3 Issued when control power is turned ON Issued when downloading parameters Corrective actions Cause Investigation and corrective actions 1 Correct value did not read to CPU from EEPROM of servo amplifier Replace the servo amplifier 2 Failed to write into the EEPROM during last power supply cu...

Page 314: ...Issued when control power is turned ON Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of servo amplifier Replace the servo amplifier Alarm Code E4 CPU error 2 Checksum error of FLASH memory with built in CPU Status at the time of alarm Cause 1 2 Issued when control power is turned ON Issued while self programing Corrective actions Cause Investigation and...

Page 315: ...Issued when control power is turned ON Corrective actions Cause Investigation and corrective actions 1 Wrong combination of system parameter setting value and actual hardware Wrong combination of motor parameter and servo amplifier parameter Wrong combination between system parameters Confirm the model number of the servo amplifier Set a correct parameter applying to servo amplifier capacity Check...

Page 316: ...der does not support a motor parameter automatic setting function Change the Index 0x20FE 1 Motor Code MOCODE to 0xFFFF Then download a motor parameter from the setup software 3 Defect in internal circuit of motor encoder Replace the servo motor Alarm Code EF Motor Parameter Automatic Setting Error 2 The result of motor parameter automatic setting is abnormal Status at the time of alarm Cause 1 2 ...

Page 317: ...3 Issued when control power is turned ON Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of servo amplifier Defect in communication ASIC Replace the servo amplifier 2 Malfunction due to noise Confirm proper grounding of the amplifier Add ferrite core or similar countermeasures to against noise 3 ESI file is something wrong Rewrite the ESI file Alarm Code ...

Page 318: ...ing between amplifier unit and motor Otherwise U1 V1 W1 U2 V2 W2 phases are grounded Check the wiring conditions and correct it if improper 2 Short circuit or grounding fault in U1 V1 W1 U2 V2 W2 phases on servo motor side Replace the servo motor 3 Defect in internal circuit of amplifier unit Replace the amplifier unit 4 Overheating detection of the main circuit power device functioned Confirm tem...

Page 319: ...o motor is fit to the motor code if not change motor correctly Status at the time of alarm Cause 1 2 Issued during operation Cause Investigation and corrective actions 1 Defect in internal circuit of amplifier unit Replace the amplifier unit 2 Malfunction due to noise Confirm proper grounding of the amplifier unit Add ferrite core or similar countermeasures to against noise Status at the time of a...

Page 320: ...operation Cause Investigation and corrective actions 1 Defect in internal circuit of amplifier unit Replace the amplifier unit 2 Malfunction due to noise Check grounding of the amplifier unit Take care of noise by adding ferrite core etc Status at the time of alarm Cause 1 2 Occurred during the operation Cause Investigation and corrective actions 1 Defect in internal circuit of power unit or ampli...

Page 321: ... rated value Or calculate the motor effective torque from load conditions and operation conditions If the effective torque is excessive check the operation or load condition or replace to the capacity of the large motor 4 Defect in servo motor and amplifier unit combination Check if the motor in use matches with the recommended type and replace if it is improper 5 Holding brake of servo motor has ...

Page 322: ...e Increase the deceleration time Increase the tact time 2 Regenerative resistor is connected to the model without regenerative resistor Remove regenerative resistor 3 Regenerative resistor wire breaks Replace the regenerative resistor 4 Resistance value of external regenerative resistor is excessive Replace to the resister that matching the specifications 5 Input power supply voltage exceeds the s...

Page 323: ... Power turning ON is repeated too frequently Turn ON OFF the power less frequently 3 Ambient temperature is high Confirm temperature in cabinet or ambient of the power unit then refine installation method of the amplifier unit and ventilation of the cabinet so as to keep 55 or less Status at the time of alarm Cause 1 2 3 Issued when control power supply is turned ON Issued when main circuit power ...

Page 324: ...when control power is turned ON Cause Investigation and corrective actions 1 Validity condition for external trip function is set to Valid When not used set 00 _Always_Disable at Group9 ID40 External Trip Input Function EXT E 2 Defect in internal circuit of amplifier unit Replace the amplifier unit Status at the time of alarm Cause 1 2 3 Issued when control power is turned ON Issued after operatio...

Page 325: ...n method of the power unit amplifier unit and ventilation of the cabinet to keep 55 or lower of ambient temperature Alarm Code 61 Over Voltage DC Excess voltage of main circuit Status at the time of alarm Cause 1 2 3 4 Issued when control power is turned ON Issued when main circuit power supply is turned ON Issued while starting and stopping the servo motor Corrective actions Cause Investigation a...

Page 326: ...age is reduced or instantaneous power interruption is occurred Check the power supply and confirm that there is no instantaneous power interruption or low voltage 4 Low voltage outside of the specified range is supplied to the main circuit R S T Check the main circuit voltage Confirm that there is no external power supply to R S T when the main circuit is OFF 5 Defect in internal circuit of power ...

Page 327: ...wer supply is set within the specified range of 20 4 to 27 6 VDC 3 Input power supply voltage is fluctuating or having phase loss Confirm power supply to avoid phase loss or voltage reduction Status at the time of alarm Cause 1 2 Issued when control power is turned ON Cause Investigation and corrective actions 1 Defect in internal circuit of power unit or amplifier unit Replace the power unit or a...

Page 328: ...on and corrective actions 1 Defect in internal circuit of power unit and amplifier unit Replace the power unit and amplifier unit 2 Defect in external circuit Restart the power supply after removing the connector CN1 Check the external circuit if alarm is not issued Restart the power supply after replacing the servo motor if alarm is not issued there is defect in internal circuit of motor encoder ...

Page 329: ...A5 6 6 Battery B6 A6 7 7 Currently not allocated Extension planned B7 A7 8 8 B8 A8 9 9 B9 A9 10 10 B10 A10 11 11 B11 A11 12 12 B12 A12 13 13 B13 A13 14 14 B14 A14 15 15 B15 A15 16 Error message means Operation Status Word0 of EnDat Alarm Code means the alarm code output from servo amplifier against applicable Error Message Priority is given to alarm codes to be output when Error Messages are recei...

Page 330: ...eset after Encoder clear Power cycle A5 Power cycle Power cycle Alarm reset after Encoder clear Power cycle Alarm reset after Encoder clear Power cycle A6 Power cycle Power cycle Perform Power cycle Then perform Alarm reset after Encoder clear Power cycle A9 Alarm reset Power cycle Alarm reset Alarm reset AA Alarm reset after Encoder clear Power cycle Alarm reset after Encoder clear Power cycle AC...

Page 331: ...r unit Amplifier unit Periodic Cleaning Check for dust accumulated in the accessories Clean with air Note 1 Yearly Loose screws Check for loose connections Fasten the screws properly Battery for absolute encoder Regularly Note 3 Battery voltage Confirm that battery voltage is more than DC3 6V Replace the Battery Temperature Periodic Measure temperature Ambient temperature Motor frame temperature S...

Page 332: ... capacitor for smoothing main circuit 5 Years Replacement with new part is necessary Usage condition Yearly average 40 C Annual total usage time is 4800 hours 5 Fuse 10 Years Replacement with new part is necessary 6 Relays Power cycle a hundred thousand times Replacement with new part is necessary Capacitor for smoothing the main circuit and relays Inspection is needed if the servo amplifier power...

Page 333: ...ved on the parts Also at an average temperature of 40 C year round the life expectancy is 5 years RS3CPAC550 and RS3D80 have a built in cooling fan therefore be sure to maintain a space of 100 mm on the upper and lower side of the power unit amplifier unit for airflow Installation in a narrow space may cause failure due to a wind pressure reduction of the cooling fan and or electronic parts degrad...

Page 334: ... the connector in the right direction Battery case position Process 3 and 9 Process 4 and 8 RS3 01 RS3 02 RS3 03 RS3A05 RS3A07 RS3A10 RS3A15 RS3A30 RS3W60 RS3C Process 5 and 7 Process 6 Common If the battery is replaced while the control power is OFF multiple rotation counter position data of the motor encoder might be instable When the amplifier control power is turned ON in this status an alarm ...

Page 335: ... 2 Prepare the replacement lithium battery Our model number AL 00697958 01 3 Open the battery unit 4 Detach the battery connector from the battery case 5 Take out the old lithium battery and insert prepared new one to the battery case 6 Attach the connector in the right direction 7 Close the battery unit Lithium battery AL 00697958 01 Battery connector Battery case ...

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Page 337: ...lection 9 8 9 1 5 4 Feedback pulse setting 9 9 9 1 5 5 Rotation direction setting for servo motor 9 12 9 1 5 6 Dual position feedback compensation setting 9 13 9 1 5 7 Alarm detection setting 9 14 9 1 5 8 External encoder signal output waiting function setting 9 15 9 1 6 Precautions 9 16 9 1 6 1 Power supply for external encoder 9 16 9 1 6 2 External encoder operation 9 16 9 2 Tandem operation 9 1...

Page 338: ...er Motor power USB Used for Servo motor with brake External encoder SANMOTION R 3E Model With EtherCAT Interface To next amplifier 9 1 Full closed system 9 1 1 Illustration of system components RS3 01 02 03 05 Used in case of insufficient capacity such that may be caused by high frequency of use although internal regenerative resistor is enough in usual External regenerative resistor Host equipmen...

Page 339: ...ess Position control counter Position controller Dual position error Warning DFBCG 0x2066 1 DFBFIL 0x2066 2 FBPLSPN SY 24 FBPLSPD SY 25 DFOFWLV 0x206C 1 DFOFLV 0x206C 2 EX ENFIL 0x20F1 3 External encoder EX ENPOL 0x20F1 4 4 multiplier Dual position error excess 4 multiplier Dual position error monitor PLMODE 0x20F3 2 Position deviation monitor Velocity control Valid in position control Position co...

Page 340: ...e Absolute encoder EnDAT2 2 interface is only applicable Manufacturer Type Series name Power supply Resolution HEIDENHAIN K K Linear encoder LIC4100 5V 5 0 01μm 0 005μm 0 001μm LIC2100 0 1μm 0 05μm LC400 0 01μm 0 001μm Angle encoder RCN2000 26 28bit RCN5000 26 28bit RCN8000 29bit Rotary encoder ECN ENQ1100 Single turn resolution 23bit Multi turn total count 12bit ECN ENQ1300 Single turn resolution...

Page 341: ...or covering shielded cable and perform twisted pair wiring Note 2 Connect exterior covering shielded cable to metal case of EN2 side and to earth of external encoder side Note 3 Please prepare power supply for external encoder by yourself Do not connect power supply for external encoder to 1 and 3 pins Note 4 Power supply common shall be connected EN2 Terminal No Signal name Description Remarks No...

Page 342: ...assignment EN2 54593 1016 soldered side Connector model number Molex Japan LLC 9 10 7 8 1 2 5 6 3 4 Model Number Applicable wire size Applicable cable diameter Plug connector 54593 1016 AWG30 to AWG18 Plug cable cover set 54599 1016 φ 7 to φ 9 ...

Page 343: ... t terminal Run the setup software and start communication with the servo amplifier Select a desired axis from main window upper side axis icon and then display popup menu by right click Step 2 Encoder type confirmation See below for allowable encoder of this servo amplifier Please confirm that your external encoder is allowed Full closed system is not allowed when encoder type code is the other o...

Page 344: ...Selects the connector used as motor encoder 00 EN1 shall be selected for use of full closed control Position loop control position loop encoder selection Select the encoder for use of control method of position loop and position control 0x01 External_Enc shall be selected for use of full closed control Index Sub Idx Selection Description 0x6060 0x00 0x01 PP Profile Position mode 0x08 CSP Cyclic Sy...

Page 345: ...al encoder type code Selects the external encoder type connected to EN2 Select depending on encoder type as below Index Sub Idx Selection Selection 0x20FF 0x04 0x0000 Pulse Wire saving incremental encoder 0x0002 Pulse_without_CS Incremental encoder 0x0900 EnDat_ABS EnDat2 2 2Mbps 0x0920 EnDat_ABS EnDat2 2 4Mbps ...

Page 346: ...r 1 turn of motor axis is 10mm and Minimum resolution of external encoder is 1 0μm so Pulse amount of external encoder per 1 turn of motor axis 10mm 1 0 10 3 mm 10 000 P R multiplied 4 Index 0x20FF 3 External encoder resolution is multiplied 1 value amount of phase A or phase B so the value below is set External encoder resolution 10 000 4 2 500 P R Round off the value to the whole number Index Su...

Page 347: ...ernal encoder per 1 turn of motor axis 10mm 0 01 10 3 mm 1 000 000 P R Setting sample Use condition Rotation amount of work per 1 turn of motor axis 1 32 turn Resolution of external encoder angle encoder 26bit 67 108 864 division Setting value Rotation amount of work per 1 turn of motor axis is 1 32 turn and resolution of external encoder is 67 108 864 division so Pulse amount of external encoder ...

Page 348: ...n external incremental encoder is used Index Sub Idx Selection Description 0x20F1 0x03 0x00 110nsec Minimum Pulse Width 110nsec Minimum pulse Phase Difference 37 5nsec 0x01 220nsec Minimum Pulse Width 220nsec 0x02 440nsec Minimum Pulse Width 440nsec 0x03 880nsec Minimum Pulse Width 880nsec 0x04 75nsec Minimum Pulse Width 75nsec Minimum pulse Phase Difference 37 5nsec 0x05 150nsec Minimum Pulse Wid...

Page 349: ...t runaway External Absolute Encoder Polarity Selection Selects counting polarity of external absolute encoder Select polarity to get matching with increase decrease of Present position monitor External encoder EX APMON and Present position monitor Motor encoder APMON Be valid after control power cycle It may become out of control if a counting direction increase decrease of motor encoder and exter...

Page 350: ...filter Sets the band of dual position feedback compensation Larger the value nearer responsiveness of transient response to semi closed control Dual position feedback compensation function will be invalid when 0ms is set How to use Set 100 to Dual position feedback gain and set the value of Dual position feedback filter with referring calculation below as a rough indication Dual position feedback ...

Page 351: ...ror warning does not output when 0 pulse is set Warning status is able to check on monitor display and front panel LED Also able to output from general output port Dual position error excess value Dual position error excess alarm AL D5 will be output when exceeding this setting value by difference between external encoder and current position of motor encoder Set the value of multiply 4 to externa...

Page 352: ...α Supply power to external encoder at same timing for control power of servo amplifier or earlier Encoder Connector 2 Disconnection AL 83 will be output when setting value is shorter than the time from supplying power to outputting encoder signal When EnDat is used to external encoder it takes 1 3sec to start serial communication access from power establishment of external encoder Therefore 1 3sec...

Page 353: ...ervo ON exciting servomotor When count directions increase decrease of Present position monitor Motor encoder APMON and Present position monitor External encoder EX APMON are opposite change the Index 0x20F1 4 External Incremental Encoder Polarity Selection for external incremental encoder or change the Index 0x2074 0 External Absolute Encoder Polarity Selection for external absolute encoder and a...

Page 354: ...USB Safety device Safety PLC etc Connect input output signals of Safe Torque Off function to safety devices such as Safety PLC Motor encoder Motor encoder Host equipment To next amplifier Amplifier communication 9 2 Tandem operation This is the function that operates 2 axes with checking position error each other and compensating difference through local communication function built in the servo a...

Page 355: ...rvo motors and amplifiers with a same model number in 2 axes Please place safeguard circuit that is able to stop both axes by single axis alarm like as power supply breaker When overtravel function is used construct system as inputting an overtravel status to both axes with same timing after sending individual overtravel signal to a host equipment In case that emergency stop function is assigned t...

Page 356: ...plier Effective in the position control SYNCDIR 0x2035 6 Position velocity controller Feed Forward control Polarity inversion Axes sync controller Axes sync compensation Polarity inversion Axes sync controller KSCPG 0x2035 1 TSCIGN 0x2035 2 SCFIL 0x2035 3 ON at the axes sync function active ON at the axes sync function active Position command input process Torque command input process Position com...

Page 357: ... too large Axes sync compensation integral time constant Sets an integral time constant for the axes sync compensation This set value will be valid when axes sync compensation proportional control function is invalid Integral term will be invalid proportional control when 1000 0ms is set Axes sync compensation filter Primary low pass filter that suppress sudden variation of axes sync compensation ...

Page 358: ...to the Index 0x2035 A Amplifier communication function and this parameter is valid Axes sync compensation proportional control switching function Selects an input condition to activate the axes sync compensation proportional control switching function Index Bit Setting range Default Contents 0x2000 15 0 Disabled 0 Disabled Invalid 1 Enabled Valid Index Sub Idx Setting range Default Unit 0x2035 0x0...

Page 359: ...for tuning procedure However some of functions are not able to use See 9 2 7 Precautions for the functions which are not able to use For the Master Slave method When Master Slave method is used the Index 0x2000 bit15 Position sync compensation enabled PSCE is set as invalid at Master axis and the Index 0x2000 bit15 Position sync compensation enabled PSCE set as valid at Slave axis If rotation dire...

Page 360: ...xceeds this set value Warning status is able to check by the monitor indication and the front LED Axes sync error excess value Outputs the axes sync error excess alarm code D4 when position deviation error between own axis and counterpart axis exceeds this set value Axes sync error pulse is able to check by the monitor indication ID66 Axes sync error monitor Axes sync error pulse is able to reset ...

Page 361: ...when 2 axes rotation directions are different Index Sub Idx Selection Standard set value Description 0x2035 0x06 00 Not_Reversed 00 Not_Reversed Not reversed 01 Reversed Reversed Synchronization compensation enabled Selects input condition of torque assisting function valid Torque assist works when 01 Tandem is selected at Index 0x2035 A and this function is enabled Index Bit Selection Standard se...

Page 362: ...ssisting function Velocity assisting function is the function sending velocity command to slave axis to perform velocity assisting Set parameters below to use velocity assisting function Amplifier communication function selection Selects a usage of communication function CN2 connector 01 Tandem shall be selected to use this function Be valid after control power cycle Index Sub Idx Setting range De...

Page 363: ...lave method Master Slave method Just one axis slave side receives velocity command from other axis master side and performs velocity control due to received command For master axis selects invalid to Index 0x2000 bit 15 PSCE For slave axis selects valid to PSCE Index 0x2000 bit 15 When 2 axes rotation directions are same set same setting to Index 0x607E 0 CMDPOL of both axis And set 00 Not_Reverse...

Page 364: ...ncy tuning CP vibration suppression control Minor vibration suppression Disturbance observer function Gain switching function In case of always valid and operating by using general input signal function is available Full closed function System analysis function Servo tuning navigation In use of mutual compensating method please operate at same timing in 2 axes for active status control of each fun...

Page 365: ...input off shot pulse for safety device self diagnosis 10 8 10 4 Safe Torque Off operation 10 9 10 4 1 Safe torque off state 10 9 10 4 2 Restoration from safe torque off state 10 10 10 4 3 Safe Torque Off during servo motor running 10 11 10 4 4 Safe Torque Off during servo motor stoppage 10 13 10 4 5 Deviation clear 10 14 10 4 6 Safety input signal failure detection 10 14 10 5 Error Detection Monit...

Page 366: ...or Power supply for brake SANMOTION R 3E Model With EtherCAT Interface Motor power USB To next amplifier Connects input output signal of safe torque off function to safety equipment such as safety unit or safety PLC Host unit Motor encoder General I O connector Connect homing probing and general signals Servo motor 10 1 Illustration of system configuration Regenerative resistor built in servo ampl...

Page 367: ...e of electromagnetic contactor This safe torque off function allows keeping machine safety without shutting down power supply even when you need to perform tasks such as machine maintenance in dangerous areas Maintenance without shutting down power supply can help you improve your work efficiency 10 2 1 Outline This function stops current control signal of servo motor which is generated control ci...

Page 368: ...sk Even if this function activated the following risks remain Please ensure the safety is maintained even if these risks occur by performing risk assessments When this function is activated while servo motor is running the power supply to the motor is shut down however the motor continues to run a while because of inertia Please make sure to design the safety system to prevent any danger until the...

Page 369: ...th with delay circuit to prevent motor shaft falling due to holding brake operation delay during safe torque off function operation Servo amplifier model number Delay circuit Max delay time RS3 2 No delay circuit Max 20ms RS3 4 With delay circuit Max 700ms Even the hardware without delay circuit there are still max 20ms of delay until the safe torque off function works due to the delay in the inpu...

Page 370: ...tion 1 These are connecting terminals when the function is not used Do not use these terminals 2 Safety input 1 3 HWGOFF1 This is an input signal to control safe torque off state Connection circuit Connects to relay or transistor circuit of open collector Power supply voltage range 24 VDC 10 Internal impedance 2 2kΩ 4 HWGOFF1 Safety input 2 5 HWGOFF2 6 HWGOFF2 1 3 5 7 2 4 6 8 Safety device Servo a...

Page 371: ...oltage range Uext 24 VDC 10 Maximum current value 50mA Output voltage Uext 0 5 Uext 8 EDM When you do not use this function connect terminal 1 and 3 5 and also connect terminal 2 and 4 6 short circuit A connector for short circuit PN AL 00849548 02 is available as an option 10 3 3 Example of wiring Example of wiring to safety switch single servo amplifier connected 8 7 Host equipment Servo amplifi...

Page 372: ...iple servo amplifier connected Servo amplifier HWGOFF1 HWGOFF2 HWGOFF2 HWGOFF1 4 6 5 EDM EDM 8 7 Safety unit Output Feedback input 0V 3 Servo amplifier HWGOFF1 HWGOFF2 HWGOFF2 HWGOFF1 4 3 6 5 EDM EDM 8 7 Servo amplifier HWGOFF1 HWGOFF2 HWGOFF2 HWGOFF1 4 3 6 5 EDM EDM 8 7 ...

Page 373: ...t activated when the period of safety input signal HWGOFF1 HWGOFF2 OFF is 1ms or less In order to surely fulfill safe torque off function turn off safety input signal for 20ms or more without delay circuit or 700ms or more with delay circuit Torque may turn off for a moment if the pulse of 1ms over to less than 8ms is input Safety input off shot pulse for self diagnosis Within 1ms Safety input 1 2...

Page 374: ...n signal reception is prohibited Signal Input condition Servo amplifier condition Safety input 1 HWGOFF1 On Normal state Off Safe torque off state Safety input 2 HWGOFF2 On Normal state Off Safe torque off state Off Electric current will not flow contact open On Electric current will flow contact closed Safety input 1 Safety input 2 Servo On signal Servo amplifier state Operation Preparation Servo...

Page 375: ... then input servo on signal In case of sending Operation enable signal continuously it disables return from the Safe Torque Off state Avoid this setting when using the safe torque off function Safety input 1 Safety input 2 Servo On signal Amplifier state Output for servo ready completion Safe Torque Off state SRDY state Servo On state SRDY OFF SRDY ON Servo Off Servo On Off On Max 700ms Servo ampl...

Page 376: ...me 700ms max the state becomes motor free after period of safe torque off delay time Please note that recommended set value for BONDLY is less than 300ms Servo brake circuit dynamic brake circuit and holding brake excitation signal are not safety related sections Safety input 1 Safety input 2 Servo motor current Servo amplifier state Holding brake excitation signal Servo On state Safe Torque Off R...

Page 377: ...afety input Dynamic brake is activated on turning off safety input Dynamic brake circuit and holding brake excitation signal are not safety related sections Safety input 1 Safety input 2 Servo motor current Holding brake excitation signal Servo On state Safe Torque Off state Released Brake activated Stoppage Motor free Off On Dynamic brake signal Released Brake activated Velocity monitor Within 20...

Page 378: ...function activated after safety input 1 or 2 is input Set 700ms or less to the Index 0x2024 0 Delay Time of Engaging Holding Brake BONDLY Set 3 or 7 to the quick stop option code Index 0x605A 0 QSTOP Servo motor t Servo amplifier state Holding brake excitation signal Released Safe Torque Off state Released Brake activated Motor free Off On Max 700ms BONDLY Power On state Safety input 1 Safety inpu...

Page 379: ... and clear position deviation at the same time When selecting 00 Type1 or 01 Type2 to clear deviation at servo off state on the Index 0x20F0 5 Deviation Clear Selection CLR position deviation is automatically cleared at servo off 10 4 6 Safety input signal failure detection Safe Torque Off malfunction 1 Alarm 25 This alarm is activated when either safety input 1 or safety input 2 turned off and af...

Page 380: ...ng safety unit Connect safety output signals of safety unit to safety input 1 HWGOFF1 and safety input 2 HWGOFF2 respectively and then failure detection monitor output signal EDM from servo amplifier to feedback input of safety unit Under normal conditions pressing emergency stop button turns off both of safety inputs and on EDM output Once emergency stop button is cancelled feedback circuit of sa...

Page 381: ...s can be detected by developing system with use of safety unit enabling to detect any failures in the connections in the above table In case you need to suffice requirement of ISO13849 1 PL e be sure to do testing of failure detection using EDM output once a month or more frequently For discussions on connecting and operating the safety unit please refer to the manual provided with your safety uni...

Page 382: ...0011697 5 Operations for installation wiring and test operation 10 6 2 Confirmation procedure Perform verification test for safe torque off in accordance with the follow the procedures Procedure 1 Supply control power and main circuit power Procedure 2 Turn on both safety input 1and 2 Procedure 3 Input servo on signal to excite servo motor Procedure 4 Turn off both safety input 1and 2 10 6 3 Accep...

Page 383: ...vity So please prepare means for stopping such as mechanical brake Servo amplifier servo brake circuit dynamic brake circuit holding brake excitation signal and servo motor holding brake are not safety related sections There is a possibility that servo motor runs in the range of maximum 180 electrical degree and servo motor excited state continues due to servo motor inter phase short circuit cause...

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Page 385: ...orce 11 7 11 2 3 Select magnet rail 11 8 11 2 4 Cautions on load conditions 11 9 11 3 Selection of regenerative resistor 11 10 11 3 1 How to find regeneration effective power PM of the horizontal axis drive by a formula 11 10 11 3 2 How to find regeneration effective power PM of the vertical axis drive by a formula 11 11 11 3 3 Selection of regenerative resistor 11 12 11 3 4 Selection of external ...

Page 386: ...ent of inertia JM The load torque TL is 80 TR 0 8 of the motor rated torque or less JL JM 10 TL TR 0 8 Ⅴ Calculate the required adjustable velocity torque from an operation pattern Ⅵ Calculate the effective torque from a torque pattern Ⅶ Judge whether the followings have been established Adjustable velocity torque Ta Tb is 80 Tp 0 8 or less of the peak torque at stall Tp of servo motor The effecti...

Page 387: ...JL The inertia moment of a moving part G Reduction ratio ρ Moving part specific gravity kg m3 D Moving part diameter m L Moving part length m Work inertia moment G Reduction ratio W Moving part mass kg P In the case of a ball screw is the lead of a ball screw m In the case of a belt pulley is an outside diameter of a pulley m P π D JL 1 G 32 kg m2 π ρ D4 L 2 JL 1 G 2π kg m2 2 W P 2 Velocity min 1 ...

Page 388: ...r drives downward When ball screw stops in horizontal axis When ball screw stops in vertical axis F External force kg η Transmission efficiency μ Coefficient of friction W Moving part mass kg P Ball screw lead m G Reduction ratio TL F μ 1 W η P 2π 9 8 N m 1 G TL F μ 1 W η P 2π 9 8 N m 1 G N m TL F η P 2π 9 8 1 G TL F W η P 2π 9 8 N m 1 G TL F μ W η P 2π 9 8 N m 1 G ...

Page 389: ...lt pulley stops in horizontal axis When belt pulley stops in vertical axis F External force kg η Transmission efficiency μ Coefficient of friction W Moving part mass kg P Diameter of a pulley m G Reduction ratio TL F μ 1 W η D 2 9 8 N m 1 G TL F μ 1 W η D 2 9 8 N m 1 G TL F η D 2 9 8 N m 1 G TL F W η D 2 9 8 N m 1 G TL F μ W η D 2 9 8 N m 1 G TL η D 2 9 8 N m 1 G ...

Page 390: ...0 or less of rated torque Acceleration torque load ratio Ta TP 0 8 Acceleration torque is 80 or less of peak torque at stall TP peak torque at stall Deceleration torque load ratio Tb TP 0 8 Deceleration torque is 80 or less of peak torque at stall TP peak torque at stall Effective torque load ratio Trms TR 0 8 The effective torque is 80 or less of rated torque Inertia moment ratio JL JM 10 Load mo...

Page 391: ...er Having a margin of 10 or more is recommended in consideration of load fluctuation 4 Select magnet rail Select magnet rail to satisfy the necessary stroke for tentatively selected motor 5 Verify free running distance when dynamic brake activated Calculate free running distance of dynamic brake on tentatively selected motor and confirm that no problems with operation 6 Verify instantaneous tolera...

Page 392: ...g kinetic friction cover friction and cable routing resistance Calculate gravity applied to moving parts Fw M g sin N M Mover mass Mc ML kg g Gravity acceleration 9 8 m s2 Angle to horizontal driving surface rad For horizontal surface sin 0 Calculate maximum necessary force Fmax and then confirm that maximum motor force Fp maximum necessary force Fmax Fmax M amax Ff Fw Fwork N M Mover mass Mc ML k...

Page 393: ...3 Select magnet rail 5 types of magnet rail with core or core less length are offered as follows 64 128 256 512 mm Decide the length so as to be magnet rail length coil length stroke margin Provided that mounting magnet rail to the remaining half part from the end of the stage and mounting coil to moving stage where magnet rail not mounted are recommended to facilitate installation of coil into ma...

Page 394: ...ly this system to negative load Load mass ML When using this system in the situation that load mass ML is too large compared to mover mass main circuit power supply overvoltage detection or regenerative error can be activated when decelerating In this case the following processes are needed Please contact us for the details 1 Decrease force limit 2 Lengthen acceleration time slow down 3 Decrease m...

Page 395: ... axis drive by a formula Calculate regeneration energy EM EM Regeneration energy during operations along horizontal axis J Ehb Regeneration energy during deceleration J Keφ Voltage constant per phase Vrms min 1 Motor constant KT Torque constant N m Arms Motor constant N Motor rotation speed min 1 Rφ Phase resistance Ω Motor constant tb Deceleration time s Tb Torque during deceleration N m Calculat...

Page 396: ...stant Tub Torque while motor drives upward during deceleration N m tUb Period of time motor drives upward during deceleration s TD Torque while motor drives downward N m tD Period of time motor drives downward s TDb Torque while motor drives downward during deceleration N m tDb Period of time motor drives downward during deceleration s When the calculation result of either of EVUb EVD or EVDb is n...

Page 397: ...resistor at excepting conditions below 400 VAC input Servo amplifier model number Allowable regeneration resistance power to be used with an internal regenerative resistor PRI Instantaneous capacity Internal resistance value RS3 01A A 5 W or less 408 J 50 Ω RS3 02A A 5 W or less 408 J 50 Ω RS3 03A A 5 W or less 408 J 50 Ω RS3A05A A 20 W or less 743 J 17 Ω RS3A07A A 60 W or less 2 300 J 10 Ω RS3A10...

Page 398: ...or selection and resistance value shall be set correct Refer the section 11 3 8 for detail Average power monitor doesn t show accurate if resistance value is not set correct Servo amplifier power unit model number Allowable regeneration resistance power to be used by an external regenerative resistor PR0 Allowable minimum resistance value of external regenerative resistor RS3 01A L 125 W or less 3...

Page 399: ...0W or less 110W or less 125W or less RS3 01A L RS3 02A L RS3 03A L Resistor Sign B 1 D 1 F 1 C 2 E 2 D 4 Connection Number Ⅲ Ⅲ Ⅲ Ⅴ Ⅴ Ⅵ Servo amplifier model number PM 55W or less 125W or less 250W or less RS3A05A L Resistor Sign G 1 H 1 I 2 Connection Number Ⅲ Ⅲ Ⅳ Servo amplifier model number PM 125W or less 250W or less 500W or less RS3A10A L Resistor Sign I 1 H 2 I 4 Connection Number Ⅲ Ⅴ Ⅵ Serv...

Page 400: ...of the rated power under forced air cooling by fan Servo amplifier model number PM 125W or less RS3C02A A Resistor Sign A 1 Connection Number III Servo amplifier model number PM 125W or less 250W or less RS3C05A A Resistor Sign B 1 A 2 Connection Number III V Servo amplifier model number PM 125W or less 250W or less 500W or less RS3C10A A Resistor Sign C 1 B 2 C 4 Connection Number III V VI Servo ...

Page 401: ... D REGIST 120W50B 120W 50Ω 30W 80J E REGIST 220W100B 220W 100Ω 55W 90J 0 44kg F REGIST 220W50B 220W 50Ω 55W 125J G REGIST 220W20B 220W 20Ω 55W 210J H REGIST 500CW20B 500W 20Ω 100 C 5 C Switching contact b 125W 9 300J 1 4kg I REGIST 500CW10B 500W 10Ω 125W 9 300J J REGIST 500CW7B 500W 7Ω 125W 7 500J K REGIST 500CW14B 500W 14Ω 125W 13 000J L REGIST 500CW5B 500W 5Ω 125W 8 000J M REGIST 1000W6R7B 1000W...

Page 402: ... short wire between terminals of RB1 and RB2 Connection Number Ⅲ Connection Number Ⅳ One resistance is connected Connect a thermostat to the general purpose input of CN1 Series connection about two resistances Connect a thermostat to the general purpose input of CN1 Connection Number Ⅴ Connection Number Ⅵ Parallel connection about two resistances Connect a thermostat to the general purpose input o...

Page 403: ...S3C02 05 10 mount an external regenerative resistor to terminals of RB1 and RB2 after removing short wire between RB1 and RB4 Do not connect short wire between terminals of RB1 and RB2 TH R R R R TH TH TH TH RB1 RB2 CONT1 7 CONT1 7 Twist R R R R TH TH TH Twist CN2 R R R R R R R R TH TH TH TH TH TH TH TH RB1 RB2 Twist R R R R R R R R CN2 CONT1 7 CONT1 7 TH Twist TH TH TH TH TH TH TH TH R R R R TH T...

Page 404: ... Do not connect short wire between terminals of RB1 and RB2 RB1 RB2 R R R R CONT1 7 CONT1 7 CN2 Twist TH TH TH TH R Twist R R R TH TH TH TH RB1 RB2 Twist R R R CONT1 7 CONT1 7 CN2 Twist TH TH TH TH R Terminal block Terminal block RB1 RB2 R R R R R R R R R R R R R R R R R R R R R R R R R R R R R Twist R R R CONT1 7 CONT1 7 CN2 Twist TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH TH ...

Page 405: ...tion Must set 01 Built in_R when internal regenerative resistor is used Must set 02 External_R when external regenerative resistor is used Index 0x20F8 3 External Trip Input Function EXT E When thermostat is connected to the servo amplifier please set the Index 0x20F8 3 External Trip Input Function EXT E depending on the connected general purpose input signal terminal The protection functions are ...

Page 406: ...tinues to be the target until the end of operations Regeneration power varies with the voltage fluctuation of the input power supply and changes across the ages of the servo amplifier and the loading device Be sure to opt for selection of regeneration resistance based on the regeneration effective power PM found from calculation of a pattern of operation and regeneration power Install the external...

Page 407: ...e be careful of an attachment place External regeneration resistor should be placed by keeping enough distance from the other parts so as not to be affected by the other parts generated heat Must wiring by twisted lines to external regenerative resistor Wiring length keeps 5 m or less and aims as short as it can Wiring should keep no contact with regenerative resister and using flame retardant cab...

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Page 409: ...L 12 11 12 5 3 RS3 03A HL 12 12 12 5 4 RS3A05A HL 12 12 12 5 5 RS3A07A HL 12 13 12 5 6 RS3A10A HA 12 13 12 5 7 RS3A15A HA 12 14 12 5 8 RS3A30A HL 12 14 12 5 9 Power unit RS3PAA270 12 15 12 5 10 Amplifier unit RS3W60 12 15 12 5 11 Unit installation drawing 600 A 12 16 12 5 12 Unit installation drawing 800 A 12 17 12 5 13 RS3C02A HA 12 18 12 5 14 RS3C05A HA 12 18 12 5 15 RS3C10A HA 12 19 12 5 16 RS3...

Page 410: ...s dimensions 12 58 12 9 1 Battery peripherals dimensions 12 58 12 9 2 Monitor box outline drawing 12 63 12 9 3 Dedicated Cable outline drawing 12 63 12 9 4 Outline drawing of USB communication cable 12 64 12 9 5 Servo Motor Power Cable outline drawing 12 65 12 9 6 Servo motor encoder cable dimensions 12 69 12 9 7 Power cable dimensions for servo motor FAN 12 70 12 9 8 Servo motor brake cable dimen...

Page 411: ...00 3 Note 1 EN61800 3 Note 1 TÜV TÜV SÜD Japan Ltd RS3 A 2 RS3 A 4 Safe Torque Off function equipped model Electrical safety Electrical safety under Low Voltage Directive 2014 35 EU IEC61800 5 1 EN61800 5 1 TÜV TÜV SÜD Japan Ltd Blue octagon Functional Safety Generic Functional safety IEC61508 EN61508 SIL3 Functional safety under Machinery Directive 2006 42 EC IEC62061 EN62061 SILCL3 Functional sa...

Page 412: ...tion under IP54 must exclude exposure to water oil carbon dust etc 12 1 3 Connection and installation Be careful of connection and installation as follows Always ground the protective ground terminals of the servo amplifier power unit amplifier unit to the power supply ground When connecting grounding wire to the protective earth terminal always connect one wire in one terminal never connect joint...

Page 413: ...vo motor Rotating electrical machines Part1 Rating and performance EN60034 1 Rotating electrical machines Part5 Classification of degrees of protection provided by enclosures of rotating electrical machines IP code EN60034 5 EMC Directive Servo amplifier servo motor Emission Conducted emission EN61800 3 Radiated emission EN61800 3 Immunity Electrostatic discharge immunity EN61000 4 2 Radiated elec...

Page 414: ...USTRIES CO LTD Rated voltage rated current Line Line 500V AC 40A ii Surge absorber Recommended prevention components LV275DI U4 OKAYA ELECTRIC INDUSTRIES CO LTD iii Clamp grounding iv Encoder cable Shield cable v Servo motor power cable Shield cable Use metallic materials for the door and main body of control panel Use EMI gasket so that there is zero clearance between the door and control panel I...

Page 415: ...se EMI gasket so that there is zero clearance between the door and control panel Install EMI gasket uniformly to the contact points between door and main body of control panel to confirm their conductivity Ground the noise filter frame to the control panel Use shield cables for motor power line and encoder cable Clamp grounding of shield at the frame of control panel and equipment Use conducting m...

Page 416: ...re RS3C02 E04SR401938 SEIWA ELECTRIC MFG CO Ltd viii Ring core RS3C15 30 RC5075Y SOSHIN ELECTRIC Co Ltd Use metallic materials for the door and main body of control panel Use EMI gasket so that there is zero clearance between the door and control panel Install EMI gasket uniformly to the contact points between door and main body of control panel to confirm their conductivity Ground the noise filte...

Page 417: ...f control panel Use EMI gasket so that there is zero clearance between the door and control panel Install EMI gasket uniformly to the contact points between door and main body of control panel to confirm their conductivity Ground the noise filter frame to the control panel Use shield cables for motor power line and encoder cable Clamp grounding of shield at the frame of control panel and equipment...

Page 418: ...It might reduce effect of filter and noise might come around through that point Each of earth line shall be connected to grounding plate in a control panel by single point Also in case of multi axes construction in same control panel grounding by single point NG Noise filter Noise filter Input Output Input Output Servo amplifier Servo motor Noise filter Encoder cable 200 VAC Control panel Servo mo...

Page 419: ...12 3 Servo motor dimensions 12 9 12 Appendix 12 3 Servo motor dimensions Refer another document M0011792 ...

Page 420: ...12 Appendix 12 10 12 4 Servo motor data sheet Refer another document M0011792 ...

Page 421: ...12 5 Servo amplifier dimensions 12 11 12 Appendix 12 5 Servo amplifier dimensions 12 5 1 RS3 01A HL 12 5 2 RS3 02A HL ...

Page 422: ...12 Appendix 12 12 12 5 3 RS3 03A HL 12 5 4 RS3A05A HL ...

Page 423: ...12 5 Servo amplifier dimensions 12 13 12 Appendix 12 5 5 RS3A07A HL 12 5 6 RS3A10A HA ...

Page 424: ...12 Appendix 12 14 12 5 7 RS3A15A HA 12 5 8 RS3A30A HL ...

Page 425: ...12 5 Servo amplifier dimensions 12 15 12 Appendix 12 5 9 Power unit RS3PAA270 12 5 10 Amplifier unit RS3W60 ...

Page 426: ...12 Appendix 12 16 12 5 11 Unit installation drawing 600 A RS3PAA270 Power unit RS3W60 Amplifier unit ...

Page 427: ...12 5 Servo amplifier dimensions 12 17 12 5 12 Unit installation drawing 800 A RS3PAC550 Power unit RS3D80A Amplifier unit ...

Page 428: ...12 Appendix 12 18 12 5 13 RS3C02A HA 12 5 14 RS3C05A HA ...

Page 429: ...12 5 Servo amplifier dimensions 12 19 12 Appendix 12 5 15 RS3C10A HA 12 5 16 RS3C15A HL ...

Page 430: ...12 Appendix 12 20 12 5 17 RS3C30A HM ...

Page 431: ...12 6 Power unit dimensions 12 21 12 6 Power unit dimensions 12 6 1 RS3D80A HM Heat radiation fin Air flow Cooling fan Mounting direction Mounting panel dimensions Reference Detail of A ...

Page 432: ...12 Appendix 12 22 12 7 Amplifier unit dimensions 12 7 1 RS3D80A M Detail of A Detail of B Air flow Cooling fan Mounting panel dimensions Reference ...

Page 433: ... device connection For wiring AL 00718252 01 2013595 3 Note1 If CN4 is unused open be sure to insert connecter for safety device for short circuit to CN4 of servo amplifier Model numbers of connector kits for RS3 01 RS3 02 RS3 03 and RS3A05 With safe torque off function Connector No Item SANYO DENKI model No Applicable servo amplifier model number Remarks EN1 CNA CNB CN2 CN4 Standard AL 00977724 R...

Page 434: ...ve resistance connection CNB For servo motor connection EN2 For motor encoder or external encoder connection Used for a part of semi closed system or a full closed control system CN4 For safety device connection Use only with Safe Torque Off equipped model CN2 for general I O signal IN OUT for upper controller connection ...

Page 435: ...00718252 01 2013595 3 Note1 If CN4 is unused open be sure to insert connecter for safety device for short circuit to CN4 of servo amplifier Model numbers of connector kits for RS3 07 With safe torque off function Connector No Item SANYO DENKI model No Applicable servo amplifier model number Remarks EN1 CNA CNB CNC CN2 CN4 Standard AL 00977734 RS3A07A2HL4 RS3A07AAHL4 No regenerative resistance EN1 ...

Page 436: ...nd regenerative resistance connection CNB For servo motor connection EN2 For motor encoder or external encoder connection Used for a part of semi closed system or a full closed control system CN4 For safety device connection Use only with Safe Torque Off equipped model CN2 for general I O signal IN OUT for upper controller connection ...

Page 437: ...ct safety device For short circuiting AL 00718251 01 2040978 1 Tyco Electronics Japan G K CN4 To connect safety devices For wiring AL 00718252 01 2013595 3 Note1 If CN4 is unused open be sure to insert connecter for safety device for short circuit to CN4 of servo amplifier Model numbers of connector kits for RS3A10 RS3A15 and RS3A30 With safe torque off function Connector No Item SANYO DENKI model...

Page 438: ...afe Torque Off equipped model CNA For control power supply input Terminal block For main circuit power Terminal block For regenerative resistance Terminal block For servo motor connection IN OUT for upper controller connection CN2 for general I O signal EN1 For motor encoder connection EN2 For motor encoder or external encoder connection Used for a part of semi closed system or a full closed contr...

Page 439: ...ignal AL 00842383 HDR E26MSG1 and HDR E26LPH Honda Tsushin Kogyo Co Ltd CN4 Note 1 For safety device connection For short circuit AL 00849548 02 1971153 2 Tyco Electronics Japan G K CN4 For safety device connection AL 00718252 01 2013595 3 Note1 If CN4 is unused open be sure to insert connecter for safety device for short circuit to CN4 of servo amplifier Model numbers of connector kits for RS3W60...

Page 440: ...c brake signal CNB For power unit connection CN9 External alarm CN8 CN2 for general I O signal EN1 For motor encoder connection EN2 For motor encoder or external encoder connection Used for a part of semi closed system or a full closed control t CN4 For safety device connection Use only with Safe Torque Off equipped model IN OUT for upper controller connection ...

Page 441: ... control power supply AL 00961843 01 04JFAT SAGG G KK Open tool For CND AL 00961844 01 J FAT OT N CNE For holding brake AL 00953867 01 02MJFAT SAGF Open tool For CNE AL 00953868 01 MJFAT OT Note1 If CN4 is unused open be sure to insert connecter for safety device for short circuit to CN4 of servo amplifier Model numbers of connector kits for RS3C02 RS3C05 and RS3C10 With Safe torque off function C...

Page 442: ...m or a full closed system CN4 For safety device For Safe Torque Off function equip model only CNA For main circuit power supply CNC For regenerative resistor CND For control power CNE For motor holding brake power CNB For servo motor power CN3 For battery of battery backup absolute encoder CN2 for general I O signal IN OUT for upper controller connection ...

Page 443: ... For wiring AL 00718252 01 2013595 3 Note1 If CN4 is unused open be sure to insert connecter for safety device for short circuit to CN4 of servo amplifier Model numbers of connector kits for RS3C15 and RS3C30 With Safe torque off function Connector No Item SANYO DENKI model No Applicable servo amplifier model number Remarks EN1 CN2 CN4 Standard AL 00977732 RS3C A2HA4 RS3C AAHA4 For holding brake W...

Page 444: ... general I O signal EN2 For motor encoder or external encoder Use with a part of semi closed system or a full closed system CN4 For safety device For Safe Torque Off function equip model only CN3 For battery of battery backup absolute encoder IN OUT for upper controller connection ...

Page 445: ... 2013595 3 CN10 For power unit connection Note 2 AL 01017659 DF02P036F22A1 と DF02D036A22 Japan Aviation Electronics Industry Ltd Note 1 If CN4 is unused open be sure to insert connecter for safety device for short circuit to CN4 of amplifier unit Note 2 CN10 connector includes 2 pieces for power unit side and for amplifier unit side Our model numbers of connector kits for RS3D80 With Safe torque o...

Page 446: ...onnection Use for STO function equipping model only EN1 For motor encoder connection EN2 For motor encoder or external encoder connection Use for some semi closed systems or full closed system PC For MOTOR setup connection CN10 For power unit connection CN3 For battery connection of battery backup absolute encoder ...

Page 447: ...ing screw 4 ea RS3A05 07 Front AL 00880391 01 Fixing bracket upper bottom 1 ea respectively Tightening screw 4 ea RS3A10 15 Common Front AL 00907039 01 Fixing bracket upper bottom 1 ea respectively Tightening screw 6 ea RS3A30 Front AL 00907040 01 Fixing bracket upper bottom 1 ea respectively Tightening screw 8 ea These optional fixing brackets are processed trivalent chromium plating Surface colo...

Page 448: ...12 Appendix 12 38 For RS3A10 RS3A15 AL 00907039 01 For RS3A30 AL 00907040 01 Common parts Upper Bottom Upper Bottom ...

Page 449: ... respectively Tightening screw 6 ea These optional fixing brackets are processed trivalent chromium plating Surface color blue silver different from body color For RS3C05 10 back side fixing brackets are able to replace to front side of amplifier For RS3C02 AL 00962547 01 Common parts Upper Bottom 5 2 2 6 75 6 Countersink for M4 2 C10 2 C5 6 M4用皿穴 24 2 R5 18 14 2 C5 41 50 27 8 5 R1 max 2 R 3 15 28...

Page 450: ...ium battery Lithium battery ER3VLY Toshiba Lifestyle Products Services Corporation AL 00697958 01 Battery trunk cable AL 00697960 01 to 06 Battery trunk cable AL 00731792 01 Battery BOX mounting position RS3 01 RS3 02 RS3 03 RS3 05 RS3A07 RS3A10 RS3A15 RS3A30 RS3C02 RS3C10 RS3C15 12 8 4 Analog monitor related item Name Details SANYO DENKI model No Monitor Box Monitor box body 2 dedicated cables Q ...

Page 451: ...1 White 2 Black Brake cable L 3M 36310 Sumitomo 3M Limited product Receptacle 36210 0100PL Shell kit 36310 3200 008 AMP INC product Connector housing 172161 1 Contact 170359 3 NO Lead wire color Signal name 1 Black 0V 2 Red 5V 3 Blown ES 4 Blue ES 5 Green EBAT 6 Purple EBAT 9 White Black Shielded Earth NO Lead wire color Signal name 1 Red 5V 2 Black 0V 7 Blown ES 8 Blue ES 9 Green EBAT 10 Purple E...

Page 452: ...0FCPA0 200W 60 mm sq R2AA06020FXPA0 200W 60 mm sq With holding brake 24 VDC R2AA06020FCPA0 400W 60 mm sq R2AA06040FXPA0 360W 60 mm sq With holding brake 24 VDC R2AA06040FCPA0 The rating decreases to 90 750W 80 mm sq R2AA08075FXPA0 750W 80 mm sq With holding brake 24 VDC R2AA08075FCPA0 R0 4 N P Φ20 200 30 Cable for Power cable For securing Power earth 0 75mm2 Φ5 Connector For brake AMP INC product ...

Page 453: ...cs Japan G K Model number Cable length L mm Applicable motor For power AWG 16 For power and brake AWG 16 AWG 20 AL 00996451 01 AL 00996452 01 1 000 R1AA10100H R1AA10150H AL 00996451 02 AL 00996452 02 2 000 AL 00996451 03 AL 00996452 03 3 000 AL 00996451 05 AL 00996452 05 5 000 AL 00996451 10 AL 00996452 10 10 000 Item Connector model number Remarks Motor side connector Straight plug JL04V 6A24 11S...

Page 454: ...marks Motor side connector Straight plug JL04V 6A24 11SE EB R Cable clamp JL04 2428CK 17 R Japan Aviation Electronics Industry Ltd Model number Cable length L mm Applicable motor For power AWG 12 For power and brake AWG 12 AWG 20 AL 00996453 01 AL 00996454 01 1 000 R1AA10100F R1AA10200H R1AA10250H AL 00996453 02 AL 00996454 02 2 000 AL 00996453 03 AL 00996454 03 3 000 AL 00996453 05 AL 00996454 05...

Page 455: ...0 R1AA13300H R2AA13180D R2AA13200D R2AA18350V AL 00996455 02 AL 00996456 02 2 000 AL 00996455 03 AL 00996456 03 3 000 AL 00996455 05 AL 00996456 05 5 000 AL 00996455 10 AL 00996456 10 10 000 Item Connector model number Remarks Motor side connector Straight plug JL04V 6A24 11SE EB R Cable clamp JL04 2428CK 17 R Japan Aviation Electronics Industry Ltd Amplifier model number RS3 10A Model number Cabl...

Page 456: ... 1 000 R2AA22500L AL 00965257 02 AL 00965258 02 2 000 AL 00965257 03 AL 00965258 03 3 000 AL 00965257 05 AL 00965258 05 5 000 AL 00965257 10 AL 00965258 10 10 000 Item Connector model number Remarks Motor side connector Straight plug JL04V 6A24 11SE EB R Cable clamp JL04 2428CK 17 R Japan Aviation Electronics Industry Ltd Model number Cable length L mm Applicable motor For power AWG 8 For brake AW...

Page 457: ...Straight plug JL04V 6A10SL 3SE EB R Cable clamp JL04 1012CK 05 R Japan Aviation Electronics Industry Ltd Amplifier model number RS3 30A Model number Cable length L mm Applicable motor For power AWG 6 ブレーキ用 AWG 19 AL 00965260 01 AL 00918630 01 1 000 R2AA18550H R2AA18750H R2AA1811KR R2AA2211KB R2AA2215KB AL 00965260 02 AL 00918630 02 2 000 AL 00965260 03 AL 00918630 03 3 000 AL 00965260 05 AL 009186...

Page 458: ...lectronics Japan G K Amplifier side connector Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Japan Limited Model number Cable length L mm AL 00937694 01 1 000 AL 00937694 02 2 000 AL 00937694 03 3 000 AL 00937694 05 5 000 AL 00937694 10 10 000 Item Connector model number Remarks Motor side connector Straight plug JN2DS10SL2 R Contact JN1 22 22F PKG100 Japan Aviation Electronics Industry Ltd A...

Page 459: ...L 00965740 01 1 000 R2CA13050D R2CA13120R R2CA13120F R2CA13180H R2CA13200L R2CA13200H R1CA13300V AL 00965739 02 AL 00965740 02 2 000 AL 00965739 03 AL 00965740 03 3 000 AL 00965739 05 AL 00965740 05 5 000 AL 00965739 10 AL 00965740 10 10 000 Item Connector model number Remarks Motor side connector Common to with or without brake Straight plug JL04V 6A24 11SE EB R Clamp JL04 2428CK 17 R Japan Aviat...

Page 460: ... AL 00997919 10 AL 00997920 10 10 000 Item Connector model number Remarks Motor side connector Common to with or without brake Straight plug JL04V 6A24 11SE EB R Clamp JL04 2428CK 17 R Japan Aviation Electronics Industry Ltd For R2 180 220mm sq Model number Cable length L mm Applicable motor For power AWG 8 8mm2 AL 00997921 01 1 000 R2CA18750H R2CA2211KB R2CA2215KV R1CA18550H R1CA18750L R1CA1811KR...

Page 461: ...pan Aviation Electronics Industry Ltd Amplifier side connector Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Japan Limited Model number Cable length L mm Applicable motor For encoder AL 00999243 01 1 000 R2CA2830KV AL 00999243 02 2 000 AL 00999243 03 3 000 AL 00999243 05 5 000 AL 00999243 10 10 000 Item Connector model number Remarks Motor side connector No work with motor side connector Ref...

Page 462: ...fications 5 5sq x 4C 0 5sq x 2C Sheath thickness 1 35mm Cable diameter Around 15mm Individual wire specification 5 5 sq Conductor diameter 3 1mm Insulator thickness 0 85mm Overall diameter 4 8mm 0 5 sq Conductor diameter 0 95mm Insulator thickness 0 59mm Overall diameter 2 13mm SUMIDEN HITACHI CABLE Ltd Operating temperature range Up to 90 600V_CV_4_8SQ 600V_CV_4_14SQ AL 00997921 01 to 10 1 to 10m...

Page 463: ...0 AL 00999241 05 5 000 AL 00999241 10 10 000 Item Connector model number Remarks Motor side crimp terminal No work with both side crimp terminal Cable specifications KURABE Industrial Co Ltd Operating temperature range None FFR2C AL 00997923 01 to 10 1 to 10m specifications 20AWG x 2C Sheath thickness 1 0mm Cable diameter Around 4 8mm Individual wire specification 20 AWG Conductor diameter Around ...

Page 464: ... 9mm Insulator thickness 0 25mm Overall diameter 1 4mm 12 8 9 Thermostat cable for servo motor FAN Model number Cable length L mm Applicable motor For thermostat AL 00999242 01 1 000 R2CA2830KV AL 00999242 02 2 000 AL 00999242 03 3 000 AL 00999242 05 5 000 AL 00999242 10 10 000 Item Connector model number Remarks Motor side connector No work with motor side connector Refer the section 4 4 for conn...

Page 465: ...000 10 000 Model number Cable length L mm Applicable motor For FAN power AL 00999241 01 1 000 R2CA3255KB AL 00999241 02 2 000 AL 00999241 03 3 000 AL 00999241 05 5 000 AL 00999241 10 10 000 Item Connector model number Remarks Motor side crimp terminal No work with both side crimp terminal L φ6 1 N P ...

Page 466: ...B 220W 50Ω REGIST 220W20B 220W 20Ω REGIST 500CW80B 500W 80Ω 100 C 5 C Switching contact b 1 4kg REGIST 500CW40B 500W 40Ω REGIST 500CW20B 500W 20Ω REGIST 500CW10B 500W 10Ω REGIST 500CW14B 500W 14Ω REGIST 500CW7B 500W 7Ω REGIST 500CW5B 500W 5Ω REGIST 1000W6R7B 1000W 6 7Ω 140 5 Switching contact b 3 0kg 12 8 12 Connection cable between units For 200V AC 600A Apply Model number Connecting each CN9 of ...

Page 467: ...12 Appendix 12 8 13 Copper bus bar For 200V AC 600A Apply Description Model number DC DC connection 2 pieces include AL 00918125 01 For 400V AC 800A Apply Description Model number DC DC connection 2 pieces include AL 01020858 01 ...

Page 468: ...ER3VLY Toshiba Lifestyle Products Services Corporation Nominal Voltage 3 6V Nominal Capacity 1000mAh Lithium metal mass as standard 0 31g Connector DF3 2S 2C Socket Housing HIROSE DF3 2428SCFC Contact HIROSE 2 Wiring diagram Battery BOX Model No AL 00880402 01 See 8 6 2 Replacing battery for motor encoder for how to replace battery box Red Black Battery Connector 1 BAT 2 BAT 25 20 55 45 Battery 1 ...

Page 469: ...ry Thionyl Chloride Lithium Battery ER3VLY Toshiba Lifestyle Products Services Corporation Nominal Voltage 3 6V Nominal Capacity 1000mAh Lithium metal mass as standard 0 31g Connector DF3 2S 2C Socket Housing HIROSE DF3 2428SCFC Contact HIROSE 2 Wiring diagram 24 5 Connector 2 Black 1 Red 2 1 Battery Φ14 5 17MAX 60 5 Red Black Battery Connector 1 BAT 2 BAT ...

Page 470: ...ll not be designed for moving part at high speed 2 Wiring specifications 3 Specification for the connector and the battery unit Connector for servo amplifier 36210 0100PL Wiremount Receptacle 3M 36310 3200 008 Shell Kit 3M Battery unit Built in battery ER3VLY Toshiba Lifestyle Products Services Corporation Nominal Voltage 3 6V Nominal Capacity 1000mAh Lithium metal mass 0 31g Wire size AWG Termina...

Page 471: ... 0 25mm Insulator coat outer diameter Φ1 27mm 20 AWG Conductor diameter Φ0 95mm Insulator thickness 0 25mm Insulator coat outer diameter Φ1 45mm 5 Battery model number for replacement AL 00697958 01 Battery trunk cable Model No AL 00731792 01 AL 00731792 01 Battery unit with built in battery the servo amplifier side Connector for Relay connector for the battery backup method absolute encoder side ...

Page 472: ...tacle 3M 36310 3200 008 Shell Kit 3M Trunk connectors for encoder 36110 3000FD Wiremount Plug 3M 36310 F200 008 Shell Kit 3M Battery unit Built in battery ER3VLY Toshiba Lifestyle Products Services Corporation Nominal Voltage 3 6V Nominal Capacity 1000mAh Lithium metal mass 0 31g 4 Battery model number or replacement AL 00697958 01 ...

Page 473: ...3 Terminal No on CN1 Signal name Terminal No on CN2 1A Analog monitor 1 3 1B Analog monitor 2 4 2A GND 1 2B 2 CN1 Manufacturer model No Manufacturer Connector LY10 DC4BR Japan Aviation Electronics Industry Limited Contact LY10 C1 A1 1000 Japan Aviation Electronics Industry Limited CN2 Manufacturer model No Manufacturer Connector DF11 4DS 2C HIROSE ELECTRIC CO LTD Contact DF11 2428SCA HIROSE ELECTR...

Page 474: ...nication cable 1 0m Model number AL 00896515 01 Appearance and spec may change without prior notice USB communication cable 2 0m Model number AL 00896515 02 Appearance and spec may change without prior notice Standard A Plug Mini B Plug B 1000 Standard A Plug Mini B Plug B 2000 ...

Page 475: ...Connection Motor side name Connector pin number U D V E W F Ground G Lead wire Red Lead wire White Lead wire Black Lead wire Green Motor side name Connector pin number U D V E W F Ground G Brake A Brake B Lead wire Red Lead wire White Lead wire Black Lead wire Green Lead wire Yellow Lead wire Yellow Motor side name Connector pin number U D V E W F Ground G Brake A Brake B Lead wire Red Lead wire W...

Page 476: ...re AWG10 AWG10 Terminal N5 5 5 N5 5 5 Brake Wire AWG20 Terminal N1 25 4 Ground Wire AWG10 AWG10 Terminal N5 5 5 N5 5 5 Cable diameter φ 15 φ 15 Plug Clamp JL04V 6A24 11SE EB R JL04 2428CK 17 R JL04V 6A24 11SE EB R JL04 2428CK 17 R Connection Straight plug Product of JAE Cable clamp Product of JAE Green Ground ...

Page 477: ...umber AL 00997921 AL 00997922 Power Wire AWG8 AWG5 6 equivalent Terminal R8 5 R14 5 Ground Wire AWG8 AWG5 6 equivalent Terminal R8 5 R14 5 Cable diameter φ 17 φ 19 Plug Socket Conduit Bush JL04V 6A32 17SE EB R N2KM2532 NS25 N2HBI2519 JL04V 6A32 17SE EB R N2KM2532 NS25 N2HBI2519 Connection Green Ground ...

Page 478: ...Appendix 12 68 L mm Means 1 000 2 000 3 000 5 000 or 10 000 Model number AL 00999240 Power Wire AWG5 6 equivalent Terminal R14 5 Ground Wire AWG5 6 equivalent Terminal R14 5 Cable diameter φ 19 Connection ...

Page 479: ... 9 Optional parts dimensions 12 69 12 Appendix 12 9 6 Servo motor encoder cable dimensions AL 00937694 L mm Means 1 000 2 000 3 000 5 000 or 10 000 AL 00999243 L mm Means 1 000 2 000 3 000 5 000 or 10 000 ...

Page 480: ...12 Appendix 12 70 12 9 7 Power cable dimensions for servo motor FAN AL 00997923 L mm Means 1 000 2 000 3 000 5 000 or 10 000 AL 00999241 L mm Means 1 000 2 000 3 000 5 000 or 10 000 ...

Page 481: ...2 9 8 Servo motor brake cable dimensions AL 00918630 L mm Means 1000 2000 3000 5000 or 10000 AL 00999239 L mm Means 1000 2000 3000 5000 or 10000 12 9 9 Thermostat cable dimensions for servo motor FAN AL 00999242 L mm Means 1000 2000 3000 5000 or 10000 ...

Page 482: ...5mm Silicon rubber glass braided wire 0 5mm 44 0 4 20 1 4 3 0 0 3 26 122 0 4 100 132 Thermo start Black ２ White ２ 270 15 φ4 3 0 20 0 300 6 1 6 1 Silicon rubber glass braided wire 0 75mm 23 5 42 0 4 1 2 20 4 3 0 0 3 172 0 4 150 182 White Black Thermo start Silicon rubber glass braided wire 0 5mm ２ ２ 270 15 φ4 3 0 300 20 0 6 1 6 1 ...

Page 483: ... 3 42 7 220 0 4 200 230 White Thermo start Silicon rubber glass braided wire 0 5mm Black ２ ２ 270 15 φ4 3 0 300 0 20 6 1 6 1 15 8 0 3 234 1 2 0 4 250 0 8 2 Φ4 5 3 Lead AWG24 White 35 0 7 Lead length A 700 Lead length B 350 15 MICRON 00683398 01 REGIST 500CW2 Thermostat Crimping terminal M5 Lead 2mm white 80 0 7 60 0 7 Earth mark 2 M3 4 5 ...

Page 484: ...12 Appendix 12 74 REGIST 1000W Wiring diagram ...

Page 485: ...12 9 Optional parts dimensions 12 75 12 Appendix 12 9 11 Copper bus bar DC DC Model number AL 00918125 01 10 68 5 88 5 0 5 20 t2 2 φ 1 0 2 pieces include DC DC Model number AL 01020858 01 ...

Page 486: ...No Text on This Page ...

Page 487: ...Release Revision A Sep 2017 Revision B Sep 2018 Revision C Dec 2018 Revision D Apr 2019 ...

Page 488: ...lock A Times Plaza 2 Zongfu Road Jinjiang District Chengdu 610016 China SANYO DENKI THAILAND CO LTD TEL 66 2261 8670 388 Exchange Tower 25th Floor Unit 2501 1 Sukhumvit Road Klongtoey Klongtoey Bangkok 10110 Thailand SANYO DENKI INDIA PRIVATE LIMITED TEL 91 44 420 384 72 14 Old No 6 3 Avenue Road Nungambakkam Chennai 600034 Tamil Nadu India The names of companies and or their products specified in...

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