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Chapter 9. How to Use Torque Servo

9-1

9. How to Use Torque Servo

9.1 Power Supply Wiring

For wiring, see "3.3 Main Circuit Terminal Board Wiring".

9.2 CN1 Wiring

Make wiring as follows to use FDA5000 as the torque control mode.

/PAO

PAO

(7)

(32)

/PBO

(6)

(31)

/PZO

PZO

(5)

(30)

MONIT1

MONIT2

(3)

(2)

SPDIN

(27)

GND

TRQIN

(28)

GND

[Note1]

SVONEN

(18)

(38)

ALMRST

(43)

SPD1

(17)

SPD2

(15)

CCWLIM

(40)

CWLIM

(39)

ESTOP

+24V

+24VIN

(49)

Servo enable

CCW limit

CW limit

Emergency stop

Alarm reset

Select speed

limit

(24)

GND24

(25)

GND24

A_CODE0

A_CODE1

A_CODE2

(45)

(44)

(19)

ZSPD

(47)

ALARM

(20)

(21)

RDY

BRAKE

(48)

Servo ready

Zero speed

Brake activate

Alarm status

Alarm code

Note1 : Select GND terminal from among 1,8,26,33,34 and 36.

10K

F.G

(50)

[Note2]

Note2 : Use CN1 shield wire to ground the F.G.(Frame Ground) terminal.

10K

TRQOUT

(46)

Torque under limit

PBO

-10 ~ +10V

-4 ~ +4V

4.7K

[Note1]

10K

-10 ~ +10V

[Note1]

-4 ~ +4V

Содержание FDA5000 Series

Страница 1: ...OPERATION MANUAL AC Servo Drive FDA5000 Series Ver 3 3 Soft Ver 6 02 FDA5000 Series Servo Drive User Manual...

Страница 2: ...connecting coupling to the Motor shaft or operating 6 Recommended specifications in Encoder wiring Check Encoder Type and use authorized shield cable Encoder Type Reference Page Incremental Encoder 3...

Страница 3: ...1 Representative wiring 3 1 3 2 Internal Configuration 3 2 3 3 Main Circuit Terminal Board Wiring 3 3 3 4 CN1 Wiring and Signal 3 9 3 5 Description of CN2 Wiring and Signals 3 17 4 Digital Loader Oper...

Страница 4: ...Wiring 7 3 7 4 Setting Parameters Related to Motor and Servo 7 4 7 5 Limiting Output Torque 7 6 7 6 Inputting Speed Command 7 7 7 7 Setting Motor Deceleration Acceleration Characteristics 7 10 7 8 Usi...

Страница 5: ...on Torque Servo 12 4 13 Examples of Operation Flow and PLC Wiring 13 1 13 1 Generating Speed Command speed control 13 1 13 2 Generating Speed Command position control 13 1 13 3 Generating Speed Comman...

Страница 6: ...aution 14 1 14 2 Inspection Items 14 1 14 3 Replacing Parts 14 2 14 4 Maintenance 14 3 15 Troubleshooting 15 1 15 1 Servo Motor 15 1 15 2 Servo Driver 15 2 16 External View 16 1 16 1 External Dimensio...

Страница 7: ...flows when power is applied to the servo For selection of breakers refer to Table 3 1 chapter3 3 Installation place The operating life of the servo is affected by ambient temperature Maintain ambient...

Страница 8: ...ied servo driver 1 2 2 Wiring y Connect the driver and the motor earth terminals in the direction of the driver and ground the terminals at the shortest distance in one operation To prevent electric s...

Страница 9: ...l0 minutes after the power is cut off and the charge lamp is turned off y The regenerated resistance and the servo motor remain hot for a while after power is turned off Touching them may cause burns...

Страница 10: ...ol panels and the fan installed on the ceiling If the driver is used in a place with large amount of toxic gases and dust protect the driver with an air purge 1 3 2 Servo motor installation y Operatin...

Страница 11: ...86 70 343 35 LN LN12A LN40 1470 150 490 50 KF08 KF10 490 50 196 20 KF15 686 70 343 35 KF KF22 KF50 1470 150 490 50 TF05 TF09 490 50 196 20 TF13 686 70 343 35 TF TF20 TF44 1470 150 490 50 LF03 LF06 490...

Страница 12: ...on acceleration of 2 0G when vibration is applied in up and down left and right and front and back directions after setting the motor shaft horizontally y Vibration grade The vibration grade of the AC...

Страница 13: ...e KF KN Medium speed Standard type TF TN Medium speed High torque type LF LN Low speed High torque type Encoder Type Symbol Pulse Type A 2000 B 2500 C 3000 D 5000 E 6000 F 2048 G 2048 Absolute 11 13 b...

Страница 14: ...0 FDA 5045 FDA 5075 CKZ5 40 CK01 CK02 CK Series 3000 5000 r min 60 CK04 CN01 CN02 CN03 CN04 60 CN05 CN04A CN06 CN08 80 CN10 CN09 CN15 CN22 130 CN30 CN30A CN50A CN Series 3000 5000 r min 180 CN70 KN03...

Страница 15: ...2 FDA 5015 FDA 5020 FDA 5030 FDA 5045 FDA 5075 LN03 LN06 LN09 130 LN12 LN12A LN20 LN30 LN Series 1000 2000 r min 180 LN40 KF08 KF10 130 KF15 KF22 KF35 KF Series 2000 3000 r min 180 KF50 TF05 TF09 130...

Страница 16: ...Test operation carried out without external instructions Jog operation Motor can be run with only the servo driver loader without positioning system or separate operation panel Motor speed can also b...

Страница 17: ...in S shape 0 100 sec in unit of 0 01 sec Position input frequency 300 kpps Position input type Direction pulse forward run pulse reverse run pulse 2 phase pulse A phase B phase Position control speci...

Страница 18: ...s Rated power rate kW s 17 0 43 6 73 9 103 5 126 1 15 0 24 8 37 4 49 0 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 0 85 1 14 1 43 1 73 2 03 2 1 2 55 3 1 3 7 Sp...

Страница 19: ...s Not exceeding 20 times Rated power rate kW s 20 4 30 6 45 1 63 9 35 7 58 9 18 9 31 3 38 0 44 6 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 5 5 7 0 8 5 10 0 1...

Страница 20: ...42 9 66 4 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 20 4 30 6 53 5 76 7 43 0 64 7 103 0 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2...

Страница 21: ...able load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 20 5 39 1 62 8 81 1 51 5 80 8 117 4 183 8 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev W...

Страница 22: ...tia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 20 5 43 3 68 2 91 7 51 4 84 9 123 4 148 6 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight kg 5 5 7...

Страница 23: ...2 24 8 64 0 98 5 156 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 12 3 15 0 20 7 17 2 28 2 36 4 Standard Incremental 2000 Detector type Option Absolute 11 13b...

Страница 24: ...8 64 0 98 5 156 Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 7 85 19 1 28 0 20 5 35 2 50 0 Standard Incremental 2000 Detector type Option Absolute 11 13bit 20...

Страница 25: ...Allowable load inertia Ratio Versus rotor Not exceeding 10 times Rated power rate kW s 7 85 21 3 30 0 20 5 37 0 51 8 Standard Incremental 2000 Detector type Option Absolute 11 13bit 2048P rev Weight...

Страница 26: ...command Analog speed limit Analog torque command analog torque limit F G MONIT1 MONIT2 Monitor output 0 5V MCCB1 MC1 Regenerative resistor seperately installed GND 15 40 41 14 38 18 13 16 17 43 39 7 3...

Страница 27: ...200 230V Fuse Relay Condensor Relay drive circuit U W current detection circuit DB drive circuit U V W M R S T P B 3 2 2 Control board configuration CPU TMS320C32 Flash ROM 128k 8 ASIC USER I O CN1 Fi...

Страница 28: ...ower supply input terminal to shut off noise coming from the power lines 2 Connect regenerated resistance between P and B terminals The standard regenerated resistance See Table 3 1 is a standard item...

Страница 29: ...erminal to shut off noise coming from the power lines 2 The R and T terminals are for the auxiliary power supply of the power circuit Connect single phase AC 200 230 V to these terminals 3 Connect reg...

Страница 30: ...equivalent GMC 22 20A equivalent GMC 40 35A equivalent GMC 65 65A equivalent GMC 85 80A equivalent Breaker ABS33b 5A or equivalent ABS33b 10A or equivalent ABS33b 20A or equivalent ABS33b 30A or equiv...

Страница 31: ...Chapter 3 Wiring and Signals 3 6 External view 3 250W 4 FDA 5075...

Страница 32: ...tor U V W CN2 P B FDA 5000 Input Output NF r t Note2 1Ry 1Diode Main power OFF Main power ON 1MC 1Ry Surge killer 1MC y Note 1 NF is an abbreviation for Noise Filter Use this to prevent infiltration o...

Страница 33: ...100ms Max 500ms 300ms Power Good SVON DB reset PWM Motor rotation Alarm Nomal ON Servo RDY 100ms 30ms 1ms Max 300ms Control powerset 5V Control program initialization Single 3 Phase power r t R S T 3...

Страница 34: ...em after the AC servo motor encoder signal received from CN2 is divided according to the frequency dividing ratio set by the sub menu Pulse Out Rate P2 07 of the main menu Control Mode P2 Functions of...

Страница 35: ...ion is not selected the function can be used up to the torque set at TRQ LMT P2 05 TRQ LMT P2 06 To wire analog signals connect GND wire with the signal wire by twisting them using twist pair wire in...

Страница 36: ...IN 11 PFIN 10 Signal function 5V R pulse input 5V F pulse input PRIN Driver PFIN Position command pulse application circuit example PPFIN 5V 24V Caution connect 1 2W 1 5k if 24V power is used PPRIN In...

Страница 37: ...use the motor torque limit function according to the voltage value of the analog torque limit command input If the torque limit command input is 0 V motor torque never occurs If the torque limit comma...

Страница 38: ...reset Cumul ative pulse clear Alarm reset ON Alarm reset ON Cumulative pulse clear ESTOP 39 Emergency stop Emergency stop Emergency stop Contact form can be selected at parameter P2 30 PI P 41 PI P s...

Страница 39: ...tion ON Torque under Limit ON Torque mode Where ON Applicable contact connected to GND 24 OFF Applicable contact connected to 24V or applicable contact not connected The alarm type output differs acco...

Страница 40: ...to Monitor2 Select P2 15 Monitor2 ABS P2 16 Monitor2 Scale P2 17 and Monitor2 offset P2 18 Monitor2 Select 0 speed 1 torque 2 speed command See section 6 11 for Monitor2 ABS P2 15 Monitor2 Scale P2 16...

Страница 41: ...rovided by user Note If used as I O contact power supply simultaneously recalculate the power supply capacity according to the number of output points GND24 24 25 Connect the ground of the external I...

Страница 42: ...FMA CN series AC servo motor s incremental encoder is shown on the following table Caution When absolute value encoder is used refer to Chapter 3 5 2 Interface and Use of Absolute Value Encoder CN2 p...

Страница 43: ...INCREMENTAL ENCODER 2 18 2 15 2 16 2 13 2 14 2 11 2 5 2 6 2 3 2 4 2 1 2 2 2 19 2 9 PA PA PB PB PZ PZ PU PU PV PV PW PW Vcc 5V GND 0V CN2 CN1 Controller 1 7 1 32 1 6 1 31 1 5 1 30 AC SERVO DRIVER FDA 5...

Страница 44: ...NCREMENTAL ENCODER 2 18 2 15 2 16 2 13 2 14 2 11 2 5 2 6 2 3 2 4 2 1 2 2 2 19 2 9 PA PA PB PB PZ PZ PU PU PV PV PW PW Vcc 5V GND 0V CN2 CN1 Controller 1 7 1 32 1 6 1 31 1 5 1 30 AC SERVO DRIVER FDA 50...

Страница 45: ...For soldering 10120 3000VE Wiring between CN2 and the FMA series AC servo motor absolute value encoder is shown on the following table CN2 pin No Signal name Motor 60 80 series side encoder connector...

Страница 46: ...r is used 2 12 EN 1 2 3 4 5 6 11 12 9 10 13 14 7 8 P P P P P P Motor side 60 80 Absolute Encoder 2 18 2 15 2 16 2 13 2 14 2 11 2 1 2 2 2 7 2 8 2 20 2 19 2 9 PA PA PB PB PZ PZ RX RX BAT BAT ERST Vcc 5V...

Страница 47: ...0 Absolute encoder 2 18 2 15 2 16 2 13 2 14 2 11 2 1 2 2 2 7 2 8 2 20 2 19 2 9 PA PA PB PB PZ PZ RX RX BAT BAT ERST Vcc 5V GND 0V CN2 CN1 Controller 1 7 1 32 1 6 1 31 1 5 1 30 AC SERVO DRIVER FDA 5000...

Страница 48: ...ence SPD3 cannot be used to select speed command The speed command can be input freely in 3 methods Based on 3 digital speed commands Speed CMD1 P3 1 Speed CMD3 P3 3 Based on external analog speed com...

Страница 49: ...ignored and the absolute position request ABSREQ is ignored when the servo start Enable signal is turned ON When the absolute position transmission starts based on the absolute position request ABSREQ...

Страница 50: ...es HSOUT is turned OFF reads D24 and D25 and turns OFF HSIN d 6 The servo driver verifies that HSIN has been turned OFF turns ON HSOUT and displays D23 and D22 on DATA1 and DATA0 e 7 The external cont...

Страница 51: ...perly set For initial operation verify certain degree of stability through autotuning and trial operation jog simulation Autotuning can be achieved through on line system but it is not necessary to us...

Страница 52: ...e P2 01 1 PC P Gain P2 02 50 Conform ON OFF conform on PROG Speed CMD1 RPM P3 01 3000 0 Speed CMD2 RPM P3 02 1500 0 Override ON OFF P3 18 0 PROG Feedforward P4 01 00 0 FF FLT TC ms P4 02 10 Backlash P...

Страница 53: ...28 10 Display Select P2 28 is set to 10 Turn OFF and Turn ON power When power is connected according to the set value of Display Select P2 28 the following menus are displayed Display Select P2 28 Ini...

Страница 54: ...menu is set to command speed after power is turned ON in No alarm status CMD Speed RPM St 02 3000 0 CMD Pulse St 03 0000000 MotorParameter P1 MODE Self Testing Wait When there is no alarm after power...

Страница 55: ...s Window Alarm Status y Edit menu Motor Parameter Control Mode Speed Mode Position Mode Torque Mode y Testing menu Test Mode 4 3 Operation Monitoring Menu 4 3 1 Operation status display menu MotorSpee...

Страница 56: ...sed once more The Program Version menu displays the operation program version as follows Example displays 5000S Ver 4 00 Small capacity FDA 5001 4 grade 4 00 version 5000M Ver 4 00 Medium capacity FDA...

Страница 57: ...arm Display AL 01 OVER CURNT Alarm Reset ALS02 Alarm Reset ALarm Cleared Alarm Display ALS01 Alarm Reset ALS02 Displays for 2 seconds PROG The current alarm reset Alarm Status ALS 02 menu resets the c...

Страница 58: ...ble position Cussor position value increases 1 at a time by the use of UP and decreases 1 at a time by the use of DOWN Cursor moves to left by the use of LEFT and to right by the use of RIGHT Upon edi...

Страница 59: ...hange jog command value Jog rotates in the direction of command Move cursor to change jog command value Jog rotates in the direction of command PROG Moves to jog mode from main menu KEY function In jo...

Страница 60: ...if the value of Auto Jog Set tS 17 is set to 1 See 6 6 2 Auto Jog To reset the auto jog function and return to normal servo function while the motor is running after setting Auto Jog Set tS 17 to 1 fo...

Страница 61: ...which while the connector CN1 is connected in normal state the menu displays data just as the motor is running when the motor wire and encoder are separated Test Mode P6 Jog Mode P6 01 PROG Auto Jog M...

Страница 62: ...t and verify that all commands and limit values are properly set For initial operation verify certain degree of stability through autotuning and trial operation jog simulation Autotuning can be achiev...

Страница 63: ...GHT LEFT ENTER RIGHT LEFT RIGHT LEFT ENTER RIGHT LEFT RIGHT LEFT ENTER RIGHT LEFT RIGHT LEFT ENTER RIGHT LEFT RIGHT LEFT RIGHT LEFT RIGHT LEFT ENTER RIGHT LEFT UP UP UP UP UP Moves from main menu to m...

Страница 64: ...nected 1 Motor Speed r min St 01 2 CMD Speed r min St 02 3 CMD Pulse St 03 4 Feedback Pulse St 04 5 Pulse ERR St 05 6 Speed Limit r min St 06 7 Torque Limit St 07 8 Load Rate St 08 9 Max Load Rate St...

Страница 65: ...et inertia ratio 5 1 3 Connecting power in Emergency alarm state after setting initial menu to motor speed Turn OFF and turn ON power ENTER ENTER Indicates EMG Alarm 5 2 Sub menu Group Menus are class...

Страница 66: ...NTER RIGHT ENTER RIGHT LEFT UP LEFT Note1 Note2 Note3 Note1 Press ENTER to move from main menu to sub menu Note2 Press ENTER also to monitor actual value from the sub menu Note3 F indicates r and in t...

Страница 67: ...alarm it is displayed in the alarm display window of any menu Screen can freely move to another menu but the motor cannot be run unless the alarm is reset 2 Current alarm reset menu RIGHT ENTER LEFT...

Страница 68: ...5 alarm had occured during servo operation ENTER RIGHT Indicates alarm occured most recently The alarm history menu displays up to 10 alarms that have occurred most recently The above figure is based...

Страница 69: ...occured most recently The above figure is a block diagram showing how to erase the system alarm history This is based on the assumption that overcurrent AL 01 alarm occurred after the encoder miswirin...

Страница 70: ...d values in the same method as that of changing parameters described below Two of the menus autotuning P2 24 menu and parameter initialization menu are explained separately see 5 2 4 5 4 1 Changing pa...

Страница 71: ...he opposite direction of command RIGHT Blink moves to right when motor is running in the direction of command and jog speed is input RIGHT Motor runs in the direction of command In jog mode the motor...

Страница 72: ...TER RIGHT RIGHT RIGHT RIGHT RIGHT RIGHT LEFT ENTER ENTER ENTER RIGHT 0 Auto jog operation not possible 1 Auto jog operation possible LEFT LEFT LEFT LEFT LEFT Speed change1 LEFT RIGHT UP key ENTER Spee...

Страница 73: ...ges to P6 02 the initial screen of Auto jog operation mode The auto jog operation mode is then automatically reset and the system returns to the normal servo function See 6 6 2 Auto Jog 5 5 3 Simulati...

Страница 74: ...er ACCEL Acceleration SC Speed Controlller DECEL Deceleration LMT Limit VOLT Voltage RPM r min SPD Speed ms msec OFFS Offset s sec TC Time Constant FRQ Frequency FF Feedforward FLT Filter FB Feedback...

Страница 75: ...d Rate 99999 99999 0 SPT St 10 Inertia Ratio Multiple 0 500 0 1 0 SPT St 11 Program Version Version SPT St 12 I O Status SPT 2 Motor and system menu Motor parameters P1 Menu Menu name Unit Display ran...

Страница 76: ...S 0 1 0 SPT P2 17 Monitor2 Scale multiple 1 00 20 00 1 00 SPT P2 18 Monitor2 offset 100 0 100 0 0 SPT P2 19 Resonant RQ Hz Hz 0 1000 300 SP P2 20 Resonant BW Hz Hz 0 1000 100 SP P2 21 De Resonant ENB...

Страница 77: ...de 0 2 0 S P3 16 Clamp VOLT mV mV 1000 1000 0 S P3 17 FDELAY ms 0 0 100 0 0 SPT P3 18 Override ON OFF 0 1 0 S Caution Menus marked with cannot be corrected during Servo ON 5 Position menu Position Mod...

Страница 78: ...0 5000 0 100 tS 02 Jog Speed RPM r min 5000 0 5000 0 0 P6 02 tS 11 Auto Jog Speed1 r min 5000 0 5000 0 100 tS 12 Auto Jog Speed2 r min 5000 0 5000 0 200 tS 13 Auto Jog Speed3 r min 5000 0 5000 0 300...

Страница 79: ...nd pulse and feedback pulse when controlling positions Speed Limit r min St 06 Current speed limit value when controlling torques Torque Limit St 07 Indicates current torque limit value in Load Rate S...

Страница 80: ...CCWLIM P PI DIR SPD3 SPD2 SPD1 SVONEN Display 0 0 1 0 0 1 0 0 0 0 1 1 1 Input signal operating 0 Input signal not operating Signal Display Description ALMRST 0 Alarm reset function not used STOP 0 Mo...

Страница 81: ...is provided through examples below Example of display Signal ALARM3 ALARM2 ALARM1 ALARM TRQOUT RDY ZSPD INSPD INPOS BRK Display 0 0 0 1 0 1 0 1 1 1 Output signal operating 0 Output signal not operati...

Страница 82: ...3 DIR P PI CCWLIM CWLIM TLIM ESTOP STOP ALMRST Contact input Contact output BRK INSPD INPOS ZSPD RDY TRQOUT ALARM A_CODE0 A_CODE1 A_CODE2 From the following figure the segments indicated in thick line...

Страница 83: ...46 66 KN16 86 LN30 7 27 47 67 KN22 87 LN40 8 CK02 28 48 68 KN22A 88 9 CK04 29 49 69 KN35 89 10 30 KF08 50 CN04A 70 TN05 90 11 CN01 31 KF10 51 CN06 71 TN09 91 12 CN02 32 KF15 52 CN08 72 TN13 92 13 CN0...

Страница 84: ...e constant in kgf cm A and input the data Torque constant is defined in the torque level corresponding to 1 A rms Procedure of converting MKS unit to that of kgf cm A is as follows 1 N m A 10 2 kgf cm...

Страница 85: ...ue has been set to 0 at the time of delivery based on general incremental encoder A Lead in case of forward run Based on using HIGEN standard motor If other encoders are used set the value according t...

Страница 86: ...n is large the time to reach the command position is reduced However if the proportional gain is excessively large vibration occurs when the motor stops or overshoot occurs in transient status Recomme...

Страница 87: ...0 350 500 70 200 3 0 300 500 50 150 5 0 200 300 40 100 10 0 150 250 30 80 20 0 100 150 20 60 30 0 60 100 Caution However the recommended SC Loop Gain P2 03 set values may be deviated according to the...

Страница 88: ...put desired dividing ratio in this item Frequency division is defined as follows Feedback pulse 1 freq division 2 freq division 3 freq division 16 freq division Menu Menu name Unit Display range Initi...

Страница 89: ...Displays absolute values regardless of the type of symbols Menu Menu name Unit Display range Initial value Mode P2 13 Monitor1 Scale Multiple 1 00 20 00 1 00 SPT P2 17 Monitor2 Scale Multiple 1 00 20...

Страница 90: ...ce removal operating Menu Menu name Unit Display range Initial value Mode P2 22 Inertia Ratio Multiple 1 0 500 0 1 0 SPT The system inertia is the sum of motor inertia and load inertia This item sets...

Страница 91: ...OFF ON OFF OFF SP ON Auto set function is activated and the results are automatically stored in SC LOOP Gain P2 03 Inertia Ratio P2 22 Menu Menu name Unit Display range Initial value Mode P2 25 Parame...

Страница 92: ...d only during motor control by turning off the SVONEN terminal of the motor and free run is activated only below the P3 11 Zero Speed set value after the motor stops 1 DB control always operates even...

Страница 93: ...ally reset when power is reconnected Menu Menu name Unit Display range Initial value Mode P2 32 Zero SPD VIB RJT rpm 0 0 100 0 ON SP If the motor vibrates at low speed including zero speed input the s...

Страница 94: ...aximum Maximum 2000 S P3 07 Speed CMD7 RPM RPM Maximum Maximum 3000 S Input digital speed command in rpm Menu Menu name Unit Display range Initial value Mode P3 08 Accel Time ms ms 0 100000 0 S P3 09...

Страница 95: ...nd 100 RPM and zero speed is displayed externally Menu Menu name Unit Display range Initial value Mode P3 12 Inspeed Range RPM 0 9999 9 100 S Input the error range of the speed at which the INSPD cont...

Страница 96: ...duce noise level If the value is adjusted too much at a time problem may occur on speed control Gradually increase the FDELAY P 37 set value from 0 Recommended maximum set value SCITC P2 04 set value...

Страница 97: ...to the following MAX Feedforward value for each K SC LOOP Gain PC P Gain value K SC LOOP Gain PC P Gain MAX Feedforward 5 Not exceeding 70 7 Not exceeding 80 10 Not exceeding 85 20 Not exceeding 90 Me...

Страница 98: ...on error detection in the unit after multiplying by 4 of feedback pulse quantity In normal condition the pulse error is 1 0 01 Feedforward P4 01 PC P Gain P2 02 Input command pulse frequency Hz In cas...

Страница 99: ...W CCW pulse CW pulse Direction pulse PF PF PR PR PR PF PF PR H L L H Type of command pulse A phase B phase 0 1 2 3 4 5 Remark PF PR PR PF Negative logic Positive logic CCW pulse CW pulse Direction pul...

Страница 100: ...is reduced Input 0 in case it is not needed to use this filter Menu Menu name Unit Display range Initial value Mode P5 02 10V Torque 0 300 100 SPT Torque control Input the output torque in terms of o...

Страница 101: ...ockwise if the right key is pressed and counterclockwise if left key is pressed 6 8 2 Auto Jog P6 02 This is a special type of jog mode CW or CCW run can be set with specific speed and time even witho...

Страница 102: ...otor is connected even when there is no actual motor Motor speed is displayed in the window at this time just as the motor is running at the commanded speed This function enables indirect test of the...

Страница 103: ...age excessive greater than 280V regeneration brake resistance burned load GD2 excessive AL 03 OVER LOAD Mechanical overload motor miswiring AL 04 POWER FAIL Main power disconnected when Servo is ON AL...

Страница 104: ...Chapter 6 Parameter Setting 6 31...

Страница 105: ...ct is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected Others include alarms not displayed in the above table such as overheat overspeed or set value e...

Страница 106: ...24VIN 49 Servo enable Motor stop start CCW limit CW limit Emergency stop Alarm reset Select PI P Analog torque limit Select speed 24 GND24 25 GND24 A_CODE0 A_CODE1 A_CODE2 45 44 19 ZSPD 47 ALARM 20 I...

Страница 107: ...on ON Proportional control OFF Proportional integration control TLIM 14 ON Analog torque limit Off Digital torque limit See section 7 6 SPD1 SPD2 SPD3 43 17 42 Selects rotation speed command by the co...

Страница 108: ...command 10V 10V 7 2 4 Analog output use and function table Name Pin No Function and Use MONIT1 3 Monitor output 1 4V 4V MONIT2 2 Monitor output 2 4V 4V PAO PAO 7 32 A phase A phase encoder signal out...

Страница 109: ...ing built in brake use Parameter No Name Description P2 09 Brake SPD Sets brake start speed when stopped P2 10 Brake Time Brake starts after the set time elapsed when stopped Example If Brake SPD P2 0...

Страница 110: ...g to inertia ratio Inertia ratio Set value SC I TC P2 04 Motor 60 80 Motor greater than 130 SC LOOP Gain P2 03 Recommended Minimum 1 500 20 6 2 350 30 9 3 290 35 11 5 1 220 45 14 10 2 160 60 19 20 3 1...

Страница 111: ...the main menu Controller Type P2 as follows Menu Menu name Unit Display range Initial value Mode P2 05 TRQ LMT 0 300 300 SP P2 06 TRQ LMT 0 300 300 SP 7 5 2 limiting analog output torque TLIM ON Appl...

Страница 112: ...d 0 OFF OFF OFF Analog command speed 0 OFF OFF ON Speed CMD1 P3 01 speed 0 OFF ON OFF Speed CMD2 P3 02 speed 0 OFF ON ON Speed CMD3 P3 03 speed 0 ON OFF OFF Speed CMD4 P3 04 speed 0 ON OFF ON Speed CM...

Страница 113: ...s To input analog speed commands apply voltage between 10 V and 10 V to the analog input SPDIN The speed command used inside the servo can be adjusted according to the level of the voltage of the anal...

Страница 114: ...0 7 6 3 Override Function Using the Override function enables the creation of speed command by adding the analog speed command to the digital speed command If fine adjustment is needed in specific spe...

Страница 115: ...nd selection SPD1 SPD2 SPD3 ON OFF OFF OFF ON OFF OFF OFF OFF ON ON ON OFF ON ON ON OFF ON OFF OFF ON ON ON OFF Stop command STOP ON OFF GND 1 Rotation direction DIR ON OFF Acceleration deceleration A...

Страница 116: ...Initial value Mode P2 13 Monitor1 Scale Multiple 1 00 20 00 1 00 SPT P2 17 Monitor2 Scale Multiple 1 00 20 00 1 00 SPT This is used to allow viewing by multiplying parameters by appropriate scale in...

Страница 117: ...et 5 V 5 V 0 V Max Offset Offset Not use Speed speed command Torque 1 25 x maximum speed 1 25 x 3 times rated torque Max Monitor1 Scale P2 13 Monitor1 Scale P2 13 Monitor1 offset P2 14 Monitor1 offset...

Страница 118: ...erms of Hz and select De Resonance ENB P2 21 as 1 Menu Menu name Unit Display range Initial value Mode P2 19 Resonant FRQ Hz Hz 0 1000 300 SP P2 20 Resonant BW Hz Hz 0 1000 100 SP P2 21 De Resonant EN...

Страница 119: ...position Zero speed Brake activate Alarm status Alarm code Note1 Select GND terminal from among 1 8 26 33 34 and 36 Note2 Use CN1 shield wire to ground the F G Frame Ground terminal TRQOUT 46 Torque u...

Страница 120: ...LIM 14 ON Analog torque limit Off Digital torque limit See section 8 6 SPD1 SPD2 43 17 Selects electronic gear by combination of the two signals See section 8 7 Where ON Applicable contact is connecte...

Страница 121: ...12 Inputs position command pulse 8 2 4 Analog output use and function table Name Pin No Function and Use MONIT1 3 Monitor output 1 4V 4V MONIT2 2 Monitor output 2 4V 4V PAO PAO 7 32 A phase A phase e...

Страница 122: ...tting built in brake use Parameter No Name Description P2 09 Brake SPD Sets brake start speed when stopped P2 10 Brake Time Brake starts after the set time elapsed when stopped Example If Brake SPD P2...

Страница 123: ...t inertia ratio P2 22 if the inertia ratio is known Adjust the following value according to inertia ratio Inertia ratio Set value SC I TC P2 04 Motor 60 80 Motor greater than 130 SC LOOP Gain P2 03 Re...

Страница 124: ...4 01 100 8 5 Limiting Output Torque The output torque can be limited within 300 of the rated torque The output torque can be limited by digital signal and also by the analog signal To limit output tor...

Страница 125: ...et value TRQIN 10V Torque P5 02 Maximum CW torque LPF 10 100 rated torque TRQIN 10V Torque P5 02 Maximum CCW torque LPF 10 100 rated torque LPF Low Pass Filter Low pass primary filter Menu Menu name U...

Страница 126: ...ay range Initial value Mode P4 06 ELCTR Gear1 NUM 1 99999 1 P OFF OFF P4 07 ELCTR Gear1 DEN 1 99999 1 P P4 08 ELCTR Gear2 NUM 1 99999 1 P ON OFF P4 09 ELCTR Gear2 DEN 1 99999 2 P P4 10 ELCTR Gear3 NUM...

Страница 127: ...SPT 8 8 De resonance Frequency Operation Mechanical resonance of specific frequency may occur when a system is constructed by using servo To remove such resonance input the resonant frequency occurrin...

Страница 128: ...38 ALMRST 43 SPD1 17 SPD2 15 CCWLIM 40 CWLIM 39 ESTOP 24V 24VIN 49 Servo enable CCW limit CW limit Emergency stop Alarm reset Select speed limit 24 GND24 25 GND24 A_CODE0 A_CODE1 A_CODE2 45 44 19 ZSP...

Страница 129: ...ination of the two signals See section 9 6 Where ON Applicable contact is connected to GND24 OFF Applicable contact is connected to 24V or applicable contact not connected 9 2 2 Output contact signal...

Страница 130: ...0V 9 2 4 Analog output use and function table Name Pin No Function and Use MONIT1 3 Monitor output 1 4V 4V MONIT2 2 Monitor output 2 4V 4V PAO PAO 7 32 A phase A phase encoder signal output PBO PBO 6...

Страница 131: ...t is therefore necessary to designate maximum speed of torque servo operation to prevent the motor from being run at a speed greater than the set level The speed that can be limited when the motor is...

Страница 132: ...mum speed 500 ST 9 5 2 Inputting analog speed limit To input analog speed limit apply a voltage between 10 V and 10 V to the analog input terminal SPDIN The speed limit used inside the servo can be ad...

Страница 133: ...5 V 5 V For more details on how to use see section 6 11 Using Monitor Menu Menu name Unit Display range Initial value Mode P2 11 Monitor1 Select 0 2 0 SPT P2 12 Monitor1 ABS 0 1 0 SPT P2 13 Monitor1...

Страница 134: ...Select speed 24 GND24 25 GND24 A_CODE0 A_CODE1 A_CODE2 45 44 19 ZSPD 47 ALARM 20 INSPD 22 21 RDY BRAKE 48 Servo ready In speed Zero speed Brake activate Alarm status Alarm code Note1 Select GND termin...

Страница 135: ...peration ON Proportional control OFF Proportional integration control TLIM 14 ON Analog torque limit Off Digital torque limit SPD1 SPD2 Selects rotation speed command by combination of the two signals...

Страница 136: ...9 12 Inputs position command pulse Valid only in position control mode 10 2 4 Analog output use and function table Name Pin No Function and Use MONIT1 3 Monitor output 1 4V 4V MONIT2 2 Monitor output...

Страница 137: ...ommand Based on override operation by combining methods of items and The internal speed command selection effected based on these 3 methods is decided as follows based on CN1 speed selection SPD1 SPD2...

Страница 138: ...it CW limit Emergency stop Note3 Select PI P Note3 Analog torque limit 24 GND24 25 GND24 A_CODE0 A_CODE1 A_CODE2 45 44 19 ZSPD 47 ALARM 20 INSPD 22 21 RDY BRAKE 48 Servo ready Note3 In speed Zero spee...

Страница 139: ...l mode TLIM 14 ON Analog torque limit Off Digital torque limit Valid only in speed control mode Selects rotation speed command by combination of the two signals In speed control mode SPD1 SPD2 43 17 S...

Страница 140: ...ol mode Inputs external speed limit command 10V 10V Inputs external torque command 10V 10V 11 2 4 Analog output use and function table Name Pin No Function and Use MONIT1 3 Monitor output 1 4V 4V MONI...

Страница 141: ...mand Based on override operation by combining methods of items and The internal speed command selection effected based on these 3 methods is decided as follows based on CN1 speed selection SPD1 SPD2 c...

Страница 142: ...limit 24 GND24 25 GND24 A_CODE0 A_CODE1 A_CODE2 45 44 19 ZSPD 47 ALARM 20 22 21 RDY BRAKE 48 Servo ready Zero speed Brake activate Alarm status Alarm code 10K 10K 42 TYPE TRQOUT 46 Torque under limit...

Страница 143: ...PD2 Slects electronic gear by conbination of the two signals In position control mode GEAR1 GEAR2 43 17 Selects speed limit by combination of the two signals In torque control mode TPE 42 ON Operates...

Страница 144: ...it command 10V 10V Torque control mode Inputs external torque command 10V 10V PPFIN PFIN PPRIN PRIN 11 10 9 12 Inputs position command pulse Valid only in position control mode 12 2 4 Analog output us...

Страница 145: ...How to Use Position Torque Servo To start speed position servo set the servo controller type to 3 12 4 1 Switching of control modes Type ON OFF ON Position control Torque control Caution Switch speed...

Страница 146: ...Contactor input Set value SPDIN CCW limit CCWLIM OFF ON CW limit CWLIM OFF ON Emergency stop ESTOP OFF ON GND Internal speed command 13 2 Generating Speed Command position control Select pulse type Pu...

Страница 147: ...mit CW torque limit Speed In Speed P3 12 In speed in case of Select torque limit TL OFF ON OFF ON TRQ LMT P2 05 TRQ LMT P2 06 TRQIN 1 First order filter FDELAY P3 17 First order filter TRQ CMD TC P2 0...

Страница 148: ...PAO 7 32 PBO PBO 6 31 PZO PZO 5 30 GND 1 1 Use GND terminal from among 1 8 26 33 34 36 MONIT1 MONIT2 3 2 TRQIN 28 GND 1 GND 1 10k 0 5V 0 5V PPFIN 10 PFIN PRIN 9 12 F G 50 2 10k Speed Torque 0 10V CN1...

Страница 149: ...33 34 36 MONIT1 MONIT2 3 2 TRQIN 28 GND 1 GND 1 10k 0 5V 0 5V PPFIN 10 PFIN PRIN 9 12 F G 50 2 10k Speed Torque 0 10V CN1 of FDA 5000 PPRIN 11 Manual pulse A phase Manual pulse B phase SVONEN 18 38 AL...

Страница 150: ...ENCODER PAO PAO 7 32 PBO PBO 6 31 PZO PZO 5 30 GND 1 1 Use GND terminal from among 1 8 26 33 34 36 F G 50 2 SPDIN 27 GND 1 MONIT1 MONIT2 3 2 GND 1 0 5V 0 5V Speed Torque CN1 of FDA 5000 SVONEN 18 SVON...

Страница 151: ...PFIN 10 PFIN PRIN 9 12 F G 50 2 MONIT1 MONIT2 3 2 TRQIN 28 GND 1 GND 1 0 5V 0 5V Speed Torque 0 10V CN1 of FDA 5000 PPRIN 11 ZL ZCOM 4 8 PAO PAO 7 32 PBO PBO 6 31 PZO PZO 5 30 GND 1 SVONEN 18 38 ALMRS...

Страница 152: ...ND 1 1 Use GND terminal from among 1 8 26 33 34 and 36 MONIT1 MONIT2 3 2 TRQIN 28 GND 1 GND 1 0 5V 0 5V PPFIN 10 PFIN PRIN 9 12 F G 50 2 Speed Torque 0 10V CN1 of FDA 5000 PPRIN 11 5 24V COM SVONEN 18...

Страница 153: ...mic type 3 phase watt meter 4 Other meters Use oscilloscopes or digital voltmeter without letting them make contact with the ground Use meters with input current of 1 mA or less 14 2 Inspection Items...

Страница 154: ...ate Check for significant expansion severe cracks or damage c Explosion proof valve Check for significant expansion or wear d Check periodically the external condition for cracks tear discoloration an...

Страница 155: ...st 3 If the motor is to be stored for a long period of time after use apply rust proof agent on the shaft or on slideways to prevent rust 14 4 2 Servo driver It is not desirable to leave the servo dri...

Страница 156: ...Check connection of the motor lead terminal Repair defective part Input voltage low Check drive input voltage Change power supply Motor running unstable Overloaded Check machine condition Remove forei...

Страница 157: ...river AL 03 OVER LOAD Mechanical overload Motor miswiring Check load condition Check the motor and encoder wiring AL 04 POWER FAIL Main power shut off during Servo ON status Check the 3 phase main pow...

Страница 158: ...rror Reset and retransmit the absolute value encoder data Parameter Err 1 Input of parameters which cannot be changed is attempted during Servo ON Parameters locked Turn OFF the servo and change the s...

Страница 159: ...5 1 0 FDA 5002 164 5 175 130 60 5 5 1 0 A FDA 5004 164 5 175 130 77 5 5 63 1 3 FDA 5005 200 5 210 184 94 5 5 80 2 0 FDA 5010 200 5 210 184 94 5 5 80 2 0 Self cooling FDA 5012 200 5 210 184 103 5 5 80...

Страница 160: ...02 B 129 169 99 139 28 28 58 58 71 111 1 14 1 7 FMA CN03 B 143 183 113 153 42 42 72 72 85 125 1 43 2 0 FMA CN04 B 157 197 127 167 56 56 86 86 99 139 1 73 2 3 FMA CN05 B 171 211 141 181 70 70 100 100 1...

Страница 161: ...13 14 35 20 2 1 2 9 CN06 KN05 171 198 131 158 95 122 63 132 16 40 25 2 6 3 3 CN08 KN06 193 219 153 179 117 143 63 153 16 40 25 3 1 3 9 CN10 KN07 213 246 173 206 137 170 70 180 16 40 25 3 7 4 6 Figures...

Страница 162: ...8 KF15 TF13 LF09 385 425 327 367 276 316 248 53 296 336 22 6 3 5 6 15 8 18 0 CN09 KN06A TN05 LN03 207 250 149 192 98 141 70 71 118 161 19 5 3 5 5 5 7 7 CN15 KN11 TN09 LN06 231 274 173 216 122 165 94...

Страница 163: ...80 347 247 96 301 368 138 35 8 5 10 36 1 41 8 TN75 461 527 382 448 331 397 298 96 352 418 147 35 8 5 10 45 7 51 4 KF22 TF20 LF12 347 421 268 342 217 291 181 96 238 312 138 35 8 5 10 17 2 24 7 KF35 TF3...

Страница 164: ...nge 60 80 Series Order side FCA_ Operating type Non operatig type Flange 3m 5m 10m 20m 3m 5m 10 20m 60 80 EA03F EA05F EA10F EA20F EA03N EA05N EA10N EA20N 17 1 2 Encoder singal cable Flange 130 180 Ser...

Страница 165: ...er cable for motor Flange 130 180 Series Order code FCA Operating type Non operating type Flange Type 3m 5m 10m 20m 3m 5m 10 20m Standard SC03F SC05F SC10F SC20F SC03N SC05N SC10N SC20N 130 Brake BC03...

Страница 166: ...s of options 17 3 17 2 AC servo driver 17 2 1 Digital loader Order code No FDA500004S 17 2 2 Mount loader Order code No FDA500005S 17 2 3 CN1 Connector Order code No FDACON50P 3M Item No 10150 3000VE...

Страница 167: ...er unit for brake Item No BPU 109A Input Singal phase AC200 220 V Output DC24 V 60 80 Series DC90 V 130 180 Series 17 2 6 PC Loader RS232C PC Communication Software Order code No FDA500007S Main Featu...

Страница 168: ...Factory TEL 82 55 600 3333 FAX 82 55 600 3317 Customer support TEL 82 2 369 8215 82 55 281 8407 Order NO 702003121 This book is in copyright Subject to statutory exception and to the provisions of re...

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