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Содержание MINAS S-series

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Страница 2: ...AC Servo Motor Driver MINAS S series Operating Manual Thank you very much for your buying Panasonic AC Servo Motor Driver A series Be sure give this instruction manual to the user ...

Страница 3: ...justments System Configuration and Wiring 1 8 General Wiring Diagram 18 List of Available Components 20 Main Circuits 22 CN SIG Connector For Encoder 23 CN SER Connector 24 CN I F Connector For Controller 25 CN MON Connector 35 Parameter Setting 36 Overview 36 Parameter Groups and Listing 36 Setting the Parameters 41 Overview of PANATERM 41 How to Connect 41 Parts Description 12 Amplifier 12 Motor...

Страница 4: ...cal resonance 59 Protective Functions 60 Maintenance and Inspections 6 6 Troubleshooting 68 After Sale Service Conformance to EC Directives and UL Standards App 2 Holding Brake App 6 Dynamic Brake App 8 Timing Chart App 10 Acceptable Loads on Output Shaft App 14 Homing Operation Precautions App 15 Details of Parameters App 16 Optional Parts App 38 Recommended Parts App 47 Dimensions App 48 Charact...

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Страница 6: ...ially hazardous situation which if not avoided will result in minor or moderate injury and physical damage The following symbols indicate what you are not allowed to do or what you must observe This symbol indicates that the operation is prohibited This symbol indicates that the operation must be performed without fail DANGER An over current protection earth leakage Don t insert your hands in brea...

Страница 7: ...nt fire hazard and personal injury after occurrence of earthresulting from earthquake quake Failure to observe this Failure to observe this instruction could result in electric instruction could result in electric shocks injuries and or fire shocks injuries and or fire ...

Страница 8: ...cks malfunction and or damages Perform the transportation wiring and inspection at least 10 minutes after the power off Failure to observe this in struction could result in electric shocks Don t subject the product to water splash corrosive gases flammable gases and combustible things Failure to observe this in struction could result in fire Install an external emergency stop device so that you ca...

Страница 9: ... Avoid extreme adjustment or change Avoid an operation which causes unstable action Failure to observe this instruction could result in injuries Execute the trial operations with the motor fixed but without motor load connected Connecting a load to the motor is possible only after successful trial operation Failure to observe this instruction could result in injuries Don t touch the motor amplifie...

Страница 10: ... 9 Don t modify dismantle or repair the amplifier Failure to observe this instruction could result in fire electric shocks and or injuries ...

Страница 11: ... are made correctly Failure to observe this instruction could result in electric shocks injuries Don t hold the cables or motor shaft when transporting the motor Failure to observe this instruction could result in injuries After recovery from the power failure the equipment may restart suddenly Don t approach the equipment Failure to observe this instruction could result in injuries Observe the vo...

Страница 12: ...pening the Package Make sure that the product is what you have ordered Check whether the product has been damaged or not during transportation If the product is not correct or it has been damaged contact dealer or sales agent ...

Страница 13: ... 12 Check the Model of Amplifier ...

Страница 14: ... G Yes D H Type Serial No Revolution rating AC SERVO MOTOR S 1 RATIN G Model No MUMS042A1A INS CLASS B TÜV A UL CONT TORQUE 0 64 N m A 1 6 CONNECTI ON RATED OUTPUT RATED FREQ k W 0 2 SER No 00010001 Hz 200 RATED REV r min 3000 INPUT3ØA C 92 IP6 5 V MatsushitaElectric Industrial Co Ltd Made in Japan Rated output ...

Страница 15: ...tion Check the Combination of Amplifier and Motor The amplifier has been designed for use in combination with the specified motors only Check the specifications Series symbol output rating voltage rating and encoder type of the motor you want to use ...

Страница 16: ... 15 With the incremental type encoder 2500P r ...

Страница 17: ...Sup er Low inerti a MUMS3AZ 100V 30 W 3000r m in Increme ntal 2500P r 11 wires MUDS5A1 A1A MUMS5AZ 50 W MUDS011 A1A MUMS011A 100 W MUDS021 A1A Type2 MUMS021A 200 W MUDS041 A1A Type3 MUMS041A 400 W 1 phase 200V MUDS022 A1A Type2 MUMS022A 200V 200 W MUDS042 A1A Type3 MUMS042A 400 W 3 phase 1ph ase 200V MUDS3A5 A1A Type1 MUMS3AZA 30 W MUDS5A5 A1A MUMS5AZA 50 W MUDS015 A1A MUMS012A 100 W ...

Страница 18: ... 17 3 phase 200V MUDS023 A1A MUMS022A 200 W MUDS043 A1A Type2 MUMS042A 400 W MUDS083 A1A Type3 MUMS082A 750 W ...

Страница 19: ... 18 Parts Description Amplifier Example MUDS023A1A Example MUDS042A1A ...

Страница 20: ... 19 3 phase 200V 200W Type 1 1 phase 200V 400W Type 3 ...

Страница 21: ...gain GAIN input connector tuning L1 L2 L3 P B Motor connection U V W E Earth connectionsCheck pins CN MON Notes For detailed information for each of motor types see the drawings in the Appendix App 50 to 52 Motor Example Super Low Inertia Motor MUMS Series 400W ...

Страница 22: ...cture Avoid the place where the amplifier is subjected to corrosive gases flammable gases grinding liquids oil mists iron powders and cutting particles Place in a well ventilated and humid and dust free space Place in a vibration free space Environmental Conditions Item Conditions Ambient temperature 0 to 55 C free from freezing Ambient humidity Not greater than 90 RH free from condensation Storag...

Страница 23: ...ation Front panel mount type recessed Earth connection M4 screw tightening torque shall not exceed 0 39 0 59 N mU U Mounting Direction and Space Requirements Allow enough space to ensure enough cooling Install fans to provide a uniform distribution of temperature in the control box The airflow of fan is more than 0 43m3 min And it should be located 10 cm away from the amplifier Observe the environ...

Страница 24: ...ce in a well ventilated and humid and dust free space Easy maintenance inspections and cleaning is also important Environmental Conditions Item Conditions Ambient temperature 0 to 40 C free from freezing Ambient humidity Not greater than 85 RH free from condensation Storage temperature 20 to 80 C free from freezing Storage humidity Not greater than 85 RH free from condensation Vibration Motor only...

Страница 25: ...th a reduction gear use the motorwith oil seals to prevent the reduction gear oil from entering into the motor Don t use the motor with the cables being immersed in oil or water Oil and water Cable Stress Relieving Make sure that the cables are not subjected to moments or vertical loads due to externalbending forces or self weight at the cable outlets or connections In case the motor is movable se...

Страница 26: ...lowable Shaft Loads Listing in Appendix Installation Notes Don t hit the shaft with a hammer directly whileattaching detaching the coupling to the motor shaft otherwise the encoder at the opposite end of the shaft will be damaged Try perfect alignment between shafts misalignment may cause vibration and damages ofthe bearings System Configuration and Wiring General Wiring Diagram Main Circuits Nois...

Страница 27: ...l noise from the power line and reduces the effect of the noises gen erated by the servo motor Magnetic Contactor MC Turns on off the main power of the servo Used together with a surge absorber Reduces the harmonic current in the In case of use under large regenerative energy connect an external regenerative discharge resistor to P and B terminals Ground ...

Страница 28: ...residual current operated Regenerative discharge resistor protective device RCD is used for protection in case of direct or indirect contact Only RCD of Type B is allowed on supply side of this Electronic Equipment EE ...

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Страница 30: ...2 BMFT61541N 3P 1a 1 phase 200V 30 50W Approx 0 3kVA B K 3 5 1 5A D V O P 1 4 4 1 BMFT61541N 3P 1a 1 0 0 W 1 phase 200V 2 0 0 W Approx 0 5kVA 4 0 0 W Approx 0 9kVA B K 3 1 0 1 10A D V O P 1 4 4 2 3 phase 200V 30 50W Approx 0 3kVA B K 3 5 1 5A D V O P 1 4 4 1 MMFT61042N 3P 1a 1 0 0 W 3 phase 200V 2 0 0 W Approx 0 5kVA 4 0 0 W Approx 0 9kVA BK3101 10A 7 5 0 W Approx 1 3kVA B K 3 1 5 1 15A D V O P 1 ...

Страница 31: ...se filters options shown in the above are manufactured by Okaya Electric Industries Co Ltd Notes CN POWER CN MOTOR and earth terminals Wires should be copper conductors of a temperature rating of 60 C or above Earth wire diameter should be 2 0 mm2 AWG14 or larger Please also consider the electrochemical potentials between metal conductor including closed loop terminals The electrochemical potentia...

Страница 32: ...ff Main Circuits Always ask to an electric engineer for wiring Don t turn on the main power until the wiring and connectings are completed to avoid electric shocks Wiring Instructions Make necessary connections For wire diameter see List of Available Components page 20 Securely insert connectors ...

Страница 33: ... facility Never fail to connect between the amplifier s protective earth terminal and control board s protective earth terminal ground plate in order to avoid electric shocks Ensure to connect matching in color between the motor wires and terminals U V W and E Don t short circuit or ground Don t connect to the main power The electromagnetic brake is not polar sensitive For power capacities see the...

Страница 34: ... shielded twist paired wire Å with an enough bending durability 3 Signal power paired wires should be of atwist paired type 4 Shield The shield at the amplifier side should beconnected to Pin 20 FG of CN SIG Connector The shield at the motor side should be con nected to connector of 15 pins type 5 If the cable is longer than 10 m the encoder power line 5V and 0V should be dual per the figure shown...

Страница 35: ...System Configuration and Wiring 34 Convenient functions of high operability can be obtained such as monitor and parameter setting and setting change and waveform graphic display Connection screw ...

Страница 36: ...ing of pulse input encoder signal output etc Do not apply power higher than 24V or 50mA to control signal output terminal If you directly activate a relay using the control signal install a diode in parallel to the relay as shown in the left figure Without a diode or with it but placed in the opposite direction the amplifier will be damaged The Frame Ground FG is connected to an earth terminal in ...

Страница 37: ... 36 Connector cover 1 0 3 2 6 5 2 A 0 0 0 8 The CN I F pins assignment is shown in Optional Parts in Appendix ...

Страница 38: ... 37 System configutration and wiring ...

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Страница 41: ... Notes 1 Thi se 2 Donmot Allow com By ope the Operatiselec s signal be e the Timin t use this or See Ap at least 10 mand input ning the conn current flow t on of the dyna ted using Pr6 comes effective about two seconds after power on g chart Servo ON or Servo OFF signal to turn on or off the p 8 0ms delay after the amplifier enabled before any is entered ection to COM the amplifier will disabled S...

Страница 42: ...he function differs depending on the control mode SI page 33 Posit contr ion ol The Gaiop functions depend on the value of Pr30 n switching input results Input for switching PI P eration and No 1 No 2 gains Pr30 value Connection to COM Function 0 Default Open Speed loop PI ProportionalÅEIntegration operation Close Speed loop P Proportion operation 1 Open 1 gain selection Pr10 11 12 13 14 Inter vel...

Страница 43: ...Don t e s the input to switch command pulse scaler COM closed the numerator of the command scaler is changed m the value stored in Pr46 Numerator of 1st Command Scaler to value stored in Pr47 Numerator of 2nd Command Scaler nter command pulses 10 ms after or before switching The isetti See c nternal velocity selection 1 input is valid 4 kinds of velocity ngs are available by the combination with C...

Страница 44: ... operate Pr66 value is 0 SI page 33 Input Signals Position Control and their Functions Signal Pin No Symbol Function I F circuit Command pulse 2 2 PULS1 This is the input terminal for command pulses The maximum allowable input frequency is 500 kpps for line amplifier input and 200 kpps for open collector input The amplifier is the high speed photocoupler of TOSHIBA TLP554 or equivalent The input i...

Страница 45: ...Warning 1 2 WARN Signal which is selected at Pr09 warning output selection will be turned on This output transistor turns ON at least for one second afte warning indication signals are outpu Pr0Avalue Function 0 In to Outpu rque limiting output t transistor turns ON during the In toque limiting 1 Zero Outpu lower speed output t transistor turns ON whe the motor speed becomes than that o the preset...

Страница 46: ...al outputs of the encoder signals A B and Z phases that come from the divider equivalent to RS422 signals The logical relation between A and B phases can be selected byPr45 Output Pulse Logic Inversion Not insulated P O 1 page 34 1 6 OA B phase output 1 7 OB 1 8 OB Z phase output 1 9 OZ 2 0 OZ Z phase output 2 1 CZ Z phase signal output in an open collector Not insulated P O 2 page 35 Signal groun...

Страница 47: ...lection to switch between actual and commanded speed and to define the relation between speed and output voltage AO page 35 Torque monitor output 2 I M Outputs the output torque or voltage in proportion to the position error with polarity generating CCW torque Fgenerating CW torque Use Pr08 Torque Monitor Selection to switch between torque and positional error and to define the relation between to...

Страница 48: ...bol Function I F circuit Frame ground 2 6 FG Internally connected to the earth terminal Output Signals Others and their Functions Signal ground 3 GND Signal ground for monitor signal Internally isolated from the control power COM ...

Страница 49: ...System configuration and wiring 48 CN I F Connector ...

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Страница 51: ...s 1kΩ Pay atten tion to the input impedance of your mea suring instruments and external circuits connected Resolution Velocity monitor signal SP 8r min 1 LSB calculated from 6V 3000r min Pr07 3 2 Torque monitor signal IM 0 4 LSB calculated from 3V rated value 100 AO Open Collector Output Outputs Z phase signals among those from the encoder The outputs are non insulated Receive these signal with hi...

Страница 52: ...st and 2nd for position velocity and integration and time constants of filters 20 22 Real time auto tuning parameters You can set the real time auto tuning mode select the machine stiffness etc Position control 30 35 You can set the parameters relating to the switching between 1st and 2nd gains 40 4D You can set the input format of command pulses logical selection encoder pulse rate and pulse scal...

Страница 53: ...tor IM selection 0 5 0 Åñ0 9 Warning output selection 0 5 2 Åñ0 A Internal use 1 Åñ0 B Internal use 1 Åñ0 C Baud rate set up of RS232C 0 2 2 Åñ0 D Internal use 2 0 E 0 F Internal use 0 For values marked with see page 36 Parameters for Adjusting Time Constants of Gain Filters etc ParameterNO Pr Parameter description Range Default Unit Åñ1 0 1st position loop gain 0 2000 1 0 0 1 s Åñ1 1 1st velocity...

Страница 54: ...ing Parameter No Pr Parameter description Range Default Unit Åñ2 0 Inertia ratio 0 10000 1 0 0 Åñ2 1 Real time auto tuning set up 0 3 0 Åñ2 2 Machine stiffness at auto tuning 0 9 2 Åñ2 3 Not available 1 0 0 2 4 2 F Internal use 0 Parameters for Adjustments for 2nd Gain Parameter No Pr Parameter description Range Default Unit Åñ3 0 2nd gain action set up 0 1 0 Åñ3 1 Position control switching mode ...

Страница 55: ... ratio 1 10000 1 0 0 0 0 Åñ4 7 Numerator of 2nd command pulse ratio 1 10000 1 0 0 0 0 Åñ4 8 Internal use 1 0 0 0 0 Åñ4 9 Internal use 1 0 0 0 0 Åñ4 A Multiplier of numerator of command pulse ratio 0 17 0 2n Åñ4 B Denominator of command pulse ratio 1 10000 1 0 0 0 0 Åñ4 C Smoothing filter set up 0 7 1 Åñ4 D Counter clear input 0 1 0 4 E 4 F Internal use 0 For values marked with see Note in page 36 ...

Страница 56: ...Torque limit set up 0 500 3 0 0 Åñ5 F Internal use 0 Setting the Parameters Parameters for Sequence Parameter No Pr Parameter description Range Default Unit Åñ6 0 In position range 0 32767 1 0 Pulse Åñ6 1 Zero speed 0 10000 5 0 r min Åñ6 2 At speed 0 10000 1 0 0 0 r min Åñ6 3 Position error set up 0 32767 1 8 7 5 256Pulse Åñ6 4 Position error invalidation 0 1 0 Åñ6 5 Internal use 1 Åñ6 6 Dynamic B...

Страница 57: ...ts The system parameters arefault parameters that cannot be changed with PANATERM or on the operation panel Setting the Parameters You can set the Parameters with your personal computer with the S series communication software PANATERM Notes For the use of PANATERM for parameter handling see the instruction manual of the software Overview of PANATERM You can conduct the following operations using ...

Страница 58: ...disc of DVOP2820 communication software PANATERM Setting the Parameters Installing PANATERM on a hard disc Notes 1 The memory capacity of the hard disc should be 15MB or more Prepare OS of Windows 95 or Windows 98 2 Install PANATERM with setup discs otherwise the software does not work Procedure 1 Turn on your personal computer Start Windows 95 or 98 If there is any application program on close al...

Страница 59: ...g PANATERM Notes 1 Once you install PANATERM on your hard disc you do not have to install it again for next use 2 Before using PANATERM the amplifier power supply motor and encoder should be connected For the procedure for starting PANATERM see the Windows manual Procedure 1 Turn on your personal computer Start Windows 95 or 98 2 Turn on the amplifier 3 Click on the start button of Windows see the...

Страница 60: ...ctions especially main power and motor output are correct Make sure that there is no short and earth wires are properly connected Make sure that there is no poor connections Operation with CN I F Connected 1 Connect CN I F 2 Connect the control signal COM to the power supply 12 to 24V DC ...

Страница 61: ... at monitor mode with PANATERM Make sure that the speed is per the set up Check if the motor stops when the command pulse is stopped Set up of motor speed and input pulse frequency Input pulse frequency pps Motor speed r min Pr 46 x 2 Pr 4A Pr 4B 2 5 0 0 P r 500k 3000 10000 x 2 0 Use the controller to send command pulses COM 1 2 22 23 24 25 21 14 13 SRV ON PULS1 PULS2 SIGN1 SIGN2 CZ GND COM 120 Ω ...

Страница 62: ...tween motor speed 60 Pulley ratio 18 60 and input pulse frequency Gear ratio 12 73 Example Rotate the motor by 60 degrees with an overall reduction ratio of 18 365 Gear Overall reduction 18 365 Encoder pulse 2 5 0 0 P r Pr46 x 2 Pr4A 365 x 2 0 108 Pr4B Theory Set the parameter so that motor turns 60Åãwith 10000 pulses when a command is entered from the controller to the amplifier Determining the p...

Страница 63: ... input ZEROSPD open 5 To change the speed or direction adjust the following parameters again Pr53 Pr56 Velocity set up for 1st speed through 4th speed See Details of Parameters in Appendix 31 PrNo Parameter description Value Default P r 0 2 Control mode set up 1 0 P r 0 4 Overtravel input inhibit 1 1 P r 0 6 ZEROSPD input selection 1 1 Pr53 Pr56 1st speed Velocity throug h set up 4th speed Set as ...

Страница 64: ...SPD1 6 pin CL INTSPD2 4 pin 1st speed Pr53 OPEN OPEN 2nd speed Pr54 CLOSE OPEN 3rd speed Pr55 OPEN CLOSE 4th speed Pr56 CLOSE CLOSE Input Signal Status No Input signal Monitor display 0 Servo ON A 5 Speed zero clamp Stop with A ...

Страница 65: ...Trial Run 64 Fundamental Operations and LED Indications ...

Страница 66: ...Red Unit digits Example When an overload alarm code No 16 occurs The alarm indicator will flash in orange once and in red six times 1 sec 0 5 sec 0 5 sec 0 5 sec 0 5 sec 0 5 sec After 2 seconds 3 Set Parameters Prepare a personal computer and PANATERM 4 Input commands relevant to the desirable control mode LED color Meaning Green Main power is on Amplifier power is on Orange Flashing when warning ...

Страница 67: ...rom the required torque Then automatically define appropriate gains according to the inertia 0 Real time auto gain tuning During an actual operation calculate the load inertia in real time Then automatically define appropriate gains according to the inertia The gains will be automatically adjusted against the fluctuation of load inertia during operation Manual adjustment Manual gain tuning You can...

Страница 68: ... 67 Velocity loop integration time constant 50 Velocity feed forward 50 ...

Страница 69: ...equipment must be small Eccentric load must be smaller than one fourth of the rated torque The viscous load torque must be smaller than one fourth of the rated torque Any oscillation must not cause any mechanical damages of the machine motor load Two CCW turns and subsequent two CW turns must in no case cause any troubles The auto gain tuning affects the values of the following six parameters Pr15...

Страница 70: ...t frequency resonance of the machine significantly affects the gain adjustment of the servo motor If the machine has a lower resonance frequency i e lower stiffness you can t set the high response of the servo system ...

Страница 71: ...h GAIN to original position Turn CCW Adjust gain adjustment rotary switch to 0 position Action OK Measure the resonance frequency of machine system Notch filter Yes Yes No OK No Guidance values of gains Monitoring the velocity and torque using PANATERM fine adjust the gains so that the motor action follows the commands Setting by PANATERM is required Adjust setting to value suitable for machine co...

Страница 72: ...most which consists of two CCW revolutions and ing two CW revolutions Note that this process doesn t CN I F pin 2 Servo ON necessarily repeat 5 cycles and this is not abnormal Pr ID Notch Frequency 1500 Value is entered in the post application column after tuning 5 Download the obtained gain values to EEPROM Note that if you turn off the power before downloading the gain values will be lost Notes ...

Страница 73: ...justment rotary switch GAIN is set to 0 position only 1 Start PANATERM and go to Parameter Set up Mode 2 Set Pr1F Disturbance torque observer to 8 invalid 3 Set Pr22 Real time auto tuning machine stiffness First set the parameter to the smallest value and then gradually increase with which no abnormal sound or vibration will occur 4 Set Pr21 Real time auto tuning mode to 1 or 2 The operation may n...

Страница 74: ...changing Pr21 or Pr22 stop servo lock the motor Don t modify Pr10 through Pr15 Otherwise it may give a shock to the machine How to Adjust Gain Manually Before Adjustment You may adjust the gains by viewing or hearing the motions and sound of the machine during operation But to adjust the gains more quickly and precisely you can obtain quicker and secure adjustment by analog wave form monitoring 1 ...

Страница 75: ...in at Position Control Mode 1 Input the inertia ratio of Pr20 For horizontal axis take measurements on the basis of Normal autotuning For vertical axis obtain values through calculations 2 Conduct adjustments with the parameters shown in the following table taken as guidance values Parameter No Parameter description Guidance value Concept of adjustment Pr10 1st position loop gain 5 0 OK if there i...

Страница 76: ... that this may be improved by adjusting the value of Pr16 Feed Forward Filter How to Adjust the Gains at Internal Velocity Control mode 1 Start the motor machine 2 Increase the value of Pr11 1st Velocity Loop Gain gradually until the motor machine does not generate abnormal sound or vibration 3 Decrease the value of Pr12 1st velocity Loop Integration Time Constant according to the delay ofcommands...

Страница 77: ...e at servo lock in stop If unusual noise is found change the value Pr18 2nd position loop gain 5 0 OK if there is no problem with the motion With a larger value responsibility improves With an excessively large value oscillation occurs Pr19 2nd position loop gain 3 0 OK if there is no unusual running noise If unusual noise is found make the value smaller Pr20 Inertia ratio First make the set up co...

Страница 78: ...and Pr18 Values of Pr11 and Pr19 Value of Pr20 1 Value of Pr10 Standard factory setting 100 Value of Pr11 Standard factory setting 100 5 0 2 1 0 0 3 1 5 0 4 2 0 0 5 3 0 0 6 4 0 0 7 5 0 0 8 7 5 0 9 1 0 0 0 Notes Set the rotary switch to 0 position when setting automatic gain tuning or parameters Set up the RSW to 0 when using the 2nd gain To reduce the mechanical resonance For increasing gain For l...

Страница 79: ... can be obtained though the speed becomes higher Set up Pr21 Real time auto tuning mode set up to 0 Notes Set up the offset larger than the amplitude setting and with one way rotation so that you can obtainbetter results 1 Torque command filter Pr14 and Pr1C Set the filter s time constant so that the frequency components around the resonance region can be attenuated You can obtain the cutoff frequ...

Страница 80: ...t least 120 ms The overload protection can be cleared by A CLR at least 10 seconds after the occurrence of theevent If the main power supply of amplifier turns off the time limiting operation is cleared The alarms mentioned above can also be cleared by using PANATERM Notes Protections marked with cannot be cleared with A CLR Alarm Clear Input They should be cleared by turning the power off removin...

Страница 81: ...e main power is single phase 100V or singlephase 200V use L1 and L3 4 Replace with a new amplifier Overvoltage error 1 2 The line voltage is larger than the specified acceptable range so that the P N voltage of the converter is larger than the specified value or the line voltage was raised by a advancing capacitor or UPS Uninterruptible Power Supply 1 The internal regenerative dischargeresistor is...

Страница 82: ...rking correctly 2 Check if the U V and W wires are shortedat the connections Reconnect them if necessary 3 Measure the insulation resistance between U V W and earth wire If the resistance is not correct replace the motor with a new one 4 Measure the resistance between U V and W If they are unbalanced replace the motor with a new one 5 Check if the U V W connector pins arefirmly secured with screws...

Страница 83: ...ring to eliminate the mismatching Regenerative discharge 1 8 The regenerative energy is larger than the capacity of the regenerative discharge resistor 1 When the load inertia is too large heconverter voltage increases due to the large energy regenerated during deceleration and increases more due to the shortage energy consumption by the regenerative discharge resistor 2 When the velocity of the m...

Страница 84: ... 83 abnormal heat generation resulting in burni ng of the motor ...

Страница 85: ... error 2 4 The position error pulse is larger than Pr63 position error limit 1 Operation of the motor does not follow thecommands 2 Pr63 value Position error limit is smaller 1 Check whether the motor operates perthe position command pulse or not See the torque monitor to check if the output torque is saturated Readjust the gains Maximize the value of Pr5E torque limit set up Correct the encoder w...

Страница 86: ... Return the old amplifier to the sales agent for repair Overttravel inhibit 3 8 Both the CW and CCW over travel limits are not active Check the switches wires and power supply that constitute the circuits Check that the control power 12 to 24VDC can be established without delay Check the value of Pr04 Correct the wiring if necessary Other error 9 9 The control circuit operates incorrectly due to l...

Страница 87: ...ecause the amplifier gets damaged Inspection Items and cycles Normal correct operating conditions Ambient temperature 30 C annual average Load factor max 80 Operating hours max 20 hours per day Daily and periodical inspections should be done per the following instructions Type Cycles Inspection items Daily inspection Daily Ambient temperature humidity dust particles foreign matters etc Abnormal so...

Страница 88: ...ld be done by our company or our sales agents Equipment Part Standard replacement cycles hour Remarks Amplifier Smoothing condenser about 5 years The replacement cycles shown here are just only for reference If any part is found defective regardless of the standard replacement cycles immediately replace it with a new one Aluminum electrolytic capacitor on the print board about 5 years Motor Bearin...

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Страница 90: ...ck the values of Pr53 through Pr56 Set a desirable number of revolution Wiring T h e c i r c u i t f o r C W C C W overtravel inhibit is open Check the value of Pr04 If the value is 0 connect between CN I F pins 8 and 13 and 7 and 13 CN I F Servo ON signal is not received Connect short circuit between CN I F pins 2 and 1 3 CN I F counter clear is ON shorted Disconnect between CN I F pins 4 and 13 ...

Страница 91: ...Servo ON signals can be made active correctly Check the controller 2 Check the wiring and connections between CN I F pins 4 and 13 by monitoring the display of input and output signals status Modify the wiring so that the position error counter clear input can be made active correctly Check the controller 3 Check the wiring and connections between CN I F pins 5 and 13 4 and 13 and 6 and 13 by moni...

Страница 92: ...d connections between CN I F pins 2 and 13 by monitoring the display of input and output signals status Modify the wiring so that Servo ON signals can be made active correctly Check the controller 2 Check the wiring and connections between CN I F pins 4 and 13 by monitoring the display of input and output signals status Modify the wiring so that the position error counter clear input cannot be mad...

Страница 93: ...fier and controller or repair them The circuit for Z phase signal is not correct Check that the line amplifier is connected at the both sides If the controller does not have a differential input use CZ Z phase signal open collector output The motor produces an abnormal sound and or vibration Category Causes Countermeasures Adjustment The gains are too large Decrease the values of Pr10 position loo...

Страница 94: ...ccurs set Pr1D notch frequency Motor bearing Operate the motor without load in order to check the sound and vibration near the bearing Replace the motor and operate it to do the same checks Repair the motor if necessary Electromagnetic sound gear sound braking sound hub sound rubbing sound from the encoder etc Operate the motor without load or use a new motor in order to locate the source of sound...

Страница 95: ...ing fan of the amplifier Mismatch between the amplifier and motor Check the nameplates of the amplifier and motor For available combinations between amplifier and motor see the instruction manuals or catalogues Motor bearings fail Turn off the power Rotate the motor shaft by hand to check whether abnormal sound rumbling occurs or not If it rumbles replace it with a new one or repair it The electro...

Страница 96: ...of Parameters App 16 Optional Parts Amplifier power connection connector kit encoder relay cable motor replay cable motor brake relay cable monitor connector motor encoder connection connector kit controller connection connector kit connector connection interface cable communication cable communication control software PANATERM external regenerative discharge resistor reactor App 38 Recommended Pa...

Страница 97: ...Troubleshooting 96 Gain switching conditions for each control mode App 54 Block diagrams App 56 Specifications of amplifier App 58 App 1 ...

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Страница 99: ...cases machines and equipment comprising our servo systems may not satisfy the requirements for wiring and grounding conditions specified by the EMC Directives Therefore conformance to the EMC Directives especially the requirements for emission noise and noise terminal voltage should be examined based on the final products that include our servo amplifiers and servo motors Applicable Standards Subj...

Страница 100: ...00 to 230V 10 15 50 60Hz Three phase 200V Three phase 200 to 230V 10 15 50 60Hz 1 Use under the environment of Over voltage Category III specified by IEC60664 1 2 The power for interface should be marked CE or appropriate EN Standard type 12VDC to24VDC insulated Circuit Breaker Install a circuit breaker between the power supply and noise filter The circuit breaker should be IEC Standard and UL lis...

Страница 101: ...ary side of the noise filter Notes When performing a voltage resisting test remove the surge absorber Otherwise the absorber may be damaged Install noise filters Install noise filters specially designed for signal wires for all cables power motor encoder and interface wires Grounding 1 Connect between the servo amplifier s protective earth terminal and control box s protective earth ground plate t...

Страница 102: ... App 5 41 1 ...

Страница 103: ...al Devices Applicable to Amplifiers EC Directives Surge Absorber Optional Part No Manufacturer s Product No Manufacturer DVOP1450 R A V 781BXZ 4 Okaya Electric Industries Co Ltd Circuit diagram Optional Part No Manufacturer s Product No Manufacturer DVOP1460 ZCAT3035 1330 TDK Corporation 123 0 2 ø4 2 UL 1015 AWG16 Surge Absorber 1 2 3 ...

Страница 104: ...following conditions 1 The servo amplifier should be used under Contamination Level 2 or 1 specified by IEC606641 housing the amplifier in an IP54 control box 2 Install a circuit breaker or fuse between the power supply and noise filter The circuitbreaker or fuse should be a UL listed marked type The current rating of the circuit breaker or fuse should be per the table in page 20 Install noise fil...

Страница 105: ...e above in order to suppress the surge voltage due tothe on off operation of the relay RY If you use a diode for surge absorber note that the start of the servo motor after releasing the brake is delayed 4 Use the recommended surge absorber See Recommended Parts in page appendix 47 5 Recommended parts are those specified for measurement of the brake releasing time They are not provided with suffic...

Страница 106: ...ot affected by the magnetic flux Holding Brake Specifications Motor Capacity W Static friction torque N m Inertia x 10Å 4 kg m2 Absorption time ms Releasing time ms 1 Excitation current DC current A during cooling Releasing voltage Allowable thermal equivalent of work per braking J Allowable overall thermal equivalent of work x103 J MUMS 30 100 0 29 or more 0 003 25 or less 20 or less 30 0 26 1VDC...

Страница 107: ... operation leave the motor stopped for at least three minutes The dynamic brake can be used in the following cases 1 Servo OFF 2 One of the protective functions is activated 3 Over travel Inhibit CWL or CCWL is activated In any of three cases above the dynamic brake can be activated either during deceleration or after stop or can be made disabled i e allowing the free running of the motor These fe...

Страница 108: ...lear 0 Pr68 1 2 3 Sequence at alarm on Pr68 Positio n error counter Operating conditions During deceleration After stop 2 Options of the operation through deceleration and stop by turning on a protective function Pr68 D B D B Free run Free run D B D B Free run Free run D B Free run Free run D B D B Clear Hold Free run Free run D B 0 Pr69 1 2 3 4 5 6 7 Sequenc e at Servo OFF Pr69 Positio n error co...

Страница 109: ...travel limit Pr66 Operating conditions During deceleration After stop After Power ON receiving Servo ON signal Internal control power Main power control Dynamic brake Motor energized Activated braking Not energized Operation OFF Reset Alarm Not input Input Released Energized Released ON Released Not alarm Valid 1 Invalid Brake release BRK OFF Internal reset Servo alarm ALM Servo ON SRV ON Position...

Страница 110: ...rm event see the explanation of Pr68 in Details of Parameters After an Alarm event during Servo ON Alarm Dynamic brake Motor energized Normal Energized Not alarm Error alarmed Operation braking 2 Not energized Alarm Servo alarm ALM approx 1 to 5 ms t1 1 Operation OFF Operation OFF Released ON approx 30 r min approx 30 r min Released ON A B Brake release BRK OFF t1 1 Set by Pr6B Set by Pr6B ...

Страница 111: ...ed Operation OFF Alarm Not input Input Position velocity torque command approx 50 ms approx 10 ms 10 0 ms or more Servo ON OFF operation when the motor is stopped Dynamic brake Motor energized Brake release BRK OFF Motor speed Servo ON SRV ON approx 50 ms approx 10 ms approx 1 to 5 ms servo OFF Servo ON Servo OFF 2 braking t 1 Not energized Operation OFF Release d Energized Released ON approx 30 r...

Страница 112: ... energized Servo ON becomes active about 50ms after the motor speed becomes about 30 r min or less Brake release BRK OFF Servo ON SRV ON approx 50 ms approx 10 ms Motor speed approx 30 r min 1 The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to about 30 r min which is shorter With Servo OFF entered A B approx 1 to 5 ms Servo ON Servo OFF Braking 3 t1 1 2 2 Not...

Страница 113: ...ON again 3 For the operation of the dynamic brake at Servo OFF see the explanation of Pr69 in Details of Parameters Acceptable Loads on Output Axes Acceptable Loads on Output Axes Radial load P direction Thrust load A and B direction A B P Unit N 1 kgf 9 8 N Motor series Motor output Acceptable during no operation Acceptable during operation Radial load Thrust load Radial load Thrust load A direct...

Страница 114: ... App 17 A or B direction MUMS 30W 147 88 117 6 49 29 4 50W 100W 68 6 58 8 200W 400W 392 147 196 245 98 750W 686 294 392 392 147 ...

Страница 115: ...ion please refer to an operation manual of controller you use Following is one of examples Example of homing operation The motor will start to decelerate with the proximity sensor ON and stop with the first initialization signal Z phase The motor will start to decelerate with the proximity sensor ON and stop with the first initialization Z phase signal after the proximity sensor OFF Proximity sens...

Страница 116: ...ddress 0 15 1 If multiple axes are used it is necessary for the amplifier to identify the current axis accessed by the host e g PC employing RS232C You can identify axis address by number with this parameter 0 2 Control mode set up 0 1 Value Control mode 0 Position control mode 1 Internal velocity control mode ...

Страница 117: ... of internal velocity commands canbe done by 2 kinds of contact input 1 DIV INTSPD1 CN I F 6 pin Internal velocity command 1 2 CL INTSPD2 CN I F 4 pin Internal velocity command 2 Internal speed DIV INTSPD1 pin6 INTSPD2 pin4 1st speed Pr53 OPEN OPEN 2nd speed Pr54 CLOSE OPEN 3rd speed Pr55 OPEN CLOSE 4th speed Pr56 CLOSE CLOSE 4 6 CL INTSPD2 CN I F DIV INTSPD1 GAIN ZEROSPD 5 Velocity command Contac...

Страница 118: ...o control start and stop of the motor Notes Acceleration time deceleration time and S shaped acceleration deceleration time can be set individually Refer to the descriptions of Pr58 Acceleration time set up Pr59 Deceleration time set up Pr5A S shaped acceleration deceleration time set up SRV ON input Servo On Operation Stop Velocity OPEN OPEN 1st speed 2nd speed 3rd speed 4th speed Time OPEN CLOSE...

Страница 119: ... inhibited Normal with the CW limit switch not activated Traveling in CW direction inhibited and CWL inputs are disabled and CW and CCW directions are allowed and CCW CW off not connected to ifier will stop the motor with overtravel assuming that traveling over the limit e CCW and CW directions fy whether or not to use the dynamic celeration after CCW or CW overtravel L or CWL becomes active For d...

Страница 120: ... App 23 ...

Страница 121: ...Varue Function Remarks 0 Torque in limit For details of these f u n c t i o n s s e e t h e s e c t i o n o f C N I F Connector on page31 1 Zero speed detection 2 Alarm signal 3 Overregeneration alarm 4 Overload alarm 5 Does no t function although displayed 0 C Baud rate set up of R S 2 3 2 C 0 2 Value Baud rate 0 2 4 0 0 b p s 1 4 8 0 0 b p s 2 9 6 0 0 b p s ...

Страница 122: ... App 25 Parameters for Time Constants of Gains and Filters Related to Real Time Auto Tuning PrNo Parameter Value Unit Function ...

Страница 123: ...s the encoder signal to the velocity signal Normally use the default 4 If set value is smaller the motor noise increases But the time constant becomes smaller and also the phase lag becomes smaller Thus you can set up larger Sudden setting of small value may cause oscillation to damage machine Be careful in setting 1 4 1st torque filter time constant 0 2500 50 0 01ms You can set up the time consta...

Страница 124: ...s of Pr11 and Pr19 is Hz 1 9 2nd velocity loop gain 1 3500 100 Hz 1 A 2nd velocity loop integration time constant 1 1000 50 m s 1 B 2nd speed detection filter 0 5 4 1 C 2nd torque filter time constant 0 2500 50 0 01ms 1 D Notch frequency 100 500 1500 Hz You can set up the frequency of the resonance suppression notch filter You can set up frequency 10 lower than the resonance frequency of the machi...

Страница 125: ...rver the inertia ratio Pr20 is necessary If the nertia ratio and set the value of Pr20 to the inertia ratio calcuperform the auto gain tuning so that you can automatically enter Parameters for real time gain tuning Default PrNo Paramete r Value Unit Function 2 0 Inertia rati o 0 10000 100 You can set up the ratio of load inertia to themotor s rotor inertia Pr20 Load inertia Rotor inertia x100 Set ...

Страница 126: ...ration may become unstable depending on the operating pattern In normal cases the value of this parameter should be 1 or 2 2 2 Machine stiffness a Real time auto tuning t 0 9 2 You can set up the machine stiffness from 10 options that is used at the real time auto gain tuning Low Machine stiffness High Low Servo gain High Pr22 0 1 8 9 Low Response High Large impact shock might be given to the mach...

Страница 127: ...ng mode 0 8 You can select the conditions for switching between the 1st and 2nd gains at the position control mode Value Conditions for gain switching 0 Fixed to th e 1st gain 1 Fixed to th e 2nd gain 2 2 nd gain s Pr30 mus election w t be set t ith the gain switching input GAIN ON o 1 3 3 2 nd gain s election w ith a larger torque command change 4 3 Fixed to th e 1st gain 5 3 2 nd gain s election...

Страница 128: ...The figure below shows the definitions of Pr32 delay time Pr33 switching level and Pr34 hysteresis Notes The settings of Pr33 level and Pr34 hysteresis are enabled as absolute values 3 5 Position loop gain switching time 0 10000 0 Value 1 x 166 µs You can set up a phased switching time of the gain applied tothe position loop alone while the 2nd gain switching functio is enabled Use this parameter ...

Страница 129: ...Details of Parameters App 32 Parameters for Position Control ...

Страница 130: ...e turn 1 16384 2500 You can set up encoder pulse counts per single turn which is to be fed out to the controller Setting in scalar Set the required pulse counts per single turn in Pulse rev unit directly Note that the set up of the larger counts than the encoder pulses is disabled 4 5 Pulse output logic inversion 0 1 When the motor runs CW the B phase pulse delays from the A phase pulse when the m...

Страница 131: ...Details of Parameters App 34 ...

Страница 132: ...culated numerator is max 2621440 Set up of larger value than this is disabled and automatically substituted by 2621440 46 47 A 4 4 B 1 10000 10000 1 10000 10000 0 17 0 1 10000 10000 Parameters for Pulse Command Scaler Pr46 through Pr4B Command pulse 2 Numerator of 1st command pulse ratio Pr46 Multiplier of numerator of command pulse ratio Pr4A Internal command F f _ Feedback pulse resolution to th...

Страница 133: ...n case of scale ratio of 2 and f 40000 pulse in case of scale ratio of 1 4 to turn the motor one revolution Set up the Pr46 Pr4A and Pr4B so that the post scaling inter nal command F equals the resolution 10000 of the encoder F f x Pr46 x 2Pr4A Pr4B 10000 F Internal command pulse counts required for motor one revolution f Command pulse counts required for motor one revolution Resolution of encoder...

Страница 134: ...y appear when the command input is rough become rough when e 10 times or greater ncy is low ÅEYou can set up the time constant of the smoothing filter in 8 steps with Pr4C Value Time constant 0 No filtering function 1 Small time constant 7 Large time constant 4 D Counter clear input 0 1 0 You can set up the conditions for clearing the position error counter i e for issuing the counter clear signal...

Страница 135: ... range of the motor speed Standard 4500 5000 r min At internal velocity control mode you can control the time to reach the velocity you set up and the time to stop the motor You can obtain soft start soft down action of the motor when the phased velocity command is entered or when the internal velocity set up is selected 53 54 55 56 58 59 1st internal speed nd internal 2 speed 3rd internal speed t...

Страница 136: ... App 39 Sequences Default ...

Страница 137: ...ue of this of the en c up too s es a chatt of this p 10000 pulses parameter basing on for 1 revolution order like the figure mall value to Pr60 time to feed out COIN signal gets longer or ering arameter does not affect the accuracy in positioning 6 1 Zero speed 0 10000 50 You can set up the output timing of the zero speed detection sign WARN CN I F pin 12 Unit in r min To enable output Set 1 by Pr...

Страница 138: ...75 You can set up the detection level for the position error limit at Position error limit protection with error counter pulses Calculate the value of thi s parameter using the following formula Parameter va lue Position error limit level pulses 256 Note If you set the error limit prot position ga ection cou in to low value and set this Pr63 value too small the position ld be activated even though...

Страница 139: ...on from deceleration to and after stop 0 t With the d he dynami ynamic brake DB activiated the motor is stopped After stop c brake is released 1 A Without dy fter stop namic brake the motor stops the motor remains free 6 8 Sequence at alarm 0 3 Defines the conditions for decelerating the motor and keeping the motor stopped after one of the amplifier s protective functions alarms is activated Value...

Страница 140: ...erating conditions during deceleration and after stop 2 Process for clearing the position error counter For the relations among Pr69 values operating conditions and process for clearing the position error counter see App 8ÅgDynamic brakeÅh See also Timing chart for Servo ON OFF during the halt of motor in Appendix 12 ...

Страница 141: ...BRKOFF or current servo free in e motor engaged motor current servo free elease signal BRKOFF in motion not during the esistor between P 5pin nd set this parameter as Off Brake engaged Brake tb d Pr6A TB n ed Off engaged d Not energized 30 r min Approx ...

Страница 142: ...ve discharge resistor Wiring to the internal thermal fuse may break depending on the applicable heat radiating conditions operating temperature range supply voltage and load fluctuation Be sure to assemble the amplifier with the machine and check the operating limit so that the surface temperature of the regenerative discharge resistor may be 100Åé or lower on poor conditions likely to cause gener...

Страница 143: ... 4 1 Brake cable MFMCBO OGET Encoder Relay Cables L m Part No 3 MFECAO030EAA 5 MFECAO050EAA 1 0 MFECAO100EAA 2 0 MFECAO200EAA Robotop is the trademark of Sumitomo Denso L m Part No 3 MFMCA0030AEB 5 MFMCA0050AEB 1 0 MFMCA0100AEB 2 0 MFMCA0200AEB Motor Relay Cables Robotop 600V DP fig2 1 MFECAO OEAA 20 0 787 23 0 906 4 0 157 4 0 157 fig 3 1 MFMCAO OAEB 50 1 969 10 0 394 4 0 157 4 0 157 ...

Страница 144: ...alignment of connector for CN MON 4 Recommended manual press fitting tools Customers are requested to prepare these tools for themselves Product No 57032 5000 Molex Incorporated Notes 1 The table above shows the pins alignment looking from the connector pin inserted direction of connector Make sure of the pin numbers marked on the plug itself for actual connection so that wiring is done correctly ...

Страница 145: ...ble above Connector Kits for Motor and Encoder Used for MUMS 30W to 750Wwith a 2500 pulse 11 wire incremental encoder 1 Part No DVOP2900 2 Components Item Manufacturer s Part No Quantity Manufacturer Remarks Notes The table above shows the pins alignment looking from the terminal inserted 1 direction of the receptacle Make sure of the pin numbers marked on the plug itself for actual connection so ...

Страница 146: ...mended manual pressfitting tools Customers are requested to prepare these tools for themselves Notes 1 The tables above show the pins alignment looking from where the plugs are soldered 2 The pin 20 FG should be connected to the shield of the shielded wire Pins marked with NC should be left unconnected 3 For wiring and connecting see the section System Configuration and Wiring on page 23 5 Pin ali...

Страница 147: ...Make sure of the pin numbers marked on the plug for actual connection so that wiring is done correctly 2 For wiring and connection refer to System Configuration and Wiring on page 22 Connector Kits for Host Control Equipment 1 Part No DV0P0770 2 Components Item Manufacturer s Part No Quantity Manufacturer Remarks 3 B 6 Z 2 A 8 NC 1 A 7 NC 10 NC 9 NC 11 RX 13 5V 12 RX 15 FG 14 V 0 5 Z 4 B 2 V 4 E 1...

Страница 148: ...s Looking from where the plug is soldered 2500P R Notes 1 Before making connections check the Pin Numbers stamped on the plugs 2 For the symbols and functions of the pins see the section System Configuration and Wiring on the page 26 11 Z 13 NC 15 NC 17 RX 19 NC 12 Z 14 NC 16 NC 18 RX 20 FG Shield 1 V 0 3 5V 5 NC 7 A 9 B 2 0V 4 5V 6 NC 8 A 10 B ...

Страница 149: ...Cables for controller connection Notes For example Orange Red 1 for Pin No 1 means that the lead wire is colored in orange with one dot mark in red Communication Cables for connection to personal computer 1 Part No DVOP1960 for DOS V ...

Страница 150: ...No Product number Specifications Resistance Rated power Built in thermal fuse operating temperature DV0P2890 4 5 M 0 3 50 Ω 1 0 W 130 2 C DV0P2891 4 5 M 0 3 100 Ω 1 0 W 130 2 C Manufacturer IWAKI MUSEN KENKYUSHO CO LTD Notes For safety a thermal fuse is built in the optional external regenerative discharge resistor Wiring to the internal thermal fuse may break depending on the applicable heat radi...

Страница 151: ...supply voltage large load inertia and short deceleration time Recommended combination between amplifier and external regenerative discharge resistor For amplifier types see pages 10 and 11 Regenerative discharge resistor reaches high temperature Device measures to avoid fire and burns When mounting the amplifier do not install near flammables Do not install in a place reached by hand Power supply ...

Страница 152: ...00W 400W DVOP228 Singlephase 2 0 0 V 30W 400W DVOP220 100W 400W 3 phase 200V 30W 400W 100W 400W Product A B C D E F G H I Inductance mH Rated set up A fig 1 DVOP220 5 2 5 3 1 8 4 5 0 5 7 W x 12 L 4 8 1 3 DV0P221 0 5 0 1 3 3 7 2 0 0 5 7 W x 12 L 4 0 2 5 fig 2 DV0P227 5 0 8 0 0 1 5 ø 7 4 0 2 5 DV0P228 5 0 8 0 5 6 0 ø 7 4 2 8 ...

Страница 153: ...Dimensions App 56 Single phase 200V 4 0 0 W DVOP221 3 phase 200V 7 5 0 W ...

Страница 154: ...Area 8 1 0 6 6 3 9 1 6 4 9 1 Surge absorber for Brake Hitachi Semiconductor and Devices Sales Co Ltd 1 0 6 6 2 6 3 2 0 3 1 Diode for brake TDK Corporation Kantou Area 8 1 0 3 5 2 0 1 7 2 2 9 Chubu Area 8 1 0 5 2 9 7 1 1 7 1 2 Kansai Area 8 1 0 6 6 2 4 5 7 3 3 3 Noise filter for signal line Okaya Electric Industries Co Ltd East Japan 8 1 0 3 3 4 2 4 8 1 2 0 West Japan 8 1 0 6 6 3 9 2 1 7 8 1 Surge ...

Страница 155: ...ement of the brake releasing time November 2000 Tyco Electronics AMP Kantou Area 8 1 0 4 4 8 4 4 8 1 1 1 Chubu Area 8 1 0 5 6 5 2 9 0 8 9 0 Kansai Area 8 1 0 6 6 5 3 3 8 2 3 2 Molex Incorporated Kantou Area 8 1 0 4 6 2 6 5 2 3 1 3 Chubu Area 8 1 0 5 2 5 7 1 4 4 1 3 Kansai Area 8 1 0 6 6 3 7 7 6 7 6 0 Sumitomo Wiring System LTD 1 0 6 6 2 2 9 1 9 6 0 Cable Peripheral Equipment Manufacturers ...

Страница 156: ... 8 5 MUMS04 A1 4 0 0 4 8 6 2 1 122 2 877 MUMS082A1 7 5 0 5 6 1 0 0 6 2 5 34 1 339 MUMS3AZA1 3 0 3 8 9 8 2 4 MUMS5AZA1 5 0 4 2 1 3 0 2 5 0 0 945 0 866 MUMS01 A1 1 0 0 4 8 8 2 MUMS02 A1 2 0 0 5 0 7 9 2 8 5 MUMS04 A1 4 0 0 6 1 6 1 1 122 2 877 MUMS082A1 7 5 0 6 9 4 9 0 6 2 5 34 1 339 0 5 0 0 0 5 0 0 LL LH Unit Inch 2 3 0 m m 2 2 0 m m LE LF L H 0 079 9 055 0 276 0 1 1 8 8 661 0 315 0 0 7 9 9 055 0 276...

Страница 157: ... 3 Depth4 5 1 3 1 2 2 2 5 8 0 3 0 1 4 1 2 5 3 3 6 2 0 4 0 0 5 0 4 5 2 0 1 8 4 4 8 5 0 9 6 2 5 2 2 5 5 5 1 1 1 5 6 5 2 2 6 6 1 5 5 3 1 M 3 Depth4 5 1 3 1 2 2 2 5 8 0 5 0 1 4 1 2 5 3 3 6 2 0 6 0 0 7 0 4 5 2 0 1 8 4 4 8 5 1 4 2 5 2 2 5 5 5 1 1 1 9 6 5 2 2 6 6 1 5 5 3 8 Unit mm LW KWh9 LK ...

Страница 158: ... App 61 Amplifier Type 1 Weight 0 7 kg unit mm Inch Back panel mount type Amplifier Type 2 Weight 0 9 kg unit mm Inch ...

Страница 159: ...Dimensions App 62 Back panel mount type Standard Amplifier Type 3 Weight 1 2 kg unit mm Inch Back panel mount type ...

Страница 160: ... App 63 ...

Страница 161: ...Dimensions App 64 Characteristics ...

Страница 162: ... s 3 0 05 166 µ s 4 Fixed to 1st gain 5 Large target velocity commanded B r min r min 6 Large position error C 4 pulse 4 pulse 7 Position command existing D 8 Positioning incomplete E 1Delay time parameters Pr32 becomes effective when returning from 2nd gain to 1st gain 2 For the definitions of hysteresis parameters Hysteresis Pr34 see the right figure 3 When conditions are that torque fluctuation...

Страница 163: ...t the gain switching timing delay caused by hysteresis Pr34 Speed N A Torque T Leve l Dela y T st Gain 1 2 n d 2 n d 1st 2n d n d 2 1st st 1 st 1 Speed command S B Leve l delay ed nd Gain 2 st 1 st 1 Speed N E dela 2nd Gain 1st COIN st 1 Speed command S D dela nd Gain 2 st st 1 1 Speed N Position error C Lev delay ed 2nd Gain 1 st st 1 ...

Страница 164: ... App 67 ...

Страница 165: ...Specifications App 68 ...

Страница 166: ...r flow EEPROM data error Alarms parameter error check code error Overtravel inhibit input error CPU error etc Monitor Panel indication Status LED indicator STATUS Error LED indicator ALM CODE Analogue output connector pins for monitor Selects the items to be measured by using a parameter and measuring range output impedance of 1kΩ Velocity monitor 6V 3000r min rated revolution default Torque monit...

Страница 167: ...Structure Dust proof and drip proof IP65 Except connector shaft run through area and reduction gear Weight See Motor outline drawing Working environment See Installation With reduction gear Type GH High accuracy type GS Standard type GL Popular type Backlash 2 3 Initially 2 3 Initially 2 3 Initially Instantaneous max input revolution 5000r min 3600r min Efficiency Torque rating Revolution rating a...

Страница 168: ...nexpected action It is highly recommended that you make a fail safe design and secure the safety in the operative range If the motor shaft is not electrically grounded it may cause an electrolytic corrosion to thebearing depending on the condition of the machine and its mounting environment and may result in the bearing noise Checking and verification by customer is required Failure of this produc...

Страница 169: ...Place of purchase Telephone No Motor Company Matsushita Electric Industrial Co Ltd 7 1 1 Morofuku Daito Osaka 574 0044 J apan TEL 81 72 871 1212 IMB49 S0300 4066 ...

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