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Summary of Contents for DYNASERV DM Series

Page 1: ...rutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective owner...

Page 2: ...okogawa MAT Corporation DO Servo Actuator Logic Control Interface Driver Suffix P Model Instruction Manual IM A521 E IM A521 E Mar Of 26oQ Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ... Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 4: ...ictly prohibited t Yokogawa Precision Corporation reserves the right to change the contents of this manual without prior notification t While every effort has been made to ensure accuracy in the preparation of this manual if you should however notice any discrepancies errors or omissions kindly contact your dealer or the authorized service personnel of Yokogawa Precision Corporation or its authori...

Page 5: ... figure shown below Wilen iffi _obi_ect isto be introduced inside the central hole of the motor ensure a minimum gap of lnun on either side b etween the ObjeCt and _1 h moto aTIS E hole Mounted part 6 Never adjust the bolts that fix the bottom of the rotor of the motor indicated by the arrow in the figure shown above Loosening or tightening the bolts may cause the commutation angle to be inaccurat...

Page 6: ... its authorized agency Yokogawa Precision Corporation or its authorized agency accepts no responsibility for a disassembled or modified motor and driver without permission 13 lf the motor is placed on the floor or the like as shown below when carrying or installing the DYNASERV the cable is bent by the weight of the motor and this bending may cut the conductor wire When setting the motor in place ...

Page 7: ...lm or more Centering offset 1OjJmm or less 5 k b l 16 Never carry out a withstanding voltage test Carrying out this test even accidentally may damage the circuits When such withstanding voltage tests are required consult Yokogawa Precision Corporation or its authorized agency Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 8: ... order Delay Filter and Jumper Settings 3 Mechanical Resonance Notch Filter Adjustment 4 fc Natural Frequency Adjustment Switch 5 POSW Positioning Completion Width Setting 6 1 F Setting Switch 3 4 External Wiring 1 External Connection Diagram 2 Connection Between the Motor and the Driver 3 Signals for Sequencer CNI I 4 Example of Sequencer CN11 12 Connection 5 Signals for Origin Switch CN12 6 Elec...

Page 9: ...Holds at L 5 7 7 Reading of the Encoder Data 5 8 8 Correspondence Between DI 0 to 7 and DI 0 to 7 Signals and BCD Codes 5 8 9 JOG Mode Operation 5 9 10 JOG Operation and Overtravel Detection Function 5 10 5 3 Tuning Mode 5 11 I Control Mode Setting 5 11 2 I PD Position Control 5 12 3 P Position Control 5 12 4 Tuning Mode 5 13 5 Adjustment Procedure for Manual Tuning of Position Control System 5 13...

Page 10: ... Setup Data 7 6 2 Non BCD 7 7 3 Encoder Error 7 7 4 Counter Overflow 7 8 5 Main Power Supply Voltage Too Low 7 8 6 Amplifier Error 7 9 7 Overload 7 9 8 REFERENCE 8 1 Specifications 8 1 1 Standard Specifications of Motor Section 8 1 2 Standard Specifications of Driver Section 8 4 3 Environmental Specifications 8 4 8 2 Velocity vs Torque Characteristics 8 5 8 3 External Dimensions unit mm 8 6 8 4 Dr...

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Page 12: ...g control and there is a newly incorporated automatic tuning function therefore tuning work has become simplified This driver can be used in combination with a motor from the conventional DYNASERV DM and DR series except for the DM8015 and DRSOOOA series Standard Product Configuration The standard product set consists of the foilowing components When unpacked make sure that the product is the corr...

Page 13: ... series name ____J T SD or SR Design version 1 standard 5 high speed Maximum output torque N m with 3 digits Motor modeVouter diameter A series dia 10 B series dia 6 E series dia 8 Destination 0 domestic 5 overseas ___________j Compatibility function __J Power voltage 1 100 115 V power requirements 2 200 230 power requirements Built in interface board type P P driver series Mechanical resonance fi...

Page 14: ...tator setscrew Rotor setscrew Fixed section Bottom cover Rating nameplate 2 2 Motor Section DR Series Cylindrical Fixed section Bottom Encoder cable Motor cable Bottom View Motor cable Rating nameplate IM A521 E 2 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 15: ...al r la YC OOJ WJ t Motor cable grounding tenninal ZERO LED on when the driver detects zero phase in the motor BUSY LED on when the driver is in a busy state Positioning completion width setting switch ll 1 Natural frequency adjustment switch ii IFvt r Integral limiter adjustment switch AC gain adjustment control AC fli hj jt lf oc 1 11 11 11 DC gain adjustment control Velocity waveform output ter...

Page 16: ... origin sensor and overtravel sensors OTU and OID 3 9 3 12 3 17 separately 5 2 5 4 Example E2C XIA E2C GE4A amplifier from Omron Corp 4 Prepare sequencer or switch circuit Items to Be Provided Page Numbers for Reference Provide a sequencer or switch circuit separately Also provide the 3 9 3 12 3 15 power supply and other products having the same specifications 5 Connect sequencer or switch circuit...

Page 17: ...uning to confirm actions Item to Be Prepared o Oscilloscope 9 End 3 2 Page Numbers for Reference 5 11 5 18 IM A521 E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 18: ...ir locations To remove the side plate from the driver box remove the four screws shown in the figure above In order to commence this operation the power must be turned off because of danger Further never touch the high voltage generation section even with the power turned off For setting and adjustment procedures see the following pages Never touch the switches and variable resistors other than th...

Page 19: ...fication setting With jumper DC gain x 13 without jumper DC gain x I JP2jumper I 1 P 100 200 PV VEL TORQ ALM TLIM Velocity I type control Velocity P type control Velocity detection filter Hz selection Normally open Velocity detection filter Hz selection Normally open Mode selection Never change the setting Velocity input Never change the setting Torque input Never change the setting Open Never cha...

Page 20: ...us DC GAIN Minimum position ACGAIN Minimum position POSW Setto 8 fc Set to 0 I LIM Set to 0 IIF setting switch 2 3 4 5 6 7 8 f w w n liii L4f b ttl14Thdtrsl H Factory setting ON OFF 3 INSTALLATION AND WIRING 3 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ...r is located as shown in the figure on page 3 7 just inside the square cut out on the side panel Controls fn1 and fnz on the board are used to set the notch frequencies at the first and second stages respectively The frequencies can be set within the range from 150Hz to 1 5 kHz the frequencies are factory set to 1 5 kHz when shipped Use controls Q1 and Qz to change the setting of the Q values The ...

Page 22: ...ment Switch This is a switch to set or adjust the positioning frequency The greater the switch number the higher the frequency bandwidth and the higher the servo stiffness fc Switch Position fc Hz 5 POSW Positioning Completion Width Setting POSW Switch Setting Number of pulses IM A521 E This is a switch to set the positioning completion width When the POSW switch is set to I the COIN signal in the...

Page 23: ...on the sub switch a 6 panel can be adjusted in the switch off 6 parameter value for automatic tuning you ON status ON select in the tuning mode is selected OFF OFF Connection check is possible in the maintenance mode 5 INo 7 setting sub switchfovertravel detection When you turn on the switch the overtravel detection function stops the motor automatically when OTU and 7 OTD signals become H In this...

Page 24: ...k GND f 1 CN2 co cable 1 lotf T Rod 2 1 J Black 3 Blue 4 1 A Blue While 5 Brown 6 J BrownJINhite 7 A Graen a JAL c Green White 9 Omnge 10 1 ____ Orange White steelshielded wires 2 DRISR series Driversection Tl Motorcable JMotor section 1 Rod v While v i Black Vo l j GND Green SOl codercable BrownJINhite 5180 11 c If Grnen White S0 2 lc 4f Bn wn 518013 Green C0 6 Omngei Nhite c V C18016 Blue INhite...

Page 25: ...to A3 DI2 beset A4 DI3 AS DI4 A6 DIS A7 DI6 AS Dl7 Bl STPO I Latch signals for positioning data B2 STPI B3 STP2 B4 STP3 B8 STBVO I Latch signals for speed data B9 STBV l B O STBA I Latch signals for acceleration data Valid only when a trapezoid is selected in cam curve selection A O STBG I Latch signals in selection of DC gain Turning off No 6 1 F setting sub switch makes the selected DC gain effe...

Page 26: ...ed command BUSY 3 INSTALLATION AND WIRING Driver ACO 8201 2 W A1 819 COM y u AHI 01 0 7 D A9 STBS AIDISTBG All 18 08 D 7 E BhVSTPo a B 85 START u 65 0RG y D 87 S GN 0 Bll S STBVIJ l 0 81 1 STBA 811 14 STE 0 3 z 815 EAAOR Q_ 816 BUSY 817 COIN BIB ROY Aa1 820 24VOC c AIS BH COM 811 SERVO 812 CAMSL c 813 IIP 15 816 STOP E Q 814 JOG 0 8 1 JOG 0 A4 0RGOG 0 84 0RGOG A5 0TU F z 85 DTU Q_ A6 0TD 86 0TD 3 ...

Page 27: ...ignal in the H state usually Setting the state to L upon activation of the motor can stop the system in an emergency Set the startup command signals such as SfART ORG and JOG to Hand then set this signal to H Setting Utis signal to L enters the jog mode To rotate the motor in a CW direction set the JOG signal to L and to rotate it in a CCW direction set the JOG signal to L Usually run the motor in...

Page 28: ...midity Note The DYNASERV is not moisture proof or oil proof so it should be covered by a suitable moisture proof or oil proof cover b Mechanical Coupling When coupling a load with the motor rotor section make sure there is a clearance of more than I mm between the motor upper surface and the load Secure the motor rotor and stator by tightening the setscrew with torques of less ihan the following v...

Page 29: ...t is free from high temperatures dust metal powders and corrosive gases b Mounting Procedure Normally the driver is rack mounted L shaped angle brackets on a level plane with its driver panel facing forward However it may be mounted with its driver panel facing upward Always avoid mounting it with the panel turned on its side or upside down See the figure below The driver box adopts a natural air ...

Page 30: ...sted wire 4 Outside diameters of the cables used for CN2 less than dia 9 mm respectively 5 Cable size is obtained under the condition that the ambient temperature is 40 C and the rated current flows through 3 bundled leadwires 6 HIV Heat resistant polyvinyl chloride insulated wire maintains insulation resistance up to an operation temperature of 75 C Power supply cable P driver 0 TBI Sequencer DYN...

Page 31: ...OOE DR Series DR1050A DR1130E 1250E DRllOOA 1400A DR5030B 5070B 2 Torque Monitoring Sensitivity 8 V DC maximum torque 3 Position Test Monitoring Sensitivity 0 5 V DC Velocity Detection Sensitivity VIrps 5n o 511 0 5n o 5 1 5 5 1 0 5 5 0 IM A 521 E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 32: ...r of zero phases given in the follow ing table in equal circular divisions depending on the model Therefore if the origin sensor mounting position is incorrect then the position is detected with the zero phase shifted to I causing the origin position to he inaccurate Model Number of Zero Phases DMSeries A series 00 B series 60 DR Series A series 200 B series 124 E series 50 50008 series 68 2 When ...

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Page 34: ...first 3 The inrush current in both the main and control power circuits is about 25 A peale 4 The motor is set to the servo status about 200 ms after SERVO is set to L 5 When the main power circuit is active RDY H indicates a driver problem How ever after the control or main circuit power supply is turned on the RDY H condition is maintained up to 3 seconds 100 200 V AC _ V control circuit power su...

Page 35: ...re set as shown in Figure 4 7 then under the cyclic motor operations of acceleration constant velocity deceleration and stopping the following equations must be fulfilled Also if either the average motor velocity number of revolutions or the current duty is known it is possible to obtain the other in a simplified manner from the graph shown in Figure 4 8 For current 1 12 and 13 as shown in Figure ...

Page 36: ... 13 1 4 tcv From the above hB and he are obtained 4 1 2 I I 1 8 2 4tcv 4tcv 4tcv X Stcv X 100 2_x 100 40 5 81 9 11c 4 cY cv 81 I cy X 225tcY X 100 17100 19 900 For equation 3 40 2 6 X 19 98 103 4 CAUTION ON OPERATION Thus it is found that the conditions fulfill equation 3 resulting in confirmation of the correct settings 4 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 37: ... load inertia with the number of revolutions set as a parameter If the load inertia exceeds I kg m2 or if the DYNASERV must be used beyond the rated load inertia consult Yokogawa Precision Corporation or its authorized agency Maximum velocity Velocity k tcv Time Cyclic operating frequency t times minute Figure 4 10 Cyclic operating frequency times minute Figure 4 11 100 80 60 40 20 0 Sr 0 1 1 3 rp...

Page 38: ...angle by turning the JOG switch on or off It is used to decide an electrical origin user defined origin The two functions described below are used to set the control parameters for position control 1 Automatic tuning This function automatically detemtines the control parameters and saves them in the driver A part of this function can also be used in the positioning mode 2 Manual tuning Users adjus...

Page 39: ...the motor in JOG mode with the servo on status To move the motor manually with the servo off status 6 The electrical origin can be set within the range of only one revolution of the servo motor The setting of the electrical origin beyond that range is impossible Also note that setting is impossible in the following cases 1 Before initialization 2 When initialization is stopped midway 3 After the a...

Page 40: ...nsure that the origin senser settings are in the range of 10 to 40 in order to reduce noise levels and vibration After preliminaly adjustment carry Rotating direction out homing procedure sevral times until the position deviation is minimized Origin sensor On LED display Off Zero signal I In the case of ijO the display of the LED is as follows Repeated subsequently NOTE displays an accuracy edge H...

Page 41: ...TP Positioning Data Setting 5 4 The positioning data described in this section is the generic name of the data for position direction of rotation curves for cam speed etc The setting range of the positioning data is as follows The maximum speed command value varies with each model of DYNASERV The maximum command time for one movement is 30 seconds The position data item is initialized to 0 when th...

Page 42: ...steps of 0 001 degree One conunand is within 360 000 degrees Example X X 1000 X 2500 Position I J J Feed Feed Command example 1000 1500 Feed pulse input 1000 pulses 1500 pulses Feed angle input 1 000 degree 1 500 degrees 2 Position input mode Absolute command Pulse position input Conunands movement on the encoder pulse basis One command is within the encoder resolution one rotation The command ran...

Page 43: ...nged to L The motor is then activated Note I If an error is found in the data setting the segment LEOs on the front panel display II 2 If the DI data cannot be displayed in BCD code the LEOs display 13 3 Besides the above causes a mismatch in the signal logic of the sequencer and driver and mistiming or wrong wiring can also be the causes No 8 1 F sub switch On 1st and 5th digits 2nd and 6th digit...

Page 44: ...ble as well as in normal data setting Even if ERROR signal does not hold at L if any fault is found in the motor operation check data by this function Data are displayed sequentially and repeatedly on the right LED as follows It is preferable to take a note for collation Also if 1 is displayed on the left LED it indicates an alarm status Display example Positimi data item 360 000 degrees Speed dat...

Page 45: ... Pulse command Feed angle input 0 0 359999 0 001 degree Absolute Pulse position input 9999999 10 9999999 Pulse cOmmand Angle position input 9999999 10 9999999 0 001 degree 8 Correspondence Between DI 0 to 7 and DI 0 to 7 Signals and BCD Codes DBOto7andDIOto7 Bill 7 6 H H H H H H H H L H L H L H No 8 1 F sub switch On Status code No 8 1 F sub switch Off Status code DB0 7 STBS H L STEO H L STE 1 H S...

Page 46: ...nd JOG signals are simultaneously commanded JOG has a priority 2 The trapezoid feed speed can be set For details see Modification of mainte nance data 3 Related to the positioning mode and JOG mode if operation is carried out in the JOG mode when inputting a feed pulse or feed angle the next positioning data item is the command value in the position where the motor stopped after operation in the J...

Page 47: ... the servo off status When returning the motor to the JOG mode if it enters the OTD or OTU area the ERROR signal is held to L again and the status code is changed If the motor passes beyond the area the ERROR signal is canceled This can be confirmeq visually by the display on the 7 segment LEDs Although initialization is carried out even if the overtravel alarm is on return the motor to the area b...

Page 48: ...en RATE Short Short Short RATE 2 Short Short Short JPI UD AB Short Short Short VFFH 0 0 0 VFFM 0 0 0 VFFL 0 0 0 GAINH 0 0 0 I Open Open Short p Short Short Open 100 0 0 0 JP2 200 0 0 0 PV Short Short Short VEL Open Open Open TORQ Open Open Open VI DC GAIN 0 0 0 ACGAIN X X 0 Sl POSW 0 0 0 s fc 0 0 0 I LIM 0 X X Note 0 Valid when the set value affects motor operauon X Invalid when the set value does...

Page 49: ... found is preferable The final adjustment should be carried out during the adjustable speed operation c DC gain adjustable control DC gain can be adjusted in the range of 6 to 72 times upon factory shipment When the jumper JP 2 GAIN is open the range changes 0 5 to 6 times It is desirable to increase the DC gain as much as possible with the gain to be optimum at the maximum load if the inertia cha...

Page 50: ...direction of the motor 4 When the load inertia is too large 5 When using automatic tuning in modes except standard control mode Manual tuning is valid on any occasion and best tuning can be obtained However measuring equipment such as an oscilloscope is required In automatic tuning it is possible to adjust to the almost satisfactory range although not to the optimum value 5 Adjustment Procedure fo...

Page 51: ..._ Integral limiter _ __ Waveform before adjustment Optimum waveform 2 The adjustment procedure for P 1 position control in the test mn mode Step 1 Connect an oscilloscope to the POSN signal terminals Step 2 Set the CN12 connector SERVO signal to L At this time tum off the No 7 1 F setting sub switch Step 3 Tum on the No 7 1 F setting sub switch Step 4 Adjust the fc switch Its variable range is fro...

Page 52: ... F setting sub switch 6 When the above setting is completed tum off this sub switch This completes the adjustment Remote setting of DC gain If the installation load inertia is too heavy or if inertia varies greatly a sufficient adjustment may not be obtained by adjusting the DC gain control on the front panel only In this case the sequencer can set the gain and switch the range Basically if the in...

Page 53: ... 9 14 5 7 11 3 2 6 7 13 B 3 5 15 30 14 27 11 22 6 7 14 25 A 3 6 30 73 27 67 22 56 14 35 50 9 I 7 73 103 67 93 56 78 35 49 65 8 2 8 103 146 93 133 78 112 49 70 80 7 I 9 146 219 133 199 ll2 168 70 105 100 5 2 10 219 438 199 398 168 336 105 209 llO 2 4 3 Setting of the DYNASERV Controls SRIA series Load Load multiplication factor K Set value multiplication Set value Range factor K SR1400A SRI300A SR1...

Page 54: ... 8 3 E 4 2 1 4 2 6 1 3 2 4 1 0 20 0 8 1 7 4 D 3 o 2 4 D 5 3 2 6 6 2 2 4 5 9 2 0 5 0 1 7 4 4 8 c 3 0 3 1 5 1 0 8 c 5 4 6 2 12 5 9 12 5 0 10 4 4 8 8 13 B 3 1 5 3 6 1 0 2 6 13 B 4 5 12 24 12 23 10 20 8 8 18 25 A 2 3 6 7 8 2 6 5 9 25 A 3 6 24 60 23 57 20 50 18 44 50 9 I 7 8 20 5 9 16 50 9 3 7 60 85 57 80 50 70 44 62 65 8 I 20 29 16 22 65 8 3 8 85 121 80 115 70 99 62 89 80 7 I 29 41 22 32 80 7 2 9 121 ...

Page 55: ... the No 6 VFsetting sub sWitch and adjust each fc jUM and DC gain controlf J so that the motor does not 2 5 0 0 5 0 0 2 1 5 1 vibrate YES NO Select manual tuning NO The motor reciprocates 1 to 3 times when the switch is turned on Operate with the No 6 VF setting sub switch turned on and the No 5 sub switch turned off Turn off the No 41 F setting sub switch and store the data in the driver Exit The...

Page 56: ...th the No 7 IfF setting sub switch turned off 2 3 4 5 6 7 8 0 1 1 1 1 1 1 1 For the setting number and set value set the data in the format described to the driver using the STP 0 to 3 signals and D1 0 to 7 signals Next the data are set by setting the SIGN signal to Land the START signal from H to L The value of the digits set once holds unless the setting of the I F setting switch is changed When...

Page 57: ...Vm Maximum feed speed pps 5 20 P Number ofpulses pps Encoderresolution x speed rps The setting sequence is almost the same as that of the position data For details see the timing chart described below After the BUSY signal returns to H the sequence can be read to check the data set The data format is as it is set Do not change the setting no except above table To see the currently sefvalue set the...

Page 58: ... t2 3 b 2 14 0 ts s t7 30 ts 5 tg Q Unit msecJ No 8 1 F sub switch On Status code No 8 1 F sub switch Off Status code Arbitrary Parameters change 1st and 5th digits 2nd and 6th digits 3rd and 7th digits 4th and 8th digits 1st and 2nd digits 3rd and 4th digits 5th and 6th digits 7th and 8th digits DB 0 7 Valid 1 Valid Valid Valid 1 Valid STBS H L I STEO H L t ts STE 1 H L I h STE2 H L t t STE3 H L ...

Page 59: ...P 0 STP 1 STP2 STP3 j Dl4 DIS 016 017 Hexadecimal display Q Dl 0 DI1 DI2 013 G D D D D Repeated subsequently Input Signal Display 1 Also if the STBS and STE 0 to 3 signals hold H in this case input values are output for DB 0 to 7 after several ntilliseconds Output signal Contents DB0to7 The input vaJue of Dl 0 to 7 outputs as it is BUSY The input value of the START signal outputs as it is COIN The...

Page 60: ...dition in the other mode ERROR H is held in the nonnal condition and Lis held if an error occurs For example if maintenance data are changed for the setting number 0 an error occurs The error is canceled by returning the START signal to H 4 Display in the Maintenance Mode LED Status Output signal Status code display RDY ERROR BCD HO In normal condition H H 09 HE At the completion ofparameters H H ...

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Page 62: ...orfive years after installation replace the motor together with the servo driver if necessary This time period may vary depending on the environmental and operating conditions where the motor is used 6 2 Driver Section IM A521 E There is no need for daily maintenance of the driver section However clean the driver section periodically to prevent it from poor insulation caused by accumulated dust 6 ...

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Page 64: ...minal is set to H fc I LIM or DC gain Inspection To be adjusted to an 5 13 5 17 is too small appropriate value The motor does Overloaded Operation of the motor Vhen starting the motor not start with no load lighten the load or replace the motor with a large output motor Position data not set Check ofposition data Set the data ifnot set 5 4 5 1 Incorrect external Inspection ofwiring Re wire correct...

Page 65: ...ed Check ofLED display Recheck the operation Lighten the load fc I LIM or DC gain Inspection To be adjusted to an 5 13 5 17 is too small appropriate value The motor runs Incorrect motor driver Check ofcombination Ifthe combination is 1 2 2 1 2 2 out ofcontrol combination numbers on the wrong then return to the nameplate appropriate combination Improperjumper Inspection Perform correct jumper 3 3 3...

Page 66: ... such as when the START signal is in the L status 7 segment LEOs 1 LED Display in Accordance with Operation Signals upon Normal Operation LED Status Output Signal Status Code Display RDY ERROR BCD 00 Upon setvo operation status or L H 00 positioning operation 01 SERVO signal input H level stop L H 01 status 02 Under data storage electrical origin L H 02 setting etc 03 Under initialization L H 03 0...

Page 67: ...reater than 4Y H L 66 optional 80 89 Main power supply voltage lowered HJ L 80 89 confirm input power supply voltage 30 39 Encoder signal failure connection H L 30 39 failure 30 32 burnout 36 39 abnormal frequency contact failure noise Note The output signals and status codes in brackets may be indefmite 3 Abnormal Main Power Supply for Driver LED Status Output Signal Status Code Display RDY ERROR...

Page 68: ... This LED appears when the overtravel sensor is detected when the Cause detection function is set This LED also appears if the power supply is not 24 V DC Set the operation mode to the JOG mode or set the SERVO signal level to Hand rotate the motor manually to remove the signal from Action the overtravel area Since the alarm is not yet released even if you set the SERVO signal level to H perform a...

Page 69: ...em is within the driver s rating 1 Position command The data item varies depending on the command input mode 2 Velocity command The maximum velocity varies depending on the motors Check if the position command e 1 Change the data data is within one motor rotation NG The data item varies depending on the command input mode NG Check the time to move data 1 Change the data according to the position c...

Page 70: ...ction Check logics of signal wires DID to Dl7 1 L level 0 H level Refer to page 5 8 Correspondence between signals and BCD codes Confirm the ladder diagram or other systems Check command timing of DIO to 017 and STP 0 3 STBV 0 1 STBA and STBG using a ladder diagram or oscilloscope NG Others LED displays 5 1 0 to 5 14 Power on again IM A521 E NO Consult Yokogawa Precision Corp Consult Yokogawa Prec...

Page 71: ... command Excessive velocity or acceleration against the load 5 Main Power Snpply Voltage Too Low BJ ll ________________ J YES Power on again 7 8 NO Consult Yokogawa Precision Corp Abnormal main power supply Consult Yokogawa Precision Corp NO NG NO YES YES Power on again Power on again IM A 521 E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 72: ...ction Power on again YES Power on again 7 TROUBLESHOOTING AND MEASURES Power on again Overload Within specifi cation ranges Consult Yokogawa Precision Corp NO Consult Yokogawa Precision Corp YES Out of speCification range Power on again 7 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

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Page 74: ... section Torsional stiffness Tension stiffness Radial stiffness Weight Length L see the external dimensions IM A521 E N m kgf m rps rps p rev sec sec kg m2 N kgf N m kgf m nun N nun kg rad N m rarlfkgf m kg mm N m kgf m rps rps p rev sec sec kg m2 N kgf N m kgf m nun N nun kg rad N m rarlfkgf m kg mm 8 REFERENCE DM BSeries DM1015B DM1030B DM1045B DM1060B 00 1 00 1 00 1 00 1 15 1 5 30 03 45 4 5 60 ...

Page 75: ...85 1 123 1 I 151 1 179 1 207 1 d DR E Series Series DRIESeries Motor model DR1070E DR1100E DR1130E DR1160E DR1220E DR1250E 00 1 00 1 00 1 00 1 00 1 00 1 Maximum output torque N m kgf m 70 7 100 0 130 3 160 16 220 22 250 25 Maximwn number of revolutions rps 2 4 2 0 2 4 1 5 1 2 1 2 1 2 1 0 1 2 0 7 Motor and Rated revolutions rps 2 0 1 5 1 5 1 0 1 0 0 5 driver Encoder resolutio p rev 614 400 coupling...

Page 76: ...DR5030B DRSOSOB DR5070B 00 1 00 1 00 1 Maximum output torque N m kgf m 30 3 0 50 5 0 70 7 Q Maximum number of revolutions rps 5 0 Motor and Rated revolutions rps 4 0 driver Encoder resolution plrev 278 528 coupling Absolute positioning Positioning accuracy sec 0 Repeatability sec 10 Rotor inertia kg m2 27x1Q 3 I 34x1Q 3 37x1Q Rated Axial Compression maximwn load Tension N kgf load Overhang load N ...

Page 77: ... SIGN START STOP COIN ORG ERROR Current encoder value output BCD digits 7 digit serial sequencer 1 F Monitor output ORG LED ZERO LED analog speed output 6 V max Protection function Overcurrent ovcrvollage under voltage overheating encoder problem overtravel CPU problem Power supply 100 to 115 200 to 230Y AC 0 15 50 60Hz Mass 65kg 3 Environmental Specifications Motor Driver Remarks Ambient operatin...

Page 78: ...M A521 E DR A Series DA1400A DR DA1200A DR1 sOA1 DR1100A DA1050A 0 0 5 1 5 Velocity rps Output torque N m Output torque N m 70 60 Output 50 torque 40 N m 30 20 10 0 OMIB Series 80 70 60 DM1060B 50 40 30 20 10 0 DM10458 DM10308 t 1 DM1015B 0 5 1 0 1 5 2 0 Velocity rps DR E Series 250 200 150 DR1250E DA1220E DA1160E DR1130E _ 100 50 0 DR11oOE DA1070E 0 5 2 0 1 5 Velocity rps DR 50008 Series DR5070B ...

Page 79: ...6 screws depth 9 equal circular division L refer to standard specifications Motor cable 32 x 4 rStator 4 6 It _P tt_L 1 Six MS screws depth 12 equal circular division r 72 2 HflHI H tt1f 111 f ___ q I HI I g_ g_ G pt _ jj pq x L J JI J J _ _iJ Encoder cable 06 8 300 Six MS screws depth 5 maximum equal circular division 85 1 Six MS screws depth 12 maximum 3 4 JI equal circular division 72 2 300 IM ...

Page 80: ...ions DM 8 Series Driver 130 1 I 100 0 5 R l IDYNASERVI B l I u S I g K I D D b I IM A521 E 5 Six M6 screws depth 15 48 48 Rotor 26 5 300 L refer to standard specifications 3 2 11 S Stat IT mm 0 0 0 1i L l ll f 26 5 Rotor 300 297 1 r 1 _ 8 7 7J Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 81: ... 10 I Note If a mechanical resonance filter is mounted the first order delay filter is invafld First order delay filter 20 80Hz 30 120Hz 40 160Hz Motor position velocity and commutation control CPU Mechanical IM A521 E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 82: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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