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№

SR-ZSV00039

－

47

－

Motor Business Unit, Appliances Company, Panasonic Corporation

5

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2

－

7

Friction Torque Compensation

Two types of friction torque compensation functions are available for reducing influences from frictions
exists in mechanical system: Biased load compensation that compensates offset torque at constant degree,
and dynamic friction compensation that changes direction in accordance with operating directions.

(1) Scope of application

□This function is applicable only when the following conditions are satisfied

Conditions for operating friction torque compensation

Action state



In Servo On status.



Factors other than control parameters such as the deviation counter clear and com-

mand pulse inhibition inputs and the torque limit are appropriately configured and
do not cause any problem in normal motor rotation.

(2) Related parameters

Settings of friction torque compensation are specified in combination of the following 3 parameters:

Category

No.

Parameter

Setup range

Unit

Function

6

07

Torque command

additional value

-100



100

%

Specify a biased load compensation value, which is always added to
torque command in other control modes than torque control.

6

08

Positive direction

torque compensation

value

-100



100

%

Specify a dynamic friction compensation value, which is added to
torque command when normal direction position command is input
under position control and full-closed control.

6

09

Negative direction

torque compensation

value

-100



100

%

Specify a dynamic friction compensation value, which is added to
torque command when reverse direction position command is input
under position control and full-closed control.

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Содержание Minas-LIQI Series

Страница 1: ... Amplifier Product number Minas LIQI series Issued on March 26 2012 REVISION Received by Date Motor Business Unit Appliances Company Panasonic Corporation 7 1 1 Morofuku Daito City Osaka 574 0044 Japan CHECKED CHECKED CHECKED DESIGNED No SR ZSV00039 ...

Страница 2: ... SR ZSV00039 Motor Business Unit Appliances Company Panasonic Corporation REVISIONS Date Page Sym REVISION Signed Mar 26 2012 NEWLY ISSUED Kang Wu ...

Страница 3: ...Adjustment Damping Control Functions 25 5 1 Automatic Adjusting Function 25 5 1 1 Real time Auto Tuning 26 5 1 2 Adaptive Filter 31 5 2 Manual Adjustment 33 5 2 1 Block Diagram of Position Control Mode 34 5 2 2 Gain Switching Function 35 5 2 3 Notch Filter 39 5 2 4 Damping Control 41 5 2 5 Feed Forward Function 44 5 2 6 3rd Gain Switching 46 5 2 7 Friction Torque Compensation 47 6 Applied Function...

Страница 4: ...iming Chart of Servo On Off When Monitor is Turned Off 74 8 2 3 Timing Chart of Servo On Off When Motor is Operating 74 8 2 4 Timing Chart of Operations When Alarm is Issued Servo On Command Status 75 8 2 5 Timing Chart of Operations When Alarm is Cleared Servo On Command Status 76 ...

Страница 5: ...Deviation counter clear command pulse input inhibition electronic gear switching damping control switching etc Control output In position etc Maximum command pulse frequency 500 kpps Input pulse train Differential input parameter selectable 1 Positive Negative 2 Phase A Phase B 3 Command Direction Command scaling electric gear ratio setting 1 1000 thousandfold Encoder resolution numerator and comm...

Страница 6: ...ins so that the input is turned on when the signal input exceeds the moving range in the positive direction of the moving part of the machine Negative overtravel limit NOT 6 SI5 An overtravel limit to the negative direction The operation when this input is turned on is set by Pr5 04 Over travel inhibit input setup Before use set Over travel inhibit input setup to any value other than 1 and connect...

Страница 7: ... 2nd torque limits For details see Section 6 1 Damping switch 2 VS SEL2 This input switches frequencies applied for the damping control Together with the damping switch 1 VS SEL1 it is possible to switch between four frequencies at the maximum For details see Section 5 2 4 Command scaling switch 2 DIV2 This input switches the command scaling For details see Section 6 3 Control input Forced Alarm I...

Страница 8: ...absolute I F function is valid in the absolute mode Motor holding brake release BRK OFF Outputs a timing signal that activates the electromagnetic brake of the motor Turns on the output transistor at the time the electromagnetic brake is released In position INP 9 SO2 Digital output to give an in position signal Turns on the output transistor in the in position state For details see Section 4 2 6 ...

Страница 9: ... Pr4 00 00000003h 3 SRV ON a connect SI2 input Pr4 01 00000004h 4 A CLR a connect SI3 input Pr4 02 00000007h 7 CL a connect SI4 input Pr4 03 00000088h 136 INH b connect SI5 input Pr4 04 00000082h 130 NOT b connect SI6 input Pr4 05 00000081h 129 POT b connect 1 a connect and b connect represent the following respectively a connect A signal input is open with COM and thus the function is invalid OFF...

Страница 10: ...ng will be0000000Cｈ 4 01 SI2 input selection 0 00FFFFFFh To assign a function to the input SI2 Set this parameter with the hexadecimal system Settings can be made in the same way for Pr4 00 4 02 SI3 input selection 0 00FFFFFFh To assign a function to the input SI3 Set this parameter with the hexadecimal system Settings can be made in the same way for Pr4 00 4 03 SI4 input selection 0 00FFFFFFh To ...

Страница 11: ...t is set other than values specified in the table Err33 2 IF input function number error 1 protection or Err33 3 IF input function number error 2 protection will occur And the No setting in the table is set to protection function Because input do not operate please set it to invalid 00h A function can not be assigned to more than one signal If anyfunction is assigned to more than one signal Err33 ...

Страница 12: ... logic cannot be changed for the output pins 1 Use the default signal assignment The following table shows the default setting for the signal assignment Default status Output signals 1 Corresponding parameter Default value Decimal number Signal SO1 output Pr4 10 00000001h 1 ALM SO2 output Pr4 11 00000004h 4 INP SO3 output Pr4 12 00000002h 2 S RDY 1 For pin numbers assigned as output signals SO1 SO...

Страница 13: ...3 Set this parameter with the hexadecimal system Settings can be made in the same way for Pr4 10 Function number table Signal Code Setting Invalid 00h Servo alarm output ALM 01h Servo ready output S RDY 02h Motor holding brake release BRK OFF 03h In position INP 04h No setting 05h Torque limited TLC 06h Zero speed ZSP 07h No setting 08h Warning 1 WARN1 09h Warning 2 WARN2 0Ah Output for presence a...

Страница 14: ...nged from the front panel gain control Example Pr0 03 8 RSW setting The stiffness cor rection Stiffness after correction LED Display Parameter Pr0 03 is changed PC 0 8 Pc Possible 1 1 9 9 2 2 10 10 3 3 11 11 4 4 12 12 5 5 13 13 6 6 14 14 7 7 15 15 0 8 8 7 7 1 1 6 6 2 2 5 5 3 3 4 4 4 4 3 3 5 5 2 2 6 6 1 1 7 7 Impossible 1 The setting value is 0 that the arrow of rotary switch upward direction The v...

Страница 15: ...b code left dot Warning occur latch settle problem alarm clear No latch settle problem Warning Warning code hex and normal state display alternantly Left dot flash while warning occur For example overload Warning code about 2s Left dot flash Normal about 4s ８８ display Panel RSW operate RSW 0 confirm 2s RSW except 0 confirm 2s Panel RSW operate RSW operating RSW confirm Normal Panel RSW priority in...

Страница 16: ...n for positive direction command 1 CCW motor rotation for positive direction command As the direction of motor rotation clockwise as seen from the shaft end to the load is defined as CW and counterclockwise as CCW The positive or negative direction referred to in this document displays the direction as specified with this parameter The table below shows the relationships with positive overtravel l...

Страница 17: ... according to the specifications of the controller and equipment installation condition Related parameters Category No Parameter Setup range Unit Function 0 6 Command pulse rotational direction setup 0 1 Specifies the counting direction for command pulse input See the table on the following page for the details 0 7 Command pulse input mode setup 0 3 Specifies the counting mode for command pulse in...

Страница 18: ...ommand pulse Signal Positive command Negative command PULS 0 or 2 2 phase pulse with 90 difference Phase A Phase B SIGN Phase B advanced by 90 deg from phase A Phase B delayed by 90 deg from phase A PULS 1 Positive pulse train Negative pulse train SIGN PULS 0 3 Pulse train Sign SIGN PULS 0 or 2 2 phase pulse with 90 difference Phase A Phase B SIGN Phase B delayed by 90 deg from phase A Phase B adv...

Страница 19: ...tor revolution is 0 or in full closed control When this parameter is set to 0 the encoder resolution is set to the numerator for position control and for full closed control the command scaling ratio becomes 1 1 0 10 Denominator of electronic gear 1 1073741824 Specifies the denominator for scaling for a command pulse input Valid when Pr0 08 Command pulse counts per one motor revolution is 0 or in ...

Страница 20: ... filter is switched when in position is being output and when a command whose command pulse per time 0 166 ms changes from 0 to any state except 0 is rising Specifically when filter time constant is decreased and the in position range is increased the motor may temporarily rotates at a faster speed than the command speed if accumulated pulses an area acquired by integrating the difference between ...

Страница 21: ...hing passes The time for filter switching is as follows the set value 0 1 ms 0 25 ms in the range of 10 ms or smaller and the set value 0 1 ms 1 05 ms in the range of 10 ms or greater When changing Pr2 23 Position command FIR filter during inputting a command pulse the change is not updated immediately It is updated when no command pulse is present during the time for filter switching 3 There is a...

Страница 22: ...tput phase B signal and the output source Reversing the phase B pulse logic allows the phase relation of phase B pulse with reference to phase A pulse In the full closed control mode an encoder or external scale can be chosen as the output source The output source must be an encoder in other than full closed control modes 5 03 Denominator of pulse output division 0 262144 If the output pulse count...

Страница 23: ...process above takes place based on the Pr0 11 and Pr5 03 settings which allows applications where the pulse count per rotation of the pulse regenera tion output OA and OB is not an integer Note that when the pulse output resolution per rotation is not a multiple of 4 output of phase Z may not be synchronous with phase A resulting in a smaller pulse width The output pulse resolution will not be ide...

Страница 24: ...fre quency jumps instantaneously depending on the rotational state of the motor such as rotational fluctuation When the output source is an encoder and the pulse output resolution per rotation is not a multiple of 4 phase Z may not be synchronous with phase A leading to a smaller pulse width When an incremental encoder is used the first phase Z signal after power up may not agree with the pulse wi...

Страница 25: ...2 Clear by level with reading filter 3 Clear by edge without reading filter 4 Clear by edge with reading filter For signal width and timing of deviation clear that need deviation counter clear input CL see the table below Pr5 17 CL signal width Timing of clearing deviation 1 500 s or longer 2 1 ms min Continue to clear when the deviation counter clear input is ON 1 3 100 s or longer 4 1 ms min Cle...

Страница 26: ...N and the position deviation does not exceed Pr4 31 Positioning complete In position range 3 The signal turns ON when there is no position command and the position deviation does not exceed Pr4 31 Positioning complete In position range Then the signal remains turned ON until Pr4 33 INP hold time is over After INP hold time is over the INP output turns ON OFF depending on the status of position com...

Страница 27: ...ulse inhibit input Related parameters Category No Parameter Setup range Unit Function 5 18 Invalidation of com mand pulse inhibit input 0 1 Enables disables the command pulse inhibition input 0 Enable 1 Disable 5 19 Command pulse inhibit input reading setup 0 4 Selects the cycle of reading the signal of command pulse inhibition input Updates the status of signal when it is periodically read and fo...

Страница 28: ...r Setup range Unit Function 0 16 External regenerative resistor setup 0 3 Set this parameter according to whether the built in regenerative resistor is used as it is or the built in resistor is isolated and an external regenerative resistor is provided 0 Use the built in resistor and provide regeneration over 1 Use an external resistor and provide regeneration over 2 Use an external resistor but n...

Страница 29: ... inertia estimation value At the same time setting time for positioning is reduced by adding an estimated friction torque to a torque command in advance 2 Adaptive filter Estimating a resonance frequency using a motor speed and removing the frequency components from a torque command suppresses vibrations caused by resonance Motor Encoder Sarvo drive Resonance frequency measurement Load characteris...

Страница 30: ... problems 2 Cautions Real time auto tuning may not normally function in the following conditions If that happens change the load conditions operation pattern or see the descriptions about manual tuning to manually configure relevant parameters Conditions hindering real time auto tuning Load condition The load inertia is too small or large with reference to the rotor inertia smaller than three time...

Страница 31: ...tion only is made This is used in combination with setup support software 6 No setting It can not be used 0 03 Selection of machine stiffness at realtime auto gain tuning 0 31 Specifies the response for enabled real time auto tuning A larger setting increases the speed response and servo stiffness but invites more vibration Gradually increase the setting while monitoring the operation While the RS...

Страница 32: ... the setting values in accordance with hardness 1 02 1st time constant of velocity loop integration 1 10000 0 1 ms If hardness setting is valid update the setting values in accordance with hardness 1 04 1st time constant of torque filter 0 2500 0 01 ms If hardness setting is valid update the setting values in accordance with hardness 1 05 2nd gain of position loop 0 30000 0 1 s If hardness setting...

Страница 33: ...ltime auto gain tuning until estima tion of load characteristic becomes stable This is not a fault if the function becomes stable soon If os cillation or continued generation of abnormal noise through three or more reciprocating movements often occurs take the following steps 1 Specify lower value for Pr0 03 Selection of machine stiffness at realtime auto gain tuning 2 Specify 0 for Pr0 02 Real ti...

Страница 34: ...000 126 1 12 390 220 250 103 460 220 10000 103 2 13 480 270 210 84 570 270 10000 84 3 14 630 350 160 65 730 350 10000 65 4 15 720 400 140 57 840 400 10000 57 5 16 900 500 120 45 1050 500 10000 45 6 17 1080 600 110 38 1260 600 10000 38 7 18 1350 750 90 30 1570 750 10000 30 8 19 1620 900 80 25 1880 900 10000 25 9 20 2060 1150 70 20 2410 1150 10000 20 10 21 2510 1400 60 16 2930 1400 10000 16 11 22 30...

Страница 35: ...rved in the motor speed Three or more resonance points exist Load Motor speed variation including a high frequency component is generated due to any nonlinear factor such as backlash Command pattern Acceleration deceleration is rapid at 30000 r min in 1 s or higher 3 Related parameters The operation of the adaptive filter can be specified by using the following parameters Category No Parameter Set...

Страница 36: ...ird and or fourth notch filters are automatically specified according to the number of adaptive filters 5 Other cautions 1 Abnormal noise or oscillation may be generated immediately after the first Servo On after power up or af ter increasing the stiffness setting when real time auto tuning is enabled until the load characteristics esti mation has been stabilized This is normal if the condition is...

Страница 37: ...esponses and stability is needed suitable for device characteristics manual readjustment may be required This section describes the manual tuning function with different subsections for the individual control modes and functions as shown below １ Position control mode block diagram 5 2 1 ２ Gain switching function 5 2 2 ３ Notch filter 5 2 3 ４ Vibration suppression control 5 2 4 ５ Feed forward functi...

Страница 38: ...er Torque feed forward Friction compen sation Addition Positive Negative 1 2 3 4 Filter Cumulative com mand pulse com mand unit Pulse train Input selection Reference direction One revolution Command scaling electronic gear Numerator 1 Numerator 2 Numerator 3 Numerator 4 Denominator Mode Command position deviation command unit Command scaling elec tronic gear reverse conver Velocity feed forward Ga...

Страница 39: ...gain switching in position control Setting Condition of switching 0 Fixed to the first gain 1 Fixed to the second gain 2 Gain switch 3 Torque command 4 Disabled fixed to the first gain 5 Speed command 6 Position deviation 7 Position command 8 Not in position 9 Actual speed 10 Position command actual speed 1 16 Delay time of position control switching 0 10000 0 1 ms Specifies the time between trigg...

Страница 40: ...y time the first gain is used again 5 Speed command If the previously used first gain has caused the absolute value of the speed command to exceed Level Hysteresis r min the second gain is used If the previously used second gain has caused the absolute value of the speed command to stay below Level Hysteresis r min for the delay time the first gain is used again 7 Position command If the first gai...

Страница 41: ...gain switching function under those conditions Specify the conditions of switching gains with the following parameters Pr1 15 Mode of position control switching Select 1st gain regardless of state Select 2nd gain regardless of state Switch by gain switching input GAIN Open 1st gain short 2nd gain Inthe case that the logic is set at a contact ２１ 0 4 ３ 9 10 ８６７ In position OFF ON ON Position devi...

Страница 42: ...ain switching time When switching gains velocity loop gain speed integration constant speed detection filter and torque filtering con stant are switched instantaneously However position loop gain can be gradually switched to avoid problems caused by sudden change to a high gain When 0 is specified for Pr1 19 Position gain switching time When 5 is specified for Pr1 19 Position gain switching time H...

Страница 43: ...s the center frequency of the third notch filter Specifying 5000 disables the notch filter 2 8 3rd notch width selection 1 0 20 Specifies the frequency width of the third notch filter 2 9 3rd notch depth selection 1 0 99 Specifies the depth at the center frequency of the third notch filter 2 10 4th Notch frequency 1 50 5000 Hz Specifies the center frequency of the fourth notch filter Specifying 50...

Страница 44: ...0 07 23 1 8 2 00 8 0 08 21 9 9 2 38 9 0 09 20 9 10 2 83 10 0 10 20 0 11 3 36 15 0 15 16 5 12 4 00 20 0 20 14 0 13 4 76 25 0 25 12 0 14 5 66 30 0 30 10 5 15 6 73 35 0 35 9 1 16 8 00 40 0 40 8 0 17 9 51 45 0 45 6 9 18 11 31 50 0 50 6 0 19 13 45 60 0 60 4 4 20 16 00 70 0 70 3 1 80 0 80 1 9 90 0 90 0 9 100 1 00 0 0 Depth 0 Width 8 ノッチフィルタ周波数特性 30 25 20 15 10 5 0 5 10 10 100 1000 周波数 Hz ゲイン dB 深さ０幅４深...

Страница 45: ...n frequency specified PLC Coupling Moving object Ball screw Base Vibration observed with displacementsensor End vibrates 1 Scope of applications Damping control functions under the following conditions Conditions for the functioning of damping control Action state When sub on because the input instruction lead the action shaking 2 Cautions Damping control may not function normally or may not be ef...

Страница 46: ...fied to enable the first damping frequency Specify a large value for faster operation Normally use 0 as the setting Note A maximum setting value is internally limited to smaller value of corresponding damping frequency or 2000 damping frequency 2 16 2nd damping frequency 0 2000 0 1Hz Specifies the second damping frequency of damping control to suppress vibration of an end of the load Measure the f...

Страница 47: ...he setting 2 21 4th damping filter setup 0 1000 0 1Hz Specify a small value if torque saturation has occurred when specified to enable the fourth damping frequency Specify a large value for faster operation Normally use 0 as the setting Note A maximum setting value is internally limited to smaller value of corresponding damping frequency or 2000 damping frequency 4 Usage Setting of damping frequen...

Страница 48: ... speed control process 1 13 Torque feed forward filter 0 6400 0 01 ms A time constant of primary delay filter is specified for inputting to torque feed forward 2 Example of using velocity feed forward Velocity feed forward is made valid by gradually increasing velocity feed forward gain with velocity feed forward filter specified at approximately 50 0 5 ms Position deviation during operation at a ...

Страница 49: ...ranges in operations of a trapezoid speed pattern Command speed Position deviation Motor speed Torque feed forward can be reduced the position deviation in constant acceleration Fix Speed FF gain 100 100 0 Torque FF gain 50 Time However under actual conditions position deviation does not become completely 0 because there is always disturbance torque Just as the case with velocity feed forward spec...

Страница 50: ...ation against 1st gain 3rd gain 1st gain Pr6 06 100 3 Usage Specify time of applying 3rd gain in Pr6 05 Position 3rd gain valid time under conditions that gain switching function operates normally Then specify magnification of 3rd gain against 1st gain in Pr6 06 Position 3rd gain scale factor If 3rd gain is not used specify Pr6 05 0 and Pr6 06 100 3rd gain is valid only under position control full...

Страница 51: ...puts and the torque limit are appropriately configured and do not cause any problem in normal motor rotation 2 Related parameters Settings of friction torque compensation are specified in combination of the following 3 parameters Category No Parameter Setup range Unit Function 6 07 Torque command additional value 100 100 Specify a biased load compensation value which is always added to torque comm...

Страница 52: ...e Pr6 09 Negative direction torque compensation value Pr6 07 Torque command additional value reduces variations of positioning operations by specifying a torque command value that may be added as a constant biased load torque applied to a motor due to gravity on vertical axis Pr6 08 Positive direction torque compensation value and Pr6 09 Negative direction torque compensation value prevents prolon...

Страница 53: ...n inputs and the torque limit are appropriately configured and do not cause any problem in normal motor rotation 2 Related parameters Category No Parameter Setup range Unit Function 0 13 1st torque limit 0 500 To set the 1st limit value of the motor output torque 5 21 Selection of torque limit 1 3 To set up the selecting mode of the torque limit 1 Normal direction Reverse direction Pr0 13 2 Normal...

Страница 54: ...uts and the torque limit are appropriately configured and do not cause any problem in normal motor rotation 2 Cautions Note that this function does not provide protection against abnormal position commands If software limit protection works the device slows down and halts in accordance with Pr5 10 Sequence at alarm Some loads may contact an edge of device and cause damage Specify a range for Pr5 1...

Страница 55: ...ence range Pr5 14 Pr5 14 Motor movable range Error occurrence rang Motor Load Conditions to clear the position command input range The following conditions will clear the position command input range to 0 The power is turned on While a position deviation is being cleared with the deviation counter clear being valid and the input of the overtravel limit being valid with Pr5 05 Sequence at over trav...

Страница 56: ... full closed control when the value is set to 0 the command scaling ratio forcibly becomes 1 1 0 10 Denominator of electronic gear 1 1073741824 Specifies the denominator for scaling for a command pulse input Is valid when Pr0 08 Command pulse counts per one motor revolution is 0 5 00 2nd numerator of electronic gear 0 1073741824 To set the 2nd numerator used for the command scaling performed for t...

Страница 57: ...vertravel direction command 0 1 Cleared before and after the deceleration 3 1 the position command 0 is srv lock 2 If commands keep coming for the overtravel direction with the overtravel limit on the position deviations may accumulate to result in Err24 0 Position deviation excess protection In case an overtravel limit is turned on stop commands for the overtravel direction 3 Position deviations ...

Страница 58: ... Immediate stop refers to the control to stop immediately with the servo control on Torque command values for that case are restricted by Pr5 11 Torque setup for emergency stop 2 If position commands keep coming or the motor stays running with the main power off the position deviations may accumulate to result in Err24 0 Position deviation excess protection Also if the servo control is turned on w...

Страница 59: ...ions external scale deviations at the time when an alarm occurs will be retained while the alarm is still there and they will be cleared when the alarm is cleared 2 The selection of the operation A or B shows whether an immediate stop is executed An alarm that necessitates an immediate stop will prompt the operation A an immediate stop if the setting value is 4 5 6 or 7 An alarm that does not requ...

Страница 60: ...set to 0 the overspeed level will be set at the maximum number of motor revolution multiplied by 1 2 2 Item Immediate stop operation when an alarm requiring an immediate stop occurs Note To protect against runaway upon instantaneous stopping specify an allowable excessive speed level in Pr6 15 2nd over speed level setup If 2nd excessive speed protection which is an error not applicable to instanta...

Страница 61: ...rotection ０ IF overlaps allocation error 1 protection 1 IF overlaps allocation error 2 protection 2 IF input function number error 1 protection 3 IF input function number error 2 protection 4 IF output function number error 1 protection 6 CL fitting error protection 33 7 INH fitting error protection 34 ０ Motor action range limit protection 36 ０ 2 EEPROM parameter error protection 37 ０ 2 EEPROM che...

Страница 62: ...rive has malfunctioned due to reasons such as excessive noise the following may be displayed In such a case immediatelyturn off the power 5 A fast shutdown refers to an alarm that causes an immediate stop when Pr5 10 Sequence at alarm is set to the value between 4 and 7 Please refer to 6 5 4 Sequence at Alarm for details ...

Страница 63: ...the main power was turned on Open phase The servo drive specified with a 3 phase input was operated with a single phase power supply The servo drive has failed circuit failure Measure the line voltage of connectors L1 L2 and L3 Increase the supply voltage capacity Change the power supply Remove the cause for the electromagnetic contactor to have failed and turn on the power again Check the setting...

Страница 64: ... wires to the wiring diagram Change the cables Remove the distortion of the machine Reduce load Measure the brake terminal voltage Release the brake Make the correct connection for the motor wires encoder wires and their axes 18 0 Over regeneratio n load protection Regenerative energy has exceeded the capacity of the regenerative resistor Regenerative energy generated during the deceleration due t...

Страница 65: ...eleration time Reduce the load and lower the velocity 2 Set a greater value in Pr0 14 24 1 Velocity deviation excess protection The difference speed deviation between in position preset velocity and actual speed ex ceeded the Pr6 02 Velocity deviation excess setup Note When in position preset velocity becomes zero by force such as the immediate stop because of the command pulse inhibition INH and ...

Страница 66: ... the function assignment to the connector pins 33 7 INH fitting error protection The command pulse inhibition input enable function is assigned to an input signal other than SI10 Correct the function assignment to the connector pins 34 0 Software limit protection The motor has exceeded the allowable motor operation range specified in Pr5 14 Motor working range setup against the position command in...

Страница 67: ...s failed Replace the motor 87 0 Compulsory alarm input protection Forced alarm input E STOP has been input Check the wiring of forced alarm input E STOP 95 0 4 Motor automatic recognition err or protection The motor is not appropriate for the servo drive Replace the motor to suit the servo drive Other numbers Other error The control circuit has malfunctioned due to reasons such as excessive noise ...

Страница 68: ... corresponding bit is set to 1 the corresponding warning detection is disabled 2 Warning type Warning number Warning Item Pr6 27 1 Pr4 40 Pr4 41 2 Pr6 38 compatible bit 3 A0 Overload The load factor has exceeded 85 of the protection level 1 bit7 A1 Regeneration over The regeneration load factor has exceeded 85 of the protection level 2 bit5 A4 Encoder communication The count of consecutive encoder...

Страница 69: ...lly necessary torque be careful that the position deviation excess protection can occur because a overspeed protection due to overshooting or a command delay oc curs Also the limited torque state can be externally detected by allocating the torque limited output TLC as the interface specification to the output signal ３ Overspeed protection When the motor runs at unusual high speed Err26 0 Over spe...

Страница 70: ...2 To use a position command filter or a damping control add the value below Position command smoothing filter Vc filtering constant s Position command FIR filter Vc filtering constant s 2 damping control Vc π damping frequency Hz Pr5 20 1 detected by encoder and full closed position deviations Note 3 To change the position loop gain Kp calculate the gain by using the minimum value Note 4 When Pr5 ...

Страница 71: ...ulse string 3 Pulse string symbol Powerreset 08 Command pulse counts per one motor revolution pulse 0 220 To define the command pulse counts per one motor revolution Powerreset 09 1st numerator of electronic gear 0 230 To set a numerator in case the command scaling function is set with numerator denominator Alwaysvalid 10 Denominator of electronic gear 1 230 To set a denominator in case the comman...

Страница 72: ...ysvalid 08 2nd filter of speed detection 0 5 To select the velocity detection filter 2 out of 6 preset steps Alwaysvalid 09 2nd time constant of torque filter 0 01ms 0 2500 To set the time constant for the torque filter 2 Alwaysvalid 10 Velocity feed forward gain 0 1 0 1000 To set the velocity feed forward gain Alwaysvalid 11 Velocity feed forward filter 0 01ms 0 6400 To set the time constant of t...

Страница 73: ... set the notchdepth for the 4th resonance suppressing notch filter This will be set automatically when the adaptive notch is valid Alwaysvalid 13 Selection of damping filter switching 0 3 To select the switching method in case damping filters are switched Alwaysvalid 14 1st damping frequency 0 1Hz 0 2000 To set the 1st damping frequency to be used for the damping control to suppress vibration at t...

Страница 74: ...itioning complete In position output setup 0 3 To select the criteria for the in position output Alwaysvalid 33 INP hold time ms 0 30000 To set the INP hold time Alwaysvalid 34 Zero speed R min 10 20000 To set the threshold to detect the zero speed ZSP Alwaysvalid 36 At speed Speed arrival r min 10 20000 To set the threshold to detect the at speed AT SPEED Alwaysvalid 37 Mechanical brake action at...

Страница 75: ...ddition to the position command Always valid 15 I F reading filter 0 3 Selects the signal read cycle for control input 0 0 166ms 1 0 333ms 2 1ms 3 1 666ms However the deviation counter clear input CL and command pulse prohibition input INH are excluded Power reset 16 Alarm clear input setup 0 1 Selects the recognition time for the alarm clear input A CLR 0 120ms 1 As per Pr5 15 I F reading filter ...

Страница 76: ... the negative direction Alwaysvalid 14 Emergency stop time at alarm ms 0 1000 To set the allowable time for the immediate stop to complete when there is an alarm The established resolution is 2ms For example if the setting value 11 it will be 12ms Alwaysvalid 15 2nd over speed level setup r min 0 20000 If the motor speed exceeds the value set for this parameter during an immediate stop caused by a...

Страница 77: ...ove chart 1 When the internal control power has been established the protective functions get activated approximately 1 5 s after the start of the micro computer initialization To design your system keep in mind that all the input output signals connected to the driver should be established before the protective functions start get ting activated use special care for signals that can trigger the p...

Страница 78: ...utput Tr ON brake released Applied Output Tr OFF brake applied No power Applied 3 Setting value for Pr4 38 Approx1 5ms t1 1 3 No power 5 4 Approx4ms Motor speed Approx 30r min Servo effective Setting value for P r4 39 for the motor speed Setting value for Pr4 38 t1 1 The servo control is not turned on until the motor speed is approx 30 r min or less Motor rotation speed In case the setting value f...

Страница 79: ...etting value for Pr4 38 is reached first In case the setting value for Pr4 39 is reached first Output Tr ON Not alarm Servo alarm output ALM Setting value for t1 1 Output TrOFF Alarm OutputTr OFF Break Applied Output Tr ON Break Released Output Tr OFF Break Applied Servo ready output S RDY Output Tr ON Ready Output TrOFF Not ready 1 The time t1 will be either the value used to set Pr4 38 Mechanica...

Страница 80: ...ed Power to the motor Released Servo alarm output ALM 120 ms or greater 1 Approx 60ms Approx 4ms No input Input is possible Position velocity torque command 100 ms or greater Approx 2ms Input coupler OFF Input coupler ON OutputTr ON Break Released Output Tr OFF Alarm Output Tr ON Not alarm Servo ready output S RDY Output Tr OFF Not ready Output Tr ON Ready 1 The time to recognize the alarm clear i...

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