Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 20 / 514

Table of contents
xvi
10.2.4 Residual risk ·································································································· 10-3
10.2.5 Delay circuit ··································································································· 10-4
10.3 Wiring ··················································································································· 10-5
10.3.1 CN4 connector layout ······················································································· 10-5
10.3.2 Connection diagram of CN4-terminals ································································· 10-5
10.3.3 Example of wiring ···························································································· 10-6
10.3.4 Safety 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 ····················································· 10-14
10.4.5 Deviation clear ······························································································ 10-15
10.4.6 Safety input signal failure detection ··································································· 10-15
10.5 Error Detection Monitor (EDM)·················································································· 10-16
10.5.1 Specifications ······························································································· 10-16
10.5.2 Connection example ······················································································ 10-16
10.5.3 Error detection method ··················································································· 10-17
10.6 Verification test······································································································ 10-18
10.6.1 Preparation ·································································································· 10-18
10.6.2 Confirmation procedure ·················································································· 10-18
10.6.3 Acceptance criteria ························································································ 10-18
10.7 Safety precautions ································································································· 10-19
11. Selection
11.1 Servo motor sizing ··································································································· 11-1
11.1.1 Flowchart of servo motor sizing ·········································································· 11-1
11.1.2 Make an operation pattern ················································································· 11-2
11.1.3 Calculate motor shaft conversion load moment of inertia (JL) ···································· 11-2
11.1.4 Calculate motor shaft conversion load torque (TL) ·················································· 11-3
11.1.5 Calculate acceleration torque (Ta) ······································································· 11-5
11.1.6 Calculate deceleration torque (Tb) ······································································ 11-5
11.1.7 Calculate effective torque (Trms) ········································································ 11-5
11.1.8 Judgment condition ·························································································· 11-5
11.2 Selection of regenerative resistor ················································································ 11-6
11.2.1 How to find "regeneration effective power (PM)" of the horizontal axis drive by a formula 11-6
11.2.2 How to find "regeneration effective power (PM)" of the vertical axis drive by a formula ···· 11-7
11.2.3 Selection of regenerative resistor ········································································ 11-8
11.2.4 Selection of external regenerative resistor ····························································· 11-9
11.2.5 Specification of external regenerative resistor ······················································· 11-10
11.2.6 Connection of regenerative resistor ···································································· 11-11
11.2.7 Thermostat connection of external regenerative resistor ·········································· 11-12
11.2.8 Protection function of regenerative resistor ··························································· 11-12