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SMC Networks LECSB Series, Operation Manual

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SMC Networks LECSB Series Operation Manual Download Page 201

 

 

7 -  2 

 

7. GENERAL GAIN ADJUSTMENT 

 

7. GENERAL GAIN ADJUSTMENT 

POINT 

 

Consider individual machine differences, and do not adjust gain too strictly. It is 

recommended to keep the servo motor torque to 90

 or less of the maximum 

torque of the servo motor during the operation. 

For use in the torque control mode, you need not make gain adjustment. 

 

 

7.1 Different adjustment methods 

7.1.1 Adjustment on a single driver 

The gain adjustment in this section can be made on a single driver. For gain adjustment, first execute auto 

tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this 

order. 
 

(1) Gain adjustment mode explanation 

 

Gain adjustment mode 

Parameter No. 

PA08 setting 

Estimation of load inertia 

moment ratio 

Automatically set 

parameters 

Manually set parameters 

Auto tuning mode 1 

(initial value) 

0001 

Always estimated 

GD2 (parameter No.PB06) 

PG1 (parameter No.PB07) 

PG2 (parameter No.PB08) 

VG2 (parameter No.PB09) 

VIC (parameter No.PB10) 

RSP (parameter No.PA09) 

Auto tuning mode 2 

0002 

Fixed to parameter No. 

PB06 value 

PG1 (parameter No.PB07) 

PG2 (parameter No.PB08) 

VG2 (parameter No.PB09) 

VIC (parameter No.PB10) 

GD2 (parameter No.PB06) 

RSP (parameter No.PA09) 

Manual mode 

0003 

 

GD2 (parameter No.PB06) 

PG1 (parameter No.PB07) 

PG2 (parameter No.PB08) 

VG2 (parameter No.PB09) 

VIC (parameter No.PB10) 

Interpolation mode 

0000 

Always estimated 

GD2 (parameter No.PB06) 

PG2 (parameter No.PB08) 

VG2 (parameter No.PB09) 

VIC (parameter No.PB10) 

PG1 (parameter No.PB07) 

RSP (parameter No.PA09) 

 

Summary of Contents for LECSB Series

Page 1: ...PRODUCT NAME AC Servo Motor Driver MODEL Series LECSB Series Doc no JXC OMT0021 B ...

Page 2: ...e 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 to remove product and machinery equipment until safety is confirmed The inspection and ma...

Page 3: ... 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 it accessible to the operator ...

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: ... with the front cover removed High voltage terminals and charging area are exposed and you may get an electric shock Except for wiring or periodic inspection do not remove the front cover even if the power is off The driver is charged and you may get an electric shock 2 To prevent fire note the following CAUTION Install the driver servo motor and regenerative resistor on incombustible material Ins...

Page 6: ...ft or encoder Do not hold the front cover to transport the driver The driver may drop Install the driver in a load bearing place in accordance with the Instruction Manual Do not climb or stand on servo equipment Do not put heavy objects on equipment The driver and servo motor must be installed in the specified direction Leave specified clearances between driver and control enclosure walls or other...

Page 7: ...LECS S7 LECS S8 series X Y 49 m s2 Note Except the servo motor with reduction gear When the equipment has been stored for an extended period of time contact your local sales office 2 Wiring CAUTION Wire the equipment correctly and securely Otherwise the servo motor may operate unexpectedly Do not install a power capacitor surge absorber or radio noise filter FR BIF H Mitsubishi Electric Corporatio...

Page 8: ...ION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal of the driver is off to prevent an accident A sudden restart is made if an alarm is reset with the run signal on Do not modify t...

Page 9: ...stantaneous power failure keep away from the machine because the machine may be restarted suddenly design the machine so that it is secured against hazard if restarted 6 Maintenance inspection and parts replacement CAUTION With age the electrolytic capacitor of the driver will deteriorate To prevent a secondary accident due to a fault it is recommended to replace the electrolytic capacitor every 1...

Page 10: ...sing the Products SMC will not be held liable for damage caused by factors found not to be the cause of SMC machine damage or lost profits caused by faults in the SMC products damage secondary damage accident compensation caused by special factors unpredictable by SMC damages to products other than SMC products and to other duties COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES Refer to Appendix 9 for ...

Page 11: ...64 3 1 Input power supply circuit 3 3 3 2 I O signal connection example 3 6 3 2 1 Position control mode 3 6 3 2 2 Speed control mode 3 8 3 2 3 Torque control mode 3 10 3 3 Explanation of power supply system 3 12 3 3 1 Signal explanations 3 12 3 3 2 Power on sequence 3 13 3 3 3 CNP1 CNP2 CNP3 wiring method 3 15 3 4 Connectors and signal arrangements 3 20 3 5 Signal explanations 3 23 3 6 Detailed de...

Page 12: ... off procedures 4 5 4 2 2 Stop 4 5 4 2 3 Test operation 4 6 4 2 4 Parameter setting 4 7 4 2 5 Actual operation 4 8 4 2 6 Trouble at start up 4 8 4 3 Startup in speed control mode 4 10 4 3 1 Power on and off procedures 4 10 4 3 2 Stop 4 11 4 3 3 Test operation 4 12 4 3 4 Parameter setting 4 13 4 3 5 Actual operation 4 14 4 3 6 Trouble at start up 4 14 4 4 Startup in torque control mode 4 15 4 4 1 P...

Page 13: ... I O setting parameters No PD 5 47 5 4 1 Parameter list 5 47 5 4 2 List of details 5 48 5 4 3 Using forward reverse rotation stroke end to change the stopping pattern 5 57 6 DISPLAY AND OPERATION SECTIONS 6 1 to 6 23 6 1 Overview 6 2 6 2 Display sequence 6 3 6 3 Status display 6 4 6 3 1 Display transition 6 4 6 3 2 Display examples 6 5 6 3 3 Status display list 6 6 6 3 4 Changing the status displa...

Page 14: ...6 2 Function block diagram 8 12 8 6 3 Parameters 8 13 8 6 4 Gain changing procedure 8 15 8 7 Vibration suppression control filter 2 8 17 9 TROUBLESHOOTING 9 1 to 9 26 9 1 Alarms and warning list 9 2 9 2 Remedies for alarms 9 3 9 3 Remedies for warnings 9 16 9 4 Troubles without an alarm warning 9 18 10 OUTLINE DRAWINGS 10 1 to 10 5 10 1 Driver 10 2 10 2 Connector 10 4 11 CHARACTERISTICS 11 1 to 11...

Page 15: ...tion overview 13 4 13 2 2 Parameter setting 13 5 13 3 Protocol 13 6 13 3 1 Transmission data configuration 13 6 13 3 2 Character codes 13 7 13 3 3 Error codes 13 8 13 3 4 Checksum 13 8 13 3 5 Time out 13 9 13 3 6 Retry 13 9 13 3 7 Initialization 13 10 13 3 8 Communication procedure example 13 10 13 4 Command and data No list 13 11 13 4 1 Read commands 13 11 13 4 2 Write commands 13 15 13 5 Detaile...

Page 16: ...SEC A1SD75 14 38 14 9 3 MELSEC QD75 14 51 14 10 Absolute position data transfer errors 14 59 14 10 1 Corrective actions 14 59 14 10 2 Error resetting conditions 14 61 14 11 Communication based ABS transfer system 14 62 14 11 1 Serial communication command 14 62 14 11 2 Absolute position data transfer protocol 14 62 14 12 Confirmation of absolute position detection data 14 66 15 SERVO MOTOR 15 1 to...

Page 17: ...7 App 6 Compliance with the European EC directives App 7 App 7 Conformance with UL C UL standard App 10 ...

Page 18: ...tion block diagram 3 1 3 Driver standard specifications 4 1 4 Function list 5 1 4 1 Applicable control mode for each actuator 7 1 5 Model code definition 8 1 6 Combination with servo motor 10 1 7 Structure 11 1 7 1 Parts identification 11 1 8 Configuration including auxiliary equipment 12 ...

Page 19: ...ce 1 Position control mode An up to 1Mpps high speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 262144 pulses rev resolution The position smoothing function provides a choice of two different modes appropriate for a machine so a smoother start stop can be made in response to a sudden position command A torque limit is imposed on the drive...

Page 20: ...detection Control circuit power supply Note 3 Cooling fan Relay Pulse input Model position control Model speed control Virtual encoder Virtual motor Model position Model speed Model torque Actual position control Actual speed control Current control Optional battery for absolute position detection system Analog monitor 2 channels Personal computer D I O control Servo on Command pulse train input S...

Page 21: ... pulse command pulse unit Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input 0 to 10VDC maximum torque Speed control mode Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10VDC Rated speed Speed fluctuation ratio 0 01 or less load fluctuation 0 to 100 0 power fluctuation 10 0 2 or less ambient te...

Page 22: ...ppresses vibration at the arm end or residual vibration P Section 8 4 Adaptive filter Driver detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration P S T Section 8 2 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased P S T Section 8 5 Machine analyzer function Analyzes the frequency characteris...

Page 23: ... connectors P S T Parameters No PD13 to PD16 PD18 Torque limit Servo motor torque can be limited to any value P S Section 3 6 1 5 Section 5 1 11 Speed limit Servo motor speed can be limited to any value T Section 3 6 3 3 Parameter No PC05 to PC11 Status display Servo status is shown on the 5 digit 7 segment LED display P S T Section 6 3 External I O signal display ON OFF statuses of external I O s...

Page 24: ...d operation Setting torque operation Note 1 The control 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 LECSB The value of the parameter value PC13 Analog torque maximum output command should be 30 M...

Page 25: ... cable S Cable Type ５A S ＬＥＣＳ Motor type B S5 Driver Type １ AC200 230V 50 60Hz AC100 120V 50 60Hz ２ １ Power supply B Pulse input type Absolute encoder If I O connector CN1 is required order the part number LE CSNB separately If I O cable CN1 is required order the part number LEC CSNB 1 separately 1 This is a symbol of motor type actuator part 2 It is correspondence only the power supply voltage AC...

Page 26: ...ration 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 f Battery MR J3BAT of Mitsubishi Electric Corporation Battery for replacement Absolute position data is maintained by installing the battery to the driver ＬＥＣ MR Ｊ3ＢＡＴ ＬＥＣ MR Ｊ3ＵＳＢ ＬＥ CＳＮB Driver Type LECSB B ＬＥC MR RB ...

Page 27: ...equivalent goods Applicable wire size AWG24 1 6 Combination with servo motor The following table lists combinations of driver and servo motors The same combinations apply to the models with a lock and the models with a reduction gear Driver Servo motors LE LECSB S5 S5 S6 LECSB S7 S7 LECSB S8 S8 ＬＥC CＳＮB 1 Driver Type LECSB B Cable length L m 1 5 1 Wiring ...

Page 28: ...Battery holder Contains the battery for absolute position data backup Battery connector CN4 Used to connect the battery for absolute position data backup Protective earth PE terminal Ground terminal Section 12 8 Section 3 2 Section 3 4 Section 12 8 Chapter 13 Section 3 2 Section 3 4 Section 3 4 Section 12 1 Section 12 9 Chapter 14 Section 14 3 Section 1 5 Fixed part 2 places Servo motor power conn...

Page 29: ...ving DC reactor FR BEL Analog monitor CN1 CN2 CN4 Junction terminal block CN6 P1 P2 U V W Servo amplifier Servo motor Note 1 Battery MR J3BAT L1 L2 L3 Note 2 Note 2 MR Configurator Personal computer Note 1 The battery is used for the absolute position detection system in the position control mode 3 For 1 phase 200 to 230VAC connect the power supply to L1 L2 and leave L3 open Refer to section 1 3 f...

Page 30: ... motor Note 1 Battery MR J3BAT L1 L2 MR Configurator Personal computer Power factor improving AC reactor FR BAL Note 2 R S Note 1 The battery is used for the absolute position detection system in the position control mode 2 The power factor improving DC reactor cannot be used 3 Refer to section 1 3 for the power supply specification LEC MR J3BAT Driver Mitsubishi Electric Corporation Set up softwa...

Page 31: ...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 32: ... details of the environmental condition refer to section 1 3 Provide an adequate protection to prevent screws metallic detritus and other conductive matter or oil and other combustible matter from entering the driver Do not block the intake and exhaust areas of the driver and servo motor which has a cooling fan Doing so may cause faults Do not subject the driver to drop impact or shock loads as th...

Page 33: ...specified direction Otherwise a fault may occur Leave specified clearances between the driver and control box inside walls or other equipment 1 LECSB a Installation of one driver Control box Top Bottom Control box 40mm or more Servo amplifier 40mm or more 10mm or more 10mm or more Wiring allowance 80mm Driver ...

Page 34: ...nce Mounting closely 1mm 1mm 100mm or more 30mm or more 30mm or more 30mm or more 30mm or more Top Bottom 2 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...

Page 35: ...e as possible Refer to section 11 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 longer until the charge lamp turns off Then confirm that the voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition always c...

Page 36: ...s 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 40 104 surrounding air temperature or less 2 Relays Their contacts will wear due to switching currents and contact faults occur Relays reach the end of their life when the...

Page 37: ...eed control mode 38 3 6 3 Torque control mode 40 3 6 4 Position speed control change mode 43 3 6 5 Speed torque control change mode 45 3 6 6 Torque position control change mode 47 3 7 Alarm occurrence timing chart 48 3 8 Interfaces 49 3 8 1 Internal connection diagram 49 3 8 2 Detailed description of interfaces 50 3 8 3 Source I O interfaces 55 3 9 Treatment of cable shield external conductor 56 3...

Page 38: ...s 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 for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal DICOM 24VDC Servo amplifier RA For sink output interface DOCOM Control output si...

Page 39: ...oltage for the power supply of the driver When a voltage which exceeds the maximum input voltage of the driver specifications is input the driver malfunctions Wire the power supply and main circuit 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 breaker NFB must be used with the input cables of the power supply 1 For 3 phase...

Page 40: ...L3 1 phase 200 to 230VAC ALM P1 P2 DICOM DOCOM L11 L21 D C U V W Note 1 Note 2 CNP1 CNP3 PE CNP2 U V W M Motor Encoder CN2 Note 3 Encoder cable Note 5 DOCOM CN1 CN1 24VDC Trouble Note 4 MC NFB RA Servo motor Servo amplifier Emergency stop Note 6 Servo on RA Emergency stop OFF MC ON MC SK Note 6 Note 7 Note 1 Always connect P1 and P2 Factory wired 2 Always connect P and D Factory wired When using t...

Page 41: ...DC reactor cannot be used 2 Always connect P and D Factory wired When using the regenerative option refer to section 12 2 3 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 3 8 3 5 Refer to section 3 10 6 Configure the circuit to shut down the main circuit power suppl...

Page 42: ...E F PULSE F PG0 PG0 COM PULSE R PULSE R 18 10 17 9 DOCOM CR RD PP PG NP NG LZ LZR 8 Note 11 Note 7 CN1 QD75D Positioning module 24VDC In position Note 4 12 Control common SD RA1 RA2 RA3 RA4 Plate Note 1 2m max 10m max Upper limit setting 42 15 19 17 18 43 44 47 1 27 SD EMG SON RES PC TL LSP LSN DOCOM P15R TLA LG 28 Note 7 CN1 Emergency stop Servo on Reset Proportion control External torque limit s...

Page 43: ...t in the differential line driver system It is 2m or less in the open collector system 9 Use LEC MRC2E 10 Personal computers or parameter units can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used together MR P...

Page 44: ...start Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector Encoder Z phase pulse differential line driver Note 12 Trouble Note 6 Zero speed detection Limiting torque Ready Speed reached Servo amplifier Note 1 Note 2 21 DICOM 48 ALM 23 ZSP 25 TLC 24 SA Note 7 CN1 49 RD 4 LA 5 LAR 6 LB 7 LBR 34 LG 33 OP 1 P1...

Page 45: ... signal name are connected in the driver 8 By setting parameters No PD03 to PD08 PD09 to PD12 to make external torque limit selection TL available TLA can be used 9 Use LEC MRC2E 10 Personal computers or parameter units can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN...

Page 46: ...set Speed selection 1 Speed selection 2 Note 3 Analog torque command 8V max torque Note 10 Upper limit setting Analog speed limit 0 to 10V rated speed Note 9 Forward rotation selection Reverse rotation selection 24VDC Note 4 Servo amplifier Note 1 9 Note 2 21 DICOM 48 ALM 23 ZSP 25 VLC 4 LA 5 LAR 6 LB 7 LBR 34 LG 33 OP 1 P15R SD 10m max 2m max Note 6 CN1 49 RD 8 LZ LZR Note 6 CN1 20 46 DICOM DOCOM...

Page 47: ...ith the same signal name are connected in the driver 7 Use LEC MRC2E 8 Personal computers or parameter units can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication function CN5 connector prevents the RS 422 communication function CN3 connector from being used and vice versa They cannot be used together MR PRU03 parameter unit CN3 EIA568 comp...

Page 48: ...se 100 to 120VAC 50 60Hz L1 L2 P1 P2 Power factor improving DC reactor When not using the power factor improving DC reactor connect P1 and P2 Factory wired When using the power factor improving DC reactor disconnect P1 and P2 and connect the power factor improving DC reactor to P1 and P2 Refer to section 12 13 P C D Regenerative option When using driver built in regenerative resistor connect P and...

Page 49: ...1 L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the driver will operate properly 3 The driver can accept the servo on SON about 1 to 2s after the main circuit power supply...

Page 50: ...ime the display shows the servo emergency stop warning AL E6 During ordinary operation do not use the external emergency stop EMG to alternate stop and run The driver life may be shortened Also if the forward rotation start ST1 and reverse rotation start ST2 are on or a pulse train is input during an emergency stop the servo motor will rotate as soon as the warning is reset During an emergency sto...

Page 51: ...ation b Termination of the cables Solid wire After the sheath has been stripped the cable can be used as it is 8 to 9mm Sheath Core Twisted wire Use the cable after stripping the sheath and twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a ferrule may be used t...

Page 52: ...rrule configuration In this case change the wire type or correct it in order to prevent the end of ferrule from widening and then insert it How to connect a cable to the driver power supply connector is shown below a When using the supplied cable connection lever 1 The driver is packed with the cable connection lever Unit mm M X J 5 4 9 3 2 7 7 4 7 Approx 3 4 9 10 20 6 3 4 6 5 Approx 4 9 Approx 7 ...

Page 53: ...ach the cable connection lever to the housing Detachable 2 Push the cable connection lever in the direction of arrow 3 Hold down the cable connection lever and insert the cable in the direction of arrow 4 Release the cable connection lever Cable connection lever ...

Page 54: ...3 Approx 22 Approx R0 3 3 to 3 5 2 When using the flat blade screwdriver part 1 1 Insert the screwdriver into the square hole Insert it along the top of the square hole to insert it smoothly 2 If inserted properly the screwdriver is held 3 With the screwdriver held insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable ...

Page 55: ...Insert the screwdriver into the square window at top of the connector 2 Push the screwdriver in the direction of arrow 3 With the screwdriver pushed insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable ...

Page 56: ...rivers P C D L11 L21 L1 U L2 L3 N P1 P2 V W 2 4 6 8 10 12 14 16 18 20 22 24 1 3 5 7 9 11 13 15 17 19 21 23 27 29 31 33 35 37 39 41 43 45 47 49 26 28 30 32 34 36 38 40 42 44 46 48 25 50 2 LG 1 MO2 3 MO1 CN6 CN1 CN5 CN6 CN3 CN1 CN2 CN5 USB connector Refer to section 12 8 CN3 RS 422 connector Refer to section 13 1 The frames of the CN1 connectors is connected to the PE earth terminal in the amplifier...

Page 57: ...Z LZ 9 O LZR LZR LZR LZR LZR LZR 10 I PP PP PP 11 I PG PG PG 12 OPC OPC OPC 13 14 15 I SON SON SON SON SON SON PD03 16 I SP2 SP2 SP2 SP2 SP2 SP2 PD04 17 I PC PC ST1 ST1 ST1 RS2 RS2 RS2 PC PD05 18 I TL TL ST2 ST2 ST2 RS1 RS1 RS1 TL PD06 19 I RES RES RES RES RES RES PD07 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP SA SA SA INP PD13 23 O ZSP ZSP ZSP ZSP ...

Page 58: ...SP Forward rotation stroke end VLC Limiting speed LSN Reverse rotation stroke end RD Ready CR Clear ZSP Zero speed detection SP1 Speed selection 1 INP In position SP2 Speed selection 2 SA Speed reached PC Proportion control ALM Trouble ST1 Forward rotation start WNG Warning ST2 Reverse rotation start BWNG Battery warning TL External torque limit selection OP Encoder Z phase pulse open collector RE...

Page 59: ...r DI 1 Reset RES CN1 19 Turn RES on for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset RES Refer to section 9 1 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 designed to make a stop Do not turn it ON during operation DI 1 Forward rotation stroke end LSP CN1 4...

Page 60: ...t device Servo motor starting direction ST2 ST1 0 0 Stop servo lock Reverse rotation start ST2 CN1 18 0 1 CCW 1 0 CW 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 the parameter No PC02 setting and servo locked When 1 is set in parameter No PC23 the servo motor is not servo locked after dece...

Page 61: ...1 1 0 0 Internal speed command 4 parameter No PC08 1 0 1 Internal speed command 5 parameter No PC09 1 1 0 Internal speed command 6 parameter No PC10 1 1 1 Internal speed command 7 parameter No PC11 Note 0 off 1 on Torque control mode Used to select the limit speed for operation When using SP3 make it usable by making the setting of parameter No PD03 to PD08 PD10 to PD12 Note Input device Speed lim...

Page 62: ...ic brake is operated Turn EMG on short between commons in the emergency stop state to reset that state DI 1 Clear CR CN1 41 Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or longer The delay amount set in parameter No PB03 position command acceleration deceleration time constant is also cleared When the parameter No PD22 setting is ...

Page 63: ...eration selection STAB2 When using this signal set the parameter No PD03 to PD08 PD10 to PD12 to make it usable This signal allows selection of the acceleration deceleration time constant at servo motor rotation in the speed control mode or torque control mode The S pattern acceleration deceleration time constant is always uniform DI 1 Note STAB2 Acceleration deceleration time constant 0 Accelerat...

Page 64: ... is in the preset in position range The in position range can be changed using parameter No PA10 When the in position range is increased may be kept connected during low speed rotation INP turns on when servo on turns on DO 1 Speed reached SA SA turns on when the servo motor speed has nearly reached the preset speed When the preset speed is 20r min or less SA always turns on SA does not turn on ev...

Page 65: ...int 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 the LECSB driver DO 1 Electromagnetic brake interlock MBR Set the parameter No PD13 to PD16 PD18 or parameter No PA04 to make this signal usable Note that ZSP will be unusable MBR turns off when the servo...

Page 66: ... overheat AL 47 Cooling fan alarm AL 50 Overload 1 AL 51 Overload 2 1 0 0 AL 24 Main circuit error AL 32 Overcurrent AL 31 Overspeed 1 0 1 AL 35 Command pulse frequency alarm AL 52 Error excessive 1 1 0 AL 16 Encoder error 1 AL 1A Monitor combination error AL 20 Encoder error 2 AL 25 Absolute position erase Note 0 off 1 on Variable gain selection CDPS CDPS is on during gain changing DO 1 Absolute ...

Page 67: ...rameter No PC13 Analog input Analog speed command VC CN1 2 Apply 0 to 10VDC across VC LG Speed set in parameter No PC12 is provided at 10V Refer to section 3 6 2 1 Resolution 14bit or equivalent Analog input Analog speed limit VLA Apply 0 to 10VDC across VLA LG Speed set in parameter No PC12 is provided at 10V Refer to section 3 6 3 3 Analog input Forward rotation pulse train Reverse rotation puls...

Page 68: ...gle of 2 The relationships between rotation direction and phase difference of the A and B phase pulses can be changed using parameter No PC19 DO 2 Encoder B phase pulse Differential line driver LB LBR CN1 6 CN1 7 Encoder Z phase pulse Differential line driver LZ LZR CN1 8 CN1 9 The same signal as OP is output in the differential line driver system DO 2 Analog monitor 1 MO1 CN6 3 Used to output the...

Page 69: ...putting a pulse train in the open collector system supply this terminal with the positive power of 24VDC Digital I F common DOCOM CN1 46 CN1 47 Common terminal for input device such as SON and EMG of the driver Pins are connected internally For sink interface connect of 24VDC external power supply For source interface connect of 24VDC external power supply 15VDC power supply P15R CN1 1 Outputs 15V...

Page 70: ...rface 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 correspond to the source PNP type interface The explanation assumes that the input waveform has been set to the negative lo...

Page 71: ...nd reverse rotation pulse trains parameter No PA13 has been set to 0010 The waveforms of PP PG NP and NG are based on that of the LG of the differential line driver PP PG NP NG Forward rotation pulse train Reverse rotation pulse train Forward rotation command Reverse rotation command 2 In position INP INP turns on when the number of droop pulses in the deviation counter falls within the preset in ...

Page 72: ...e CM2 CM1 0 0 Parameter No PA06 0 1 Parameter No PC32 1 0 Parameter No PC33 1 1 Parameter No PC34 Note 0 off 1 on 5 Torque limit CAUTION 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 a Torque limit and torque By setting parameter No PA11 forward rotation torque limit or parameter No PA12 reve...

Page 73: ...election TL When internal torque limit selection TL1 is made usable by parameter No PD03 to PD08 PD10 to PD12 internal torque limit 2 parameter No PC35 can be selected However if the parameter No PA11 and parameter No PA12 value is less than the limit value selected by TL TL1 the parameter No PA11 and parameter No PA12 value is made valid Note Input device Limit value status Validated torque limit...

Page 74: ...es the rotation direction according to forward rotation start ST1 and reverse rotation start ST2 combination Note 1 Input device Note 2 Rotation direction ST2 ST1 Analog speed command VC Internal speed commands Polarity 0V Polarity 0 0 Stop Servo lock Stop Servo lock Stop Servo lock Stop Servo lock 0 1 CCW Stop No servo lock CW CCW 1 0 CW CCW CW 1 1 Stop Servo lock Stop Servo lock Stop Servo lock ...

Page 75: ... 0 0 0 Analog speed command VC 0 0 1 Internal speed command 1 parameter No PC05 0 1 0 Internal speed command 2 parameter No PC06 0 1 1 Internal speed command 3 parameter No PC07 1 0 0 Internal speed command 4 parameter No PC08 1 0 1 Internal speed command 5 parameter No PC09 1 1 0 Internal speed command 6 parameter No PC10 1 1 1 Internal speed command 7 parameter No PC11 Note 0 off 1 on The speed ...

Page 76: ...ue The following table indicates the torque generation directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 when the analog torque command TC is used Note Input device Rotation direction RS2 RS1 Torque control command TC Polarity 0V Polarity 0 0 Torque is not generated Torque is not generated Torque is not generated 0 1 CCW reverse rotation in driving mode...

Page 77: ... the values set in parameters No PC05 to PC11 internal speed limits 1 to 7 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is shown below When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r min greater than the d...

Page 78: ... VLA as indicated below Note Input device Speed limit value SP3 SP2 SP1 0 0 0 Analog speed limit VLA 0 0 1 Internal speed limit 1 parameter No PC05 0 1 0 Internal speed limit 2 parameter No PC06 0 1 1 Internal speed limit 3 parameter No PC07 1 0 0 Internal speed limit 4 parameter No PC08 1 0 1 Internal speed limit 5 parameter No PC09 1 1 0 Internal speed limit 6 parameter No PC10 1 1 1 Internal sp...

Page 79: ...ged in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to speed control mode droop pulses are reset If the LOP has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below ON OFF ON OFF Posi...

Page 80: ...l speed commands 1 to 3 using speed selection 1 SP1 and speed selection 2 SP2 or the speed setting made by the analog speed command VC Note Input device Speed command value SP2 SP1 0 0 Analog speed command VC 0 1 Internal speed command 1 parameter No PC05 1 0 Internal speed command 2 parameter No PC06 1 1 Internal speed command 3 parameter No PC07 Note 0 off 1 on By making speed selection 3 SP3 us...

Page 81: ...ue control mode from an external contact Relationships between LOP and control modes are indicated below Note LOP Servo control mode 0 Speed control mode 1 Torque control mode Note 0 off 1 on The control mode may be changed at any time A change timing chart is shown below 10V 0 ON OFF Torque control mode Servo motor speed Control change LOP Note Speed control mode Speed control mode Analog torque ...

Page 82: ...the sink I O interface For the source I O interface refer to section 3 8 3 b Speed selection 1 SP1 and speed limit value Use speed selection 1 SP1 to select between the speed set by the internal speed limit 1 and the speed set by the analog speed limit VLA as indicated in the following table Note Input device Speed command value SP1 0 Analog speed limit VLA 1 Internal speed limit 1 parameter No PC...

Page 83: ...he servo motor has stopped When position control mode is changed to torque control mode droop pulses are reset If the LOP has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below 0V 10V ON OFF ON OFF Servo motor speed Zero speed detection ZSP Control change LOP Ze...

Page 84: ...it 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 AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the driver and servo motor may become faulty due to temperature rise Securely remove th...

Page 85: ...6 1 7 CN3 P S T LA LAR LB LBR LZ LZR OP LG SDP SDN RDP RDN LG LG CN6 P S T MO1 MO2 LG 3 2 1 Differential line driver output 35mA or less Open collector output CN1 P S T 2 VC VLA 27 TLA TLA TC 1 P15R 3 LG 28 LG 30 LG Case SD Note 2 Isolated 15VDC Approx 5 6k RS 422 Analog monitor Servo amplifier 24VDC CN2 P S T 2 4 7 8 MR MRR MD MDR LG Encoder E Servo motor Note 3 Note 3 USB M P S T D GND VBUS 1 2 ...

Page 86: ...n provides the details of the I O signal interfaces refer to the I O division in the table given in section 3 5 Refer to this section and make connection with the external equipment 1 Digital input interface DI 1 Give a signal with a relay or open collector transistor Refer to section 3 8 3 for source input SON etc Servo amplifier Switch Approx 5mA For transistor DICOM VCES 1 0V ICEO 100 A TR 24VD...

Page 87: ...PP NP Max input pulse frequency 1Mpps Servo amplifier Am26LS31 or equivalent Approx 100 VOH VOL Note 10m or less 2 5V 0 5V 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 2 Input pulse condition 0 9 0 1 tc tHL tc tLH tF tLH tHL 0 1 s tc 0 35 s tF 3 s PP PG NP NG...

Page 88: ... 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 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 Driv...

Page 89: ...ector 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 Encoder A B Z phase pulse 1 Interface Max output current 35mA Servo amplifier LA LB LZ LAR LBR LZR SD LG 150 Am26LS32 or equivalent High speed photocoupler Servo amplifier LAR LBR LZR SD 100 LA LB LZ 2 Output pulse Servo motor CCW rotation LA LAR LB...

Page 90: ...rox 10k 6 Analog output LG MO1 Servo amplifier MO2 Output voltage 10V Note Max Output current 1mA Resolution 10 bits or equivalent Note Output voltage range varies depending on the monitored signal Refer to section 5 3 3 When connecting an analog output to an external device use one whose withstand voltage is 15VDC or more Driver Driver ...

Page 91: ...interface DI 1 Servo amplifier Switch Approx 5mA VCES 1 0V ICEO 100 A 24VDC 10 300mA Approx 5 6k SON etc DICOM 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the driver Note If polarity of diode is reversed servo amplifier will fail 24VDC 10 300mA Servo amplifier ALM etc Load DOCOM Note If the voltage drop maximum of 2 6V interferes with the relay operation apply high vol...

Page 92: ...able to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath External conductor Pull back the external conductor to cover the sheath Sheath Core Strip 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 93: ... fault may occur POINT Refer to section 12 1 for the selection of the encoder cable Refer to the Servo Motor Instruction Manual Vol 2 for the selection of a surge absorber for the electromagnetic brake This section indicates the connection of the motor power supply U V W Use of the optional cable or connector set is recommended for connection between the driver and servo motor Refer to section 12 ...

Page 94: ...M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP3 AWG 19 red AWG 19 white AWG 19 black U V W Servo motor Servo amplifier Extension cable 50m or less 2m or less U V W M AWG 19 green yellow Note a Relay connector for extension cable Note b Relay connector for motor power supply cable Note Use of the following connectors is recommended when ingress protection IP65 ...

Page 95: ...ration delay time of the lock Refer to chapter 15 for the selection of a surge absorber for the lock Note the following when the servo motor with a lock is used 1 Set 1 in parameter No PA04 to make the electromagnetic brake interlock MBR valid 2 The lock will operate when the power 24VDC switches off 3 While the reset RES is on the base circuit is shut off When using the servo motor with a vertica...

Page 96: ...vate Position command Note 4 Electromagnetic brake Release delay time and external relay Note 2 Note 3 0 r min 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 chapter 15 3 Give a position command after the lock is released 4 For the pos...

Page 97: ...activated 4 Both main and control circuit power supplies off 10ms Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Note 1 15 to 60ms Electromagnetic brake operation delay time Note 2 ON OFF Electromagnetic brake interlock MBR ON OFF Base circuit Servo motor speed No ON Yes OFF Trouble ALM ON OFF Main circuit Control circuit power 10ms Note 1 Changes with the operating status...

Page 98: ... or less Electromagnetic brake interlock MBR AWG20 AWG20 Note 1 B1 B2 Trouble ALM Servo motor B Note 4 Note 2 MR BKS1CBL M A1 L MR BKS1CBL M A2 L MR BKS1CBL M A1 H MR BKS1CBL M A2 H 24VDC power supply for electromagnetic brake Note 5 Note 3 Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in lock terminals B1 and B2 3 When using a servo motor with a lo...

Page 99: ...Note 2 b Relay connector for motor brake cable Extension cable To be fabricated Note 6 Note 4 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 Relay connector Description IP rating a Relay connector for extension cable CM10 CR2P DDK Wire size S M L IP65 b Relay connector for lock cable...

Page 100: ...t refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Note Power supply W V U Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the control panel Control box Servo motor M U V W Encoder CN2 Servo amplifier L11 L1 L2 L3 L21 CN1 Protective earth PE Outer bo...

Page 101: ... 4 Parameter setting 7 4 2 5 Actual operation 8 4 2 6 Trouble at start up 8 4 3 Startup in speed control mode 10 4 3 1 Power on and off procedures 10 4 3 2 Stop 11 4 3 3 Test operation 12 4 3 4 Parameter setting 13 4 3 5 Actual operation 14 4 3 6 Trouble at start up 14 4 4 Startup in torque control mode 15 4 4 1 Power on and off procedures 15 4 4 2 Stop 16 4 4 3 Test operation 17 4 4 4 Parameter s...

Page 102: ...nvironment of the driver and servo motor Refer to section 4 1 3 Parameter setting Set the parameters as necessary such as the used control mode and regenerative option selection Refer to chapter 5 and sections 4 2 4 4 3 4 and 4 4 4 Test operation of servo motor alone in test operation mode For the test operation with the servo motor disconnected from the machine and operated at the speed as low as...

Page 103: ...r supplied to the driver should not be connected to the servo motor power supply terminals U V W To do so will fail the connected driver and servo motor U V W U V W M Servo amplifier Servo motor 3 The earth terminal of the servo motor is connected to the PE terminal of the driver M Servo amplifier Servo motor 4 P1 P2 For 11k to 22kW P1 P should be connected P1 P2 Servo amplifier c When option and ...

Page 104: ...DC or higher voltage is not applied to the pins of connectors CN1 c SD and DOCOM of connector CN1 is not shorted DOCOM SD CN1 Servo amplifier 4 1 3 Surrounding environment 1 Cable routing a The wiring cables are free from excessive force b The encoder cable should not be used in excess of its flex life Refer to section 11 4 c The connector part of the servo motor should not be strained 2 Environme...

Page 105: ...ion detection system if power is switched on at the servo motor speed of 3000r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Power off 1 Make sure that a command pulse train is not input 2 Switch off the Servo on SON 3 Switch off the main circuit power supply and control circuit power supply 4 2 2...

Page 106: ...SN 3 When a pulse train is input from the command device the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal Test operation with servo motor and machine connected In this step connect the servo motor with the machine and confirm that the machine...

Page 107: ...r group set the following items Control mode selection select the position control mode Regenerative option selection Absolute position detection system selection Setting of command input pulses per revolution Electronic gear setting Auto tuning selection and adjustment In position range setting Torque limit setting Command pulse input form selection Servo motor rotation direction selection Encode...

Page 108: ... cabling is shorted Alarm occurs Refer to section 9 2 and remove cause Section 9 2 2 Switch on servo on SON Alarm occurs Refer to section 9 2 and remove cause Section 9 2 Servo motor shaft is not servo locked is free 1 Check the display to see if the driver is ready to operate 2 Check the external I O signal indication section 6 7 to see if the servo on SON is ON 1 Servo on SON is not input Wiring...

Page 109: ... LSN input Encoder Q P CMX CDV C M L Electronic gear parameter No PA06 PA07 b Cumulative command pulses c Cumulative feedback pulses d B a A C Positioning unit Servo motor Machine Output pulse counter Machine stop position M When a position shift occurs check a output pulse counter b cumulative command pulse display c cumulative feedback pulse display and d machine stop position in the above diagr...

Page 110: ...echanical slip occurred between the servo motor and machine Cause B 4 3 Startup in speed control mode Make a startup in accordance with section 4 1 This section provides the methods specific to the speed control mode 4 3 1 Power on and off procedures 1 Power on Switch power on in the following procedure Always follow this procedure at power on 1 Switch off the servo on SON 2 Make sure that the For...

Page 111: ...to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 occurs d Stroke end LSP LSN OFF The servo motor is brought to a sudden stop and servo locked The motor may be run in the opposite direction e Simultaneous ON or simultaneous OFF of forward rotation start ST1 and reve...

Page 112: ...ward rotation start ST1 or Reverse rotation start ST2 is switched on the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal Test operation with servo motor and machine connected In this step connect the servo motor with the machine and confirm that...

Page 113: ...setting parameters first In this parameter group set the following items Control mode selection select the speed control mode Regenerative option selection Auto tuning selection and adjustment Torque limit setting Encoder output pulse setting Gain filter parameter No PB If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning execute in depth gain adjustment using th...

Page 114: ... remove cause Section 9 2 2 Switch on servo on SON Alarm occurs Refer to section 9 2 and remove cause Section 9 2 Servo motor shaft is not servo locked is free 1 Check the display to see if the driver is ready to operate 2 Check the external I O signal indication section 6 7 to see if the servo on SON is ON 1 Servo on SON is not input Wiring mistake 2 24VDC power is not supplied to DICOM Section 6...

Page 115: ... in accordance with section 4 1 This section provides the methods specific to the torque control mode 4 4 1 Power on and off procedures 1 Power on Switch power on in the following procedure Always follow this procedure at power on 1 Switch off the servo on SON 2 Make sure that the Forward rotation selection RS1 and Reverse rotation selection RS2 are off 3 Switch on the main circuit power supply an...

Page 116: ... occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop c Emergency stop EMG OFF The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop Alarm AL E6 occurs d Simultaneous ON or simultaneous OFF of forward rotation selection RS1 and reverse rotation selection RS2 The servo motor coasts POINT A ...

Page 117: ...d rotation start RS1 or Reverse rotation start RS2 is switched on the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal Test operation with servo motor and machine connected In this step connect the servo motor with the machine and confirm that th...

Page 118: ...sic setting parameters first In this parameter group set the following items Control mode selection select the torque control mode Regenerative option selection Torque limit setting Encoder output pulse setting Gain filter parameter No PB If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning execute in depth gain adjustment using this parameter group This paramete...

Page 119: ...proved when connector CN3 is disconnected Power supply of CN3 cabling is shorted Alarm occurs Refer to chapter 9 and remove cause Chapter 9 2 Switch on servo on SON Alarm occurs Refer to chapter 9 and remove cause Chapter 9 Servo motor shaft is free Call the external I O signal display section 6 7 and check the ON OFF status of the input signal 1 Servo on SON is not input Wiring mistake 2 24VDC po...

Page 120: ... 12 5 1 10 In position range 13 5 1 11 Torque limit 14 5 1 12 Selection of command pulse input form 15 5 1 13 Selection of servo motor rotation direction 16 5 1 14 Encoder output pulse 16 5 2 Gain filter parameters No PB 18 5 2 1 Parameter list 18 5 2 2 Detail list 20 5 2 3 Position smoothing 31 5 3 Extension setting parameters No PC 32 5 3 1 Parameter list 32 5 3 2 List of details 33 5 3 3 Analog...

Page 121: ...ing parameters No PA allows the setting of the basic parameters at the time of introduction 5 1 Basic setting parameters No PA POINT For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid 5 1 1 Parameter list No Symbol Name Initial value Unit Control mode Position Speed Torque PA01 STY Control mod...

Page 122: ...es to the basic setting parameter gain filter parameter and extension setting parameter settings With the setting of parameter No PA19 writing can be disabled to prevent accidental changes The following 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...

Page 123: ...ommand method Pulse train ON OFF Signal ON OFF Signal Operation method Positioning operation Setting speed operation Setting torque operation Note 1 The control 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 ma...

Page 124: ...r of 200 to 7kW built in regenerative resistor is used Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW For a drive unit of 30kW or more select regenerative option by the converter unit 01 FR BU2 H FR RC H FR CV H 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan is required 80 MR ...

Page 125: ...n incremental system 1 Used in absolute position detection system ABS transfer by DI0 2 Used in absolute position detection system ABS transfer by communication Parameter No PA03 0 0 0 5 1 6 Using electromagnetic brake interlock MBR Parameter Initial value Unit Setting range Control mode No Symbol Name Position Speed Torque PA04 AOP1 Function selection A 1 0000h Refer to the text POINT Turn off th...

Page 126: ...A07 is made valid When the setting is other than 0 that value is used as the command input pulses necessary to rotate the servo motor one turn At this time the electronic gear is made invalid CDV FBP Command pulse train Pt Other than 0 0 Initial value CMX Servo motor Encoder M Number of command input pulses per revolution Parameter No PA05 Electronic gear Parameter No PA06 PA07 Deviation counter P...

Page 127: ...ants Always set the electronic gear with servo 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 CDV FBP Command pulse train Pt Other than 0 0 Initial value CMX Servo motor Encoder M Number of command input pulses per revolution Parameter No PA05 Electronic gear Parameter No PA06 PA07...

Page 128: ...ulley diameter at the axis side Encoder resolution of servo motor 262144 pulse rev Table Timing belt 625 12544 Encoder resolution of servo motor Pt 262144 pulse rev CDV CMX Pt 262144 102760448 703125 0 01 625 12544 360 5 1 Since CMX is not within the setting range in this status it must be reduced to the lowest term When CMX has been reduced to a value within the setting range round off the value ...

Page 129: ...4 Accordingly the set values of 1 b in this section are CMX 822084 CDV 5625 3 Setting for use of QD75 The QD75 also has the following electronic gear parameters Normally the driver side electronic gear must also be set due to the restriction on the command pulse frequency differential 1Mpulse s open collector 200kpulse s AP Number of pulses per servo motor revolution AL Moving distance per servo m...

Page 130: ... Max input pulse frequency pulse s 200k 1M 200k 1M Feedback pulse revolution pulse rev 262144 262144 Electronic gear CMX CDV 8192 125 8192 625 16384 375 16384 1875 QD75 Command pulse 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 Mini...

Page 131: ...o PA08 Select the gain adjustment mode Gain adjustment mode setting 2 3 1 Setting 0 Manual mode Automatically set parameter No Note Gain adjustment mode Interpolation mode Auto tuning mode 1 Auto tuning mode 2 PB06 PB08 PB09 PB10 Parameter No PA08 PB06 PB07 PB08 PB09 PB10 PB07 PB08 PB09 PB10 0 0 0 Note The parameters have the following names Parameter No Name PB06 Ratio of load inertia moment to s...

Page 132: ... 195 9 11 32 9 27 220 6 12 37 0 28 248 5 13 41 7 29 279 9 14 47 0 30 315 3 15 52 9 31 355 1 16 Middle response 59 6 32 High response 400 0 5 1 10 In position range Parameter Initial value Unit Setting range Control mode No Symbol Name Position Speed Torque PA10 INP In position range 100 pulse 0 to 65535 Note Note For the software version C0 or older drivers the setting range is 0 to 10 000 Set the...

Page 133: ...ard rotation torque limit and parameter No PA12 reverse rotation torque limit is the maximum output voltage 8V 1 Forward rotation 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 0 to generate no torque 2 Reverse ro...

Page 134: ...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 they have been multiplied by 4 Selection of command pulse input form Setting Pulse train form Forward rotation command Reverse rotation command 0010h Negative logic Forward rotation pulse train Reverse rotation pulse train NP PP 0011h Signed p...

Page 135: ...tion CCW Reverse rotation CW 5 1 14 Encoder output pulse Parameter Initial value Unit Setting range Control mode No Symbol Name Position Speed Torque PA15 ENR Encoder output pulse 4000 pulse rev 1 to 100000 POINT Turn off the power and then on again after setting the parameter to validate the parameter value Used to set the encoder pulses A phase B phase output by the driver Set the value 4 times ...

Page 136: ...vided by the set value Output pulse pulses rev Resolution per servo motor revolution Set value For instance set 8 to parameter No PA15 the actually A B phase pulses output are as indicated below A B phase output pulses 8192 pulse 8 262144 4 1 3 When outputting pulse train similar to command pulses Set parameter No PC19 to 2 The feedback pulses from the servo motor encoder are processed and output ...

Page 137: ...nance suppression filter 1 4500 Hz PB14 NHQ1 Notch shape selection 1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch shape selection 2 0000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting 100 0 H...

Page 138: ...e Initial value Unit Control mode Position Speed Torque PB35 For manufacturer setting 0 00 PB36 0 00 PB37 100 PB38 0 0 PB39 0 0 PB40 0 0 PB41 1125 PB42 1125 PB43 0004h PB44 0000h PB45 CNHF Vibration suppression control filter 2 0000h ...

Page 139: ...ning mode selection 0 0 0 0000h Refer to name and function column Setting Adaptive tuning mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 the tuning is completed after positioning operation is done the predetermined number or time...

Page 140: ...Automatic adjustment Droop pulse Command Machine side position Vibration suppression control tuning mode 0 0 0 0000h Refer to name and function column Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF Note 1 Vibration suppression control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mo...

Page 141: ...meter No PA01 and restart after instantaneous power failure parameter No PC22 Doing so will cause the servo motor to make a sudden stop at the time of position control switching or restart Example When a command is given from a synchronizing detector synchronous operation can be started smoothly if started during line operation Synchronizing detector Start Servo amplifier Servo motor Without time ...

Page 142: ...onse to level load disturbance Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used 37 rad s 1 to 1000 PB09 VG2 Speed loop gain Used to set the gain of the speed loop Set this parameter when vibration occurs on machines of low rigidity or large backla...

Page 143: ...able in parameter No PA01 control mode 0 0 to 100 Parameter No PA01 Overshoot amount compensation 0 Set value of parameter No PB12 3 4 Automatically set 5 when 0 is set in parameter No PB12 Set value of parameter No PB12 when a value other than 0 is set in parameter No PB12 5 PB13 NH1 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1 Setti...

Page 144: ...filter 1 14dB 8dB 4dB 0 0 Notch depth selection Setting value Depth Gain Deep Shallow 40dB to 0 1 2 3 3 4 5 Notch width selection Setting value Width Standard Wide 2 to 0 1 2 3 Setting parameter No PB01 Adaptive tuning mode Adaptive filter to 1 automatically changes this parameter When the parameter No PB01 setting is 0 the setting of this parameter is ignored 0000h Refer to name and function colu...

Page 145: ...ing Set the low pass filter Setting parameter No PB23 low pass filter selection to 0 automatically changes this parameter When parameter No PB23 is set to 1 this parameter can be set manually 3141 rad s 100 to 18000 PB19 VRF1 Vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control to suppress low frequency machine vibration such as en...

Page 146: ...ion control When parameter No PA08 auto tuning mode is set to 3 the slight vibration suppression control is made valid Slight vibration suppression control selection 0 Invalid 1 Valid 0 0 0 0000h Refer to name and function column PB25 BOP1 Function selection B 1 Select the control systems for position command acceleration deceleration time constant parameter No PB03 0 0 Control of position command...

Page 147: ...ttings 0 Invalid 1 Input device Gain changing CDP 2 Command frequency Parameter No PB27 setting 3 Droop pulse Parameter No PB27 setting 4 Servo motor speed Parameter No PB27 setting 0 0 Gain changing condition 0 Valid when the input device gain changing CDP is ON or valid 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...

Page 148: ...00 PB31 VG2B Gain changing speed loop gain Set the speed loop gain when the gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 3 823 rad s 20 to 20000 PB32 VICB Gain changing speed integral compensation Set the speed integral compensation when the gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08...

Page 149: ...ion suppression control filter 2 Used to set the vibration suppression control filter 2 By setting this parameter machine side vibration such as workpiece end vibration and base shake can be suppressed to Vibration suppression control filter 2 setting frequency selection Note 2 Setting value Frequency Hz 0 Invalid 1 5F 4 5 Notch depth selection Note 2 Setting value Depth 0 40 0dB F 0 6dB to 0 to 2...

Page 150: ...set the position command acceleration deceleration time constant Choose 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 Command t 3t t 3t Time t Input position command Position command after filtering for primary delay Position comma...

Page 151: ...ommand 6 500 r min Internal speed limit 6 PC11 SC7 Internal speed command 7 800 r min Internal speed limit 7 PC12 VCM Analog speed command maximum speed 0 r min Analog speed limit maximum speed PC13 TLC Analog torque command maximum output 100 0 PC14 MOD1 Analog monitor 1 output 0000h PC15 MOD2 Analog monitor 2 output 0001h PC16 MBR Electromagnetic brake sequence output 100 ms PC17 ZSP Zero speed ...

Page 152: ... function Initial value Unit Setting range Control mode Position Speed Torque PC01 STA Acceleration time constant Used to set the acceleration time required to reach the rated speed from 0r min in response to the analog speed command and internal speed commands 1 to 7 Time Parameter No PC02 setting Parameter No PC01 setting Zero speed Rated speed Speed If the preset speed command is lower than the...

Page 153: ...ing of the S pattern acceleration deceleration time constant The upper limit value of the actual arc part time is limited by At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows for acceleration or by for deceleration Example During acceleration 100 ms 2000000 20000 100 ms 200 ms Limited to 100 ms since During deceleration 200 ms 2000000 5000 400 ms 200 ms 200 ...

Page 154: ... 0 to instan taneous permi ssible speed Internal speed limit 5 Used to set speed 5 of internal speed limits PC10 SC6 Internal speed command 6 Used to set speed 6 of internal speed commands 500 r min 0 to instan taneous permi ssible speed Internal speed limit 6 Used to set speed 6 of internal speed limits PC11 SC7 Internal speed command 7 Used to set speed 7 of internal speed commands 800 r min 0 t...

Page 155: ...op pulses 10V 100 pulses Note 1 Droop pulses 10V 1000 pulses Note 1 Droop pulses 10V 10000 pulses Note 1 Droop pulses 10V 100000 pulses Note 1 Feedback position 10V 1 Mpulses Note 1 Feedback position 10V 10 Mpulses Note 1 Feedback position 10V 100 Mpulses Note 1 Bus voltage 8V 400V Note 3 2 8V is outputted at the maximum torque However when parameter No PA11 PA12 are set to limit torque 8V is outp...

Page 156: ...es of A B phase encoder output pulses Encoder output pulses setting selection refer to parameter No PA15 0 Output pulses setting 1 Division ratio setting 2 Ratio is automatically set to command pulse unit Setting 2 makes the parameter No PA15 encoder output pulses setting invalid 0000h Refer to name and function column PC20 SNO Station number setting Used to specify the station number for serial c...

Page 157: ...ply voltage in the speed control mode the servo motor can be restarted by merely turning on the start signal without resetting the alarm 0 Invalid Undervoltage alarm AL 10 occurs 1 Valid If this function is enabled for the drive unit of 30kW or more the parameter error AL 37 occurs Encoder cable communication system selection 0 Two wire type 1 Four wire type Incorrect setting will result in an enc...

Page 158: ... is invalid the following parameters can be used Parameter No PB01 Adaptive tuning mode Adaptive filter Parameter No PB13 machine resonance suppression filter 1 Parameter No PB14 notch shape selection 1 Parameter No PB15 machine resonance suppression filter 2 Parameter No PB16 notch shape selection 2 0 Set value Filtering time ms VC VLA voltage averaging Used to set the filtering time when the ana...

Page 159: ...converter 0 0 0 0000h Refer to name and function column PC28 For manufacturer setting 0000h PC29 Do not change this value by any means 0000h PC30 STA2 Acceleration time constant 2 This parameter is made valid when the acceleration deceleration selection STAB2 is turned ON Used to set the acceleration time required to reach the rated speed from Or min in response to the analog speed command and int...

Page 160: ...age Note 2 7 Regenerative load ratio 8 Effective load ratio 9 Peak load ratio A Instantaneous torque B Within one revolution position 1 pulse unit C Within one revolution position 100 pulse unit D ABS counter E Load inertia moment ratio F Bus voltage In speed control mode Analog speed limit voltage in torque control mode In torque control mode Analog torque limit voltage in speed or position contr...

Page 161: ...n is provided by switching on forward rotation selection RS1 with 0V applied to VLA set a negative value When automatic VC offset is used the automatically offset value is set to this parameter Refer to section 6 4 The initial value is the value provided by the automatic VC offset function before shipment at the VLA LG voltage of 0V PC38 TPO Analog torque command offset Used to set the offset volt...

Page 162: ... Parameter No PC14 0 0 0 Parameter No PC15 Analog monitor MO2 output selection Signal output to across MO2 LG 0 0 0 Parameters No PC39 and PC40 can be used to set the offset voltages to the analog output voltages The setting range is between 999 and 999mV Parameter No Description Setting range mV PC39 Used to set the offset voltage for the analog monitor 1 MO1 999 to 999 PC40 Used to set the offse...

Page 163: ...rvo motor speed Max speed CW direction CCW direction Max speed 0 8 V 8 V 1 Torque Note 3 Max torque Driving in CW direction Driving in CCW direction Max torque 0 8 V 8 V 2 Servo motor speed CCW direction Max speed Max speed 0 8 V CW direction 3 Torque Note 3 Driving in CCW direction Max torque Max torque 0 8 V Driving in CW direction 4 Current command Max current command Max torque command CW dire...

Page 164: ...W direction 100000 pulse 0 10 V 10 V A Feedback position Note 1 2 10V 1 Mpulses 1M pulse CW direction CCW direction 1M pulse 0 10 V 10 V B Feedback position Note 1 2 10V 10 Mpulses 10M pulse CW direction CCW direction 10M pulse 0 10 V 10 V C Feedback position Note 1 2 10V 100 Mpulses 100M pulse CW direction CCW direction 100M pulse 0 10 V 10 V D Bus voltage Note 4 400 V 0 8 V Note 1 Encoder pulse ...

Page 165: ...orque 5 3 4 Alarm history clear The driver stores past six 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 PC18 before starting the operation Turn off the power and then on again after setting the parameter to validate the parameter value Clearing the alarm history automatically returns to 0...

Page 166: ...6 Input signal device selection 6 CN1 41 00202006h PD09 For manufacturer setting 00000000h PD10 DI8 Input signal device selection 8 CN1 43 00000A0Ah PD11 DI9 Input signal device selection 9 CN1 44 00000B0Bh PD12 DI10 Input signal device selection 10 CN1 45 00232323h PD13 DO1 Output signal device selection 1 CN1 22 0004h PD14 DO2 Output signal device selection 2 CN1 23 000Ch PD15 DO3 Output signal ...

Page 167: ...gnal BIN 1 Automatic ON Initial value BIN HEX Signal name 0 0 0 Initial value BIN HEX Proportion control PC Signal name Initial value BIN HEX Signal name Servo on SON External torque limit selection TL 0 0 0 0 Forward rotation stroke end LSP 0 0 0 0 0 0 Reverse rotation stroke end LSN For example to turn ON SON the setting is 4 0000h Refer to name and function column PD02 For manufacturer setting ...

Page 168: ...l mode are those that have the symbols indicated in the following table If any other device is set it is invalid 0002 0202h Refer to name and function column Setting Control modes Note 1 P S T 00 01 For manufacturer setting Note 2 02 SON SON SON 03 RES RES RES 04 PC PC 05 TL TL 06 CR 07 ST1 RS2 08 ST2 RS1 09 TL1 TL1 0A LSP LSP 0B LSN LSN 0C For manufacturer setting Note 2 0D CDP CDP 0E to 1F For m...

Page 169: ... signal device selection 2 CN1 16 Any input signal can be assigned to the CN1 16 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 0 Position control mode Speed control mode Torque control mode Select the input device of the CN1 16 pin 0 0021 2100h Refer to name and function column ...

Page 170: ... mode Torque control mode Select the input device of the CN1 18 pin 0 When Valid ABS transfer by DI0 has been selected for the absolute position detection system in parameter No PA03 the CN1 18 pin is set to the ABS transfer request ABSR Refer to section 14 7 0008 0805h Refer to name and function column PD07 DI5 Input signal device selection 5 CN1 19 Any input signal can be assigned to the CN1 19 ...

Page 171: ...signal device selection 9 CN1 44 Any input signal can be assigned to the CN1 44 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 0 Position control mode Speed control mode Torque control mode Select the input device of the CN1 44 pin 0 0000 0B0Bh Refer to name and function column PD12 DI10 Input signal device selection 10 CN1 45 Any input signal can ...

Page 172: ...umn Setting Control modes Note 1 P S T 00 Always OFF Always OFF Always OFF 01 For manufacturer setting Note 2 02 RD RD RD 03 ALM ALM ALM 04 INP SA Always OFF 05 MBR MBR MBR 06 DB DB DB 07 TLC TLC VLC 08 WNG WNG WNG 09 BWNG BWNG BWNG 0A Always OFF SA SA 0B Always OFF Always OFF VLC 0C ZSP ZSP ZSP 0D For manufacturer setting Note 2 0E For manufacturer setting Note 2 0F CDPS Always OFF Always OFF 10 ...

Page 173: ... as in parameter No PD13 Select the output device of the CN1 24 pin 0 0 0004h Refer to name and function column PD16 DO4 Output signal device selection 4 CN1 25 Any output signal can be assigned to the CN1 25 pin In the initial setting TLC is assigned in the position control and speed control modes and VLC is assigned in the torque control mode The devices that can be assigned and the setting meth...

Page 174: ...OFF and the base circuit status at reset RES ON 0 0 Selection of base circuit status at reset RES ON 0 Base circuit switched off 1 Base circuit not switched off How to make a stop when forward rotation stroke end LSP reverse rotation stroke end LSN is valid Refer to Section 5 4 3 0 Sudden stop 1 Slow stop 0000h Refer to name and function column PD21 For manufacturer setting Do not change this valu...

Page 175: ...requency error Error excessive Encoder error 1 Encoder error 2 Alarm display Note Alarm code CN1 pin 22 0 0 0 0 1 CN1 pin 23 0 0 1 1 0 1 CN1 pin 24 1 1 0 1 0 1 0 AL 19 Memory error 3 AL 37 Parameter error AL 33 Overvoltage AL 46 Servo motor overheat AL 10 Undervoltage 1 0 0 AL 1A Motor combination error Alarm code is output at alarm occurrence A parameter alarm AL 37 occurs if the alarm code outpu...

Page 176: ...to make a sudden stop when the forward reverse rotation stroke end is made valid A slow stop can be made by changing the parameter No PD20 value Parameter No PD20 setting Stopping method 0 initial value Sudden stop Position control mode Speed control mode Motor stops with droop pulses cleared Motor stops at deceleration time constant of zero 1 Slow stop Position control mode Speed control mode The...

Page 177: ...tatus display list 6 6 3 4 Changing the status display screen 7 6 4 Diagnostic mode 8 6 5 Alarm mode 10 6 6 Parameter mode 12 6 6 1 Parameter mode transition 12 6 6 2 Operation example 13 6 7 External I O signal display 15 6 8 Output signal DO forced output 18 6 9 Test operation mode 19 6 9 1 Mode change 19 6 9 2 JOG operation 20 6 9 3 Positioning operation 21 6 9 4 Motor less operation 23 ...

Page 178: ... display data are described below MO UP DO SET MODE Display mode change Low High switching UP DOWN SET Display data scrolling Display data scrolling Display data determination Data clear Decimal LED Displays the decimal points alarm presence absence etc Lit to indicate the decimal point Decimal point Lit to indicate a negative when negative cannot be displayed Flickers to indicate alarm occurrence...

Page 179: ...s display appears at power on Note Section 6 3 Sequence display external signal display forced output signal DO test operation software version display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display parameter write inhibit next deactivation display Section 6 4 Current alarm display alarm history display parameter error No display point ...

Page 180: ... of 16 data items such as the motor speed 6 3 1 Display transition After choosing the status display mode with the MODE button pressing the UP or DOWN button changes the display as shown below DOWN Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Cumulative feedback pulse Within one revolution position 1 pulse unit Servo motor speed Within one revolution position 1...

Page 181: ... Item Status Displayed data Driver display Servo motor speed Forward rotation at 2500r min Reverse rotation at 3000r min Reverse rotation is indicated by Load inertia moment 15 5 Multiplier 1 ABS counter 11252rev 12566rev Lit Negative value is indicated by the lit decimal points in the upper four digits ...

Page 182: ...nd input pulses are counted and displayed As the value displayed is not yet multiplied by the electronic gear CMX CDV it may not match the indication of the cumulative feedback pulses The values in excess of 99999 can be counted However the counter shows only the lower five digits of the actual value since the driver display is five digits Press the SET button to reset the display value to zero Wh...

Page 183: ...o 0 when it exceeds the maximum number of pulses The value is incremented in the CCW direction of rotation 0 to 2621 ABS counter LS rev Travel value from the home position in the absolute position detection systems is displayed in terms of the absolute position detectors counter value 32768 to 32767 Load inertia moment ratio dC Multiplier 10 1 The estimated ratio of the load inertia moment to the ...

Page 184: ...ing operation can be performed when there is no command from the external command device The software MR Configurator2 TM is required for positioning operation For details refer to section 6 9 3 Motorless operation Without connection of the servo motor the driver provides output signals and displays the status as if the servo motor is running actually in response to the input device For details re...

Page 185: ...lue to be the automatically adjusted offset voltage 1 Press SET once 2 Set the number in the first digit to 1 with UP DOWN 3 Press SET This function cannot be used if the input voltage of VC or VLA is 0 4V or less or 0 4V or more Servo motor series ID Press the SET button to show the series ID of the servo motor currently connected Servo motor type ID Press the SET button to show the type ID of th...

Page 186: ...ates that the second alarm in the past is overvoltage AL 33 Indicates that the third alarm in the past is undervoltage AL 10 Indicates that the fourth alarm in the past is overspeed AL 31 Indicates that there is no fifth alarm in the past Indicates that there is no sixth alarm in the past Name Display Description Parameter error No Indicates no occurrence of parameter error AL 37 Indicates that th...

Page 187: ...FF then ON b Press the SET button on the current alarm screen c Turn on the alarm reset RES 4 Use parameter No PC18 to clear the alarm history 5 Pressing SET on the alarm history display screen for 2s or longer shows the following detailed information display screen Note that this is provided for maintenance by the manufacturer 6 Press UP or DOWN to move to the next history ...

Page 188: ...orresponding parameter mode with the MODE button pressing the UP or DOWN button changes the display as shown below Parameter No PB01 Parameter No PA02 Parameter No PA01 I O setting parameters Parameter No PD01 Parameter No PD02 Parameter No PD29 Parameter No PD30 Parameter No PC01 Parameter No PC02 Parameter No PC49 Extension setting parameters Parameter No PC50 Parameter No PB02 Parameter No PB44...

Page 189: ...r times Select parameter No 8 with UP DOWN or MODE The parameter number is displayed UP DOWN or Press to change the number SET Press twice The set value of the specified parameter number flickers UP Press twice During flickering the set value can be changed UP DOWN or Use SET Press to enter 2 Speed control mode To shift to the next parameter press the UP or DOWN button When changing the parameter ...

Page 190: ...wer 4 digits The screen flickers Enter the setting Setting of upper 1 digits Press SET once Press MODE once Press SET once Press UP or DOWN to change the setting Press SET once Press MODE once Press MODE three times Press UP or DOWN to choose parameter No PA06 Note Note The example assumes that the status display screen that appears at power on has been set to the servo motor speed in parameter No...

Page 191: ...l display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below CN1 16 CN1 41 CN1 22 CN1 48 CN1 19 CN1 15 CN1 44 CN1 43 CN1 23 CN1 25 CN1 49 CN1 24 CN1 18 CN1 17 CN1 33 CN1 45 CN1 42 Lit ON Extinguished OFF Input signals Output signals Always lit The LED segment corresponding to the pin is lit to indicate ON and is extinguished to indicate OFF The ...

Page 192: ...LSN LSN No PD11 45 I LOP LOP LOP LOP LOP LOP No PD12 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD No PD18 Note 1 I Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode b Symbol and signal names Symbol Signal name Symbol Signal name ...

Page 193: ... RD CN1 49 ALM CN1 48 OP CN1 33 b Speed control mode EMG CN1 42 LOP CN1 45 ST2 CN1 18 ST1 CN1 17 Input Output LSP CN1 43 LSN CN1 44 SON CN1 15 RES CN1 19 SP1 CN1 41 SA CN1 22 TLC CN1 25 ZSP CN1 23 SA CN1 24 RD CN1 49 ALM CN1 48 OP CN1 33 SP2 CN1 16 Lit ON Extinguished OFF c Torque control mode EMG CN1 42 LOP CN1 45 RS1 CN1 18 RS2 CN1 17 Input Output SON CN1 15 RES CN1 19 SP1 CN1 41 VLC CN1 25 ZSP ...

Page 194: ... performed in the servo off state by turning off the servo on SON Operation After power on change the display mode to the diagnostic mode using the MODE button Press UP twice Switch on off the signal below the lit segment 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...

Page 195: ...software MR Configurator2 TM is required to perform positioning operation Test operation cannot be performed if the servo on SON is not turned OFF 6 9 1 Mode change After power on change the display mode to the diagnostic mode using the MODE button Choose JOG operation motor less operation in the following procedure Press UP three times Flickers in the test operation mode Press SET for longer than...

Page 196: ...s to start CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the communication cable is disconnected during JOG operation using the software MR Configurator2 TM the servo motor decelerates to a stop 2 Status display Call the status display screen by pressing the MODE button in the JOG operation stand by status When the JOG operation is performed using the UP or the DO...

Page 197: ...ime ms Enter the acceleration deceleration time constant into the Accel decel time input field c Move distance pulse Enter the moving distance into the Move distance input field d LSP and LSN are automatically turned ON When setting the external stroke signal to automatic ON click the check box to make it valid When it is not checked turn ON LSP and LSN externally e Move until the initial Z phase ...

Page 198: ...t CCW Rev rot CW Fwd rot CCW Rev rot CW Fwd rot CCW Fwd rot CCW Rev rot CW Fwd rot CCW Rev rot CW Rev rot CW Dwell time s 2 0 0 1 to 50 0 Number of repeats times 1 1 to 9999 To perform continuous operation with the repeat pattern and dwell time settings which are set by referring to the above table click the check box of Make the aging function valid h Forward Reverse Click the Forward button to r...

Page 199: ...sequence of a PC or PLC etc or the like 1 Operation Turn SON off and then select motor less operation After that perform external operation as in ordinary operation 2 Status display Change the display to the status display screen by pressing the MODE button Refer to section 6 2 The status screen can be changed by pressing the UP or the DOWN button Refer to section 6 3 3 Termination of motor less o...

Page 200: ...n a single driver 2 7 1 2 Adjustment using software MR Configurator2TM 3 7 2 Auto tuning 4 7 2 1 Auto tuning mode 4 7 2 2 Auto tuning mode basis 5 7 2 3 Adjustment procedure by auto tuning 6 7 2 4 Response level setting in auto tuning mode 7 7 3 Manual mode 1 simple manual adjustment 8 7 4 Interpolation mode 11 ...

Page 201: ...ent mode explanation Gain adjustment mode Parameter No PA08 setting Estimation of load inertia moment ratio Automatically set parameters Manually set parameters Auto tuning mode 1 initial value 0001 Always estimated GD2 parameter No PB06 PG1 parameter No PB07 PG2 parameter No PB08 VG2 parameter No PB09 VIC parameter No PB10 RSP parameter No PA09 Auto tuning mode 2 0002 Fixed to parameter No PB06 v...

Page 202: ...mputer Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter You can...

Page 203: ...rly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque during acce...

Page 204: ...he load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No PA08 0002 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No PB06 manually From the preset load inertia moment ratio parameter No PB06 value and response level parameter No PA09 th...

Page 205: ...cedure is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfie...

Page 206: ...on filter parameter No PB13 to PB16 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 8 2 8 3 for adaptive tuning mode and machine resonance suppression filter Setting of parameter No PA09 Response level setting Machine characteristic Machine rigidity Machine resonance frequency guideline Guideline of correspon...

Page 207: ...al 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 compensation within the vibration free range and return slightly if vibration takes place Decrease the time constant of the speed integral compensation 7 Increase the model loop gain and return sligh...

Page 208: ...tuning to the manual mode Parameter No PA08 0003 3 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment 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 and the position loop gain Set a slightly larger value to the speed integral compensation 5 Increase the speed loop gain with...

Page 209: ...requency of the speed loop is as indicated in the following expression Speed loop response frequency Hz 1 ratio of load inertia moment to servo motor inertia moment 2 2 Speed loop gain setting 3 Speed integral compensation parameter No PB10 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set the t...

Page 210: ...uning mode Select the auto tuning mode 1 2 During operation increase the response level setting parameter No PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check the values of model loop gain Check the upper setting limits 4 Set the interpolation mode parameter No PA08 0000 Select the interpolation mode 5 Set the model loop gain of all the axes to be interpolate...

Page 211: ...tive filter 2 8 3 Machine resonance suppression filter 5 8 4 Advanced vibration suppression control 7 8 5 Low pass filter 11 8 6 Gain changing function 11 8 6 1 Applications 11 8 6 2 Function block diagram 12 8 6 3 Parameters 13 8 6 4 Gain changing procedure 15 8 7 Vibration suppression control filter 2 17 ...

Page 212: ... resonance suppression filter 2 Parameter No PB16 Parameter No PB01 Filter tuning mode Manual mode Machine resonance suppression filter 1 2 1 0 M Servo motor Current command Encoder 8 2 Adaptive filter 1 Function Adaptive filter adaptive tuning is a function in which the driver detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppres...

Page 213: ... vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics 2 Parameters The adjustment mode of adaptive tuning mode parameter No PB01 Parameter No PB01 0 0 0 Adaptive tuning mode selection Setting Adaptive tuning mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note...

Page 214: ...1 turns to 0002 or 0000 Decrease the response until vibration or unusual noise is resolved End Yes No No Yes Increase the response setting Has vibration or unusual noise occurred Has vibration or unusual noise been resolved Using the machine analyzer set the filter manually Yes No Execute or re execute adaptive tuning Set parameter No PB01 to 0001 If assumption fails after tuning is executed at a ...

Page 215: ... resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing frequency notch frequency gain decreasing depth and width Mechanical system response level Machine resonance point Frequency Notch depth Notch frequency Frequency Notch width Notch depth You can use the...

Page 216: ... filter 2 can be set whether the filter tuning mode is valid or not POINT The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if you set a wrong resonance frequency or a too deep notch If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the poi...

Page 217: ... side vibration In the vibration suppression control tuning mode this mode shifts to the manual mode after positioning operation 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 vibration suppression control resonance frequency setting parameter No PB20 2 Parameter Select ...

Page 218: ...tion suppression control related parameters parameter No PB02 PB19 PB20 PB33 PB34 A failure to do so will cause a shock 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 normal estimation if the residual vibration at the motor side is small Vibration ...

Page 219: ... re execute vibration suppression control tuning Set parameter No PB02 to 0001 Decrease the response until vibration of workpiece end device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using the machine analyzer or from machine side vibration waveform set the vibration suppression co...

Page 220: ...ftware MR Configurator2TM or external measuring instrument 1Hz 90deg 100Hz Gain characteristic Phase Resonance of more than 100Hz is not the target of control Vibration suppression control resonance frequency Parameter No PB20 Vibration suppression control vibration frequency Anti resonance frequency Parameter No PB19 b When vibration can be confirmed using monitor signal or external sensor t t Po...

Page 221: ...ilter is initial setting to be valid for a torque command The filter frequency of this low pass filter is automatically adjusted to the value in the following expression Filter frequency rad s 1 GD2 VG2 10 When parameter No PB23 is set to 1 manual setting can be made with parameter No PB18 2 Parameter Set the low pass filter selection parameter No PB23 Parameter No PB23 0 0 0 Low pass filter selec...

Page 222: ...or Changing CDP Parameter No PB26 Valid GD2 value Valid PG2 value Valid VG2 value Valid VIC value CDL Parameter No PB27 Valid VRF1 value GD2 Parameter No PB06 GD2B Parameter No PB29 PG2 Parameter No PB08 PG2B Parameter No PB30 VG2 Parameter No PB09 VG2B Parameter No PB31 VIC Parameter No PB10 VICB Parameter No PB32 VRF1 Parameter No PB19 VRF1B Parameter No PB33 VRF2 Parameter No PB20 VRF2B Paramet...

Page 223: ...ng condition PB27 CDL Gain changing condition kpps pulse r min Used to set the changing condition values PB28 CDT Gain changing time constant ms You can 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 ...

Page 224: ...id 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 0 0 Parameter No PB26 5 Gain changing condition parameter No PB27 Used to set the gain changing level when command frequency droop pulse or servo motor speed is set in the gain c...

Page 225: ...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 0001 Changed by ON OFF of Input device CDP PB28 CDT Gain changing time constant 100 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 60 Hz PB34 VRF2B Gain changing vib...

Page 226: ...tor inertia moment 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 0003 Changed by droop pulses PB27 CDS Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms b Changing timing chart After changing gain Before cha...

Page 227: ...ession control filter 2 parameter No PB45 is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150ms after the servo motor stops after servo lock 1 Operation Vibration suppression control filter 2 has a filter function notch filter that lowers the gain of the specified frequency contained in a positioning command By lowering the ga...

Page 228: ... 36 37 38 39 3A 3B 3C 3D 3E 3F 40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F Invalid 2250 1125 750 562 450 375 321 281 250 225 204 187 173 160 150 140 132 125 118 112 107 102 97 93 90 86 83 80 77 75 72 70 66 62 59 56 53 51 48 46 45 43 41 40 38 37 36 35 2 33 1 31 3 29 6 28 1 26 8 25 6 24 5 23 4 22 5 21 6 20 8 20 1 19 4 18 8 18 2 17 6 16 5 15 6 14 8 ...

Page 229: ...9 1 9 TROUBLESHOOTING 9 TROUBLESHOOTING 2 9 1 Alarms and warning list 2 9 2 Remedies for alarms 3 9 3 Remedies for warnings 16 9 4 Troubles without an alarm warning 18 ...

Page 230: ...Alarms AL 10 0 1 0 Undervoltage AL E0 Excessive regeneration AL 12 0 0 0 Memory error 1 RAM warning AL 13 0 0 0 Clock error AL E1 Overload warning 1 AL 15 0 0 0 Memory error 2 EEP ROM AL E3 Absolute position counter AL 16 1 1 0 Encoder error 1 warning At power on AL E5 ABS time out warning AL 17 0 0 0 Board error AL E6 Servo emergency stop AL 19 0 0 0 Memory error 3 warning Flash ROM AL E8 Cooling...

Page 231: ... leave a cooling time of more than 30 minutes before resuming operation Regenerative error AL 30 Main circuit device overheat AL 45 Servo motor overheat AL 46 Overload 1 AL 50 Overload 2 AL 51 The alarm can be deactivated by switching power off then on press the SET button on the current alarm screen or by turning on the reset RES For details refer to section 9 1 When an alarm occurs the trouble A...

Page 232: ...nection of all cables but the control circuit power supply cables 2 Check that the bus voltage is the following voltage or more LECSB2 200VDC LECSB1 158VDC Change the driver 6 Waveform of power supply voltage is distorted When power supply impedance is high waveform of power voltage is distorted and it may recognized as undervoltage Set the parameter No PC27 to 0001 AL 12 Memory error 1 RAM RAM me...

Page 233: ...hod 1 Check that the encoder cable and the power cables are wired side by side 2 Check that the driver is not influenced by noise of magnetic valves magnetic contactors or relays 3 Check the grounding of the driver and the servo motor 4 Check that there is no cause of static electricity around 5 Check that the shield of the encoder cable is made correctly Ground correctly or take noise reduction m...

Page 234: ...vo motor does not vibrate or does not make unusual noise 1 Decrease the position loop gain 2 Reduce the response setting of the auto tuning 8 4 Encoder fault Change the servo motor 5 A communication error occurred due to external noise Checking method 1 Check that the encoder cable and the power cables are wired side by side 2 Check that the driver is not influenced by noise of magnetic valves mag...

Page 235: ...4 Servo motor fault Checking method The servo motor power cables U V W are disconnected on the servo motor terminal side After that the servo motor is turned on and the alarm AL 24 does not occur Change the servo motor 5 External dynamic brake fault Checking method The servo motor power cables U V W are disconnected on the external dynamic brake terminal side After that the servo motor is turned o...

Page 236: ...t setting of parameter No PA02 Set correctly 1 2 High duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded Checking method Call the status display software MR Configurator2TM and check the regenerative load ratio 1 Reduce the frequency of positioning 2 Use the regenerative option of larger capacity 3 Reduce the load...

Page 237: ... W are disconnected on the servo motor terminal side After that the servo motor is turned on and the alarm AL 32 occurs Repair the cable 2 External dynamic brake fault Checking method The servo motor power cables U V W are disconnected on the external dynamic brake terminal side After that the servo motor is turned on and the alarm AL 32 does not occur 1 Check parameters and the dynamic brake inte...

Page 238: ...it power supply cable L1 L2 L3 is high and leak current from servo motor power supply cable U V W is large Use the regenerative option 8 Ground fault occurred in servo motor power U V W Correct the wiring 9 Power supply voltage high Check the power supply 10 Driver fault Regenerative transistor fault Change the driver AL 35 Command pulse frequency error Input pulse frequency of the command pulse i...

Page 239: ... occurs immediately after power on Change the driver AL 46 Servo motor overheat Servo motor temperature rise actuated the thermal sensor 1 Ambient temperature of servo motor is over 40 104 Check environment so that ambient temperature is 0 to 40 32 to 104 1 2 10 20 2 Servo motor is overloaded 1 Reduce load 2 Check operation pattern 3 Use servo motor that provides larger output 3 Thermal sensor in ...

Page 240: ...lear the alarm Then the overload operation is repeated 1 Reduce load 2 Check operation pattern 3 Use servo motor that provides larger output 1 3 The servo system is instable and causes oscillation or hunting 1 Repeat acceleration deceleration to execute auto tuning 2 Change the auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 4 Check that the coupling with th...

Page 241: ...ing response setting 3 Set auto tuning to OFF and make gain adjustment manually 4 Check that the coupling with the servo motor shaft is not loose 3 Machine struck something 1 Check operation pattern 2 Install limit switches 3 Check that the electromagnetic brake is not applied 4 Incorrect connection of servo motor Driver s output terminals U V W do not match servo motor s input terminals U V W Con...

Page 242: ...truck something 1 Check operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 8 Incorrect connection of servo motor Driver s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 9 A power cable is broken Repair the cable 10 A command is input when the torque limit is 0 Set the torque limit to the proper value 8 AL 8A Serial communic...

Page 243: ...ervo motor is malfunctioned due to external noise 1 Check that the driver is not influenced by noise of magnetic valves magnetic contactors or relays 2 Check the grounding of the driver and the servo motor Note 1 At power on 88888 appears instantaneously but it is not an error 2 Software MR Configurator2TM is required to check the alarm detailed information The alarm detailed information can be ch...

Page 244: ...r cable AL 96 Home position setting warning Home position setting could not be made 1 The position is out of in position range at the home position setting Set the home position within the in position range 2 A command pulse is input during the home position setting Input the command pulse after the home position setting 3 Creep speed high Reduce creep speed AL 99 Stroke limit warning The stroke e...

Page 245: ...peed of the driver decreased to or below the warning level 1 Cooling fan life expiration Refer to section 2 5 Change the cooling fan of the driver 2 The power supply of the cooling fan is broken Change the driver 3 Foreign matter is caught in the cooling fan and decreased speed Remove the foreign matter AL E9 Main circuit off warning Servo on SON was switched on with main circuit power off Switch ...

Page 246: ... motor Connect each U V W phase properly Check that a warning AL E9 does not occur The servo on SON is turned on while the main circuit power of the driver is off Turn the main circuit power on Check that the servo alarm warning is occurring A servo alarm is occurring Check the details of the alarm and remove its cause Check the external input signal is on or off 1 Check the external I O signal di...

Page 247: ...valid Or the setting of the torque limit is 0 no generating torque Set with the parameter No PA11 PA12 PC35 Review the torque limit setting Check the status of the analog input voltage 1 Check with the status display 2 Check with the Display all command on the Monitor menu on software MR Configurator2TM Position control mode The input voltage of the analog torque limit TLA is incorrect Review the ...

Page 248: ... lock is not released Turn the lock power on to release the brake The servo motor vibrates due to low frequency If the safe operation is possible repeat acceleration deceleration 4 times or more to complete the auto tuning The load to motor inertia moment ratio by the auto tuning is not estimated correctly The load to motor inertia moment ratio setting parameter No PB06 is incorrect when the auto ...

Page 249: ...se and then adjust the gains again Refer to chapter 7 If the safe operation is possible execute the adaptive tuning The machine vibrates in sympathy Adjust the machine resonance suppression filter Refer to section 8 2 If the safe operation is possible execute the tuning with the advanced gain search on software MR Configurator2TM The machine vibrates in sympathy Adjust the gains Refer to chapter 7...

Page 250: ...if the maximum torque does not exceed the torque limit value 1 Check instantaneous torque on the status display 2 Check the torque ripple with the Graph command on the Monitor menu on software MR Configurator2TM The maximum torque is lacking 1 The servo capacity is lacking 2 The load is too large 1 Change the mass or the shape of the work to reduce the load 2 Make the acceleration deceleration tim...

Page 251: ...ue command TC has already input at power on 2 The offset voltage of the analog speed command VC or the analog torque command TC is incorrect Set the offset voltage of the analog speed command VC and the analog torque command TC properly Check the power supply cable of the servo motor An output circuit is open Review the wiring of the servo motor power supply cable The position is misaligned at hom...

Page 252: ...l machine position 1 A machine slipped 2 A machine backlash is big Adjust the machine parts The position is misaligned in operation after the home position return The cumulative feedback pulses do not match with the cumulative command pulses the electronic gear setting value Temporary breaking of a power line Review the wiring 1 The servo gain is low 2 The auto tuning response is low 3 The setting...

Page 253: ...d on the Monitor menu on software MR Configurator2TM The maximum torque is lacking 1 The servo capacity is lacking 2 The load is too large 1 Change the mass or the shape of the work to reduce the load 2 Make the acceleration deceleration time shorter to make the effective load ratio lower The torque limit settings are incorrect Set with the parameter No PA11 PA12 PC35 Review the torque limit setti...

Page 254: ... reached the end of its usefulness or malfunctioned Refer to Servo motor Instruction Manual Vol 2 for details of the life of the electromagnetic brake Replace the servo motor The servo motor coasting amount is enlarged Check that a load is not increased If a load is increased the value exceeded the permissible load to motor inertia moment ratio of the dynamic brake Refer to section 11 3 1 Reduce t...

Page 255: ...10 1 10 OUTLINE DRAWINGS 10 OUTLINE DRAWINGS 2 10 1 Driver 2 10 2 Connector 4 ...

Page 256: ...he 3 phase or 1 phase 200 to 230VAC power supply models For 1 phase 100 to 120VAC power supply refer to the terminal signal layout Mass 0 8 kg 1 76 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout For 3 phase 200 to 230VAC and 1 phase 230VAC L1 L2 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 For 1 phase 100 t...

Page 257: ... 230VAC and 1 phase 230VAC power supply models For 1 phase 100 to 120VAC power supply refer to the terminal signal layout Mass 1 0 kg 2 21 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout P C D L11 L21 U V W CNP3 CNP2 For 3 phase 200 to 230VAC and 1 phase 230VAC L1 L2 N P1 P2 CNP1 For 1 phase 100 to 120VAC ...

Page 258: ...Shell kit Each type of dimension A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 Applicable wire size AWG24 30 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Connector Shell kit Each type of dimension A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 Applicable wire size AWG24 30 ...

Page 259: ...10 5 10 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 260: ...ics 2 11 2 Power supply equipment capacity and generated loss 3 11 3 Dynamic brake characteristics 5 11 3 1 Dynamic brake operation 5 11 3 2 The dynamic brake at the load inertia moment 6 11 4 Cable flexing life 7 11 5 Inrush currents at power on of main circuit and control circuit 7 ...

Page 261: ...rque is 70 or less of the rated torque When you carry out adhesion mounting of the driver make circumference temperature into 0 to 45 32 to 113 or use it at 75 or smaller effective load ratio Driver LECSB series has solid state servo motor overload protection The motor full load current is 115 rated current 1000 100 10 1 0 1 100 200 300 350 0 In servo lock In operation Note 1 2 Load ratio 50 150 2...

Page 262: ...n the value in the table but the driver s generated heat will not change Table 11 1 Power supply capacity and generated heat per driver at rated output Driver Servo motor Note 1 Power supply capacity kVA Note 2 Driver generated heat W Area required for heat dissipation m2 At rated torque With servo off LECSB S5 LE S5 LE S6 0 3 25 15 0 5 0 3 25 15 0 5 LECSB S7 LE S7 0 5 25 15 0 5 LECSB S8 LE S8 0 9...

Page 263: ...osure Refer to Table 11 1 for heat generated by the driver A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipa...

Page 264: ...e servo motor comes to a stop when the dynamic brake is operated Use Equation 11 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 2 a b in this section V0 OFF ON Machine speed te Time Emergency stop EMG Dynamic brake time constant Fig 11 3 Dynamic brake operation diagram Lmax 60 V0 JL JM te 1...

Page 265: ...amic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table If the load inertia moment is higher than this value the dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact your local sales office The values of the load inertia moment ratio in the table are the values at the maxi...

Page 266: ...nd control circuit The following table indicates the inrush currents reference data that will flow when the maximum permissible voltage 200V class 253VAC 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 L3 Control circuit power supply L11 L21 LECSB1 38A Attenuated to approx 14A in 10ms 20 to 30A Attenuated to...

Page 267: ...bles 9 12 2 Regenerative options 10 12 3 Set up software MR Configurator2TM 13 12 3 1 Specifications 13 12 3 2 System configuration 14 12 3 3 Precautions for using USB communication function 16 12 4 Battery unit LEC MR J3BAT 17 12 5 Selection example of wires 18 12 6 No fuse breakers fuses magnetic contactors 21 12 7 Noise reduction techniques 22 12 8 Leakage current breaker 30 12 9 EMC filter rec...

Page 268: ...of the driver whether the charge lamp is off or not CAUTION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 12 1 Cable connector sets POINT The IP rating indicated is the cable s or connector s protection against ingress of dust and water when the cable or connector is connected to a driver or servo motor If the IP rating of the cable connector driver...

Page 269: ...ble connector sets Driver CN5 CN3 CN1 CN2 4 CN6 CNP1 CNP2 CNP3 LEC MR J3BAT Battery To 24VDC power supply for lock Encoder cable Lock cable Motor cable 20 21 22 23 Direct connection type cable length 10m or less IP65 Servo Motor LE To CN2 To CN3 14 15 16 17 8 9 10 11 ...

Page 270: ...cable LE CSB R A Cable length 2 5 10m IP65 Axis side lead Robot cable 16 Lock cable LE CSB S B Cable length 2 5 10m Refer to section 12 1 4 for details IP65 Counter axis side lead 17 Lock cable LE CSB R B Cable length 2 5 10m IP65 Counter axis side lead Robot cable 20 Encoder cable LE CSE S A Cable length 2 5 10m Refer to section 12 1 2 1 for details IP65 Axis side lead 21 Encoder cable LE CSE R A...

Page 271: ...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 BAT View seen from wiring side Note Signal layout LE CSE R A 1 3 7 9 4 2 8 6 10 5 Note Signal...

Page 272: ...S AND AUXILIARY EQUIPMENT b Cable internal wiring diagram Driver side connector Encoder side connector Plate P5 LG 1 2 MR MRR 3 4 2 3 9 SD 5 4 6 9 LG MR MRR SHD P5 BAT BAT LE CSE S B LE CSE R B LE CSE S B LE CSE R B ...

Page 273: ... A IP65 Standar d For LE servo motor Counter axis side lead LE CSM R A 2 5 A IP65 Robot cable For LE servo motor Axis side lead LE CSM R B 2 5 A IP65 Robot cable For LE servo motor Counter axis side lead 1 Connection of driver and servo motor Cable model 1 For motor power supply connector LE CSM S A Connector JN4FT04SJ1 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crim...

Page 274: ...12 OPTIONS AND AUXILIARY EQUIPMENT 2 Internal wiring diagram Note These are not shielded cables AWG 19 Red AWG 19 White AWG 19 Black AWG 19 Green yellow U V W Note LE CSM S A LE CSM S B LE CSM R A LE CSM R B ...

Page 275: ...lead LE CSB R A 2 5 A IP65 Robot cable For LE servo motor Axis side lead LE CSB R B 2 5 A IP65 Robot cable For LE servo motor Counter axis side lead 1 Connection of power supply for lock and servo motor Cable model 1 For motor brake 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 Electron...

Page 276: ... 30 LECSB S7 10 30 100 LECSB S8 10 30 100 Note 1 Always install a cooling fan 2 Values in parentheses assume the installation of a cooling fan 2 Selection of the regenerative option Please refer to the manual and the catalog of each actuator when the selection of the regenerative option 3 Parameter setting Set parameter No PA02 according to the option to be used Selection of regenerative option 00...

Page 277: ...lways use twisted cables of max 5m length for connection with the driver a LECSB Always remove the wiring from across P D and fit the regenerative option across P C The G3 and G4 terminals act as a thermal sensor G3 G4 is disconnected when the regenerative option overheats abnormally D P C G4 G3 C P Regenerative option 5m or less Servo amplifier Always remove the lead from across P D Note 2 Coolin...

Page 278: ...G4 P C 6 mounting hole MR RB TE1 Terminal block G3 G4 P C Applicable wire size 0 2 to 2 5mm2 AWG24 to AWG12 Tightening torque 0 5 to 0 6 N m 4 to 5 lb in Stripped length 7 mm Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in Regenerative option Variable dimensions Mass LA LB LC LD kg lb LEC MR RB 032 30 15 119 99 0 5 1 1 LEC MR RB 12 40 15 169 149 1 1 2 4 ...

Page 279: ...e with the driver is C4 or later Monitor Display high speed monitor trend graph Minimum resolution changes with the processing speed of the personal computer Alarm Display history amplifier data Diagnostic Digital I O no motor rotation total power on time driver version info motor information tuning data absolute encoder data automatic voltage control Axis name setting Parameters Parameter list tu...

Page 280: ...ard 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 Win...

Page 281: ...e it 10 Order USB cable separately This cable is shared with Set up software MR ConfiguratorTM LEC MR SETUP221E 1 Connection with driver 1 For use of RS 422 To RS 232C connector Servo amplifier CN3 RS 422 232C conversion cable DSV CABV Diatrend Personal computer 2 For use of RS 422 to make multidrop connection To RS 232C connector Servo amplifier CN3 RS 422 232C conversion cable DSV CABV Diatrend ...

Page 282: ...e personal computer from an AC power socket b Check that the power plug was disconnected and connect the device to the driver c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using driver communication function When the driver is charged with electricity due to connection wi...

Page 283: ...nstruct an absolute position detection system Refer to section 14 3 for the fitting method etc 2 Year and month when LEC MR J3BAT is manufactured Production year and month of the LEC MR J3BAT are indicated in a serial number on the rating plate of the battery back face The year and month of manufacture are indicated by the last one digit of the year and 1 to 9 X 10 Y 11 Z 12 For October 2004 the S...

Page 284: ...ngth 30m or less 1 Wires for power supply wiring POINT Always use the 600V grade heat resistant polyvinyl chloride insulated wire HIV wire when using the HF JP series servo motor The following diagram shows the wires used for wiring Use the wires given in this section or equivalent C P U V W L11 L21 U V W L1 L2 L3 B1 B2 1 Main circuit power supply lead Servo amplifier 3 Motor power supply lead Ser...

Page 285: ...ted 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 For the wire 8 for power regenerative converter FR RC H Mitsubishi Electric Corporation use the IV wire indicated in 1 a in this section Table 12 2 Wire size selection example 2 HIV wire Driver Wires mm...

Page 286: ...t 3P Ban gi shi 16824 LE CSE R B Motor cable LE CSM S A 2 to 10 AWG18 4 34 0 18 21 8 or less 1 71 62 0 3 HRZFEV A CL3 AWG18 4 cores LE CSM S B 2 to 10 LE CSM R A 2 to 10 Note 6 AWG19 0 75mm2 4 150 0 08 29 1 or less 1 63 5 7 0 5 Note 4 RMFES A CL3X AWG19 4 cores LE CSM R B 2 to 10 Lock cable LE CSB S A 2 to 10 AWG20 2 21 0 18 34 6 or less 1 35 4 7 0 1 Note 4 HRZFEV A CL3 AWG20 2 cores LE CSB S B 2 ...

Page 287: ...t A Voltage AC V Not using power factor improving reactor Using power factor improving reactor LECSB S5 30A frame 5A 30A frame 5A 240V T 10 300V S N10 LECSB2 S7 30A frame 5A 30A frame 5A 10 LECSB1 S7 30A frame 10A 30A frame 10A 15 LECSB2 S8 30A frame 10A 30A frame 5A 15 Note 1 When not using the driver as a UL CSA Standard compliant product K5 class fuse can be used 2 Be sure to use a magnetic con...

Page 288: ...undle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the driver servo motor etc together at one point refer to section 3 12 b Reduction techniques for external noises that cause the driver to malfunction If there are noise sources such as a ma...

Page 289: ... those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Magnetic induction noise Static induction noise Noises transmitted through electric channels Noise radiated from the power supply cable Noise radiated from servo motor cable Noise transmitted through power supply cable Noise sneaking from ...

Page 290: ...oid laying the power lines I O cables of the driver and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the driver system noises produced by the driver may be transmitted back through the power supply cable and the devi...

Page 291: ...r the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode RA c Cable clamp fitting AERSBAN SET Mitsubishi Electric Corporation Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting ...

Page 292: ... 11 3 6 C A 6 22 17 5 35 35 L or less 10 30 7 24 0 0 2 24 0 3 0 Unit mm B 0 3 2 5 hole installation hole Note Screw hole for grounding Connect it to the earth plate of the control box Type A B C Accessory fittings Clamp fitting L AERSBAN DSET 100 86 30 clamp A 2pcs A 70 AERSBAN ESET 70 56 clamp B 1pc B 45 ...

Page 293: ...ower 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 number of passes as shown in Example 2 Place the line noise filters as c...

Page 294: ...designed for the input only 200V class FR BIF Mitsubishi Electric Corporation Connection diagram Outline drawing Unit mm Make the connection wires as short as possible Grounding is always required When using the FR BIF Mitsubishi Electric Corporation with a single phase power supply always insulate the wires that are not used for wiring Radio noise filter Servo amplifier Power supply MC NFB L3 L2 ...

Page 295: ...Maximum rating Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power AC Vrms DC V 8 20 s A 2ms J W A V pF V 100V class TND20V 431K 275 350 10000 1 time 195 1 0 100 710 1300 430 387 to 473 200V class TND20V 471K 300 385 7000 2 time 215 775 1200 470 423 to 517 400V class TND20V 102...

Page 296: ...e current breaker K Type Products Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV L 1 General models BV C1 NFB NV L 3 Ig1 Ig2 Ign Iga Igm Leakage current on the electric channel from the leakage current breaker to the input terminals of the driver Found from Fig 12 3 Leakage current on the electric channel from the output terminals of the driver to the servo...

Page 297: ...akage circuit breaker mA LECSB2 LECSB1 15 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions Servo motor HF KP43 2mm2 5m 2mm2 5m M NV Ig1 Iga Ig2 Igm Servo amplifier MR J3 40A Use a leakage current breaker generally available Find the terms of Equation 12 1 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA Ign 0 not used...

Page 298: ...ector is separately required to use any of these EMC filters 2 Connection example NFB L1 L2 L3 L11 L21 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 RAV 781BXZ 4 OKAYA Electric Industries Co Ltd Note 1 Power supply 1 2 3 1 2 3 MC EMC filter Note 1 For 1 phase 200 to 230VAC power supply connect the power supply to L1 L2...

Page 299: ...65 4 Approx 41 4 5 5 7 258 4 273 2 288 4 300 5 3 M4 85 2 32 2 110 4 HF3030A UN HF 3040A UN J 2 H 2 G 1 F 2 E 1 D 2 3 L 6 K 3 L M C 1 B 2 A 5 C 1 Model Dimensions mm A B C D E F G H J K L M HF3030A UN 260 210 85 155 140 125 44 140 70 R3 25 length 8 M5 M4 HF3040A UN 260 210 85 155 140 125 44 140 70 M5 M4 ...

Page 300: ...F3100A UN 2 6 5 8 M8 145 1 165 3 M6 380 1 400 5 160 3 M8 2 6 5 TF3005C TX TX3020C TX TF3030C TX Unit mm 290 2 100 1 308 5 332 5 Approx 12 2 3 M4 16 16 6 R3 25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx 67 5 3 Approx 160 170 5 M4 3 M4 100 1 ...

Page 301: ... TF3060C TX Unit mm K 2 L J H 5 M6 C 2 D 1 B 5 A 5 Approx 17 3 M6 22 22 8 M M4 M4 G 2 3 M6 F 1 E 2 IN D 1 D 1 Model Dimensions mm A B C D E F G H J K L M TF3040C TX 438 412 390 100 175 160 145 200 Approx 190 180 Approx 91 5 R3 25 length 8 M6 TF3060C TX ...

Page 302: ...Surge protector 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 30 0 UL 1015AWG16 5 5 1 11 1 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 0 200 30 0 28 1 0 41 1 0 4 5 0 5 Unit mm 1 2 3 4 ...

Page 303: ...ication procedure example 10 13 4 Command and data No list 11 13 4 1 Read commands 11 13 4 2 Write commands 15 13 5 Detailed explanations of commands 17 13 5 1 Data processing 17 13 5 2 Status display 19 13 5 3 Parameters 20 13 5 4 External I O signal statuses DIO diagnosis 23 13 5 5 Input device ON OFF 26 13 5 6 Disable enable of I O devices DIO 26 13 5 7 Input devices ON OFF test operation 27 13...

Page 304: ...cable RS 422 232C conversion cable DSV CABV Diatrend 10m or less To RS 232C connector Servo amplifier Personal computer CN3 2 Multidrop connection a Diagrammatic sketch Up to 32 axes of drivers from stations 0 to 31 can be operated on the same bus To RS 232C connector Servo amplifier Personal computer Servo amplifier Servo amplifier Note 1 Note 1 CN3 CN3 CN3 Note 1 Note 2 RS 422 232C conversion ca...

Page 305: ...Axis n servo amplifier CN3 connector RJ45 connector Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector Note 3 30m or less RDN 150 RDP Note 8 Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 2 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side driver with a 150 resistor 3 The overall length is 30...

Page 306: ...nds a reply in response to the instruction driver is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data Item Description Baud rate 9600 19200 38400 57600 115200 asynchronous system Transfer code Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex communication s...

Page 307: ...munication speed of the sending end master station Parameter No PC21 Communication baud rate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 115200 bps 2 RS 422 communication response delay time Set the time from when the driver slave station receives communication data to when it sends back data Set 0 to send back data in less than 800 s or 1 to send back data in 800 s or longer RS 422 communica...

Page 308: ...ata from the PC or PLC etc to the servo S O H S T X E T X S T X E T X Data No Data 10 frames data Station number Error code 6 frames Positive response Error code A Negative response Error code other than A Servo side Slave station Controller side Master station Command Station number Check sum Check sum 2 Transmission of data request from the PC or PLC etc to the servo S O H S T X E T X S T X E T ...

Page 309: ...Q a q 0 0 1 0 2 STX DC2 2 B R b r 0 0 1 1 3 ETX DC3 3 C S c s 0 1 0 0 4 4 D T d t 0 1 0 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to speci...

Page 310: ...r occurred in the transmitted data Negative response C c Checksum error Checksum error occurred in the transmitted data D d Character error Character not existing in the specifications was transmitted E e Command error Command not existing in the specifications was transmitted F f Data No error Data No not existing in the specifications was transmitted 13 3 4 Checksum The checksum is a ASCII coded...

Page 311: ...between the master and slave stations the error code in the response data from the slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry processing A communication error occurs if the above processing is repeated and results in the error three or more consecutive times Message Message Mess...

Page 312: ... alarm from the driver of station 0 Data item Value Description Station number 0 Driver station 0 Command 33 Read command Data No 10 Alarm history last alarm Checksum 30H 33H 33H 02H 31H 30H 03H FCH 1 0 STX ETX 3 3 Yes No Yes No No No Yes Yes Yes No 0 3 3 1 0 0 Axis No Command Data No Data Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transm...

Page 313: ...ge Analog torque limit voltage 0 7 Regenerative load ratio 0 8 Effective load ratio 0 9 Peak load ratio 0 A Instantaneous torque 0 B Within one revolution position 0 C ABS counter 0 D Load inertia moment ratio 0 E Bus voltage 8 0 Status display data value and processing information Cumulative feedback pulse 12 8 1 Servo motor speed 8 2 Droop pulse 8 3 Cumulative command pulse 8 4 Command pulse fre...

Page 314: ...of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter number 8 0 8 0 1 to F F Abbreviations of param...

Page 315: ...alarm in past 1 2 second alarm in past 1 3 third alarm in past 1 4 fourth alarm in past 1 5 fifth alarm in past 2 0 Alarm occurrence time in alarm history most recent alarm 8 2 1 first alarm in past 2 2 second alarm in past 2 3 third alarm in past 2 4 fourth alarm in past 2 5 fifth alarm in past 5 Current alarm Command 0 2 Command Data No Description Frame length 0 2 0 0 Current alarm number 4 ...

Page 316: ...umulative feedback pulse 12 8 1 Servo motor speed 8 2 Droop pulse 8 3 Cumulative command pulse 8 4 Command pulse frequency 8 5 Analog speed command voltage Analog speed limit voltage 8 6 Analog torque command voltage Analog torque limit voltage 8 7 Regenerative load ratio 8 8 Effective load ratio 8 9 Peak load ratio 8 A Instantaneous torque 8 B Within one revolution position 8 C ABS counter 8 D Lo...

Page 317: ...n setting parameter No PC 0003 I O setting parameter No PD 0000 to 0003 4 3 External I O signal Command 9 2 Command Data No Description Setting range Frame length 9 2 6 0 Communication input device signal Refer to section 13 5 5 8 4 Alarm history Command 8 2 Command Data No Description Setting range Frame length 8 2 2 0 Alarm history erasure 1EA5 4 5 Current alarm Command 8 2 Command Data No Descr...

Page 318: ...ion mode JOG operation positioning operation 0000 to 7FFF 4 1 1 Writes the acceleration deceleration time constant in the test operation mode JOG operation positioning operation 00000000 to 7FFFFFFF 8 2 0 Sets the moving distance in the test operation mode JOG operation positioning operation 00000000 to 7FFFFFFF 8 2 1 Selects the positioning direction of test operation positioning operation 0 Forw...

Page 319: ...exadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 Data 32 bit length hexadecimal representation Data conversion is required as indicated in the displa...

Page 320: ...is transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit By way of example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second digit the decimal point pos...

Page 321: ... back the status display data requested 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Decimal point position 0 No decimal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 3 St...

Page 322: ...Transmission Send command 0 4 and data No 0 1 Command Data No 0 4 0 1 b Reply The slave station sends back the preset parameter group 0 0 0 Parameter group 0 Basic setting parameter No PA 1 Gain filter parameter No PB 2 Extension setting parameter No PC 3 I O setting parameter No PD 3 Reading the symbol Read the parameter name Specify the parameter group in advance refer to 1 in this section a Tra...

Page 323: ...BC hexadecimal display format When the display type is 0 hexadecimal and the decimal point position is other than 0 the display type is a special hexadecimal display format and F of the data value is handled as a blank Data 01FFF053 means 053 special hexadecimal display format 000000 is transferred when the parameter that was read is the one inaccessible for write reference in the parameter write ...

Page 324: ...eter number When the data to be written is handled as decimal the decimal point position must be specified If it is not specified data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Write the data after making sure that it is within the upper lower limit value range Read the parameter data to be written confirm the decimal point position and creat...

Page 325: ...station as hexadecimal data bit Abbreviation bit Abbreviation bit Abbreviation bit Abbreviation 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 5 PC 13 CM1 21 29 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 2 External input pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No 4 0 Command D...

Page 326: ...tatuses of the input devices switched on through communication a Transmission Transmit command 1 2 and data No 6 0 Command Data No 1 2 6 0 b Reply The slave station sends back the statuses of the input pins b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the master station as hexadecimal data bit Abbreviation bit Abbreviation bit Abbreviation bit Abbreviation 0 SON 8 SP1 16 24 1 LSP 9 S...

Page 327: ... 49 8 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 15 23 31 5 Read of the statuses of output devices Read the ON OFF statuses of the output devices a Transmission Transmit command 1 2 and data No 8 0 Command Data No 1 2 8 0 b Reply The slave station sends back the statuses of the output devices b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to...

Page 328: ...it Abbreviation bit Abbreviation bit Abbreviation 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 5 PC 13 CM1 21 29 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 13 5 6 Disable enable of I O devices DIO Inputs can be disabled independently of the I O devices ON OFF When inputs are disabled the input signals devices are recognized as follows Among the in...

Page 329: ...n when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the slave station as hexadecimal data bit Abbreviation bit Abbreviation bit Abbreviation bit Abbreviation 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP...

Page 330: ...ode Send the command 8 B data No 0 0 to select the test operation mode Command Data No Transmission data Test operation mode selection 8 B 0 0 0001 JOG operation 0002 Positioning operation 0003 Motorless operation 0004 DO forced output Note Note Refer to section 13 5 9 for DO forced output 2 Confirmation of test operation mode Read the test operation mode set for the slave station and confirm that...

Page 331: ...N was turned OFF by external input signal Acceleration deceleration time constant setting Command A 0 Data No 1 0 Data Write the speed r min in hexadecimal Servo motor speed setting Start Set the operation pattern Select the JOG operation in the test operation mode Start Stop Cancel the test operation mode Command 9 2 Data No 0 0 Data Forward rotation direction 00000807 SON LSP LSN ST1 turned ON R...

Page 332: ...ng Command A 0 Data No 1 0 Data Write the speed r min in hexadecimal Servo motor speed setting Start Select the positioning operation in the test operation mode Set the operation pattern Turn ON Servo on SON to make the servo amplifier ready Command A 0 Data No 2 0 Data 0000 forward rotation direction 0001 reverse rotation Rotation direction selection Command A 0 Data No 2 0 Data Write the travel ...

Page 333: ...put signal DO forced output In the test operation mode the output signal pins can be turned on off independently of the servo status Using command 9 0 disable the output signals in advance 1 Choosing DO forced output in test operation mode Transmit command 8 B data No 0 0 data 0004 to choose DO forced output 0 0 Selection of test operation mode 4 DO forced output output signal forced output 0 4 2 ...

Page 334: ...vided 0 0 Alarm No is transferred in hexadecimal For example 0032 means AL 32 and 00FF means AL _ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 t...

Page 335: ...Transmission Send command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to section 13 4 1 b Reply The slave station sends back the requested status display data at alarm occurrence 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecima...

Page 336: ...d servo motor side pulses Absolute position is sent back in hexadecimal in the servo motor side pulse unit Must be converted into decimal For example data 000186A0 is 100000 pulse in the motor side pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Reply The slave station sends back th...

Page 337: ...N 3 Software version Reads the software version of the driver a Transmission Send command 0 2 and data No 7 0 Command Data No 0 2 7 0 b Reply The slave station returns the software version requested Software version 15 digits Space ...

Page 338: ...9 14 8 1 Data transfer procedure 9 14 8 2 Transfer method 10 14 8 3 Home position setting 21 14 8 4 Use of servo motor with a lock 23 14 8 5 How to process the absolute position data at detection of stroke end 25 14 9 Examples of use 26 14 9 1 MELSEC FX 2N 32MT FX 2N 1PG 26 14 9 2 MELSEC A1SD75 38 14 9 3 MELSEC QD75 51 14 10 Absolute position data transfer errors 59 14 10 1 Corrective actions 59 1...

Page 339: ...ve revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the general purpose programming PC or PLC etc power is on or off Therefore once the home position is defined at the time of machine installation home position return is not needed when powe...

Page 340: ... in the absolute position detection system either To perform test operation choose incremental in parameter No PA03 1 Speed control mode torque control mode 2 Control switch over mode position speed speed torque torque position 3 Stroke less coordinate system e g rotary shaft infinitely long positioning 4 Changing of electronic gear after home position setting 5 Use of alarm code output ...

Page 341: ... battery degrades by the storage condition It is recommended to connect and use battery in the driver within two years from the production date The life of battery is five years from the production date regardless of the connection 2 Configuration Positioning module I O module QD75 QX40 41 42 QY40 41 42 50 A1SD75 AX40 41 42 AY40 41 42 FX2N 1GP FX2N 10PG FX2N 10GM FX2N 20GM FX2N c series FX3U c ser...

Page 342: ...precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand 14 3 1 When replacing battery with the control circuit power ON POINT Replacing battery with the control circuit power OFF will erase the absolute position data Replacing battery with the control circuit power ON will not erase the absolute position data Refer...

Page 343: ...OP 41 47 10 PP 11 PG 35 NP 36 NG 1 P15R 27 TLA 28 LG Plate SD Servo amplifier I O unit Dog Stop Input Out put Electromagnetic brake output Reset EMG Note 1 Note 2 Emergency stop Servo on ABS transmission mode ABS request ABS transmission data bit 0 ABS transmission data bit 1 ABS transmission data ready Upper limit setting CN1 RA2 24VDC External torque limit selection Stroke end in reverse rotatio...

Page 344: ...ABSB0 22 Indicates the lower bit of the ABS data 2 bits which is sent from the servo to the programmable PC or PLC etc in the ABS transfer mode If there is a signal D01 turns on DO 1 ABS transmission data bit 1 ABSB1 23 Indicates the upper bit of the ABS data 2 bits which is sent from the servo to the programmable PC or PLC etc in the ABS transfer mode If there is a signal ZSP turns on DO 1 ABS tr...

Page 345: ...he MR Configurator2TM ABS data display window refer to section 14 12 and programmable PC or PLC etc side ABS data registers show the same value at the home position address of 0 If any warning such as ABS time out warning AL E5 or programmable PC or PLC etc side transfer error occurs refer to section 14 10 or chapter 8 and take corrective action 5 Home position setting The home position must be se...

Page 346: ... OFF DI0 allocation change Transmission data set Transmission data set DI0 allocation change Watch dog timer Reading 2 bits Shift and addition Watch dog timer Reading 2 bits Shift and addition Setting the current position Sum check Every time the SON is turned ON the ABS transfer mode signal is turned ON to set the data to be transmitted The data is read in units of 2 bits the read data is written...

Page 347: ... ABS transfer mode ABSM switches from OFF to ON At the same time this data is set as a position command value inside the driver Unless the ABS transfer mode ABSM is turned ON the base circuit cannot be turned ON 1 At power on a Timing chart OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 95 ms 1 2 3 Power supply Servo on SON 4 ABS transfer mode ABSM ABS request ABSR ABS transmission data re...

Page 348: ...s If the servo on SON is turned OFF the reset RES is turned ON and the emergency stop EMG is turned OFF during the ABS transfer mode the ABS time out warning AL E5 occurs 4 The functions of output signals such as ABST ABSB0 and ABSB1 change depending on the ON OFF state of the ABS transfer mode ABSM Note that if the ABS transfer mode ABSM is turned ON for a purpose other than ABS data transmission...

Page 349: ...ervo is ready for data transmission 3 After acknowledging that the ready to send ABST has been turned ON the programmable PC or PLC etc turns ABS request ABSR ON 4 In response to ABS request ABSR the servo outputs the lower 2 bits of the ABS data and the ABS transmission data ready ABST in the OFF state 5 After acknowledging that the ABS transmission data ready ABST has been turned OFF which impli...

Page 350: ...e it with the checksum code sent from the servo The method of calculating the checksum is shown Every time the programmable PC or PLC etc receives 2 bits of ABS data it adds the data to obtain the sum of the received data The checksum is 6 bit data Example ABS data 10 FFFFFFF6H 10b 01b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b b 11 101101b 10 FFFF FFF6 1111 1111 1111 0110 Appendix Decima...

Page 351: ...y ABST is turned ON this is regarded as a transmission error and the ABS time out warning AL E5 is output OFF ON OFF ON OFF ON 5s ABS transfer mode ABS request ABS transmission data ready AL E5 warning Signal is not turned ON No Yes 2 ABS request ON time time out check applied to 32 bit ABS data in 2 bit units checksum If the ABS request signal is not turned OFF by the programmable PC or PLC etc w...

Page 352: ...nsfer mode ABS request ABS transmission data ready AL E5 warning Signal is not turned OFF No Yes 4 ABS transfer mode ABSM OFF check during the ABS transfer When the ABS transfer mode is turned ON to start transferring and then the ABS transfer mode is turned OFF before the 19th ABS transmission data ready is turned ON the ABS time out warning AL E5 occurs regarding it as a transfer error OFF ON OF...

Page 353: ...vo on SON is turned OFF the reset RES is turned ON or the emergency stop EMG is turned ON before the 19th ABS transmission data ready signal is turned ON the ABS time out warning AL E5 occurs regarding it as a transfer error OFF ON OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18 19 OFF ON Yes No ABS transfer mode ABS request ABS transmission data ready AL E5 warning Servo on SON ABSM Pin 17 ABSR Pin 18 ABS...

Page 354: ...rn it ON again If the ABS data transmission fails to end normally even after retry regard this situation as an ABS checksum error and execute error processing The start command should be interlocked with the ABS data ready signal to disable positioning operation when an checksum error occurs 20ms or longer OFF ON OFF ON OFF ON OFF ON 10ms or longer 20ms or longer 20ms or longer Retry 1 Retry 2 Ret...

Page 355: ...e accepted In the reset state the ABS transfer mode ABSM can be input OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON Servo on SON Reset RES ABS transfer mode ABSM ABS request ABSR ABS transmission data ready ABST Transmission ABS data Base circuit Alarm output ALM Ready RD Occurrence of alarm During transfer of ABS ABS data Operation enabled OFF ON Pin 17 Pin 18 Pin 25 ABSB0 Bit0 Pin22 ABS...

Page 356: ...he driver transmits to the PC or PLC etc the current position latched when the ABS transfer mode ABSM switches from OFF to ON and at the same time the driver sets this data as a position command value However since the base circuit is OFF during an emergency stop the servo lock status is not encountered Therefore if the servo motor is rotated by external force or the like after the ABS transfer mo...

Page 357: ...e base circuit and the ready RD are turned ON after the emergency stop state is reset OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON Servo on SON Emergency stop EMG ABS transfer mode ABSM ABS request ABSR ABS transmission data ready ABST Send ABS data Base circuit Ready RD During transfer of ABS ABS data Operation enabled ABSB0 Bit0 Pin22 ABSB1 Bit1 Pin23 Pin 17 Pin 18 Pin 25 ...

Page 358: ... the non volatile memory as the home position ABS data The home position setting CR should be turned on after it has been confirmed that the in position INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000...

Page 359: ...ition setting CR is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data When the servo on set home position setting CR to ON after confirming that the in position INP is ON If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correc...

Page 360: ...tromagnetic brake torque to be generated by the ABS mode ABSM and electromagnetic brake interlock MBR Refer to section 14 8 4 1 for the external wiring example Refer to section 14 9 1 2 e section 14 9 2 2 g section 14 9 3 2 g for the sequence program example OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 5 ms Tb 95 ms 5 ms Tb Power supply Servo on SON ABS transfer mode ABSM A...

Page 361: ...ossible 2 There is no polarity in lock terminals B1 and B2 3 When using a servo motor with a lock assign the electromagnetic brake interlock MBR to external output signal in the parameters No PA04 PD13 to PD16 and PD18 4 Shut off the circuit by interlocking with the emergency stop switch 5 Do not use the 24VDC interface power supply for the lock ABS transfer mode ABSM ...

Page 362: ...tween the absolute position data of the driver and the programmable PC or PLC etc a difference will occur between the position data of the driver and that of the programmable PC or PLC etc To prevent this difference in position data from occurring do as described below When the driver has detected the stroke end perform JOG operation or the like to clear the stroke end After that switch the servo ...

Page 363: ... CN1 Servo amplifier Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y10 Y11 Y12 Y13 SG S S DOG STOP VH VL FPO FP COM0 RP RPO COM1 CLR PGO PGO FX 1PG Servo on ABS transfer mode ABS request Alarm reset Electromagnetic brake output Note 3 Note 2 EMG 42 SON 15 ABSM 17 ABSR 18 RES 19 DICOM 20 DICOM 21 CR 33 P15R Plate DOCOM OPC 12 PP 10 DOCOM 47 NP 35 OP 47 SD 41 1 Clear Z phase pulse Proximity dog Note 1 COM2 COM3 COM1 3 3k...

Page 364: ...5 Y6 Y7 Y10 Y11 Y12 Y13 S S DOG STOP VIN FP COM0 RP COM1 CLR PGO PGO FX2N 1PG Servo on ABS transfer mode ABS request Alarm reset Electromagnetic brake output Note 3 Note 2 EMG 42 SON 15 ABSM 17 ABSR 18 RES 19 DICOM 20 DICOM 21 CR 33 P15R Plate DOCOM OPC 12 PP 10 DOCOM 47 NP 35 OP 47 SD 41 1 Clear Z phase pulse Proximity dog Note 1 COM2 COM3 COM1 3 3k 3 3k Pulse train for forward rotation Pulse tra...

Page 365: ...ignal count N 2 pulses Initial value 10 14 13 Home position address HP 0 15 Acceleration deceleration time Ta 200ms Initial value 100 16 Not usable 18 17 Target address I P I 0 20 19 Operation speed I V I 100000 Initial value 10 22 21 Target address II P II 0 24 23 Operation speed II V II 10 25 Operation command H0000 3 Instructions When the servo on switch and the COM of the power supply are shor...

Page 366: ... checksum discrepancy M4 M5 Servo on request reset permission Servo on request D24 Home position address Lower 16 bits M6 Retry flag D25 Home position address Upper 16 bits M10 M11 M12 M13 ABS data 2 bit receiving buffer D106 D107 1PG present position address Lower 16 bits 1PG present position address Upper 16 bits M20 M51 ABS data 32 bit buffer M52 M57 Checksum 6 bit buffer M58 M59 For checksum c...

Page 367: ...me position address to 0 Setting 1PG pulse command unit 1PG max speed 100 kpps 1PG home position return speed 50 kpps 1PG creep speed 1 kpps 1PG home position return zero point count twice 1PG home position address setting 1PG acceleration deceleration time 200ms 1PG operation speed 100kpps Position move account 1 300000 pulses Position move account 2 250000 pulses Position move account 3 0 pulses...

Page 368: ...ter Resetting ready to send ABS data Resetting servo on request Resetting ABS transfer mode Resetting ABS request Resetting retry flag Resetting communication counter Servo on switch Retry Servo on request Servo on switch Continued from preceding page To be continued Servo on and retry control M1 M6 ABS transmission start Retry M0 Y11 Error flag ABS communication error ABS check error Resetting ch...

Page 369: ...ta reception counter Error flag output Servo alarm output Resetting ABS transfer mode Resetting ABS request Resetting ready to send Resetting servo on request Resetting retry flag ABS transfer mode ON Clearing ABS data reception area Clearing ABS receiver data buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm detection alarm reset control ABS transfer mod...

Page 370: ...etting ABS request Resetting ABS transfer mode Masking checksum 6 bits Comparison of checksum ABS data checksum error Retry command Storing checksum value in the case of checksum error Retry flag ON ABS transfer mode Send data ready ABS data read ABS request Send data ready Retry counter Retry counter Continued from preceding page 4 4 To be continued T204 T204 K1 ABS data waiting timer 10ms C0 All...

Page 371: ...ress ABS data 1PG Setting ABS data ready Clearing checksum judging area Resetting retry flag Detecting ABS communication error Resetting ABS request ABS transfer mode 5s timer ABS request response 1s timer Ready to send response 1s timer ABS communication error Counting retry frequency Setting servo on request Continued from preceding page To be continued Checksum match ABS communi cation error Se...

Page 372: ...t command pulse 1PG JOG command 1PG JOG command 1PG home position return start Setting motion distance 1PG start Index processing 1PG stop command 1PG error reset Continued from preceding page To be continued Normally OFF Servo ready Position start switch ABS data ready Servo ready Home position return switch Position start command pulse Position stop switch Error flag 1PG error reset Note Program...

Page 373: ...lution before starting home position return Do not turn ON the clear CR Y5 for an operation other than home position return Turning it ON in other circumstances will cause position shift Y1 X0 X14 M70 M71 T210 M70 PLS M71 D24 K500 DMOVP K1 D24 K13 K0 DTOP K1 D24 K26 K0 DTOP T210 M71 SET K10 M71 RST Y5 Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return requ...

Page 374: ...or several seconds after the servo on SON is turned on the servo motor must be at a stop Y1 X0 M Y1 Completion of positioning ABS transfer mode Positioning completion ABS transfer mode g Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y1 X1 M Y1 Zero speed ABS transfer mode...

Page 375: ...200VAC COM1 COM2 Operation mode Servo on Home position return Operation mode Position start Position stop JOG JOG Alarm reset ABS transfer mode Servo on ABS request Note 3 Electromagnetic brake output Note 4 Note 2 Note 1 Proximity signal FLS 12 RLS 13 CHG 15 STRT 16 COM 35 36 INPS 8 26 5 CLEAR COM CLEAR COM 23 PLS COM 19 PLS COM 20 SD LG NP NG PP PG LZR LZ RD INP CR DOCOM 49 22 41 47 8 9 11 10 36...

Page 376: ...ut COM 2 Sequence program example a Conditions The ABS data is transmitted using the leading edge of the servo on switch as a trigger 1 When the servo on switch and power supply GND are shorted the ABS data is transmitted at power on of the driver or on the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when an emergenc...

Page 377: ...ata 2 bit receiving buffer M13 Servo on request D6 Check data in case of checksum error M14 Servo alarm D7 Number of retries M15 ABS data transfer retry start flag set D8 Forward rotation direction M16 Retry flag set D9 Home position address Lower 16 bits M17 Retry flag reset D10 Home position address Upper 16 bits M18 PLS processing command D11 Drive unit ready data M20 Note 1 Clear CR ON timer r...

Page 378: ... 1 2 3 Travel per pulse 0 1 to 1 to 10 to 100 0 00001 to 0 0001 to 0 001 to 0 01 to 0 00001 to 0 0001 to 0 001 to 0 01 to Unit of travel m PLS inch PLS degree PLS PLS Constant K for conversion into unit of travel 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 None Reference For 1 m PLS set constant K to 10 For 5 m PLS set constant K to 50 The additional program is not require...

Page 379: ... instruction Current position change flag Resetting ready Resetting servo on request Resetting ABS transmission counter at servo OFF Resetting checksum transmission counter at servo OFF Servo on output ABS interface start Setting retry flag Resetting retry counter Alarm reset output Error flag output Resetting ready Resetting servo on request Servo alarm To be continued Continued from preceding pa...

Page 380: ...nter ABS transfer mode Saving ABS 32 bit data Clearing register 1 Reading x axis rotation direction parameter Masking rotation direction parameter Masking ABS data sign PLS processing command Reversing polarity of upper 16 bits Decrementing upper 16 bits by 1 Reversing polarity of lower 16 bits Lower 16 bits 0 D4 1 D4 ABS transfer mode initial setting ABS transfer mode control Absolute position po...

Page 381: ... Adding 2 bits Right rotation of A0 2 bits Counting the number of checksum data Completion of reading checksum 2 bits Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Adding checksum Counting the number of ABS data Completion of reading ABS 2 bits data Right rotation of A0 10 bits Masking sum check Sum check OK Sum check NG Sum check memory ABS checksum error Continued from ...

Page 382: ...03 data for Positioning start Switching start signal off on completion of positioning Continued from preceding page To be continued ABS 2 bits completion Checksum 2 bits completion ABS transfer mode Ready to send ABS data ABS 2 bits request ABS request 10ms delay timer Checksum OK Note 1 Checksum OK Change flag Positioning start Start com pletion BUSY Error detection position changing current valu...

Page 383: ...g retry flag Retry counter Retry waiting timer 100ms Resetting retry flag Saving received shift data ABS communi cation error Servo on switch Continued from preceding page ABS transfer mode ABS transfer mode ABS request ABS transfer mode Ready to send ABS data ABS transfer NG ABS request NG Readying to send ABS data NG Sum check NG Retry ABS transfer mode OFF wait timer Retry counter Retry flag se...

Page 384: ...position return Refer to the home position return program in the A1SD75 User s Manual Note that this program requires a program which outputs the clear CR Y35 after completion of home position return Add the following program K1 D12 K817 H0000 FROM M22 D12 K0016 WAND Y35 D12 K16 M22 Reading 1 axis home position return completion signal Masking home position return completion Home position return p...

Page 385: ...R on Setting X axis home position address 500 in data register 1 Changing X axis home position address Note 2 1 Changing X axis current value 1 Writing positioning data No 9003 Starting positioning Switching BUSY signal off to switch start signal off PC RUN Home position return mode ABS transfer mode Positioning completion Home position return start switch Clear signal ON timer request Data set ty...

Page 386: ...r several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X20 M Y31 Positioning completion ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 M Y31 Zero speed ABS transfer mo...

Page 387: ... K1 FROMP H0000 K155 D8 K1 DFROP H0000 K0072 D9 K1 DFROP H0000 K222 D9 K1 DTOP H0000 K1154 D3 K1 DTOP H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 TO H0000 K1200 K9003 K1 b Data set type home position return Arrange the data set type home position return programs given in section 14 9 2 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y a...

Page 388: ...A B Power supply INPUT 100 200VAC COM1 COM2 Operation mode Servo on Home position return Operation mode Position start Position stop JOG JOG Alarm reset ABS transfer mode Servo on ABS request Note 3 Electromagnetic brake output Note 4 Note 2 Note 1 Proximity signal FLS 1 RLS 2 CHG 5 COM 6 7 12 13 CLEAR RDY COM CLEAR COM 14 SD LG NP NG PP PG LZR LZ RD INP CR DOCOM 49 22 41 47 8 9 11 10 36 35 30 Pla...

Page 389: ...specified time the ABS communication error occurs Y3A ON ON period of ABS transfer mode Y31 ON period of ABS request Y32 OFF period of reading to send ABS data X22 b Device list X input contact Y output contact X20 ABS transmission data bit 0 Positioning completion Y30 Servo on X21 ABS transmission data bit 1 zero speed detection Y31 ABS transfer mode X22 ABS transmission data ready Torque limitin...

Page 390: ...t Preparation completion reset Servo on request reset Absolute position restoration start Retry flag set Retry counter reset Alarm reset output Error flag output Preparation completion reset Servo on request reset Servo alarm Initial setting Servo on control Servo alarm detection alarm reset control Servo on switch Alarm reset switch Alarm reset switch Servo on switch Absolute position restoration...

Page 391: ... Sum check error detection Retry flag set Retry counter Retry wait timer Error detection retry control Absolute position restoration start flag reset Preparation completion Absolute position restoration data reception Absolute position restoration data reception Absolute position restoration dedicated instruction execution ABS checksum error Retry flag reset Absolute position restoration position ...

Page 392: ...dy M10 is off M10 When M10 ready to send ABS data switches on the X axis start program is executed by the X axis start command X axis start program Positioning mode X axis start command Ready to send ABS data Note e Dog type home position return Refer to the home position return program in the QD75 User s Manual ...

Page 393: ... request Clear CR 100ms ON timer Setting data set type home position return request Resetting data set type home position return request Switch clear CR on Setting X axis home position address 500 in data register 1 Changing X axis home position address 1 Changing X axis current value 1 Writing positioning data No 9003 Starting positioning Switching BUSY signal off to switch start signal off Clear...

Page 394: ...r several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X20 M Y31 Positioning completion ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 M Y31 Zero speed ABS transfer mo...

Page 395: ...m and write the Y axis program Program configuration Z ABRST1 U0 D100 M100 Z ABRST2 U0 D100 M100 b Data set type home position return Arrange the data set type home position return programs given in section 14 9 3 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M contacts and T ...

Page 396: ...rogram incorrect Correct the ladder 3 Faulty programmable PC or PLC etc output or input module Change the input or output module 4 Faulty printed board in the driver Change the driver 5 Power supply to the driver is OFF Turn on the power to the driver ABS data checksum error Y3A Y12 ABS data sumcheck resulted in mismatch four times consecutively 1 Wiring for the ABS data signal ABS bit 0 PF bit 1 ...

Page 397: ...r mode ABS request ABS transmission data ready ABS communication error The signal does not come ON NO YES b The time required for the ABS transfer mode signal to go OFF after it has been turned ON ABS transfer time is checked If the ABS transfer time is longer than 5s this is communication error occurs if the ABS time out warning AL E5 is generated at the driver due to an ABS transfer mode complet...

Page 398: ...request OFF time time out OFF ON OFF ON OFF ON 1s ABS transfer mode ABS request ABS transmission data ready ABS communication error The signal does not go OFF NO YES 14 10 2 Error resetting conditions Always remove the cause of the error before resetting the error Name Output coil Servo status Resetting condition A1SD75 1PG ABS communication error Y39 Y11 Ready RD off Reset when servo on SON switc...

Page 399: ...No 9 1 2 Reply The absolute position data in the command pulse unit is returned in hexadecimal Data 32 bit length hexadecimal representation 14 11 2 Absolute position data transfer protocol 1 Data transfer procedure Every time the servo on SON turns on at power on or like the PC or PLC etc must read the current position data in the driver Not performing this operation will cause a position shift T...

Page 400: ...nsmission Absolute position data receive Current position Pulse train command Current position change During this period get absolute position data Servo on SON Ready RD 1 95ms after the servo on SON has turned on the base circuit turns on 2 After the base circuit has turned on the ready RD turns on 3 After the ready RD turned on and the PC or PLC etc acquired the absolute position data give comma...

Page 401: ...g the alarm get the absolute position data again from the driver in accordance with the procedure in a of this section ON 95ms OFF ON OFF ON OFF ON OFF ON OFF ABS data 5ms Base circuit Absolute position data command transmission Absolute position data receive Current position Pulse train command During this period get absolute position data Current position change Servo on SON Reset RES Trouble AL...

Page 402: ...FF ON 5ms ABS data During this period get absolute position data Current position change Power supply Base circuit Pulse train command Current position Absolute position data receive Absolute position data command transmission Servo on SON Emergency stop EMG Ready RD 2 When a emergency stop is activated during servo on 95ms ON OFF ON OFF ON OFF ON OFF 5ms ABS data Pulse train command Current posit...

Page 403: ...Configurator2TM Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Choosing Monitor in the menu opens the sub menu as shown below 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears 3 Press the Close button to close the absolute encoder data display window ...

Page 404: ...SERVO MOTOR 2 15 1 Servo motor with a lock 2 15 1 1 Features 2 15 1 2 Characteristics of servo motor with a lock 4 15 2 Protection from oil and water 5 15 3 Cable 5 15 4 Rated speed of servo motor 5 15 5 Mounting connectors 6 ...

Page 405: ...the lock Switching power off enables the lock 1 Lock power supply Prepare the following power supply for use with the lock only The lock terminals B1 and B2 have no polarity Electromagnetic brake Switch VAR B1 U B 24 V DC power supply for electromagnetic brake B2 Electromagnetic brake Switch VAR B1 U B 24 V DC power supply for electromagnetic brake B2 or The surge absorber VAR must be installed be...

Page 406: ... Vi is favorable 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 τ Given that the varistor abso...

Page 407: ...ermissible locking work Per locking 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 lockings times 20000 Work per locking J 5 6 22 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 145 V TND20V 680KB 135 V For the suppressed voltage 370 V TND10V 221KB 360 V Note 1 There is no manual release mechanism...

Page 408: ...ealant packing cable and others may be affected depending on the oil type 15 3 Cable The standard motor and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable Otherwise the cable may disconnect In addition do not modify the connectors terminals and others at the ends of the cables 15 4 Rated speed of servo motor The rated speed of servo motor LE S5...

Page 409: ...1 2 Connector for power supply connector for encoder Connector for lock 2 Tighten the screws evenly Tightening torques are as indicated below Connector for electromagnetic brake Screw size M2 Tightening torque 0 2 N m Connector for power supply Screw size M2 Tightening torque 0 2 N m Connector for encoder Screw size M2 Tightening torque 0 1 N m 3 The servo motor fitting part of each connector is p...

Page 410: ...us display block diagram 5 App 4 Handling of AC driver batteries for the United Nations Recommendations on the Transport of Dangerous Goods 6 App 5 Symbol for the new EU Battery Directive 6 App 6 Compliance with the European EC directives 7 App 6 1 What are EC directives 7 App 6 2 For compliance 7 App 7 Conformance with UL C UL standard 10 ...

Page 411: ...l mode regenerative option selection P PB12 OVA Overshoot amount compensation P S PB13 NH1 Machine resonance suppression filter 1 P S PA11 TLP Forward rotation torque limit P S T PB14 NHQ1 Notch shape selection 1 P PA12 TLN Reverse rotation torque limit P S T PB15 NH2 Machine resonance suppression filter 2 P PA13 PLSS Command pulse input form P PB16 NHQ2 Notch shape selection 2 P PA14 POL Rotation...

Page 412: ...15 MOD2 Analog monitor 2 output P S T PD10 DI8 Input signal device selection 8 CN1 pin 43 P S T PC16 MBR Electromagnetic brake sequence output P S T PD11 DI9 Input signal device selection 9 CN1 pin 44 P S T PC17 ZSP Zero speed P S T PC18 BPS Alarm history clear P S T PD12 DI10 Input signal device selection 10 CN1 pin 45 P S T PC19 ENRS Encoder output pulses selection P S T PC20 SNO Parameter block...

Page 413: ...5 34 LG 11 12 37 36 13 14 39 38 15 16 41 40 17 18 43 42 EMG 19 20 DICOM 45 44 21 DICOM 22 47 DOCOM 46 DOCOM 23 24 49 48 ALM 25 50 CN1 Torque control mode 1 P15R 2 VC 27 26 3 LG 4 LA 29 28 LG 5 LAR 6 LB 31 30 LG 7 LBR 8 LZ 33 OP 32 9 LZR 10 35 34 LG 11 12 37 36 13 14 39 38 15 16 41 40 17 18 43 42 EMG 19 20 DICOM 45 44 21 DICOM 22 47 DOCOM 46 DOCOM 23 24 49 48 ALM 25 50 CN1 Speed control mode TLA 1 ...

Page 414: ... pulse CMX CDV Differ ential Electronic gear Bus voltage Command pulse PP NP Speed feedback Absolute position detection encoder Servo motor Effective load ratio Effective value calculation Instantaneous torque Peak load ratio Peak hold ABS counter Within one revolution position low high Within one revolution ABS counter Cumulative command pulses Command pulse frequency Present position calculation...

Page 415: ...ttery Directive 2006 66 EC that is plastered to general purpose AC servo battery is explained here Note This symbol mark is for EU countries only This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex II Your SMC product is designed and manufactured with high quality materials and components which can be recycled and or reused This symbol means tha...

Page 416: ...ive also applies the servo incorporated machines and equipment This requires the EMC 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 This servo is designed to com...

Page 417: ...ximum altitude In operation in storage 1000m or less In transportation 10000m or less Note 1 Ambient temperature is the internal temperature of the control box 2 The driver 200V 3 5kW or less and 100V 400W or less can be mounted closely In this case keep the ambient temperature within 0 to 45 32 to 113 or use the driver with 75 or less of the effective load ratio 4 Power supply a This driver drive...

Page 418: ... compliant products given in this Instruction Manual Use a type B Note breaker When it is not used provide insulation between the driver and other device by double insulation or reinforced insulation or install a transformer between the main power supply and driver drive unit Note Type A AC and pulse detectable Type B Both AC and DC detectable b The sizes of the wires given in this Instruction Man...

Page 419: ...uitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes 500 Volts Maximum 4 Flange Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect Flange size mm Servo motor LE 250 250 6 S5 S6 S7 250 250 12 S8 5 About wiring protection For installation in United States branch circuit protection must ...

Page 420: ... The sizes and the symbols rated at 75 167 are shown in the brackets Driver Converter unit Note 3 Wires AWG L1 L2 L3 L11 L21 U V W P1 P2 P P2 C LECSB 14 14 16 16 Note 4 14 14 14 14 Driver Converter Unit Note 3 Wires mm2 B1 B2 BU BV BW OHS1 OHS2 LECSB 16 16 Note 1 To connect these models to a terminal block be sure to use the screws that come with the terminal block 2 For the servo motor with a coo...

Page 421: ...ft so that unbalanced torque is not more than 70 of the rated torque When you carry out adhesion mounting of the driver make circumference temperature into 0 to 45 32 to 113 or use it with 75 or less of effective load torque Driver LECSB series have servo motor overload protection The motor full load current is 115 rated current 1000 100 10 1 0 1 100 200 300 350 0 Note 2 Load ratio In servo lock I...

Page 422: ...to the UL C UL standard is shown below The earth wiring is excluded from the figure configuration a LECSB Power supply Fuse or no fuse breaker L1 L2 L3 L11 L21 U V W Command device Servo amplifier Encoder cable Control panel side Machine side Servo motor Encoder CN5 CN2 CN3 CN6 CN1 Driver ...

Page 423: ... Jan 2017 Revision Correction of figures No LEC OM02407 No JXC OMT0021 A Oct 2017 Revision Correction of figures No JXC OMT0021 B Dec 2018 Revision CNP Connector product number Change 12 3 Precautions for using USB communication function Add 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 wit...

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