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Содержание SG-AS Series

Страница 1: ...SG AS Series AC Servo Drive SERVOPACK with Analog Voltage Pulse Train References Product Manual Model SG ASD IIJ...

Страница 2: ...of a Servcrrr a Kl SE RvOPACK A servo cortro sys em tna C uaes the comb rat on o a Servo rive Nlti a i st ccr tro er d e pnera devces Supp 2 og pc Wer o the ottlr suppyog pe wer to the motor Shdtrl g...

Страница 3: ...nedgl Th lCMlnlflOirwnl thlll hltwdc toc __ l t e 9 C to2 Eo 0 0 0 d9t from n OODX tre nght n Pn002 Pn002 181Xrd digll n D OXD lrom It In Pn002 Pn002 IJrdcatoo trlrd d9t Iron DXDD tt e nght n Pn002 Pn...

Страница 4: ...and understand thos manual to ensure the safe usage of the product Keep thos manual on a safe convenoent place so thatot can be referred to whenever necessary MaKe sure thatotos delivered to the tona...

Страница 5: ...the SERVOPACK Use a Noose F1ller to monom1ze the effects of e ectromagnetoc Interference Electromc dev1ces used noar the SERVOPACK nay be affected by electromagnetiC onterlerence Always use a Servomot...

Страница 6: ...rature of 56 C for 30 mmutes or more If tne e1ectron1c products whiCh onclude stand alone products and products 1nstalled 1n mach1nes are packed w1th fumogated wooden matenals the etectncal components...

Страница 7: ...e or damage Always mstall a SERVOPACK 1n a control panel Do not allow any fore1gn matter to enter a SERVOPACK or a Servomotor w1th a Cooling Fan and do not cover the outlet from the Servomotor s cooli...

Страница 8: ...RVOPACK only after all w nng ncludong the ma n corcu termo a s nas n comp eted If a connectO IS uSed for the mall1 Cira te lnl als remove tne maon CirCU t connectO from the SEA VOPACK oefe e you W118...

Страница 9: ...l lines occur For example the P OT and N OT s gnals are set n the default set11ngs to operate on the safe s de If a s gnallme breaks Do not change the polanty of th s type of srgnal When overtravel oc...

Страница 10: ...c X shoe or product a e CAUTION Wa1t for at least s1x m1nutes after turn1ng OFF the power supply w1th a SERVOPACK for a 100 VAC Input wa t for at least n1ne minutes and then make sure that the CHARGE...

Страница 11: ...r faolure Install a ground fault detector aga nst overloads and shon corcUihng or onstall a molded case c rcuit breaker comb ned w1th a ground fauH detector There IS a riSk of SERVOPACK failure or fir...

Страница 12: ...cations 04 05 Ill External Dimensions 06 07 a SERVOPACK Installation fJI Installation Precautions 09 m Mounting Types and Orientation 10 fJI Mounting nterva 10 2 3 1 nsta 1n9 One SERVOPACK in a Contro...

Страница 13: ...of Co nnected Motor 32 Ill Functions and Settings for the S ON Servo ON 59lal 32 4 4 1 FunctJon of the S ON tServo ON Signal 32 IJI Motor Direction Setting 33 Ill Overtravel and Related Settings 34 4...

Страница 14: ...n and Settongs 56 5 4 3 Smoothing Settings 5 4 4 COIN Positioning Completion Signal 5 4 5 Reference Pulse Inhibition Function 57 58 58 Ill Torque Control 59 61 5 5 1 Basic Settongs for Torque Control...

Страница 15: ...9 79 IIJAlarm Displays 81 87 6 2 1 List ol Alarms 6 2 2 Troubleshoo ng Alarms 6 2 3 Resenong Alarms 6 2 4 Oosplayong the Alarm HoSIO y o Panel Displays and Panel Operator Procedures 81 82 87 87 Ill Pa...

Страница 16: ...rque Reference Offset FnOOBJ 00 106 7 4 7 D splay Servomotor Model 1Fn011 106 748 OtSj lay Software Versoon Fn012r 107 74 9 Mu1 tum IJm t Ser ng a er M ttumLlmn Otsagreerrer tA arm t_ Fn013t 107 Param...

Страница 17: ...n requ1red to seect SERVOPACKs such as SERVOPACK modes and combi nations w1 th Servomotors The SG AS Series 02 Ill Part Names 02 Ill Model Designations 03 Ill SERVOPACK Overload Protection Charactenst...

Страница 18: ...eII as lOng as tne lnlemal ce aator remU S Cllarged Do oucn tne maon drl u or motor II NX lt IS 1 Oc O I1 V j I Sl10d The terrT Inals deperd on tne man CIICUit power supply 1nput spec1flcat1oos of the...

Страница 19: ...e of the appli cable hne IS performed The actual overload detectiOn level wtll be the detect1on level of the connected SERVOPACK or Ser vomotor that has the lower overload protec Jon charactenst1cs In...

Страница 20: ...i QJ I Ttme Constant Anaog Torque Reference Voltage R l tnput lnpullmpedance SaqJOnOelnput Sognals Cueu t Tme Constant llmber of nput po nts Input Sognals That Can Be Allocated DC tOV About20K O 47 f...

Страница 21: ...as ng to a stop for the P OT ForwardOnve Pro b L or N OT RaversaDnve Pro bfl sognal Overcurrent overvoltaQe k w vottage overload overspeed regenerallon error encoderfeedbackerror etc Speed Cunent poso...

Страница 22: ...220VSG AS15 Current 15A Three phase AC 220VSG AS15 Ground IQrmonal Three phase AC 220V SG AS30 37 5m TI Curre1t 15A 51 Smm 42mm ____ _ 37 5mm Current 30A 65mr l l Groundte 06 Output Power 200W 400W 15...

Страница 23: ...3 Three phase AC SG AS50 AS75 Current 50A175A Output Power 2 0KW 5 5KW IOOmm I _Type Terminals 95mrn 1 6 External Domens ons J JJ ow SG AS15 Current 15A SG AS15 Current tSA SG ASJO o Curren 30A SG ASs...

Страница 24: ...n on nsta11ng SERVO PACKs m the requ1red locat1ons Mounting Types and Orientation 10 Mounting Interval 10 2 3 1 lnstall1ng One SERVOPACK 1n a Control Panel 10 2 3 2 lnsta ling More Than One SERVOPACK...

Страница 25: ...ACK 1n a locatton subrect to high temperatures high humidtty wa er drops cutltng O excesstve dust excess111e d rt excessive tron powder corrosive gasses or rad oactiVIty fll Mounting Types and Orienta...

Страница 26: ...e SERVOPACK to the mount ng surface xe To TlOUnt tne SE VVPACI yo h 11 need to Yer art a scr Y ve lOnge lh8n tl l lll SEt OPJ CK 0 fill Mounting Interval 2 3 1 Installing One SERVOPACK in a Control Pa...

Страница 27: ...ound the SERVO CJ PACKs Provide suffictent tntervals and spaces as shown In the folloWing figure to enable cooltng by the fans and natural convect100 30mm r 30 rrm mn The disk depflr Ol 40 rT n rTW l...

Страница 28: ...ng 13 14 15 16 17 EJI Basic Wiring Diagrams 18 Wiring the Power Supply to the SERVOPACK 19 3 3 1 Term1nal Symbols and Terminal Names 19 Ell Wiring Servomotors 20 21 3 4 1 3 4 2 343 Terminal Symbols an...

Страница 29: ...nsk of ele tnc hock Observe the precautions and instructoons for Wiring and tnal operation precisely as described on this document Failures caused by ncorrect w nng or ncorrect voltage appl 11100 n th...

Страница 30: ...ery rupture or eocoder failure Use a TlOide l case CircUit breaKer 10F or fuse to p ect ne n c rcu1t The SERVOPACK connects d1rectly to a commercoal po er supply t Jt ISOlated through a transformer or...

Страница 31: ...noids and Magnet1c Contactor coils Do not place the follow1ng cables 1n the same duct or bundle them together Also separate the cables from each other by at least 30 CJTl Ma n Circu1t Cables and 110 S...

Страница 32: ...n the same Ouct or bundle them together rtet COITect J Noise IPGI d te leorcu S Separate the No1se Ftlter ground WJre from the ootput l1nes Do not place the No1se Filter ground w1re outpu hnes and ot...

Страница 33: ...to ground at one point only Ground the Servomotor d1rectly if the Seuomotor 1s 1nsulated from the mach1ne Motor Frame Ground or Motor Ground If you ground the Servomotor through the l laChlne sw1tch1n...

Страница 34: ...o ON I Ul ON to tum 0 Genera1 purpose sequence 1nput 3 iProport nal control I Ul ON f0 propon ot 11 OCIIOn Genefai pu IJOM _ IFOManS dn t P Qhobol tOFF to p chobot do e General purpose seqoenoe 1nput...

Страница 35: ...R 485 Built in resistance Defonltoon I Retaon I CN2 CANH CANL GND GND Rs485 Rs485 Retaon For SG AS senes Term1nal No 1 2 3 4 5 6 7 I 8 lcN1 CANH CANL GND RS485 R 485 GND Built on resistance Defi 1 10n...

Страница 36: ...c t Servomotor termras Ground ter mal 7 t C N 2 ______ 1EncOder connac o _ 3 4 2 Pin Arrangement of Encoder Connector CN4 20 When using a absolute servo motor 3 PG5V 4 PGOV 3 2 2 9 3 8 2 E E t SD SD P...

Страница 37: ...3 4 W1nng Servomotors 3 4 3 W1nng the SERVOPACK to the Hold1ng Brake 3 4 3 Wiring the SERVOPACK to the Holding Brake Servo motor w1th holding brake w1nng sample 9 vc 1 9 O oc r _j 21...

Страница 38: ...Genera PurPOse You can atlocate t e oPput sognaos lo use wrtn parameters Stops Servomotor drrve 10 prevent over tra wnen the movong pan of the l laCN e exceeds the range o m0VIIr 1en You can atoocate...

Страница 39: ...ut the encoder dMded pulse output PBO 12 Encoder DMded sognals woth a 90 phase dofferentoal _ Pulse Output IPBO 13 Phase B PC _ 14_ Encoder DIVIded Outputs the ongon sognat once 11Very PCO 5 PUlse Out...

Страница 40: ...t A _M r if tr _ _ Ccn U r L_ _ rG lhold comer or shell eomec _ usong an encode1 1t e E COOel c w1111a S r e y Case os comecteo oo not comect a bac lwo oane y t You can s tul lct on Y l a oararll ter...

Страница 41: ...bsolule encooer n1he Encoder Callie w 1tl aBattety Case connected dO not connect a backup battety t The 24 VDC power supoty Is not prOYIOecl by Yasl awa Use a 24 VDC power u ClOitlle 0 reonfor1 ecl ns...

Страница 42: ...n o COder Callie wtna Bat ery C e os connected done cCl oect a t ael Ul ca e Y 3 VOL Cat e this co Of v tla Plfameter set r g J oe 2 VOC oowe IUCPiy os not proo ided t vv U e a z vocPONe SUillliV dou...

Страница 43: ...put signals is 10 V Analog Voltage Input CirCUit Analog Voltage Input CircUit _____ Exa m Ip la f or D A _____ J __ CN Ifl nge Exam J P Ia for Forward Operat1 SERVOPAC SEAVOPACK 1e 11 2Wrrv1 J t __ j...

Страница 44: ...her a s1nk c rcu1t or su orce orcuot accord1ng to the spec1f1calions requored by the mach1ne Sonk Circuots ___So u r ce Ci_ rc u_ ot s______ Swl cr P ho tocou L J ON Lowlevel OFF Hog eve OFF Hogh leve...

Страница 45: ...to two phase phases A and Bl pulses The resulting output Signals PAO PAO and PBO PBO ong1n pulse Signal PCO and PCO are output w1th line dnver output cfircufits Connect the line dnver output C 1 rcu1...

Страница 46: ...ated Settings 34 4 6 1 Overtrave S1gna1s 4 6 2 Settmg to Enable Dtsable Overtravel 34 34 Ill Holding Brake 35 36 4 7 1 Brake Operat ng Sequence 35 4 7 2 BK Brake S1gnal 35 4 7 3 Output Timmg of BK Bra...

Страница 47: ...l al Y oooo tala or lkiiOctfig flflctocn Each D ro ato _ kw one Thenota nownhere IT IBftnll tnat the ttYO dl nght oeet to 2 4 1 2 Initializing Parameter Settings You can return the parameters to their...

Страница 48: ...t that OU can use to chanQe between 0 of the abOve tour contrOl mett Cidl You C n ae ed tne combinaron thai IS reau red for tht app6cat on n r speed contrOf Y can use zrro dai T f IO or speea eotnrO w...

Страница 49: ...may perform unexpected operatoon Always tmptemenl safety measures 2 If a resettable alarm occurs and operatoon s d sabled power s not supplied to the motor operatoon will be automatocally enabled pow...

Страница 50: ...Do not change the defaun se t ngs of the polanty of the overtravel sogna1s P OT and N OT 4 6 1 Overtravel S1gna1s The overtravel Slgflals llldude the P OT Forwand Dnve Prohtbct and the N OT Reverse Dn...

Страница 51: ...w Time Reqwed to Release Brake J The Itme from when the IBK Brake signal is turned ON unt1l the brake IS actually released Time Reqwred to Brake orms The time from when the IBK Brake 51gnal IS turned...

Страница 52: ...r status ed moto Pn500 m Power lO tne Servomcuor w be stopped tty W I an Larm occ uts reoar HsS m of me aeon of thoS pwa neter The machine r IYY lQ P4 1 may move cue to grav ty Ot an tlt ema lmpo t Io...

Страница 53: ...es but rather 1n distances or other pllystcal ulllts 1such as ym or that are eas er to understand The e1ectromc gear 1s used to convert the travel d1stances that are specrf1ed 1n reference units to pu...

Страница 54: ...usor g Pn20E and Pn2tO Caocula ng the Settmgs tor the Elecrronoc Gear Ratoo If the gear raloo between the Servomotor shaH and lhe load o s goven as rlim where nos the number of load rotai Ons form Se...

Страница 55: ...he hosl controt er t o the flOSAIIOt l that resu ts trom rnett1 ng lhe absolute enc odet It the mach ne 1s started W 1houtlldJusbng 1M pos oon 1M host contJOie une pected operabOn may cause personal I...

Страница 56: ...oft Start Settmgs 51 5 3 Speed Reference Filter 51 5 l Zero Clamping 52 53 5 I V CMP lSpeed Co ncldenet Ottttt oM S gnal 54 B1 Position Control 55 58 54 1 Bas c Sett ngs for Pos hon Control 55 5 4 2 C...

Страница 57: ...5 B 1 Settong PoOOO n OOXO Control Molhod Sola toon to 4 5 or 6 67 1 1 Selecting Torque LI m i ts _ _ c _ 68 _ 73 _ 5 9 1 Internal Torque Lim t 59 2 External Torque Llmlta 5 9 3 LIMiting Torque wtth...

Страница 58: ...he s gnals w ll be allocated as requored or the specofied control method as gtven n the fu w1ng table I tne control method s se to l ernc set speed contro w1th Cttntact commands PnOOO 0 0 30 1 the IP...

Страница 59: ...ARM Rs r Aiarm Reset p 508 n ooxo Pn50B n OXOO Pn50B n XOOO Relationship between Parameter Settings Allocated Pins and Polari ties The follow1ng table shows the relationship between the 1nput signal...

Страница 60: ...be OFF For exa rp1 e me COIN PoSit On 9 Corcole on sogr aliS eo o be OFF duMg speed COI ro REI iers ng the polarty of the BK Brake sogool l e ct ang ng t to PQSitr e loge wili pre ent the lokling bra...

Страница 61: ...22 and CN3 37 0 he poo o ty ot b o Y J 9 1 Reve otylorCN3 J I CN3 _ Pn513 s n 0010 I RevElfse polar ty for CNJ 36 and CN3 35 Example of Changing Ou tput Signal Allocations The following example shows...

Страница 62: ...l____ ettong Range j Settong Unit t to 1 0 000 1 mn r Default Setting 2C 5 1 5 S RDY Servo Ready Signal Tt1e S RDY So vo Ready o al turns ON wn en tne SERVOPACK 1s ready to accept the IS ON Servo ONI1...

Страница 63: ...09 MomontafY pcl MII n torrup JOn ttre ntary n torrupt01 11 1 T111 Ca y pooe P 500 lnfonnatoon MoiOI pcl MII 19 I I IIIITUS _ _ _r __J 1 Ifthe momentary power interruptlOlllime exceeds the sethng of P...

Страница 64: ...ettlllg _ peedcont l w n analog lllore ces __l_when Enabled Classification After restan Set p 5 3 1 Basic Settings for Speed Control h t C Ion descnbt the use of th V RE speed Reference nput S1gnal 1S...

Страница 65: ...uld operate at tr e rated speed for 10 v For Rotary Servomotors Speed Ref SP0 0 Rotation I Motor IServo motor erence Input S1gnal I Speed I ON Rated 3000 mon 1 10V me or OFF speed 3000mon 112ofrated 1...

Страница 66: ...ere must not be a position loop in the host controller Applicable Tools he to11ow1ng table 1St the tools that you can use to automatically ad ust the speed reference uf set and the appliCable toOl fun...

Страница 67: ...liately Setup Pn305 The t1me reqUired for the Servomotor to accelerate from a stopped state to the maxi mum motor speed Pn306 The time required for the Servomotor to decelerate from the maximum motor...

Страница 68: ...g pos on even f t 1S I T Oved by an external force Sl RYO AA n n ZClAU Zero sq a zero I AdJuSt Pn102 POSitton luep Gaon 1f the Se vomotor oscillates dunng zero clamptng If ga1n selectoor s used you mu...

Страница 69: ...an the speed set for the zero clamptng level In th s case usng the ZCLAMP Signal IS not necessary Parameter Control Method Used InputSignals When Class fication Enabled n DDOD Speed control ZClAMP n D...

Страница 70: ...l O tl Sognai AllOcat onl to el ocate the II CM sogroa1 to fte er1t output connector prs Re er to the ld oMng sec on or del li1s on a IOCa MS a 1 1ht5 L Ontro modc J OJ s1gnal an be a C IP 11gnal to u...

Страница 71: ...e control block dtagrams for position cortrol are provided below Basic Settings for Position Control Thts sectton descnbes the reference pulse forms and tnput fillers Reference Pulse Forms To perform...

Страница 72: ...The max c re erence treauercy J 1 1 r c e s t e ore m r are as to ows fiTll ltlOI 1 Moos 2 m J Jpt 1 ll ps 1 DOS Timing Example for Pulse Train References SIGN IS hlgh fer a forward refer ence and lo...

Страница 73: ...stan Setup Smooth1ng a tows you to apply a filter to the posit1on referen ce to produce smoother Servomo tor operation Smooth ng 1S effect1ve 1n the followmg cases When the host controller that output...

Страница 74: ...ounter is equal to or less th ln the sen lg of the pos1t10mng completed width Pn522 on1ng Completed Width Pn522 Setting Range L Setting Un1t ___ ___ f iGO t o o o 6 L__ __ f Default Setting I When Ena...

Страница 75: ...Example Example Pn400 Torque Reference Input Gaon tS set to 30 settong unot O lV by default ITorque Reference I otatoon ue Input Otrectton 3 V I Forward Rated torque _ ______ 1 V ard ated torque _ __...

Страница 76: ...eds to be el1m1nated by adjusttng the o set You can adJUSt the torque reference offset 9Jiher automattcally or manua ly Tl e t oet s tted r l e 5ER iOF OCK CJr OIId US 271ll 17 orQua reference W5 to 1...

Страница 77: ...s the tools that you can use to manually adJUSt the torque reference off set and the applicable tool functions __li _ool _ F unctJOO c c ___ Operahng Procedure Reference l7 13 4 10 Mat1UIII y Ad USI T...

Страница 78: ...ided pulse output ptns output the number of pulses per motor resoluliOn t at t S set In Pn212 tNumbet cf EncOder O tput Putses The pl1ase d fference botween phase A and ase an electriC a e of These p1...

Страница 79: ...Se _t_ ltn _g _ When E nabled Class __ 16_ 2 3_E6L _ 1 P Rev 2500 ___ Setup _ _ The number of pulses from the encoder per rotat1on are processed 1ns1de the SERVOPACK divided by the sett1ng of Pn212 a...

Страница 80: ...SPD D CNJ 8 Changes the Servomctor d ec oon SPO A CN3 40 I Sed o Select the 1n se SOeed SPD B __fN3_ _26 _ ed__ select 1e 1rteMa1 set speed Input When Changing Input Signal Allocations Pn50A n 0001 1...

Страница 81: ...t Stgnats ISPo SPO AT I OFF OFF Motor 01reclton Motor Speed Stops the mota w th an 1ntemal speed of 0 OFF ON f OFF ON ON ON ON OFF f Operates tne motor w1th 111ternal set speed 1 whiCh s set in Pn301...

Страница 82: ...a contrOl w th zero clarno ng After restan Setup _________ _ Norma pos on con trot Pos t On contrOlw th re ereoce piAsa onhlbl uo SettingPnOOO n OOXO Control Method Selection to 4 5 or6 Tn nd1t1ons fo...

Страница 83: ...d 5 s Reference 3 SN N J I lntemal set _ _set con JOI Polr onCOI CIOO control Nc a 1 Set tl so that t S greater than 2 ms The valUe of t1 affected by v tlether the sof1 start tunctoOO ot used 2 A ma...

Страница 84: ...m1tS for afl Speed control or 109 eference posit on control ota tf you se a value mat exceeds le ax I Tit tm toque cf tt e Servornct f 1 he torQue wt b8 teo to he rn ax 1 1 torQue ot tr G Servomo or I...

Страница 85: ...P Cl and 1N CL s1gnals to other terrrunals PnSOB nDXDD P et IFO Ward Ex ernat TO Que LJm t putl Sognol AllocatiOn PnSOB nXDDD IN CL Reverse External TO Que Llm1t Input S1gna Altocaton Setting the Torq...

Страница 86: ...1th an analog reference The smallest of the analog reference torque reference and the torque lim1ts for Pn402 and Pn4031s used The block d1agrams for lim1t1ng the torque dunng speed control are prov1d...

Страница 87: ...Range _Se_ rt_ ong U _ n_ it_ _ Oe _ fa _ u_ 3 1t 00 _Se_n ng_ Whe n Ena_ b _ led _ lC _l_ llSSl_f_ ICa lon __ I 0 to 300 I t 1 lmmedoately I Setup Pn402 L Reverse 1 or q uet t l ieedJ PO SiliOOl l r...

Страница 88: ...smallest of tile ana __ 10g refere lCe or the ser ng ol Pn402 or Pn40 CanceiS he forward external torque h o Ftopen _The torque IS 1f l ted to ne set tng of 02 Apples the rEI olerse external torque lt...

Страница 89: ...ely I Setup Forward Ex te rnal Torque L1m1t LeQsrt OO que Pn404 Sett1ng Range Sett1ng Un1t Default Sett1ng When Enabled JClass1ficatoon 0 to 1 1 tOO lmme Mtely Setup verse Extemailorqu t sp eed fuMn 8...

Страница 90: ...Rt 1u rr absolute data lfoutputabsolutedatafromservodnvermustusethtS1nputs1gnai PieasesetSEN signalasHelectricalevelafterpoweron 3seconds lfSENsignak loswitchfroml electricaleve oHelectricalevel outpu...

Страница 91: ...tr 0 dnver receives th output ignal from absolute tncodtr then 5 nd ab lut data to command controller Refer to the followmg dttails Absolute Signal Summary Absolute encoder s serial data output from s...

Страница 92: ...ws PI 1 x R PO PM Pe Ps Note lnvers1on modeltPn000 0 1 as follows PE I x R PO p PE Ps M Current pos toon o t mu1 ruo oa a of the atlsolute encooor Po Ong1nal incremental pulse count Ongmalmcramantal p...

Страница 93: ...Sequence Of Absolute Data p oR o 9 CR I 1 10 0 0 0 0 I 0 I 0 I t t L stop Bits Start Bits Even Parity Bits 2 Rotation amount range 32767 32768 If exceed this range data will change to 32767 when at 3...

Страница 94: ...Ill Inspections and Part Replacement 79 6 1 1 lnsoectoons 79 6 1 2 Guodel nes fO Pan Al llacement 79 6 1 3 Aeptacmg the Banery 79 IIJI Alarm Displays 81 87 6 2 1 ust of Alarms 6 2 2 Troubleshootmg Al...

Страница 95: ...table m Important The pa 8melers ot onySERVOPACI s hat ale 110 YuHa lOt pon tepiOC ement ate rese lo the factory senongs beiOtt they ate returned t 1 you Always a ocord olthe parameter rungs And atway...

Страница 96: ...er supply to the SERVOPACK 15 OFF the abSOlute encooer data wiD be lost Important 2 Open the cover of the Battery Case i 3 Remove the old Battery and mount a new Battery 3a tery Case JUSP BAOt E L tn...

Страница 97: ...obnuOul a n IIDJIII N N YES 810 Erooodo _ n ac a Mii pc IIDI I ___ NO 820 Encodo C __ Therw error N tar lftCOdllf llW IfY NO e G Encoder Data a rm n 11 an n na Olta trror Inthe enc odtt NO 830 Erooodo...

Страница 98: ...firmatiOn Correct on Tho SERYOPACl mar bo la tty R _ 1n0 SERYOPACK Tho SERYOPACK mat bo aul y R _ no SERYOPACK The capeotyo1 moiOt r 01 motor _ MM ernOtoc a I Ccrrv ttnvet do not mal d a 1CI OI 1YW c...

Страница 99: ...he External R a Res stor t1 not Mfed correctfy or as nt or Confrmation H heck to SM d 1he mper IS connected between power supply tem nals 32 and B3 Check the wnng of the External Regeneratove ResiS10r...

Страница 100: ...Daoery or LfnC Iement 1mi ar r easures to SiJPPly power to the encooer aoct set upthe enc odet It thealarm sWI occurs aher ng up the Onc odO aoaon rtQiaco IN Sei Omotor Tile SERVOPACK may be faul y Re...

Страница 101: ...ns 1 Improve the operatulQ enwonmental and replace the cable If the alarm at U occurs rep ace he SERVOPACK environment Chedc the sta u ot cable and COM9Ctcx Conectltle nng 1 ound encode by separa ng l...

Страница 102: ...a bO prot em of omotor Neetd to cnaoge rww motor Restart tno power If 11 11 ma prObiOrTI of SOMlPid _ 10 Cllange new E ecu1t Fn013 and Fn014 T h e U v Ched he nngoftne Mat esuretnattneroarenofautty an...

Страница 103: ...e alarm and contonueoperatoonW1lhout naung the causeot the alarm ot may r ul l 1n damage to the eqwpment Of f1re Important Resetting Alarms with the ALM RST Alarm Reset Input Signal Resetting Alarms U...

Страница 104: ...o a loca on aat s Olpul of p t S gna l I A m sta e In the OU1 sogoal ar ocatoons Pn50A The S ON 1 rvo ON sljnaJ OFF C 11 0 _ signal ahoc at ons PnSOA ChecK the nn ngs ot PnSOA n I Xtlnput S gt a A loc...

Страница 105: ...y __ _ ____1or Senal Convener Un1t c TN connoaor tor Toghten any loose 1ormona1 s Servomotor Speed Is r Servomotor Moves w1thout aRe erence lnpJI There IS a faulty c onnec NJn 111 the Servomotorw nng...

Страница 106: ...e 1nterferenc occurred because of onc orrect Enc odt CabMt speo cat ons Chec l the Enc derca I to see If It satiShes speciiCihons Use _tutoc pa rcolllto or Ute cables hatsatosfy scrMf lid twtslld parr...

Страница 107: ...ttrg ol Loop Ga n IS too h gh Pnt02 The de autt sen ng IS Kp Sec Pn102to an II P OI N t 40 0 5 value The sen ng ol PntOt Speed Checl 111e setllng o1 Loop Integral Time Constant PntOI The defculisetlln...

Страница 108: ...ThO Enc odel Cebie was sub ect Encoder Cable rS bundled to exC8 SI Ye t IOtSe erence w1tl a hlgh a ln 8f11 ne or Correct tno cable tayo 1 10 that no surge 11 II Oiecl by hoO cur e _ Tl erola a SERVOPA...

Страница 109: ...voltage lor the supply 24 V voltage tnpUI SrgnalS _ _ for thetnJlUI S na _ rs ___ C to see I the opera110n Stabot ze the opera ng of the ovenra e m t c ondot on of the o ettra eM sw tches oostat Me l...

Страница 110: ...at 1 on Of Check the SertOmOtor lmptove the mounung state of the tOSWa llon imounhng surf Sefvomotor Of near encodef pr8CISIQn secunno state and a ltgrvnettt1 Chect tl e lo lNt onc ooer tailllbon moun...

Страница 111: ...SJllay Un Operabonson the Panel Operator 100 102 7 3 1 BasiC Morwtor D splay Opera Jons 7 3 2 Input Signal Morutor Un005 7 3 3 Ou1put Signal Mo01tor Un006 100 101 102 Ill U tility Functioo Fn Operatio...

Страница 112: ...nd funct1ons are g ven below Key I Key Name JT Func t otl No L MODE SET 1 Changes the d SDia Key 2 Con m1s oen ngs lJP Ke Increases tne set11no DOWN Key Decteases the sen 9 1OISOiay t e 1er ng To dts...

Страница 113: ...or leU tnan the settJng of Pn522 lhe de1 ault settu lg tS 7 retarence uMI No lit It tf e CStv itJOn m tlo lll ITGON Rota11on Delect on S gnal Display Lit 11 lhe Servomotor speed 15 higher than the se...

Страница 114: ...nd TheCUf om serung ot Pntoo a lledospiayed P eso tne DATA SHIFT Key 10 tne 191 tnaiiS llasl wlg tO 4 YOU canct aoge L We of L dogI ttw sf _____________ Press tne UP Key 11m11 to change lhe oet ng to...

Страница 115: ...DIDI tiDI Fiash ng PhiDIDIDI Press the MODE SET key to enter Parameter sett1ng MOde If PnOOO s not d spiayed press the UP Key or DOWN Key to display PnOOO Press theDATA SHIFT key for approximately one...

Страница 116: ...iSET key to enter Moll tO O sptay Mooe P ss tile UP key or DOWN key to seleCt tile Un rumbe of the teM tnat you ant to monttor Press the OATA SHIT key for approximately one second A A Press the DATASH...

Страница 117: ...1git number is ON the bottom LED seg ment will be ht The allocations are g1ven mthe follow1ng table Input P n Number S gnal Name Default Settong CN3 7 rSIO 1 S ONI CN3 8 t SI3 1P CON CN3 9 tSil P CT 4...

Страница 118: ...rgnal that corresponds tc the display d1g1t number 1s ON the bottom LED seg ment w1ll be lot The allocations are gtven rn the following table 01 a rg1 t Output Pon Numbers S gnal Name Default Setting...

Страница 119: ...Operat1 on 1 2 3 FinlololoI loJ lalllol I J lcl9lol _____ __ _ rurb Press the MODE SET Key to enter Ullhty Funct1011 Mode If FnOOO IS not d1sptayed press the UP Key or DOWN Key to dosplay FnOOO Pres...

Страница 120: ...n Of he o ervo by press ng tne DATA SHIFT Key for approxtmOtety one second I ISS tne DATA SHIFT Key for api 0 1m8tely one SOC to m the Ckspla y to Fn002 Initialize Parameters FnOOS R to th to1 ow1ng t...

Страница 121: ...ually Adjust Speed Reference Offset FnOOA Refer to the follow1ng sectton for 1nformat1or on th1s util1ly functton other than the procedure I Panel Display after I Step Operation IFiniOIOIOI 2 Fh O O R...

Страница 122: ...the d1splay for apprc1x1matefy one second Change tnc set ng o F v enable wnt II Turn ON the servo The dosplay shOwn on the left Wlll appea Press tne DATA SHIFT Key iOr eopro ately one e second The mt...

Страница 123: ...A SHIFT Key for approx1mate D JW second to return the dosptay to Fn012 7 4 9 Multiturn Limit Setting Fn013 after Encoder copy alarm A 81 0 Refer to the follow ng section for mformat on on th s utd ty...

Страница 124: ...Parameter Lists This chapter prov1des informatiOn on the parameters Ill List of Parameters 109 118 108 8 1 1 Interpreting the Parameter L1 sts 8 1 2 L1st of Parameters 109 110...

Страница 125: ...c tr th analog Swnch ng between Internal set speod eontcy w1tn contact refer and cor tr l w th P JI Iraa re Sw teh ng between nterna set speed trol w tl cortact refer 1 ences an _orqoe control w1th Sw...

Страница 126: ...al se speed control W1th contact mer enc _ a ld pes tiOr cor Witt l pUSe tr n references sw tc mg between nternal se soeea control wth contact rofer ences and torque con col wrth ana og reference l Sw...

Страница 127: ...al torQue ll nlt L _ ___ U se T REF as a torcue f Use T REF as an exterrtal lntQ lmlt II ClCf _ All P cl or N Cl ts ON Torque Co trol Op o V REF Input Alloca _t_ on _ 1 0 Do not use V REF ___ all Us a...

Страница 128: ...PntOCJ Use tr e speed reference as nt cond tiOn level tt tong Pn10D Use weed fofereoce as the coM CJOn leVel set tong P t81 Use lhe accelera co re e enceas the condlloOn level sett Q P tOEJ 3 Use l l...

Страница 129: ...t E c tronoc Gear Ra o _ _ I c l N a or i 4 EIOCtronoc Gear Rato Ito 1 1 A I A er Set_ p JOenomonatorJ 073 74 824 restart 4 Number o1 Encoder mit t 2500 Rotary r After s Ou ses n Posltoon Reference 2...

Страница 130: ...F 50 10 5_ 000 tor freQuency agel oo cnF 50 to ooo 1Hz 5000 0 01 70 1Hz 5000 O ot 70 er O o65 535 c o ms 100 Tme Con ta Ze o Clamp1J19 L el Oto 10 000 RctatiQf Detectl fl Leve4 1 to 10 000 Speed Conc...

Страница 131: ...t sognal1s ON closed I I Enable forward drwer when CN3 8 onput S gnalts ON closed 2 Enable forward dnver when CN3 9 PIJI 2 IS ON closed r nablefO Ward dnver when CN3 39 nput S gnal IS ON ClOSed Enable...

Страница 132: ...sed 2 Accw on S9f 3 edge CN3 9 tnput s gnal cnanges from OFF open to 0 ICIOS 0 ActiVF on sgna edge when CN3 39 lnp Jt s nat changes from 3 OFF opeOilO ON IClOsed Pn50B 4 Ac ve Of l sgna ed wtlen CN3 2...

Страница 133: ...__ i n OOOX t 3 Output the Signal from the CN3 22 or CN3 37 output tenn nal l 4 Ou_lp Jt the sognallrom the CN3 23 or CN3 38 output terl l11181 5 Output the SJgnal from the CN3 3 4 or CN3 33 output t...

Страница 134: ...arameters 2 Ou QI ot ognal Selec 0000 t __ _ 6666 The signal IS not _ ad__ L 4 1 The S9 ed_ ____ iOutput S gnaf ln elllion fOf CN 3 ar d CN3 33 Terminal 118 1 perameter Do not change 10 256 refer 1 to...

Страница 135: ...Communication m Communication Wiring 120 Ill User Parameter 120 Ill MODBUS Communiation Protocol 121 128 Ill MODBUS Communiation Address 128 121 119...

Страница 136: ...G U K t85 RS4 J 0 Built Ul I uohm r t lan l lm CA I l t I G 1 R 185 R 0 Reser Jed IReserved I Ser T r 2 al a a b commun1 a uon able tnp Jt tenmnal and l I al ays 35 conununicatilm cabk output temunal...

Страница 137: ...CII codes of do ols 9 and a l phabe s A F are as shown he hble below O racler 1 1 If t I r Ccrrespond l 5 D 101 ltll lZ l I oiil Hll lSI 16 Chtr cler 1 1 If v I i 8 c D Ccrres pondo na ASCII c 611 391...

Страница 138: ...I I I I I I pant I il _ I_ J 1 L _1_ J 1 1 _ _ I_ I 11 da J l ol _______________ I I I bit duractcr frmh 1 Commuocat1on data structure S d wvJ STX Beginning character 3A ADR Corrmunication address 1 b...

Страница 139: ...vo wi h address of 32 sexadecimal 20 ASCI I mode ADR 2 0 2 32H 0 30H RTL mode ADR 20H C ID Command and DATA Da a Da a forma is de erm i ned based on command code Common command codes are as follows Co...

Страница 140: ...nber cfdata 04H tal Ulated by byte Coo c llarllng I OOH Iugh by e l da a lldr ss 0200H I EIH lowby e Coll er oi second 1a a I fH h th b e 1 adhss C20 IH OH low byto CF C Ch k ow I A3H lowb For example...

Страница 141: ...k rlPtcctioro error value ARC dctc tton error nlue is the sum of contents from ADR to the last dntn and the resu t is in the unit of 56 and remo cs exceeding part for exnmplc the result a tcr totao r...

Страница 142: ...r l X ample rl arl 2 words from 0101 H addr l ss of scno ith official number of 01 H Thl final content of CRC register culcu ated fr om DR to the last bit of the data rumber is 379 1 H and then its co...

Страница 143: ...an error frat e In case of fhe lh rd error ransmiHed dab will be considered lobe invalid and abandoned w1lhoul feedback of frame Error frame formal is as follows Upper coatputer data framed Slave sb...

Страница 144: ...frame 9 4 IODBL S Conmunicat io11 ddn sso Cocmuucafeon llean1n1 I I nsfrucf ion O raflon dab addreu I HexlldectMI yalea I 09FF PMamC1cr area NT 10 poramcl _ al poramcltt Ubk Read and nte o Abnn rnform...

Страница 145: ...I tordc Read only lOiAh Current al ann Read only lOS Communocatoon 10 Slgrul Powcr failure oot ned Read and 1 e 30K2h Communt allon outaut aon rc en c Power t31lure not sa cd Read and wr 1te 30 ih Sc...

Страница 146: ...Internalposition controlmode parameter 130...

Страница 147: ...9 19 1 1 1 19 0 y pubc Pn H Sp d of dau ICt 0 6000 I rpm I 100 I y I I I PnA44 Step du n tttnbutcm at t b 1 H 0 io cond1110n Cd 1 Puhc cd2 I gnalmoct POS STFPI I ot mal npul l OS STI PI 0 ocondJIIon e...

Страница 148: ...i Jtll PD P J ol o UJ I dna set numlxr ot data C I 8 II 14 0 y Pn l i T P fdata q J _L O daU CtiS null I dau se1 1s mabsolutr uon _ d3u set as m rcl lu C motiQD Po 4 J9 Lou byte utur ufC u Sc 9 f A A...

Страница 149: ...e d rc quntd f r p chan Value I k d alue 4 0 le el I nME Step hange coodttlon ai J e m 0 b5 J5 0 d lU lq I litO I I PnMf FoiiO up d lta OCt nurnl r of diaL 0 10 q j i PnA50 I T J C uf d ltHC1 Ill I o...

Страница 150: ...Pulse die r qmr d for sttp chqt ab 0 n mg cdf II ning tdie aluc n tng N c or falhn cd t l el n qum d 10 ter ch n c aluc 3 I le cl aluc t 0 le d P11 b I 1 p change condihon nlut 2 1n 0 65535 datlsc t 1...

Страница 151: ...mru f s PO H J LC oclof r IJ UJ PO PO 0 dcun WK h I C 2 OR n AN 111Rf I 1 l lf I Su rtd J BIM lnt l o Rl n Prn I Klcndml Bl ndn01Hwh I Po K Step dloa llgc coodtttoo aluc I n I I I I 0 65535 0 y d lt...

Страница 152: ...ut on Cata 1 _ _ _L__ _ _ _ __ r IUO J IO 9 LJ IICili WiiL n H Cda OR l ld ird auffned BkndmiZl 4 Blcrxhn Pre lOU IIi Blerxhnl ett Pn 6 tep c hang c QndUJQD Jiuc I m datd Ct J 0 5535 136 l n o ond1tio...

Страница 153: ...n r oo rpm Il H 90 nconWtiX l I tl av Pul iC td_f_e nf u ml m ut 1 PO n P l I c toel nft rmal inpu f PO Sfi 3 r 0 o condltron I Cd Pul of 1rn IIDOOII P J p Ol 1 C CI uf112nalmput f POS POSO 0 1 o con...

Страница 154: ...ofdatuctl 1 0 data ctbnull 1 dlt l sc U1 a IU c motJoo 2 data SCf as m rcbti C mot on Pn 1 b 1 illucoft Sct 14 Pn 0 2 l r fcrmcc pul IOCIOO n tn en c 0 r pulsc I y 1 PnA l t _ cd _ _o_fdaU _t_14 ____...

Страница 155: ...gc I lud lle d Value 4 0 Je cl PnA 6 IStep change condllu n alue 2 m 0 M J I 0 y data 1 14 Cmo PnA Fullo up d3ta t numbo r of 13111 0 14 0 tl4 PnAOO Type of data 0 o I 0 y o_data ct null t data set ma...

Страница 156: ..._ l n ond itlilnoll n 1 U 3nStltona1 ondltton aluc cb llucO blBl latency bme 0 ti55 l unit o ns Puts ll rcqw 1 for Slcp unj c o U 0 111 die aluc 1 f_ i cd e ahx nsmg cd c tlr falhng cdgC L d rtqUIR d...

Страница 157: ...L J nd 8ut1crcd BlcndLntrl 0 Rlc cdl l rr om Ulcrd n t 6 Bl odiii Ha S q a i bOa U I m 0 SH dot I llrKondlllonal no 114in 5Uuln 1l condLtlon ulue Ccla aluc0 65 3 t lh tl umi O 6 3 urut m t Pult e edge...

Страница 158: ...ll m ut POs STHI 0 condltiiQ I C 1 n Pulse ed of cru xmtlrt 1 PO POvn l lC e of iln mptn PJS POVJJ I 0 o _ munction I A l OR I I AbronI I t _ Bull rcd l Bln hrclov 81C 3iU IIItPrC 10WO 8le X U1111 0...

Страница 159: ...I 0000 y I It 0 9 H 0 I C4W dLIII I1 I I cl I 1 Put t lgc of grultcpull POS S 11 Pt J LC c of 11p al1opu1 I 1 0 SlTPI 0 0 O tniJIIIOft I cia 2 Put t lgc of gnat lrf UI POS POSOt J LC el of Snal mrut P...

Страница 160: ...m Jh llut motton d st t et m rdatnc mot On Pn lo b ttC JILicof ua tl t r Pn c3 p dofdluoct PnAl S _Step e h ln o anrbutc1n l ata 4 Pn 5 Ct JiV Pu1 c cd2 of mp t PO ITP L dof r almputl POS S P CtJ s P...

Страница 161: ...ofCaLa o 1 0 1 4 I Wl l Qqe Q QQQ 9 10 ln1cmal Po tton Control 1 Jde f Mamch I 0 y _ f 5 I 0 1 n f o TCllH rul 0 T 1 0 1 retmnc c I 0 I pubc pc o d ofd na ct 5 hOOO r 100 f t 1 St o p dUUljlC attnhutc...

Страница 162: ...go aluc n mg ro c or fJ lhn cd l lc cl r qum d Jl step duna c alue 3_1 lc d aluc OleH I Pn t tcp chango condtuon 2 in PnA f f olm up dau oct numbor of obu oct5 PnA30 l pc ofdau_oct c cbtt wt LS null I...

Страница 163: ...m I I I I 0 6553 0 y dia a 1C16 t ncoochuonal oo traJhltlf JO cood Jborl alue Cda u luc 0 M J lalerx urn b li Wll1rru Jlul e edge requm d tor tcp change Value 0 mmg edge aloe t faUmg c dt e lue 2 11 c...

Страница 164: ...POS PO o 0 I S snd m1 b B cnd h PitA1 Stq clung C Od tJon lut I lD d au l ncondttJorul rtO tt1lblltonal ondiUon lluc Ctl l jJIW 0 b J latency tuncQ 6 qS urur ns P1 1l te edge r o QUt d l lr s1cp c c a...

Страница 165: ...requt d J t S40 tElHOC for on offoptr lUODohed ma ix rdaCDCc potnts ndua the mei St ctrtcuoo C oohC u req m cd 0 1llli 6ffor OrJ oOffopcrauonofl lmg b rdc rCDCC potnl t AilL h an Ibe mti C dro 1ron C...

Страница 166: ...S l tdtlnJ ttfemJtt n 0 9999 1 refet pulse 0 PnAB lhif byte of spccdro ru 0 9999 s k ing Cfcrrnceromt 150...

Страница 167: ...05025 50 2500 1 3 5 7E 130SY M06025 60 2500 1 5 6 85 130SY M07725 7 7 2500 20 75 8C 130SY M10010 10 1000 1 0 93 130SY M10015 10 1500 1 5 6 9A 130SY M10025 10 2500 2 6 10 A1 130SY M15015 15 1500 23 9 5...

Страница 168: ...SG AS Series AC Servo Drive SG AS SERVOPACK with Analog Voltage Pulse Train References Product Manual...

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