SMC Corporation LECSA series Operation Manual Download Page 205 | Manualshive

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6. GENERAL GAIN ADJUSTMENT

6.3.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically

sets the optimum gains that match the machine. Merely changing the response level setting value as required

completes the adjustment. The adjustment procedure is as follows.

END

Acceleration/deceleration repeated

Load to motor inertia

moment ratio estimation

value stable?

Adjust the auto tuning response
level (RSP: parameter No. PA09)
on vibration-free level.

To manual mode

Requested

performance satisfied?

Yes

No

Yes

No

Acceleration/deceleration repeated

START

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Summary of Contents for LECSA series

Page 1: ...PRODUCT NAME AC Servo Motor Driver MODEL Series Product Number LECSA Series Doc no LEC OM02610 Doc no JXC OMT0023 A ...

Page 2: ...lity of equipment failure when configuring the equipment 2 Only personnel with appropriate training should operate machinery and equipment The product specified here may become unsafe if handled incorrectly The assembly operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced 3 Do not service or attempt ...

Page 3: ...are indicated by the following diagrammatic symbols Prohibition Indicates what must not be done For example No Fire is indicated by Compulsion Indicates what must be done For example grounding is indicated by In this Instruction Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this installation guide always keep ...

Page 4: ...istance or replacement parts Please consult your nearest sales branch For any failure or damage reported within the warranty period which is clearly our responsibility a replacement product or necessary parts will be provided This limited warranty applies only to our product independently and not to any other damage incurred due to the failure of the product Prior to using SMC products please read...

Page 5: ...cted continuous flow of a large current may cause a fire when the driver malfunctions When using a regenerative resistor configure a circuit that shuts off the power if abnormality is found Otherwise the regenerative resistor may overheat causing a fire due to a regenerative transistor fault When using a regenerative option remove the built in regenerative resistor and its wiring from the driver P...

Page 6: ... Ambient humidity In operation 90 RH or less non condensing 80 RH or less non condensing In storage 90 RH or less non condensing Ambience Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280 ft above sea level Vibration 5 9 m s2 or less 10 to 55Hz directions of X Y and Z axes LECS S1 LECS S3 LECS S4 Series Note X Y 49m s2 Note For the stan...

Page 7: ...servo motor U Servo motor M V W U V W U Servo motor M V W U V W Servo amplifier Servo amplifier Do not connect AC power supply directly to the servo motor Otherwise a fault may occur Install a surge absorbing diode on the DC relay designed for control output signal in the specified direction Improper installation of the surge absorbing diode may cause the driver to malfunction such that the signal...

Page 8: ... motor are coupled via a timing belt the lock may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with a lock or provide an external lock mechanism for the purpose of prevention Do not use the 24VDC interf...

Page 9: ...r an extended period of time hand turn the servo motor output shaft to confirm that nothing is wrong with the servo motor For the servo motor with a lock turn ON the power supply of the lock first Then release the lock before hand turn When the equipment has been stored for an extended period of time contact your local sales office 7 Maintenance inspection and parts replacement CAUTION With age th...

Page 10: ...o the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the converter unit driver drive unit and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Write to the EEP ROM due to device changes Write to the EEP ROM due to point table changes...

Page 11: ...quired if you use the General Purpose AC servo LECSA for the first time Always purchase them and use the LECSA safely About the wires used for wiring Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40 104 ...

Page 12: ... users who use the LECSA series AC servo for the first time CAUTION The lead of the built in regenerative resistor is connected between P and C terminals on the driver power supply connectors CNP1 of the LECSA S3 LECSA2 S4 When taking the driver out from the shipping box do not hold the lead of the built in regenerative resistor Unpack the product and check the rating plate to see if the servo mot...

Page 13: ...er to section 6 1 Gain and filter adjustment of the servo is easily made by the AUTO button located on the front panel of the driver 2 Status display diagnosis and parameter setting refer to chapter 5 The driver status display cumulative feedback pulses servo motor speed and others diagnosis servo operation ready complete status external I O signal ON OFF test operation and parameter settings can ...

Page 14: ...pply Operation confirmation before actual operation One touch tuning Actual operation Stop Refer to 1 in this section Check the surrounding environment cable routing and impurity such as wire offcuts or metallic dust of the driver and the servo motor Refer to 2 a in this section Refer to 3 in this section Refer to 4 in this section Refer to 2 a in this section Refer to 5 in this section Refer to 6...

Page 15: ...onnected to the servo motor power supply terminals U V W The connected driver and servo motor will be damaged Servo amplifier Servo motor U V W U V W M The earth terminal of the servo motor should be connected to the PE terminal of the driver Servo amplifier Servo motor M When regenerative option is used The built in regenerative resistor and its wirings should be removed from the driver The regen...

Page 16: ...ng check On off status of the input signals of CN1 connector can be checked using the external I O signal display By using this function input signal wiring can be checked Refer to section 5 7 Output signal wiring check Output signals of CN1 connector can be turned on off forcibly using the DO output By using this function output signal wiring can be checked Refer to section 5 8 4 Parameter settin...

Page 17: ...PA02 PA05 Number of command input pulses per servo motor revolution refer to section 4 1 6 Set the number of command input pulses necessary to rotate the servo motor one turn When 100 10000 pulse rev initial value is set to parameter No PA05 the servo motor rotates one turn by inputting 1000 pulses of the command pulse to the driver When 0 is set to parameter No PA05 the servo motor rotates one tu...

Page 18: ...d input pulse form Parameter No PA13 Setting 00 01 Pulse train input filter selection Pulse train form Forward rotation command Reverse rotation command Signed pulse train A phase pulse train B phase pulse train Forward rotation pulse train Reverse rotation pulse train Signed pulse train A phase pulse train B phase pulse train 02 10 12 11 Positive logic NP PP PP L H NP PP NP NP PP L H PP NP PP NP ...

Page 19: ...peration mode JOG operation at the slowest speed and check whether the servo motor rotates correctly Operation by commands from the PC or PLC etc Servo motor and machine are connected b Confirm that the servo motor rotates correctly at the slowest speed under the commands from the PC or PLC etc Make sure that the servo motor rotates in the following procedure 1 Switch on the forced stop EM1 and se...

Page 20: ...t be performed if the servo motor is not operating Press the AUTO button for 3 s or longer while the servo motor is rotating The display changes to and the mode shifts to the one touch tuning mode Press the UP or the DOWN button while is displayed to select the response mode Refer to 1 in section 6 1 2 Start the one touch tuning by pressing the AUTO button The progress of the one touch tuning is d...

Page 21: ...nternal speed control mode The servo motor stops immediately and the shaft is locked The servo motor can rotate in an opposite direction e Simultaneous ON or simultaneous OFF of forward rotation start ST1 and reverse rotation start ST2 only in the internal speed control mode The servo motor decelerates to a stop f Simultaneous ON or simultaneous OFF of forward rotation selection RS1 and reverse ro...

Page 22: ...he external I O signal display refer to section 5 8 Wiring mistake The polarity of the digital output circuit diode is not correct Section 3 8 2 2 Switch on servo on SON Alarm occurs Remove cause Section 8 2 Servo motor shaft is free Check the followings 1 Check the display to see if the driver is ready to operate 2 Check the external I O signal display to see if the servo on SON is ON 1 Servo on ...

Page 23: ...mit parameter No PA12 Set value is 0 Section 4 1 10 6 Switch on forward rotation start ST1 or reverse rotation start ST2 In the positioning mode Servo motor does not rotate Check the ON OFF status of the input signal on the external I O signal display refer to section 5 8 LSP LSN ST1 or ST2 is off Section 5 8 Check the values of position data Target Position and servo motor speed set in the point ...

Page 24: ...n in the above diagram Cause A Cause B and Cause C indicate position shift causes For example Cause A indicates that noise entered the wiring between the PC or PLC etc and driver causing the command input pulse to be miss counted In a normal status without position shift there are the following relationships 1 Q P PC or PLC etc s output pulse counter driver s cumulative command pulses 2 When using...

Page 25: ... noise immunity can be enhanced by setting parameter No PA13 to 1 when the frequency of the command input pulse is 500kpps or less and 2 when 200kpps or less 2 When P CMX CDV Servo motor encoder resolution FBP parameter No PA05 Note C Note When 0 is set to the FBP parameter No PA05 the FBP becomes the servo motor encoder resolution During the operation the servo on SON the forward reverse rotation...

Page 26: ...cuit power supply Vibration tough drive function selection Set the function for vibration suppression 1 Overload alarm 50 1 avoidance Overload tough drive function selection Set the tough drive function for overload Parameter No PA04 Setting 0 Setting Invalid Valid Aging distortion vibration suppression 0 1 Setting 0 1 Invalid Valid Instantaneous power failure alarm 10 3 Valid Invalid 1 Overload t...

Page 27: ...2 1 Position control mode 3 5 3 2 2 Internal speed control mode 3 7 3 2 3 Internal torque control mode 3 8 3 3 Explanation of power supply system 3 9 3 3 1 Signal explanations 3 9 3 3 2 Power on sequence 3 9 3 3 3 CNP1 and CNP2 wiring method 3 11 3 4 Connectors and signal arrangements 3 14 3 5 Signal explanations 3 17 3 6 Detailed description of the signals 3 24 3 6 1 Position control mode 3 24 3 ...

Page 28: ... 8 Auto tuning 4 13 4 1 9 In position range 4 14 4 1 10 Torque limit 4 15 4 1 11 Selection of command input pulse form 4 16 4 1 12 Selection of servo motor rotation direction 4 17 4 1 13 Encoder output pulses 4 18 4 2 Gain filter parameters No PB 4 21 4 2 1 Parameter list 4 21 4 2 2 Detail list 4 23 4 2 3 Position smoothing 4 31 4 3 Extension setting parameters No PC 4 32 4 3 1 Parameter list 4 32...

Page 29: ...lay transition and operation procedure of the one touch tuning 6 4 6 1 3 Precautions for one touch tuning 6 8 6 2 Gain adjustment methods 6 9 6 3 Auto tuning mode 6 11 6 3 1 Overview 6 11 6 3 2 Auto tuning mode 1 operation 6 12 6 3 3 Adjustment procedure by auto tuning 6 13 6 3 4 Response level setting in auto tuning mode 1 6 14 6 4 2 gain adjustment mode 6 15 6 5 Manual mode 6 16 7 SPECIAL ADJUST...

Page 30: ...t power on of main circuit and control circuit 10 7 11 OPTIONS AND AUXILIARY EQUIPMENT 11 1 to 11 27 11 1 Cable connector sets 11 2 11 1 1 Combinations of cable connector sets 11 2 11 1 2 Encoder cable 11 5 11 1 3 Motor cables 11 7 11 1 4 Lock cables 11 8 11 2 Regenerative options 11 9 11 3 Set up software MR Configurator2TM 11 12 11 4 Selection example of wires 11 14 11 5 No fuse breakers fuses m...

Page 31: ...13 5 1 JOG operation 13 50 13 6 Home position return mode 13 52 13 6 1 Outline of home position return 13 52 13 6 2 Selection of home position return mode 13 53 13 6 3 Dog type home position return 13 54 13 6 4 Count type home position return 13 57 13 6 5 Data set type home position return 13 59 13 6 6 Stopper type home position return 13 60 13 6 7 Home position ignorance Servo on position as home...

Page 32: ...App 1 Parameter list App 2 App 2 Servo motor ID codes App 7 App 3 Signal layout recording paper App 7 App 4 Status display block diagram App 8 App 5 Compliance with EC directives App 10 App 6 Conformance with UL CSA standard App 13 ...

Page 33: ... 2 1 2 Function block diagram 4 1 3 Driver standard specifications 7 1 4 Function list 9 1 4 1 Applicable control mode for each actuator 11 1 5 Model code definition 12 1 6 Combination with servo motor 14 1 7 Parts identification 15 1 8 Configuration including auxiliary equipment 16 ...

Page 34: ...tal encoder which has the resolution of 131072 pulses rev to ensure the positioning with a high accuracy When setup software MR Configurator2TM is used the selection of the model of LECSA is needed Please select MR JN A through Model New and Project 1 Position control mode Up to 1Mpps high speed pulse train is used to control the speed and the direction of a servo motor and execute precision posit...

Page 35: ...ng them in parameters This is the most appropriate to configure a simple positioning system or to simplify a system 7 point tables can be used b Program method The positioning operation is performed by creating the positioning data the servo motor speed the acceleration deceleration time constant etc as a program and by executing the program This is the most appropriate to configure a simple posit...

Page 36: ...nt control Virtual motor Virtual encoder CN2 U V W U V W M Dynamic brake USB USB Personal computer Regenerative option CN1 Current detector Current detection Overcurrent protection Voltage detection Base amplifier B L1 L2 NFB Note 2 Main circuit power supply MC RA B1 B2 Fuse Relay Diode stack Servo amplifier Note 1 Model position Model speed Model torque 0V Note 2 Control circuit power supply Circ...

Page 37: ...Control circuit power supply Circuit protector Point table Model adaptive control 1 Position data Servo motor speed Acceleration time constant Deceleration time constant Dwell Auxiliary function No 1000 1000 80 80 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 60 500 1 4 500 2000 60 70 1000 1 5 1000 2000 80 80 0 0 6 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 Current control Speed control Position contr...

Page 38: ...tection Base amplifier B L1 L2 NFB Note 2 Main circuit power supply MC RA B1 B2 Fuse Relay Diode stack Servo amplifier Note 1 24V 0V Note 2 Control circuit power supply Circuit protector Model adaptive control SPN 1000 Program STA 200 STB 300 MOV 500 SPN 1000 MOVA 1000 MOVA 0 Current control Speed control Position control Position command creation STOP Regene rative TR Electro magnetic brake Note ...

Page 39: ...tage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative error protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Structure Natural cooling open IP rating IP20 Close mounting When mounting the diver closely operate them at the ambient temperature of 0 C to 45 C or at 75...

Page 40: ...ge Manual operation mode JOG JOG operation is performed in accordance with parameter set speed command by contact input Manual pulse generator Manual feed is made by manual pulse generator Command pulse multiplication 1 10 or 100 is selected using parameter Home position return mode Dog type Home position return is made starting with Z phase pulse after passage of proximity dog Home position retur...

Page 41: ... servo lock Gains also can be switched during operation using an input device P S Section 7 3 Advanced vibration suppression control This function suppresses vibration of an arm end or residual vibration P Section 7 2 4 Adaptive filter This function sets the filter characteristics automatically by the one touch tuning to suppress vibration of a mechanical system P S Section 7 2 2 Low pass filter T...

Page 42: ...arameter setting test operation status display etc can be performed using a personal computer P S T Section 11 4 Tough drive function This function continues the operation not to stop a machine in such situation when normally an alarm is activated Three types of the tough drive function are available overload tough drive vibration tough drive and instantaneous power failure tough drive However the...

Page 43: ...ntrol change mode cannot be used Note 2 Make the moving range limitation by external sensor etc to avoid actuator hitting to the work piece or stroke end When using the thrush control the following parameter should be set If not it will cause malfunction LECSA The value of the parameter value PC12 Internal torque command should be 30 Maximum thrush of the product or less LEY63 50 or less When the ...

Page 44: ...C Servo motor S1 S2 400W 200W 50 100W Ｓ５Ｓ３Ｓ４Ｓ７Ｓ８Ｓ１ Pulse input type Absolute encoder AC Servo motor S3 AC Servo motor S4 Type Capacity Encoder AC Servo motor S5 S6 AC Servo motor S7 AC Servo motor S8 50 100W 200W 400W Absolute ＬＥ Cable Content AC Servo motor S Encoder cable E Lock cable B Motor cable M C Motor Type S M 2m 2 5m 5 10m A Cable Length L ｍケーブル長さ Opposite axis side B Axis side 軸側 ...

Page 45: ...poration Refer to the website of Mitsubishi Electric Corporation for the information of the operating environment and upgrading Prepare USB cable should be ordered separately e USB cable 3m MR J3USBCBL3M of Mitsubishi Electric Corporation ＬＥＣ MR Ｊ3ＵＳＢＬＥＣ MR SETUP221 SET ＬＥ CＳＮA Driver Type LECSA A ＬＥC MR RB 032 Regenerative option Type Permissible regenerative power 100W 許容回生電力100W 12 Permissible...

Page 46: ...ited or equivalent goods Applicable wire size AWG24 1 6 Combination with servo motor The following table lists combinations of drivers and servo motors The following combinations also apply to servo motors with a lock Driver Servo motors LE LECSA S1 S5 S6 LECSA S3 S7 LECSA S4 S8 ＬＥC CＳＮA 1 Driver Type LECSA A Cable length L m 1 5 1 ...

Page 47: ... lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Used to connect the servo motor encoder Rating plate Section 3 1 Section 3 3 Main circuit power supply connector CNP1 Connect the input power supply built in regenerative resistor regenerative option servo motor earth One touch tuning button AUTO Press this button to perf...

Page 48: ...onfigurator Personal computer Line noise filter FR BSF01 Note Main circuit power supply Magnetic contactor MC No fuse breaker NFB or fuse R S Power factor improving AC reactor FR HAL L2 L1 Regenerative option P C Servo amplifier U V W Circuit protector 0V Note Control circuit power supply 24V Note Refer to section 1 3 for the power supply specification Driver Set up software MR Configurator2TM Mit...

Page 49: ...2 1 2 INSTALLATION 2 INSTALLATION 2 2 1 Installation direction and clearances 3 2 2 Keep out foreign materials 4 2 3 Cable stress 5 2 4 Inspection items 5 2 5 Parts having service lives 6 ...

Page 50: ...y load on the equipment to prevent injury Use the equipment within the specified environmental condition range For details of the environmental condition refer to section 1 3 Provide an adequate protection to prevent conductive matters like screws or combustible matters like oil from entering the driver Do not block the intake exhaust ports of the driver Otherwise a fault may occur Do not subject ...

Page 51: ...alls or other equipment A regenerative resistor is mounted on the back of this driver The regenerative resistor causes a temperature rise of 100 relative to the ambient temperature Fully examine heat dissipation and installation position before installing the driver 1 Installation of one driver 10mm or more Top Bottom 10mm or more Control box Wiring allowance 80mm Control box 40mm or more Servo am...

Page 52: ...Mounting closely 1mm 1mm 100mm or more 30mm or more 30mm or more 30mm or more 30mm or more Top Bottom 3 Others When using heat generating equipment such as the regenerative option install them with full consideration of heat generation so that the driver is not affected Install the driver on a perpendicular wall in the correct vertical direction 2 2 Keep out foreign materials 1 When installing the...

Page 53: ...machine where the servo motor moves the flexing radius should be made as large as possible Refer to section 10 4 for the flexing life 5 The minimum bending radius Min 45mm 2 4 Inspection items WARNING Before starting maintenance and or inspection turn off the power and wait for 15 minutes or more until the charge lamp turns off Otherwise an electric shock may occur In addition always confirm from ...

Page 54: ... and number of forced stop times 100 000 times 1 Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 2 Relays Their contacts will wear due to switching curr...

Page 55: ...trol mode 27 3 6 3 Internal torque control mode 30 3 6 4 Position speed control change mode 33 3 6 5 Internal speed internal torque control change mode 34 3 6 6 Internal torque position control change mode 35 3 7 Alarm occurrence timing chart 36 3 8 Interfaces 37 3 8 1 Internal connection diagram 37 3 8 2 Detailed description of interfaces 38 3 8 3 Source I O interfaces 41 3 9 Treatment of cable s...

Page 56: ...orrect terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the emergency stop and other protective circuits DOCOM Control output signal DICOM 24VDC Servo ampl...

Page 57: ...rative resistor may break For main circuit power supply of driver check the model of driver and input the correct voltage If a voltage exceeding the upper limit shown in the driver input voltage specification is input the driver malfunctions Wire the main circuit power supply as shown below so that the servo on SON turns off as soon as alarm occurrence is detected and power is shut off A no fuse b...

Page 58: ...ion 3 8 3 4 Refer to section 3 10 5 Configure the circuit to shut off the main circuit power supply by an external sequence simultaneously with the forced stop EM1 turning OFF 6 Be sure to use a magnetic contactor MC with an operation delay time of 80ms or less The operation delay time is the time interval between current being applied to the coil until closure of contacts 7 Use the enhanced insul...

Page 59: ...lse differential line driver Control common Encoder Z phase pulse differential line driver Forward rotation stroke end Reverse rotation stroke end Note 3 5 Note 5 Note 10 11 Note 9 Servo on Reset 10m max Note 1 USB cable option MR Configurator CN3 Personal computer Note 14 Note 15 Servo amplifier 10m max 2m max Note 8 Note 7 Programmable logic controller FX3U MT ES Note 13 Note 7 Plate Plate CN1 C...

Page 60: ...e logic driver should be stopped by the sequence program 7 The pins with the same signal name are connected in the driver 8 This length applies to the command input pulses in the open collector system The wirings can be extended up to 10m when using positioning modules with the differential line driver system 9 Use LEC MRC2E Ver 1 52E or later 10 This diagram is for sink I O interface For source I...

Page 61: ...tch normally closed contact must be installed 4 Supply 24VDC 10 200mA current for interfaces from the outside 200mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 1 that gives the current value necessary for the interface 5 When starting operation always switch on the forced stop EM1 Normally c...

Page 62: ...ty and will not output signals disabling the emergency stop and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24VDC 10 200mA current for interfaces from the outside 200mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 1 that gives the curr...

Page 63: ...en or close the motor power line Otherwise a malfunction or faulty may occur Protective earth PE Connect to the earth terminal of the servo motor and to the protective earth PE of the control box to perform grounding 3 3 2 Power on sequence 1 Power on procedure 1 Always wire the power supply as shown in above section 3 1 using the magnetic contactor with the main circuit power supply single phase ...

Page 64: ... turned off at an emergency stop When EM1 is turned off the dynamic brake is operated to stop the servo motor immediately At this time the display shows the servo forced stop warning E6 1 During the normal operation do not use the forced stop EM1 to alternate stop and run The service life of the driver may be shortened Also the servo motor rotates simultaneously with the reset of the forced stop i...

Page 65: ...pplied driver power supply connectors for wiring of CNP1 and CNP2 1 Driver power supply connectors CNP2 CNP1 Servo amplifier Connector for CNP1 FKC2 5 9 ST 5 08 PhoenixContact Connector for CNP2 FKCT 2 5 2 ST 5 08 PhoenixContact CNP1 CNP2 Applicable cable example Wire size 0 2 to 2 5 mm2 AWG24 to AWG12 Cable finish OD to 4m m Driver ...

Page 66: ...acent pole Do not solder the core as it may cause a contact fault 2 Putting the wires together using a ferrule Use a ferrule as follows Cable size Ferrule type Crimping tool Manufacturer mm2 AWG For one wire For two wires 1 25 1 5 16 AI 1 5 10 BK AI TWIN 2 1 5 10 BK CRIMPFOX ZA 3 Phoenix Contact 2 2 5 14 AI 2 5 10 BK Cut off the exceeding wire from the tip of the ferrule leaving 0 5mm or less 0 5m...

Page 67: ... a tool such as a small flat blade screwdriver Tools such as a small flat blade screwdriver Twisted wire Button b Putting the wires together using a ferrule Insert the wire as the uneven side of the crimped ferrule collar faces the button side Ferrule for two wires Ferrule for one wire or solid wire Use a ferrule for two wires when inserting two wires into one hole ...

Page 68: ...rivers MODE SET AUTO CN3 CNP2 CNP1 CN1 CN2 The frames of the CN1 connectors is connected to the PE earth terminal in the amplifier CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 RES 4 SON 6 LSP 5 CR 19 LZ 18 LBR 20 LZR 21 OP 7 LSN 8 EM1 10 INP 9 ALM 23 PP 22 PG 24 NG 25 NP 11 RD 12 MBR 26 13 DOCOM 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 CN2 MDR MD The 3M make connector is shown When using any other connec...

Page 69: ...LSN LSN ST2 ST2 ST2 RS1 RS1 RS1 LSN PD11 PD12 8 I EM1 EM1 EM1 EM1 EM1 EM1 PD13 PD14 9 O ALM ALM ALM ALM ALM ALM PD15 10 O INP INP SA SA SA INP PD16 11 O RD RD RD RD RD RD PD17 12 O MBR MBR MBR MBR MBR MBR PD18 13 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 14 LG LG LG LG LG LG 15 O LA LA LA LA LA LA 16 O LAR LAR LAR LAR LAR LAR 17 O LB LB LB LB LB LB 18 O LBR LBR LBR LBR LBR LBR 19 O LZ LZ LZ LZ LZ LZ 20 ...

Page 70: ...TTR During tough drive TL1 Internal torque limit selection CDPS During variable gain selection LSP Forward rotation stroke end OP Encoder Z phase pulse open collector LSN Reverse rotation stroke end LZ Encoder Z phase pulse differential line driver SP1 Speed selection 1 LZR SP2 Speed selection 2 LA Encoder A phase pulse differential line driver SP3 Speed selection 3 LAR LOP Control change LB Encod...

Page 71: ...o PD01 to 4 to switch this signal on keep terminals connected automatically in the driver DI 1 Reset RES CN1 3 When RES is turned on for 50ms or longer an alarm can be reset Some alarms cannot be deactivated by the reset RES Refer to section 8 2 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off when 1 is set in parameter No PD20 This device is not d...

Page 72: ...ation start ST1 Used to start the servo motor in any of the following directions DI 1 Note Input device Servo motor starting direction ST2 ST1 0 0 Stop servo lock 0 1 CCW 1 0 CW Reverse rotation start ST2 1 1 Stop servo lock Note 0 off 1 on If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to parameter No PC02 setting and servo lock...

Page 73: ...e 0 off 1 on Proportion control PC When PC is turned on the type of the speed loop switches from the proportional integral type to the proportional type If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop switching on the pro...

Page 74: ...change mode Note LOP Control mode 0 Internal torque 1 Position Note 0 off 1 on b Output devices Device Symbol Connec tor pin No Functions Applications I O division Control mode P S T Trouble ALM CN1 9 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit When there is no alarm ALM turns on approximately 1s after power on DO 1 Ready RD CN1 11 R...

Page 75: ...Zero speed ZSP 1 3 2 4 Forward rotation direction Reverse rotation direction Parameter No PC10 ZSP turns on 1 when the servo motor is decelerated to 50r min and ZSP turns off 2 when the servo motor is accelerated to 70r min again ZSP turns on 3 when the servo motor is decelerated again to 50r min and turns off 4 when the servo motor speed has reached 70r min The range from the point when the servo...

Page 76: ... 25 pin supply OPC with 24VDC and use it at the sink interface It cannot be used at the source interface 3 Output signals Signal Symbol Connec tor pin No Functions Applications I O division Control mode P S T Encoder Z phase pulse Open collector OP CN1 21 Outputs the zero point signal of the encoder One pulse is output per servo motor revolution OP turns on when the zero point position is reached ...

Page 77: ...ve terminal of the 24VDC external power supply to DICOM Open collector power input OPC CN1 2 When inputting a pulse train in the open collector system supply this terminal with the positive power of 24VDC Digital I F common DOCOM CN1 13 Common terminal for input signals such as SON and EM1 Pins are connected internally Separated from LG For a sink interface connect the negative terminal of the 24V...

Page 78: ...m Connect as shown below Approx 1 2k SD Servo amplifier OPC PP NP DOCOM 24VDC Note Approx 1 2k Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line If the command pulse train input is open collector method it supports only to the sink NPN type interface It does not c...

Page 79: ...and reverse rotation pulse trains parameter No PA13 has been set to 10 The waveforms of PP PG NP and NG are based on that of the LG of the differential line driver Reverse rotation command PP PG NP NG Reverse rotation pulse train Forward rotation pulse train Forward rotation command 2 In position INP INP turns on when the number of droop pulses in the deviation counter falls within the preset in p...

Page 80: ...que limit selection TL1 can be used for selecting the torque limit between the forward torque limit parameter No PA11 or the reverse torque limit parameter No PA12 and the internal torque limit 2 parameter No PC14 However if the value of parameter No PA11 or parameter No PA12 is lower than the limit value selected by TL1 the value of parameter No PA11 or parameter No PA12 is made valid Note Input ...

Page 81: ...W Reverse rotation CW ST2 ST1 0 0 Stop Servo lock 0 1 Forward rotation CCW 1 0 Reverse rotation CW 1 1 Stop Servo lock Note 1 0 off 1 on 2 If the torque limit is canceled during servo lock the servo motor may suddenly rotate according to position deviation in respect to the command position Connect the wirings as follows when operating in forward or reverse rotation with the internal speed command...

Page 82: ... command value SP1 0 Internal speed command 0 parameter No PC05 1 Internal speed command 1 parameter No PC06 Note 0 off 1 on By making the speed selection 2 SP2 and the speed selection 3 SP3 usable by setting of parameter No PD03 to PD14 the speed command values for the internal speed commands 0 to 7 can be selected Note Input device Speed command value SP3 SP2 SP1 0 0 0 Internal speed command 0 p...

Page 83: ...tor speed has nearly reached the speed set to the internal speed command ON OFF ON OFF Forward rotation reverse rotation start ST1 ST2 Set speed selection Servo motor speed Speed reached SA Internal speed command 1 Internal speed command 2 3 Torque limit As in section 3 6 1 4 ...

Page 84: ...ot generated 0 1 CCW reverse rotation in driving mode forward rotation in regenerative mode 1 0 CW forward rotation in driving mode reverse rotation in regenerative mode 1 1 Torque is not generated Note 0 off 1 on Generally make connection as shown below RS2 DOCOM DICOM Servo amplifier RS1 24VDC Note Note For the sink I O interface For the source I O interface refer to section 3 8 3 The following ...

Page 85: ...tion selection RS2 combination Note Input device Speed limit direction Forward rotation CCW Reverse rotation CW RS1 RS2 1 0 Forward rotation CCW 0 1 Reverse rotation CW Note 0 off 1 on Connect the wirings as follows when setting the internal speed limit to the eighth speed SP2 SP3 DOCOM DICOM Servo amplifier SP1 24VDC Note 2 RS2 RS1 Note 1 Note 1 For the sink I O interface For the source I O inter...

Page 86: ...ommands 0 to 7 can be selected Note Input device Speed limit value SP3 SP2 SP1 0 0 0 Internal speed limit 0 parameter No PC05 0 0 1 Internal speed limit 1 parameter No PC06 0 1 0 Internal speed limit 2 parameter No PC07 0 1 1 Internal speed limit 3 parameter No PC08 1 0 0 Internal speed limit 4 parameter No PC31 1 0 1 Internal speed limit 5 parameter No PC32 1 1 0 Internal speed limit 6 parameter ...

Page 87: ...de after the servo motor has stopped When the control mode is switched to the internal speed control mode from the position control mode droop pulses are cleared Even if the speed is decreased to the zero speed or below after switching LOP the control mode cannot be switched A change timing chart is shown below Position control mode Internal speed control mode Position control mode Zero speed leve...

Page 88: ...y time A change timing chart is shown below Internal speed control mode Note Internal torque command parameter No PC12 Servo motor speed Control change LOP ON OFF Internal speed control mode Internal torque control mode Note When the start ST1 ST2 is switched off as soon as the mode is changed to internal speed control the servo motor comes to a stop according to the deceleration time constant 2 S...

Page 89: ... mode after the servo motor has stopped When the control mode is switched to the internal torque control mode from the position control mode droop pulses are cleared Even if the speed is decreased to the zero speed or below after switching LOP the control mode cannot be switched A change timing chart is shown below Zero speed ZSP Control change LOP OFF ON OFF ON Position control mode Position cont...

Page 90: ...use of trouble ON OFF ON OFF ON OFF ON OFF ON OFF Brake operation Note 1 Shut off the main circuit power as soon as an alarm occurs 2 Changes depending on the operating status 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 32 overload 1 50 or overload 2 51 alarm after its occurrence without removing its cause ...

Page 91: ...able method CL Positioning mode Program method 2 This diagram is for the open collector pulse train input When inputting the differential line driver pulse train in the position control mode make the following connection If the command pulse train input is open collector method it supports only to the sink NPN type interface It does not correspond to the source PNP type interface DOC 46 OPC 2 1 13...

Page 92: ...00mA Approx 5 6k 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40mA or less maximum current 50mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the driver The following figure is for the sink output Refer to section 3 ...

Page 93: ...o a pulse train signal line If the command pulse train input is open collector method it supports only to the sink NPN type interface It does not correspond to the source PNP type interface 2 Input pulse condition 0 9 0 1 tc tHL tc tLH tF tLH tHL 0 2 s tc 2 s tF 3 s PP NP b Differential line driver system 1 Interface SD PG NG PP NP Max input pulse frequency 1Mpps Servo amplifier Am26LS31 or equiva...

Page 94: ...ax output current 35mA Photocoupler Servo amplifier OP LG SD Servo amplifier OP LG SD 5 to 24VDC If the encoder Z phase pulse is open collector method it supports only to the sink NPN type interface It does not correspond to the source PNP type interface b Differential line driver system 1 Interface Max output current 35mA High speed photocoupler Servo amplifier Servo amplifier LA LB LZ LAR LBR LZ...

Page 95: ...ce type Perform wiring according to the following interfaces 1 Digital input interface DI 1 SON etc Servo amplifier Switch Approx 5mA DICOM VCES 1 0V ICEO 100 A 24VDC 10 200mA Approx 5 6k 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the driver Note 24VDC 10 2 00mA If polarityof diode is reversed servo amplifier will fail Servo amplifier ALM etc Load DOCOM Note If the vo...

Page 96: ...able to the ground plate as shown in this section and fix it to the connector shell Sheath External conductor Strip the sheath Core External conductor Sheath Pull back the external conductor to cover the sheath 1 For CN1 connector Sumitomo 3M Limited connector Screw Screw Ground plate Cable 2 For CN2 connector Sumitomo 3M Limited or Molex connector Screw Cable Ground plate ...

Page 97: ...rcuit power supplies for the lock Always use the power supply designed exclusively for the lock Otherwise a fault may occur POINT Refer to section 11 1 for the selection of the encoder cable This section indicates the connection of the servo motor power supply U V W Use of the optional cable or the connector set is recommended for connection between the driver and the servo motor Refer to section ...

Page 98: ... PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP1 AWG 19 red AWG 19 white AWG 19 black AWG 19 green yellow U V W U V W Servo motor Servo amplifier M Extension cable 50m or less 2m or less Note b Relay connector for motor power supply cable Note a Relay connector for extension cable Note Use of the following connectors is recommended when ingress protection IP65 is necess...

Page 99: ...for specifications such as the power supply capacity and operation delay time of the lock Switch off the servo on SON after the servo motor has stopped Refer to 3 in section 12 1 3 for the selection of the surge absorbers for the lock Note the following when the servo motor with a lock is used 1 Always assign the electromagnetic brake interlock MBR to CN1 pin 12 by parameter No PD18 MBR is assigne...

Page 100: ...o PC09 Activate OFF Note 1 ON Lock is not activated OFF Lock is activated 2 Lock is released after delaying for the release delay time of lock and operation time of external circuit relay For the release delay time of lock refer to section 12 5 3 12 6 3 3 Give a position command after the lock is released 4 For the position control mode 2 Forced stop EM1 ON OFF Tb Dynamic brake Dynamic brake Elect...

Page 101: ...2 ON Lock is not activated OFF Lock is activated 4 Both main and control circuit power supplies off Main circuit Control circuit 10ms Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake 10 to 60ms Note 1 Electromagnetic brake operation delay time Electromagnetic brake interlock MBR ON Base circuit Servo motor speed Trouble ALM power supply OFF ON OFF ON OFF No ON Yes OFF Note 2...

Page 102: ...ock is not activated OFF Lock is activated 3 11 4 Wiring diagrams LE series servo motor 1 When cable length is 10m or less B1 B2 24VDC power supply for electromagnetic brake Note 3 Electromagnetic brake interlock MBR AWG20 AWG20 MR BKS1CBL M A1 L MR BKS1CBL M A2 L MR BKS1CBL M A1 H MR BKS1CBL M A2 H Note 1 Trouble ALM Servo motor 10m or less Forced stop EM1 Note 2 B Note 1 Connect a surge absorber...

Page 103: ...etic brake Note 1 Note 4 Electromagnetic brake interlock MBR Trouble ALM Forced stop EM1 50m or less Note 1 Connect a surge absorber as close to the servo motor as possible 2 Use of the following connectors is recommended when ingress protection IP65 is necessary CM10 CR2P DDK b Relay connector for motor brake cable a Relay connector for extension cable Relay connector Description Protective struc...

Page 104: ...t and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Servo amplifier L1 L2 Line filter CN2 Outer box Encoder M U V W Protective earth PE Programmable logic controller Note Main circuit power supply CN1 W V U Ensure to connect it to PE terminal of the servo amplifie...

Page 105: ...4 1 10 Torque limit 15 4 1 11 Selection of command input pulse form 16 4 1 12 Selection of servo motor rotation direction 17 4 1 13 Encoder output pulses 18 4 2 Gain filter parameters No PB 21 4 2 1 Parameter list 21 4 2 2 Detail list 23 4 2 3 Position smoothing 31 4 3 Extension setting parameters No PC 32 4 3 1 Parameter list 32 4 3 2 List of details 34 4 3 3 Alarm history clear 41 4 3 4 Drive re...

Page 106: ...his driver in the position control mode Gain filter parameters No PB Use these parameters when making gain adjustment manually Extension setting parameters No PC Use these parameters mainly when using this driver in the internal speed control mode or in the internal torque control mode I O setting parameters No PD Use these parameters when changing the I O signals of the driver Positioning setting...

Page 107: ...ection 000h PA05 FBP Number of command input pulses per revolution 100 100 pulse rev PA06 CMX Electronic gear numerator Command input pulse multiplying factor numerator 1 PA07 CDV Electronic gear denominator Command input pulse multiplying factor denominator 1 PA08 ATU Auto tuning mode 001h PA09 RSP Auto tuning response 6 PA10 INP In position range 100 Refer to section 4 1 9 PA11 TLP Forward torqu...

Page 108: ...g table indicates the parameters which are enabled for reference and writing by the setting of parameter No PA19 Operation can be performed for the parameters marked Parameter No PA19 setting Setting operation Basic setting parameters No PA Gain Filter parameters No PB Extension setting parameters No PC I O setting parameters No PD Positioning setting parameters No PE 000h Reference Writing 00Ah R...

Page 109: ...e 3 4 Programs Max 8 Programs Note 3 4 LEF LEJ Command method Pulse train ON OFF Signal ON OFF Signal ON OFF Signal ON OFF Signal Operation method Positioning operation Setting speed operation Setting torque operation Positioning operation by point table No setting Positioning operation by program setting Note 1 The control change mode cannot be used Note 2 Make the moving range limitation by exte...

Page 110: ... text POINT This parameter is made valid when power is switched off then on after setting Incorrect setting may cause the regenerative option to burn If the regenerative option selected is not for use with the driver parameter error 37 2 occurs Set this parameter when using the regenerative option Selection of regenerative option 00 Regenerative option is not used For servo amplifier of 100W regen...

Page 111: ...nce Overload tough drive function selection Set the tough drive function for overload The overload tough drive function is valid only in the position control mode Parameter No PA04 Setting 0 The details on the overload tough drive function can be set in parameter No PC26 detailed setting of overload tough drive Vibration tough drive function selection Set the function for vibration suppression Inv...

Page 112: ...alue to parameter No PA05 and the input of 10000 command pulses to the driver rotates the servo motor one turn The settings of 0 to parameter No PA05 and the input of the command pulses corresponding to the servo motor resolution to the driver rotates the servo motor one turn Parameter No PA05 setting Description 0 Servo motor resolution pulse rev 100 to 500 Number of command input pulses necessar...

Page 113: ...ervo off state to prevent unexpected operation due to improper setting 1 Concept of electronic gear The machine can be moved at any multiplication factor to input pulses Command input pulses Deviation counter Value converted to the number of command input pulses per revolution FBP Servo Motor Encoder M CDV CMX FBP conversion Note Parameter No PA06 No PA07 Parameter No PA05 Note This process conver...

Page 114: ...in increments of 0 01 per pulse Machine specifications Table 360 rev Reduction ratio 1 n P1 P2 625 12544 P1 Pulley diameter on servo motor side P2 Pulley diameter on axis side Number of command input pulses per revolution 36000 pulse rev Number of command input pulses per revolution of servo motor 36000 pulse rev Table Timing belt 625 12544 CMX CDV Δθ0 36000 Δθ 0 01 36000 625 12544 360 12544 625 4...

Page 115: ...ic gear Feedback pulse Servo amplifier For example if 100 1000 pulse rev is set to parameter No PA05 the pulse command required to rotate the servo motor is as follows Servo motor speed r min Required pulse command 2000 10000 2000 60 333333 pulse s 3000 10000 3000 60 500000 pulse s Use the electronic gear of the driver to rotate the servo motor under the maximum output pulse command of the QD75 To...

Page 116: ...e frequency kpulse s Note 200k 1M 200k 1M Number of pulses per servo motor revolution as viewed from QD75 pulse rev 4000 20000 6000 30000 Electronic gear Minimum command unit 1pulse AP 1 1 1 1 AL 1 1 1 1 AM 1 1 1 1 Minimum command unit 0 1 m AP 4000 20000 6000 30000 AL 1000 0 m 1000 0 m 1000 0 m 1000 0 m AM 10 10 10 10 Note Command pulse frequency at rated speed POINT In addition to the setting me...

Page 117: ...ection 6 3 for details 1 Auto tuning mode parameter No PA08 Select the auto tuning mode Auto tuning mode setting 3 1 Setting 0 Manual mode Manually set parameter No Note Auto tuning mode 2 gain adjustment mode Auto tuning mode 1 Parameter No PA08 0 0 Estimated load to motor inertia moment ratio Valid Valid Invalid PA09 PB07 PB06 PB07 PB08 PB09 PB10 Automatically set parameter No Note PB06 PB08 PB0...

Page 118: ...me Position Internal speed Internal torque PA10 INP In position range 100 0 to 65535 pulse Set the range where in position INP is output in the command unit before calculation of the electronic gear When 1 is set to the parameter No PC24 the range can be changed to the servo motor encoder pulse unit Servo motor droop pulse In position range pulse Command pulse Command pulse Droop pulse In position...

Page 119: ...ters 1 Forward torque limit parameter No PA11 Set this parameter on the assumption that the maximum torque is 100 Set this parameter when limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode Set this parameter to 0 to generate no torque 2 Reverse torque limit parameter No PA12 Set this parameter on the assumption that the maximum torque is 100 Set this parameter w...

Page 120: ...fferent forms for which positive or negative logic can be chosen Arrow or in the table indicates the timing of importing a pulse train A and B phase pulse trains are imported after being multiplied by 4 Signed pulse train Forward rotation pulse train Reverse rotation pulse train Selection of command input pulse form Parameter No PA13 Setting 00 01 Pulse train input filter selection Pulse train for...

Page 121: ... POL Rotation direction selection 0 0 1 POINT This parameter is made valid when power is switched off then on after setting Select servo motor rotation direction relative to the input pulse train Parameter No PA14 setting Servo motor rotation direction When forward rotation pulse is input When reverse rotation pulse is input 0 CCW CW 1 CW CCW Forward rotation CCW Reverse rotation CW ...

Page 122: ... can use parameter No PC13 to choose the output pulse setting or output division ratio setting The number of A B phase pulses actually output is 1 4 of the preset number of pulses The maximum output frequency is 4 6Mpps after multiplied by 4 Use this parameter within this range 1 For output pulse designation Set parameter No PC13 to 0 initial value Set the number of pulses per servo motor revoluti...

Page 123: ...ated below A B phase output pulses 131072 8 1 4 4096 pulse Servo motor Encoder A phase B phase output pulses Feedback pulses M ENR 1 Set division ratio by parameter No PA15 3 When outputting pulse same as command pulses Set parameter No PC13 to 2 The feedback pulses from the encoder can be output after being converted to the same value as the command pulse CDV CMX Servo motor Encoder A phase B pha...

Page 124: ...ses to parameter No PA16 Setting 0 to parameter No PA16 is recognized as 1 Example When using the LE S1 LE S2 LE S3 LE S4 servo motor series When parameter No PA15 is set to 5600 and PA16 to 4096 the A B phase pulses actually outputted are as follows A phase B phase output pulses Resolution per servo motor revolution parameter No 15 parameter No 16 1 4 131072 5600 4096 1 4 44800 pulse Servo motor ...

Page 125: ... OVA Overshoot amount compensation Applied 0 PB13 NH1 Machine resonance suppression filter 1 4500 Hz PB14 NHQ1 Notch shape selection 1 000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch shape selection 2 000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting Applied 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting Applied 100 ...

Page 126: ... suppression control resonance frequency setting Applied 100 0 Hz PB35 For manufacturer setting 0 PB36 0 PB37 100 PB38 NH3 Machine resonance suppression filter 3 4500 Hz PB39 NHQ3 Notch shape selection 3 000h PB40 For manufacturer setting 111h PB41 20 PB42 000h PB43 000h PB44 000h PB45 000h PB46 000h PB47 000h PB48 000h PB49 000h PB50 000h ...

Page 127: ...or not Setting this parameter to 2 manual mode enables users to manually adjust the machine resonance suppression filter 1 parameter No PB13 and notch shape selection 1 parameter No PB14 When this parameter is set to 0 the initial values are set for both the machine resonance suppression filter 1 and the notch shape selection 1 Response of mechanical system Machine resonance point Notch depth Notc...

Page 128: ...ency setting parameter No PB20 after positioning is performed the predetermined number of times Droop pulse Command Machine end position Droop pulse Command Machine end position Automatic adjustment Vibration suppression control tuning mode 0 0 Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF Note 1 Vibration suppression control tuni...

Page 129: ...ontrol switching Example When a command is given from a synchronous encoder synchronous operation can be started smoothly if started during line operation Synchronous encoder Start Servo motor Servo amplifier ON OFF With time constant setting Without time constant setting Servo motor speed Start PB04 FFC Feed forward gain Applied Set the feed forward gain When the setting is 100 the droop pulses d...

Page 130: ...but is liable to generate vibration and or noise When auto tuning mode 1 and 2 gain adjustment mode are set the result of auto tuning is automatically set in this parameter 823 20 to 50000 rad s PB10 VIC Speed integral compensation Used to set the integral time constant of the speed loop Lower setting increases the response level but is liable to generate vibration and or noise When auto tuning mo...

Page 131: ...ine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid Executing one touch tuning automatically changes this parameter 4500 30 to 4500 Hz PB16 NHQ2 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2 Notch depth selection Depth Gain 0 ...

Page 132: ...etting parameter No PB02 vibration suppression control tuning mode to 1 automatically changes this parameter When parameter No PB02 is set to 2 this parameter can be set manually 100 0 0 1 to 100 0 Hz PB21 For manufacturer setting 0 PB22 Do not change this value by any means 0 PB23 VFBF Low pass filter selection Applied Select the low pass filter Low pass filter selection 0 Automatic setting 1 Man...

Page 133: ...ins change in response to the conditions set in parameters No PB26 and PB27 Refer to section 7 3 1 0 to 100 ms PB29 GD2B Gain changing load to motor inertia moment ratio Applied Used to set the load to motor inertia moment ratio when gain changing is valid This parameter is made valid when the auto tuning mode is invalid parameter No PA08 3 7 0 0 0 to 300 0 Multi plier PB30 PG2B Gain changing posi...

Page 134: ...PB36 Do not change this value by any means 0 PB37 100 PB38 NH3 Machine resonance suppression filter 3 Set the notch frequency of the machine resonance suppression filter 3 Set parameter No PB39 notch shape selection 3 to 1 to make this parameter valid 4500 30 to 4500 Hz PB39 NHQ3 Notch shape selection 3 Used to select the machine resonance suppression filter 3 Notch depth selection Depth Gain 0 De...

Page 135: ... position command acceleration deceleration time constant is set Select the primary delay or linear acceleration deceleration in parameter No PB25 according to the machine used 1 For trapezoidal input For trapezoidal input linear acceleration deceleration the setting range is 0 to 10ms Time Command 3t 3t Input position command Position command acceleration deceleration time constant parameter No P...

Page 136: ...tromagnetic brake sequence output 100 ms PC10 ZSP Zero speed 50 r min PC11 BPS Alarm history clear 000h PC12 TC Internal torque command 0 0 PC13 ENRS Encoder output pulses selection 000h PC14 TL2 Internal torque limit 2 Applied 100 PC15 ERZL Error excessive alarm detection level 3 0 rev PC16 For manufacturer setting 30 PC17 OSL Overspeed alarm detection level 0 r min PC18 For manufacturer setting ...

Page 137: ...etting 000h PC36 0 PC37 0 PC38 0 PC39 0 PC40 For manufacturer setting Do not change from 0 initial value In the case of non zero you will not be able to USB communication 0 PC41 For manufacturer setting 000h PC42 0 PC43 000h PC44 RECT Drive recorder alarm specifying 000h PC45 For manufacturer setting 000h PC46 000h PC47 000h PC48 000h PC49 000h PC50 000h PC51 000h PC52 000h PC53 000h PC54 000h PC5...

Page 138: ...0 to 7 If the preset speed command is lower than the rated speed acceleration deceleration time will be shorter Time Parameter No PC02 setting 0r min Rated speed Speed Parameter No PC01 setting For example for the servo motor of 3000r min rated speed set 3000 3s to increase speed from 0r min to 1000r min in 1 second 0 0 to 50000 ms PC02 STB Deceleration time constant Used to set the deceleration t...

Page 139: ...STA acceleration time constant or STB deceleration time constant may produce an error in the time of the arc part for the setting of the S pattern acceleration deceleration time constant The upper limit for the actual time of the arc part is as follows At acceleration 2000000 STA At deceleration 2000000 STB Example Settings of STA 20000 STB 5000 and STC 200 limit the actual arc part times as follo...

Page 140: ...R Electromagnetic brake sequence output Used to set the delay time Tb from the electromagnetic brake interlock MBR turns off to the base drive circuit is shut off 100 0 to 1000 ms PC10 ZSP Zero speed Used to set the output range of the zero speed detection ZSP Zero speed detection ZSP has hysteresis width of 20r min refer to section 3 5 1 b 50 0 to 10000 r min PC11 BPS Alarm history clear Used to ...

Page 141: ...hase 000h Refer to the name and function field PC14 TL2 Internal torque limit 2 Applied Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced The internal torque limit 2 is made valid when the internal torque limit selection TL1 is turned on Refer to 4 in section 3 6 1 100 0 to 100 PC15 ERZL Error excessive alarm detect...

Page 142: ...orce 0 Valid Servo locked The control to maintain the stop position is performed 1 Invalid Not servo locked The stop position is not maintained The control to make the speed 0r min is performed 0 0 000h Refer to the name and function field PC24 COP3 Function selection C 3 Applied Select the unit of the in position range In position range unit selection 0 Command input unit 1 Servo motor encoder pu...

Page 143: ...esonance suppression filter 1 and parameter No PB15 machine resonance suppression filter 2 50 0 to 100 PC28 CVAT Detailed setting of instantaneous power failure tough drive Applied Set the time between the fall of the main circuit power supply to the alarm detection level and the occurrence of the instantaneous power failure alarm When the tough drive function selection parameter No PA04 is set to...

Page 144: ...o instan taneous permi ssible speed r min Internal speed limit 7 Applied Used to set speed 7 of internal speed limits PC35 For manufacturer setting 000h PC36 Do not change this value by any means 0 PC37 0 PC38 0 PC39 0 PC40 0 PC41 000h PC42 0 PC43 000h PC44 RECT Drive recorder alarm specifying Specify the alarm No which activates the drive recorder 0 Specification of alarm No 00 The optimum item i...

Page 145: ...PC64 000h 4 3 3 Alarm history clear The driver stores past sixteen alarms since the power is switched on for the first time To control alarms which will occur during the operation clear the alarm history using parameter No PC11 before starting the operation This parameter is made valid by switching the power from OFF to ON after setting The value in parameter No PC11 automatically changes to 0 aft...

Page 146: ... software MR Configurator2TM the drive recorder function becomes invalid To make the drive recorder function valid again switch the power off then on Valid invalid of drive recorder function can be confirmed on the display diagnostic mode Refer to section 5 4 The drive recorder function records the state transition before and after the alarm occurrence for the predetermined period of time by alway...

Page 147: ...o motor speed r min Torque Bus voltage Note Within one revolution position pulse Multi revolution counter rev Current command Regenerative load ratio Command pulse frequency kpps Effective load ratio Note The bus voltage is displayed in five steps Display value Description 5 Overvoltage About 400V or more 4 High voltage About 375V or more 3 Normal 2 Low voltage About 200V or less 1 Undervoltage Ab...

Page 148: ... Servo motor speed r min 24 24 CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Current command CH1 Servo motor speed r min 30 30 CH2 Torque ALM EM1 SON RD 56 8 3600 CH3 Regenerative load ratio CH1 Servo motor speed r min 31 31 CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Command pulse frequency kpps CH1 Servo motor speed r min 32 32 CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Current command CH1 Servo motor speed r m...

Page 149: ... EM1 RD TLC 3 5 227 CH3 Droop pulses pulse unit 100 pulses CH1 Servo motor speed r min 61 61 CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Within one revolution position pulse CH1 Servo motor speed r min 8E 8E CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Within one revolution position pulse Note The bus voltage is displayed in five steps Display value Description 5 Overvoltage About 400V or more 4 High voltage...

Page 150: ...on 3L CN1 5 0D06h PD08 DI3 2 Input signal device selection 3H CN1 5 2C0Dh PD09 DI4 1 Input signal device selection 4L CN1 6 070Ah PD10 DI4 2 Input signal device selection 4H CN1 6 0707h PD11 DI5 1 Input signal device selection 5L CN1 7 080Bh PD12 DI5 2 Input signal device selection 5H CN1 7 0808h PD13 DI6 1 Input signal device selection 6L CN1 8 0505h PD14 DI6 2 Input signal device selection 6H CN...

Page 151: ...ue BIN HEX BIN HEX Signal name Initial v alue BIN HEX Point table No Program No selection 1 DI0 Point table No Program No selection 2 DI1 Point table No Program No selection 3 DI2 0 0 0 0 0 Automatic manual selection MD0 Example 1 Turn ON SON The setting is 4 Example 2 Turn ON LSP LSN To turn ON LSP only The setting is 4 To turn ON LSN only The setting is 8 To turn ON both LSP and LSN The setting ...

Page 152: ...indicated by abbreviation in the following table If any other device is set it is invalid 262Dh Refer to the name and function field Setting Control modes Note 1 P S T CP CL 00 CN1 23 pin PP CN1 25 pin NP CN1 23 pin PP CN1 25 pin NP 01 For manufacturer setting Note 2 02 SON SON SON 03 RES RES RES 04 PC PC 05 Note4 EM1 EM1 EM1 06 For manufacturer setting Note 2 07 ST1 RS2 ST1 08 ST2 RS1 ST2 09 TL1 ...

Page 153: ...l mode CP Positioning mode Point table method CL Positioning mode Program method 2 For manufacturer setting Never set this value 3 It is valid in the positioning mode Program method only 4 When operating temporarily without using EM1 such as at startup etc set the EM1 to automatic ON in parameter No PD01 ...

Page 154: ...mbols in the following table If any other device is set it is invalid 0303h Refer to the name and function field Setting Control modes Note 1 P S T CP CL 00 01 For manufacturer setting Note 2 02 SON SON SON SON 03 RES RES RES RES 04 PC PC PC 05 Note4 EM1 EM1 EM1 EM1 06 CR 07 ST1 RS2 ST1 08 ST2 RS1 ST2 09 TL1 TL1 TL1 0A LSP LSP LSP 0B LSN LSN LSN 0C For manufacturer setting Note 2 0D SP1 SP1 0E SP2...

Page 155: ...l mode CP Positioning mode Point table method CL Positioning mode Program method 2 For manufacturer setting Never set this value 3 It is valid in the positioning mode Program method only 4 When operating temporarily without using EM1 such as at startup etc set the EM1 to automatic ON in parameter No PD01 ...

Page 156: ... assigned to the CN1 4 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 Position control mode Internal speed control mode Select the input device of the CN1 4 pin 0202h Refer to the name and function field PD07 DI3 1 Input signal device selection 3L CN1 5 Any input signal can be assigned to the CN1 5 pin The devices that can be assigned and the setti...

Page 157: ...e selection 5L CN1 7 Any input signal can be assigned to the CN1 7 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 Position control mode Internal speed control mode Select the input device of the CN1 7 pin 080Bh Refer to the name and function field PD12 DI5 2 Input signal device selection 5H CN1 7 Any input signal can be assigned to the CN1 7 pin Th...

Page 158: ...ce selection 6H CN1 8 Any input signal can be assigned to the CN1 8 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 If a value other than the initial value is set EM1 cannot be used Internal torque control mode Positioning mode Select the input dev ice of the CN1 8 pin 0505h Refer to the name and function field ...

Page 159: ...WNG WNG 09 For manufacturer setting Note 2 0A Always OFF SA Always OFF Always OFF 0B Always OFF Always OFF VLC Always OFF 0C ZSP ZSP ZSP ZSP 0D MTTR MTTR MTTR MTTR 0E For manufacturer setting Note 2 0F CDPS Always OFF Always OFF CDPS 10 1F For manufacturer setting Note 2 20 Always OFF Always OFF Always OFF CP0 Note3 21 Always OFF Always OFF Always OFF ZP 22 Always OFF Always OFF Always OFF POT 23 ...

Page 160: ... setting method are the same as in parameter No PD15 Select the output device of the CN1 11 pin 0 0 0002h Refer to the name and function field PD18 DO4 Output signal device selection 4 CN1 12 Any output signal can be assigned to the CN1 12 pin MBR is assigned as the initial value The devices that can be assigned and the setting method are the same as in parameter No PD15 Select the output device o...

Page 161: ...aneous power failure tough drive 1 MTTR turns ON during the overload tough drive or the instantaneous power failure tough drive 0000h Refer to the name and function field PD21 For manufacturer setting Do not change this value by any means 0000h PD22 DOP3 Function selection D 3 Set the clear CR Clear CR selection 0 Droop pulses are cleared on the leading edge 1 While on droop pulses are always clea...

Page 162: ...d reverse rotation stroke end is made valid A slow stop can be made by changing parameter No PD20 setting Parameter No PD20 setting Stopping method 0 initial value Sudden stop Position control mode The servo motor stops by clearing the droop pulses Internal speed control mode The servo motor stops when the deceleration time constant is zero 1 Slow stop Position control mode The servo motor deceler...

Page 163: ...de 14 5 6 1 Point table transition 14 5 6 2 Point table mode setting screen sequence 15 5 6 3 Operation example 16 5 7 Parameter mode 18 5 7 1 Parameter mode transition 18 5 7 2 Operation example 19 5 8 External I O signal display 21 5 9 Output signal DO forced output 24 5 10 Test operation mode 25 5 10 1 Mode change 25 5 10 2 Jog operation 26 5 10 3 Positioning operation 27 5 10 4 Motor less oper...

Page 164: ...ers to indicate the test operation mode 3 digit LED Displaysdata AUTO One touchtuning button refer to section6 1 The gain filter is easilyadjusted during the operation The symbol in the third digit indicates that the number is the upper 3 digits of the parameter or the upper 3 digits of the point table If there is no number in the second digit the same symbol will be displayed in the second digit ...

Page 165: ... display appears at power on Note Section 5 3 Sequence display external signal display forced output of signal DO test operation software version display servo motor series ID display servo motor type ID display servo motor encoder ID display Section 5 4 Current alarm display alarm history display the number of tough drive display parameter error No display Section 5 5 Display and setting of point...

Page 166: ...llowing table has been shown for 2 s or after pressing the MODE UP or DOWN button Control mode Status display at power on Position Cumulative feedback pulses by the pulse Position internal speed Cumulative feedback pulses by the pulse servo motor speed in 10r min Internal speed Servo motor speed in 10r min Internal speed internal torque Servo motor speed in 10r min instantaneous torque Internal to...

Page 167: ...lse unit Command pulse frequency Regenerative load ratio Effectiveload ratio Peakloadratio Instantaneous torque Within one revolution position in pulse unit Within one revolution position in 1000 pulse unit Load to motor inertia moment ratio Bus voltage Settling time To Step No Current position in 10 STM m unit Current position in 1000 10 STM m unit Command position in 10 STM m unit Command positi...

Page 168: ...ollowing table lists display examples Item Status Displayed data Driver display Servo motor speed in 10r min unit Forward rotation at 2500r min Reverse rotation at 3000r min Lit Reverse rotation is indicated by the lit decimal points in the upper two digits Servo motor speed in r min unit Forward rotation at 250r min Reverse rotation at 300r min Lit Reverse rotation is indicated by the lit decimal...

Page 169: ...k pulses 720000pulse Pulse unit 1000 pulse unit 680000pulse Pulse unit Lit Negative value is indicated by the lit decimal points in the upper two digits 1000 pulse unit Lit Negative value is indicated by the lit decimal points in the upper two digits Load to motor inertia moment ratio 15 Multiplier ...

Page 170: ...ion command input pulses is displayed The value displayed is not multiplied by the electronic gear CMX CDV The value in excess of 999 can be counted up to 1500 However the counter shows only the lower three digits since the driver display is three digits 999 to 999 Regenerative load ratio L The ratio of regenerative power to permissible regenerative power is displayed in 0 to 100 Effective load ra...

Page 171: ...ning distance to the command position specified by the selected point table is displayed The value in excess of 999999 can be counted However the counter shows only the lower or higher three digits since the driver display is three digits 0 to 999 Command remaining distance in 1000 10STM m unit Note 1 rnH 1000 10STM m 0 to 999 Point table No Note 1 Pno The point table No Program No which is being ...

Page 172: ...Test operation mode JOG operation JOG operation can be performed when there is no command from the external command device For details refer to section 5 10 2 Positioning operation With no command given from the external command device positioning operation can be executed once MR Configurator2TM is required for positioning operation For details refer to section 5 10 3 Motor less operation Without...

Page 173: ... Series ID of the servo motor currently connected will be displayed by pressing the SET button For details refer to App 2 Servo motor type ID Type ID of the servo motor currently connected will be displayed by pressing the SET button For details refer to App 2 Servo motor Encoder ID Encoder ID of the servo motor currently connected will be displayed by pressing the SET button For details refer to ...

Page 174: ...ail No are displayed alternately in 2 s intervals Alarm history SET Indicates the last alarm If the last alarm is 50 overload detail 1 alarm No 50 with detail No is displayed while holding down the SET button Indicates in hexadecimal for the second to the sixteenth alarm in the past as shown on the left The alarm No with detail No is displayed while holding down the SET button The number of tough ...

Page 175: ...Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the third digit remains flickering 3 For any alarm remove its cause and clear it in any of the following methods for clearable alarms refer to section 8 1 a Switch power OFF then...

Page 176: ...n time constant the deceleration time constant dwell and the auxiliary function can be set 5 6 1 Point table transition After selecting the point table mode with the MODE button pressing the UP or the DOWN button changes the display as shown below Point table No 1 Point table No 2 Point table No 3 Point table No 4 Point table No 5 Point table No 6 Point table No 7 DOWN UP ...

Page 177: ...quence In the point table mode pressing the SET button changes the screen as shown below Press the UP or the DOWN button to move to the next screen Positiondata Servo motor speed Deceleration time constant Dwell Auxiliaryfunction Acceleration time constant UP DOWN Target position ...

Page 178: ... operation procedure performed after power on to set the auxiliary function of the point table No 1 to 1 The set value of the specified point table No flickers During flickering the set value can be changed Set with UP or DOWN Press MODE three times Press UP or DOWN to choose the point table No 1 The point table No is displayed Press SET once Press UP five times Press SET twice Press UP once Press...

Page 179: ...s lit To the next setting To the next setting Press SET once Press UP or DOWN to change the setting Press SET once Press UP or DOWN to choose the point table No 1 The point table No is displayed Press SET once Press SET once Choose the setting screen of the upper 3 digits or the lower 3 digits with MODE After setting 2 to shift to the setting of higher or lower 3 digits in the same point table No ...

Page 180: ...s displaymode MODE Basic setting parameters Gain filter parameters Extensionsetting parameters I O setting parameters Parameter No PA01 Parameter No PA02 Parameter No PB01 Parameter No PB02 Parameter No PC01 Parameter No PC02 Parameter No PD01 Parameter No PD02 Parameter No PE01 Parameter No PE02 Parameter No PA18 Parameter No PA19 Parameter No PB49 Parameter No PB50 Parameter No PD25 Parameter No...

Page 181: ...er power on to change the control mode parameter No PA01 to the internal speed control mode Press MODE to switch to the basic setting parameter screen Press UP or DOWN to change the number The set value of the specified parameter number flickers Press SET twice Press UP twice During flickering the set value can be changed Use UP or DOWN 2 Internal speed control mode Press SET to enter The paramete...

Page 182: ...nce Setting of upper 2 digits Press UP or DOWN to change the setting Press SET once Enter the setting Press MODE once Press MODE once Setting of lower 3 digits The decimal point of the first digit is lit Press MODE three times Press SET once Press UP or DOWN to choose parameter No PA06 To the initial screen of setting for lower 3 To the initial screen of setting for upper 2 To proceed to the next ...

Page 183: ...ess UP once External I O signal display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below Input signals Output signals Always lit CN1 7 CN1 8 CN1 12 CN1 11 Lit ON Extinguished OFF CN1 5 CN1 6 CN1 9 CN1 4 CN1 3 CN1 10 CN1 21 The LED segment corresponding to the pin is lit to indicate ON and is extinguished to indicate OFF The signals correspondi...

Page 184: ...ing mode Program method b Symbol and signal names Symbol Signal name Symbol Signal name SON Servo on RD Ready RES Reset ALM Trouble PC Proportion control INP In position EM1 Forced stop SA Speed reached CR Clear MBR Electromagnetic brake interlock ST1 Forward rotation start TLC Limiting torque ST2 Reverse rotation start VLC Limiting speed RS1 Forward rotation selection WNG Warning RS2 Reverse rota...

Page 185: ...3 SON CN1 4 SP1 CN1 5 Input signals Output signals EM1 CN1 8 ST2 CN1 7 ST1 CN1 6 RD CN1 11 MBR CN1 12 ALM CN1 9 OP CN1 21 SA CN1 10 c Internal torque control mode Lit ON Extinguished OFF RES CN1 3 SON CN1 4 SP1 CN1 5 Input signals Output signals EM1 CN1 8 RS1 CN1 7 RS2 CN1 6 RD CN1 11 MBR CN1 12 OP CN1 21 ALM CN1 9 d Positioning mode Lit ON Extinguished OFF MD0 CN1 3 DI1 CN1 23 SON CN1 4 Input sig...

Page 186: ...y turning off the servo on SON Operation After power on change the display to the diagnostic screen using the MODE button CN1 9 Indicates the ON OFF of the output signal The correspondences between segments and signals are as in the output signals of the external I O signal display Lit ON extinguished OFF Press UP twice Press SET for 2s or more to shift to the output signal DO forced output screen...

Page 187: ...the normal operation mode 5 10 1 Mode change After power on change the display to the diagnostic screen using the MODE button Select jog operation motor less operation forced tough drive operation in the following procedure Press UPthree times Press SETfor more than 2s When thisscreen appears JOG operation can be performed Refer to section 5 10 2 When thisscreen appears motor less operation canbe ...

Page 188: ...00 How to use the buttons is explained below Button Description UP Press to start CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the communication cable is disconnected during the jog operation using the software MR Configurator2TM the servo motor decelerates to a stop 2 Status display Call the status display screen by pressing the MODE button in the JOG operation ...

Page 189: ...vel device the power must be turned off and then on With no command given from the external command device positioning operation can be executed once Click Test Mode on the menu bar and click Positioning Mode on the menu Click Positioning Mode on the menu bar and click Move Distance Unit Selectiom on the menu Check Command pulse unit Electronic gear valid and click OK Electronic gear ratio that is...

Page 190: ... the Reverse CW button to rotate the servo motor in the reverse rotation direction 5 Temporary stop of servo motor e Click the Pause button to stop the servo motor temporarily Click the Forward CCW button or Reverse CW button during the temporary stop to restart the rotations for the remaining move distance 6 Servo motor stop f g Click the Stop button or Forced stop button to stop the servo motor ...

Page 191: ... encoder pulse unit 5 10 4 Motor less operation Without connecting the servo motor you can provide output signals or monitor the status display as if the servo motor is running in response to input device This operation can be used to check the sequence of a host programmable logic driver or the like 1 Operation Turn off the servo on SON and then select motor less operation After that perform exte...

Page 192: ... the MODE button is pressed For details of the status display refer to section 5 3 The status display screen returns to the forced tough drive operation stand by screen after one screen cycle Note that the status display screen cannot be changed by the UP or the DOWN button in the forced tough drive operation mode 3 Termination of forced tough drive operation To end the forced tough drive operatio...

Page 193: ... operation procedure of the one touch tuning 4 6 1 3 Precautions for one touch tuning 8 6 2 Gain adjustment methods 9 6 3 Auto tuning mode 11 6 3 1 Overview 11 6 3 2 Auto tuning mode 1 operation 12 6 3 3 Adjustment procedure by auto tuning 13 6 3 4 Response level setting in auto tuning mode 1 14 6 4 2 gain adjustment mode 15 6 5 Manual mode 16 ...

Page 194: ... torque to 90 or less of the maximum torque of the servo motor during the operation 6 1 One touch tuning Just by pressing the AUTO button on the front panel of the driver the gain filter is easily adjusted The following parameters are automatically adjusted by the one touch tuning Parameter No Symbol Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response PB03 PST Position command acceleratio...

Page 195: ...rt up the system Rotate the servo motor by an external command device etc The one touch tuning cannot be performed if the servo motor is not operating Press the AUTO button for 3 s or longer during the operation The display changes to and the mode shifts to the one touch tuning mode Press the UP or the DOWN button while is displayed to select the response mode Start the one touch tuning by pressin...

Page 196: ...th high rigidity such as a ballscrew drive Response mode for standard machines Response mode for machines with low rigidity such as a belt drive Response mode Response level Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine Low response Inserter Mounter Bonder Arm robot Precision working machine General machine tool conveyor High response The one touch tuning ...

Page 197: ...lit moving from right to left Pressing the MODE button during the one touch tuning calls the status display The completion display is called 1s later At 100 Completion display At completion Fin flickers regardless of the item displayed Pressing any button calls the settling time status display Settling time display 2s later The settling time of the status display is displayed and the value is disp...

Page 198: ...The overshoot is lager than the value set in the in position range parameter No PA10 Increase the in position range parameter No PA10 The one touch tuning was attempted while the servo on SON was turned OFF Perform the one touch tuning after turning on the servo on SON C03 Control mode fault The one touch tuning was attempted while the internal torque control mode was selected from the control mod...

Page 199: ...s called 6 At warning occurrence During the one touch tuning Warning reset Alarm display warning Completion display One touch tuning complete a If some warning occurs during the one touch tuning the alarm display is called and the warning is displayed However one touch tuning continues to be performed b When the warning is reset the alarm display is shifted to the one touch tuning Waning occurrenc...

Page 200: ... display at power on is called One touch tuning clear mode display when returning to the initial value Status display at power on in the position control mode The selected one touch tuning clear mode is performed During the operation the symbol of the one touch tuning clear mode is lit for 3s Clear the one touch tuning with the SET button If no operation is performed in 10s the one touch tuning cl...

Page 201: ...B03 PG1 parameter No PB07 OVA parameter No PB12 NH1 parameter No PB13 NHQ1 parameter No PB14 NH2 parameter No PB15 NHQ2 parameter No PB16 2 Gain adjustment made by the auto tuning mode parameter No PA08 Gain adjustment method Parameter No PA08 setting Estimation of load to motor inertia moment ratio Automatically set parameters Manually set parameters Auto tuning mode 1 initial value 001 Always es...

Page 202: ... Manual mode Yes END Usage This driver enables the auto tuning mode 1 in the initial status Refer to section 6 3 1 Use the one touch tuning button AUTO to make the adjustment Refer to section 6 1 After one touch tuning parameter No PA08 ATU auto tuning mode automatically changes to 000 2 gain adjustment mode Refer to section 6 4 All gains can be adjusted manually for fast setting etc Refer to sect...

Page 203: ...ion Name PB06 GD2 Load to motor inertia moment ratio PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5 s or less Speed is 150r min or higher Load to motor...

Page 204: ...nertia moment ratio is already known or if the estimation cannot be made properly select manual mode by setting parameter No PA08 to 003 the switch in the above diagram turns off to stop the estimation of the load to motor inertia moment ratio Then set the load to motor inertia moment ratio manually to parameter No PB06 From the preset load to motor inertia moment ratio parameter No PB06 value and...

Page 205: ...he machine Merely changing the response level setting value as required completes the adjustment The adjustment procedure is as follows END Acceleration deceleration repeated Load to motor inertia moment ratio estimation value stable Adjust the auto tuning response level RSP parameter No PA09 on vibration free level To manual mode Requested performance satisfied Yes No Yes No Acceleration decelera...

Page 206: ...to the desired response because of machine resonance beyond 100Hz adaptive tuning mode parameter No PB01 or machine resonance suppression filter parameter No PB13 to PB16 PB38 PB39 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 7 2 for adaptive tuning mode and machine resonance suppression filter Setting of ...

Page 207: ...ly adjusted parameters The following parameters are adjustable manually Parameter No Abbreviation Name PA09 RSP Auto tuning response PB07 PG1 Model loop gain 2 Adjustment procedure Step Operation Description 1 Set to the 2 gain adjustment mode Set parameter No PA08 auto tuning mode to 0 2 During the operation increase the response level setting parameter No PA09 and reset the setting if vibration ...

Page 208: ...ia moment ratio If the estimate value with auto tuning is correct setting change is not required 4 Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral c...

Page 209: ...tting lowers the response level However if the load to motor inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression 3 Model loop gain PG1 parameter No PB07 This parameter determines the response level for the position command ...

Page 210: ... place Increase the model loop gain 9 If the gains cannot be increased due to mechanical system resonance or the like and the desired response cannot be achieved response may be increased by suppressing resonance with adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 Suppression of machine resonance Refer to section 7 2 10 While checking the settling char...

Page 211: ... power failure tough drive function 5 7 2 Machine resonance suppression function 7 7 2 1 Function block diagram 7 7 2 2 Adaptive filter 8 7 2 3 Machine resonance suppression filter 9 7 2 4 Advanced vibration suppression control 11 7 2 5 Low pass filter 15 7 3 Gain changing function 15 7 3 1 Applications 15 7 3 2 Function block diagram 16 7 3 3 Parameters 17 7 3 4 Gain changing operation 19 ...

Page 212: ...ds the next command until the in position INP turns on so that the machine tact and the effective load ratio are decreased The during tough drive MTTR can be output from the driver by setting parameter No PD20 function selection D 1 to 1 POINT The overload tough drive function is available only in the position control mode The increase in the load ratio that is caused by temporary load fluctuation...

Page 213: ...oad ratio reduces automatically ends the INP delay ON OFF ON OFF ON OFF Ti Ti Ti When the overload tough drive function activates the number of tough drive in the display mode alarm mode is increased by one Refer to section 5 5 7 1 2 Vibration tough drive function The vibration tough drive function reset the filter instantaneously and prevents oscillation when a machine resonance is generated due ...

Page 214: ...red with the set values of parameters No PB13 machine resonance suppression filter 1 and No PB15 machine resonance suppression filter 2 Then whichever parameter has a set value closer to the detected machine resonance frequency is reset to the value of the detected frequency Updates the parameter whose setting is the closest to the machine resonance frequency Command input pulses Command filter Ma...

Page 215: ...re tough drive POINT The electromagnetic brake interlock MBR does not turn off during the instantaneous power failure tough drive When the load of instantaneous power failure is heavy the undervoltage alarm 10 2 caused by the bus voltage drop may occur regardless of the setting value of parameter No PC28 detailed setting of instantaneous power failure tough drive 1 When the instantaneous main circ...

Page 216: ...se circuit ON OFF Instantaneous power failure time of the main circuit power supply Ready RD ON OFF ON OFF ON OFF ON OFF ON OFF Parameter No PC28 3 When the instantaneous main circuit power failure time is longer than the set value of parameter No PC28 detailed setting of instantaneous power failure tough drive If the instantaneous main circuit power failure time exceeds the set value of parameter...

Page 217: ...may cause the mechanical system to produce resonance vibration or unusual noise at that resonance frequency Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system 7 2 1 Function block diagram Speed control Machine resonance suppression filter 2 Parameter No PB01 Manual mode Machine resonance suppression filter 1 2 0 Encoder Current co...

Page 218: ...the notch shape selection 1 parameter No PB14 are set automatically The machine resonance frequency which adaptive tuning mode can respond to is about 100 to 2 25kHz Adaptive vibration suppression control has no effect on the resonance frequency outside this range Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics 2 Param...

Page 219: ...requency gain decreasing depth and width Notch width Mechanical system response level Machine resonance point Notch depth Notch frequency Frequency Frequency Notch depth The vibration of three resonance frequency can be suppressed by the machine resonance suppression filter 1 machine resonance suppression filter 2 and machine resonance suppression filter 3 Mechanical system response level Machine ...

Page 220: ...e adaptive tuning mode parameter No PB01 Machine resonance suppression filter 3 Parameter No PB38 Parameter No PB39 POINT The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if an improper resonance frequency or an excessively deep notch is set If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower...

Page 221: ...chine end vibration In addition the vibration suppression control tuning mode shifts to the manual mode after positioning is performed the predetermined number of times The manual mode enables manual setting using the vibration suppression control vibration frequency setting parameter No PB19 and the vibration suppression control resonance frequency setting parameter No PB20 2 Parameter Select the...

Page 222: ...ge To prevent unexpected operations be sure to stop the servo motor before changing the vibration suppression control related parameters parameter No PB02 PB19 PB20 PB33 PB34 PB38 PB39 For positioning operation during execution of vibration suppression control tuning provide a stop time to ensure a stop after full vibration damping Vibration suppression control tuning may not make an estimation pr...

Page 223: ...one touch tuning Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Factor Estimation cannot be made as machine end vibration has not been transmitted to the motor end The response of the model loop gain has increased to the machine end vibration frequency vibration suppression control limit Yes Tuning ends automatically after operation is performed...

Page 224: ...frequency Parameter No PB20 Resonance of more than 100Hz is not the target of control b When vibration can be measured using an external measuring instrument Motor end vibration Droop pulses Position command frequency External acceleration pick signal etc Vibration suppression control vibration frequency Vibration suppression control resonance frequency Set the same value Vibration cycle Hz Vibrat...

Page 225: ...ue 1 Manual setting parameter No PB18 setting Parameter No PB23 0 0 7 3 Gain changing function POINT The functions given in this section are not generally requied to use Use these functions when the machine status is not satisfactory after making adjustment in the methods given in chapter 6 This function can change the gains Gains can be changed using an input device or gain switching conditions s...

Page 226: ...pulse frequency Droop pulses Model speed Input device CDP Comparator Changing CDP Parameter No PB26 GD2 Parameter No PB06 GD2B Parameter No PB29 Valid GD2 value PG2 Parameter No PB08 PG2B Parameter No PB30 Valid PG2 value VG2 Parameter No PB09 VG2B Parameter No PB31 Valid VG2 value VIC Parameter No PB10 VICB Parameter No PB32 Valid VIC value CDL Parameter No PB27 VRF1 Parameter No PB19 VRF1B Param...

Page 227: ...g condition kpps pulse r min Used to set the changing condition values PB28 CDT Gain changing time constant ms Used to set the filter time constant for a gain change at changing PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Hz Used to set the value of the after changing vibration suppression control vibration frequency setting PB34 VRF2B Gain changing vibration...

Page 228: ...lid when the value is equal to or larger than the value set in parameter No PB27 1 Valid when the input device gain changing CDP is OFF or valid when the value is equal to or smaller than the value set in parameter No PB27 5 Gain changing condition parameter No PB27 This parameter is used to set gain changing level when command frequency droop pulse or servo motor speed is selected in the gain cha...

Page 229: ... PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms PB26 CDP Gain changing selection 001 Changed by ON OFF of input device PB28 CDT Gain changing time constant 100 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 60 Hz PB34 VRF2B Gain changing vibration supp...

Page 230: ...moment ratio 10 0 Multiplier 1 PB30 PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms PB26 CDP Gain changing selection 003 Changed by droop pulses PB27 CDL Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms b Changing operation After changing gain Before changing gain...

Page 231: ...8 1 8 TROUBLESHOOTING 8 TROUBLESHOOTING 2 8 1 Alarms and warning list 2 8 2 Remedies for alarms 4 8 3 Remedies for warnings 27 ...

Page 232: ...tivation Power OFF ON Press SET on current alarm screen Alarm reset RES Alarms A 10 Undervoltage A 12 Memory error 1 RAM A 13 Clock error A 15 Memory error 2 EEP ROM A 16 Encoder initial communication error1 A 17 Board error A 19 Memory error 3 Flash ROM A 1A Motor combination error A 1C Software combination error A 1E Encoder initial communication error 2 A 1F Encoder initial communication error ...

Page 233: ... Stops Note 2 A 99 Stroke limit warning Stops Note 2 A E0 Excessive regeneration warning Does not stop A E1 Overload warning 1 Does not stop A E6 Servo forced stop warning Stops A E9 Main circuit off warning Stops A EC Overload warning 2 Does not stop A ED Output watt excess warning Does not stop A F0 Tough drive warning Does not stop Note 1 Deactivate the alarm about 30 minutes of cooling time af...

Page 234: ...e a cooling time of more than 30 minutes before resuming operation Regenerative error 30 Main circuit device overheat 45 1 Servo motor overheat 46 1 Overload 1 50 Overload 2 51 The alarm can be deactivated by switching the power off and then on by pressing the SET button on the current alarm screen or by turning on the reset RES For details refer to section 8 1 When an alarm occurs the trouble ALM...

Page 235: ...or is disconnected Connect correctly No problem Check 2 2 Main circuit power supply voltage is low Check if the main circuit power voltage is 160VAC or less 160VAC or less Raise the main circuit power voltage Above 160VAC Check 3 3 The drop occurs during acceleration Check if the value of status display Pn bus voltage is 1 undervoltage The value is 1 undervoltage Increase the acceleration time con...

Page 236: ... Replace the driver 2 Parts fault Alarm does not occur Check 3 3 Fault in the surrounding environment Check if any noise entered the power supply Check if any connector is shorted An error is found Take the appropriate measures according to the cause Alarm No A 15 Name Memory error 2 EEP ROM Description Driver internal part EEP ROM is faulty Detailed display Detailed Name Cause Checking method Res...

Page 237: ...on data error 2 Frame error 1 Encoder cable faulty Execute the checking methods mentioned in the alarm display 16 0 2 Fault in the surrounding environment 3 Driver fault 16 3 Encoder transmission data error 3 The driver not receiving 1 Encoder cable is disconnected Check if the encoder cable is connected correctly Disconnected Connect correctly Connected correctly Check 2 2 Encoder cable faulty Ch...

Page 238: ...r cable faulty Execute the checking methods mentioned in the alarm display 16 5 2 Fault in the surrounding environment 3 Encoder fault Alarm No A 17 Name Board error Description Driver internal part is faulty Detailed display Detailed Name Cause Checking method Result Action 17 1 AD converter error 1 Current detection circuit fault Turn off the servo on SON and check if the alarm occurs Alarm occu...

Page 239: ...iption Software checksum error Detailed display Detailed Name Cause Checking method Result Action 1C 1 Software combination error 1 Flash ROM fault Remove all cables except for the control circuit power supply and check if the alarm occurs Alarm occurs Replace the driver Alarm No A 1E Name Encoder initial communication error 2 Description Faulty parts in the encoder Detailed display Detailed Name ...

Page 240: ...ck the noise etc An error is found Take the appropriate measures according to the cause No error Check 3 3 Encoder fault Check if the alarm occurs after replacing the servo motor Alarm does not occur Replace the servo motor 20 7 Encoder receive data error2 Request discrepancy 1 Encoder cable shielding is faulty Execute the checking methods mentioned in the alarm display 20 5 2 Fault in the surroun...

Page 241: ... Remove the power cables from the servo motor and check if short occurs in the servo motor between U V W and Servo motor is shorted Replace the servo motor No problem Check 4 4 Power supply cables and servo motor power cables are shorted Check if there is a contact between the power supply cables and the servo motor power cables at power off There is a contact Connect correctly No contact Check 5 ...

Page 242: ...enerative option is connected correctly Incorrect connection Connect correctly Correct connection Check 3 3 Power supply voltage is high Check the input power supply 230VAC or more Decrease the power supply voltage Below 230VAC Check 4 4 The regenerative load ratio is over 100 Call the status display or software MR Configurator2TM and check the regenerative load ratio at alarm occurrence 100 or mo...

Page 243: ...orque Increase the acceleration deceleration time constant or reduce the load Performed with the torque lower than the maximum Check 3 3 Servo system is instable and oscillating Check if the servo motor is oscillating Servo motor is oscillating Adjust the servo gain by the auto tuning mode 1 or the one touch tuning Reduce the load Servo motor is not oscillating Increase the acceleration time const...

Page 244: ...ccurs Replace the driver Alarm does not occur Check 2 2 Ground fault or short of the servo motor power cables Check if the power cables themselves are shorted Cables are shorted Replace the power cables No problem Check 3 3 Servo motor fault Remove the power cables from the servo motor edge and check if short occurs between U V W and Ground fault occurs in the servo motor Replace the servo motor G...

Page 245: ...heck 4 4 Servo motor fault Remove the power cables from the servo motor edge and check if short occurs between U V W and Ground fault occurs in the servo motor Replace the servo motor Ground fault does not occur in the servo motor Check 5 5 Fault in the surrounding environment Check the noise etc An error is found Take the appropriate measures according to the cause 32 3 Overcurrent was detected b...

Page 246: ...ve resistor regenerative option When using the built in regenerative resistor replace the driver When using the regenerative option replace the regenerative option No problem Check 4 4 Regenerative capacity is insufficient Check if alarm occurs when the deceleration time constant is increased Alarm does not occur Use the regenerative option if it is not used Increase the deceleration time constant...

Page 247: ...Fault in the surrounding environment Check the noise the ambient temperature etc An error is found Take the appropriate measures according to the cause Alarm No A 37 Name Parameter error Description Parameter setting is incorrect Detailed display Detailed Name Cause Checking method Result Action 37 1 Parameter setting range error 1 Parameter is set outside the setting range Check the set value acc...

Page 248: ... written Replace the driver Correct program is written Check 3 3 Driver fault caused the program to be rewritten Check if the alarm occurs after replacing the driver Alarm does not occur Replace the driver 39 2 Command argument range error 1 An argument of program command is out of the range Check the command argument according to the step No Refer to section 5 3 1 Outside the argument range Corre...

Page 249: ...ng are clogged Check if the alarm occurs after cleaning the heat sink and the opening Alarm does not occur Clean periodically Alarm occurs Check 5 5 Driver fault Check if the alarm occurs after replacing the driver Alarm does not occur Use the normal driver Alarm No A 46 Name Servo motor overheat Description Servo motor is overheated Detailed display Detailed Name Cause Checking method Result Acti...

Page 250: ...thout the cooling time Check if the alarm was reset after 30 minutes had past since the alarm occurrence No Reset the alarm after the sufficient time Yes Check 5 5 Driver fault Check if the alarm occurs after replacing the driver Alarm does not occur Replace the driver 50 2 Overload thermal 2 error during operation Short time operation protection 1 The work collided against the structural part Che...

Page 251: ...e the alarm occurrence No Reset the alarm after the sufficient time Yes Check 5 5 Driver fault Check if the alarm occurs after replacing the driver Alarm does not occur Replace the driver Alarm No A 50 Name Overload 1 Description Load exceeded overload protection characteristic of driver Detailed display Detailed Name Cause Checking method Result Action 50 5 Overload thermal 2 error at a stop Shor...

Page 252: ...e work collided against the structural part Check if the work collided against the structural part Collided Check the operation pattern Did not collide Check 5 5 Torque is saturated Check the torque during the operation Torque is saturated Check the operation pattern Torque is not saturated Check 6 6 Driver fault Check if the alarm occurs after replacing the driver Alarm does not occur Replace the...

Page 253: ...rated Saturated Reduce load Check operation pattern Replace the servo motor to one that provides larger output Not saturated Check 7 7 Servo motor cannot be started due to torque shortage caused by power supply voltage drop Check the value of status display Pn bus voltage The value is 1 undervoltage or 2 low voltage Check the power supply voltage The value is 4 high voltage or 5 overvoltage Check ...

Page 254: ... normally Alarm does not occur Replace the servo motor Alarm No A 52 Name Error excessive Description The droop pulse between the command position and current position exceeds the alarm level Detailed display Detailed Name Cause Checking method Result Action 52 4 Error excessive at torque limit value zero 1 Torque limit value is 0 Check the torque limit value Torque limit value is 0 Increase the t...

Page 255: ...driver Alarm does not occur Replace the driver 8E 2 USB communicatio nchecksum error 1 Communication cable fault Execute the checking methods mentioned in the alarm display 8E 1 2 Communication device e g personal computer setting error 3 Fault in the surrounding environment 4 Driver fault 8E 3 USB communicatio n character error 1 Communication cable fault Execute the checking methods mentioned in...

Page 256: ...Note Name Watchdog Description CPU or part is faulty Detailed display Detailed Name Cause Checking method Result Action 1 Fault of parts in the driver Replace the driver Note At power on 888 appears instantaneously but it is not an error ...

Page 257: ...return Check if home position return was performed Home position return was not performed Perform home position return 90 2 Home position return abnormal completion 1 Home position return speed could not be decreased to the creep speed Check the home position return speed the creep speed and the travel distance after proximity dog The set value is incorrect Set correctly and perform home position ...

Page 258: ... method Result Action 96 2 Speed command not converged 1 The speed command does not become 0 after home position return Check the speed command value after home position return Speed Command outputting Set the speed command to 0 Speed Command not outputting Check 2 2 The creep speed is too fast Check the creep speed The creep speed is too fast Reduce the creep speed Alarm No A 97 Name Program oper...

Page 259: ...parameter correctly Outside the movable range Check 2 2 Point table program with the position data in excess of the software limit at the reverse rotation was executed 1 Check the set value of the point table program 2 Check the operation method Within the movable range Create the point table program correctly In manual operation Check 3 3 Software limit at the reverse rotation side was reached du...

Page 260: ...hod Result Action E1 1 Warning while the overload thermal 1 is operating 1 Load exceeded 85 of the alarm level of the overload alarm 50 1 Execute the checking methods mentioned in the alarm display 50 1 E1 2 Warning while the overload thermal 2 is operating 1 Load exceeded 85 of the alarm level of the overload alarm 50 2 Execute the checking methods mentioned in the alarm display 50 2 E1 3 Warning...

Page 261: ...e the servo motor speed operates at 50r min or slower Detailed display Detailed Name Cause Checking method Result Action E9 1 Servo on SON OFF when the main circuit is OFF 1 Main circuit power supply is off Check if the main circuit power supply is input Not input Switch on the main circuit power Input Check 2 2 Main circuit power supply connector is disconnected Check the main circuit power suppl...

Page 262: ... warning 2 The operation does not stop Warning contents Operation in which a current exceeding the rating flowed intensively in any of the U V and W phases of the servo motor was repeated Detailed display Detailed Name Cause Checking method Result Action EC 1 Overload warning 2 1 Current flowed intensively in specific phases of the servo motor during a stop Also this situation was continued Check ...

Page 263: ...F0 2 Overload tough drive warning 1 Effective load ratio exceeded 90 the alarm level of the overload alarm Measure the effective load ratio in the continuous operation The effective load is over the overload warning level Reduce the load F0 3 Vibration tough drive warning 1 The reconfiguration of machine resonance suppression filter 1 or machine resonance suppression filter 2 occurred due to the m...

Page 264: ...9 1 9 OUTLINE DRAWINGS 9 OUTLINE DRAWINGS 2 9 1 Driver 2 9 2 Connector 4 ...

Page 265: ...E DRAWINGS 9 OUTLINE DRAWINGS 9 1 Driver 1 LECSA S1 LECSA S3 Unit mm Mass 0 6 kg 1 32 lb U V W P C 24V 0V L2 Terminal layout L1 CNP1 CNP2 Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in LECSA S3 ...

Page 266: ...9 3 9 OUTLINE DRAWINGS 2 LECSA S4 Unit mm Mass 0 7 kg 1 54 lb U V W P C 24V 0V L2 Terminal layout L1 CNP1 CNP2 Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in ...

Page 267: ...e indicated here D Connector Shell kit Each type of dimension A B C D E 10126 3000PE 10326 52F0 008 25 8 37 2 14 0 10 0 12 0 b Jack screw M2 6 type This is not available as option Applicable wire size AWG24 30 Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here D 5 2 F Connector Shell kit Each type of dimension A B C D E F 10126 3000PE 10326 52A0 008 25 8 37 2 14 0 10 0 12 0 27 4 ...

Page 268: ...9 5 9 OUTLINE DRAWINGS 2 SCR connector system Sumitomo 3M Limited Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 269: ...eristics 2 10 2 Power supply capacity and generated loss 3 10 3 Dynamic brake characteristics 5 10 3 1 Dynamic brake operation 5 10 3 2 The dynamic brake at the load inertia moment 6 10 4 Cable flexing life 7 10 5 Inrush currents at power on of main circuit and control circuit 7 ...

Page 270: ...d torque When closely mounting the drivers operate them at the ambient temperature of 0 to 45 32 to 113 or at 75 or smaller effective load ratio The servo motor overload protective function is built in LECSA series drivers 115 of the driver rated current is set as standard full load current Operation time s 1000 100 10 1 0 1 0 50 150 200 250 300 100 During operation During servo lock Operation tim...

Page 271: ...is not included in the driver generated heat To calculate heat generated by the regenerative option refer to section 11 2 2 Heat dissipation area for enclosed driver The enclosed control box hereafter called the control box which will contain the driver should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 With a 5 41 safety margin the system should o...

Page 272: ...nside Air flow Fig 10 2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure effective heat exchange will be possible because the temperature slope inside and outside the enclosure will be steeper ...

Page 273: ...vo motor stops 10 3 1 Dynamic brake operation 1 Calculation of coasting distance Fig 10 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 10 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant varies with the servo motor and machine operation speeds Refer to paragraph 2 of this section OFF ON Machine s...

Page 274: ...rake under the load to motor inertia moment ratio indicated in the following table If the load to motor inertia moment is higher than this value the built in dynamic brake may burn If there is a possibility that the load to motor inertia moment may exceed the value contact your local sales office The values of the load to motor inertia moment ratio in the table are the values at the maximum rotati...

Page 275: ...ents reference data that flow when the maximum permissible voltage main circuit power supply 253VAC control circuit power supply 26 4VDC is applied at the power supply capacity of 2500kVA and the wiring length of 1m Driver Inrush currents A0 P Main circuit power supply L1 L2 Control circuit power supply 24V 0V LECSA2 130A Attenuated to approx 5A in 5ms 25A Attenuated to approx 0A in 4 to 6ms Since...

Page 276: ... cable 5 11 1 3 Motor cable 7 11 1 4 Lock cables 8 11 2 Regenerative options 9 11 3 Setup software MR Configurator2TM 12 11 4 Selection example of wires 14 11 5 No fuse breakers fuses magnetic contactors 16 11 6 Noise reduction techniques 17 11 7 Leakage current breaker 23 11 8 Circuit protector 25 11 9 EMC filter recommended 25 11 10 Surge protector recommended 26 ...

Page 277: ...rotective structure indicated for cables and connecters is for a cable or connector alone When the cables and connectors are used to connect the driver and servo motor and if protective structures of the driver and servo motor are lower than that of the cable and connector specifications of the driver and servo motor apply As the cables and connectors used with this servo purchase the options indi...

Page 278: ...upply connector HF KN series HF KP G1 G5 G7 Refer to section 11 1 3 for details IP65 Axis side lead 8 Motor cable LE CSM R A Cable length 2 5 10m IP65 Axis side lead Robot cable 9 Motor cable LE CSM S B Cable length 2 5 10m Power supply connector HF KN series HF KP G1 G5 G7 Refer to section 11 1 3 for details IP65 Counter axis side lead 10 Motor cable LE CSM R B Cable length 2 5 10m IP65 Counter a...

Page 279: ...65 Counter axis side lead 16 Lock cable LE CSB R B Cable length 2 5 10m IP65 Counter axis side lead Robot cable 19 Encoder cable LE CSE S A Cable length 2 5 10m Encoder connector HF KN series HF KP G1 G5 G7 Refer to section 11 1 2 1 for details IP65 Axis side lead 20 Encoder cable LE CSE R A Cable length 2 5 10m IP65 Axis side lead Robot cable 21 Encoder cable LE CSE S B Cable length 2 5 10m Encod...

Page 280: ...N2 connector 2 For encoder connector LE CSE S A Receptacle 36210 0100PL Shell kit 36310 3200 008 Sumitomo 3M Limited Connector set 54599 1019 Molex Connector 1674320 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 Tyco Electronics 9 SHD 7 5 MR 3 P5 1 8 6 LG 4 MRR 2 View seen from wiring side Note Signal layout Note Keep open the pins shown with 1 P5 3 MR 7 ...

Page 281: ...ble internal wiring diagram P5 LG 1 2 MR MRR 3 4 2 3 Servo amplifier side connector Encoder side connector 9 SD Plate 5 4 6 9 MR J3ENCBL2M L H MR J3ENCBL5M L H MR J3ENCBL10M L H LG MR MRR SHD P5 Driver LE CSE S A LE CSE R A LE CSE S B LE CSE R B ...

Page 282: ...bot cable LE servo motor Axis side lead LE CSM R B 2 5 A IP65 Robot cable LE servo motor Counter axis side lead 1 Connection of driver and servo motor Cable model 1 For motor connector LE CSM S A Connector JN4FT04SJ1 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B Japan Aviation Electronics Industry U V W 1 2 3 4 View seen from wiring side Sign...

Page 283: ...E CSB R A 2 5 A IP65 Robot cable LE CS servo motor Axis side lead LE CSB R B 2 5 A IP65 Robot cable LE CS servo motor Counter axis side lead 1 Connection of power supply for lock and servo motor Cable model 1 For lock connector LE CSB S A Connector JN4FT02SJ1 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B Japan Aviation Electronics Industry B1...

Page 284: ...e option remove the built in regenerative resistor and its wirings from the driver For the sizes of wires used for wiring refer to section 11 5 Avoid installing and removing the built in regenerative resistor frequently as much as possible When reinstalling the removed built in regenerative resistor check if there is no damage on the lead of the built in regenerative resistor The regenerative opti...

Page 285: ...A 4 8VDC Maximum capacity 2 4VA Remove the built in regenerative resistor in the procedures of 1 to 3 referring to the following diagram 1 Disconnect the wires of the built in regenerative resistor from the main circuit power supply connector CNP1 Refer to 3 in section 3 3 3 2 Remove the wires of the built in regenerative resistor from the driver starting from the closest to the main circuit power...

Page 286: ...e wire size 0 2 to 2 5 mm2 Mounting screw Screw M5 Tightening torque 3 24 N m 28 7 lb in 4 to 5 lb in AWG24 to AWG12 Mass 1 1 kg 2 4 lb b LEC MR RB 032 Unit mm G3 G4 P C TE1 terminal block Tightening torque 0 5 to 0 6 N m Applicable wire size 0 2 to 2 5 mm2 Mounting screw Screw M5 Tightening torque 3 24 N m 28 7 lb in 4 to 5 lb in AWG24 to AWG12 Mass 0 5 kg 1 1 lb ...

Page 287: ...fications Item Description Compatibility with a driver The set up software MR Configurator2TM software version compatible with the driver is Ver 1 52E or later Monitor Display Input Output I F display high speed monitor graph display Minimum resolution changes with the processing speed of the personal computer Alarm Display history driver data Diagnostic No motor rotation system information displa...

Page 288: ... Disk 1GB or more of free space Display One whose resolution is 1024 768 or more and that can provide a high color 16 bit display Connectable with the above personal computer Keyboard Connectable with the above personal computer Mouse Connectable with the above personal computer Printer Connectable with the above personal computer USB cabl0 Note 10 LEC MR J3USB Note 1 Using a PC for setting Window...

Page 289: ...dicated in this section are separated wires When using a cable for power line U V and W between the driver and servo motor use a 600V grade EP rubber insulated chloroprene sheath cab tire cable 2PNCT When complying with the UL CSA standard use the wires shown in App 8 for wiring To comply with other standards use a wire that is complied with each standard Selection condition of wire size is as fol...

Page 290: ...16 LECSA S3 LECSA2 S4 Note Wires are selected based on the highest rated current among combining servo motors b When using the 600V Grade heat resistant polyvinyl chloride insulated wire HIV wire Selection example of wire size when using HIV wires is indicated below Table 11 2 Wire size selection example 2 HIV wire Driver Wires mm2 Note 1 L1 L2 2 24V 0V 3 U V W 4 P C 5 B1 B2 LECSA S1 2 AWG14 2 AWG...

Page 291: ... A 2 to 10 Note 5 AWG20 2 110 0 08 39 0 or less 1 37 4 5 0 3 Note 4 RMFES A CL3X AWG20 2 cores LE CSE R B 2 to 10 Note 1 d is as shown below Insulation sheath Conductor d 2 Standard OD Max OD is about 10 greater 3 Purchase from Toa Electric Industry 4 Purchase from TAISEI CO LTD 5 These wire sizes assume that the UL compliant wires are used at the wiring length of 10m 11 5 No fuse breakers fuses m...

Page 292: ...ke a large amount of noise near the driver and the driver may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surge absorber is built into the driver to protect the ...

Page 293: ...magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the driver 2 Provide maximum clearance between easily affected signal cables and the I O cables of the driver 3 Avoid laying the power lines I O cables of the driver and sign...

Page 294: ...MHz 80 150 b Surge suppressor Recommended The recommended surge suppressor for installation to an AC relay AC valve or the like near the driver is shown below Use this product or equivalent SK Surge suppressor Relay This distance should be short within 20cm Surge suppressor MC ON OFF MC Ex 972A 2003 50411 Matsuo Electric Co Ltd Rated voltage AC V C F R Test voltage AC V Outline drawing Unit mm 200...

Page 295: ... press that part against the earth plate with the cable clamp If the cable is thin clamp several cables in a bunch The clamp comes as a set with the earth plate Cable clamp A B Cable Earth plate External conductor 40 cutter cable Strip the cable sheath of the clamped area Outline drawing installation hole Earth plate Clamp section diagram Note M4 screw 11 3 6 C A 6 22 17 5 35 35 2 5 hole L or less...

Page 296: ...eases but generally four passes would be appropriate For the motor power supply passes must be four times or less Do not pass the grounding earth wire through the filter or the effect of the filter will drop Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required numb...

Page 297: ...s noise and lightning surge from entering the driver When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TND20V 471K manufactured by NIPPON CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Power supply voltage Varistor Maximum rating Maximum limit voltage St...

Page 298: ...1 Iga Ig2 Igm M Servo amplifier NV Leakage current breaker K Type Mitsubishi products Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the driver Found from Fig 11 1 Ig2 Leakage current on the electric channel from the ou...

Page 299: ...ple of selecting a leakage current breaker under the following conditions Servo amplifier MR JN 40A Servo motor HF KN43 2mm2 5m M NV Ig1 Iga Ig2 Igm 2mm2 5m Use a leakage current breaker generally available Find the terms of Equation 11 1 from the diagram Ig1 20 5 1000 0 1 mA Ig2 20 5 1000 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 11 1 Ig 10 0 1 0 0 1 1 0 1 0 1 4 ...

Page 300: ...with the driver Driver Recommended filter Soshin Electric Mass kg lb Model Leakage current mA LECSA S1 LECSA S3 LECSA2 S4 Note HF3010A UN 5 3 Note A surge protector is separately required to use any of these EMC filters Refer to section11 11 2 Connection example NFB L1 L2 Servo amplifier 1 2 3 4 5 6 E Note 2 Surge protector 1 RAV 781BYZ 2 OKAYA Electric Industries Co Ltd Note 2 Surge protector 2 R...

Page 301: ...ied on AC power line connecting the following surge protectors to the main circuit power L1 L2 is recommended 1 Specifications Surge protector model OKAYA Electric industries Co Ltd Circuit voltage 50 60Hz Maximum permissible circuit voltage Clamp voltage Surge immunity 8 20μs Surge compression 1 2 50μs Static capacity Operating temperature RAV 781BYZ 2 3AC 250V 300V 783V 10 2500A 20kV 75pF 20 to ...

Page 302: ...Outline drawing RAV 781BYZ 2 4 5 0 5 1 3 2 41 1 0 28 5 1 0 28 1 0 4 2 0 2 200 UL 1015AWG16 5 5 1 11 1 30 0 Unit mm Black 1 2 3 Black Black RAV 781BXZ 4 1 3 2 UL 1015AWG16 4 2 0 2 5 5 1 11 1 28 5 1 0 41 1 0 28 1 0 4 5 0 5 200 30 0 Unit mm 1 2 3 4 ...

Page 303: ...SERVO MOTOR 2 12 1 Servo motor with a Lock 2 12 1 1 Features 2 12 1 2 Characteristics of servo motor with a lock 4 12 2 Protection from oil and water 5 12 3 Cable 5 12 4 Rated speed of servo motor 5 12 5 Mounting connectors 6 ...

Page 304: ...e lock effective 1 Lock power supply Prepare the following power supply exclusively used for the lock The lock terminals B1 B2 do not have polarity Electromagnetic brake Switch VAR B1 U B 24VDC power supply for electromagnetic brake B2 Electromagnetic brake Switch VAR B1 U B 24VDC power supply for electromagnetic brake B2 or A surge absorber VAR must be installed between B1 and B2 Refer to 3 in th...

Page 305: ...ble when the varistor limit voltage Vi V is smaller than the desired suppressed voltage Vs V If Vi is not smaller than Vs reselect a varistor or improve the withstand voltage of devices Regarding the characteristics characteristic diagram specification selection of the varistor it is necessary to check with the varistor manufacturer 5 Surge current width Given that the varistor absorbs all energie...

Page 306: ...ease delay time Note 2 s 0 03 0 03 Locking delay time Note 2 s DC off 0 01 0 02 Permissible locking work Per braking J 5 6 22 Per hour J 56 220 Lock looseness at servo motor shaft Note 5 degrees 2 5 1 2 Lock life Note 3 Number of locking cycles times 20000 20000 Work per locking J 5 6 22 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 145V TND20V 680KB 135 V For...

Page 307: ...oil such as coolant the sealant packing cable and others may be affected depending on the oil type 12 3 Cable The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable Otherwise the cables may break In addition do not modify the connectors on the cable ends 12 4 Rated speed of servo motor The rated speed of servo motor LE S5 LE S6 LE ...

Page 308: ...ence 1 2 For moter and encoder connectors For lock connector 2 Tighten the screws evenly Tightening torques are as indicated below For brake connector Screw size M2 Tightening torque 0 2 N m For power supply connector Screw size M2 Tightening torque 0 2 N m For encoder connector Screw size M2 Tightening torque 0 1 N m 3 The servo motor fitting part of each connector is provided with a splash proof...

Page 309: ... 50 13 6 Home position return mode 52 13 6 1 Outline of home position return 52 13 6 2 Selection of home position return mode 53 13 6 3 Dog type home position return 54 13 6 4 Count type home position return 57 13 6 5 Data set type home position return 59 13 6 6 Stopper type home position return 60 13 6 7 Home position ignorance Servo on position as home position 62 13 6 8 Dog type rear end refere...

Page 310: ...tion Section 13 6 7 Dog type rear end reference Section 13 6 8 Count type front end reference Section 13 6 9 Dog cradle type Section 13 6 10 Note MD0 Automatic manual selection DI0 to DI2 Point table No Program No selection 1 to 3 2 Program method Selection item of operation mode Operation mode Parameter No PA01 setting Input device setting Note 1 Refer to MD0 DI0 to DI2 Automatic operation mode f...

Page 311: ...and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24VDC 10 200mA current for interfaces from the outside 200mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 1 that gives the current value necessary for the interface 5 When starting operat...

Page 312: ... C N2 The frames of the CN1 connectors are connected to the PE earth terminal in the amplifier CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 MD0 4 SON 6 ST1 5 DI0 19 LZ 18 LBR 20 LZR 21 OP 7 ST2 8 EM1 10 Note MEND 9 ALM 23 DI1 22 PG 24 NG 25 DOG 11 RD 12 MBR 26 13 DOCOM 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 CN2 MDR MD The 3M make connector is shown When using anyother connector refer to section 11 1 2 ...

Page 313: ...e reset DI 1 Proximity dog DOG CN1 25 When DOG is turned OFF the proximity dog is detected The polarity of dog detection can be changed using parameter No PE03 DI 1 Parameter No PE03 Proximity dog DOG detection polarity 0 initial value OFF 1 ON Forward rotation stroke end LSP To start operation turn LSP LSN on Turn it off to bring the motor to a sudden stop and make it servo locked DI 1 Note Devic...

Page 314: ... device is not designed to make a stop Do not turn it ON during operation DI 1 Automatic manual selection MD0 CN1 3 Turning MD0 ON selects the automatic operation mode and turning it OFF selects the manual operation mode DI 1 Internal torque limit selection TL1 The internal torque limit 2 parameter No PC14 becomes valid by turning TL1 on The forward torque limit parameter No PA11 and the reverse t...

Page 315: ...with the proportion control PC Then set the internal torque limit 2 parameter No PC14 in order to make the torque lower than the rating DI 1 Forward rotation start ST1 CN1 6 1 In absolute value command system Turning ST1 ON for automatic operation executes positioning once on the basis of the position data target position set to the point table Turning ST1 ON for a home position return immediately...

Page 316: ...inertia moment ratio and the gains are changed to the value set in parameter No PB29 to PB34 by turning CDP on DI 1 Point table No Program No selection 1 DI0 CN1 5 In point table method The point table No and the home position return mode are selected by DI0 to DI2 In program method The program No is selected by DI0 to DI2 DI 1 Note Device Selection description Point table No Program No selection ...

Page 317: ... occurs At an alarm occurrence MBR turns off regardless of the base circuit status DO 1 Home position return completion ZP ZP turns ON when operation is ready to start but turns OFF in any of the following cases 1 Home position return has not been made 2 While a home position return is being made When any of 1 or 2 has not occurred and a home position return is already completed at least once Home...

Page 318: ...50r min and turns off 4 when the servo motor speed has reached 70r min The range from the point when the servo motor speed has reached ON level and ZSP turns on to the point when it is accelerated again and has reached OFF level is called hysteresis width Hysteresis width is 20r min for LECSA2 driver If parameter No PA04 is set to 1 and the overload tough drive function is enabled the ZSP ON time ...

Page 319: ...rn is not yet completed or while the base circuit is shut off DO 1 Point table No output 1 PT0 As soon as travel completion MEND turns ON the point table No is output in 3 bit code DO 1 Note Device Description PT2 PT1 PT0 Point table No output 2 PT1 0 0 1 Point table No 1 DO 1 0 1 0 Point table No 2 0 1 1 Point table No 3 1 0 0 Point table No 4 Point table No output 3 PT2 1 0 1 Point table No 5 DO...

Page 320: ... pulse Differential line driver LZ LZR CN1 19 CN1 20 The same signal as OP is output in the differential line driver system DO 2 4 Power supply Signal Symbol Connector pin No Functions Applications I O division Positioning mode CP CL Digital I F power supply input DICOM CN1 1 Used to input 24VDC 24VDC 10 200mA for I O interface The power supply capacity changes depending on the number of I O inter...

Page 321: ...e delay time of the driver s internal processing is max 3ms The delay time of other devices is max 10ms 6ms or more Forward rotation start ST1 or reverse rotation start ST2 Temporarystop restart TSTP 3ms or less 10ms or less 3ms or less Servo motor speed Forward rotation 0r min c When a programmable PC or PLC etc is used the ON time of a forward rotation start ST1 a reverse rotation start ST2 or t...

Page 322: ... position command generated in the driver and the travel completion MEND This timing can be changed using parameter No PA10 in position range MEND turns ON in the servo on status MEND does not turn ON during automatic operation 3ms or less ON OFF ON OFF Forward rotation start ST1 or reverse rotation start ST2 Positioncommand and servo motor speed Travel completion MEND In position range Servo moto...

Page 323: ...the servo on status CPO does not turn ON during automatic operation 3ms or less ON OFF ON OFF Forward rotation start ST1 or reverse rotation start ST2 Position command Rough match CPO 0r min Forward rotation When parameter No PE12 is set to 0 ON OFF ON OFF Rough match output range 0r min 3ms or less Forward rotation start ST1 or reverse rotation start ST2 Position command Rough match CPO Forward r...

Page 324: ...s or less ON OFF ON OFF Servo motor speed In position INP In position range 0r min Forward rotation start ST1 or reverse rotation start ST2 Forward rotation When positioning operation is performed once ON OFF ON OFF Forward rotation Reverse rotation 0r min 3ms or less Servo motor speed In position INP In position range Forward rotation start ST1 or reverse rotation start ST2 When servo motor rever...

Page 325: ...forward rotation start ST1 or reverse rotation start ST2 2 Automatic operation types With this servo the following automatic operations are available Automaticoperation using point table Refer to section 13 3 2 One positioning operation Automaticcontinuous operation Varied speed operation Automaticcontinuous positioning operation There are two types of command systems the absolute value command sy...

Page 326: ...e value command system As position data target position set the target address to be reached Setting range 999999 to 999999 10STMμm STM feed length multiplication parameter No PE02 Position data setting range 10STM m 999999 999999 b Incremental value command system As position data target position set the travel distance from the current address to the target address Setting range 0 to 999999 10ST...

Page 327: ...n when positioning is executed Acceleration time constant 0 to 20000 ms Set the time until the servo motor reaches to the rated speed 3000 r min Deceleration time constant 0 to 20000 ms Set the time until the servo motor stops from the rated speed 3000 r min Dwell 0 to 20000 ms When dwell is set and the set dwell has passed after the position command of the selected point table is completed the po...

Page 328: ...eed length multiplication STM of position data in parameter No PE02 Feeding function selection Parameter No PE02 setting Feed unit μm Position data input range mm 0 1 999 999 to 999 999 1 10 9999 99 to 9999 99 2 100 99999 9 to 99999 9 3 1000 999999 to 999999 3 Operation Choosing the point table using DI0 to DI2 and turning ST1 ON starts positioning to the position data target position at the prese...

Page 329: ...ed 0 allowable actuator speed r min Sets the command rotation speed Motor rotations min when positioning is executed Acceleration time constant 0 to 20000 ms Set the time until the servo motor reaches to the rated speed 3000 r min Deceleration time constant 0 to 20000 ms Set the time until the servo motor stops from the rated speed 3000 r min Dwell 0 to 20000 ms When dwell is set and the set dwell...

Page 330: ...tion start ST2 is turns ON Parameter No PA14 setting Servo motor rotation direction Forward rotation start ST1 ON Reverse rotation start ST2 ON 0 CCW rotation address incremented CW rotation address decremented 1 CW rotation address incremented CCW rotation address decremented Parameter No PA14 0 Parameter No PA14 1 CW ST2 ON CW ST1 ON ST2 ON CCW ST1 ON CCW Set the feed length multiplication STM o...

Page 331: ...timing chart The timing chart is shown below 6ms or more Note 2 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Servo on SON Ready RD Trouble ALM Automatic manual selection MD0 In position INP Rough match CPO Servo motor speed Forward rotation Reverse rotation 0r min Point table No 2 1 ON OFF Note 3 Travel completion MEND Point table No output PT0 to PT2 3ms or less Point table No 1 Point table No 2 1 2...

Page 332: ...1 3 1 or more 1 3 2 In incremental value command system Automatic continuous operation Varied speed operation Automaticcontinuous positioning operation Point table setting Dwell Auxiliary function 0 1 1 or more 1 b Varied speed operation When 1 or 3 is set to the auxiliary function in the point tables up to No 6 varied speed operation can be performed at a maximum of 7 speeds Set 0 to the auxiliar...

Page 333: ...eed r min Acceleration time constant ms Deceleration time constant ms Note 1 Dwell ms Auxiliary function 1 5 00 3000 100 150 0 1 2 3 00 2000 Invalid Invalid 0 3 3 10 00 1000 Invalid Invalid 0 1 4 6 00 500 Invalid Invalid 0 2 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function in the last point table among the consecutive point tables 0 When point table is used in absolute valu...

Page 334: ...0 2000 Invalid Invalid 0 3 3 8 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function in the last point table among the consecutive point tables 0 When point table is used in absolute value command system 2 When point table is used in incremental value command system Deceleration time constant in the point table No 1 150 Servo motor speed Positionaddre...

Page 335: ... 5 00 3000 100 150 0 1 2 6 00 2000 Invalid Invalid 0 1 3 3 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 to the auxiliary function in the last point table among the consecutive point tables Deceleration time constant in the point table No 1 150 Servo motor speed Positionaddress Selectedpoint table No Forward rotation start ST1 Note ON OFF 5 00 11 00 14 00 Speed 3000 Speed 2...

Page 336: ...uxiliary function in the last point table among the consecutive point tables 0 When point table is used in absolute value command system 2 When point table is used in incremental value command system Point table No 1 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 6ms or more Servo on SON Ready RD Trouble ALM Automatic manual selection MD0 In position INP Rough match CPO Point table No Servo motor speed...

Page 337: ...during JOG operation a When the servo motor is rotating ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Deceleration time constant in the point table No n No n Remaining distance Forward rotation start ST1 or reverse rotation start ST2 Point table Temporarystop restart TSTP Temporarystop PUS Rough match CPO In position INP Travel completion MEND Point table No output PT0 to PT2 0r min Servo motor speed ...

Page 338: ...d rotation start ST1 This driver is factory set to the absolute value command system As the position data the absolute move command MOV command used to specify the target address or the incremental move command MOVI command used to specify the travel distance can be set Note that the movable range is 999999 to 999999 10STMμm Positioning is enabled within this range Setting range 999999 to 999999 1...

Page 339: ...ervo motor reaches the rated speed 3000 r min from a stop or stops from the rated speed 3000 r min When this command is used the acceleration time constant and deceleration time constant are equal STA and STB commands can set the acceleration time constant and deceleration time constant individually It cannot be changed during command output STD Note 2 5 S pattern acceleration de celeration time c...

Page 340: ...mmand COUNT 0 clears the pulse counter FOR NEXT Step repeat command FOR Setting value NEXT 0 1 to 10000 times Repeats the steps located between the FOR setting value command and NEXT command by the preset number of times Set 0 to select endless repetition TIM Note 6 Dwell command time TIM Setting value 1 to 20000 ms Holds the next step until the preset time elapses ZRT Zeroing ZRT Executes a home ...

Page 341: ...ed 1000r min b Acceleration time constant 200ms b Acceleration time constant 200ms c Deceleration time constant 300ms c Deceleration time constant 300ms a Servo motor speed 1000r min Forward rotation 2 Program example 2 When operation is to be performed in two patterns that have different servo motor speeds acceleration time constants deceleration time constants and move commands Program Descripti...

Page 342: ...mmand the movement of the MOVA command can be executed continuously without a stop The speed changing point of the MOVA command is the deceleration starting position of the operation performed by the preceding MOV and MOVA commands The acceleration deceleration time constant of the MOVA command is the value at execution of the preceding MOV command The MOVIA command is a continuous move command fo...

Page 343: ... Wrong usage In continuous operation the acceleration or deceleration time constant cannot be changed at each speed change Hence the STA STB or STD command is ignored if it is inserted for a speed change Program Description SPN 500 STA 200 STB 300 MOV 500 SPN 1000 STC 500 MOVA 1000 SPN 1500 STC 100 MOVA 0 STOP Speed Motor speed Acceleration time constant Deceleration time constant Absolute move co...

Page 344: ...end 1000 r min 200 ms 300 ms 500 10STM μm 100 ms 250 10STM μm 50 ms a b Dwell command time 100ms 0r min Servo motor speed a b Program output 1 OUT1 ON OFF Dwell command time 50ms Forward rotation 2 Program example 2 Using parameter No PE14 program output 1 OUT1 can be turned off automatically Parameter No Name Setting Description PE14 OUT1 output time selection 200 OUT1 is turned off in 200 ms a P...

Page 345: ... time constant Deceleration time constant Absolute move command Absolute trip point Program output 1 OUT 1 is turned ON Absolute trip point Program output 1 OUT 1 is turned OFF Dwell command time Incremental move command Incremental trip point Program output 1 OUT 1 is turned ON Program end 1000 r min 200 ms 300 ms 500 10STM μm 250 10STM μm 400 10STM μm 100 ms 500 10STM μm 300 10STM μm a b c d e f...

Page 346: ...ation time constant Deceleration time constant Incremental move command Incremental trip point Program output 1 OUT 1 is turned ON Speed Motor speed Incremental continuous move command Incremental trip point Program output 1 OUT 1 is turned OFF Program end 500 r min 200 ms 300 ms 600 10STM μm 300 10STM μm 700 r min 700 10STM μm 300 10STM μm a b c d e f 0r min Servo motor speed Program output 1 OUT...

Page 347: ...leration deceleration time constant Absolute move command Program end 200 ms 1000 r min 20 ms 1000 10STM μm a 0r min Servo motor speed Forward rotation start ST1 ON OFF a 200ms Forward rotation 2 Program example 2 Program Description SPN 1000 STC 20 MOVI 1000 TIM 200 OUTON 1 MOVI 500 STOP Speed Motor speed Acceleration deceleration time constant Incremental move command Dwell command time Program ...

Page 348: ...STM μm a b 0r min Servo motor speed Program output 1 OUT1 ON OFF b 200ms a Forward rotation 4 Program example 4 Program Description SPN 1000 STC 20 MOVI 1000 TIM 200 OUTON 1 TIM 300 MOVI 500 STOP Speed Motor speed Acceleration deceleration time constant Incremental move command Dwell command time Program output 1 OUT 1 is turned ON Dwell command time Incremental move command Program end 1000 r min...

Page 349: ...ogram end 500 10STM μm 0r min Servo motor speed Program input 1 PI1 ON OFF a PI1 is accepted in 200ms or later Forward rotation 6 Program example 6 Program Description SPN 1000 STC 20 MOVI 1000 Speed Motor speed Acceleration deceleration time constant Incremental move command 1000 r min 20 ms 1000 10STM μm SYNC 1 Step is suspended until program input PI1 turns ON a TIM 200 MOVI 500 STOP Dwell comm...

Page 350: ... program proceeds to the next step without executing the ITP setting value command When using the ITP command always place the SYNC command immediately before the ITP command 1 Program example 1 Program Description SPN 500 STA 200 STB 300 MOV 600 SPN 100 MOVA 600 Speed Motor speed Acceleration time constant Deceleration time constant Absolute move command Speed Motor speed Continuous move command ...

Page 351: ... for PI1 to be turned ON by SYNC 1 a P1 b 50 10STM m Forward rotation f External pulse counter COUNT When the number of input pulses of the manual pulse generator becomes greater than the value set with the COUNT command the next step is started Set 0 to erase the accumulated input pulses Program Description COUNT 500 The next step is held until the number of input pulses of the manual pulse gener...

Page 352: ...peed Acceleration deceleration time constant Absolute move command Dwell command time Step repeat command start Incremental move command Dwell command time Step repeat command end Step repeat command start Incremental move command Dwell command time Step repeat command end Program end 1000 r min 20 ms 1000 10STM μm 100 ms 3 times 100 10STM μm 100 ms 2 times 200 10STM μm 100 ms a b c d e f 0r min S...

Page 353: ...once the TIMES setting value command is not necessary Set 0 to select endless repetition Program Description TIMES 2 SPN 1000 STC 20 MOVI 1000 TIM 100 STOP Program repeat command Speed Motor speed Acceleration deceleration time constant Incremental move command Dwell command time Program end 2 times 1000 r min 20 ms 1000 10STM μm 100 ms a b 0r min Servo motor speed a 1000 b Incremental move comman...

Page 354: ...ation with position data 1 CW rotation with position data CCW rotation with position data CW CCW c Feed length multiplication parameter No PE02 Set the feed length multiplication STM of position data Parameter No PE02 setting Position data input range mm 0 initial value 999 999 to 999 999 1 9999 99 to 9999 99 2 99999 9 to 99999 9 3 999999 to 999999 2 Signals Choosing the program using DI0 to DI2 a...

Page 355: ...on deceleration time constant Absolute move command Program end 50 ms 5000 10STM μm Move command 4 2 Timing chart Note 1 6ms or more 6ms or more ON OFF ON OFF Servo on SON Automatic manual selection MD0 Program No Forward rotation Reverse rotation 0r min ON OFF Forward rotation start ST1 2 1 3ms or less Move command 1 Move command 3 Servo motor speed ON ON OFF ON OFF Ready RD Trouble ALM OFF Note ...

Page 356: ...rotation SYNC Waiting external signal to switch on SYNC Setting value As listed in the table at right Used to hold the next operation until the preset digital input signal DI of the servo amplifier switches on By setting 99 the next operation will be performed unconditionally Set the input signal as listed below For the LECSA the signal that is not assigned in signal assignment in the position con...

Page 357: ...gram and insert a return press the Enter key at the end of aline The acceleration deceleration time constants in Operations 1 and 2 are the same In this case the acceleration deceleration time constant in Operation 2 need not be set In this way set values different from those in the preceding operation may only be described in the operation program ...

Page 358: ... time constant Parameter No PE07 Set the acceleration deceleration time constants S pattern acceleration deceleration time constant Parameter No PC03 Set the S pattern acceleration deceleration time constant 2 Servo motor rotation direction Parameter No PA14 setting Servo motor rotation direction Forward rotation start ST1 ON Reverse rotation start ST2 ON 0 CCW rotation CW rotation 1 CW rotation C...

Page 359: ...tomatic manual selection MD0 ON OFF Travel completion MEND ON OFF Note Rough match CPO Servo motor speed ON OFF Forward rotation start ST1 Forward rotation JOG ON OFF Reverse rotation start ST2 Reverse rotation JOG Forward rotation Reverse rotation Note For the point table method For the program method it is always OFF ...

Page 360: ...where the first Z phase signal is given after advancement over the preset moving distance after the proximity dog or a motion has been made over the home position shift distance starting from the Z phase signal is defined as a home position Home position return method using a proximity dog Used when it is desired to minimize the length of the proximity dog Data set type An arbitrary position is de...

Page 361: ...ress is decremented c Choose the polarity at which the proximity dog is detected Set 0 to detect the dog when the proximity dog device DOG is OFF or 1 to detect the dog when the device is ON 3 Instructions a Before starting home position return always make sure that the limit switch operates b Confirm the home position return direction Incorrect setting will cause the machine to run reversely c Co...

Page 362: ...ection 13 6 1 2 and select the home position return direction Dog input polarity Parameter No PE03 Refer to section 13 6 1 2 and select the proximity dog input polarity Home position return speed Parameter No PE04 Set the speed till the dog is detected Creep speed Parameter No PE05 Set the speed after the dog is detected Home position shift distance Parameter No PE06 Set when shifting the home pos...

Page 363: ...T2 ON OFF Automatic manual selection MD0 ON OFF Note 2 DI0 DI1 and DI2 0r min Note 1 6ms or more Forward rotation Proximitydog Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC etc and variations of a signal ...

Page 364: ... proximity dog DOG at approximately the center of two consecutive Z phase signals The position where the Z phase signal is generated can be monitored in Within one revolution position of Status display of set up software MR Configurator2TM OFF 0 65536 Note 0 Servo motor Z phase Proximitydog DOG ON Proximity dog Note When using the LE S1 LE S2 LE S3 LE S4 servo motor series ...

Page 365: ...ng OFF DI0 DI1 and DI2 Program method Select a program that has the home position return ZRT command Count type home position return Parameter No PE03 1 Count type home position return is selected Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the home position return direction Dog input polarity Parameter No PE03 Refer to section 13 6 1 2 and select the dog ...

Page 366: ...ion time constant parameter No PE07 3ms or less 6ms or more Note 2 Note 1 6ms or more Proximitydog Travel distance after proximity dog parameter No PE09 Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC etc a...

Page 367: ...ng chart ON OFF Automatic manual selection MD0 ON OFF 6ms or more Forward rotation start ST1 Reverse rotation start ST2 ON OFF Note 2 DI0 DI1 and DI2 ON OFF Travel completion MEND ON OFF Rough match CPO ON OFF Home position return completion ZP Movementto the home position Executionof data set type home position return Servo motor speed 3ms or less Home position address parameter No PE08 0r min No...

Page 368: ...d DI2 Program method Select a program that has the home position return ZRT command Stopper type home position return Parameter No PE03 3 Stopper type home position return is selected Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the home position return direction Home position return speed Parameter No PE04 Set the speed till contact with the stopper Stoppe...

Page 369: ... sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC etc and variations of a signal change due to hardware 2 TLC turns ON when the torque reaches the value set in forward torque limit parameter No PA11 reverse torque limit parameter No PA12 or internal torque limit parameter No PC14 3 The torque limit that is enabled at this point ...

Page 370: ...rance Parameter No PE03 4 Home position ignorance is selected Home position return position data Parameter No PE08 Set the current position at home position return completion 2 Timing chart ON OFF Servo on SON ON OFF Ready RD ON OFF Automatic manual selection MD0 ON OFF Travel completion MEND ON OFF Rough match CPO ON OFF Home position return completion ZP Servo motor speed Home position address p...

Page 371: ...ogram No selection 1 to 3 DI0 to DI2 Point table method Select the home position return mode by turning OFF DI0 DI1 and DI2 Program method Select a program that has the home position return ZRT command Dog type rear end reference home position return Parameter No PE03 5 Select the dog type rear end reference Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the ...

Page 372: ...rt ST2 Automatic manual selection MD0 DI0 DI1 and DI2 Forward rotation Proximitydog Travel distance after proximity dog parameter No PE09 Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC etc and variations o...

Page 373: ...ion MD0 Turn MD0 ON Point table No Program No selection 1 to 3 DI0 to DI2 Point table method Select the home position return mode by turning OFF DI0 DI1 and DI2 Program method Select a program that has the home position return ZRT command Count type dog front end reference home position return Parameter No PE03 6 Select the count type dog front end reference Home position return direction Paramete...

Page 374: ...on time constant parameter No PE07 Travel distance after proximity dog parameter No PE09 Forward rotation Note 1 6ms or more Proximitydog Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC etc and variations o...

Page 375: ...radle type home position return Parameter No PE03 7 Select the dog cradle type Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the home position return direction Dog input polarity Parameter No PE03 Refer to section 13 6 1 2 and select the dog input polarity Home position return speed Parameter No PE04 Set the speed till the dog is detected Creep speed Paramet...

Page 376: ...h match CPO Home position return completion ZP Proximitydog DOG Forward rotation Reverse rotation Note 1 6ms or more Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC etc and variations of a signal change due...

Page 377: ... motor speed Reverse rotation 0r min 2 When the current position is beyond the proximity dog The current position moves in the home return direction at a start When the stroke end LSP or LSN is detected the position moves in the opposite direction The motion stops when the position passes the front end of the proximity dog Then a home position return is resumed from this position If the proximity ...

Page 378: ...groups on a function basis Parameter group Main description Basic setting parameters No PA Make basic setting with these parameters when using this driver in the position control mode Gain Filter parameters No PB Use these parameters when making gain adjustment manually Extension setting parameters No PC Use these parameters mainly when using this driver in the internal speed control mode or in th...

Page 379: ...irtual pulse multiplying factor numerator 1 3 in this section PA07 CDV Electronic gear denominator Virtual pulse multiplying factor denominator 1 PA08 ATU Auto tuning mode 001h Section 4 1 8 PA09 RSP Auto tuning response 6 Section 4 1 8 PA10 INP In position range 100 μm Note Section 4 1 9 PA11 TLP Forward torque limit 100 Section 4 1 10 PA12 TLN Reverse torque limit 100 Section 4 1 10 PA13 This pa...

Page 380: ...to 100 10000 pulse rev initial value the number of pulses necessary to rotate the servo motor one turn is 10000 pulses When parameter No PA05 is set to 0 the number of pulses necessary to rotate the servo motor one turn equals to the encoder resolution of the servo motor Parameter No PA05 setting Description 0 Servo motor encoder resolution pulse rev 100 to 500 Number of virtual pulses necessary t...

Page 381: ...g injury POINT In the positioning mode this parameter is made valid when power is switched off then on after setting The setting range of the electronic gear is as follows If you set any value outside this range a parameter error 37 1 occurs Setting range of the electronic gear Min value CMX CDV Max value Parameter No PA05 Min value Max value 100 10000 pulse rev 1 131 76 200 20000 pulse rev 1 65 1...

Page 382: ... value set in parameter No PA05 CDV CMX PA07 No Parameter PA06 No Parameter The following setting examples are used to explain how to calculate the electronic gear POINT The following specification symbols are required to calculate the electronic gear Pb Ballscrew lead mm 1 n Reduction ratio S Travel distance per servo motor revolution μm rev Angle per revolution 0 001 rev b Setting example 1 Ball...

Page 383: ...iner operation 100 10000 pulse rev Rotary operation 360 36000 pulse rev 4 Selection of servo motor rotation direction Parameter Initial value Setting range Unit No Symbol Name PA14 POL Rotation direction selection 0 0 1 POINT This parameter is made valid when power is switched off then on after setting In program method ST2 can be used only for JOG operation in the test mode Select the servo motor...

Page 384: ...ion 1 000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch shape selection 2 000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting Applied 3141 rad s Section 4 2 2 PB19 VRF1 Vibration suppression control vibration frequency setting Applied 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting Applied 100 0 Hz PB21 For manufacturer set...

Page 385: ...13 77 13 POSITIONING MODE No Symbol Name Initial value Unit Reference PB40 For manufacturer setting 111h PB41 20 PB42 000h PB43 000h PB44 000h PB45 000h PB46 000h PB47 000h PB48 000h PB49 000h PB50 000h ...

Page 386: ...y clear 000h PC12 This parameter is not used Do not change this value by any means 0 PC13 ENRS Encoder output pulses selection 000h Section 4 3 2 PC14 TL2 Internal torque limit 2 Applied 100 PC15 ERZL Error excessive alarm detection level 3 0 rev PC16 For manufacturer setting 30 PC17 OSL Overspeed alarm detection level 0 r min Section 4 3 2 PC18 For manufacturer setting 1000 PC19 0 PC20 000h PC21 ...

Page 387: ... PC39 0 PC40 0 PC41 000h PC42 0 PC43 000h PC44 RECT Drive recorder alarm specifying 000h Section 4 3 2 PC45 For manufacturer setting 000h PC46 000h PC47 000h PC48 000h PC49 000h PC50 000h PC51 000h PC52 000h PC53 000h PC54 000h PC55 000h PC56 000h PC57 000h PC58 000h PC59 000h PC60 000h PC61 000h PC62 000h PC63 000h PC64 000h ...

Page 388: ...tting increases until the travel completion MEND Acceleration time constant Servo motor speed 0 r min Deceleration time constant Ta Ta Ts Tb Tb Ts Rated speed Preset speed Ta Time until preset speed is reached Tb Time until stop Ts S pattern acceleration deceleration time constant parameter No PC03 Setting range 0 to 100ms S pattern acceleration deceleration time constant at setting value 101 to 1...

Page 389: ... 5 0D06h PD08 DI3 2 Input signal device selection 3H CN1 5 2C0Dh PD09 DI4 1 Input signal device selection 4L CN1 6 070Ah PD10 DI4 2 Input signal device selection 4H CN1 6 0707h PD11 DI5 1 Input signal device selection 5L CN1 7 080Bh PD12 DI5 2 Input signal device selection 5H CN1 7 0808h PD13 DI6 1 Input signal device selection 6L CN1 8 0505h PD14 DI6 2 Input signal device selection 6H CN1 8 0505h...

Page 390: ...ugh drive MTTR 0 MTTR turns ON during the instantaneous power failure tough drive 1 MTTR turns ON during the overload tough drive or the instantaneous power failure tough drive 0000h Refer to the name and function filed 3 Using forward reverse rotation stroke end to change the stopping pattern The stopping pattern is factory set to make a sudden stop when the forward reverse rotation stroke end is...

Page 391: ...tion deceleration time constants 100 ms PE08 ZPS Home position return position data 0 10STM μm PE09 DCT Travel distance after proximity dog 1000 10STM μm PE10 ZTM Stopper type home position return stopper time 100 ms PE11 ZTT Stopper type home position return torque limit value 15 PE12 CRP Rough match output range 0 10STM μm PE13 JOG JOG speed 100 r min PE14 OUT1 OUT1 output time selection This pa...

Page 392: ...9999 99 to 9999 99 0 to 9999 99 99999 9 to 99999 9 0 to 99999 9 999999 to 999999 0 to 999999 10 0000h Refer to the name and function filed PE03 ZTY Home position return type Select the home position return type home position return direction and proximity dog input polarity Refer to section 13 6 Home position return type 0 Dog type 1 Count type 2 Data set type 3 Stopper type 4 Home position ignora...

Page 393: ...ype home position return stopper time for the setting value 0 to 4 is 5ms 100 0 to 4 5 to 1000 ms PE11 ZTT Stopper type home position return torque limit value Used to set the torque limit value relative to the max torque in in stopper type home position return Refer to section 13 6 6 However the stopper type home position return torque limit value for the setting value 0 is 1 15 0 1 to 100 PE12 C...

Page 394: ... the same as in software limit Refer to 4 in this section Set the same sign to parameters No PE18 and No PE19 Setting of different signs will result in a parameter error Upper three digits Lower three digits Parameter No PE18 Parameter No PE19 Set address The software limit is a set of upper digits and lower digits To change the value set in the order of lower digits to upper digits 0 999999 to 99...

Page 395: ...it editing the point table program or to select the polarity of program input 1 PI1 Point table program edit 0 Permit 1 Inhibit 0 Polarityselection of program input 1 PI1 This setting is used onlyfor the program method It is not used in the point table method 0 Positive logic 1 Negative logic 0 0000h Refer to the name and function filed PE25 For manufacturer setting 10 PE26 Do not change this valu...

Page 396: ...s stopped and servo locked This function is made valid at power on but made invalid during home position return This function is made invalid when the software limit setting is the same as the software limit setting A parameter error 37 1 will occur if the software limit setting is less than the software limit setting Current position Unmovable Software limit Movable area Movable Inhibited area ...

Page 397: ... Positioning data on the menu bar and click Point table on the menu When the above choices are made the following window appears 1 Changing point table data Click the data to be changed enter a new value into the input field and press the enter key 2 Writing point table data Click the point table data changed and click the Selected Items Write button to write the new point table data to the driver...

Page 398: ... read and displayed Click Open to read the point table data 11 Saving point table data All displayed point table data on the window can be saved Click Save As to save the point table data 12 Detailed Setting Click the Detailed Setting button to selection of command system PE01 setting of feed length multiplication parameter PE02 Click the Update Project button to reflect in each of the parameters ...

Page 399: ...Reading the program Click the Read button to read the program stored in the driver 2 Writing the program Click the Write button to write the program whose setting has been changed to the driver 3 Verifying the programs Click the Verify button to verify the program contents on the personal computer and the program contents of the driver 4 Selecting the program No Used to select the program No to be...

Page 400: ...The numbers of steps used and remaining steps in all programs are displayed 10 Update Project Click the Update Project button Data of the programs to be registered will be reflected in the project file 11 Closing the Program Data window Click the button to close the window 12 Printing program The Read and edit program can be printed Click Project on the menu bar to print the point program 3 Explan...

Page 401: ... edit area 5 Closing the Program Data window Click the OK button to execute the edit check If the check is completed without any problem editing will be terminated and Program Data window will close If any problem is found an error will be displayed 6 Canceling the Program Edit window Click the Cancel button to discard the program being edited and close the Program Edit window 7 Error display If a...

Page 402: ... are off Make automatic ON setting to turn on these devices or turn on between DOCOM Refer to section 4 4 2 Operation is performed in accordance with the preset point table No program No Click Single step Feed on the menu Clicking displays the confirmation window for switching to the test operation mode Click the OK button to display the setting screen of the single step feed In point table operat...

Page 403: ...d stop Click the Forced stop button to Stop the servo motor rotation immediately When the Forced Stop button is enabled the Operation Start button cannot be used Click the Forced Stop button again to make the Operation Start button enabled 7 Single step feed window closing Click the button to cancel the single step feed mode and close the window 8 Switching to normal operation mode To switch from ...

Page 404: ...rvo motor ID codes 7 App 3 Signal layout recording paper 7 App 4 Status display block diagram 8 App 5 Compliance with EC directives 10 App 5 1 What are EC directives 10 App 5 2 Precautions for compliance 10 App 6 Conformance with UL CSA standard 13 ...

Page 405: ...sponse P S PB12 OVA Overshoot amount compensation P PA10 INP In position range P PB13 NH1 Machine resonance suppression filter 1 P S PB14 NHQ1 Notch shape selection 1 P S PA11 TLP Forward torque limit P S T PB15 NH2 Machine resonance suppression filter 2 P S PA12 TLN Reverse torque limit P S T PB16 NHQ2 Notch shape selection 2 P S PA13 PLSS Command input pulse form P PB17 Automatic setting paramet...

Page 406: ...ction 6H CN1 8 P S T PD15 DO1 Output signal device selection 1 CN1 9 P S T PC10 ZSP Zero speed P S T PD16 DO2 Output signal device selection 2 CN1 10 P S T PC11 BPS Alarm history clear P S T PD17 DO3 Output signal device selection 3 CN1 11 P S T PC12 TC Internal torque command T PD18 DO4 Output signal device selection 4 CN1 12 P S T PC13 ENRS Encoder output pulses selection P S T PD19 DIF Input fi...

Page 407: ... 1 PA12 TLN Reverse torque limit PB14 NHQ1 Notch shape selection 1 PA13 This parameter is not used PB15 NH2 Machine resonance suppression filter 2 PA14 POL Rotation direction selection PB16 NHQ2 Notch shape selection 2 PA15 ENR Encoder output pulses PB17 Automatic setting parameter PA16 ENR2 Encoder output pulse electronic gear PB18 LPF Low pass filter setting PA17 For manufacturer setting PB19 VR...

Page 408: ... PC14 TL2 Internal torque limit 2 PD13 DI6 1 Input signal device selection 6L CN1 8 PC15 ERZL Error excessive alarm detection level PD14 DI6 2 Input signal device selection 6H CN1 8 PC16 For manufacturer setting PD15 DO1 Output signal device selection 1 CN1 9 PC17 OSL Overspeed alarm detection level PD16 DO2 Output signal device selection 2 CN1 10 PC18 For manufacturer setting PD17 DO3 Output sign...

Page 409: ...vel distance after proximity dog PE10 ZTM Stopper type home position return stopper time PE11 ZTT Stopper type home position return torque limit value PE12 CRP Rough match output range PE13 JOG JOG speed PE14 OUT1 OUT1 output time selection This parameter is used only for the program method It is not used in the point table method PE15 BKC Backlash compensation PE16 LMPL Software limit PE17 LMPH P...

Page 410: ... layout recording paper Position control mode Internal speed control mode Internal torque control mode Positioning mode CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 4 6 5 19 LZ 18 LBR 20 LZR 21 OP 7 8 10 9 23 PP 22 PG 24 NG 25 NP 11 12 26 13 DOCOM CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 4 6 5 19 LZ 18 LBR 20 LZR 21 OP 7 8 10 9 23 22 24 25 11 12 26 13 DOCOM ...

Page 411: ...load ratio Peak hold PWM M Current control Speed control Servo motor speed Position control Droop pulse Current position calculation Auto tuning section Cumulative feedback pulse Cumulative command pulses CMX CDV Differ ential Command pulse frequency Electronic gear Bus voltage Command pulse PP NP Speed feedback Servo motor Encoder Within one revolution position low high Load to motor inertia mome...

Page 412: ... hold PWM M Current control Speed contro l Position control Current position calculation Within one revolution position Auto tuning section Command position CMX CDV Differ ential Command remaining distance Electronic gear Speed feedback Servo motor Encoder Travel distance creation Target position Speed command Current position PP NP Home position CDV CMX Electronic gear 1 Multiplica tion factor lo...

Page 413: ... filters to be used with the servo incorporated machines and equipment to comply with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified to comply with the low v...

Page 414: ...tral point of overvoltage category III set forth in IEC EN60664 1 However when using the neutral point of 400V class for single phase supply a reinforced insulating transformer is required in the power input section b When supplying interface power from external use a 24VDC power supply which has been insulation reinforced in I O 5 Grounding a To prevent an electric shock always connect the protec...

Page 415: ...R INSTRUCTION MANUAL meet the following requirements To meet the other requirements follow Table 5 and Appendix C in IEC EN60204 1 Ambient temperature 40 104 C F Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction 8 Performing EMC tests When EMC tests are run on a machine device into which the driver has been installed it must conform...

Page 416: ...he driver on a metallic control panel 3 Short circuit rating SCCR Short Circuit Current Rating This driver conforms to the circuit whose peak current is limited to 100kA or less 500Volts Maximum Having been subjected to the short circuit tests of the UL in the alternating current circuit the driver conforms to the above circuit 4 Flanges Install the servo motor to the flanges whose sizes are shown...

Page 417: ...peration time s Operation time s Load ratio LECSA S1 Load ratio LECSA S3 LECSA2 S4 7 Selection example of wires To comply with the UL CSA Standard use UL approved copper wires rated at 60 75 for wiring The following table shows the wire sizes AWG and the crimping terminal symbols rated at 60 The sizes and the symbols rated at 75 are shown in the brackets Driver Wire AWG L1 L2 24V 0V U V W P C B1 B...

Page 418: ...rent Voltage AC Current Voltage AC LECSA2 S1 50A frame 5A 10A LECSA2 S3 LECSA1 S1 50A frame 10A 240V 15A 300V LECSA2 S4 LECSA2 S3 50A frame 15A 20A Note Listed no fuse breakers are for when the power factor improving reactor is not used 10 Configuration diagram Representative configuration example to conform to the UL C UL standard is shown below The earth wiring is excluded from the figure config...

Page 419: ...607 Feb 2015 Revision Correction of figures No LEC OM02608 Feb 2016 Revision Correction of figures No LEC OM02609 No JXC OMT0023 Sep 2016 Revision Correction of figures No LEC OM02610 No JXC OMT0023 A Aug 2017 Revision Correction of figures 4 14 1 Sotokanda Chiyoda ku Tokyo 101 0021 JAPAN Tel 81 3 5207 8249 Fax 81 3 5298 5362 URL http www smcworld com Note Specifications are subject to change with...

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