Instruction Manual AC Servo Motor & Driver MINAS E-series Thank you very much for buying Panasonic AC Servo Motor & Driver, MINAS E-series. Before using this driver, please read this manual especially refer the safty precautions (page 8 to 11) to ensure proper use. Then, keep this manual for your future use. This product is for industrial equipment. Don't use this product at general household. Contents [Before Use] Page Safety Precautions ................................................................................................ 8 Maintenance/Inspections .................................................................................... 12 Introduction ......................................................................................................... 14 General .................................................................................................................................................... 14 After Opening the Package ...................................................................................................................... 14 Model of Driver ........................................................................................................................................ 14 Model of Motor ......................................................................................................................................... 15 Check the Combination of Driver and Motor ............................................................................................ 15 Parts Description ................................................................................................. 16 Driver ....................................................................................................................................................... 16 Motor ........................................................................................................................................................ 16 Console .................................................................................................................................................... 17 Installation ........................................................................................................... 18 Driver ....................................................................................................................................................... 18 Motor ........................................................................................................................................................ 20 Console .................................................................................................................................................... 22 [Preparations] Page System Configuration and Wiring...................................................................... 24 General Wiring Diagram .......................................................................................................................... 24 List of Driver and Compatible Peripheral Equipment ............................................................................... 26 Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits) ................................................................ 27 Wiring of Connector CN X4 (Connection with Encoder) .......................................................................... 29 Wiring of Connector CN X5 (Connection with Host Controller) ............................................................... 30 Wiring of Connector CN X6 (Connection with Personal Computer/Console) .......................................... 31 Timing Chart ........................................................................................................ 32 Holding Brake ...................................................................................................... 35 Dynamic Brake (DB) ............................................................................................ 36 Homing Operation (Precautions) ....................................................................... 38 Setting the Parameters ....................................................................................... 39 Overview of Parameters .......................................................................................................................... 39 How to Set ............................................................................................................................................... 39 Overview of Console ................................................................................................................................ 39 Overview of PANATERM(R) ........................................................................................................................ 39 How to Connect ....................................................................................................................................... 40 Parameter Groups and Listing ................................................................................................................. 41 Using the Console ............................................................................................... 47 Using the Console ................................................................................................................................... 47 The initial State of the Display (7-segment LED) ..................................................................................... 47 Structure of Each Mode ........................................................................................................................... 48 Monitoring Mode ...................................................................................................................................... 51 2 Page Preparations [Connections and Settings in Position Control Mode] Before Use Parameter Setting Mode .......................................................................................................................... 57 Normal Auto Gain Tuning Mode............................................................................................................... 58 Alarm Clear .............................................................................................................................................. 59 Test Run (JOG) ........................................................................................................................................ 60 Test Run Procedures ............................................................................................................................... 61 Copy Function.......................................................................................................................................... 62 Control Block Diagram in Position Control Mode ............................................ 66 Wiring to Connector CN X5 ................................................................................ 67 Test Run in Position Control Mode .................................................................... 82 Real time Auto Gain Tuning ................................................................................ 86 Outline ..................................................................................................................................................... 86 Scope ....................................................................................................................................................... 86 Operating Instruction ............................................................................................................................... 86 Adaptive Filter .......................................................................................................................................... 87 Parameters to be Set Automatically ......................................................................................................... 87 Cautions ................................................................................................................................................... 87 [Connections and Settings in Internal Velocity Control Mode] Page Trouble Case Parameter for Selection of Functions ...................................................................................................... 88 Parameters for Adjustment of Time Constants of Gains/Filters ............................................................... 91 Parameters for Auto Gain Tuning ............................................................................................................ 92 Parameters for Adjustment (Related to Second Gain Switching Function) ............................................. 94 Parameters for Position Control............................................................................................................... 95 Parameters for Internal Velocity Control .................................................................................................. 98 Parameters for Torque Limits ................................................................................................................... 99 Parameters for Sequences ...................................................................................................................... 99 Adjustment Parameter Setting ................................................................................................ 88 Connections and Settings in Internal Velocity Control Mode Inspection prior to Test Run ..................................................................................................................... 82 Test Run with Connector CN X5 Connected............................................................................................ 82 Connections and Settings in Position Control Mode Example of Wiring in Position Control Mode ........................................................................................... 67 Interface Circuit ........................................................................................................................................ 68 Input Signal and Pin No. of Connector CN X5 ......................................................................................... 70 Output Signal and Pin No. of Connector CN X5 ...................................................................................... 72 Example of Connection to a Host Controller............................................................................................ 73 Control Block Diagram in Internal Velocity Control Mode ............................ 104 Wiring to Connector CN X5 .............................................................................. 105 Test Run in Internal Velocity Control Mode .................................................... 110 3 Reference Example of Wiring to Connector CN X5 ................................................................................................ 105 Interface Circuit ...................................................................................................................................... 106 Input Signal and Pin No. of Connector CN X5 ....................................................................................... 107 Output Signal and Pin No. of Connector CN X5 .................................................................................... 109 Inspection prior to Test Run ................................................................................................................... 110 Test Run with Connector CN X5 Connected.......................................................................................... 111 Real time Auto Gain Tuning .............................................................................. 114 Outline ................................................................................................................................................... 114 Scope ..................................................................................................................................................... 114 Operating Instruction ............................................................................................................................. 114 Parameters to be Set Automatically....................................................................................................... 115 Cautions ................................................................................................................................................. 115 Parameter Setting .............................................................................................. 116 Parameter for Selection of Functions .................................................................................................... 116 Parameters for Adjustment of Time Constants of Gains/Filters ............................................................. 119 Parameters for Auto Gain Tuning .......................................................................................................... 120 Parameters for Position Control............................................................................................................. 121 Parameters for Internal Velocity Control ................................................................................................ 122 Parameters for Torque Limits ................................................................................................................. 123 Parameters for Sequences .................................................................................................................... 123 [Adjustment] Page Gain Adjustment ................................................................................................ 128 Objective of Gain Adjustment ................................................................................................................ 128 Types of Gain Adjustment ...................................................................................................................... 128 Procedures of Gain Adjustment ............................................................................................................. 129 Real time Auto Gain Tuning .............................................................................. 130 Normal Auto Gain Tuning ................................................................................. 132 Cancellation of the Automatic Gain Tuning .................................................... 135 Manual Gain Tuning (Basic) ............................................................................. 136 Manual Gain Tuning (Application) ................................................................... 138 Gain Switching Function ........................................................................................................................ 138 To Reduce Mechanical Resonance ....................................................................................................... 140 Anti-Vibration Control ............................................................................................................................. 142 4 Page Protective Functions ......................................................................................... 144 Before Use [Trouble Case] What are Protective Functions? ............................................................................................................. 144 Details of Protective Functions .............................................................................................................. 145 Software limit function ............................................................................................................................ 148 [Reference] Page Connections and Settings in Position Control Mode Connections and Settings in Internal Velocity Control Mode Adjustment Outline of "PANATERM(R)", Setup Support Software ............................................................................... 156 Communications .................................................................................................................................... 158 Description on Dividing/Multiplier Ratio ................................................................................................. 178 Conformance to EC Directives/UL Standards ....................................................................................... 180 Optional Parts ........................................................................................................................................ 184 Recommended Parts ............................................................................................................................. 192 Dimensional Outline Drawing (Driver) ................................................................................................... 193 Dimensional Outline Drawing (Motor) .................................................................................................... 194 Allowable Load of Output Shaft ............................................................................................................. 196 Motor Characteristics (S-T Characteristics) ........................................................................................... 197 Servo Motor with Gear ........................................................................................................................... 198 Dimensional Outline Drawing of Motor with Gear .................................................................................. 200 Allowable Load of Output Shaft of Servo Motor with Gear .................................................................... 202 Characteristics of Servo Motor with Gear (S-T Characteristics) ............................................................ 203 Driver Internal Block Diagram ................................................................................................................ 204 Control Block Diagram ........................................................................................................................... 205 Specifications (Driver/Motor) ................................................................................................................. 206 Hit-and-stop Initialization and Load Pressing Control ............................................................................ 207 Index ...................................................................................................................................................... 209 Reference .............................................................................................................................................. 214 After-Sale Service (Repair) ........................................................................................................ Back cover Preparations Troubleshooting ................................................................................................ 150 Trouble Case Reference 5 MEMO 6 Before Use Before Use Page Safety Precautions .......................................................... 8 Maintenance/Inspections ............................................. 12 Introduction ................................................................... 14 General ...................................................................................................14 After Opening the Package ..................................................................... 14 Model of Driver ........................................................................................ 14 Model of Motor ........................................................................................ 15 Check the Combination of Driver and Motor ........................................... 15 Parts Description .......................................................... 16 Driver ......................................................................................................16 Motor .......................................................................................................16 Console ...................................................................................................17 Installation ..................................................................... 18 Driver ......................................................................................................18 Motor .......................................................................................................20 Console ...................................................................................................22 7 Safety Precautions Important See the following precautions in order to avoid damages on machinery and injuries among the operators and other people during the operation. The following symbols are used to indicate the degrees of hazard seriousness possibly occurred when you fail to comply with the safety precautions. DANGER CAUTION Indicates a potentially hazardous situation, which if not avoided, will result in death or serious injury. Indicates a potentially hazardous situation, which if not avoided, will result in minor injury or physical damage. The following symbols indicate what you must do. Indicates that the operation is prohibited to do. Indicates that the operation must be done. DANGER Do not subject the product to water, corrosive or flammable gases, and combustibles. Do not expose the cables to sharp objects, excessive pressing or pinching forces, and heavy loads. The failure could result in electric shocks, damages, or malfunction. The failure could result in fire. Do not put your hands in the servo driver. Do not touch the rotating part of the motor while operating. The failure could result in burns, or electric shocks. Rotating Part The failure could result in injuries. Do not drive the motor from the external power. Do not touch the motor, driver, and external regenerative resistor, since they become hot. The failure could result in fire. The failure could result in burns. 8 [Before Use] Do not place inflammable matter near the motor, driver, and regenerative resistor. Do not install the console near sources of heat like the heater, the resistor, or etc. The failure could result in fire or damages. The failure could result in fire. Ground the earth of the servo motor and servo driver. An over-current protection, earth leakage breaker, over temperature protecter and emergency stop device must be installed. The failure could result in electric shocks. The failure could result in electric shocks, injuries, or fire. Install an external emergency stop device to shut down the main power source in any emergency. Wait at least the time described on the driver after switching off the power to allow the capacitors to discharge before beginning to conduct the transportation, wiring, and inspection of the driver. The failure could result in electric shocks, injuries, fire, damages or malfunction. The failure could result in electric shocks. Install the product properly to avoid personal accidents or fire in case of an earthquake. Confirm that there is no danger of an electric shock before beginning to conduct the transportation, wiring, and inspection of the motor. The failure could result in electric shocks, injuries, or fire. The failure could result in electric shocks. Make sure to secure the safety after the earthquake. Only persons who are trained and qualified to work with or on electrical equipment are permitted to operate or maintain this equipment. The failure could result in electric shocks, injuries, or fire. The failure could result in electric shocks. Attach the motor, driver, regenerative resistor to incombustible matter such as metal. Arrange the phase sequense of the motor and wiring of the encoder. The failure could result in injuries, damages, or malfunction. The failure could result in fire. 9 Before Use DANGER Safety Precautions Important CAUTION Do not hold the cables or motor shaft when transporting the motor. Do not block the heat dissipation hole. The failure could result in injuries. The failure could result in electric shocks, or fire. Never start and stop the motor by magnet contactor which is provide on the main line. Do not climb or stand on the servo equipment. The failure could result in electric shocks, injuries, damages, or malfunction. The failure could result in damages. Do not give hard pressure to the shaft. Do not turn on or off the power frequently. The failure could result in damages. The failure could result in damages. Do not shock the driver and the motor. The failure could result in damages. Avoid excessive gain adjustments, changes, or unstable operation of the product. The failure could result in injuries. Do not use the motor internal brake for the purpose of controlling speed of load. Do not approach to the equipment after recovery from the power failure because they may restart suddenly. Execute the personal safety setting on the Equipment after the restart. The failure could result in injuries, or damages. The failure could result in injuries. Do not modify, dismantle or repair the product. The failure could result in electric shocks, injuries, or fire. Do not pull the motor cable by too much power. The failure could result in damages. 10 [Before Use] Use the motor and driver with the specified combination. Make sure that the wirings are correctly connected. The failure could result in electric shocks, or injuries. The failure could result in fire. Use the eye-bolt of the motor only when you carry the motor. Do not use it when you carry the machine. Install the driver and the motor in the specified direction. The failure could result in damages. The failure could result in injuries, or damages. Conduct proper installation according to product weight or rated output. Use the specified voltage on the product. The failure could result in The failure could result in injuries, or damages. electric shocks, injuries, or fire. Execute the trial-operations with the motor fixed and a load unconnected. Connect a load to the motor after the successful trial-operations. Ambient temperature of installed motor and driver should be under permittable one. The failure could result in damages. The failure could result in injuries. Connect a relay that stops at emergency stop in series with the brake control relay. If an error occurs, remove the causes of the error and secure the safety before restarting the operation. The failure could result in injuries. The failure could result in injuries, or damages. This product should be treated as an industrial waste when it is disposed. 11 Before Use CAUTION Maintenance/Inspection * Routine maintenance and inspections are essential for proper and satisfactory operation of the driver and motor. Notes to Maintenance/Inspections Personnel (1) Power-on/off operations should be done by the operators themselves. (2) For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be done a while (about 10 minutes), after the power is turned off and the LED lamp on the panel is extinguished. (3) When conducting meager test (to measure insulation resistance) on the servo driver, disconnect all the connections from the driver. Conducting the test as connected would cause trouble of the driver. Inspection Items and Cycles Normal (correct) operating conditions: Ambient temperature: 30C (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 Daily inspection Daily Periodical inspection Every year Inspection items * * * * * * * * Ambient temperature, humidity, dust, particles, foreign matters, etc. Abnormal sound and vibration Main circuit voltage Odor No yarn piece, etc. adhered to the air hole? How the driver front and connector are cleaned? Each wired cable is damage-free? The portions connected with the motors of equipment/plant are free from loose and center deviation? * No inclusion of foreign matter at the load side? * Loosened screws * Signs of overheat <Notes> If the operating conditions (as stated above) differ, this periodic inspection interval is subject to change. We make the utmost effort to ensure the quality of our product. However, the product may operate differently from your settings, due to unexpectedly high exogenous noise/applied static electricity, or an unforeseen failure in the input power supply, wiring, components, etc. Hence, we would like to request you to give adequate consideration to the fail-safe design and assurance of safety within the operable range at the place of operation in your company. 12 [Before Use] Parts replacement cycles depend on the actual operating conditions and how the equipment has been used. Defective parts should be replaced or repaired immediately. Dismantling for inspections or repairs should be done by our company (or our sales agents). Prohibited Equipment Part Smoothing condenser Aluminum electrolytic capacitor on the print board Rush current preventive relay Driver Rush current preventive resistor Cooling fan Bearing Motor Oil seal Encoder Motor with Gear Speed reducer Standard replacement cycles (hour) Remarks about 5 years about 5 years Approx. 100,000 cycles (The life depends on the actual operating conditions.) Approx. 20,000 cycles (The life depends on the actual operating conditions.) 2 to 3 years (10,000 to 30,000 hours) 3 to 5 years (20,000 to 30,000 hours) 5000 hours 3 to 5 years (20,000 to 30,000 hours) 10,000 hours 13 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. Before Use Replacement Guidance Introduction General MINAS-E series is a unit of an AC servo motor and driver with downsized capability and performance that are useful for positioning of a motor whose capacity is small from 50W to 400W. By adopting 2500 P/r incremental encoder with velocity response frequency of approximately 400 Hz and 5 wires, we could omit wiring. The equipment includes real-time auto tuning and enables automatic setting of complicated gain tuning. In addition, it has a damping control function that provides for stable stop performance and contributes to miniaturization of the equipment and reduction of tact time. It supports a console (available as an option) capable of monitoring such as display of rotation speed, parameter setting, test run (JOG operation), parameter copying, etc., and pursues maximum ease for use. This document is designed for you to properly and sufficiently use functions of MINAS-E series with such excellent features. Cautions (1) No part or whole of this document may be reproduced in any form or by any means. (2) Contents of this document are subject to change without notice. After Opening the Package * Make sure that the product is what you ordered. * Check whether the product is damaged. * The instruction manual (Safety edition and Extracted edition) is included in a carton box. If the product is not what you purchase, or it is, or damaged, contact dealer or sales agent. Model of Driver Name plate Serial Number Model Ex.:03010001 03010001 Rated input voltage Lot Number Month of production Year of production (Lower 2 digits of AD year) Rated output current Rated motor output Model Designation M K D E T 1 3 1 0 P 1~4 5~6 7 8~9 10 11~12 Special specifications Outer frame symbolic characters Control Mode P: Position Control Frame name Symbol MKDE E-Series K frame MLDE E-Series L frame Current rating of current detector Power supply Symbol Current rating of current detector 1: Single-phase 100 V 05 5A 2: Single-phase 200 V 10 10A 3: Three-phase, 200 V 5: Single-phase/Three-phase, 200 V Maximum current rating of power element Symbol Maximum current rating of power element T1 10A T2 15A 14 [Before Use] Before Use Model of Motor Name plate Rated output Rated speed Model Designation CONT. TORQUE 0.64 Nm RATING S1 INS. CLASS B (T V) A (UL) IP65 CONNECTION SER No. 03010001 AC SERVO MOTOR MODEL No. MUMA022PIS INPUT 3flAC 102 V 1.6 A RATED OUTPUT 0.2 kW Hz RATED FREQ. 200 RATED REV. 3000 r/min Type Serial Number Ex.:03010001 Lot Number Month of production Year of production (Lower 2 digits of AD year) M UM A 5 A Z P 1 S 1~4 5~6 7 8 9 10 11~12 Custom specifications Symbol MUMA Type Motor structure Ultra low inertia Design order 1: Standard Table 1a: Motor rated output Type of encoder Rated output Symbol Rated output 5A 50W 01 100W 02 200W 04 400W Power supply 1: 100 V 2: 200 V Z: 100/200 V common-used (Limited to 50W only) Table 1-b: Rotary encoder Symbol P Table 1c: Motor structure Specifications No. of pulses Resolution Lead wire 2500P/r 10000 5-wire Incremental Type Shaft Holding brake Oil seal Without With Without With Center tap on key-wayed shaft end S T Check the Combination of Driver and Motor This driver is designed for use in combination with a motor to be specified by us. Check a name of series, rated output, voltage specifications and encoder specifications of a motor you wish to use. Incremental specification 2500 P/r <Note> You must not use any other combinations than those listed below: Applicable Motor Power Supply Motor Series Rated Speed Single-phase 100V Single-phase 200V Three-phase 200V MUMA Ultra low inertia 3000r/min Applicable Driver Motor Type Rated Output Driver Type MUMA5AZP1* 50W MKDET1105P MUMA011P1* 100W MKDET1110P MUMA021P1* 200W MLDET2110P MUMA5AZP1* 50W MKDET1505P MUMA012P1* 100W MKDET1505P MUMA022P1* 200W MLDET2210P MUMA042P1* 400W MLDET2510P MUMA5AZP1* 50W MKDET1505P MUMA012P1* 100W MKDET1505P MUMA022P1* 200W MKDET1310P MUMA042P1* 400W MLDET2310P MLDET2510P <Remarks> The marking " * " in Motor Type column of Applicable Motor represents a motor specifications. 15 Driver Frame Frame K Frame L Frame K Frame L Frame K Frame L Parts Description Driver Status LED Alarm Code LED STATUS ALM CODE Connector for Serial Communications (X6) x6 x5 Interface Connector (X5) x4 Encoder Connector (X4) x3 Motor Connector (X3) x1 Main Power Supply Connector (X1) Motor MUMA 50W - 400W Encoder Cable Encoder Motor Cable Flange Frame Mounting Holes (in 4 locations) Example: Super Low Inertia Type (MUMA Series 50W) <Remarks> For detailed information on each type, refer to a dimensional outline drawing (Pages 194 to 195) of Reference edition. 16 [Before Use] Before Use Console Main body Connector Console main unit Display (7-segment LED) M MO DE S SHIFT SET Cable Touch panel <Remarks> The console is optionally available. (Part No.: DV0P3690) Touch panel Display, LED (display in 6 digits) MINAS Display of selected Driver ID No. (2 digits) The value set up on Pr00 (shaft name) is ID No. Parameter No. (2 digits) is displayed under Parameter Setting mode. DIGITAL AC SERVO This is used to shift the digits of data. M MODE SHIFT This is used to change the data and to execute parameter selection. The numerical value goes up and down by pressing and . S SET Setting Button: This is to shift each mode, which was selected by the mode selector button, to EXECUTE display. Mode Selector Buttons: These buttons are used to select 6 different modes. (1) MONITOR mode (2) PARAMETER SETTING mode (3) EEPROM WRITE mode (4) NORMAL AUTO GAIN TUNING mode (5) AUXI FUNCTION mode Test run (JOG mode) Alarm clear (6) COPING FUNCTION mode To copy parameters to the console from the servo driver. To copy parameters to the servo driver from the console. 17 Installation The driver and motor should be properly installed to avoid failures, mechanical damages and injuries. Driver Location (1) Indoors, where the driver is not subjected to rain water and direct sun beams. Note that the driver is not a waterproof structure. (2) The place where the driver is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable gas, grinding coolant, oil mist, iron powder, chips, etc. (3) Place in a well-ventilated, and humid-and dust-free space. (4) Place in a vibration-free space. Environmental Conditions Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude Conditions 0 to 55C (free from freezing) Lower than 90%RH (free from condensation) -20 to 80C (free from freezing) Lower than 90%RH (free from condensation) Lower than 5.9 m/s2 (0.6G) at 10 to 60 Hz Lower than 1000 m How to Install (1) Parallel type. Install in vertical position. Reserve a drafting space around the driver for ventilation. (2) For the mounting dimensions onto the wall face in the board, refer to Page 193 of the dimensional outline drawing. Base mount type STATUS ALM CODE x6 x5 x4 x3 x1 Earth connection (M4 screw) tightening torque shall not exceed 0.39 - 0.59 N*m (3) Installing to DIN Rail Install the main body of the driver by using optionally available DV0P3811 (see an "optional" DIN rail mounting unit on page 190 of Reference edition) and screws (M4 x length 8, pan-head machine screws) supplied with the option. Ancillary Screws (M4 x Length 8 ) DIN rail mounting unit attached to the driver 18 [Before Use] Press lightly. With rail stop pushed in Ensure that the rail stop has been pushed in. DIN rail Hook the upper side of DIN rail mounting part on the DIN rail. Press lightly the lower part of the main body of driver. (4) Removing from DIN Rail By lifting the driver, you can remove it from the DIN rail. Pull out the lower part of the driver to the near side. With the rail stop released, pull out the lower part of the driver to the near side. 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. * Observe the environmental requirements for the control box, mentioned in the previous page. Fan Driver Exhaust Direction STATUS min. 40 mm Fan Driver Exhaust Direction Driver Exhaust Direction STATUS ALM CODE STATUS ALM CODE Driver Exhaust Direction STATUS ALM CODE ALM CODE x6 x6 x6 x6 x5 x5 x5 x5 x4 min. 10 mm x4 min. 10 mm x4 min. 10 mm x4 x3 x3 x3 x3 x1 x1 x1 x1 Driver Intake Direction Driver Intake Direction Driver Intake Direction min. 100 mm Driver Intake Direction min. 40 mm min. 100 mm This driver has a cooling fan in its bottom and a mounting face. To install the driver, ensure that there is enough space around the inlet and outlet ports so as not to prevent intake and exhaust of the fans. 19 Before Use Driver mounted to DIN rail Part where DIN rail is mounted Installation Motor Location (1) Indoors, where the driver is not subjected to rain water and direct sun beams. (2) The place where the motor is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable gas, grinding coolant, oil mist, iron powder, chips, etc. (3) Place in a well-ventilated, and humid- and dust-free space. (4) The place where the motor can be checked and cleaned easily. Environmental Conditions Item Ambient temperature Ambient humidity Storage temperature Storage humidity Motor only Vibration With gear (At rotation) Motor only Shock With gear Conditions 0 to 40C (free from freezing) Lower than 85%RH (free from condensation) -20 to 80C (free from freezing) Lower than 85%RH (free from condensation) 49 m/s2 (5G) or less at rotation, 24 5 m/s2 (2.5G) or less High precision: 24.5 m/s2 (2.5G) max. 98 m/s2 (10G) max. High precision: 98 m/s2 (10G) max. How to Install The motor can be installed either vertically or horizontally. Observe the following notes. (1) When installing in horizontal direction * Mount the motor with its cable lead-out port faced downward as the countermeasure for oil and water. (2) When installing in vertical direction * When installing the motor with speed reducer with its output shaft upside, use the oil-sealed motor to prevent oil inflow to the motor from the speed reducer. In this case, the oil-sealed motor is a special product. (3) For the mounting dimensions, refer to a dimensional outline drawing (Pages 194 to 195). Oil and Water Protections (1) Don't use the motor under an environment where oil and water splash over the motor body. (2) In combining with the speed reducer, use the oil-sealed motor to prevent oil inflow to the motor internal through its shaft through-penetration hole. In this case, the oil-sealed motor used is a special product. (3) Don't use the motor with its cable dipped in oil/water. 20 Cable Oil and water Motor [Before Use] (1) Don't apply stress to the cable lead-out port and connections by bending and self-weight. (2) Particularly in the case of application in which the servo motor must be movable, fix the accessory cable of the motor and house the extension junction cable, which is connected to the terminal end of the said cable, in the cable bearer to thereby minimize stress acting on the cable by bending. (3) Make the cable bending radius as large as possible. (Minimum bending radius: to be 20 mm and over.) Permissible Shaft Load (1) Do mechanical design so both of radial load and thrust load being applied to the motor shaft during installation and running are maintained within the permissible value specified for each model. (2) In using the rigid coupling, take good care of mounting. (Over-bending load on it, if any, would cause damage/ wear of the shaft and shorter life of the bearings.) (3) Use the flexible coupling of possibly high stiffness to control radial load arising from minor center deviation at the permissible value or less. (4) For information on allowable load of an output shaft of each type, refer to Allowable Load of Output Shafts on Page 196 of Reference. Installation Notes Motor (1) When connecting /disconnecting the coupling to/from the motor shaft end, don't apply direct impact to the shaft by hammering, etc. (Failure to observe this instruction would cause damage of the encoder mounted on the counter-load side shaft end.) (2) Do perfect centering. (Imperfect centering would result in vibration, which would cause damage of the bearings.) 21 Before Use Cable: Stress relieving Installation Console Location (1) Indoors, where the driver is not subjected to rain water and direct sun beams. The console is not waterresistant. (2) The place where the driver is not exposed to corrosive atmospheres such as hydrogen sulfide, sulfurous acid, chlorine, ammonia, sulfur, chlorine gas, sulfuric gas, acid, alkali, salt, etc. and is free from splash of flammable gas, grinding coolant, oil mist, iron powder, chips, etc. (3) Place in a well-ventilated, and humid-and dust-free space. (4) Place in a space to be easily accessed for inspection and cleaning. Environmental Conditions Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Conditions 0 to 55C (free from freezing) Lower than 90%RH (free from condensation) -20 to 70C (free from freezing) Lower than 90%RH (free from condensation) Lower than 5.9 m/s2 (0.6G) at 10 to 60 Hz Shock Altitude Compliant with free-fall test JIS C 0044 (1-m fall with a fall guide, twice in each direction) Lower than 1000 m <Note> * Avoid strong physical shock to the product. * Do not drop the product. * Do not pull the cable with an excessive force. * Do not set the product near a heat generating device such as heater and large wire wound resistor. Method of Connection STATUS Connect to CN X6. ALM CODE x6 M MODE S SHIFT SET x5 x4 x3 x1 <Remarks> * Securely connect the console connector to the connector CN X6 of the driver. * Never connect or disconnect the connector by grabbing the connector cable. 22 Preparations Preparations Page System Configuration and Wiring ............................... 24 General Wiring Diagram ......................................................................... 24 List of Driver and Compatible Peripheral Equipment .............................. 26 Wiring of Connectors CN X1 and X3 (Wiring of Main Circuits) ............... 27 Wiring of Connector CN X4 (Connection with Encoder) ......................... 29 Wiring of Connector CN X5 (Connection with Host Controller) ............... 30 Wiring of Connector CN X6 (Connection with Personal Computer/Console) ...... 31 Timing Chart .................................................................. 32 Holding Brake ................................................................ 35 Dynamic Brake (DB) ...................................................... 36 Homing Operation (Precautions) ................................. 38 Setting the Parameters ................................................. 39 Overview of Parameters ......................................................................... 39 How to Set ..............................................................................................39 Overview of Console ...............................................................................39 Overview of PANATERM(R) ....................................................................... 39 How to Connect ......................................................................................40 Parameter Groups and Listing ................................................................ 41 Using the Console ......................................................... 47 Using the Console ...................................................................................47 The initial State of the Display (7-segment LED) .................................... 47 Structure of Each Mode .......................................................................... 48 Monitoring Mode .....................................................................................51 Parameter Setting Mode ......................................................................... 57 Normal Auto Gain Tuning Mode .............................................................. 58 Alarm Clear ............................................................................................. 59 Test Run (JOG) .......................................................................................60 Test Run Procedures ..............................................................................61 Copy Function .........................................................................................62 23 System Configuration and Wiring General Wiring Diagram Main Circuits Circuit Breaker (NFB) (Refer to Page 26) Used to protect the power lines: overcurrent will shut off the circuit. Noise Filter (NF) (Refer to Page 26, 182) Prevents the external noise from the power line, and reduces the effect of the noises generated by the servo motor. Magnetic Contactor (MC) (Refer to Page 26) Turns on/off the main power of the servo motor. Used together with a surge absorber. Never start or stop the motor with the magnetic contactor. Reactor (L) (Refer to Page 191) Reduces the harmonic current in the main power. Wiring connection to Connector CN X1 (Connection with the input power sup P B 5 Pins - 3 Pins of CN X1 --When using the driver for an application of large regenerative energy, connect an external regenerative resistor between P (5 pins) and B (3 pins) of connector CN X1. Install an external regenerative resistor on incombustible material, such as metal, and provide the regenerative resistor with a protective device such as temperature fuse, etc, to prevent the resistor from being overheated. Ground Regenerative discharge resistor (Optional) 24 Setup support software Personal computer "PANATERM " Console M MODE S SHIFT SET STATUS ALM CODE x6 Wiring to Connector CN X6 (Connection with personal computers and consoles) MKDET1310P 200V x5 Wiring to Connector CN X5 (Connection with host controllers such as PLC, etc.) x4 Wiring to Connector CN X4 x3 (Connection with encoder) Junction cable for encoder L1 L2 x1 L3 Wiring to Connector CN X3 (Connection with each phase of motor windings) Junction cable for motor Junction cable for brake Motor cable Power supply for motor brake (24 V DC) For connections, refer to Points in Wiring (Page 27). 25 Preparations pply) [Preparations] System Configuration and Wiring List of Driver and Compatible Peripheral Equipment Driver Series Power voltage MKDE 1-phase, MLDE MKDE MLDE MKDE MLDE 100V Circuit breaker (rated current) 50W Required Power (rated load) 0.3kVA 100W 0.4kVA (5A) 200W 0.5kVA BBC2101N(10A) 0.3kVA BBC25N Output 50W BMFT61041N 100W 200V 200W 0.5kVA 400W 0.9kVA BBC2101N(10A) 0.3kVA BBC35N 50W 100W 200V 200W 0.5kVA 400W 0.9kVA Cable Magnetic contactor diameter (composition of (L1, L2, L3, contacts) U, V, W, E) BBC25N 1-phase, 3-phase, Noise filter (3P+1a) BMFT61542N (5A) DV0P4160 (3P+1a) 0.75mm2 0.85mm2 AWG18 BMFT61042N (5A) (3P+1a) BBC3101N(10A) Circuit breaker, magnetic contactor: manufactured by Matsushita Electric Industrial Co., Ltd. For compliance with EC Directives, don't fail to connect the circuit breaker (with LISTED, Mark), which is authorized and certified under IEC and UL Standards, between the power supply and the noise filter. Noise filter For DV0P4160, refer to Page 182. < Remarks > * For wiring to the power connector, motor connector and earth terminal, use the copper conductors of 60C and over in the temperature rating. * For the connector-side earth cable, use the cable of 0.75 mm2 - 0.85 mm2 (AWG18) in diameter. * For the mounting screw-side earth cable, use the cable of 2.0 mm2 (AWG14) or more in diameter. * Where two or more drivers are used and the noise filters for the drivers are mounted in set in the power unit, feel free to consult with the noise filter manufacturer. 26 [Preparations] Wiring of Connectors CNX1, X3 (Wiring of Main Circuits) * Don't fail to request an electric wiring specialist for wiring. * Don't switch ON the electric power until completion of the wiring, to prevent electric shock. Points in Wiring (1) (2) For the cable diameter used, refer to "List of Driver and Compatible Peripheral Equipment" (page 26). Insert securely the connectors. Red White or yellow Black Green/ yellow U 1 V 2 W 3 E 4 3 6 1 4 Motor DC 24V DC power for brake use Do wiring in perfect color matching between the identification colors of the motor lead-out cable and corresponding motor output terminal (U, V, W). Connect U (1 pin), V (4 pins), W (6 pins) and E (3 pins) respectively. Avoid shorting and ground fault. At this stage, don't connect the power supply cable. Adopt a duplex circuit as the brake control circuit so it can actuate even with emergency stop signal from external device. The magnetic brake has no polarity. For the power capacity and operation detail of the magnetic brake, refer to the "Holding Brake" (page 35). Install the surge absorber (C-5A2 or Z15D151 made by Ishizuka Electronic). Surge absorber Fuse (5A) Read the driver nameplate to check the power specification. Provide circuit breaker or leakage breaker without fail. In this case, use a leakage breaker to which countermeasure for high frequency is applied for "inverter application". Don't fail to provide noise filter. Provide the magnetic contactor coil with surge absorber. Never start/stop the motor by magnetic contactor. Power NFB NF MC L Install AC reactor. CN X1 (Driver side) 5 10 P L1 B L2 L3 1 6 Ground resistance: 100 max. For applicable wire, see page 26. For three-phase 200V, connect L1 (10 pints), L2 (8 pins) and L3 (6 pins). For single-phase 100V and 200V, connect L1 (10 pins) and L3 (6 pins). Connect to the grounding system of the facility. Connect the driver protective earth terminal ( ) and the protective earth (earth plate) of the control panel for preventing of electric shock. In this case, don't co-clamp the earth wires to the protective earth terminal ( ). Two protective earth terminals are provided. 27 Preparations CN X3 (Driver side) System Configuration and Wiring Wiring Diagrams Compose such a power supply as to switch OFF the power against alarm output. For three-phase 200V ON NFB Power supply ALM MC MC OFF MC L 10 8 6 Noise filter 5 172167-1 (Tyco Electronics AMP K.K.) Red White or yellow Black Green yellow 172159-1 (Tyco Electronics AMP K.K.) 1 3 5557-10R-210 (Molex Incorporated) 1 4 6 2 3 3 4 L1 P L2 N L3 P P N B CN X1 U V W E 5557-06R-210 (Molex Incorporated) CN X3 Motor 9 ALM VDC 12~24V 13 ALM COM -- CN X5 For Single-phase 100V/200V For single-phase 200V, use the reactor for three-phase. ON NFB Power supply Red White or yellow Black Green yellow MC MC OFF MC L Noise filter 172159-1 (Tyco Electronics AMP K.K.) 172167-1 (Tyco Electronics AMP K.K.) ALM 10 6 5 3 5557-10R-210 (Molex Incorporated) 1 1 L1 P L2 4 6 2 3 3 4 5557-06R-210 (Molex Incorporated) N L3 P P N B CN X1 U V W E CN X3 Motor ALM VDC 12~24V 9 13 ALM COM -- CN X5 28 [Preparations] Wiring to Connector CN X4 (Connection with Encoder) Points in Wiring Cable length between the driver and the motor - 20 m max. If this cable length exceeds 20 m, consult with the Encoder STATUS ALM CODE x6 dealer/distributor from which you have purchased the driver. 20 m max. x5 Motor x4 Keep 30 cm or more spacing from the main circuit wiring. Neither guide this wiring through the same duct, together x3 Power section x1 30 cm min. with the main circuit nor bundle these two together. Wiring Diagram When you plan to make an encoder junction cable by yourself, refer to Requests on a self-made encoder junction cable (For connectors, refer to Optional Parts (Connector Kits for Connection of Motor and Encoder) on Page 186 of Reference edition). (1) Refer to the wiring diagram below. (2) Cable used: Shielded twist pair cable of 0.18 mm2 (AWG 24) minimum in conductor diameter that is excellent in bending resistance. CN X4 0V White +5V 5 2 4 1 4 (NC) Light blue TX/RX Purple TX/RX Shielded cable 1 3 2 5 3 6 6 Case 172168-1 Servo motor Motor side +5V 0V 0V +5V +5V TX/RX TX/RX FG (made by Tyco Electronics AMP K.K.) 0V Regulator Black 172160-1 (3) For signal/power wiring in pair, use twist pair cable. (4) Shielding treatment Driver-side shield sheath: Connect to CNX4 connector case (FG). Motor-side shield sheath: Connect to 6 pins. (5) Where the cable length exceeds 10 m, do doublewiring for the encoder power (+5V, 0V), as illustrated left. FG Twist pair (made by Tyco Electronics AMP K.K.) Junction cable Servo driver side (6) Connect nothing to the empty terminal (NC) of the connector. (7) Don't use a cable pair composed of the motor cable and encoder cable which were shielded in batch. 29 Preparations 30 cm min. System Configuration and Wiring Wiring of Connector CN X5 (Connection with Host Controller) Points in Wiring Within 3 m Place any peripheral equipment such as a host controller within 3 meters STATUS ALM CODE x6 Controller x5 30 cm or More Power Supply Unit x4 x3 x1 Motor from the driver. Separate the wiring at least 30 cm or more from the main circuit wires. The wiring should neither run through a same duct as the main circuit wires nor be bundled together with them. A customer is requested to prepare for power supply for control signals (VDC) between COM+ and --COM. COM+ 1 2 Voltage: DC +12 to 24V GND For such wiring as command pulse input or encoder signal output, etc., use shielded twist pair cable. Neither apply 24V or more to a control signal output terminal, nor run VDC 50mA or higher. COM- If you directly activate a relay using the control signal output, install a FG CN X5 diode in parallel with a relay in the direction shown in the left figure. Without a diode or with it but placed in the opposite direction, the driver will be damaged. The Frame Ground (FG) is connected to an earth terminal in the driver. For detailed information on wiring of respective pins, refer to Page 65 (position control mode) and Page 103 (internal velocity control mode) of connections for each control mode. CN X5 Connector Specifications Connectors on Driver Side Compatible Connectors on User Side Part Name Part No. Connector (solder type) 10226-52A2JL Connector cover 10126-3000VE 10326-52A0-008 <Remarks> * For details, refer to "Optional Parts" on Page 188 of Reference edition. 30 Manufacturer Sumitomo 3M Ltd. [Preparations] Wiring of Connector CN X6 (Connection with Personal Computer/Console) * It is capable of RS232C communications. For RS232C communications only Connection STATUS ALM CODE x6 Insert or pull out a connector only after cutting power off both personal computer and driver. Refer to "Optional Parts" of dedicated connecting cables. Tighten stop screws firmly. x5 Back Plane of Connector for RS232C CN X6 Connection with Console Connect to CN X6. STATUS ALM CODE x6 M MOD S E SHIFT SET x5 31 Preparations 1) Connect the personal computer and driver 1:1 through RS-232C, and use "PANATERM(R)" (optional component), the setup supporting software. Running "PANATERM(R)" on your personal computer, you can have convenient functions with excellent operability, such as various types of monitors, parameter settings/changes, waveform graphic displays, etc. 2) You can connect a host (personal computer, or host controller) and driver through RS 232C for communications. For detailed information, refer to "Communications" on Page 158 of Reference edition. Timing Chart -After Power-ON (Receiving Servo-ON Signal) Power Supply Internal Control Power Supply OFF ON Approx. 700 ms Established Initialize Approx. 2 seconds Normal Operation Initialization of Driver Servo-ON Input (SRV-ON) (X5 2 pins) *1 OFF Approx. 2 seconds Approx. 1 - 5 ms Dynamic Brake ON Not Energized Position/Velocity Command OFF Approx. 40 ms Motor Energized Brake Release Output (BRK-OFF) (X5 11 pins) ON Energized Approx. 10 ms ON (Brake Release) OFF (Braking Operation) Not input 100ms or Longer Input <Cautions> * The above chart shows timing from AC power-ON to command input. * Enter Servo-ON signal and external command according to the above timing chart. *1: During this period, the SRV-ON signal has not been accepted although it was mechanically input. 32 [Preparations] After an Alarm event (during Servo-ON) Normal Alarm Error Operation *2 Dynamic Brake Servo Alarm (ALM) Not Alarm Brake Release (BRK-OFF) Release (ON) Not Energized Alarm Setting of Pr6B A Approx. 30r/min Operation (OFF) t1 *1 Setting of Pr6B Release (ON) B Approx. 30r/min t1 *1 Operation (OFF) <Cautions> *1. A value of t1 is a value of Pr6B or time needed for decreasing the motor speed to approx. 30 r/min, whichever is shorter. *2. For operation of the dynamic brake following an alarm event, also refer to the description in "Sequence at Alarm" ("Parameter Setting" for every control mode) on Pr68. After an Alarm is Cleared (during Servo-ON Command) 120ms or Longer Alarm Clear Input (A-CLR) Dynamic Brake Cleared Operation Motor Energized Not Energized Release Approx. 40 ms Brake Release Operation (OFF) Output (BRK-OFF) Energized Release (ON) Approx. 10 ms Servo Alarm Output (ALM) Alarm Not Alarm 100ms or Longer No Input Position/Velocity Command 33 Input Enabled Preparations 1 - 5 ms Motor Energized Energized Timing Chart Servo-ON/OFF Operation When the Motor is Stopped (During normal operation, perform the Servo-ON/OFF operation after the motor stops.) Servo-ON Input (SRV-ON) ON OFF OFF Approx. 1 - 5 ms Dynamic Brake Approx. 1 - 5 ms Release Operation *3 Operation *2 t1 *1 Motor Energized Energized Not Energized Approx. 40 ms Not Energized Approx. 10 ms Brake Release Operation (OFF) Output (BRK-OFF) Release (ON) Operation (OFF) When you turn off the power of the electromagnetic brake, the motor brake will run. When you turn on the power of the electromagnetic brake, the motor brake will be released. <Cautions> *1. A value of t1 depends on a setting of Pr6A. *2. For the operation of the dynamic brake during Servo-OFF, also refer to the description of "Sequence during Servo-OFF" ("Parameter Settings" of every control mode) on Pr69. *3. Servo-ON input will not be active until the motor rotation speed falls below approx. 30r/min. Servo-ON/OFF Operation When the Motor is Rotating (The following chart shows timing in the case of emergency stop or trip. You cannot use Servo-ON/OFF repeatedly.) Servo-ON Input OFF OFF ON (SRV-ON) *4 Approx. 1 - 5 ms Dynamic Brake Motor Energized Brake Release Output (BRK-OFF) Operation Not Energized Release Operation *3 Energized Approx. 40 ms Operation (OFF) Not Energized Approx. 10 ms Setting of Pr.6B Release (ON) Operation (OFF) t1 * 1 Motor Rotation Speed A Number of Motor Rotations Approx. 30 r/min Approx. 30 r/min Setting of Pr.6B Motor Rotation Speed Release (ON) Servo enabled t1 * 1 Servo-ON input will not be active until the motor rotation speed Motor Rotation Speed B falls below approx. 30r/min. Approx. 30 r/min When the time defined by Pr.6B is reached earlier. Operation (OFF) When the motor rotation speed falls below 30r/min earlier. <Cautions> *1. A value of t1 is a value of Pr6B or time needed for decreasing motor speed to approx. 30 r/min, whichever is shorter. *2. Even if SRV-ON signal turns on again during deceleration of the motor, SRV-ON input does not become active until it stops. *3. For operation of the dynamic brake during Servo-OFF, also refer to the description of "Sequence at Servo-OFF" ("Parameter Settings" of every control mode) on Pr69. *4. Servo-ON input will not be active until the motor rotation speed falls below approx. 30r/min. 34 Holding Brake [Preparations] The brake is to hold a work (movable part) and prevent it from dropping by gravity when power to the servo is shut off for the purpose of driving a vertical shaft in the servo motor. <Caution> The brake built in the servo motor is only for holding, namely, maintaining, stopped condition. Thus, you must not use it for "braking" to stop moving load. Wiring (Example) Driver Motor RY 11 13 RY BRK-OFF 12~24V COM- Brake coil VDC Power for brake Fuse (5A) <Remarks and Cautions> CN X5 DC24V 1. A brake coil has no polarity. 2. A customer is requested to provide for power supply for the brake. In addition, do not use power supply for control signals (VDC) for driving the brake. 3. In order to suppress surge voltage due to ON/OFF operation of the relay (RY), install a surge absorber. When you're using a diode in place of a surge absorber, note that start of the servo motor is delayed in comparison with when the latter is used. 4. For a surge absorber for the brake, refer to "Recommended Parts" on Page 192 of Reference edition. 5. The recommended parts are those specified for measuring brake release time. In some cases, reactance of electric wires may vary depending on wire length, causing sporadic rise of voltage. Select a surge absorber so that the relay coil voltage (maximum rating: 30V, 50 mA) and voltage between brake terminals do not exceed a rated value. BRK-OFF Signal Output Timing * For timing of brake release upon power-on or that of brake operations in case of servo-off/alarm while the motor is rotating, refer to "Timing Chart" on Page 32. * In case of Servo-OFF or alarm while the motor is rotating, you can set with the parameter (i.e., Pr6B: Mech. break action set-up at motor in motion) time till BRK-OFF signal turns off (i.e., the brake is actuated) after the motor is freed from energized state. For details, refer to "Parameter Settings" of every control mode. <Remarks> 1. The servo motor with built-in brake could result in brake lining sound (Chattering, etc.) while it is running. But this is not a problem. 2. When the current is fed into the brake coil (with the brake kept released), it could result in leak magnetic flux from the shaft, etc. Be careful when a magnetic sensor, etc. are used around the motor. Specifications of Holding Brake Motor Series Motor Output Static Friction Inertia -4 Intake Time Torque (N/m) x 10 kg*m2 50W, 100W 0.29 or higher 0.003 25 or shorter 200W, 400W 1.27 or higher 0.03 50 or shorter (ms) MUMA Release Time Excitation (ms) Current DC A *1 20 or (during cooling) shorter(30) 15 or shorter (100) 0.26 Release Voltage DC1V or Total Allowable Workload per Workload Braking J x 103J Allowable 39.2 4.9 137 44.1 higher 0.36 * Excitation voltage should be DC24V 10%. *1 A value when the surge absorber is used. Values given in ( ) are actual values measured with diodes (V03C manufactured by HITACHI Semiconductor and Devices Sales Co., Ltd.). * The values in the above table are representative characteristics (except static friction torque, releasing voltage, and excitation current). * A backlash of the brake is 1 of a setup value. * Allowable angular acceleration of MUMA series: .....10000 rad/s2 * Service life of the number of accelerations/decelerations with the allowable angular acceleration is 10 million times or greater. (The number of accelerations/decelerations till backlash of the brake changes drastically.) 35 Preparations This circut shows an example in which a brake release (BRK-OFF) signal from the driver is used to control the brake. Cut off upon emergency stop Surge absober Dynamic Brake Dynamic Brake Dynamic brake is built in this driver for emergency stop. For this dynamic brake observe the precautions given below. <Notes> 1. This dynamic brake functions for emergency stop of the driver. Don't start and stop by ON/OFF of the Servo-ON signal (SRV-ON signal). Doing so could result in rupture of the dynamic brake circuit built in the driver. If the motor is started by an external unit, it would acts as a generator and, as a result, short current would flow while the dynamic brake is acting, which could then result in fuming and fire. 2. The dynamic brake is a short-time rating brake just for emergency stop use. If the dynamic brake acts commencing from the time of high speed running, provide a lead time of about 3 minutes after complete stop. This dynamic brake can be started in the following cases. (1) Against "Servo OFF" (2) When any of the protective functions actuate (3) When the overtravel inhibit inputs (CWL, CCWL) of the connector CN X5 actuate In the above cases (1) - (3), it is selectable by setting up the applicable parameters whether the dynamic brake is started or put in free running during deceleration or after complete stop. However, the dynamic brake is kept actuating when the power is switched OFF. 36 [Preparations] (1) Setting driving conditions through deceleration and stop by turning on Servo-OFF (Pr69) Driving Conditions Sequence at Servo-OFF (Pr69) During deceleration After stop Status of Deviation Counter Setting of Pr69 0 D 1 B Free Run D 3 B Free Run 4 D 5 B Free Run 6 D 7 B Free Run B Cleared D B Cleared Free Run Cleared Free Run Cleared D B Holding D B Holding Free Run Holding Free Run Holding (2) Setting of Driving Conditions from Deceleration till Stop by Turning on Protective Function (Pr68) Driving Conditions Sequence at alarm (Pr68) (During deceleration) (After stop) Status of Deviation Counter Setting of Pr68 0 D 1 B Free Run 2 D 3 B Free Run D B Cleared D B Cleared Free Run Cleared Free Run Cleared (3) Setting of Driving Conditions through Deceleration and Stop by Enabling Overtravel Inhibit Input (CWL, CCWL) (Pr66) Deceleration and stop set-up at overtravel inhibit (Pr66) Driving Conditions During deceleration After stop Setting of Pr66 0 D 1 2 2 (Position control.) B Free Run Free Run Free Run Servo Lock Servo Lock Speed Speed zero clamp (Internal velocity zero clamp control.) 37 Preparations 2 D Homing Operation (Precautions) In initialization (i.e., operation to return to a home position) by using the host controller, if origin input (Z-phase from the encoder) is entered before the motor has not adequately decelerated since the proximity sensor was activated, the motor may not stop at a requested position. In order to prevent this, determine positions where the proximity input and origin input turn on, by taking into consideration the number of pulses required for successful deceleration. As settings of parameters "acceleration/deceleration time" have also effects on initialization, consider both positioning and initialization when you set them. For detailed information on initialization, refer to the operating manual for the host controller. Example of Homing Operation Proximity dog on .... When the proximity input turns ON, the motor will start to decelerate, and stop when a first origin input (Z phase) is entered. Proximity Sensor Dog Proximity Input Speed Origin Input Z-phase output from encoder Proximity dog off .... When the proximity input turns ON, the motor will start to decelerate, and stop when a first origin input (Z phase) is entered after the proximity input turns off. Proximity Sensor Dog Proximity Input Speed Origin Input Z-phase output from encoder 38 Setting the Parameters [Preparations] Overview of Parameters The servo driver has various parameters to set up its characteristics, functions, etc. This Section describes the function and purpose of each parameter. Before using, understand well the descriptive contents and adjust each parameter to the condition optimum to your intended operational conditions. How to Set <Remarks> For how to set up the parameters on the PC screen, refer to "PANATERM(R)" Instruction Manual. Overview of Console Console is able to: (1) Monitor rotation speed, torque, positional deviation, input/output power, pulse input, load factor, etc. of servomotors, (2) Setup and save parameters of servo-motor drivers, (3) Write the data into memory (EEPROM), (4) Execute normal-auto-gain tuning, (5) Indicate current alarms and make reference to error history, (6) Operate test runs, (7) Make copies of parameters and clear alarms. Overview of PANATERM(R) This PANATERM(R) is able to; (1) Set up, save and write the driver parameters in the memory (EEPROM), (2) Monitor I/O data, pulse input data and load factor, (3) Refer to current alarm display and error history, (4) Measure the waveform graphic data and to call the saved data, (5) Execute auto gain tuning, (6) Measure the frequency characteristic of the mechanical system. 39 Preparations Parameters can be set up on; (1) Console (2) the screen of personal computer (PC) wherein the setting-up support software "PANATERM(R)" for E-Series was installed. Setting the Parameters How to Connect RS-232C connecting cable * DV0P1960 (for DOS/V) STATUS ALM CODE x6 Connecting to CNX6 x5 x4 Setup Disk for Setting-up Support Software "PANATERM(R)" * DV0P4230: Japanese version * DV0P4240: English version For the latest version, contact us. Console * DV0P3690 x3 M MODE S SHIFT SET x1 Connecting to CNX6 <Notes> * Securely connect the connector with the connector CN X6 of the driver. * Never insert or pull out the connector while holding a cable. 40 [Preparations] Parameter Groups and Listing Group Function selecting Parameter No. (Pr Briefing ) 00 - 0E These parameters are used to select control mode, allocate I/O signals and to set up communication baud rate. These parameters are used to set up servo gains (1st, 2nd) of 10 - 1E position, velocity, integration, etc. and the time constants of various 20 - 2F 30 - 35 These parameters related to real time auto tuning and damping function are used to set up the modes and to select mechanical stiffness. These parameters are used to set up the data related to interchange of 1st gain 2nd gain. These parameters are used to set up input form and logical Position control 40 - 4E selection of command pulses and dividing of encoder output pulses, and to set up the dividing multiplier ratio of command pulses, etc. Internal velocity and torque control 53 - 59 5E These parameters are used to set up internal velocity (1 - 4 velocity, JOG speed), acceleration/deceleration time, etc. This parameter is used to set up torque limit. These parameters are used to set up the conditions for detecting 60 - 6B output signals such as positioning end, zero speed, etc. and the conditions for corrective action against positional over-deviation. Sequence Furthermore, these are used to set up deceleration and stopping 70 - 73 against power OFF, alarm output and servo OFF, and the conditions for clearing the deviation counter. 41 Preparations filters. Adjustment Setting the Parameters Parameters for Selecting Function Parameter No. (Pr ) Parameter description Range Default Unit Related control mode *00 Axis address 1 - 15 1 -- P * P2 * S *01 7-segment LED for console, initial condition display 0 - 15 1 -- P * P2 * S *02 Control mode set up 0-2 2 -- P * P2 * S *1 03 (For manufacturer use) -- 0 -- -- *04 Overtravel Input inhibit 0-1 1 -- P * P2 * S 05 (For manufacturer use) -- 0 -- -- 0-2 1 -- P * P2 * S -- 0 -- -- 0-6 2 -- P * P2 * S -- 0 -- -- *06 ZEROSPD/TC input selection 07,08 (For manufacturer use) 09 Warning output selection 0A,0B (For manufacturer use) *0C Baud rate set-up of RS232C 0-2 2 -- P * P2 * S 0D (For manufacturer use) -- 0 -- -- 0E (For manufacturer use) 0-1 0 -- -- 0F (For manufacturer use) -- 0 -- -- Range Default Unit Related control mode Parameters for adjusting the time constants of gain filter Parameter No. (Pr ) Parameter description 10 1st position loop gain 0 - 32767 <63> 1/s P * P2 11 1st velocity loop gain 1 - 3500 <35> Hz P * P2 * S 12 1st velocity loop integration time constant 1 - 1000 <16> ms P * P2 * S 13 1st speed detection filter 0-5 <0> -- P * P2 * S 14 1st torque filter time constant 15 Velocity feed forward 16 Feed forward filter time constant 17 (For manufacturer use) 18 19 0 - 2500 <65> 0.01ms P * P2 * S -2000 - 2000 <300> 0.1% P * P2 0 - 6400 <50> 0.01ms P * P2 -- 0 -- -- 2nd position loop gain 0 - 32767 <73> 1/s P * P2 2nd velocity loop gain 1 - 3500 <35> Hz P * P2 * S 1A 2nd velocity loop integration time constant 1 - 1000 <1000> ms P * P2 * S 1B 2nd speed detection filter 0-5 <0> -- P * P2 * S 1C 2nd torque filter time constant P * P2 * S 1D 1st notch frequency 1E 1st notch width selection 1F (For manufacturer use) 26 27 - 2A 0 - 2500 <65> 0.01ms 100 - 1500 1500 Hz P * P2 * S *1 0-4 2 -- P * P2 * S -- 0 -- -- Software limit function 0 - 1000 10 0.1 rev P * P2 (For manufacturer use) -- 0 -- -- 2B Damping frequency 2C Damping filter setting 0 - 5000 0 0.1Hz P * P2 *1 -200 - 2500 0 0.1Hz P * P2 Range Default Unit Related control mode Parameters for Auto Gain Tuning Parameter No. (Pr ) Parameter description 20 Inertia ratio 0 - 10000 <100> % P * P2 * S 21 Real time auto tuning set-up 0-7 1 -- P * P2 * S *1 22 Machine stiffness at auto turning 0 - 15 4 -- P * P2 * S -- 0 -- -- 0-7 0 -- P * P2 * S -- 0 -- -- 0 - 64 <0> -- P2 *1 23,24 25 2D,2E 2F (For manufacturer use) Normal auto tuning motion set-up (For manufacturer use) Adaptive filter frequency 42 [Preparations] Parameters for Adjustment for 2nd Gain P: High velocity response positioning control, P2: High function positioning control, S: Internal velocity control Parameter No. (Pr ) Parameter description Range Default Unit Related control mode 0-1 <1> -- P * P2 2nd gain action set-up 31 Position control switching mode 0 - 10 <10> -- P * P2 32 Position control switching delay time 0 - 10000 <30> 166s P * P2 33 Position control switching level 0 - 20000 <50> -- P * P2 34 Position control switching hysteresis 0 - 20000 <33> -- P * P2 35 Position loop gain switching time 0 - 10000 <20> Setup value x 166s P * P2 -- 0 -- -- 36 - 3F (For manufacturer use) * *-marked parameter No. in the above table is validated by writing the parameter No. in EEPROM after set up and re-switching ON the power after once switched OFF. <Note> * The parameters which of "standard default value" is enclosed with < > vary automatically with execution of the real time auto tuning function. For adjusting in MANUAL mode, set Pr21 real time auto tuning setup to "0" (invalidated). <Remarks> *1 Parameter No. (Pr ) *2 *3 Parameter description High velocity response High function positioning control: P positioning control: P2 Internal Velocity Control: S 02 Control mode set-up 0 2 1 1D 1st notch frequency Conditional *2 Validated Conditional *2 2B Damping frequency Conditional *2 Validated Invalidated 21 Real time auto tuning set-up Conditional *2 Validated Conditional *2 2F Adaptive filter frequency Invalidated Validated *3 Invalidated In "High Velocity Response Positioning Control" and "Internal Velocity Control" modes, simultaneous use of the first notch frequency, damping frequency and real time auto tuning set-up is not allowed, and any one of parameters (functions) can only be used. By priority a parameter that is entered first will be validated. (Ex.) By setting "Real time auto tuning" parameter, 1st notch frequency is set compulsorily to 1500 (Invalidated) at the driver side even it was input. An adaptive filter is only validated in high function positioning control mode. 43 Preparations 30 Setting the Parameters Parameters for Positioning Control P: High velocity response positioning control, P2: High function positioning control, S: Internal velocity control Parameter No. (Pr ) Parameter description Range Default Unit Related control mode *40 Command pulse multiplier set-up 1-4 4 -- P * P2 *41 Command pulse direction of rotation set-up 0-3 0 -- P * P2 *42 Command pulse input mode set-up 0-3 1 -- P * P2 43 (For manufacturer use) *44 Output pulses per single turn *45 Pulse output logic inversion -- 0 -- -- 1 - 16384 2500 P/r P * P2 * S 0-1 0 -- P * P2 * S 46 Numerator of 1st command pulse ratio 1 - 10000 10000 -- P * P2 47 Numerator of 2nd command pulse ratio 1 - 10000 10000 -- P * P2 -- 0 -- -- n P * P2 48,49 (For manufacturer use) 4A Multiplier of numerator of command pulse ratio 4B Denominator of command pulse ratio 4C 4D *4E 4F 0 - 17 0 2 1 - 10000 10000 -- P * P2 Smoothing filter set-up 0-7 1 -- P * P2 (For manufacturer use) -- 0 -- -- 0 - 31 0 P * P2 -- 0 (Setup value + 1) cycles -- FIR filter set-up (For manufacturer use) -- * *-marked parameter No. in the above table is validated by writing the parameter No. in EEPROM after set up and re-switching ON the power after once switched OFF. Parameters for Velocity Control and Torque Limit Parameter No. (Pr ) 50 - 52 Parameter description Range Default (For manufacturer use) Unit Related control mode -- 0 -- -- 53 1st internal speed set-up -20000 - 20000 0 r/min S 54 2nd internal speed set-up -20000 - 20000 0 r/min S 55 3rd internal speed set-up -20000 - 20000 0 r/min S 56 4th internal speed set-up -20000 - 20000 0 r/min S 57 JOG internal speed set-up 0 - 500 300 r/min P * P2 * S 58 Acceleration time set-up 0 - 5000 0 2ms/(1000r/min) S 59 Deceleration time set-up 0 - 5000 0 2ms/(1000r/min) S -- -- 5A - 5D (For manufacturer use) -- 0 5E*1 1st torque limit set-up 0 - 500 See next page % P * P2 * S 5F (For manufacturer use) -- 0 -- -- *1 : Each standard default setup value in Pr5E differs depending on combination of driver and motor. Refer to "Pr5E 1st Torque Limit Set-up" on next page, too. 44 [Preparations] Pr5E 1st Torque Limit Set-up Driver power Motor model 300 330 300 330 * Pr5E 1st torque limit can't be set up in excess to the value that was set up before shipping, under "Maximum Torque Setting" of the system parameters. The setup value under "Maximum Torque Setting" is the same as the standard default setup value. * The system parameters are those before shipping from the shop which can't be changed in PANATERM(R) and the console. <Note> Where the motor model was changed, the maximum value of Pr5E may vary eventually. Therefore, recheck the setup value and re-set it as necessary. Notes in Replacing Motor The upper limit value of Pr5E 1st torque limit setting-up range is automatically decided by connecting the motor to the driver. Therefore, Pr5E setup value must be rechecked when replacing the motor. 1. When replacing the current motor with motor of the same model Pr5E 1st torque limit value to be set up after motor replacement is the value that has been written in the driver before the replacement. Particularly, the setup value needs no change. Ex.) After having replaced Before replacing motor 50W motor had been used with 100-% torque limit. In the case the current 50W motor is replaced with another 50W motor of the same output capacity, Pr5E setup value remains unchanged as 100-% torque limit. 2. When limiting motor torque Pr5E 1st torque limit is set up at percentile (%) value against the rated torque. In the case the current motor was replaced with another motor different from it in the motor series or W-number, Pr5E setup value must be re-set up because the rated torque value differs from that of the motor before being replaced. Ex.) After having replaced Before replacing motor 50W motor had been used with 100-% torque limit. In the case the current motor is replaced with 100W motor, must be re-set at 100-% torque limit to 100W motor. When limiting 100W motor torque with the same torque as 50W motor, set up the Pr5E 1st torque limit at 50. Ex.) Before replacing motor MKDET1505P STATUS After having replaced MKDET1505P STATUS ALM CODE x6 x5 x6 MUMA5AZP1 x5 x4 Pr5E MUMA012P1 x4 x3 x1 ALM CODE x3 Rated torque 0.16N*m Setting-up range: 0 - 300% When the setup value is 100%, torque limit value 0.16N*m x 100%= 0.16N*m Rated torque 0.32N*m x1 Pr5E Setting-up range: 0 - 300% If the setup value remains unchanged as 100%, 0.32N*m x 100% = torque limit value 0.32N*m 45 For torque limit value 0.16N*m, set it to 50% (0.32N*m x 50% = 0.16N*m). Preparations MUMA5AZP1 1-phase MUMA011P1 100V MUMA021P1 MUMA5AZP1 1-phase/ MUMA012P1 3-phase MUMA022P1 200V MUMA042P1 Parameter 5E standard default setup value Setting the Parameters Parameters for Sequence P: High velocity response positioning control, P2: High function positioning control, S: Internal velocity control Parameter No. (Pr ) Parameter description Range Default Unit Related control mode 10 Pulse P * P2 60 In-position range 0 - 32767 61 Zero speed 0 - 20000 50 r/min P * P2 * S 62 At-speed 0 - 20000 1000 r/min S 63 1st position over-deviation set-up 1 - 32767 1875 256Pulse P * P2 64 Position over-deviation invalidation 0-1 0 -- P * P2 65 (For manufacturer use) *66 Deceleration and stop set-up at overtravel inhibit 67 (For manufacturer use) 68 Sequence at alarm -- 0 -- -- 0-2 0 -- P * P2 * S -- 0 -- -- 0-3 0 -- P * P2 * S 69 Sequence at Servo-OFF 0-7 0 -- P * P2 * S 6A Mech. break action set-up at motor standstill 0 - 100 0 2ms P * P2 * S 6B Mech. break action set-up at motor in motion 0 - 100 0 2ms P * P2 * S 6C External regenerative discharge resister selection 0-3 3 -- P * P2 * S 6D (For manufacturer use) -- 0 -- -- 6E - 6F (For manufacturer use) -- 0 -- -- Pr63 position over-deviation is set up at the over-deviation detection value of "setup value x 256pulses". The default setup value would result in position over-deviation error if the value of "1875 x 256pulses" is exceeded. Parameter No. (Pr ) Parameter description Range Default Unit Related control mode 0 - 6000 0 r/min P * P2 * S 70 1st over-speed level set-up 71 2nd torque limit set-up 0 - 500 0 % P * P2 * S 72 2nd position over-deviation set-up 1 - 32767 1875 256Pulse P * P2 73 2nd over-speed level set-up 0 - 6000 0 r/min P * P2 * S 46 Using the Console [Preparations] Using the Console Display, LED (display in 6 digits) Display of selected Driver ID No. (2 digits) The value set up on Pr00 (shaft name) is ID No. Parameter No. (2 digits) is displayed under "Parameter Setting" mode. MINAS DIGITAL AC SERVO MODE SHIFT S SET This is used to change the data and to execute parameter selection. The numerical value increments by pressing , and it decrements by pressing . Setting Button: This is to shift each mode, which was selected by the mode selector button, to "EXECUTE" display. Mode Selector Buttons: These buttons are used to select 6 different modes. (1) MONITOR mode (5) AUXI FUNCTION mode (2) PARAMETER SETTING mode * Test run (JOG mode) (3) EEPROM WRITE mode * Alarm clear (6) COPING FUNCTION mode (4) NORMAL AUTO GAIN * To copy parameters from the servo driver to the console. TUNING mode * To copy parameters from the console to the servo driver. In parameter setting, set data after switching to parameter set mode. The Initial State of the Display (7-Segment LED) Turn on the driver with the console connector connected to the driver, or connect the console connector to connector CN X6. 0.6 sec To initialize the console, the display comes on about 0.6 seconds respectively. 0.6 sec 0.6 sec ------Version of the microcomputer of the console is indicated. (The indicated number differs according to the version of the microcomputer.) ------------------------Indicates ID number or the driver (data of parameter Pr00). 1 sec ------Indication of the initial state of LED Determined by the setting of parameter Pr01 in the initial state of LED. 47 Preparations This is used to shift the digits of data to be changed. M Using the Console Structure of Each Mode The structure of each mode and the mode switching procedure can be changed with each button on the operation panel. S SET Monitor Selection Display Set button Initial state of console LED M Mode switch button Parameter setting MODE M Mode switch button EEPROM writ MODE M Mode switch button M Mode switch button Normal-autogain tuning MODE Auxiliary functions MODE M Mode switch button M Mode switch button Copy function MODE MODE 48 [Preparations] Execution Display ------Page 50 Set button S Set button ------Page 57 For details on parameters, refer to Position Control Mode on Page 65 and Internal Velocity Control Mode on Page 103. S Set button ------Page 50 S Set button ------Page 58 SET SET SET Preparations S SET ------Page 59 S SET Alarm clear Set button ------Unusable ------Page 60 Test run (JOG) S SET Set button ------Page 62 Make a copy of parameters from servo driver to console. ------Page 63 Make a copy of parameters from console to servo driver. 49 Using the Console Example of Settings (1) Insert the connector of console into CN X6 of the driver, and then turn on the power of the driver. Setting parameters: (2) Press S . (3) Press M . (4) Select the parameter to be SET MODE set with MINAS DIGITAL AC SERVO M MODE S . (5) Press S . (6) Change the value with SET , and SHIFT SET and (7) SHIFT , . Press S . SET Starting EEPROM write: (8) Press M . (9) Press S . MODE SET (10) Keep pressing (about 5 seconds). Then, the number of bars increases as shown on the right. Start of write (indicated momentarily.) End Write finishes. Write error occurs. After finishing write, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). <Notes> When the parameters that become active after they are reset have been changed, appears on completion of the write. Once turn off power for the console to reset them. * If any data write error has occurred, write the data again. If the write error occurs repeatedly, the console may be in failure. * Do not turn off power while writing data into EEPROM. Otherwise, some false data may be written in the EEPROM. If such an erroneous operation were made, setup all the parameters again, and after thoroughly checking the settings, write the data again. * Do not disconnect the console connector from the servo driver during the proceeding from to . If the connector is disconnected during the time by any chance, connect the connector again, and restart the operation from the beginning. 50 [Preparations] Monitoring Mode When power of the servo driver is turned on for the first time after the driver is purchased, appears on the display (when the motor is stopped). If the indication on the display that appears after turning on power is to be changed, change the initial setting of Pr01LED. For the details, refer to the parameter setting in each control mode. Selection Display Execution Display Description Reference page Positional deviation (Deviation: 5 pulses) Rotation speed of motor (1000r/min) Torque output (Torque output: 100%) Control mode (Position control mode) P.52 Input/output signal status (Input signal No. 0: active) P.53 Error factor, history (Currently no error) P.55 (No warning) P.56 (30% of permissible regenerative power) P.56 Overload factor (Overload factor: 28%) P.56 Inertia ratio (Inertia ratio: 100%) P.56 Total number of feedback pulses (Total feedback pulses: 50) P.56 Total number of control pulses (Total control pulses: 10) P.56 P.52 Used by manufacturer Warning S SET Regenerative load factor (Set button) Unusable P.56 Unusable P.56 Motor auto recognition (Motor auto recognition active) Selection of communication (RS232C communication) The display shifts in the arrow direction by pressing , and in the reverse direction by pressing M . (Mode switch button) MODE To parameter setting mode Page 57 51 P.56 Preparations Example of display Using the Console Display of positional deviation, rotation speed of motor, and torque output Data ****** Positional deviation (cumulative number of pulses counted by deviation counter) * Indication with "-" : Rotation torque is generated in CW direction viewed from the end of axis. Without "-" : Rotation torque is generated in CCW direction viewed from the end of axis. ****** Rotation speed of motor [r/min] * Indication with "-": CW rotation, Without "-": CCW rotation ****** Torque output [%] (Rated output: 100%) * Indication with "-": CW rotation, Without "-": CCW rotation <Remarks> "+" is not indicated with LED. Only "-" is indicated. Display of control mode ****** Position control mode (High velocity response positioning control made, High function positioning control mode) ****** Velocity control mode (Internal velocity control mode) 52 <Remarks> Both high velocity response positioning control and high function positioning control are indicated as . To discriminate between them, check the setting value of Pr02 control mode. [Preparations] Display of input/output signal status The status of control input/output signal connected with connector CN X5 is displayed. Make use of this display to check the quality of wiring and for other purposes. Select no. of the signal to be monitored by pressing and . ****** Active (The signal is active.) ****** Inactive (The signal is inactive.) Signal No. (hexadecimal number 0 - 1F) place of input signal) Transition by (No. of the highest place of input signal) pressing (No. of the lowest . ******** Input signal place of output signal) ******** Output signal (No. of the highest place of output signal) <Remarks> * The blinking decimal point is shifted by pressing SHIFT . (Right side of the decimal point: Signal selection mode) SHIFT (Left side of the decimal point: Input/output selection mode) * Signal No. can also be changed with input/output mode as follows: 53 Preparations (No. of the lowest Using the Console Correspondence between signal no., signal name, and signal status Input signals Connector CN X5 Signal no. Signal name Description Designation Pin no. SRV-ON 2 When Servo-ON signal is connected (turned on), A is indicated. A-CLR 3 When alarm clear signal is connected (turned on), A is indicated. 00 Servo-ON 01 Alarm clear 02 CW overtravel inhibition CWL 7 When the overtravel inhibit input, Pr04 is inactive (set to 1), - is indicated. When it is active 03 CCW overtravel inhibition CCWL 8 (set to 0), that is, the signal input is open (off), A is indicated and any torque is not generated. 04 For manufacturer use 05 Zero speed clamp ZEROSPD 5 When ZEROSPD/TC input selection, Pr06 is active (set to 1), the motor stops with the signal open (off) and A is indicated. 06 First command division/ multiplication switching DIV 6 When the signal is connected (turned on), A is indicated and the second command division/multiplication numerator is brought in. GAIN 5 When 2nd gain action set-up Pr30 is set to 0 and gain switching signal is open (off), Pl operation (proportion and integration) is performed and - is indicated. CL 4 Used in clearing deviation counter, and A is indicated when the signal is connected (turned on). INTSPD1 6 When the signal is connected (turned on), A is indicated. INTSPD2 4 07 - 08 For manufacturer use 09 Gain switching 0A Deviation counter clear 0B For manufacturer use 0C 0D Internal command speed selection 1 Internal command speed selection 2 0E - 0F For manufacturer use 10 - 1F For manufacturer use Output signals Connector CN X5 Signal name 00 For manufacturer use 01 Servo alarm ALM 9 When servo alarm occurs, output transistor comes off and A is displayed. 02 Positioning completion COIN 10 When number of deviation pulses comes in the in-position range Pr60, A is indicated. 03 Brake release BRK-OFF 11 When output transistor for electromagnetic brake release signal is turned on, A is indicated. 04 Zero speed detected ZSP 12 05 Torque limited TLC 12 When signal output selected by warning output selection Pr09 turns on the transistor, A is indicated. COIN 10 When actual speed of motor exceeds achieved speed set by Pr62, the transistor is turned on and A is indicated. 06 - 08 09 0A - 1F Designation Description Signal no. Pin no. For manufacturer use Achieved speed For manufacturer use <Remarks> The signals of connector CN X5 that have attached on them are active when they are L (ON). 54 [Preparations] Referring to error factors and error history It is possible to review the factors of the past 14 errors including current error. Select the error to be reviewed by pressing Error code No. (" " means no error.) and . <Note> The following errors are not recorded in the error history: Error history 0 (the latest error history) Error history 13 (the oldest error history) error and history 0 have same error code No. indicated. When an error occurs, the error display blinks. Relation between error code no. and error factor Error code no. Error factor Error code no. Error factor 11 Power voltage shortage protection 34 Software limit protection 12 Over-voltage protection 36 EEPROM parameter error protection 14 Over-current and ground fault protection 37 EEPROM check code error protection 15 Internal resistor heating protection 38 Overtravel inhibit input protection 16 Overload protection 44 ABS 1-rotation counter error protection 18 Regenerative resistor overload protection 45 ABS multi-rotation counter error protection 21 Encoder communication error protection 48 Encoder Z-phase error protection 23 Encoder communication data error protection 49 Encoder CS signal error protection 24 Position over-deviation protection 95 Motor auto recognition error protection 26 Over-speed protection 96 LSI setup error protection 27 Command pulse multiplier error protection 29 Deviation counter overflow protection Other No. 55 Other trouble and error Preparations Currently occurring error 11: Power voltage shortage protection 36: EEPROM parameter error protection 37: EEPROM check code error protection 38: Driving Prohibit input protection 95: Motor auto recognition error protection 96: LSI setup error protection When an error to be recorded in the history occurs, both the current Using the Console Warning display No occurrence of warning Occurrence of warning Warning of overload: Load has exceeded 85% of the level where overload protection alarm occurs. Warning of regenerative overload: Regenerative load has exceeded 85% of the level where regenerative overload protection alarm occurs. When externally added regenerative resistor, Parameter No. 6C, is selected to be "1", the alarm is set to occur at 10% of the full working level of the regenerative resistor. For manufacturer use : Can not be used. Display of regenerative load factor Regenerative resistor load factor is indicated as a percentage with reference to 100% level where regenerative protection is activated. With externally added resistor, this display is active when parameter Pr6C is set to "0" or "1". Display of overload factor Load factor is indicated as a percentage with reference to the rated load 100%. See also "Overload Protection Time-limiting Characteristics" on Page 146. Display of inertia ratio Inertia ratio is indicated in percent. Display of total number of feedback pulses and total number of control pulses 32767 pulses Total number of the pulses after turning on the control power. This display overflows as shown on the right. 0 -32768 pulses CW direction Turning on the control power -32768 pulses CCW direction The indicated total pulse number can be reset (comes to 0) by pressing S about 5 seconds or more. SET ***Can not be used. ***Can not be used. Auto recognition of motor Auto recognition is active (always indicated as shown on the left). 56 [Preparations] Parameter Setting Mode Operations with Selection Display Bring in the display of parameter setting mode by pressing M once after pressing S in the initial state of LED. MOOD SET Parameter No. (hexadecimal) Select the number of the parameter to be referred to or to be set by pressing In the arrow direction by pressing In the reverse direction by pressing or . . . Operation with Execution Display Reveal execution display by pressing S . SET The number of the place accompanied by blinking decimal point can be changed. Value of the parameter (1) By pressing , shift the decimal point to the place where the number is to be changed. SHIFT (2) Set the value of the parameter by pressing or . The value increases by pressing and decreases by pressing <Remarks> Number of shifts to the upper place of the decimal point depends on each of the parameters. . After setting parameters, return to Selection Display by referring to "Structure of Each Mode". (Page 48 and 49). <Notes> After you change a parameter value and press S , the changed content is reflected in the associated control. When a parameter having a significant effect on motion of the motor, especially motor velocity loop gain, positional loop gain, etc., is to be changed, do not change the value by a large quantity at one time, but change the value in small increments. SET 57 Preparations <Note> The parameters in which "r" is indicated in this place are made active after they are changed and written into EEPROM and then power is once turned off. Using the Console Normal Auto Gain Tuning Mode <Notes> * For details on normal auto gain tuning function, refer to "Normal Auto Gain Tuning" on Page 132 of Adjustment edition. Especially, please thoroughly understand the scope and cautions described in the manual to use the auto gain tuning function. * In the normal auto gain tuning mode the driver automatically drives the servo-motor in a predetermined operating pattern. The operating pattern can be changed with Pr25 (normal auto tuning motion set-up), but be sure to execute normal auto gain tuning after moving the load to the position where the motor can be driven in the changed operating pattern without any hitch. * Execute the normal auto gain tuning after switching on the servo. Operations with Selection Display Bring in the normal auto gain tuning mode display by pressing S once and then M three times in the initial state of LED. MODE SET Select mechanical stiffness no. by pressing and . <Remarks> For mechanical stiffness No., see Page 134. Mechanical stiffness no. Operation with Execution Display by pressing S . Reveal execution display SET Switch on the servo after inhibiting entry of command input, and then keep pressing until the LED display of the console is changed to " " Keeping pressing (about 5 seconds) increases number of " " as shown left. <Remarks> Write the gain value into EEPROM so that the value may not be lost with power off. Motor start Finish Tuning has completed Tuning error After finishing the tuning, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). <Notes> Do not disconnect the console cable from the servo driver during the proceeding from to . If the connector is disconnected (during the time) by any chance, connect the connector again, and restart the operation from the beginning. <Remarks> If any of the followings takes place during the tuning operation, it will cause a tuning error: (1) During the tuning operation: 1) Any failure occurs, 2) The servo is switched off, 3) The deviation counter is cleared, 4) The operation is made near the limit switch. (2) The inertial or load is too heavy and the output torque is saturated. (3) The tuning operation can not be carried out properly because some oscillation of the servo occurs. If a tuning error occurs, value of each gain is brought back to the value that was assigned before the execution of the tuning. The tuning is not tripped except when some failure occurs. In some occasions depend" is not ing on the load, oscillation of the servo may occur without indication of tuning error (" displayed). Therefore, great attention must be given to safety of the operation. 58 [Preparations] Alarm Clear The motor stop condition (trip condition) is cleared by the protective function. Operations with Selection Display Enter the auxiliary function mode by pressing S once and M four times in the initial state of LED, and then bring in SET MODE by pressing and . Preparations Operation with Execution Display by pressing S . Reveal execution display Keep pressing SET until the LED display of the console is changed to " ". Keeping pressing (about 5 seconds) increases number of " " as shown left. Start of alarm clear Finish Alarm clear is finished. Alarm is not cleared. Clear the alarm by resetting power. After clearing the alarm, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). <Notes> Do not disconnect the console cable from the servo driver during the proceeding from to . If the connector is disconnected during the time by any chance, connect the connector again, and restart the operation from the beginning. 59 Using the Console Test Run (JOG) It is possible to make test runs without connecting any host controller such as PLC to connector CN X5. <Note> * Be sure to make test runs after isolating the motor from the load and disconnecting connector CN X5. * To avoid any failure such as oscillation of the servo, reset the user parameters (especially, the 1st position loop gain Pr10 and the 1st velocity loop gain Pr11) to their default value. (1) Check the wirings: * Connected correctly (especially power supply connection and motor connection), * Not shorted and properly earthed, and * Not loose. (2) Check the supply voltage: * Check that the rated voltage is supplied. Power supply STATUS ALM CODE x6 x5 x4 x3 x1 (3) Install the motor: * Check that the servomotor is firmly installed. (4) Isolate the mechanical load. * Perform a test run of the motor independently. (5) Release the brake. Ground Machine Motor (6) Switch off the servo by pressing S after finishing test runs. SET 60 CN X4 [Preparations] Test Run Procedure Turn on power for the driver and connect the console connector to connector CN X6 of the driver. Display of motor rotation speed (Initial state of LED) Operations with Selection Display Enter the auxiliary function Preparations mode by pressing S once and M four times, and then bring in SET by pressing MODE and . Operation with Execution Display by pressing S . Reveal execution display Keep pressing SET until the LED display of the console is changed to " Keeping pressing ". (about 5 seconds) increases number of " " as shown left. Step 1 ready for motor test run Keep pressing SHIFT until the LED display is changed to " By keeping pressing ". SHIFT (about 3 seconds), position of the decimal point shifts to left as shown on the left. Pressing S turns off the servo. Step 2 ready for motor test run SET Servo is turned on. After the servo is turned on at Step 2 ready for motor test run: The servo-motor continues to turn in CCW direction by keeping pressing keeping pressing and in CW direction by at the speed determined by Pr57 (JOG speed). After finishing test runs, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). <Remarks> If connector CN X6 is disconnected during JOG operation, the servo is turned off after 100 ms at maximum. <Note> If any trouble, such as break of cable or disconnection of connector, occurs during test run, the servomotor overruns for 100 ms at maximum. Check the safety about test runs to a sufficient degree. 61 Using the Console Copying parameters from servo driver to console (Copy Function) Operations with Selection Display Enter the copy mode by pressing S once and M MODE SET five times in the initial state of LED, and then bring in by pressing and . Operation with Execution Display by pressing S . Reveal execution display Keep pressing SET until the LED display of the console is changed Keeping pressing to " increases number of " ". (about 3 seconds) " as shown left. Initialization of EEPROM of the console starts. The number decreases over time as 10, 9, 8, ----. Copying parameters and model code from servo driver to consloe starts. Writing parameters into EEPROM of console starts. Error display Copying has finished normally. <Note> If this error display appears, start the operation from the beginning again. To cancel the error, press S . SET After finishing copying, return to Selection Display referring to Structure of Each Mode (Page 48 and 49). <Note> Do not disconnect the console cable from the servo driver during the proceeding from . to If the connector is disconnected during the time by any chance, connect the connector again, and restart the operation from the beginning. <Remarks> If the error display appears repeatedly, that is presumably because of break of cable, disconnection of connector, wrong operation due to noises, or failure of EEPROM of the console. 62 [Preparations] Copying parameters from console to servo driver (Copy Function) Operations with Selection Display Enter the copy mode by pressing S once and M five times in the initial state of LED, and then bring in MODE SET by pressing and . Preparations Operation with Execution Display by pressing S . Reveal execution display Keep pressing SET until the LED Keeping pressing display of the console is changed to " increases number of " ". (about 3 seconds) " as shown left. Reading parameters and model code from EEPROM of console starts. The number decreases over time as 10, 9, 8, ----. Checking whether parameters can be transmitted to servo driver starts. When the model code read from console is corresponded to the model code of servo driver. When the model code read from console is different from the model code of servo driver. By keeping pressing (about 3 seconds), position of the decimal point shifts to left as shown on the left. To cancel the copy, press S . SHIFT SET Writing parameters into EEPROM of servo driver starts. Copying has finished normally. Error display <Note> If this error display appears during , a parameter value read from the console is out of range. In this occasion check and modify the parameters in the copy source driver, and then copy the parameters from the copy source driver to the console, and then copy the parameters from the console to the copy destination driver. If this error display appears except for , start the operation from the beginning again. To cancel the error, press S . SET After finishing copying, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). <Note> Do not disconnect the console cable from the servo driver during the proceeding from to . If the connector is disconnected during the time, wrong data will be written in and the data will be crashed. In this occasion, copy the parameters from the copy source driver to the console, and then copy the parameters from the console to the copy destination driver. <Remarks> If the error display appear repeatedly except for , that is presumably because of break of cable, disconnection of connector, wrong operation due to noises, or failure of EEPROM of the console. 63 MEMO 64 Connections and Settings in Position Control Mode Connections and Settings in Position Control Mode Page Control Block Diagram in Position Control Mode ...... 66 Wiring to Connector CN X5 .......................................... 67 Example of Wiring in Position Control Mode ........................................... 67 Interface Circuit .......................................................................................68 Input Signal and Pin No. of Connector CN X5 ........................................ 70 Output Signal and Pin No. of Connector CN X5 ..................................... 72 Example of Connection to a Host Controller ........................................... 73 Test Run in Position Control Mode ............................. 82 Inspection prior to Test Run ....................................................................82 Test Run with Connector CN X5 Connected ........................................... 82 Real time Auto Gain Tuning ......................................... 86 Outline .....................................................................................................86 Scope ......................................................................................................86 Operating Instruction ...............................................................................86 Adaptive Filter .........................................................................................87 Parameters to be Set Automatically ........................................................87 Cautions ..................................................................................................87 Parameter Setting ......................................................... 88 Parameter for Selection of Functions ...................................................... 88 Parameters for Adjustment of Time Constants of Gains/Filters .............. 91 Parameters for Auto Gain Tuning ............................................................ 92 Parameters for Adjustment (Related to Second Gain Switching Function) ... 94 Parameters for Position Control ..............................................................95 Parameters for Internal Velocity Control .................................................98 Parameters for Torque Limits ..................................................................99 Parameters for Sequences .....................................................................99 65 Pr4B Denominator 66 OA/OB/OZ Feedback Pulse Pr4A Numerator Pr47 2nd Pr 41 Pr 42 Pr46 Inversed 1st Dividing Multiplier Mode Pr 4E FIR Filter Pr 40 Input Setting Multiplier *1: This is valid only when Pr42 =0 or 2. PULS *1 SIGN Pulse Row Inverted Pr 2C Pr 2B Vibration Damping Filter Command Speed Monitor Pr 45 Pr 44 Dividing Dividing Pr 4C Smoothing Filter Pr 16 Pr 15 Velocity Feed Forward Pr 18 Speed Detection Filter Speed Detected Pr 13 Pr 1B 1st 2nd Position Deviation Monitor 2nd Pr 10 Position Error Driver 1st Pr 20 Pr 1A Pr 19 Real Speed Monitor Inertia ratio 2nd Proportion 2nd Integration Speed Error Driver 1st Proportion Pr 11 1st Integration Pr 12 Pr 1E Pr 1D Encoder Reception Operation 1st Width 1st Frequency Notch Filter Limit 1st Time Constant 2nd Time Constant Pr 5E Pr 1C Pr 14 Torque Filter Encoder Motor Torque Command Monitor Control Block Diagram in Position Control Mode When Pr02, parameter for setting control mode is [0] or [2]*: Wiring to Connector CN X5 [Connections and Settings in Position Control Mode] Example of Wiring in Position Control Mode Example of Wiring in Position Control Mode Connections and Settings in Position Control Mode 67 Wiring to Connector CN X5 Interface Circuit Input Circuit SI Connection with Sequence Input Signal 12~24V * Connect to a contact of switch and relay, or a transistor of an open collector output. * When you plan to use a contact input, use switch and relay for minute electric current so as to avoid poor contact. * In order to secure appropriate level of primary current of the photo coupler, set lower limit voltage of the power supply (12 to 24 V) 11.4V or more. PI Command Pulse Input Circuit 1 COM+4.7k VDC SRV-ON, etc. Relay 12~24V 1 COM+4.7k VDC SRV-ON, etc. (1) Item Equivalent to AM26LS31 22 PULS1 23 220 (1) Line Driver I/F * This signal transmission method is less susceptible to effects of noise. We recommend this method to improve reliability of signal transmission. (2) Open Collector I/F * The method uses control power supply (VDC) external to the driver. * This requires a current-limiting resistor (R) that relies on VDC. * Be sure to connect specified resistor (R). PULS2 24 SIGN1 25 (2) 22 PULS1 R 23 Specification of R 12V 1k 1/2W 24V 2k 1/2W VDC--1.5 R+220 .=.10mA PULS2 220 24 SIGN1 R VDC VDC 220 14 SIGN2 GND 25 SIGN2 14 220 GND Maximum Input Voltage DC24V Rated Current: 10mA This represents a twisted pair cable. When the connection method is inversed if you use the CW pulse row + CCW pulse row method as pulse input form, pulses do not count and the motor does not rotate. Connect so that a photo coupler in the driver on the side on which pulse input is not done turns OFF. 68 [Connections and Settings in Position Control Mode] Output Circuit SO1 Sequence Output Circuit Be sure to install in the direction shown in the figure. * This output circuit is configured with a Darlington connection transistor output of open collector. It is connected to a relay or photo coupler. * Due to Darlington connection of the output transistor, there exists a collector-to-emitter voltage VCE (SAT) of approx. 1V upon power-ON of the transistor. Note that normal TTLIC cannot be directly connected since it does not meet VIL requirement. * When a recommended value of primary current of a photo coupler to be used is 10mA, determine a resistance value VDC[V] - 2.5[V] with the following formula: R [k] = SO1 ALM, etc. 12~24V VDC COIN, etc. 13 COM- 10 Maximum rating: 30V 50mA PO1 Line Driver (Differential Output) Output * Provide differential outputs of encoder signal output (Phases A, B and Z) after dividing operation is performed, by respective line drivers. * On the host controller side, receive signals with a line receiver. Then, be sure to install termination resistor (approx. 330) between inputs of the line receivers. * These outputs are non-insulated signals. OA+ OA- Item equivalent to AM26C31 15 A 16 OB+ OB- 17 18 B OZ+ OZ- 19 20 Z Item equivalent to AM26C32 GND 14 This represents a twisted pair cable. Be sure to connect the signal grounds between the host controller and driver. PO2 Open Collector Output * Among signals from the encoder, output phase Z signals with the open collector. This is non-insulated output. * On the host controller side, use a high-speed photo coupler for reception, since pulse width of phase Z signal is usually narrow. Maximum rating: 30V 50mA 21 CZ 14 GND High-speed Photo Coupler (Equivalent to TLP554 by Toshiba Corporation) This represents a twisted pair cable. 69 Connections and Settings in Position Control Mode For a recommended primary current value, check the data sheets of equipment or photo coupler you plan to use. Wiring to Connector CN X5 Input Signal and Pin No. of Connector CN X5 Input signals (common) and their functions Signal Name Pin No. Symbol Function I/F Circuit Control Signal Power Supply Input (+) 1 COM + * Connect positive (+) pole of external DC power supply (12 to 24V). * Total supply voltage should range from 12V 5% to 24V 5%. ---- Control Signal Power Supply Input (-) 13 COM- Servo-ON input 2 SRV-ON * Connect negative (-) pole of external DC power supply (12 to 24V). * The voltage source capacity varies depending on configuration of input/output circuits to be used. We recommend 0.5A or greater. * When this signal is connected to COM-, the driver will be enSI abled (Servo-on) (motor energized). Page 68 <Cautions> 1. The signal will become valid about 2 seconds after power-ON. (See the timing chart.) 2. Don't use Servo ON/OFF signal to drive/stop the motor. Refer to "Dynamic Brake" on Page 36 of Preparation edition. * Take the time of 100 ms or longer before entering a command on speed, pulse, etc., after transition to Servo-ON. * When you open the connection with COM-, the driver will be disabled (Servo-OFF) and the current flow to the motor will be cut off. * You can select dynamic brake operation during Servo-OFF and clear operation of the deviation counter by using Pr69 (sequence during Servo-OFF). Alarm Clear Input 3 Deviation Counter Clear/Internal Command Speed Selection 2 Input 4 Position Control A-CLR CL / The control mode changes functions. INTSPD2 * Input of this signal is to clear the deviation counter. When the signal is connected to COM- for 2 ms or longer, it will clear the deviation counter. Internal Velocity Control Gain Switching/Speed Zero Clamp/Torque Limit Switching Input 5 * If this signal is connected to COM- for 120 ms or longer, it will SI clear alarm status. Page 68 * There are some alarms that this signal cannot release. For details, refer to "Protective Functions" on Page 144 of Edition of When You Have Trouble. * With input of internal command speed selection 2 (INTSPD2), four-speed can be set in combination with INTSPD1 input. * For details on settings of control mode, refer to Page 117. GAIN /ZEROSPD /TC * Settings of Pr06 and control mode can change functions. Descriptions Pr06 Control Mode When position control Pr02 is 0 or 2 * The following 2 functions can be used with settings of Pr30. * Gain switching input (GAIN) switches P1/P operation and first/second gain. Setting of Pr30 Setting of Pr31 0 [Default value] - 1 2 Connection with COM- Open Description Velocity loop: P1 (proportional/integral) operation Velocity loop: P (proportion) operation Connected Open 1st gain selected (Pr10,11,12,13,14) Connected 2nd gain selected (Pr18,19,1A,1B,1C) For details on the 2nd gain switching function, refer to Page 138. 0, 1 When internal velocity control Pr02 is 1 * With speed zero clamp input (ZEROSPD), velocity command is opened when connection with COM- is opened. * You can override this input with Pr06. * A default value of Pr06 is 1, and this input is valid. When connection with COM- is opened, speed will be zero. Description Pr06 0 ZEROSPD input is invalid. 1 [Default value] 2 SI Page 68 Position Control/ Internal Velocity Control ZEROSPD input is valid. With torque limit switching input, parameters of acceleration level, torque limit, excessive position deviation can be switched. Connection with COM- Description Open 1st setting value selected (Pr70,5E,63) Connected 2nd setting value selected (Pr71,72,73) 70 SI Page 68 [Connections and Settings in Position Control Mode] Signal Name Pin No. Symbol Command Dividing Multiplier Switching/ Internal Command Speed Selection 1 Input 6 DIV /INTSPD1 7 CWL CW Overtravel Inhibit Input 8 CCWL The control mode can change functions. Position Control * Input to switch dividing multiply of command pulse * When this signal is connected to COM-, it will switch a command dividing multiply numerator from Pr46 (Numerator of 1st command pulse ratio) to Pr47 (Numerator of 2nd command pulse ratio). <Caution> You must not enter any command pulse for 10 ms before or after switching. Internal Velocity Control * With internal command speed selection 1 (INTSPD1), four-speed can be set in combination with INTSPD 2. * For details on settings of control mode, refer to Page 117. I/F Circuit SI Page 68 You must not enter any command pulse for 10 ms before or after switching. * If you open connection with COM- when a moving part of the SI machine exceeds the movable range in CW direction, no torque Page 68 will be generated in CW direction. * If you open connection with COM- when a moving part of the SI machine exceeds the movable range in CCW direction, no torque Page 68 will be generated in CCW direction. * If you set 1 to Pr04 (Overtravel input inhibit), CWL/CCWL inputs will be invalid. A default value is invalid (1). * Setting of Pr66 (DB inaction during driving prohibition) can activate the dynamic brake when CWL/CCWL input is valid. According to a default value, the dynamic brake will run (Pr66 is 0). Input Signal (Related to Position Control) and its Functions Signal Name Command Pulse Input Command sign input Pin No. Symbol 22 PULS1 23 PULS2 24 SIGN1 25 SIGN2 Function I/F Circuit * Input terminal of command pulse. The signal is received by the PI high-speed photo coupler on the driver side. Page 68 * Allowable Input Highest Frequency At the time of the line driver input : 500kpps At the time of the open collector input : 200kpps * Input impedance of PULS and SIGN is 220. * The following 3 forms of command pulse input can be selected with Pr42 (command pulse input mode set up). (1) 2-phase (Phase A/B) input (2) CW (PULS)/CCW (SIGN) pulse input (3) Command pulse (PULS)/sign (SIGN) input 71 Connections and Settings in Position Control Mode CW Overtravel Inhibit Input Function Wiring to Connector CN X5 Output Signal and Pin No. of Connector CN X5 Output Signals (Common) and their Functions Signal Name Pin No. Symbol Function Servo Alarm Output 9 ALM * The output transistor turns OFF when an alarm is generated. SO1 Page 69 Positioning Completion/Achieved Speed Output 10 COIN * The control mode changes functions. SO1 Page 69 Position Control * Positioning completion output * The output transistor turns ON when the deviation pulse does not exceed setting of Pr60 (In-position range). Internal Velocity Control * Achieved Speed Output * The output transistor turns ON when motor speed exceeds Pr62 (At-speed). Brake Release Signal Output 11 BRK-OFF Warning Output 12 WARN I/F Circuit * This signal is used to release the electromagnetic brake of the SO1 motor. Page 69 * The output transistor turns ON when the brake is released. * Refer to "Timing Chart" on Page 32 of Preparation edition. * A signal selected with Pr09 (warning output selection) is output. SO1 Page 69 Settings 0 1 Functions The output transistor turns ON while torque is limited. The output transistor turns ON when the speed falls below setting of Pr61 (Zero speed). The output transistor turns ON when any of the following 3 warning 2* [Default value] functions is activated: regenerative/overload/fan rotation speed abnormality. With the regenerative warning function activated (85% of the regen3* erative abnormality detection level is exceeded), the output transistor turns ON. With overload warning function activated (effective torque exceeds 85% 4* when the detection level of overload protection is considered 100%), the output transistor turns ON. 5* Displays may appear but do not function. 6 With the abnormal fan rotation speed warning function activated (the fan stops), the output transistor turns ON. * With settings of 2 to 6, once a warning is detected, the output transistor turns ON for at least 1 second. Phase-A Output Phase-B Output Phase-Z Output Phase-Z Output 15 16 17 18 19 20 21 OA+ OA- OB+ OB- OZ+ OZ- CZ *This signal provides differential output of the encoder signal PO1 (Phases A/B/Z) that undergoes dividing process (RS 422 phase, Page 69 etc.). * The logical relation between phases A and B can be selected with Pr45 (Pulse output logic inversion). * Not insulated * Phase Z signal output in an open collector PO2 * Not insulated Page 69 Output Signals (Others) and their Functions Pin No. Symbol Function I/F Circuit Signal Ground 14 GND -- Frame Ground 26 FG * Signal ground in the driver * Insulated from the control signal power supply (COM-) in the driver. * Connected with the earth terminal in the driver. Signal Name 72 -- [Connections and Settings in Position Control Mode] Example of Connection to a Host Controller Matsushita Electric Works, Ltd. FPG-C32T PLC Driver FPG-C32T (Matsushita Electric Works, Ltd. FP) E-series Y0 CW pulse command output 22 2k CCW pulse command output 5.6k X2 PULS1 23 PULS2 24 SIGN1 25 SIGN2 21 CZ 220 CW pulse command input 220 CCW pulse command input Origin input Phase Z output COM + Deviation counter reset output 14 GND 1 COM+ Y2 4 CL - 2 SRV-ON 5 GAIN/TC 3 A-CLR COM 8 CCWL X3 7 CWL 9 ALM 10 COIN From PLC I/O output Origin proximity input 3k CCW limit over input 5.6k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input Servo alarm output X5 CW limit over input 5.6k 4.7k To PLC I/O input X6 11 BRKOFF Origin proximity sensor CCW limit sensor 12 CW limit sensor Positioning completion output Brake release output WARN Warning output 13 GND +24V DC24V power supply <Remarks> This represents a twisted pair cable. 73 COM- Connections and Settings in Position Control Mode Y1 2k Wiring to Connector CN X5 Matsushita Electric Works, Ltd. FP2-PP22 AFP2434/FP2-PP42 AFP2435 PLC Driver FP2-PP22 AFP2434(Matsushita Electric Works, Ltd.) FP2-PP42 AFP2435(Matsushita Electric Works, Ltd.) A1 (A10) B1 (B10) A2 (A11) B2 (B11) A4 (A13) B3 (B12) Pulse output A Pulse output B Origin input Deviation counter reset output Origin proximity input Limit over + Limit over - Power supply for internal circuit E-series +24VDC GND 22 A7 (A16) B7 (B16) B4 (B13) A5 (A14) A6 (A15) B6 (B15) From PLC I/O output A20 B20 PULS1 23 PULS2 24 SIGN1 25 SIGN2 19 OZ+ 20 OZ- 14 GND 1 COM+ 4 CL 2 SRV-ON 5 GAIN/TC 3 A-CLR 8 CCWL 7 CWL 9 ALM 10 COIN To PLC I/O input 11 BRKOFF Origin proximity sensor 220 CW pulse command input 220 CCW pulse command input Phase Z output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input Servo alarm output Positioning completion output Brake release output CW limit sensor 12 CCW limit sensor WARN Warning output 13 GND +24V DC24V power supply <Remarks> This represents a twisted pair cable. 74 COM- [Connections and Settings in Position Control Mode] Matsushita Electric Works, Ltd. FP2-PP2 AFP2430 PLC Driver FP2-PP2 AFP2430(Matsushita Electric Works, Ltd.) E-series 22 A1 CW pulse command output CCW pulse command output B1 23 PULS2 A2 24 SIGN1 B2 25 SIGN2 A5 19 OZ+ B5 20 OZ- 14 GND 1 COM+ A6 4 CL B6 2 SRV-ON A7 5 GAIN/TC 3 A-CLR 8 CCWL 7 CWL 9 ALM 10 COIN 220 CW pulse command input 220 CCW pulse command input Phase Z output Origin input Deviation counter reset output 1.6k 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input Origin proximity input From PLC I/O output B7 4.7k FG A19 FG B19 24V+ A20 External power input 24V- To PLC I/O input B20 11 BRKOFF Origin proximity sensor CCW limit sensor CW limit sensor To PLC I/O input GND +24V DC24V power supply <Remarks> This represents a twisted pair cable. 75 12 WARN 13 COM- CW overtravel inhibit input Servo alarm output Positioning completion output Brake release output Warning output Connections and Settings in Position Control Mode 220 PULS1 Wiring to Connector CN X5 Yokogawa Electric Corporation F3NC11-ON PLC Driver F3NC11-ON (Yokogawa Electric Corporation) E-series 22 19 CW pulse command output CCW pulse command output 1k Origin line driver input 3.5k Emergency stop input 5V power supply for pulse output 20 23 PULS2 17 24 SIGN1 GND CCW limit input 3.5k 3.5k CCW pulse command input 7 19 OZ+ 8 20 OZ- 14 GND 9a 1 COM+ 9b 4 CL 2 SRV-ON 5 GAIN 3 A-CLR 8 CCWL 7 CWL 9 ALM Servo alarm output 10 COIN Positioning completing output From PLC I/O output Phase Z output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input 4 To PLC I/O input 5 11 BRKOFF Origin proximity input 220 SIGN2 12 3.5k CW pulse command input 25 1 CW limit input 220 18 11 V+ PULS1 Brake release output 3 Origin proximity sensor CCW limit sensor CW limit sensor GND +5V DC5V power supply <Remarks> This represents a twisted pair cable. 76 GND +24V DC24V power supply 12 WARN 13 COM- Warning output [Connections and Settings in Position Control Mode] Yokogawa Electric Corporation F3YP14-ON/F3YP18-ON PLC Driver F3YP14-ON/F3YP18-ON(Yokogawa Electric Corporation) E-series CCW pulse command output Deviation pulse clear signal output 13a 23 PULS2 12a 24 SIGN1 11a 25 SIGN2 15a 19 OZ+ 16a 20 OZ- 14 GND 1 COM+ 10a 4 CL 9a 2 SRV-ON 5 GAIN/TC 3 A-CLR 8 CCWL 7 CWL 9 ALM 10 COIN From PLC I/O output 8b V+ GND 8a 1a CW limit input CCW limit input 7.4k 7.4k PULS1 7.4k CW pulse command input 220 CCW pulse command input Phase Z output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input Servo alarm output 3a To PLC I/O input 2b 11 BRKOFF Origin proximity input 220 Positioning completing output Brake release output 4a Origin proximity sensor CCW limit sensor CW limit sensor GND +5V DC5V power supply <Remarks> This represents a twisted pair cable. 77 GND +24V DC24V power supply 12 WARN 13 COM- Warning output Connections and Settings in Position Control Mode 240 Origin line driver input 5V power supply for pulse output 22 14a CW pulse command output Wiring to Connector CN X5 Omron Corporation CS1W-NC113 (Open Collector Output) PLC Driver CS1W-NC113(Omron Corporation) E-series 1.6k CW pulse command output 1.6k CCW pulse command output 150 Origin line driver input Power supply for output V+ GND Deviation counter reset output 22 A6 A8 Origin proximity input 4.7k 4.7k 23 PULS2 24 SIGN1 25 SIGN2 A16 19 OZ+ A14 20 OZ- A1 14 GND A2 1 COM+ A10 4 CL 2 SRV-ON 5 GAIN/TC 3 A-CLR 8 CCWL 7 CWL 9 ALM 10 COIN A24 Emergency stop input PULS1 From PLC I/O output A20 A21 CCW limit over input 4.7k CW pulse command input 220 CCW pulse command input Phase Z output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input Servo alarm output A23 CW limit over input 4.7k 220 To PLC I/O input A22 11 BRKOFF Origin proximity sensor CCW limit sensor CW limit sensor GND +24V DC24V power supply <Remarks> This represents a twisted pair cable. 78 12 WARN 13 COM- Positioning completing output Brake release output Warning output [Connections and Settings in Position Control Mode] Omron Corporation CS1W-NC133 (Line Driver Output) PLC Driver CS1W-NC133(Omron Corporation) E-series CCW pulse command output V+ GND Deviation counter reset output A6 23 PULS2 A7 24 SIGN1 A8 25 SIGN2 A16 19 OZ+ A14 20 OZ- A1 14 GND A2 1 COM+ A10 4 CL 2 SRV-ON 5 GAIN/TC 3 A-CLR 8 CCWL 7 CWL 9 ALM 10 COIN A24 Immediate cessation input 4.7k Origin proximity input 4.7k CCW limit over input 4.7k CW limit over input 4.7k 5V power supply for pulse output GND +V PULS1 From PLC I/O output A20 A21 A23 To PLC I/O input A22 A3 11 BRKOFF A4 12 220 CW pulse command input 220 CCW pulse command input Phase Z output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input Servo alarm output Positioning completing output Brake release output WARN Warning output Origin proximity sensor CCW limit sensor CW limit sensor 13 GND +5V DC5V power supply <Remarks> This represents a twisted pair cable. 79 GND +24V DC24V power supply COM- Connections and Settings in Position Control Mode 150 Origin line driver input 24V power supply for output 22 A5 CW pulse command output Wiring to Connector CN X5 Omron Corporation C200H-NC211 PLC Driver C200H-NC211(Omron Corporation) E-series 1.6k Pulse (CW+CCW) output 1.6k 22 2 PULS1 23 PULS2 24 SIGN1 25 SIGN2 9 19 OZ+ 11 20 OZ- 1 14 GND 23 1 COM+ 4 4 CL 2 SRV-ON 5 GAIN/TC 3 A-CLR 8 CCWL 7 CWL 9 ALM 10 COIN 13 Direction output 150 Origin line driver input Power supply for output V+ GND Deviation counter reset output 22 Emergency stop input Origin proximity input CCW limit over input CW limit over input 2k 2k 2k 2k From PLC I/O output 19 7 220 CW pulse command input 220 CCW pulse command input Phase Z output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input Servo alarm output 17 To PLC I/O input 18 11 BRKOFF Origin proximity sensor Positioning completing output Brake release output CCW limit sensor 12 CW limit sensor WARN Warning output 13 GND +24V DC24V power supply <Remarks> This represents a twisted pair cable. 80 COM- [Connections and Settings in Position Control Mode] Mitsubishi Electric Corporation A1SD75/AD75P1 <Note> You can switch output of an open collector/line driver. Use this with the line driver. If you use the open collector, it does not count pulse and the motor does not rotate. PLC Driver A1SD75/AD75P1 (Mitsubish Electric Corporation) E-series 22 3 CW pulse command output CCW pulse command output 21 23 PULS2 4 24 SIGN1 22 25 SIGN2 24 19 OZ+ 25 20 OZ- 14 GND 1 COM+ 5 4 CL 23 2 SRV-ON 26 5 GAIN/TC 3 A-CLR 8 8 CCWL 35 7 CWL 36 9 ALM 10 COIN 220 CW pulse command input 220 CCW pulse command input Phase Z output Point zero signal Deviation counter cleared Drive unit ready 4.7k 7 In-position 4.7k Common Near point signal From PLC I/O output From PLC I/O output 4.7k 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input/torque limit switching input 4.7k Alarm clear input 4.7k CCW overtravel inhibit input 4.7k CW overtravel inhibit input Servo alarm output 11 Upper limit 4.7k 12 Lower limit 4.7k To PLC I/O input 13 11 BRKOFF Origin proximity sensor CW limit sensor CCW limit sensor GND +24V DC24V power supply <Remarks> This represents a twisted pair cable. 81 12 WARN 13 COM- Positioning completing output Brake release output Warning output Connections and Settings in Position Control Mode 500 PULS1 Test Run in Position Control Mode Inspection prior to Test Run (1) Check the wirings: * Connected correctly (especially power supply connection and motor connection), * Not shorted and properly earthed, and * Not loose. Power supply STATUS ALM CODE x6 (2) Check the supply voltage: * Check that the rated voltage is supplied. Host Controller x5 x4 CN X4 x3 (3) Install the motor: * Check that the servomotor is firmly installed. x1 Ground (4) Isolate the mechanical load. * Perform a test run of the motor independently. Machine Motor (5) Release the brake. Test Run with Connector CN X5 Connected (1) Connect CN X5. (2) Connect the control signal (COM+/COM-) to the power supply (12 to 24 VDC). (3) Turn on the power (of the driver). (4) Check default settings of parameters. (5) Activate Servo-ON by connecting Servo-ON input SRVON (CN X5 pin 2) and COM- (CN X5 pin 13). Then the motor will be energized. (6) Set Pr42 (command pulse input mode set up) according to output form of the host controller, and write it into EEPROM. Then, you should turn the power OFF and ON again. (7) Send a low-frequency pulse signal from the host controller to run the motor at low speed. (8) Check rotation speed of the motor in the monitor mode. * Check that the motor rotates at set speed. * Check if the motor stops when you stop the command (pulse). 82 Wiring Diagram 1 2 DC 12V ~ 24V SRV-ON 13 22 120 DC 5V COM+ 120 COMPULS1 23 PULS2 24 SIGN1 25 SIGN2 21 14 CZ GND CW/CCW pulse input In the case the open collector is used for input Output of phase Z for initialization [Connections and Settings in Position Control Mode] Parameters Input Signal Status PrNo. Parameter Name Settings Pr02 Pr04 Control mode set up Overtravel input inhibit 2 1 Signal No. Input Signal Name Monitor Display 00 Servo-ON +A - 02 CW overtravel inhibit 03 0A Pr42 Command pmulse input mode set up 1 * Use the host controller to send command pulses. CCW overtravel inhibit - Counter clear - Setting of Motor Rotation Speed and Input Pulse Frequency Input pulse frequency (pps) 500k Motor rotation speed (r/min) 3000 Pr 4A Pr 46 x 2 Pr 4B Defaul Setup 0 10000 x 2 10000 3000 100k 3000 10000 x 2 * Our default setup is "the motor shaft rotates once at 10000 pulse input". Note that the maximum input pulse frequency is 500 kpps for a line driver and 200 kpps for an open collector. 0 5000 10000 x 2 0 2000 500k 1500 5000 x 2 0 10000 * You can set any value depending on a numerator and denominator setting. However, if you specify an extreme dividing/multiplier ratio, we cannot guarantee proper operation of the motor. We 1 recommend that you set the dividing/multiplier ratio in the range of 50 to 20 times. Relationship between Motor Angle of Rotation and Input Pulse Frequency (Example 1) Rotate the motor at 60 degrees with overall deceleration ratio of 18/365. Encoder Pulse 2500P/r Pr46 x 2 Pr4A 365 x 2 Pr4B Theory 18 0 Pulley Ratio: 60 108 From your controller to the driver, enter command that the motor rotates 60 degrees with 10000 pulses. Determination of the parameter 365 18 = 10000 10000 x 365 x 2 x Gear ratio: Gear 12 73 Overall deceleration ratio: 18 365 60 360 0 * Also refer to "Description on Dividing/Multiplier Ratio" on Page 178 of Reference edition. 108 83 Connections and Settings in Position Control Mode 250k Test Run in Position Control Mode Basic Operations and LED Display (1) Turn on the power. Power Supply STATUS ALM CODE x6 x5 x4 x3 x1 Ground Machine Motor 84 CN X4 [Connections and Settings in Position Control Mode] (2) Check LED status. Color of LED Status Green Orange Red Description The main power is turned ON. The driver is switched ON. The LED flashes (for 1 second) when a warning is issued. (Abnormal overload, regeneration, and fan rotation speed) Alarm output. Check that alarm code LED does not flash? (It is out during normal operation). It starts flashing in case of an alarm. An alarm code (refer to pages 145 to 148) indicates the alarm code number by the number of flashes of orange and red lights. Red: 1 digit (Example) When overload (alarm code No.16) occurs and the motor stops: The orange light flashes once and red one flashes 6 times. 1 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. Red Red Red Red Red Orange Red After 2 seconds 1 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. (3) Setting the parameter Prepare for a personal computer and "PANATERM(R)". Or prepare for a console. (4) Enter a command that matches the control mode. 85 Connections and Settings in Position Control Mode Orange: 10 digit Real time Auto Gain Tuning Outline Automatic gain setting Position/velocity command Automatic filter tuning Position/velocity command Torque command Adaptive filter Current control Motor current Motor Operation command under actual service conditions Load inertia of the machine is real-time estimated, and based on the result of estimation, optimum gain is automatically set. In addition, an adaptive filter automatically suppresses vibration due to resonance. Estimation of resonance frequency Estimation of load inertia Real time auto gain tuning Motor speed Encoder Servo driver Scope * Real time auto gain tuning is valid in all control modes. * You can use an adaptive filter only when Pr02=2: high function positioning control. Cautions Under the following conditions, real time auto gain tuning may not properly function. In such a case, use either normal auto gain tuning (Refer to Page 132) or manual gain tuning (Refer to Page 136). Load Inertia Conditions that Hinder Real time Auto Gain Tuning from Functioning When load inertia is smaller or greater than rotor inertia (i.e., 3 times or less or 20 times or more). When load inertia changes quickly (less than 10 [s]). When mechanical stiffness is extremely low. Load When When When When Operation Pattern * When there is play such as backlash. the motor runs at a continuous low speed below 100 [r/min]. acceleration/deceleration is gradual, e.g., 2000 [r/min] or less in 1 [s]. acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque. the time that meets conditions of speed/acceleration is short, e.g., less than 40 [ms]. Operating Instruction Insert the connector of console into CNX6 of the driver, and then turn on the power of the driver. (1) Stop the motor (Servo-OFF). (2) Set Pr21 (Real time auto tuning set-up) to 1 to 6. A default setup is 1. Setting value Real time Auto Tuning 0 Not used Degree of Load Inertia Changes in Service Little change 2 Gradual change Used Little change 5 Gradual change 7 S . SET M . Press MODE and . (In this case, select Pr21.) Yes Press S . SET Change the value with or . No Press Sharp change Not used Press Select the parameter to be set with Sharp change 4 6 Adaptive Filter (When Pr02=2) No [1] 3 Setting parameter Pr21 Yes S . SET Setting parameter Pr22 When load inertia changes widely, set Pr21 to 3 or 6. If there is possibly effect of resonance, select "adaptive filter Yes". Select Pr22 with . S . Press SET (3) Turn the servo on to operate the machine as usual. (4) If you wish to improve responsiveness, gradually increase Pr22 (Machine stiffness at auto tuning). In addition, if any abnormal noise or oscillation occurs, set a value lower (e.g. 0 to 3). (5) If you wish to save result, write it into EEPROM. <Remarks> Any change to Pr21 (Real time auto tuning set-up) will become valid when you turn on the power and when Servo-OFF switches to Servo-ON. Thus, to disable real time auto tuning, set Pr21 (Real time auto tuning mode setting) to 0, and then switch from Servo-OFF to Servo-ON. Similarly, when you enable real time auto tuning, set Pr21 to any value other than 0 and 7 and then switch from ServoOFF to Servo-ON. 86 When you press , a value increases, and when you press (Default Setup Value) , it decreases. Now writing into EEPROM M . Press MODE S . Press SET Keep pressing (about 5 seconds). Then, the number of bars in creases as shown on the right. Start of write (indicated momentarily). End Write finishes After finishing write, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). Write error occurs [Connections and Settings in Position Control Mode] Adaptive Filter An adaptive filter will be enabled when Pr02=2 (high function positioning control mode) and Pr21 (Real time auto tuning set-up) is 1 to 3 or 7. The adaptive filter reduces resonance point vibration, by estimating resonance frequency from vibration component that appears in motor speed in operation, and removing resonance component from a torque command through automatic setting of a coefficient of a notch filter. The adaptive filter may not function normally under the following conditions. In such a case, take resonance measures using the 1st notch filter (Pr1D, 1E) and according to the manual tuning procedure. For details on the notch filter, refer to "To Reduce Mechanical Resonance" on Page 140. Conditions that Hinder an Adaptive Filter from Functioning When the resonance frequency is 300 [Hz] or lower. Resonance Point When resonance peak or control gain is low, which does not affect the motor speed When there is more than one resonance point Load When the motor speed having high frequency component fluctuates due to nonlinear element such as backlash, etc. When acceleration or deceleration is exponential such as 30000 [r/min] or more in 1 [s] Parameters to be Set Automatically The following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically. PrNo. PrNo. Name Name Setting 10 1st position loop gain 15 Velocity feed forward 300 11 1st velocity loop gain 16 Feed forward filter time constant 50 12 1st velocity loop integration time constant 30 2nd gain action set-up 1 13 1st velocity detection filter 31 Position control switching mode 10 14 1st torque filter time constant 32 Position control switching delay time 30 18 2nd position loop gain 33 Position control switching level 50 19 2nd velocity loop gain 34 Position control switching hysteresis 33 1A 2nd velocity loop integration time constant 35 Position loop gain switching time 20 1B 2nd velocity detection filter 1C 2nd torque filter time constant 20 Inertia ratio 2F Adaptive filter frequency <Remarks> When real time auto tuning is enabled, you are not allowed to change any parameter to be automatically tuned. Cautions (1) After startup, immediately following a first Servo-ON or when you increase Pr22 (Machine stiffness at real time auto tuning), you may have abnormal noise or oscillation before you identify load inertia or an adaptive filter is stabilized. However, this doesn't constitute abnormality if it disappears in no time. If oscillation or noise persists over 3 reciprocating operations, you should take any of the following measures in any possible order: 1) Write into EEPROM parameters used during normal operation. 2) Decrease Pr22 (Machine stiffness at real time auto tuning). 3) Once set Pr21 (Real time auto tuning set-up) to 0 and disable an adaptive filter. Then, enable real time auto tuning again (To disable inertia estimation/resetting of adaptive operation, or real time auto tuning, refer to "Cancellation of the Automatic Gain Tuning" on Page 135). 4) Manually set a notch filter (Refer to "To Reduce Mechanical Resonance" on Page 140). (2) In some cases, after abnormal noise or oscillation is generated, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) may change to an extreme value. Even in such a case, you should take the measures described above. (3) Among results of real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are written into EEPROM every 30 minutes. When you power ON again, auto tuning will be carried out using the data as an initial value. 87 Connections and Settings in Position Control Mode Command Pattern Parameter Setting Parameter for Selection of Functions Standard Default Setup: [ ] PrNo. Parameter Name 00 Axis address 01 LED for console, initial condition display Range of Function/Content Settings In communications with a host such as a personal computer that uses RS232C 0 - 15 with multiple axes, you should identify to which axis the host is accessing. With [1] this parameter, you can see an axis name by number. 0 - 15 In the initial state after power-on, you can select any type of data displayed by 7 segment LEDs on the console. Settings Content 0 Position deviation [1] Turn on the power This blinks during initialize operation (about 2 seconds). Setting of Pr01 Motor rotation speed 2 Torque output 3 Control mode 4 Input/output signal condition 5 Error factor, history 6 To be used by the manufacturer 7 Warning 8 Regenerative Load Ratio 9 Overload factor 10 Inertia ratio 11 Feedback pulse total 12 Command pulse total 13 Not available 14 Not available 15 Checking if there is motor automatic recognition function For details of displays, refer to "Monitoring Mode" on Page 51 of Preparation edition. 02 Control mode set up 0-2 The parameter sets a control mode to be used. Setting 0 1 [2] Control Mode High velocity response positioning control (pulse) Internal velocity control High function positioning control (pulse) <Remarks> Parameter No. (Pr ) Parameter Name High velocity response High function positioning control positioning control 02 Control mode set-up 0 2 1D 1st notch frequency Conditional Validated 2B Damping frequency Conditional Validated 21 Real time auto tuning mode set up Conditional Validated 2F Adaptive filter frequency Invalidated Validated In high velocity response positioning control, simultaneous use of the 1st notch frequency, vibration damping frequency, real time auto tuning mode setting is not allowed. A parameter entered earlier takes precedence. (Example) If real time auto tuning has been set, the first notch frequency will be forcibly set to 1500 (invalidated) on the driver side, even when you enter it. 88 [Connections and Settings in Position Control Mode] Standard Default Setup: [ ] PrNo. 04 Range of Parameter Name Function/Content Settings Overtravel Input inIn the case of linear driving, in particular, limit switches should be provided on both 0-1 hibit ends of the axis, as illustrated in the figure below, to prevent any mechanical damage due to overshoot of a work, and inhibit driving in the direction in which the switches operate. CW Direction Work CCW Direction Driver Servo Motor Limit Switch Limit Switch CCWL CWL Settings [1] Input Connection with COM- CCWL (CN pin X5-8) Connected CWL (CN pin X5-7) Connected Open Enabled Disabled Open Operation This shows normal state in which the limit switch on CCW side does not operate. CCW direction inhibited, and CW direction allowed. This shows normal state in which the limit switch on CCW side does not operate. CCW direction inhibited, and CW direction allowed. CCWL and CWL inputs are ignored, and driving is not inhibited (allowed) in both CCW and CW directions. <Cautions> 1. When you set Pr04 to 0, and do not connect CCWL/CWL input to COM- (OFF), it will be judged as abnormality in which limits are simultaneously exceeded in both CCW and CW directions, and the driver will trip due to "Overtravel input error". 2. You can set whether to activate a dynamic brake during deceleration when CCW overtravel inhibit input (CCWL) or CW overtravel inhibit input (CWL) works. For details, refer to descriptions on Pr66 (Deceleration and stop set-up at overtravel inhibit input). 3. In some cases, after you turn off the limit switch located above a work on the vertical axis, a work repeatedly moves up and down since there is no longer upward torque. In this case, don't use this function, and carry out limit process on the host controller side. 06 ZEROSPD/TC input selection 0-2 The parameter is used to select functions of speed zero clamp input (ZEROSPD)/ torque limit switching (TC) input (connector) CN X5 pin 5. Setting Speed Zero Clamp Torque Limit Switching Input 0 [1] 2 Disabled Enabled Disabled Disabled Disabled Enabled <Remarks> If you wish to use torque limit switching input, also set Pr5E, Pr63, and Pr70 to 73 all at once. If settings of Pr70 and Pr73 remain 0, the error No.26 acceleration protection will occur. 09 Warning output selection Setting 0 1 [2] 3 4 5 6 0-6 This parameter is to allocate functions of warning output(WARN:CN X5 pin 12). Functions Output during torque limit Zero speed detection output Over-regeneration/overload/fan rotation speed abnormality Over-regeneration warning output Overload warning output To be displayed, but not functioning. Fan rotation speed abnormality warning output Remarks For detailed information on functions of respective outputs listed in the left, refer to "Wiring to Connector CN X5" on Page 72. <Caution> If you ignore output of warning and continue to use, the motor or driver may fail/be damaged. 89 Connections and Settings in Position Control Mode 0 CCWL/ CWLInput Parameter Setting Standard Default Setup: [ ] PrNo. Parameter Name Range of Settings 0C Baud rate set-up of 0-2 RS232C Function/Content Settings 0 1 [2] 90 Baud Rate 2400bps 4800bps 9600bps [Connections and Settings in Position Control Mode] Parameters for Adjustment of Time Constants of Gains/Filters 1st position loop gain 11 1st velocity loop gain 1 - 3500 [35]* Hz 12 1st velocity loop integration time constant 1 - 1000 [16]* ms 13 1st speed detection filter 0-5 [0]* - 14 1st torque filter time constant 0 - 2500 [65]* 0.01ms 15 Velocity feed forward -2000 2000 [300]* 0.1% 16 Feed forward filter time constant 0 - 6400 [50]* 0.01ms 18 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant 1st notch frequency 0 - 32767 [73]* 1 - 3500 [35]* 1 - 1000 [1000]* 1/s 0-5 [0]* 0 - 2500 [65]* 100 1500 [1500] - 19 1A 1B 1C 1D 1E Parameter Name 1st notch width selection 0-4 [2] Unit 1/s Hz ms Function/Content * The parameter determines responsiveness of the position control system. If you can set a position gain higher, positioning time will be shorter. * The parameter determines responsiveness of the velocity loop. To improve responsiveness of the entire servo system by setting the position loop gain high, you should be able to set this velocity loop gain higher. * This is an integration element provided to velocity loop, and works to drive minute speed deviation after shutdown to zero. The smaller setting is, the faster the parameter drives it zero. * If it is set to "1000", there will be no effect of integration. * The parameter is used to set a time constant of the low pass filter (LPF) entered after the block capable of conversion from an encoder signal to a speed signal in 6 phases (0 to 5). * As you increase a setting, the time constant will also rise. Thus, although you can reduce noise from the motor, we recommend you set it to 4 or less usually. * The parameter sets a time constant of the primary delay filter inserted into torque command unit. * This might take effect on suppression of vibration due to torsional resonance. The parameter sets velocity feed forward volume in position control. If you set it to 100%, position deviation in operation at given speed will be almost 0. Although position deviation will be smaller when you set this higher, and thus responsiveness will be improved, overshoot is liable to occur more often. Thus, be careful. * The parameter sets a time constant of the primary delay filter inserted into the velocity feed forward unit. * With the feed forward feature included, the filter might improve speed overshoot/undershoot and thus chattering of positioning completion signal. * A position loop, velocity loop, speed detection filter, and torque command filter have 2 pairs of gains or time constants (1st and 2nd ), respectively. * The functions/descriptions of respective gains/time constants are same as the first gain/time constants. * For details on switching of the 1st/2nd gain, and time constants, refer to Page 127 of Adjustment edition. * When Pr20 inertia ratio is set correctly, Pr11 and Pr19 will be set in (Hz). 0.01ms Hz - * The parameter sets notch frequency of a resonance suppression notch filter. * Set the parameter about 10% lower than resonance frequency of the mechanical system that has been found by the frequency characteristic analysis feature of "PANATERM(R), the setup support software. * Setting this parameter to "1500" disables functions of the notch filter. * The parameter sets width of notch frequency of a resonance suppression notch filter in 5 stages. The higher setting is, the wider filter width will be. * Usually, use a default set-up value. <Remarks> Parameters having standard default setup value with "*" mark are automatically set while real time auto gain tuning is running. To change to manual, refer to "Cancellation of the Automatic Gain Tuning" on Page 135 of Adjustment edition, disable real time auto gain tuning and then set. 91 Connections and Settings in Position Control Mode 10 Range of Settings 0 - 32767 [63]* PrNo. Parameter Setting Parameters for Auto Gain Tuning Standard Default Setup: [ ] PrNo. 20 Parameter Name Inertia ratio Range of Settings 0 - 10000 [100]* Unit % Function/Content * The parameter sets a ratio of load inertia to rotor inertia of the motor. Pr20 = (Load inertia/rotor inertia) x 100 [%] * When you execute auto gain tuning, load inertia is estimated and the result will be reflected in the parameter. If inertia ratio has been set correctly, Pr11 and Pr19 will be set in (Hz). When Pr20 inertia ratio is greater than actual value, setting unit of the velocity loop gain will be greater. If inertia ratio is smaller than actual value, setting unit of the velocity loop will be smaller. * The inertia ratio estimated during execution of real time auto tuning is saved in EEPROM every 30 minutes. 21 Real time auto tuning set-up 0-7 - * The parameter sets an operation mode of real time auto tuning. As you set this to a higher value such as 3, 6..., inertia change during operation will be quickly responded. However, operation may become unstable, depending on the operation pattern. Thus, we recommend that you usually set the parameter to 1 or 4. * When you sent the adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0. * The adaptive filter will be enabled only when Pr02=2 (in high function positioning control mode). Settings Real time auto tuning 0 Not used Degree of changes in load inertia during operation No [1] Little change 2 Gradual change 3 Sharp change Used 4 Yes (When Pr02=2) Little change 5 Gradual change 6 Sharp change 7 Adaptive filter Not used No (When Pr02=2) * Any change to this parameter will be valid when Servo-OFF switches to Servo-ON. <Remarks> For Pr02 = 0 (in high velocity response positioning control mode), setting will be possible only when both first notch filter and vibration damping filter are set to disabled. 22 Machine stiffness at auto turning 0 - 15 [4] - * The parameter sets mechanical stiffness during execution of real time auto tuning in 16 stages. Low Mechanical stiffness High Low Servo gain High Pr22 0 * 1- - - - - - - - - - - - 14 * 15 Low Responsiveness High * If you change a setting sharply and abruptly, gain will vary suddenly, thus giving impact to the machine. Be sure to start with a small setting and gradually increase it while observing how the machine is running. <Remarks> Parameters having standard default setup value with "*" mark are automatically set while real time auto gain tuning is running. To change to manual, refer to "Cancellation of the Automatic Gain Tuning" on Page 135 of Adjustment edition, disable real time auto gain tuning and then set. 92 [Connections and Settings in Position Control Mode] PrNo. 25 Parameter Name Normal auto tuning Range of Settings Unit 0-7 - motion set-up 26 Software limit setup Function/Content * The parameter sets operation patterns of normal auto gain tuning. Settings [0] 1 2 3 4 5 6 7 0 - 1000 0.1rev [10] Number of Rotations 2 rotations 1 rotations Rotation Direction CCW CW CW CCW CCW CCW CW CW CCW CW CW CCW CCW CCW CW CW Set the motor operational range for the corresponding position command range. If this parameter is set to "0", then the software limit protection Damping frequency 0 - 5000 0.1Hz control that suppresses vibration at leading ends of load. * The parameter measures frequency of vibration at leading ends of [0] load, and sets it in [0.1Hz]. * Set minimum frequency is 100 [0.1Hz]. Even though you set it to 0 to 99, it will be ignored. When you use this parameter, also see "Anti-Vibration Control" on Page 142 of Adjustment edition. <Remarks> For Pr02=0 (high velocity response positioning control mode), you can set the parameter only when both first notch filter and real time auto tuning are disabled. 2C 2F Damping filter setting -200 - Adaptive filter 0 - 64 frequency 0.1Hz 2500 [0] - * You should set the parameter to a small value if torque saturation results from setting of Pr2B damping frequency. Set it to a great value if you wish to expedite positioning operation. * We recommend that you usually set it to 0. Also see "Anti-Vibration Control" on Page 142 of Adjustment edition. * The parameter indicates Table No. that corresponds to frequency of the adaptive filter (See Page 135). * This parameter is automatically set when the adaptive filter is enabled (i.e., when Pr21 real time auto tuning set-up is 1 to 3.7) and a user is not allowed to change it. [0]: Filter disabled 1-64: Filter enabled * When the adaptive filter is enabled, this parameter is saved in EEPROM every 30 minutes. If the adaptive filter is enabled next time you power up, adaptive operation will start with the data contained in EEPROM as an initial value. * Should operation be wrong, clear the parameter. If you wish to reset the adaptive operation, disable the adaptive filter, and then set it to enabled again (i.e., set Pr21 real time auto tuning set-up to any value other than 1 to 3.7). Refer to "Manual Gain Tuning (To Reduce Mechanical Resonance" on Page 140 of Adjustment edition. 93 Connections and Settings in Position Control Mode 2B detection will be disabled. When using it, refer to "Software limit function", Troubleshooting on page 148. * The parameter sets vibration damping frequency for anti-vibration Parameter Setting Parameters for Adjustment (Related to Second Gain Switching Function) Standard Default Setup: [ ] PrNo. 30 Parameter Name 2nd gain action Range of Settings Unit 0-1 - Function/Content * Set the parameter when you carry out optimum tuning by using gain set-up switching function. Settings 0 [1] Use the first gain (Pr10 to Pr14). Switch between first gain (Pr10 to Pr14) and second gain (Pr18 to Pr1C). For conditions of switching of the 1st and 2nd gains, refer to "Gain Switching Function" on Page 138 of Adjustment edition. 31 Position control 0 - 10 - * The parameter is used to select conditions of switching the 1st and 2nd gain in the position control mode. switching mode Settings 0 Trigger for Switching Gains Fixed to the 1st gain. 1 Fixed to the 2nd gain. 2 3* The 2nd gain switching input (GAIN) of pin 5 of CN X5 is ON (Pr30 needs setting of 1.) Torque command variation Fixed to the 1st gain. 4 5* 6* Command speed 7* Position command Positioning not completed 8* 9* [10]* Position deviation Motor real speed Position command + speed * For a switching level and timing, refer to "Gain Switching Function" on Page 138 of Adjustment edition. 32 Position control switching delay 33 34 time Position control 010000 [30]* 0- switching level 20000 Position control [50]* 0- switching 20000 hysteresis [33]* x 166 s * The parameter is enabled when Pr31 is 3 or 5 to 10, and sets delay time from when it no longer meets the condition of switching selected with Pr31 till actual return to the 1st gain. - * The parameter is enabled when Pr31 is 3, 5, 6, 9, or 10, and sets judgment level of when the 1st and 2nd are switched. Unit may vary depending on setting of Pr31. - * The parameter sets margin of hysteresis to be provided above and below the judgment level set with Pr33 mentioned above. * The following figure illustrates definitions of Pr32 (delay), Pr33 (level) and Pr34 (hysteresis). Pr33 Pr34 0 First gain <Caution> Second gain First Pr32 Settings of Pr33 (level) and Pr34 (hysteresis) are valid as absolute value (positive/negative). <Remarks> Parameters having standard default setup value with "*" mark are automatically set while real time auto gain tuning is running. To change to manual, refer to "Cancellation of the Automatic Gain Tuning" on Page 135 of Adjustment edition, disable real time auto gain tuning and then set. 94 [Connections and Settings in Position Control Mode] PrNo. 35 Range of Unit Function/Content Settings Position loop gain 0 - 10000 (Setting value+1) * With the 2nd gain switching function enabled, you can provide x 166 ms switching time [20]* phased switching time only for position loop gain when gain is Parameter Name switched. (Example) 166 s 166 Kp1(Pr10)<Kp2(Pr18) 166 166 Kp2(Pr10) Pr35= 0 1 2 3 3 2 0 1 Thick solid line Thin solid line Kp1(Pr18) 1st gain 2nd gain 1st gain * Switching time is only provided when a small position loop gain is switched to a large position loop gain (Kp1 Kp2) (in order to alleviate impact to the machine due to abrupt change in gain). * Set a value that is smaller than a difference between Kp2 and Kp1. Standard Default Setup: [ ] PrNo. 40 Range of Parameter Name Settings Command pulse 1-4 multiplier set-up Function/Content The parameter sets a multiplier number with Pr42 (Command pulse input mode set-up) when "2 phase pulse input" is selected as a form of command pulse. Settings 1 or 2 Multiplier number at 2 phase pulse input x2 x4 3 or [4] 41 Command pulse 0-3 The parameter sets direction of rotation of the motor to the command pulse input. direction of rotation Settings Direction of Rotation The motor rotates in a direction given by the command set-up [0] or 3 pulse. The motor rotates in a direction opposite to the command pulse. 1 or 2 42 Command pulse input mode set-up 0-3 The parameter sets input form of command pulse to be given to the driver from the host. Three input forms illustrated in the following table can be set. Select any of them according to specifications of the host. Settings Command pulse form Signal Name 90 phase or difference 2 phase pulse 2 (Phase A + 0 PULS SIGN [1] + CCW pulse row 3 Pulse row + Sign 95 t1 CW Command t1 t1 t1 Phase A Phase B t1 t1 t1 t1 Phase B goes ahead Phase B delays from of Phase A by 90. Phase A by 90. Phase B) CW pulse row CCW Command t3 PULS t2 t2 t4 t5 SIGN t2 t2 t4 t5 PULS SIGN "L" "H" t6 t6 t6 t6 Connections and Settings in Position Control Mode Parameters for Position Control Parameter Setting PrNo. Parameter Name Command pulse 42 (Cont'd) input mode set-up Range of Settings Function/Content 0-3 Allowable input maximum frequency of command pulse input signal and minimum required time width (Cont'd) Input I/F of PULS/ SIGN signal Allowable input maximum frequency Line driver interface 500kpps s] Minimum required time width[ t1 t2 t3 t4 t5 t6 2 1 1 1 1 Open collector Set rise/fall time of command200kpps pulse input signal 0.1 s2.5 or lower. 5 to 2.5 2.5 2.5 interface Set rise/fall time of command pulse input signal to 0.1 s or lower. 44 Output pulses per single turn 1 2.5 1 - 16384 The parameter sets the number of pulses per rotation of the encoder pulse to be [2500] output to the host. Pulse should be set with dividing. Directly set the number of pulses per rotation, in [Pulse/rev], necessary for a device/system on your side. Any value that exceeds the encoder pulse will be disabled. 45 Pulse output logic inversion 0-1 A phase relation of output pulses from the rotary encoder is as follows: Phase B pulse is behind Phase A pulse during rotation in CW direction (Phase B pulse is ahead of Phase A pulse during rotation in CCW direction). Reversing logic of Phase B pulse with this parameter, you can reverse the phase relation of Phase B to Phase A. When the motor is rotating in CCW direction Settings Phase A [0] Phase B When the motor is rotating in CW direction (OA) Phase A (OA) Phase B (OB) Phase B (OB) Phase Z (OZ) Phase Z (OZ) Noninverted CZ 1 Phase B O n CZ Phase B (OB) Phase B (OB) Phase Z (OZ) Phase Z (OZ) O n Inverted CZ O n CZ Phase Z is in sync with Phase A. You cannot reverse Phase Z. Even by dividing, Phase Z outputs 1 pulse per rotation. 96 O n [Connections and Settings in Position Control Mode] Standard Default Setup: [ ] PrNo. Range of Parameter Name Settings Function/Content Related to command pulse dividing multiplier function (Pr46, 47, 4A, 4B) 46 Numerator of 1st 1- Command pulse dividing multiplier (electronic gear) function command pulse ratio 10000 [10000] 47 4A Numerator of 2nd 1command pulse ratio 10000 [10000] Multiplier of numerator 0 - 17 of command pulse ratio 4B Denominator of command pulse ratio [0] 1- * Purposes of Use (1) To arbitrarily set rotation/motion of the motor per a unit input command pulse. (2) To increase apparent command pulse frequency, by using multiplier function, when the pulse oscillation capacity (maximum frequency that can be output) of the host is limited and thus required motor speed cannot be obtained. * Block Diagram of Dividing Multiplier Unit 10000 [10000] Command pulse *1 1st numerator (Pr46) *1 2nd numerator (Pr47) x2 Scaling factor (Pr4A) F Denominator (Pr4B) To deviation counter - Feedback pulse (Resolution) 10000P/rev * A calculated value of a numerator shall be up to 2621440. Even though you set a value greater than this upper limit, setting will be invalid. Note that 2621440 will be a numerator. Selection of command multiplier dividing "numerator" *1: Select 1 or 2 with command dividing multiplier input switching (DIV:CN X5 pin 6). DIV OFF DIV ON Select a 1st numerator (Pr46). Select a 2nd numerator (Pr47). <Example of Setting> * It is essential that "the motor rotates once with command input (f) for resolution of the encoder", when the diving multiplier ratio = 1. Thus, in order to rotate the motor once as an example when the encoder resolution is 10000 P/r, you should enter f =5000 Pulse for double multiplier, and f=40000 Pulses in 1/4 dividing. * Set Pr46, 4A and 4B so that internal command (F) after dividing multiplier will be equal to resolution of the encoder (10000). Pr46 x 2Pr4A =10000 Pr4B F: Number of internal command pulses for one rotation of the motor F=fx f: Number of command pulses for one rotation of the motor Resolution of Encoder 10000 (2500P/r x 4) Example 1 Set command input (f) to 5000 per one rotation of the motor Example 2 Set command input (f) to 40000 per one rotation of the motor 97 Pr 46 10000 x 2 Pr 4B 5000 Pr 4A 0 Pr 4A 0 Pr 46 2500 x 2 Pr 4B 10000 Connections and Settings in Position Control Mode f Internal + command Parameter Setting Standard Default Setup: [ ] PrNo. 4C Range of Parameter Name Settings Smoothing filter 0-7 set-up Function/Content A smoothing filter is the primary delay filter inserted after command dividing multiply part of the command pulse input part. Purpose of smoothing filter * Its primary purpose is to reduce stepping motion of the motor when a command pulse is rough. * To give actual examples of rough command pulse: (1) When you set a high multiplier ratio (i.e., 10 times or more) in command dividing multiplier (2) When the command pulse frequency is low * With Pr4C, you can set a time constant of the smoothing filter in 8 steps: Settings Time Constant 0 [1] No filtering function Low time constant ~ 7 4E FIR filter set-up 0 - 31 [0] High time constant * The parameter selects a time constant of FIR filter to be subjected to command pulse. * When setting is higher, a command will be smoother. * Note that any change to this parameter will only be enabled after you reset the power supply. Command Input position command Position command after processing of the smoothing filter Position command after processing of FIR filter tf tf Time tf = (Pr4E+1) x control cycle The control cycle is 166 s for Pr02=0 (high velocity response positioning control) and 333 s for Pr02=2 (high function positioning control). Parameters for Internal Velocity Control Standard Default Setup: [ ] PrNo. 57 Range of Parameter Name Settings JOG internal speed set-up Function/Content 0500 The parameter directly sets in [r/min] JOG speed during JOG operation in "motor [300] For details of JOG function, refer to "Test Run (JOG)" on Page 60 of Preparations edition. test run mode". 98 [Connections and Settings in Position Control Mode] Parameters for Torque Limits PrNo. 5E Parameter Name 1st torque limit setup Range of Settings 0500 Function/Content * With this parameter set, maximum torque of the motor is limited in the driver. * Normal specification allows torque about 3 times as large as rated torque, if in an instant. We recommend that you limit the maximum torque with this parameter if the tripled torque might cause trouble to intensity of the motor load (machine). * You can give setting as a percentage Torque [%] CCW 300 (Max.) (%) value to rated torque. * The right figure shows an example in which it is limited to 150%. When Pr5E=150 200 100 (Rated) Speed * Pr5E limits the maximum torque of 100 both CW and CCW directions simultaneously. (Rated) (Max.) 200 300 CW value of the 1st torque limit. <Cautions> You cannot set to this parameter a value that exceeds a default setup value with "Maximum Output Torque Setting" of the system parameter (i.e., factory default parameters that cannot be changed through manipulation of PANATERM(R) and console). A default setup value may differ depending on a combination of a motor and driver. For detailed information, refer to "Setting of 1st Torque Limit" on Page 45 of Preparation edition. Parameters for Sequences Standard Default Setup: [ ] PrNo. 60 Parameter Name In-position range Range of Settings 032767 [10] Function/Content * The parameter sets timing to output a positioning completion signal (COIN:CN X5 pin 10) when movement of the motor (work) is complete after input of command pulse ends. * The positioning completion signal (COIN) is output when the number of pulses of the deviation counter falls within (setting). * A basic unit of deviation pulse is Deviation pulse "resolution" of an encoder to be Pr60 used. Thus, in the case of E series, it will be: 4 x 2500P/rev=10000 <Cautions> COIN On Pr60 1. Setting of too small a value to Pr60 might extend time before COIN signal is output, or generate chattering during output. 2. Setting of "In-position range" does not affect precision of final positioning. 99 Connections and Settings in Position Control Mode <Remarks> With torque limit switching function enabled (Pr06=2), this parameter is a Parameter Setting Standard Default Setup: [ ] PrNo. 61 Parameter Name Zero speed Range of Settings 020000 [50] Function/Content * The parameter directly sets in [r/min] timing to output zero speed detection output signal (WARN: CN X5 pin 12). You need to set parameter warning output selection (Pr09) to 1. * The zero speed detection signal (WARN) will be output when the motor speed falls below the set speed of this parameter Pr61. * Setting of Pr61 acts on both CW and CCW CCW directions, irrespective of the Speed direction of motor rotation. * There is hysteresis of 10 rpm. Set the Pr61 parameter 10 or more. Pr61 CW WARN 63 1st position overdeviation set-up 032767 [1875] ON * The parameter sets a detection level for determining excessive deviation of "protection against excessive position deviation" feature, by using the number of retained pulses of the deviation counter. * Calculate setting according to the expression shown below: Setting = Level for Determining Excessive Position Deviation [PULSE] 256 <Cautions> Be careful because the protection against excessive position deviation may work although there is no abnormality, in particular, when you not only set position gain low but also set Pr63 low. 64 Position over- 0-1 deviation invalidation This parameter can disable the "protection against excessive position deviation" function. Setting Protection against excessive position deviation [0] Enabled 1 Disabled. The operation continues without causing abnormality even when retained pulse exceeds the level for judgment set with Pr63. Runaway may occur if you make a mistake in the sequence of phases of the motor or wiring of the encoder. Install a failsafe in the device to prevent runaway. 66 Deceleration and 0-2 The parameter sets the deceleration and stop operation after the overtravel inhibit stop set-up at input (CCWL: Connector CNx58 pin or CWL: Connector CNx57 pin) activates and overtravel inhibit becomes enabled. Setting [0] 1 Driving Conditions from Deceleration to Stop Invalidate torque in the overtravel inhibit direction, and activate the dynamic brake. Invalidate torque in the overtravel inhibit direction, and have the motor free run. In the position control mode, servo lock is decelerated and 2 stopped, and in the internal velocity control mode, speed zero clamp deceleration and stop is actuated. 100 [Connections and Settings in Position Control Mode] Standard Default Setup: [ ] PrNo. 68 Parameter Name Sequence at alarm Range of Settings 0-3 Function/Content The parameter sets driving conditions during deceleration after alarm is generated as a result of activation of any of protective functions of the driver, or after the motor stops. Settings Driving Conditions During Deceleration After stop [0] 1 DB Free run 2 DB 3 Free run (DB: Dynamic Brake operation) State of Deviation Counter DB DB Cleared Cleared Free Cleared Free Cleared Also see Timing Chart "After an Alarm event" on Page 33 of Preparation edition. 69 Sequence at Servo-OFF 0-7 [0] The parameter sets the following: 1) Driving conditions during deceleration or after stop after Servo-OFF (SRV-ON signal: CN X5 pin 2 turns on Driving Conditions Settings During Deceleration After stop [0] DB DB off) is turned on. State of Deviation Counter Cleared 1 Free run DB Cleared 2 3 DB Free run Free Free Cleared Cleared 4 DB DB Retained 5 6 Free run DB DB Free Retained Retained 7 Free run Free Retained (DB: Dynamic Brake operation) Also see Timing Chart "Servo-ON/OFF Operation When the Motor is Stopped" on Page 34 of Preparation edition. 6A Mech. break action 0- The parameter enables you to set time from when the brake release signal (BRK- set-up at motor standstill 100 [0] OFF:CN X5 pin 11) turns off until the motor becomes de-energized (servo free), when you turn on Servo-OFF while the motor is stopped. * In order to prevent subtle travel/drop of the motor (work) due to the action delay time (tb) of the brake, set as follows: Setting of Pr6A tb * Pr6A is set in the unit of (setting) x 2ms. * Refer to Timing Chart of "Servo-ON/ OFF Operation When the Motor is Stopped" on Page 34. SRV-ON BRK-OFF Actual brake Motor energized OFF ON Release tb Retained Retained Release Energized De-energized Pr6A Also see Timing Chart "Servo-ON/OFF Operation When the Motor is Rotating" on Page 34 of Preparation edition. 101 Connections and Settings in Position Control Mode 2) Clear operation of the deviation counter Parameter Setting Standard Default Setup: [ ] PrNo. 6B Range of Parameter Name Settings Function/Content Mech. break action 0Unlike Pr6A, Pr6B sets time from when the motor is de-energized (servo free) until set-up at motor in 100 the brake release signal (BRK-OFF:CN X5 pin 11) turns off (i.e., brake retained), motion [0] when Servo-OFF is activated while the motor is still rotating. * The parameter is set to prevent deterioration of the brake to be cause by rotation of the motor. * In servo-off operation while the motor is still running, time TB shown in the right figure is time set by Pr6B or time before rotation speed of the motor falls below about 30r/min, whichever is shorter. * Pr6B is displayed in terms of (setting) x 2ms. * Refer to the timing chart of "Servo-ON/ OFF Operation When the Motor is Rotating" on Page 34. 6C External regenerative discharge resister selection 0-3 SRV-ON BRK-OFF ON OFF Released Retained TB Motor energized Energized Motor speed De-energized 30 r/min Also see timing chart "Servo-ON/OFF Operation When the Motor is Stopped" on Page 34 of Preparation edition. If you install a regenerative resistor externally, set this parameter to any value other than 0 or 3 and connect the regenerative resistor between P (pin 5) and B (pin 3) of the connector CN X1. Settings Regenerative resistors to be used 0 - 1 Externally instaled resistor 2 Externally installed resistor - Protection against overload of regenerative resistors As regeneration processing circuit does not run, a built-in condenser handles all of regenerative power. With the operating limit of an externally installed resistor set to 10% duty, activate protection against overload of regenerative resistors (alarm code 18). The protection against regenerative overload does not work. As regeneration processing circuit does not run, a built-in condenser handles all of regenerative power. <Note> When you use an external regenerative resistor, be sure to install such an external safeguard as a temperature fuse, etc. Otherwise, protection of a regenerative resistor may be lost, resulting in abnormal heat generation and burnout of the regenerative resistor. <Cautions> Do not touch an external regenerative resistor. Otherwise, an external regenerative resistor will be hot and may cause burn injury. <Note> * An optional external regenerative resistor has a built-in temperature fuse for safety reasons. The built-in temperature fuse may be disconnected depending on heat dissipation conditions, range of use temperatures, supply voltage, and fluctuations of load. * Configure the machine so that surface temperature of a regenerative resistor is kept below 100C, even when regeneration is apt to occur and the machine is placed under poor conditions (i.e., high supply voltage, high load inertia, and short deceleration time). Also be sure to check that it can run properly. 70 1st over-speed level set-up 71 2nd torque limit set-up 72 2nd position overdeviation set-up 73 2nd over-speed level set-up 0 - 6000 Pr06=2 The parameter sets a 1st overspeed level when torque limit switching input [0] is enabled. If rotation speed of the motor exceeds this setting when the 1st torque limit is selected, overspeed error will be generated. The unit is [r/min]. This parameter will be invalid when the torque limit switching input is disabled. 0 - 500 Pr06=2 The parameter sets a 2nd torque limit when torque limit switching input is enabled. This setting will be a limit value of the motor output torque when the 2nd [0] torque limit is selected. Set this in terms of [%] to rated torque of the motor. This parameter will be invalid when the torque limit switching input is disabled. 1 - 32767 Pr06=2 The parameter sets a second excessive position deviation range when [1875] torque limit switching input is enabled. The unit is [256 x resolution]. This parameter will be invalid when the torque limit switching input is disabled. 0 - 6000 Pr06=2 The parameter sets a 2nd overspeed level when torque limit switching input is enabled. If rotation speed of the motor exceeds this setting when the 2nd [0] torque limit is selected, overspeed error will be generated. The unit is [r/min]. This parameter will be invalid when the torque limit switching input is disabled. <Remarks> For any use example of hit-and-stop initialization or press load pressing control using Pr70 to Pr73, see Pages 207 and 208 of Reference edition. 102 [Connections and Settings in Position Control Mode] Connections and Settings in Internal Velocity Control Mode Control Block Diagram in Internal Velocity Control Mode 104 Wiring to Connector CN X5 ........................................ 105 Example of Wiring to Connector CN X5 ................................................ 105 Interface Circuit .....................................................................................106 Input Signal and Pin No. of Connector CN X5 ......................................107 Output Signal and Pin No. of Connector CN X5 ................................... 109 Test Run in Internal Velocity Control Mode ...............110 Inspection prior to Test Run .................................................................. 110 Test Run with Connector CN X5 Connected ......................................... 111 Real time Auto Gain Tuning ........................................ 114 Outline ................................................................................................... 114 Scope .................................................................................................... 114 Operating Instruction ............................................................................. 114 Parameters to be Set Automatically ...................................................... 115 Cautions ................................................................................................ 115 Parameter Setting ........................................................116 Parameter for Selection of Functions .................................................... 116 Parameters for Adjustment of Time Constants of Gains/Filters ..................... 119 Parameters for Auto Gain Tuning ..........................................................120 Parameters for Position Control ............................................................121 Parameters for Internal Velocity Control ............................................... 122 Parameters for Torque Limits ................................................................ 123 Parameters for Sequences ...................................................................123 103 Connections and Settings in Internal Velocity Control Mode Page 104 OA/OB/OZ Feedback Pulse Deceleration Pr54 Pr55 Pr56 2nd speed 3rd speed 4th speed Inverted Dividing Pr45 Pr44 Dividing Acceleration Pr53 Pr59 Pr58 Acceleration/ deceleration setting 1st speed Internal speed setting Pr1B 2nd Speed Detected Pr13 1st Speed Detection Filter Command Speed Monitor Pr 20 Pr 1A Pr 19 Pr 12 Pr 11 Real Speed Monitor Inertia ratio 2nd Proportion 2nd Integration 1st Proportion 1st Integration Speed Error Driver Pr1E Pr1D Encoder Reception Operation 1st Width 1st Frequency Notch Filter Limit 1st Time Constant 2nd Time Constant Pr 5E Pr 1C Pr 14 Torque Filter Encoder Motor Torque Command Monitor Control Block Diagram in Internal Velocity Control Mode When Pr02, parameter for setting internal control mode is [1]: VDC 12~24V (Pr09) Alarm Mechanical brake release At-speed Servo alarm *CCW overtravel inhibit *CW overtravel inhibit Internal command speed selection 1 Speed zero clamp Internal command speed selection 2 Alarm clear Servo-ON COIN ALM 105 26 13 FG COM- 12 WARN 11 BRKOFF 10 9 8 CCWL 3 A-CLR 4 INTSPD2 5 ZEROSPD 6 INTSPD1 7 CWL CN X5 4.7k Divider PULS2 22 23 CZ Z-phase output (open collector) 330 330 330 Z-phase output B-phase output A-phase output <Remarks> * Default setup of CWL and CCW inputs is "invalid" with Pr04 overtravel inhibit parameter (Pr04=1). The figure shows an example of wiring when Pr04 is valid (Pr04=0). 21 24 SIGN1 SIGN2 25 220 14 GND 15 OA+ 16 OA17 OB+ 18 OB19 OZ+ 20 OZ- 220 PULS1 Connections and Settings in Internal Velocity Control Mode 1 COM+ 2 SRV-ON Wiring to Connector CN X5 [Connections and Settings in Internal Velocity Control Mode] Example of Wiring to Connector CN X5 Example of Wiring in Internal Velocity Control Mode Wiring to Connector CN X5 Interface Circuit Input Circuit SI Connection with Sequence Input Signal 12~24V * Connect to a contact of switch and relay, or a transistor of an open collector output. * When you plan to use a contact input, use switch and relay for minute electric current so as to avoid poor contact. * In order to secure appropriate level of primary current of the photo coupler, set lower limit voltage of the power supply (12 to 24 V) above 11.4V. 1 COM+4.7k VDC SRV-ON, etc. Relay 12~24V 1 COM+4.7k VDC SRV-ON, etc. Output Circuit SO1 Sequence Output Circuit Be sure to install in the direction shown in the figure. * This output circuit is configured with a Darlington connection transistor output of open collector. It is connected to a relay or photo coupler. * Due to Darlington connection of the output transistor, there exists a collector-to-emitter voltage VCE (SAT) of approx. 1V upon power-ON of the transistor. Note that normal TTLIC cannot be directly connected since it does not meet VIL requirement. * When a recommended value of primary current of a photo coupler to be used is 10mA, determine a resistance value with the following formula: VDC[V] - 2.5[V] R [k] = SO1 ALM, etc. 12~24V VDC COIN, etc. 13 COM- 10 Maximum rating: 30V 50mA For a recommended primary current value, check the data sheets of equipment or photo coupler you plan to use. PO1 Line Driver (Differential Output) Output Item equivalent to AM26LS32 * Provide differential outputs of encoder signal output (Phases A, B and Z) after dividing operation is performed, by respective line drivers. * On the host controller side, receive signals with a line receiver. Then, be sure to install termination resistor (approx. 330) between inputs of the line receivers. * This is non-insulated output. OA+ OA- Item equivalent to AM26LS31 15 A 16 OB+ OB- 17 18 B OZ+ OZ- 19 20 Z GND 14 This represents a twisted pair cable. Be sure to connect the signal grounds between the host controller and driver. PO2 Open Collector Output * Among signals from the encoder, output phase Z signals with the open collector. This is non-insulated output. * On the host controller side, use a high-speed photo coupler for reception, since pulse width of phase Z signal is usually narrow. Maximum rating: 30V 50mA 21 CZ 14 GND High-speed Photo Coupler (Equivalent to TLP554 by Toshiba Corporation) This represents a twisted pair cable. 106 [Connections and Settings in Internal Velocity Control Mode] Input Signal and Pin No. of Connector CN X5 Input signals (common) and their functions Signal Name Pin No. Symbol Control Signal Power 1 COM+ Function * Connect positive (+) pole of external DC power supply (12 to Supply Input (+) I/F Circuit ---- 24V). * Total supply voltage should range from 12V 5% to 24V 5%. Control Signal Power 13 * Connect negative (-) pole of external DC power supply (12 to COM- Supply Input (--) Servo-ON input 24V). * The voltage source capacity varies depending on configuration 2 SRV-ON of input/output circuits to be used. We recommend 0.5A or greater. * When this signal is connected to COM-, the driver will be enabled (Servo-ON) (motor energized). SI Page 106 <Cautions> 1. The signal will become valid about 2 seconds after power-ON. (See the timing chart.) 2. Don't use Servo ON/OFF signal to drive/stop the motor. Refer to "Dynamic Brake" on Page 36 of Preparation edition. * Take the time of 100 ms or longer before entering a command on speed, pulse, etc., after transition to Servo-ON. * When you open the connection with COM-, the driver will be disabled (Servo-OFF) the deviation counter by using Pr69 (sequence during Servo-OFF). Alarm Clear Input 3 A-CLR * If this signal is connected to COM- for 120 ms or longer, it will clear alarm status. * There are some alarms that this signal cannot release. SI Page 106 For details, refer to "Protective Functions" on Page 144 of Edition of When You Have Trouble. Deviation Counter Clear/Internal Command Speed Selection 2 Input 4 CL/ The control mode changes functions. INTSPD2 Position Control * Input of this signal is to clear the deviation counter. * When the signal is connected to COM- for 2 ms or longer, it will clear the deviation counter. Internal Velocity * With input of internal command speed selection 2 (INTSPD2), four-speed can be set in combination with INTSPD1 input. Control * For details on settings of control mode, refer to Page 117. 107 SI Page 106 Connections and Settings in Internal Velocity Control Mode and the current flow to the motor will be cut off. * You can select dynamic brake operation during Servo-OFF and clear operation of Wiring to Connector CN X5 Signal Name Gain Switching/ Pin No. Symbol 5 GAIN * Settings of Pr06 and control mode can change functions. SI Page 106 /TC Torque Limit Pr06 Control Mode Content The following 2 functions can be used with settings of Pr30. Gain switching input (GAIN) switches P1/P operation and first/second gain. When position control Pr02 is 0 or 2 Setting of Pr30 Setting of Pr31 0 [default value] - 2 1 Connection with COM- Open Content Velocity loop: P1 (proportional/integral) operation Velocity loop: P (proportion) operation Connected Open 1st gain selected (Pr10,11,12,13,14) Connected 2nd gain selected (Pr18,19,1A,1B,1C) For details on the 2nd gain switching function, refer to Page 138. 0, 1 With speed zero clamp input (ZEROSPD), velocity command is opened when connection with COM- is opened. You can override this input with Pr06. A default value of Pr06 is 1, and this input is valid. When connection with COM- is opened, speed will be zero. When internal velocity control Pr02 is 1 Content Pr06 0 ZEROSPD input is invalid. 1 [default value] 2 Command Dividing I/F Circuit /ZEROSPD Speed Zero Clamp/ Switching Input Function 6 Multiplier Switching/ Position Control/ Internal Velocity Control ZEROSPD input is valid. With torque limit switching input, parameters of acceleration level, torque limit, excessive position deviation can be switched. Connection with COM- DIV Content Open 1st setting value selected. (Pr70,5E,63) Connected 2nd setting value selected. (Pr71,72,73) The control mode can change functions. /INTSPD1 SI Page 106 Internal Command Position * Input to switch dividing multiply of command pulse Speed Selection 1 Control * When this signal is connected to COM-, it will switch a command dividing multiply numerator from Pr46 (Numerator of 1st command pulse ratio) to Pr47 (Numerator of 2nd command pulse ratio). Input <Caution> You must not enter any command pulse for 10 ms before or after switching. CW Overtravel Internal * With internal command speed selection 1 (INTSPD1), four-speed Velocity Control can be set in combination with INTSPD 2. * For details on settings of control mode, refer to Page 117. 7 CWL Inhibit Input * If you open connection with COM- when a moving part of the machine exceeds the movable range in CW direction, no SI Page 106 torque will be generated in CW direction. CCW Overtravel Inhibit Input 8 CCWL * If you open connection with COM- when a moving part of the SI machine exceeds the movable range in CCW direction, no Page 106 torque will be generated in CCW direction. * If you set 1 to Pr04 (Invalid Overtravel Inhibit Input), CWL/ CCWL inputs will be invalid. A default value is invalid (1). * Setting of Pr66 (DB inaction during driving prohibition) can activate the dynamic brake when CWL/CCWL input is valid. According to a default value, the dynamic brake will run (Pr66 is 0). 108 [Connections and Settings in Internal Velocity Control Mode] Output Signal and Pin No. of Connector CN X5 Output Signals (Common) and their Functions Signal Name Pin No. Symbol Function Servo Alarm Output 9 ALM * The output transistor turns OFF when an alarm is generated. SO1 Page 106 Positioning Completion/ Achieved Speed Output 10 COIN * The control mode changes functions. SO1 Page 106 Position Control * Positioning completion output * The output transistor turns ON when the deviation pulse does not exceed setting of Pr60 (In-position range). Internal Velocity Control * Achieved Speed Output * The output transistor turns ON when motor speed exceeds Pr62 (At-speed). Brake Release Signal Output 11 BRK-OFF Warning Output 12 WARN * This signal is used to release the electromagnetic brake of the motor. * The output transistor turns ON when the brake is released. * Refer to "Timing Chart" on Page 32 of Preparation edition. * A signal selected with Pr09 (warning output selection) is output. Settings 0 1 SO1 Page 106 SO1 Page 106 Connections and Settings in Internal Velocity Control Mode Functions The output transistor turns ON while torque is limited. The output transistor turns ON when the speed falls below setting of Pr61 (zero speed). The output transistor turns ON when any of the following 3 warning 2* [default value] functions is activated: regenerative/overload/fan rotation speed abnormality. 3* With the regenerative warning function activated (85% of the regenerative abnormality detection level is exceeded), the output transistor turns ON. With overload warning function activated (effective torque exceeds 4* 85% when the detection level of overload protection is considered 100%), the output transistor turns ON. 5* Displays may appear but do not function. 6 With the abnormal fan rotation speed warning function activated (the fan stops), the output transistor turns ON. I/F Circuit * With settings of 2 to 6, once a warning is detected, the output transistor turns ON for at least 1 second. Phase-A Output Phase-B Output Phase-Z Output Phase-Z Output 15 16 17 18 19 20 19 OA+ OA- OB+ OB- OZ+ OZ- CZ * This signal provides differential output of the encoder signal (Phases A/B/Z) that undergoes dividing process (RS 422 phase, etc.). * The logical relation between phases A and B can be selected with Pr45 (Pulse output logic inversion). * Not insulated * Phase Z signal output in an open collector * Not insulated PO1 Page 106 PO2 Page 106 Output Signals (Others) and their Functions Pin No. Symbol Signal Ground Signal Name 14 GND Frame Ground 26 FG Function * Signal ground in the driver * Insulated from the control signal power supply (COM-) in the driver. * Connected with the earth terminal in the driver. 109 I/F Circuit -- -- Test Run in Internal Velocity Control Mode Inspection prior to Test Run (1) Check the wirings: * Connected correctly (especially power supply connection and motor connection), * Not shorted and properly earthed, and * Not loose. (2) Check the supply voltage: * Check that the rated voltage is supplied. Power supply STATUS ALM CODE x6 Host Controller x5 x4 x3 x1 (3) Install the motor: * Check that the servomotor is firmly installed. Ground (4) Isolate the mechanical load. * Perform a test run of the motor independently. (5) Release the brake. Machine Motor 110 CN X4 [Connections and Settings in Internal Velocity Control Mode] Test Run with Connector CN X5 Connected (1) Connect CN X5. (2) Connect the control signal (COM+/COM-) to the power supply (12 to 24 VDC). (3) Turn on the power (of the driver). (4) Change the control mode to internal velocity control mode (Pr02=1). (5) Activate Servo-ON by connecting Servo-ON input SRV-ON (CN X5 pin 2) and COM- (CN X5 pin 13). Then, with switch of speed zero clamp input ZEROSPD (CN X5 pin 5) closed, run the motor. It will rotate at a speed selected by combining internal command speed selection 1 INTSPD 1 (CN X5 pin 6) and internal command speed selection 2 INTSPD 2 (CN X5 pin 4). (6) Check rotation speed of the motor either on the monitor screen of PANATERM(R) or that of the console. * Check that the motor rotates at a correct rate and in a correct direction. (7) Ensure that the motor will stop when you open the speed zero clamp input ZEROSPD. Wiring Diagram 1 2 DC 12V - 24V Parameters COM+ PrNo. SRV-ON Parameter Name Settings Default setup value Pr02 Control mode setup 1 2 INTSPD2 5 Pr04 Overtravel input inhibit 1 1 ZEROSPD Pr06 ZEROSPD input selection 1 1 6 INTSPD1 Pr53 4 13 1st speed setting to 4th speed COM-- Pr56 The motor runs when ZEROSPD switch is closed, while it stops when the switch is open. Set this, as necessary 0 Pr58 Acceleration time 0 Pr59 Deceleration time 0 Internal velocity 1st speed (Pr53) 2nd speed (Pr54) 3rd speed (Pr55) 4th speed (Pr56) INTSPD1 (Pin 6) INTSPD2 (Pin 4) Open Open Closed Open Open Closed Closed Closed Input Signal Status Signal No. 00 05 111 Input Signal Name Servo-ON Speed zero clamp Monitor Display +A -- (Stop at +A.) Connections and Settings in Internal Velocity Control Mode (8) If you wish to change rotation speed or rotation direction, reset the following parameters: See Pr53 to 56, speed setting, 1st to 4th speed, on Page 117. Test Run in Internal Velocity Control Mode Basic Operations and LED Display (1) Turn on the power. Power Supply STATUS ALM CODE x6 x5 x4 x3 x1 Ground Machine Motor 112 CN X4 [Connections and Settings in Internal Velocity Control Mode] (2) Check LED status. Color of LED Status Green Orange Red Description The main power is turned ON. The driver is switched on. The LED flashes (for 1 second) when a warning is issued. (Abnormal overload, regeneration, and fan rotation speed) Alarm output. Check that alarm code LED does not flash? (It is out during normal operation). It starts flashing in case of an alarm. An alarm code (refer to pages 145 to 148) indicates the alarm code number by the number of flashes of orange and red lights. Orange: 10 digit Red: 1 digit (Example) When overload (alarm code No.16) occurs and the motor stops: The orange light flashes once and red one flashes 6 times. 1 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. Orange Red Red Red Red Red Red After 2 seconds 1 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. (4) Enter a command that matches the control mode. 113 Connections and Settings in Internal Velocity Control Mode (3) Setting the parameter Prepare for a personal computer and "PANATERM(R)". Real time Auto Gain Tuning Outline Automatic gain setting Position/velocity command Automatic filter tuning Position/velocity command Torque command Adaptive filter Current control Motor current Motor Operation command under actual service conditions Load inertia of the machine is real time estimated, and based on the result of estimation, optimum gain is automatically set. In addition, an adaptive filter automatically suppresses vibration due to resonance. Estimation of resonance frequency Estimation of load inertia Real time auto gain tuning Motor speed Encoder Servo driver Scope * Real time auto gain tuning is valid in all control modes. * You can use an adaptive filter only when Pr02=2: high function positioning control. Cautions Under the following conditions, real time auto gain tuning may not properly function. In such a case, use either normal auto gain tuning (Refer to Page 132) or manual gain tuning (Refer to Page 136). Load Inertia Conditions that Hinder Real time Auto Gain Tuning from Functioning When load inertia is smaller or greater than rotor inertia (i.e., 3 times or less or 20 times or more). When load inertia changes quickly (less than 10 [s]). When mechanical stiffness is extremely low. Load When When When When Operation Pattern When there is play such as backlash. the motor runs at a continuous low speed below 100 [r/min]. acceleration/deceleration is gradual, e.g., 2000 [r/min] or less in 1 [s]. acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque. the time that meets conditions of speed/acceleration is short, e.g., less than 40 [ms]. Operating Instruction (1) Stop the motor (Servo-OFF). (2) Set Pr21 (Real time auto tuning set-up) to 1 to 6. A default setup is 1. Setting value Real time Auto Tuning 0 Not used Degree of Load Inertia Changes in Service Little change 2 Gradual change Used Sharp change 4 Little change 5 Gradual change 6 Sharp change 7 Setting parameter Pr21 Adaptive Filter Press S . SET M . Press MODE [1] 3 Insert the connector of console into CNX6 of the driver, and then turn on the power of the driver. Select the parameter to be set with No ( and Always disabled in internal velocity control mode. ) Press S . SET Change the value with Press Not used . (In this case, select Pr21.) or . S . SET Setting parameter Pr22 When load inertia changes widely, set Pr21 to 3 or 6. If there is possibly effect of resonance, select "adaptive filter Yes". Select Pr22 with . S . Press SET (3) Turn the servo on to operate the machine as usual. (4) If you wish to improve responsiveness, gradually increase Pr22 (Machine stiffness at auto tuning). In addition, if any abnormal noise or oscillation occurs, set a value lower (e.g. 0 to 3). (5) If you wish to save result, write it into EEPROM. <Remarks> Any change to Pr21 (Real time auto tuning set-up) will become valid when you turn on the power and when Servo-OFF switches to Servo-ON. Thus, to disable real time auto tuning, set Pr21 (Real time auto tuning mode setting) to 0, and then switch from Servo-OFF to Servo-ON. Similarly, when you enable real time auto tuning, set Pr21 to any value other than 0 and 7 and then switch from ServoOFF to Servo-ON. 114 When you press , a value increases, and when you press (Default Setup Value) , it decreases. Now writing into EEPROM M . Press MODE S . Press SET Keep pressing (about 5 seconds). Then, the number of bars in creases as shown on the right. Start of write (indicated momentarily). End Write finishes After finishing write, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). Write error occurs [Connections and Settings in Internal Velocity Control Mode] Parameters to be Set Automatically The following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically. PrNo. Name 11 1st velocity loop gain 12 1st velocity loop integration time constant 13 1st speed detection filter 14 1st torque filter time constant 19 2nd velocity loop gain 1A 2nd velocity loop integration time constant 1B 2nd speed detection filter 1C 2nd torque filter time constant 20 Inertia ratio PrNo. 30 Name 2nd gain action set-up Setting 1 <Remarks> When real time auto tuning is enabled, you are not allowed to change any parameter to be automatically tuned. Cautions 115 Connections and Settings in Internal Velocity Control Mode (1) After startup, immediately following a first Servo-ON or when you increase Pr22 (Machine stiffness at real time auto tuning), you may have abnormal noise or oscillation before you identify load inertia or an adaptive filter is stabilized. However, this doesn't constitute abnormality if it disappears in no time. If oscillation or noise persists over 3 reciprocating operations, you should take any of the following measures in any possible order: 1) Write into EEPROM parameters used during normal operation. 2) Decrease Pr22 (Machine stiffness at real time auto tuning). 3) Once set Pr21 (Real time auto tuning set-up) to 0 and disable an adaptive filter. Then, enable real time auto tuning again (To disable inertia estimation/resetting of adaptive operation, or real time auto tuning, refer to "Releasing Automatic Tuning Function" on Page 135). 4) Manually set a notch filter (Refer to "To Reduce Mechanical Resonance" on Page 140). (2) In some cases, after abnormal noise or oscillation is generated, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) may change to an extreme value. Even in such a case, you should take the measures described above. (3) Among results of real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are written into EEPROM every 30 minutes. When you power ON again, auto tuning will be carried out using the data as an initial value. Parameter Setting Parameter for Selection of Functions Standard Default Setup: [ ] PrNo. Parameter Name 00 Axis address 01 LED for console, initial condition display Range of Function/Content Settings In communications with a host such as a personal computer that uses RS232C 0 - 15 with multiple axes, you should identify to which axis the host is accessing. With [1] this parameter, you can see an axis name by number. 0 - 15 In the initial state after power-on, you can select any type of data displayed by 7 segment LEDs on the console. Setting 0 [1] Turn on the power This blinks during initialize operation (about 2 seconds). Setting of Pr01 Content Position deviation Motor rotation speed 2 Torque output 3 Control mode 4 Input/output signal condition 5 Error factor, history 6 To be used by the manufacturer 7 Warning 8 Regenerative Load Ratio 9 Overload factor 10 Inertia ratio 11 Feedback pulse total 12 Command pulse total 13 Not available 14 Not available 15 Checking if there is motor automatic recognition function For details of displays, refer to "Monitor Mode" on Page 51 of Preparation edition. 116 [Connections and Settings in Internal Velocity Control Mode] PrNo. 02 Parameter Name Range of Settings Control mode set up Function/Content 0-2 Setting Control Mode [0] High velocity response positioning control (pulse row) 1 2 Internal velocity control High function positioning control (pulse row) * The internal velocity control mode has the internal speed setting function that can easily implement speed control through contact input. * There are four types of internal velocity commands, each having command data set to Pr53 (1st speed), Pr54 (2nd speed), Pr55 (3rd speed) and Pr56 (4th speed), respectively. * Internal block diagram CN X5 INTSPD2 Contact input 4 INTSPD1 6 1st speed (Pr53) 2nd speed (Pr54) 3rd speed (Pr55) 4th speed (Pr56) Velocity command 5 ZEROSPD Disable/Enable (Pr06) * The four types of internal velocity commands can be switched by using the following two contact inputs. Internal INTSPD1 INTSPD2 commands (Pin 6) (Pin 4) 1st speed (Pr53) 2nd speed (Pr54) Open Closed Open Open 3rd speed (Pr55) Open Closed 4th speed (Pr56) Closed Closed * Example of 4 shift operation through internal velocity commands: In addition to INTSPD1 and INTSPD 2, you should also activate speed zero clamp input (ZEROSPD) and Servo-ON input (SRV-ON) for controlling motor driving/stopping. Servo-ON SRV-ON input ZEROSPD input Stopped Driven INTSPD1 input Open Closed Open Closed INTSPD2 input Open Open Closed Closed 2nd speed Speed 3rd speed 1st speed 4th speed Time <Cautions> You can set acceleration and deceleration time separately with the parameters. See: Pr58 of this chapter: acceleration time set-up Pr59 of this chapter: deceleration time set-up 117 Connections and Settings in Internal Velocity Control Mode (1) INTSPD 1 (CN X5 pin 6): Internal command speed selection 1 input (2) INTSPD 2 (CN X5 pin 4): Internal command speed selection 2 input Parameter Setting Standard Default Setup: [ ] PrNo. 04 Range of Function/Content Settings In the case of linear driving, in particular, limit switches should be provided on 0-1 both ends of the axis, as illustrated in the figure below, to prevent any mechanical damage due to overshoot of a work, and inhibit driving in the direction in which the switches operate. CW Direction Work CCW Direction Parameter Name Overtravel Input inhibit Driver Servo Motor Limit Switch Limit Switch CCWL CWL Settings CCWL/ CWLInput Input Connection with COM- CCWL Connected (CN pin X5-8) 0 Open Enabled Connected CWL Operation This shows normal state in which the limit switch on CCW side does not operate. CCW direction inhibited, and CW direction allowed. This shows normal state in which the limit switch on CCW side does not operate. Open CW direction inhibited, and CCW direction allowed. CCWL and CWL inputs are ignored, and driving is not inhibited (allowed) in both (CN pin X5-7) [1] 06 09 Disabled ZEROSPD/TC input selection 0-2 CCW and CW directions. <Cautions> 1. When you set Pr04 to 0, and do not connect CCWL/CWL input to COM- (OFF), it will be judged as abnormality in which limits are simultaneously exceeded in both CCW and CW directions, and the driver will trip due to "overtravel input error". 2. You can set whether to activate a dynamic brake during deceleration when CCW overtravel inhibit input (CCWL) or CW overtravel inhibit input (CWL) works. For details, refer to descriptions on Pr66 (Deceleration and stop set-up at overtravel inhibit). The parameter is used to select functions of speed zero clamp input (ZEROSPD)/ torque limit switching (TC) input (connector) CN X5 pin 5. Setting Speed Zero Clamp Torque Limit Switching Input 0 Disabled Disabled [1] Enabled Disabled 2 Disabled Enabled Warning output selection 0-6 <Remarks> If you wish to use torque limit switching input, also set Pr5E, Pr63, and Pr70 to 73 all at once. If settings of Pr70 and Pr73 remain 0, the error No.26 acceleration protection will occur. This parameter is to allocate functions of warning output(WARN:CN X5 pin 12). Setting Functions Remarks 0 Output during torque limit 1 [2] Zero speed detection output Over-excessive regeneration/overload/fan rotation speed abnormality 3 Over-excessive regeneration warning output 4 5 Overload warning output To be displayed, but not functioning. 6 Fan rotation speed abnormality warning output For detailed information on functions of respective outputs listed in the left, refer to "Wiring to Connector CN X5" on Page 109. <Caution> If you ignore output of warning and continue to use, the motor or driver may fail/ be damaged. 0C Baud rate set-up of RS232C 0-2 Settings Baud Rate 0 2400bps 1 [2] 4800bps 9600bps 118 [Connections and Settings in Internal Velocity Control Mode] Parameters for Adjustment of Time Constants of Gains/Filters Standard Default Setup: [ ] PrNo. Parameter Name 11 1st velocity loop gain 12 1st velocity loop integration time constant 13 Range of Unit Settings 1 - 3500 Hz [35]* * ms 1st speed detection filter 0-5 [0]* - 14 1st torque filter time constant 0 - 2500 [65]* 0.01ms 19 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant 1st notch frequency 1 - 3500 [35]* 1 - 1000 [1000]* Hz 1A 1B 1C 1D 1E 1st notch width selection 0-5 [0]* 0 - 2500 [65]* 100 1500 [1500] 0-4 [2] ms - 0.01ms Hz - * The parameter determines responsiveness of the velocity loop. To improve responsiveness of the entire servo system by setting the position loop gain high, you should be able to set this velocity loop gain higher. * This is an integration element provided to velocity loop, and works to drive minute speed deviation after shutdown to zero. The smaller setting is, the faster the parameter drives it zero. * If it is set to "1000", there will be no effect of integration. * The parameter is used to set a time constant of the low pass filter (LPF) entered after the block capable of conversion from an encoder signal to a speed signal in 6 phases (0 to 5). * As you increase a setting, the time constant will also rise. Thus, although you can reduce noise from the motor, we recommend you set it to 4 or less usually. * The parameter sets a time constant of the primary delay filter inserted into torque command unit. * This might take effect on suppression of vibration due to torsional resonance. * A position loop, velocity loop, speed detection filter, and torque command filter have 2 pairs of gains or time constants (1st and 2nd ), respectively. * The functions/descriptions of respective gains/time constants are same as the 1st gain/time constants. * For details on switching of the 1st/2nd gain, and time constants, refer to Page 127 of Adjustment edition. * When Pr20 inertia ratio is set correctly, Pr11 and Pr19 will be set in (Hz). * The parameter sets notch frequency of a resonance suppression notch filter. * Set the parameter about 10% lower than resonance frequency of the mechanical system that has been found by the frequency characteristic analysis feature of "PANATERM(R)", the setup support software. * Setting this parameter to "1500" disables functions of the notch filter. * The parameter sets width of notch frequency of a resonance suppression notch filter in 5 stages. The higher setting is, the wider filter width will be. * Usually, use a default set-up value. <Remarks> Parameters having standard default set-up value with "*" mark are automatically set while real time auto gain tuning is running. To change to manual, refer to "Cancellation of the Automatic Gain Tuning" on Page 135 of Adjustment edition, disable real time auto gain tuning and then set. 119 Connections and Settings in Internal Velocity Control Mode 1 - 1000 [16]* Function/Content Parameter Setting Parameters for Auto Gain Tuning Standard Default Setup: [ ] PrNo. 20 21 Parameter Name Inertia ratio Real time auto tuning set-up Range of Settings 0 - 10000 [100]* 0-7 Unit % Function/Content * The parameter sets a ratio of load inertia to rotor inertia of the motor. Pr20 = (Load inertia/rotor inertia) x 100 [%] - * When you execute auto gain tuning, load inertia is estimated and the result will be reflected in the parameter. If inertia ratio has been set correctly, Pr11 and Pr19 will be set in (Hz). When Pr20 inertia ratio is greater than actual value, setting unit of the velocity loop gain will be greater. If inertia ratio is smaller than actual value, setting unit of the velocity loop will be smaller. * The inertia ratio estimated during execution of real time auto tuning is saved in EEPROM every 30 minutes. * The parameter sets an operation mode of real time auto tuning. As you set this to a higher value such as 3, 6..., inertia change during operation will be quickly responded. However, operation may become unstable, depending on the operation pattern. Thus, we recommend that you usually set the parameter to 1 or 4. * In internal velocity control mode, the adaptaive filter function is disalbed, and thus Pr2F adaptive filter frequency will be reset to 0. Settings Real time auto tuning 0 Not used Degree of changes in load inertia during operation [1] Little change 2 Gradual change 3 Sharp change Used 4 Adaptive filter No Little change Gradual change 5 Sharp change 6 7 Not used * Any change to this parameter will be valid when Servo-OFF switches to Servo-ON. <Remarks> For Pr02=1 (in internal velocity control mode), you can set the parameter only when the first notch filter is set as disabled. 22 Machine stiffness at auto turning 0 - 15 [4] - * The parameter sets mechanical stiffness during execution of real time auto tuning in 16 stages. Low Mechanical stiffness High Low Servo gain High Pr22 0 * 1- - - - - - - - - - - - 14 * 15 Low 25 Normal auto tuning motion set-up 0-7 - Responsiveness High * If you change a setting sharply and abruptly, gain will vary suddenly, thus giving impact to the machine. Be sure to start with a small setting and gradually increase it while observing how the machine is running. * The parameter sets operation patterns of normal auto gain tuning. Settings Number of Rotations [0] 1 2 2 rotations CCW CW CW CCW CCW CCW CW CW CCW CW 3 4 5 6 7 Rotation Direction 1 rotation CW CCW CCW CCW CW CW <Remarks> Parameters having standard default setup value with "*" mark are automatically set while real time auto gain tuning is running. To change to manual, refer to "Cancellation of the Automatic Gain Tuning" on Page 135 of Adjustment edition, disable real time auto gain tuning and then set. 120 [Connections and Settings in Internal Velocity Control Mode] Parameters for Position Control Standard Default Setup: [ ] Range of Parameter Name Settings PrNo. 44 Output pulses per single turn Function/Content 1 - 16384 The parameter sets the number of pulses per rotation of the encoder pulse to be [2500] output to the host. Pulse should be set with dividing. Directly set the number of pulses per rotation, in [Pulse/rev], necessary for a device/system on your side. Any value that exceeds the encoder pulse will be disabled. 45 Pulse output logic inversion 0-1 A phase relation of output pulses from the rotary encoder is as follows: Phase B pulse is behind Phase A pulse during rotation in CW direction (Phase B pulse is ahead of Phase A pulse during rotation in CCW direction). Reversing logic of Phase B pulse with this parameter, you can reverse the phase relation of Phase B to Phase A. When the motor is rotating in CCW direction Settings Phase A [0] Phase B When the motor is rotating in CW direction (OA) Phase A (OA) Phase B (OB) Phase B (OB) Phase Z (OZ) Phase Z (OZ) Noninverted CZ CZ Phase B (OB) Phase B (OB) Phase Z (OZ) Phase Z (OZ) O n Inverted CZ O n CZ O n Phase Z is in sync with Phase A. You cannot reverse Phase Z. Even by dividing, Phase Z outputs 1 pulse per rotation. <Remarks> Parameters having standard default setup value with "*" mark are automatically set while real time auto gain tuning is running. To change to manual, refer to "Cancellation of the Automatic Gain Tuning" on Page 135 of Adjustment edition, disable real time auto gain tuning and then set. 121 Connections and Settings in Internal Velocity Control Mode 1 Phase B O n Parameter Setting Parameters for Internal Velocity Control Standard Default Setup: [ ] PrNo. 53 Parameter Name 1st internal speed set-up Range of Settings -20000 20000 [0] Function/Content These parameters directly set, in terms of [r/min], the first to fourth internal command speed of when internal speed setting is enabled with the parameter "internal/external speed set-up switching" (Pr05) to Pr53 to Pr56. <Caution> 54 2nd internal speed set-up -20000 20000 Polarity of setting constitutes that of internal command speed. [0] 55 3rd internal speed set-up -20000 - + Rotating in CCW direction, viewed from a shaft end. - Rotating in CCW direction, viewed from a shaft end. Set the parameter in a usable range of rotation speed of the motor. 20000 [0] 56 4th internal speed -20000 - set-up 20000 [0] 58 Acceleration time set-up 05000 In internal velocity control mode, you can implement velocity control by applying acceleration/deceleration to velocity commands in the driver. [0] When you plan to use with internal speed setting, you can obtain soft-start and 59 Deceleration time set-up 05000 stop operations. [0] Internal velocity command Speed ta td 122 ta Pr58 x 2ms/(1000r/min) td Pr59 x 2ms/(1000r/min) [Connections and Settings in Internal Velocity Control Mode] Parameters for Torque Limits PrNo. 5E Parameter Name 1st torque limit setup Range of Settings 0500 Function/Content * With this parameter set, maximum torque of the motor is limited in the driver. * Normal specification allows torque about 3 times as large as rated torque, if in an instant. We recommend that you limit the maximum torque with this parameter if the tripled torque might cause trouble to intensity of the motor load (machine). * You can give setting as a percentage Torque [%] CCW 300 (Max.) (%) value to rated torque. * The right figure shows an example in 200 When Pr5E=150 100 (Rated) which it is limited to 150%. Speed * Pr5E limits the maximum torque of both CW and CCW directions simulta- 100 (Rated) (Max.) 200 neously. 300 CW <Remarks> With torque limit switching function enabled (Pr06=2), this parameter is a value of the 1st torque limit. <Cautions> You cannot set to this parameter a value that exceeds a default setup value with "Maximum Output Torque Setting" of the system parameter (i.e., factory default parameters that cannot be changed through manipulation of PANATERM(R) and console). A default may differ depending on a combination of a motor and driver. For detailed information, refer to "Setting of 1st Torque Limit" on Page 45 of Preparation edition. Standard Default Setup: [ ] PrNo. 61 Range of Parameter Name Settings Zero speed 020000 [50] Function/Content * The parameter directly sets in [r/min] timing to output zero speed detection output signal (WARN: CN X5 pin 12). You need to set parameter warning output selection (Pr09) to 1. * The zero speed detection signal (WARN) will be output when the motor speed falls below the set speed of this parameter Pr61. * Setting of Pr61 acts on both CW and CCW Speed CCW directions, irrespective of the direction of motor rotation. Pr61 * There is hysteresis of 10 rpm. Set the Pr61 parameter 10 or more. CW ON WARN 62 At-speed 020000 * In internal velocity control mode, the parameter sets timing to output achieved speed signal (COIN: CN X5 pin 10) with rotation speed [r/min]. [1000] * The achieved speed signal will be output when the motor speed exceeds the speed set by this parameter Pr62. Speed * Setting of Pr62 works on both CW and CCW directions, irrespective of rotation direction of the motor. Pr62 CCW * There is hysteresis of 10 rpm. Set the parameter 10 or more. CW Pr62 COIN 123 OFF ON Connections and Settings in Internal Velocity Control Mode Parameters for Sequences Parameter Setting PrNo. 66 Parameter Name Deceleration and Range of Settings 0-2 Function/Content The parameter sets the deceleration and stop operation after the drive inhibit stop set-up at input (CCWL: Connector CNx58 pin or CWL: Connector CNx57 pin) activates and overtravel inhibit becomes enabled. Setting [0] 1 2 Driving Conditions from Deceleration to Stop Invalidate torque in the driving inhibited direction, and activate the dynamic brake. Invalidate torque in the driving inhibited direction, and have the motor free run. In the position control mode, servo lock is decelerated and stopped, and in the internal velocity control mode, speed zero clamp deceleration and stop is actuated. 68 Sequence at alarm 0-3 The parameter sets driving conditions during deceleration after alarm is generated as a result of activation of any of protective functions of the driver, or after the motor stops. Settings Driving Conditions [0] During Deceleration DB After stop DB 1 Free run DB 2 3 DB Free run Free Free State of Deviation Counter Cleared Cleared Cleared Cleared (DB: Dynamic Brake operation) Also see Timing Chart "After an Alarm event" on Page 33 of Preparation edition. 69 Sequence at Servo-OFF 0-7 [0] The parameter sets the following: 1) Driving conditions during deceleration or after stop 2) Clear operation of the deviation counter after Servo-OFF (SRV-ON signal: CN X5 pin 2 turns on Driving Conditions Settings During Deceleration After stop off) is turned on. State of Deviation Counter DB Free run DB DB Cleared 2 DB Free Cleared 3 4 Free run DB Free DB Cleared Retained 5 Free run DB 6 7 DB Free run Free Free Retained Retained Retained [0] 1 Cleared (DB: Dynamic Brake operation) Also see Timing Chart "Servo-ON/OFF Operation When the Motor is Stopped" on Page 34 of Preparation edition. 124 [Connections and Settings in Internal Velocity Control Mode] Standard Default Setup: [ ] Range of PrNo. Parameter Name Settings Function/Content 6A 0Mech. break action The parameter enables you to set time from when the brake release signal (BRK100 set-up at motor OFF:CN X5 pin 11) turns off until the motor becomes de-energized (servo free), [0] standstill when you turn on Servo-OFF while the motor is stopped. * In order to prevent subtle travel/drop of the motor (work) due to the action delay time (tb) of the brake, set as follows: Setting of Pr6A tb * Pr6A is set in the unit of (setting) x 2ms. * Refer to Timing Chart of "Servo-ON/ OFF Operation When the Motor is Stopped" on Page 34. 6B Mech. break action set-up at motor in motion 0100 [0] 0-3 BRK-OFF Release Actual brake Motor energized Retained tb Release Retained Energized De-energized Pr6A SRV-ON BRK-OFF ON OFF Released Retained TB Motor energized Energized De-energized Motor speed 30 r/min Also see timing chart "Servo ON/OFF Operation When the Motor is Stopped" on Page 34 of Preparation edition. If you install a regenerative resistor externally, set this parameter to any value other than 0 or 3 and connect the regenerative resistor between P (pin 5) and B (pin 3) of the connector CN X1. Settings Regenerative resistors to be used 0 - 1 Externally instaled resistor 2 Externally installed resistor [3] - Protection against overload of regenerative resistors As regeneration processing circuit does not run, a built-in condenser handles all of regenerative power. With the operating limit of an externally installed resistor set to 10% duty, activate protection against overload of regenerative resistors (alarm code 18). The protection against regenerative overload does not work. As regeneration processing circuit does not run, a built-in condenser handles all of regenerative power. <Note> When you use an external regenerative resistor, be sure to install such an external safeguard as a temperature fuse, etc. Otherwise, protection of a regenerative resistor may be lost, resulting in abnormal heat generation and burnout of the regenerative resistor. <Cautions> Do not touch an external regenerative resistor. Otherwise, an external regenerative resistor will be hot and may cause burn injury. <Note> * An optional external regenerative resistor has a built-in temperature fuse for safety reasons. The built-in temperature fuse may be disconnected depending on heat dissipation conditions, range of use temperatures, supply voltage, and fluctuations of load. * Configure the machine so that surface temperature of a regenerative resistor is kept below 100C, even when regeneration is apt to occur and the machine is placed under poor conditions (i.e., high supply voltage, high load inertia, and short deceleration time). Also be sure to check that it can run properly. 125 Connections and Settings in Internal Velocity Control Mode External regenerative discharge resister selection OFF ON Also see Timing Chart "Servo ON/OFF Operation When the Motor is Rotating" on Page 34 of Preparation edition. Unlike Pr6A, Pr6B sets time from when the motor is de-energized (servo free) before the brake release signal (BRK-OFF:CN X5 pin 11) turns off (i.e., brake retained), when Servo-OFF is activated while the motor is still rotating. * The parameter is set to prevent deterioration of the brake to be cause by rotation of the motor. * In servo-off operation while the motor is still running, time TB shown in the right figure is time set by Pr6B or time before rotation speed of the motor falls below about 30r/min, whichever is shorter. * Pr6B is displayed in terms of (setting) x 2ms. * Refer to the timing chart of "Servo ON/ OFF Operation When the Motor is Rotating" on Page 34. 6C SRV-ON Parameter Setting Standard Default Setup: [ ] PrNo. 70 Range of Parameter Name Settings 1st over-speed level set-up Function/Content 0 - 6000 Pr.06=2 The parameter sets a 1st overspeed level when torque limit switching input is [0] enabled. If rotation speed of the motor exceeds this setting when the first torque limit is selected, overspeed error will be generated. The unit is [r/min]. This parameter will be invalid when the torque limit switching input is disabled. 71 2nd torque limit set-up 0 - 500 [0] Pr.06=2 The parameter sets a 2nd torque limit when torque limit switching input is enabled. This setting will be a limit value of the motor output torque when the second torque limit is selected. Set this in terms of [%] to rated torque of the motor. 72 2nd position overdeviation set-up 73 2nd over-speed level set-up This parameter will be invalid when the torque limit switching input is disabled. 1 - 32767 Pr.06=2 The parameter sets a 2nd excessive position deviation range when torque limit [1875] switching input is enabled. The unit is [256 x resolution]. This parameter will be invalid when the torque limit switching input is disabled. 0 - 6000 Pr.06=2 The parameter sets a 2nd overspeed level when torque limit switching input is enabled. If rotation speed of the motor exceeds this setting when the second torque limit [0] is selected, overspeed error will be generated. The unit is [r/min]. This parameter will be invalid when the torque limit switching input is disabled. <Remarks> For any use example of hit-and-stop initialization or press load pressing control using Pr70 to Pr73, see Pages 207 and 208 of Reference edition. 126 Page Gain Adjustment.......................................................... 128 Connections and Settings in Internal Velocity Control Mode Adjustment Objective of Gain Adjustment ................................................................ 128 Types of Gain Adjustment .....................................................................128 Procedures of Gain Adjustment ............................................................129 Normal Auto Gain Tuning ........................................... 132 Cancellation of the Automatic Gain Tuning .............. 135 Manual Gain Tuning (Basic) ....................................... 136 Manual Gain Tuning (Application) ............................. 138 Gain Switching Function ....................................................................... 138 To Reduce Mechanical Resonance ...................................................... 140 Anti-Vibration Control ............................................................................142 127 Adjustment Real time Auto Gain Tuning ....................................... 130 Gain Adjustment Objective of Gain Adjustment It is necessary that the motor runs with the least delay time and in response to a command from the driver. Hence, we need to adjust the gain of the motor to perform command, in order to maximize the performance of the machine. <Example: Ball Screw> Gain setting: low +2000 +2000 0 0 Gain setting: High + Feed forward setting Actual motor speed Command speed -2000 -2000 (r/min) (r/min) 0.0 125 250 375 Position loop gain Velocity loop gain Velocity loop integration time constant Velocity feed forward Inertia ratio : 20 :100 : 50 : 0 :100 0.0 125 250 375 Position loop gain :100 Velocity loop gain : 50 Velocity loop integration time constant : 50 Velocity feed forward : 0 Inertia ratio :100 0.0 125 250 375 Position loop gain : 100 Velocity loop gain : 50 Velocity loop integration time constant : 50 Velocity feed forward : 500 Inertia ratio : 100 Types of Gain Adjustment Functions Automatic adjustment Refer to: Estimates the load inertia of a machine at real-time, and automatically sets the optimum gain based on the result of estimation. P.130 Reduces resonance point vibration, by estimating the resonance frequency from vibration component that appears in the motor speed and automatically sets the notch filter. P.131 Normal auto gain tuning Actuates the motor in a command pattern generated by the driver, estimates the load inertia based on the torque required, and automatically sets the appropriate gain. P.132 Cancellation of automatic gain tuning Cautions need to be followed when you disable real time auto gain tuning or the adaptive filter. P.135 Manual gain tuning (basic) Manually adjust when you cannot execute the auto gain tuning due to constraints such as operating pattern/load conditions, etc., or when you wish to ensure ultimate responsiveness appropriate to the individual loads. P.136 Manual gain tuning (application) If you cannot satisfy the specifications through the basic adjustment, you can aim to improve performance by using the following applied functions: P.138 Gain switching function You can execute the gain switching with internal data or external signal as a trigger. This shows the effects of reduced vibration under suspension, shortened stabilization time, improved command trackability, etc. P.138 Suppression of mechanical resonance You are not able to set a high gain when the mechanical stiffness is low or when vibration or noise is generated due to resonance that results from the twist of the shaft. In such case, you can suppress the resonance by using a torque filter or notch filter. P.140 Anti-vibration control Reduces vibration at edge of the device, by removing the components of the vibration frequency by the position command. P.142 Real time auto gain tuning Manual adjustment Descriptions Adaptive filter <Note> * Pay adequate attention to safety. * In case of oscillation (i.e., abnormal noise/vibration), promptly cut off the power or activate Servo-OFF. 128 [Gain Adjustment] Procedures of Gain Adjustment The following flow chart illustrates the entire process of the gain adjustment: Start adjustment Do you select auto tuning? No Yes P. 13500 Can you enter a command? P. 135 No Yes (Default setup) Release the automatic adjustment function Release the automatic adjustment function P. 130 P. 132 Real time auto gain tuning Normal auto gain tuning Adaptive filter Does it operate properly? No Yes Does it operate properly? No Yes P. 136 Manual gain tuning Do load characteristics fluctuate? Yes Basic adjustment No Gain switching Suppression of mechanical resonance P. 135 Cancel the automatic adjustment function Anti-vibration control Gain Adjustment Does it operate properly? No Yes Write into EEPROM Consult with us End of adjustment Relationship between Gain Adjustment and Mechanical Stiffness * Vibration inherent in a mechanical system (i.e., resonance frequency) substantially affects the gain adjustment of a servo. It is impossible to set high responsiveness for servo systems, for machine of low resonance frequency (= low mechanical stiffness). * Hence, in order to increase mechanical stiffness, check that: (1) the machine has been installed on solid grounding and assembled fimly. (2) the coupling in use is highly stiff and designed for a servo. (3) a wide timing belt is used, and that tensile force has been set within the range of allowable axial load of the motor. (4) a gear with less backlash is used. 129 Real time Auto Gain Tuning Outline Automatic gain setting Position/speed command Load inertia of the machine is real-time estimated, and the optimum gain is automatically set based on the result of estimation. In addition, an adaptive filter automatically suppresses vibration due to resonance. Automatic filter tuning Position/velocity command Torque command Adaptive filter Current control Motor current Motor Operation command under actual service conditions Estimation of resonance frequency Estimation of load inertia Real time auto gain tuning Motor speed Encoder Servo driver Scope * Real time auto gain tuning is valid in all control modes. * You can use an adaptive filter only when Pr02=2: high function positioning control. Cautions Under the following conditions, real time auto gain tuning may not properly function. In such cases, use either the normal auto gain tuning (Refer to Page 132) or the manual gain tuning (Refer to Page 136). Load Inertia Conditions that Hinder Real time Auto Gain Tuning from Functioning When load inertia is smaller or greater than rotor inertia (i.e., 3 times or less or 20 times or more). When load inertia changes quickly (less than 10 [s]). When mechanical stiffness is extremely low. Load When When When When Operation Pattern When there is play such as backlash. the motor runs at a continuous low speed below 100 [r/min]. acceleration/deceleration is gradual, e.g., 2000 [r/min] or less in 1 [s]. acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque. the time that meets conditions of speed/acceleration is short, e.g., less than 40 [ms]. Operating Instruction (1) Stop the motor (Servo-OFF). (2) Set Pr21 (Real time auto tuning set-up) to 1 to 6. A default setup is 1. Setting value Real time Auto Tuning 0 Not used Degree of Load Inertia Changes in Service Little change 2 Gradual change Used Little change 5 Gradual change 7 Yes Press S . SET Select the parameter to be set with and . (In this case, select Pr21.) No Press S . SET Change the value with Sharp change Not used Setting parameter Pr21 M . Press MODE Sharp change 4 6 Adaptive Filter (When Pr02=2) No [1] 3 Insert the connector of console into CNX6 of the driver, and then turn on the power of the driver. Yes When load inertia changes widely, set Pr21 to 3 or 6. If there is possibly effect of resonance is possible, select "adaptive filter Yes". Press . S . SET Setting parameter Pr22 Select Pr22 with (3) Turn the servo on to operate the machine as usual. (4) If you wish to improve responsiveness, gradually increase Pr22 (Machine stiffness at auto tuning). In addition, if any abnormal noise or oscillation occurs, set a value lower (e.g. 0 to 3). (5) If you wish to save the result, write it into EEPROM. <Remarks> Any change to Pr21 (Real time auto tuning set-up) will become valid when you turn on the power and when Servo-OFF switches to Servo-ON. Thus, to disable real time auto tuning, set Pr21 (Real time auto tuning mode setting) to 0, and then switch from Servo-OFF to Servo-ON. Similarly, when you activate the real time auto tuning, set Pr21 to any value other than 0 and 7, and switch from ServoOFF to Servo-ON. or . S . Press SET When you press , a value increases, and when you press , it decreases. Now writing into EEPROM M . Press MODE S . Press SET Keep pressing (about 5 seconds). Then, the number of bars in creases as shown on the right. Start of write (indicated momentarily). End Write finishes After finishing write, return to Selection Display referring to "Structure of Each Mode" (Page 48 and 49). 130 (Default Setup Value) Write error occurs [Gain Adjustment] Adaptive Filter Filters are effective when Pr02=2 (high-grade position control mode) and Pr21 is 1 to 3 or 7. The adaptive filter reduces the resonance point vibration, by estimating resonance frequency from the vibration component that appears at the motor operation, and removes the resonance component by torque command through automatic setting of a coefficient of a notch filter. The adaptive filter may not function normally under the following conditions. In such cases, use the anti-resonance measures of 1st notch filter (Pr1D, 1E) according to the manual tuning procedure. For details of the notch filter, refer to "To Reduce Mechanical Resonance" in Page 140. Conditions that Hinder an Adaptive Filter from Functioning When the resonance frequency is 300 [Hz] or lower. Resonance Point When resonance peak or control gain is low, which does not affect the motor speed When there is more than one resonance point Load When the motor speed having high frequency component fluctuates due to nonlinear element such as backlash, etc. Command Pattern When acceleration or deceleration is exponential such as 30000 [r/min] or more in 1 [s] Parameters to be Set Automatically The following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically. PrNo. Name PrNo. Name Setting 10 1st position loop gain 15 Velocity feed forward 300 11 1st velocity loop gain 16 Feed forward filter time constant 50 12 1st velocity loop integration time constant 30 2nd gain action set-up 1 13 1st speed detection filter 31 Position control switching mode 10 14 1st torque filter time constant 32 Position control switching delay time 30 18 2nd position loop gain 33 Position control switching level 50 19 2nd velocity loop gain 34 Position control switching hysteresis 33 1A 2nd velocity loop integration time constant 35 Position loop gain switching time 20 1B 2nd speed detection filter 1C 2nd torque filter time constant 20 Inertia ratio 2F Adaptive filter frequency When real time auto tuning is in effect, you are not allowed to change any parameter to be automatically tuned. Cautions (1) After startup, immediately following the first Servo-ON or when you increase Pr22 (auto tuning), you may have abnormal noise or oscillation before you identify load inertia or an adaptive filter is stabilized. However, this doesn't constitute abnormality if it disappears in no time. If oscillation or noise persists over 3 reciprocating operations, you should take any of the following measures in any possible order: 1) Write into EEPROM parameters used during normal operation. 2) Decrease Pr22 (auto tuning). 3) Once set Pr21 (real time auto tuning mode setting) to 0 and disable an adaptive filter. Then, enable real time auto tuning again (To disable inertia estimation/resetting of adaptive operation, or real time auto tuning, refer to "Cancellation of the Automatic Gain Tuning" on Page 135). 4) Manually set a notch filter (Refer to "To Reduce Mechanical Resonance" on Page 140). (2) In some cases, after abnormal noise or oscillation is generated, Pr20 (inertia ratio) or Pr2F (adaptive filter frequency) may change to an extreme value. In such cases, you should take the measures described above. (3) Among results of real time auto gain tuning, Pr20 (inertia ratio) and Pr2F (adaptive filter frequency) are written into EEPROM every 30 minutes. When you power up again, auto tuning will be carried out using the data as an initial value. 131 Gain Adjustment <Remarks> Normal Auto Gain Tuning Outline Position command In normal auto gain tuning, the motor runs at a command pattern automatically generated by the driver, load inertia is estimated based on the torque required then, and thus appropriate gain is automatically set. Normal mode auto gain tuning Motor acceleration Estimation of load inertia Generation of an internal position command Automatic gain tuning Torque Position/ command velocity control Motor Current current Motor control Motor torque Motor speed Encoder Servo driver Scope This feature functions under the following conditions: Conditions under which normal auto gain tuning works Control mode Input signal Pr02=0 (high speed response positioning control), Pr02=2 (high function positioning control), and Pr02=1 (internal velocity control) They can be used in all control modes. It should be in Servo-ON state. No deviation counter clear signal has been entered. Cautions Under the following conditions, normal auto gain tuning may not function properly. In such cases, set the manual gain tuning. Conditions that hinder operation of normal auto gain tuning When it is smaller or greater than rotor inertia Load inertia (less than 3 times, or more than 30 times) When load inertia is fluctuated. Load When mechanical stiffness is extremely low. When there is backlash or play, etc. * If abnormal Servo-OFF/deviation counter clear occurs during auto gain tuning operation, tuning error will be generated. * If load inertia cannot be estimated even though auto gain tuning has been executed, gain will remain unchanged, namely, same as a value prior to tuning. * Motor output torque during auto gain tuning operation may be allowed up to output torque set with Pr5E (torque limit set-up), while CW and CCW overtravel inhibit will be ignored. Pay adequate attention to safety. In case of oscillation, promptly cut off the power or turn on Servo-OFF and reset gain to default setup through setting of parameters. Auto Gain Tuning Operation (1) In normal auto tuning, responsiveness is set in terms of mechanical stiffness No. Mechanical Stiffness No. * The number sets level of mechanical stiffness of a user machine and is represented by a value from 0 to 15. The higher mechanical stiffness a machine has, the higher you can increase this number and set gain. * Usually, set stiffness No. in ascending order and execute auto gain tuning. Use the function as far as oscillation/abnormal noise/vibration does not occur. (2) An operating pattern you set with Pr25 (normal auto tuning motion set-up) is repeated up to 5 cycles. In addition, acceleration of operation is doubled for every cycle after a third cycle. Depending on load state, the operating pattern may end without being repeated 5 cycles, or acceleration of operation may not rise. This, however, does not constitute abnormality. 132 [Gain Adjustment] Operating Instructions (1) Set an operating pattern with Pr25. (2) Shift load to a position where there will be no problem if the motor executes the operating pattern set with Pr25. (3) Do not enter a command. (4) Activate Servo-ON. (5) Start auto gain tuning. Do so by using a console or PANATERM(R). For operating instructions with the console, see a next page. (6) Adjust mechanical stiffness No. so that you can have desired response at a level that results in no vibration. (7) If you have no problem with the result, write it into EEPROM. Parameters to be automatically set Auto gain tuning table Parameter No. 0 1 2 3 4 5 6 7 8 1st position loop gain 27 32 39 48 63 72 90 108 135 1st velocity loop gain 15 18 22 27 35 40 50 60 75 9 11 37 31 25 21 16 14 12 1st velocity loop integration time constant 0 0 0 0 0 0 0 0 0 1st speed detection filter 1st torque filter time constant 152 126 103 84 65 57 45 38 30 300 300 300 300 300 300 300 300 300 Velocity feed forward 50 50 50 50 50 50 50 50 50 Feed forward filter time constant 31 38 46 57 73 84 105 126 157 2nd position loop gain 15 18 22 27 35 40 50 60 75 2nd velocity loop gain 2nd velocity loop integration time constant 1000 1000 1000 1000 1000 1000 1000 1000 1000 0 0 0 0 0 0 0 0 0 2nd speed detection filter 2nd torque filter time constant 152 126 103 84 65 57 45 38 30 Estimated load inertia ratio Inertia ratio 1 1 1 1 1 1 1 1 1 2nd gain set-up 10 10 10 10 10 10 10 10 10 Position control switching mode 30 30 30 30 30 30 30 30 30 Position control switching delay time 50 50 50 50 50 50 50 50 50 Position control switching level Position control switching hysteresis 33 33 33 33 33 33 33 33 33 Position loop gain switching time 20 20 20 20 20 20 20 20 20 shows parameters that are set to a fixed value. A default setup stiffness is 4. 133 9 162 90 8 0 25 300 50 188 90 1000 0 25 10 206 115 7 0 20 300 50 241 115 1000 0 20 11 251 140 6 0 16 300 50 293 140 1000 0 16 12 305 170 5 0 13 300 50 356 170 1000 0 13 13 377 210 4 0 11 300 50 440 210 1000 0 11 14 449 250 4 0 10 300 50 524 250 1000 0 10 15 557 310 3 0 10 300 50 649 310 1000 0 10 1 10 30 50 33 20 1 10 30 50 33 20 1 10 30 50 33 20 1 10 30 50 33 20 1 10 30 50 33 20 1 10 30 50 33 20 1 10 30 50 33 20 Gain Adjustment Pr10 Pr11 Pr12 Pr13 Pr14 Pr15 Pr16 Pr18 Pr19 Pr1A Pr1B Pr1C Pr.20 Pr30 Pr31 Pr32 Pr33 Pr34 Pr35 Stiffness Value Name Normal Auto Gain Tuning How to Operate with Console (1) Switch from monitor mode to normal auto gain tuning mode, by pressing SET button and then mode switch button 3 times. For operating instructions, refer to Normal Auto Gain Tuning Mode on Page 58 of Preparation edition. Motor rotation speed indication (Initial display) Mechanical Stiffness No. (2) Select mechanical stiffness No. by pressing or . Mechanical Stiffness No. (High) Press , and a value will change in the direction shown by the arrow. Press , and a value will change in the reverse direction. Mechanical Stiffness No. (Low) (3) Pressing Mechanical Stiffness No. Direct connection with ball screw 8 - 14 Ball screw + timing belt 6 - 12 Driving method Timing belt 4 - 10 Gear, rack and pinion Other machines with low stiffness 2-8 0-8 , shift to monitor/execution mode. (4) Activate Servo-ON state (Do not enter a command). (5) Operations in monitor/execution mode Press till display of changes to . When you keep pressing (about 3 seconds), horizontal bars will increase, as shown in the right figure. The motor has started to rotate. When Pr25 = 0, the motor rotates twice in CCW/CW directions for about 15 seconds, which is considered 1 cycle. The motor can repeat cycles up to 5 times. Even when it terminates before fifth cycle, it is not abnormality. (6) Repeat steps 2 to 5 above until you receive a satisfactory response, and write a gain value to EEPROM so that it will not be lost due to cutoff of power supply. <Caution> Do not use normal auto gain tuning with the motor/driver on a standalone basis. If you do so, <Remarks> Pr20 (inertia ratio) will be 0. * Error is displayed. Condition Cause Any of alarm, Servo-OFF or Step to take * Remove a factor of alarm. * The motor does not rotate. deviation counter clear has * Activate Servo-ON. * A value related to gain such as occurred. Load inertia cannot be * Release the deviation counter clear. * Decrease Pr10 to 10 and Pr11 to 50 and execute again. estimated. * Make manual adjustment. Pr10 remains unchanged from a value prior to execution. 134 Cancellation of the Automatic Gain Tuning [Gain Adjustment] Outline Cautions required when you disable the real time auto gain tuning which was unabled by default setup or an adaptive filter are stated. Cautions Cancel of the automatic adjustment function, at Servo-OFF. Disabling Real time Auto Tuning When you change Pr21 (real time auto tuning set-up) to 0 or 7 (only adaptive filter enabled), automatic estimation of Pr20 (inertia ratio) will stop and real time auto tuning will be disabled. (Note, however, that the change will take effect when you activate Servo-ON again after turning on Servo-OFF once.) Estimation result of Pr20 (inertia load) will be saved. Thus, if you notice this parameter has been apparently set to an extraordinary value, use normal auto tuning after disabling, or manually set a reasonable value obtained from calculation, etc. Disabling Adaptive Filter When you set Pr21 (real time auto tuning set-up) to 0 or 4 to 6 (only real time auto tuning enabled), the adaptive filter feature that automatically track load resonance will stop. However, if you disable the adaptive filter while it is normally functioning, effects of resonance that have been suppressed may appear and cause abnormal noise/vibration, etc. Therefore, if you disable the adaptive filter, do so only after manually setting Pr1D (1st notch frequency) from Pr2F (adaptive filter frequency) by means of the following table: 1st Notch Frequency [Hz] Pr2F 1st Notch Frequency [Hz] Pr2F 1st Notch Frequency [Hz] 0 (Disabled) 22 766 44 326 1 (Disabled) 23 737 45 314 2 (Disabled) 24 709 46 302 3 (Disabled) 25 682 47 290 4 (Disabled) 26 656 48 279 5 1482 27 631 49 269 (Disabled when Pr22 15) 6 1426 28 607 50 258 (Disabled when Pr22 15) 7 1372 29 584 51 248 (Disabled when Pr22 15) 8 1319 30 562 52 239 (Disabled when Pr22 15) 9 1269 31 540 53 230 (Disabled when Pr22 15) 10 1221 32 520 54 221 (Disabled when Pr22 14) 11 1174 33 500 55 213 (Disabled when Pr22 14) 12 1130 34 481 56 205 (Disabled when Pr22 14) 13 1087 35 462 57 197 (Disabled when Pr22 14) 14 1045 36 445 58 189 (Disabled when Pr22 14) 15 1005 37 428 59 182 (Disabled when Pr22 13) 16 967 38 412 60 (Disabled) 17 930 39 396 61 (Disabled) 18 895 40 381 62 (Disabled) 19 861 41 366 63 (Disabled) 20 828 42 352 64 (Disabled) 21 796 43 339 <Remarks> When Pr2F is 49 or higher, the adaptive filter may have been disabled automatically, depending on Pr22 (Machine stiffness at auto tuning). In such a case, you do not have to manually set Pr1D. 135 Gain Adjustment Pr2F Manual Gain Tuning (Basic) Although MINAS-E series is equipped with the auto gain tuning function described above, you may have to readjust when you cannot successfully adjust gain even if you execute auto gain tuning, due to some constraint such as load conditions, etc., or when you wish to have the best responsiveness or stability appropriate to individual loads. In this section, in order to cope with such cases, we describe the manual gain tuning that allows you to adjust gain manually. Prior to Manual Adjustment If you use a console, you can make adjustment while checking behavior or sound of the motor (machine). However, we recommend that you conduct waveform observation by using waveform graphic function of the setup support software PANATERM(R) for more accurate adjustment, because it enables you to display, as waveform, a command to the motor, motor speed, torque, deviation pulse on the display screen of your personal computer. For detailed information, refer to "Outline of Setup Support Software PANATERM(R)" on Page 156 of Reference edition. STATUS RS-232C Connecting Cable ALM CODE x6 x5 Setup Support Software x4 PANATERM x3 M MODE S SHIFT SET x1 Console Functions Available in Each Control Mode In each control mode, you can use the functions listed in the table below: Pr02 Control Mode 0 1 2 High speed response positioning Internal speed High function positioning Basic Gain Adjustment Switching Anti-Vibration Control Switching Torque Filter Notch Filter * Anti-Vibration Control Switching * <Remarks> * In high speed response positioning control mode, simultaneous use of a notch filter and anti-vibration control is not allowed. A parameter entered earlier takes precedence. (Example) When you set anti-vibration control, Pr1D: notch frequency will be forcibly set to 1500 (disabled) even if you enter it. * Note that customers cannot set adjustment of current loop gain. 136 [Gain Adjustment] Method of Adjustment in Position Control Mode (1) Set the following parameters to values listed in the table below: Parameter No. (Pr ) 10 11 12 13 14 15 16 18 19 1A 1B 1C 1D 1E Parameter Name 1st position loop gain 1st velocity loop gain 1st velocity loop integration time constant 1st speed detection filter 1st torque filter time constant Velocity feed forward Feed forward filter time constant 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant 1st notch frequency 1st notch width selection Target Value Parameter No. (Pr ) Parameter Name Target Value 27 15 37 0 152 0 0 27 15 37 0 152 1500 2 20 21 2B 2C 30 31 32 33 34 35 4C 4E Inertia ratio Real time auto tuning set-up Damping frequency Damping filter setting 2nd gain action set-up Position control switching mode Position control switching delay time Position control switching level Position control switching hysteresis Position loop gain switching time Smoothing filter set-up FIR filter set-up 100 0 0 0 0 0 0 0 0 0 1 0 (2) Enter Pr20 inertia ratio. Measure with auto tuning or set a calculated value. (3) Using the following table as target values, make adjustment. Order Parameter No. (Pr ) Parameter Name Target Value 1 Pr11 1st velocity loop gain 30 2 Pr14 1st torque filter time constant 50 3 Pr10 1st position loop gain 50 4 Pr12 1st velocity loop integration time constant 25 Interpretation of Adjustment You can increase a value as far as no abnormal noise/vibration is generated. If abnormal noise is heard, decrease it. If vibration is generated when you change Pr11, use a different value. Make a value of Pr11 setting x Pr14 setting smaller than 10000. If you wish to suppress vibration in halt condition, increase Pr14 and decrease Pr11. If vibration immediately before halt overshoots, decrease Pr14. Make adjustment while looking at positioning time. If you increase a value, positioning time will be shorter. If you set it too high, oscillation with trembling will be generated. OK if there is no abnormal behavior. If you set a lower value, positioning time will be shorter. However, if you set it too low, oscillation will be generated. When you set it high, in some cases, deviation pulse will be left indefinitely without being converged. You can increase a value as far as no abnormal noise/vibration is generated. If you set too much feed forward, it will lead to generation of overshoot or Pr15 Velocity feed forward 300 chattering of a positioning complete signal, and as a result, stabilization time may not be reduced. If command pulse input is not uniform, you may improve it by setting Pr16 (feed forward filter) higher. How to Adjust the Internal Velocity Control Mode Adjustable parameters are velocity loop gain, velocity loop integration time constant, and torque filter time constant. Make adjustment in according to (3) of "Method of Adjustment in Position Control Mode" described above, Pr11 1st velocity loop gain, Pr14 1st torque filter time constant, and Pr12 1st velocity loop integration time constant. 137 Gain Adjustment 5 Manual Gain Tuning (Application) Gain Switching Function In manual gain switching mode, you can Operation Command speed manually set a second gain in addition to a 1st Stopped Drive gain, and execute gain switching depending on State (servo lock) an operating state. Low gain High gain * When you wish to accelerate responsiveness Suppress vibration Gain (2nd gain) (1st gain) 1ms 2ms by reducing gain by increasing gain during operations * When you wish to improve stiffness of servo lock by increasing gain in halt condition * When you wish to switch to optimal gain, depending on an operation mode * When you wish to decrease gain to suppress vibration under suspension You can use the function of switching from a 1st to 2nd gain for various applications. Stopped (servo lock) Time Low gain (1st gain) <Example> This is an example of when you've noticed sound when the motor is halted (servo lock) or when you reduce noise by switching to low gain setting after the motor is stopped. Make adjustment, also referring to Auto Gain Tuning Table (on Page 133). Parameter No. (Pr ) Parameter Name Execute manual gain tuning without gain switching. Pr10 1st position loop gain 63 Pr11 1st velocity loop gain 35 Pr12 1st velocity loop integration time constant 16 Pr13 1st speed detection filter 0 Pr14 1st torque filter time constant 65 Pr15 Set Pr18 to Pr1C (2nd gain) to a same value as Pr10 to Pr 14 (1st gain). Set Pr30 to Pr35 (gain switching conditions). 27 84 300 Pr16 50 Pr18 2nd position loop gain 63 Pr19 2nd velocity loop gain 35 Pr1A 2nd velocity loop integration time constant 16 Pr1B 2nd speed detection filter 0 Pr1C 2nd torque filter time constant 65 Pr30 2nd gain action set-up Pr31 Position control switching mode 0 1 7 Pr32 30 Pr33 0 Pr34 0 Pr35 Pr20 Adjust Pr11 and Pr14 in halt condition (1st gain). 0 Inertia ratio * Enter a numeric value when it is known by load calculation, etc. * Execute normal auto tuning to measure inertia ratio. * A default is 100. Setting Gain Switching Conditions Position Control Mode : Applicable parameters are enabled -: Disabled Set parameters in position mode Setting of gain switching conditions Pr31 Switching conditions 0 1 2 3 Fixed to the 1st gain Fixed to the 2nd gain Gain switching input. 2nd gain when GAIN turns on Torque command 2nd gain when there is much variation Fixed to the 1st gain Velocity command Position deviation Position command Positioning not completed Motor real speed Command + speed 4 5 6 7 8 9 10 Figure Delay time*1 Pr32 - - - A - C D E F A G 138 Level Pr33 - - - *3 [0.05%/166 ms] - [r/min] *4[pulse] - - [r/min] [r/min] *5 Hysteresis*2 Pr34 - - - *3 [0.05%/166 ms] - [r/min] *4[pulse] - - [r/min] [r/min] *5 [Gain Adjustment] *1 Delay time (Pr32) will be validated upon return from second gain to first gain. *2 Definition of hysteresis (Pr34) is as illustrated in the figure below: *3 If the condition that there is torque variation of 10% during 166 s is included, setting should be 200. 10% / 166 s = setting 200 x (0.05% / 166 s) *4 Resolution of the encoder *5 When Pr31=10, delay time, level and hysteresis mean differently from usual cases (See Figure G). Hysteresis (Pr34) H Level L (Pr33) 0 Figure A Speed N Command speed S Figure C Command speed S Figure E Level Delay Delay Torque T 1st 2nd gain 1st 1st Figure D Speed N 2nd gain 1st Figure F Speed N Level Deviation pulse Delay 1 2 2 1 1st gain 2 2 1 Level COIN 1 Delay 1st 2nd gain Delay 1st 1st When stopped During operation 2nd gain 1st gain | Actual speed |< Pr 33 level When stabilized 2nd gain | Actual speed | < (Pr33 level - Pr34 Hysteresis) | Actual speed | < (Pr33 level - Pr34 Hysteresis) <Caution> Any lag in gain switching timing due to hysteresis (Pr34) is not reflected in the above figure. 139 1st Figure G Close to stop Only speed integration is 2nd gain, while others are 1st gain. Gain Adjustment There is There is no command pulse command pulse x Pr32 delay time 2nd gain Manual Gain Tuning (Application) To Reduce Mechanical Resonance When mechanical stiffness is low, vibration or noise is generated due to the torsion of shaft, and thus you may not be able to set the gain high. In such cases, you can suppress the resonance by using the following 2 types of filters. 1. Torque Command Filter (Pr14, Pr1C) Set a filter time constant so that the attenuation will take place around the resonance frequency. You can determine the cutoff frequency with the following expression: Cutoff frequency (Hz) fc 1/ (2 x parameter setting x 0.00001) 2. Notch filter Adaptive filter (Pr21, Pr2F) By using an adaptive filter, MINAS-E series can control the vibration in load that is difficult for a conventional notch filter or torque filter to control, such as different resonance points for every device. However, you can enable the adaptive filter by setting Pr21 (Real time auto tuning set-up) to 1 to 3 or 7 when Pr02=2. Pr21 Real time auto 1 - 3, 7: Adaptive filter enabled. Pr2F tuning set-up Adaptive filer It shows a table No. that frequency corresponds to adaptive filter frequency (change prohibited). 1st notch filter (Pr1D, Pr1E) Match notch frequency of a notch filter to mechanical resonance frequency. Pr1D 1st notch Set this value about 10% lower than frequency the resonance frequency measured Pr1E 1st notch width Set this in accordance with selection characteristics of resonance with the frequency characteristic analysis function of PANATERM(R). Machine characteristics at resonance points. Machine characteristics at resonance Resonance Gain Antiresonance Frequency Frequency Characteristics of notch filter Characteristics of torque command filter -3dB Gain Notch f f Frequency Approx. 0.9f Set this slightly lower Cutoff frequency Resonance peak will disappear Frequency Resonance peak will drop Antiresonance Antiresonance Frequency 140 Frequency [Gain Adjustment] Examples of adaptive devices Gain Gain Gain Frequency Frequency Frequency Speed response Devices resonance points of which vary depending on individual differences/aging Tracking a resonance point and instantly suppressing Devices having a resonance point frequency of which does not change Possible to suppress a large resonance point frequency of which does not change Devices having resonance peak in frequency spectrum remote from speed response Reducing resonance peak in high frequency spectrum altogether Width Torque command -3dB Automatic frequency tracking Frequency Cutoff frequency Adaptive filter Notch filter Torque filter Torque command after filtering Method of Checking Resonance Frequency of a Mechanical System <Note> * Before starting the measurement, ensure that limit of movement must not be exceeded. Target rotation volume (rotation) is: Offset (r/min) x 0.017 x (sampling rate + 1). When you increase offset, you will obtain good measurement result. However, rotation volume will grow. * When you measure, set Pr22 (Real time auto tuning set-up) to 0. <Remarks> * You will have good measurement result when you set offset greater than setting of amplitude and so that the motor always turns in one direction. 141 Gain Adjustment (1) Using "PANATERM(R)", setup support software, display frequency characteristics. (2) Set parameters and measurement conditions. Values are just benchmarks. * Set Pr11 (1st velocity loop gain) to about 25. (By reducing gain, make resonance frequency easily identifiable.) * Set amplitude to approximately 50 (r/min). (This is because torque cannot be saturated.) * Set offset about 100 (r/min). (By increasing speed detection information, rotate the motor in a given direction.) * When the polarity is positive (+), the motor rotates in CCW direction. When it is negative (-), the motor rotates in CW direction. * Set sampling rate to 1. (Settings range from 0 to 7.) (3) Execute frequency characteristics analysis. Manual Gain Tuning (Application) Anti-Vibration Control Outline The leading end vibrates Vibration observed by a displacement sensor When the leading end of a device vibrates, the function removes vibration frequency component from a command and reduces vibration. Set vibration frequency at a leading end Driver Motor Movement Coupling Movable body Sequencer Position command Vibration damping filter Torque Position Velocity command Control Current control Ball screw Machine pedestal Motor current Motor Load Motor position Encoder Scope Servo driver This function cannot apply unless the following conditions are met: Conditions under which anti-vibration control works It shall be position control. Control mode Pr02=0: In high speed response positioning control, real time auto tuning and first notch filter are disabled. Pr02=2: High function positioning control Cautions Change the parameter setting, after the operation stops. The motor may not function normally or take effect under the following conditions: Conditions that hinder anti-vibration control When vibration is energized by a factor (such as external force) other than command Load When the ratio of resonance frequency and antiresonance frequency is large When vibration frequency is high (100 [Hz] or higher) Usage (1) Setting vibration damping frequency (Pr2B) Measure vibration frequency at a leading end of a device. If you can directly measure vibration at leading end by means of a laser Command displacement gauge, etc., read vibration frequency [Hz] from the speed measured waveform and enter it into vibration damping frequency (Pr2B). In addition, if you do not have a measuring instrument, read frequency [Hz] of residual vibration from position deviation waveform by using the waveform graphic function of our setup support software "PANATERM(R)", as shown in the right figure, and set the vibtation damping frequency. Setting 0 to 99 will be disabled. (2) Setting vibration damping filter (Pr2C) First set it to 0. You can shorten the stabilization time by setting a higher value. However, torque ripple increases at a command change point, as shown in the right figure. Thus, under actual use conditions, set it so that no torque saturation will occur. Occurrence of torque saturation will diminish vibration suppression effect. Pr2C is appropriate Position deviation Calculate vibration frequency Pr2C is high Torque saturation Torque command 142 Trouble Case Page Troubleshooting .......................................................... 144 What are Protective Functions? ............................................................144 Details of Protective Functions .............................................................145 Software limit function ...........................................................................148 Protective Functions ................................................... 154 Trouble Case 143 Troubleshooting What are Protective Functions? The driver has various protective functions. If any of these functions activate, the motor stops immediately under trip condition, and simultaneously the "Servo Alarm Output" (ALM) will turn OFF (reset). * * * * Counteractions against motor trip When the motor trips, status display LED (STATUS) on the upper part of the front panel of the servo driver turns red, and alarm code LED (ALM CODE) blinks. You cannot activate Servo-ON on longer. If you are using the console, alarm code No. is displayed on the 7 segment LED display of the console and you cannot activate Servo-ON. You can release the tripped condition by keeping the alarm clear input (A-CLR) CN X5 pin 3 ON for 120 ms or longer. If the overload protective function activate, the alarm can be cleared according to Alarm Clear (A-CLR) signal after elapse of 10 sec or more since alarm output. If the driver power is switched OFF, the overload time limit characteristic (OVERLOAD) is cleared. The above alarms can be cleared even with the "PANATERM(R)". * Furthermore, the above alarms can be cleared even with the console. * If any of *-marked functions in "Table of Protective Functions" acts, Alarm Clear Input (A-CLR)" is unable to be reset (cleared). In such a case, after switching OFF the driver power, search and remove the cause and thereafter re-switch ON the same power for resetting the alarm. Checking LED Status (1) Status LED (STATUS) Status LED color STATUS ALM CODE Content Green Power ON. The driver power is switched ON. Orange This LED blinks (1 sec) against alarm output. (LED in blinking indicates overload/ over-regeneration/abnormal rotation of cooling fan.) This is not displayed on the LED display unit of the console. Red Alarm output (2) Alarm Code LED (ALM CODE) This LED blinks against alarm output. (Normally OFF) Alarm code No. is expressed by blinking frequency in orange and red. For alarm code No., see the next page. Orange: 10 digit, Red: 1 digit (Ex.) In the case Overload Alarm (Alarm code No.16) was output and the driver stopped Orange LED blinks once and red one blinks 6 times. 1 sec. Orange 1 sec. 0.5 sec. Red 0.5 sec. 144 0.5 sec. Red 0.5 sec. 0.5 sec. 0.5 sec. Red 0.5 sec. Red 0.5 sec. 0.5 sec. Red 0.5 sec. Red 2 sec. 0.5 sec. later [Trouble Case] Details of Protective Functions Protective Functions Power voltage shortage protection (LV) Overvoltage protection (OV) Alarm code No. 11 12 14 Internal resistor heating protection (ROH) 15 During Servo-ON, voltage between P-N of the converter of the main power supply has dropped below a specified value. (1) Supply voltage is low. Momentary trip has occurred. Voltage source capacity is short. Supply voltage drops as a result of shutoff of the main power supply. The main power supply is de-energized. (2) Insufficient voltage source capacity ---Supply voltage has dropped due to inrush current generated when the main power supply was turned on. (3) Lack of phase --- The driver that has a requirement for three-phase input is run at single phase. (4) Failure of the driver (the circuit failed.) Supply voltage exceeds allowable input voltage range. The P-N voltage of the converter unit exceeds a specified value. Supply voltage is high. Voltage surged due to the phase-advanced condenser or UPS (uninterruptible power supply). (1) Disconnection of a regenerative resistor Measure the line voltage of the connector CN X1 (L1, L2, L3). (1) Increase the supply voltage. Replace the power supply. After removing a cause of the drop of the electromagnetic contactor of power supply, power on again. (2) Increase the voltage source capacity. For voltage source capacity, refer to "List of Driver and Compatible Peripheral Equipment" on Page 26. (3) Correctly connect respective phases of supply voltage (i.e., L1, L2, and L3). Use L1 or L3 in the case of requirement for single-phase input. (4) Replace the failed driver with new one (i.e., driver that is running on other axis). Measure the line voltage of the connector CN X1 (L1, L2, and L3). Solve the problem and supply correct voltage. Remove the phase-advanced condenser. (1) Using a tester, measure an ohmic value of the external regenerative resistor. When it is , it is disconnected. Replace the regenerative resistor. (2) Regenerative energy cannot be absorbed due to (2) Change to a resistor of specified ohmic value and rated power. improper selection of an external regenerative resistor. (3) Replace the failed driver with new one (i.e., (3) Failure of the driver (the circuit failed.) driver that is running on other axis). The current running through the converter exceeds a specified value. (1) Failure of the driver (Defective circuit, IGBT (1) If a failure occurs immediately after you component, etc.) remove the motor wire and activate Servo-ON, replace the driver with a new one (that is running). (2) Short circuit of motor wires U, V, W (2) Check if U, V, or W is not shorted, in particular, whether of the lead wire of the connector has any branched out wire. Connect the motor wires correctly. (3) Earth fault of the motor wire (3) Measure insulation resistance between the motor wires U, V, W and earthing conductors of the motor. In case of bad insulation, replace the motor. (4) Burnout of the motor (4) Measure respective line resistance of the motor. If they are unbalanced, replace the motor. (5) Poor contact of the motor wires (5) Check for falling out of connector pins for connection of U, V, and W. Securely fix loosened or fallen out pins. (6) The relay for dynamic brake is melted and (6) Replace the driver. Do not start or stop the stuck due to frequent Servo-ON/OFF motor by turning Servo ON and OFF. operation (7) The motor is not compatible with the driver. (7) Check a part number (capacity) of the motor and driver on the nameplate. Change to the motor right for the driver. (8) Timing of the pulse input and Servo-ON is (8) Waiting 100ms or longer after turning on same or the former is faster. Servo-ON, activate pulse. Refer to "Timing Chart" on Page 32 of Preparation edition. Check ambient temperature and cooling The resistor inside the driver was abnormally conditions of the driver. Improve the surroundings overheated. appropriate to use conditions of the driver. Check operating sound of the relay at power-on. If you hear no operating sound, replace the driver. 145 Trouble Case Overcurrent and ground fault protection (OC) Action Cause Troubleshooting Protective Functions Overload Protection (OL) Alarm code No. 16 Action Cause When an integration value of a torque command exceeds the set overload level, overload protection is activated based on time limiting characteristics. (1) Operation lasted long with more load and effective torque than rating. (2) Oscillation or hunting operation due to poorly adjusted gain. Vibration of the motor, and abnormal sound. (3) Incorrectly wired motor wires (U, V, W) and disconnection. (4) The machine collides, or suddenly gets heavy. The machine is entangled. (5) The electromagnetic brake keeps on running. (6) When more than one driver is used, motor wire is incorrectly connected to other axis. Time (sec) On the waveform graphic screen of PANATERM(R), check if torque (current) waveform widely oscillates up and down. Check load factor and overload warning display. (1) Increase the capacity of the motor and driver. Extend acceleration/deceleration time. Reduce load. (2) Readjust gains. (3) Connect motor wires as per the wiring diagram. Replace cables. (4) Free the machine of any tangle. Reduce the load. (5) Measure voltage of the brake terminal. Release the brake. (6) Correctly connect motor and encoder wiring to eliminate a mismatch between the wires and axes. Overload Protection Time-limiting Characteristics 100 MUMA 50W, 100W MUMA 200W, 400W 10 1 100 115 150 200 250 300 350 400 450 Torque (%) *Regenerative resistor overload protection (REG) 18 Regenerative energy exceeds the capacity of the regenerative resistor. Check the load factor of the regenerative resistor in monitor mode. You must not use the driver for the purpose of continuous damping of regeneration. (1) The converter voltage increases due to energy (1) Check an operating pattern (waveform graphic). Check the load factor of the regenerated during deceleration resulting from regenerative resistor and display of overhigh load inertia. In addition, it further rises, regeneration warning. Increase capacity of as the regenerative resistor cannot absorb the motor and driver and slow down energy enough. deceleration time. Use an external regenerative resistor. (2) Check an operating pattern (waveform graphic). (2) Because of high rotation speed of the motor, the regenerative resistor cannot absorb Check the load factor of the regenerative resistor regeneration within specified deceleration and display of over-regeneration warning. Increase time. capacity of the motor and driver and slow down deceleration time. Reduce rotation speed of the motor. Use an external regenerative resistor. (3) The operating limit of the external resistor is (3) Set Pr6c to 2. limited to 10% duty. <Note> When you set Pr6C to 2, be sure to install an external safeguard such as a temperature fuse, etc. Otherwise, protection of regenerative resistor is lost, causing abnormal heat generation and burnout of the regenerative resistor. *Encoder communication error protection 21 Due to communication breakdown between the encoder and driver, the encoder cable disconnection detecting function is activated. <Caution> If the above condition occurs before power-on, be careful as the motor aut omatic recognition abnormality protection (alarm code No.95) will be activated when you power on again. 146 Connect the encoder cable as per the wiring diagram. Correct wrong connections of the connector pins, if any. [Trouble Case] Protective Functions *Encoder communication data error protection Alarm code No. 23 Position overdeviation protection 24 Overvelocity protection (OS) 26 Command pulse multiplier error protection Deviation counter overflow protection 27 Software limit protection Cause Action Data from the encoder results in communication error, which is mainly caused by noise. Although the encoder cable is connected correctly, data results in communication error. <Caution> If the above condition occurs before power-on, be careful as the motor automatic recognition abnormality protection (alarm code No.95) will be activated when you power on again. The position deviation pulse exceeds the position over-deviation set-up, Pr63. (1) The motor operation does not respond to a command. Ensure that the supply voltage of the encoder is DC5V5% (4.75 to 5.25V). Be careful, in particular, when the encoder cable is long. If it is bundled with the motor wire, separate them. Connect the shield to FG --- See the encoder wiring diagram. 29 A value of the deviation counter exceeds 227 (134217728). Check that the motor rotates in accordance with the position command pulse. Using the torque monitor, ensure that output torque is not saturated. Adjust gains. Maximize torque limit set-up Pr5E. Correct encoder wires as per the wiring diagram. Extend acceleration/deceleration time. Alleviate load. 34 The motor operation exceeds the motor operational range set in Pr26 (Software limit setting) for the position command range. (1) The gain is not appropriate. (1) Check that the motor rotates in accordance with the position command pulse. Using the torque monitor, ensure that output torque is not saturated. Adjust gains. Maximize torque limit set-up Pr5E. Correct encoder wires as per the wiring diagram. Extend acceleration/ deceleration time. Alleviate load and slow down speed. (2) The position over-deviation set-up Pr63 is low. (2) Increase Pr63. (1) Decrease the speed to prevent over-speed (1) The rotation speed of the motor exceeds a command from being issued. Set dividing/ specified value. multiplier ratio so that input frequency of a command pulse is 500 kpps or less. In the event of overshoot due to poorly adjusted gains, readjust them. Connect encoder wires as per wiring diagram. (2) If you select torque limit switching input, set (2) Torque limit switching input selection Pr06 is Pr70 and Pr73 to a value within the use range set to 2, and 1st and 2nd over-speed level setspeed of the motor. up Pr70, Pr73 are set to 0. The dividing/multiplier ratio set with the numerator Using Pr46 and Pr47, reduce the multiplier ratio. Set the dividing/multiplier ratio so that the of 1st and 2nd command ratio Pr46 and Pr47 is command pulse frequency will not exceed the not appropriate. maximum input pulse of 500 kpps or less. (2) The value set in Pr26 is too small. (1) Check the gain (the balance between the position loop gain and the speed loop gain) and the inertia ratio. (2) Increase the set value in Pr26. Set Pr26 to "0" in order to disable the protection function. Reset all the parameters. If the error persists, the driver may have failed. Replace it. Then, return it to the sales agent for inspection (repair). The driver may have failed. Replace it. Then, return it to the sales agent for inspection (repair). 36 Data in the parameter storage area is corrupt when it is read from EEPROM upon power-on. 37 EEPROM write check data is corrupt when it is read from EEPROM upon power-on. 38 *ABS 1rotation counter error protection *ABS multirotation counter error protection 44 Both CW and CCW overtravel inhibit input turn off. Check if limit switches, electric wires, and power supply for CW/CCW overtravel inhibit input are normal. Especially, check whether the power supply for control signal (DC12 to 24V) rises without delay. Check setting of Pr04 and correct wiring. The encoder detected abnormality of a single-turn The motor may have failed. Replace it. Then, return it to the sales agent for inspection (repair). counter. The encoder is defective. 45 The encoder detected abnormality of a multi-turn counter. The encoder is defective. 147 The motor may have failed. Replace it. Then, return it to the sales agent for inspection (repair). Trouble Case *EEPROM parameter error protection *EEPROM check code error protection Overtravel inhibit input protection Troubleshooting Protective Alarm Functions code No. 48 *Encoder Zphase error protection 49 *Encoder CS signal error protection 95 *Motor auto recognition error protection *LSI setup 96 error protection Nos. *Other trouble and other than the error above Cause Action Missing phase Z pulse of 2500 [P/r] 5-serial encoder is detected. The encoder is defective. The abnormal logic of CS signal of 2500 [P/r] 5serial encoder is detected. The encoder is defective. The motor may have failed. Replace it. Then, return it to the sales agent for inspection (repair). The motor may have failed. Replace it. Then, return it to the sales agent for inspection (repair). 1) Change the motor to a new motor compatible (1) The motor is not compatible with the servo with the servo driver. driver. 2) Check connection of the encoder. (2) The encoder is not connected at power-on. <Cautions> Before power-on, if (1) the encoder wire is disconnected, or (2) data from the encoder results in communication error, be careful as the motor automatic recognition abnormality protection (alarm code No.95) will be activated when you power on again. In case of (1) and (2) above, take action for alarm codes No.21 and No.23. Setting of LSI does not complete successfully due Take countermeasure against noise. to excessive noise. The self-diagnostic function of the driver is activated and some abnormality occurs in the driver. The control circuits malfunction due to excessive noise. Power off and on again. If the display still appears and the error is repeated, the motor and driver may have failed. Shut down the power and replace them. Then, return them to the sales agent for inspection (repair). <Remarks> * Load factor and regenerative resistor load factor can be checked in the monitor mode of PANATERM(R) or console. * Power voltage shortage protection (Alarm Code No. 11), EEPROM parameter error protection (Alarm code No. 36), EEPROM check code error protection (Alarm code No. 37), Overtravel inhibit input protection (Alarm code No. 38), Motor auto recognition error protection (Alarm code No.95) and LSI setup error protection (Alarm code No.96) are not memorized in "Alarm History". * If other trouble/error occurs, STATUS LED and Alarm LED (ALM Code) could eventually turn ON simultaneously in 4 different modes given below, instead of blinking (flashing) as staged in the above Table. STATUS LED Red Red Orange Orange Alarm Code LED Red Orange Red Orange Alarm content Other trouble/error Software limit function (1) Outline If the motor operation exceeds the motor operational range set in Pr26 (Software limit protection) for the position command range, then the alarm can be stopped with the software limit protection (error code No. 34). Using this function prevents the load from colliding with the edges of the machine due to the oscillation of the motor. (2) Scope This function can operate under the following conditions: Conditions under which the software limit functions Position control mode Pr02 = 0: High-speed response position control Pr02 = 2: Highly-functional position control Control mode (1) Servo must be turned ON. (2) Pr26 (Software limit setting) must be set to a value other than "0". (3) The motor's operational range must be within 2147483647 for both CCW and CW since the position command parameter range was reset to "0". Once the condition in (3) has been breached, then the software limit protection will be disabled until the condition for which the (5) Position command parameter range is cleared is met. If condition (1) or (2) is not met, then the position command parameter range will be cleared to "0". 148 [Trouble Case] (3) Notes * This function is not protection for abnormal position commands * When the software limit protection is activated, the motor will slow down and then stop in accordance with Pr68 (Sequence for alarm). * Some loads may collide with the with edges of the machine while the motor is slowing down. Set the Pr26 range allowing for this slow-down operation. * The software limit protection is disabled when the PANATERM frequency characteristics are functioning, or in the trial (JOG) operation. (4) Examples of operations (1) When a position command is not inputted (servo ON) The motor's operational range is the travel distance range set on both sides of the motor in Pr26 because no position commands are inputted. If the load is within in the ranges where Err34 occurs (hatched areas) due to the vibration of the motor, then the software limit protection will be activated. Motor Load Pr26 Range where Err34 occurs Pr26 Motor's operational range Range where Err34 occurs (2) When moving rightward (servo ON) When a position command to move the load rightward is inputted, the motor's operational range will be expanded as per the commanded and will be expanded beyond the top and bottom limits of the range set in Pr26. Motor Load Pr26 Range where Err34 occurs Position command range Pr26 Range where Err34 occurs Motor s operational range (3) When moving leftward (servo ON) When a position command to move the load leftward is inputted, the motor's operational range will be expanded further. Motor Load Position command range Motor s operational range Pr26 Range where Err34 occurs (5) Conditions for which the position command range is cleared The position command range will be cleared to "0" under the following conditions: The power is turned ON. The position deviation is cleared. Normal auto tuning is started or completed. 149 Trouble Case Pr26 Range where Err34 occurs Troubleshooting Checkpoints Ensure that status (STATUS) LED turns neither red nor orange. Ensure that the connector is firmly fixed. STATUS Ensure that LED is not blinking. ALM CODE Host Controller x6 Ensure that supply voltage hasn't changed. Ensure that correct voltage is supplied. Ensure that connections are tightly attached. Ensure that the motor generates no abnormal sound. Ensure that the electromagnetic brake is not working. x5 Make sure that wiring to CN X5 is correct and securely attached. x4 Make sure that wiring to CN X4 is correct and securely attached. x3 x1 Machine Motor Ensure that the hookup is not loose. Make sure that connections are firmly attached (disconnection, contact) Ensure that wiring is correct. The motor does not rotate Category Parameters Wiring Installation Cause Action The control mode is not correctly selected. Check the value of the control mode setting Pr02. 0... High velocity positioning control 1... Internal velocity control 2... High function positioning control The torque limit of the parameter is set Check the value of the torque limit set-up Pr5E. to 0. Change it to a pre-shipment default of 300. The motor does not run because the Check the value of the ZEROSPD/TC input selection Pr06, and zero speed clamp is open (OFF). change it to 0. Zero clamp function is enabled when it is set to 1. Otherwise, change the setting to 1 and enable the zero speed clamp input. Then, correct wiring connections so that the zero speed clamp input can turn ON successfully. The internal speed setting parameter Check settings of Pr53 to Pr56. hasn't been entered. Set desired rotation speed. The circuit for CW/CCW overtravel Check the value of Pr04. If it is 0, connect between CN X5 pins inhibit input of CN X5 is open. 8 and 13, and 7 and 13. Servo-ON signal of CN X5 has not been Short circuit (ON) between the connector CN X5 pins 2 and 13. activated. The deviation counter input of CN X5 is Open (OFF) between the connector CN X5 pins 4 and 13. turned ON (shorted). Connect so that the photocoupler inside the driver is turned Command input connection is wrong when pulse input form of CW and CCW OFF on the side in which pulse is not input (See Pages 73 to is selected in the position control mode. 81). The motor output shaft is heavy and Power OFF and disconnect the motor from the installation. does not turn. Turn the motor shaft by hand to see if it can rotate. If the motor is provided with electromagnetic brake, turn the shaft by hand while applying voltage to the brake (DC24V). If the motor shaft does not rotate, ask the sales agent of the motor for repair. 150 [Trouble Case] The rotation is not stable (the rotation is not smooth) Category Adjustment Action Cause Poor gain adjustment Increase the value of the 1st velocity loop gain Pr11. Insert a Position command (pulse row 1st torque filter Pr14 and increase the value of Pr11 again. Check how the motor is running, by using the waveform graphic command) is unstable. function of PANATERM (R). Check the wiring and connectors for poor contact. Also check the controller. Wiring The following input signals of CN X5 are chattering. (1) Using the I/O signal status display function, check wiring and connection between the connector CN X5 pins 2 and (1) Servo-ON signal 13. Modify the wiring and connection so that Servo-ON signal successfully turns ON. Check the controller. (2) Using the I/O signal status display function, check wiring (2) Deviation counter input signal and connection between the connector CN X5 pins 4 and 13. Modify the wiring and connection so that the deviation counter input successfully turns ON. Check the controller. (3) Zero speed clamp signal (3) Using the I/O signal status display function, check wiring and connection between the connector CN X5 pins 5 and 13. Modify the wiring and connection so that the zero speed clamp input successfully turns ON. Check the controller. (4) Internal command speed selection 1 (4) Using the I/O signal status display function, check wiring and 2 input signals and connection between the connector CN X5 pins 4 and 13, and 6 and 13. Modify the wiring and connection so that the internal command speed selection 1/2 input successfully turn ON. Check the controller. Trouble Case 151 Troubleshooting Positioning Accuracy is poor Category System Cause Action The position commands (amount of Count the number of feedback pulses either by repeatedly command pulse) are not correct. reciprocating for a fixed distance and using the monitoring function of PANATERM(R), or by using the monitor mode of feedback pulse of the console. If the count does not return to the same value, adjust the controller. Take action to reduce noise on the command pulse. Reading of the positioning completion By using the waveform graphic function of PANATERM(R), signal occurs at the edge. monitor a deviation when positioning completion signal is generated. Read the signal from the controller at a midpoint of the time span, and not at the edge. Adjustment The shape and width of the command pulses do not meet the requirements. If the command pulses are deformed or narrowed, adjust the pulse generating circuit. Review the action against noise. The deviation counter clear input CL Not only take action against noise from external DC power (CN X5 pin 4) is superposed with noise. supply, but also do not wire any unused signal line. The position loop gain is small. Check amount of position deviation either by using the monitoring function of PANATERM(R) or in the monitor mode of the console. Increase the value of Pr10 so as not to cause oscillation, and check it. Parameter The setting of positioning completion range is too high. Decrease the value of the In-position range Pr60 so that the completion signal will not cause chattering. The command pulse frequency exceeds Lower the command pulse frequency. Change the dividing/ 500 kpps. multiplier ratio of the numerator of 1st/2nd command pulse ratio Pr46 to Pr47. The incorrect dividing/multiplier ratio is Check whether repeatability is the same. set. The velocity loop gain is in proportional * Set the velocity loop integration time constant Pr12 and Pr1A below 999. control action under suspension. * Modify wiring and connection so that the second gain action set-up Pr30 is 1, and connection between the gain switching input connector CN X5 pins 5 and 13 is turned OFF. Check the controller. Wiring The following signal inputs of the connector CN X5 are chattering. (1) Using the I/O status display function, check wiring and connection between the connector CN X5 pins 2 and 13. (1) Servo-ON signals Modify the wiring and connection so that Servo-ON signal successfully turns ON. Check the controller. (2) Deviation counter clear input signals (2) Using the I/O status display function, check wiring and connection between the connector CN X5 pins 4 and 13. Modify the wiring and connection so that the deviation counter clear input successfully turns ON. Check the controller. Installation Load inertia is high. Check overshot in halt condition, by using the waveform graphic function of PANATERM(R). Even when it is not corrected after adjusting gains, increase capacity of the motor and driver. 152 [Trouble Case] Original position varies Category System Wiring Cause Action Phase Z is not detected when the Check if phase Z is superposed on proximity input (nearest original position is calculated. point dog sensor). Initialize correctly according to the controller. Speed to creep to the original position is fast. Decelerate the initialization speed in the vicinity of the original position, or extend the initialization sensor. Output of the original point proximity Using an oscilloscope, check input signal of the nearest point sensor (nearest point dog sensor) is chattering. dog sensor of the controller. Review wiring around the nearest point dog and take action to reduce and prevent noise. Noise is superposed on the encoder Take various actions: Reduce noise (by installing a noise filter/ wire. inserting ferrite cores), shield I/F cable, use twist pair cable, separate signal line from power line, etc. Phase Z signal is not output. Using an oscilloscope, monitor phase Z signal to be entered into the controller. Check that the connector CN X5 pin 14 is connected to the ground of the controller. For non-isolated open collector interface, connect the ground of the driver. Wiring of phase Z output is incorrect. Replace the driver and controller. Ask for repair. Check that the line driver is connected at both sides. If the controller does not have a differential input, use CZ output (open collector). The motor has abnormal sound or vibration Cause Category Adjustment Action The gains are set high. Decrease the values of the position loop gain Pr10 and velocity loop gain Pr11 to lower the gains. A speed detection filter has changed. Increase the value of the speed detection filter Pr13 until the sound reaches the allowable level, or reset it to a default setup of 4. Installation Resonance between the equipment Readjust Pr14 (torque filter). Using the frequency characteristic (machine) and the motor is generated. analysis program of the PANATERM(R), check whether there is any mechanical resonance. If so, set the notch frequency Pr1D. Motor bearing Drive the motor with no load to see if there is any sound or vibration around the bearing. Replace the motor and check. Ask for repair. Electromagnetic sound, gear sound, braking sound, hub sound, rubbing Drive the motor with no load and check. Replace the motor and check. Ask for repair. sound from the encoder etc. Trouble Case 153 Protective Functions Overshooting/Undershooting Category Adjustment The motor is overheated (burnout) Action Cause Gains are poorly adjusted. Check gains using the waveform graphic function of PANATERM(R). Correctly adjust gains. Refer to Section on Installation Adjustment. Check gains using the waveform graphic function of Load inertia is high. PANATERM(R). Increase capacity of the motor and driver and The equipment (machine) has play and decrease inertia ratio. Use reduction gears. Modify coupling with the equipment (machine). slip. Ambient temperature and environment If the ambient temperature exceeds a specified value, install the cooling fan to reduce the temperature. The cooling fan stops. The air intake of Inspect the cooling fans of the equipment and the driver. As the the fan is dirty. latter needs to be replaced, ask for repair. Mismatch between the driver and motor Check the nameplates of the driver and motor. Referring to the instruction manuals or catalogs, select a correct combination of them. The motor bearing is defective. Power off, turn the shaft of the motor independently, and check if there is any rumbling sound. If so, replace the motor. Ask for repair. The electromagnetic brake keeps on Check voltage of the brake terminal. Apply power (DC24V) to running (failure to release the brake). The motor is defective (due to oil, the power supply and release the brake. Avoid high temperature/humidity, oil, dust, and iron powders. water, etc.) With the dynamic brake activated, the motor is rotated by external force. Check the operating pattern, use condition, and working condition, and avoid this kind of operation. Rotation speed does not increase to the set speed Cause Category Adjustment The speed (movement) is large or small Action The position loop gain is low. Adjust the value of the position loop gain Pr10 to approximately 100. The dividing/multiplier are not appropriate. Correct the values of the numerator of 1st command pulse ratio Pr46, multiplier of numerator of command pulse ratio 4A, and denominator of command pulse ratio 4B. Refer to parameter settings of each mode. Parameter returns to the last value Cause Category Parameter Action A parameter value has not been written into EEPROM prior to power-off of the Refer to Writing to EEPROM of "Structure of Each Mode" on Page 50 of Preparation edition. driver. When using PANATERM(R), the message "communication port or driver cannot be detected" appears Category Wiring Cause Action The connector CN X6 is not connected Connect the communications cable (RS232C) to the connector to the personal computer through the CN X6. Check that the communications cable is disconnected. communications cable (RS232C). 154 Reference Page 155 Reference Outline of "PANATERM(R)", Setup Support Software .............................. 156 Communications ...................................................................................158 Description on Dividing/Multiplier Ratio ................................................ 178 Conformance to EC Directives/UL Standards .......................................180 Optional Parts .......................................................................................184 Recommended Parts ............................................................................192 Dimensional Outline Drawing ................................................................ 193 Allowable Load of Output Shaft ............................................................196 Motor Characteristics (S-T Characteristics) .......................................... 197 Servo Motor with Gear ..........................................................................198 Dimensional Outline Drawing of Motor with Gear ................................. 200 Allowable Load of Output Shaft of Servo Motor with Gear ................... 202 Characteristics of Servo Motor with Gear (S-T Characteristics) ........... 203 Driver Internal Block Diagram ...............................................................204 Control Block Diagram ..........................................................................205 Specifications (Driver/Motor) .................................................................206 Hit-and-stop Initialization and Load Pressing Control ........................... 207 Index .....................................................................................................209 Reference .............................................................................................214 After-sale Service (Repair) ........................................................ Back cover Outline of "PANATERM(R)", Setup Support Software Connection Method STATUS RS-232 Cable DV0P1960 (For DOS/V) ALM CODE x6 Connecting to CN X6 x5 x4 x3 x1 Please contact us for the latest version of setup disk of "PANATERM(R)", setup support software. * DV0P4230 (Japanese version) Windows(R) 95, Windows(R) 98, Windows(R) NT, Windows(R) 2000, Windows(R) Me, Windows(R) XP (Each Japanese version) * DV0P4240 (English version) Windows(R) 95, Windows(R) 98, Windows(R) NT, Windows(R) 2000, Windows(R) Me, Windows(R) XP (Each English version) Installing PANATERM(R) on Hard Disk <Cautions/Remarks> 1. The capacity of hard disk memory should be 15 MB or more. As OS, prepare Windows(R) 95, Windows(R) 98, Windows(R) NT, Windows(R) 2000,Windows(R) Me and Windows(R) XP (each of them should be a Japanese version). 2. You can start "PANATERM(R)" only after installing it on the hard disk with the setup disk, by following the steps described below. Steps of Procedure (1) Power on your personal computer and start a corresponding OS (If there is any running application program, terminate it). (2) Insert PANATERM(R) Setup disk 1 into the floppy disk drive. (3) Start Explorer and select the floppy disk drive. (For starting of Explorer, see the manual of the corresponding OS.) (4) Double click on the setup program (Setup.exe) on the floppy disk (Then, PANATERM(R) setup program will start.). (5) To start the setup program, press OK . (6) Operate by following the guidance of the setup program. (Follow the instruction to change the setup disc 1 to disc 2 during the course.) Start installation (7) Click on button, and setup will start. (8) Click OK when the message "Setup completed" appears. (9) Close all application programs and then restart Windows(R). When it restarts, PANATERM(R) will be added to the program menu. 156 [Reference] Starting PANATERM(R) <Cautions/Remarks> 1. Once you have installed "PANATERM(R)" on the hard disk, you do not have to reinstall it every time you boot up. 2. Before you start, connect the driver with the power supply, motor, and encoder. For the startup procedure, refer to the manual of the corresponding OS. Steps of Procedure (1) Power on your personal computer and start the corresponding OS. (2) Turn on the driver. (3) Click on Start button of the corresponding OS of the personal computer. (For the startup procedure, refer to the manual of the corresponding OS.) (4) Select PANATERM(R) in the program . (5) After opening splash is displayed for 2 seconds, PANATERM(R) screen will appear. For any detailed information on operation/functions of "PANATERM(R)", refer to the operating instructions of "PANATERM(R)". Reference * Windows(R), Windows(R) 95, Windows(R) 98, Windows(R) NT, Windows(R) 2000, Windows(R) Me, Windows(R) XP are the trademarks of Microsoft Corporation in the United States. 157 Communications Outline of Communications With a personal computer or host NC connected with MINAS-E Series through RS232C-compliant serial communications, you can do the following: (1) Rewriting parameters (2) Browsing and clearing status and history of alarm data (3) Monitoring control status including status, I/O, etc. (4) Saving and Loading parameters Advantages * You can write parameters all at once from the host when starting the machine. * As you can display operating condition of the machine, serviceability will improve. Note that the following application programs for a personal computer and cables are available for use. For information of PANATERM(R), refer to the instruction manual of PANATERM(R). Name of Optional Components Model Name PANATERM Japanese version (WIN95/98/Me/NT4.0/2000/XP) DV0P4230 PANATERM English version (WIN95/98/Me/NT4.0/2000/XP) DV0P4240 Connection cable for personal computer (DOS/V) DV0P1960 For the latest version, please contact us. 158 [Reference] Communications Specification Connection of Communications Line MINAS-E Series has RS232C communications port. and is capable of communications between the host as follows: RS232C Communications In RS232C communications, a host and the driver are connected 1:1 and communicate with each other according to the RS232C transmission protocol. RS232C STATUS ALM CODE x6 Host X6 x5 x4 x3 x1 (ID)=1 You can change settings of the module ID with Pr00. In particular, you may set the same module ID unless there is management problem on the host side. Interface of Communication Connector Unit Connection with a Host through RS232C MINAS-E Host X6 1 RTS 2 Equivalent to ADM202E CTS 3 TXD RXD 4 G G 5 RXD TXD 6 DTR +5V +5V 7 DSR 8 FG <Note> You must leave pins 1, 2, 6, 7 and 8 of X6 unconnected. Reference 159 Communications Communications Method RS232C Full-duplex, asynchronous communication method Communications baud rate Data Parity 2400, 4800, 9600bps 8 bit No 1 bit 1 bit Start bit Stop bit Set RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when you power on the control power supply. For detailed information, refer to list of parameters related to the following communications: List of User Parameters Related to Communications Parameter Name PrNo. 00 Shaft name 0C Setting of baud rate for RS232C communications Functional Description Range of Setting 1 - 15 0-2 Refer to descriptions on parameters on pages 88 and 116. Set the communications speed of RS232C communications. 0 : 2400[bps] 1 : 4800[bps] 2 : 9600[bps] A change will be valid when you power on the control power supply. Time for data transmission is calculated with the following expression, for instance, in the case of 9600 [bps]: (1000/9600) x (1 + 8 + 1) = 1.04 [ms/byte] Stop bit Start bit Data When the baud rates of 2400 bps and 4800 [bps] are used, data transmission time will be 4.17 [ms/byte] and 2.08 [ms/byte], respectively. Note, however, actual communication time will be added time necessary for processing received command, and necessary for switching between a line and transmission/reception control. Handshaking Code For line control, the following codes are used. Name ENQ EOT ACK NAK Code 05h 04h 06h 15h Functions Transmission request Ready for receiving Acknowledgement Negative acknowledgement ENQ ...When the module has a block to transmit, it sends ENQ. EOT ... When the module is ready to receive a block, it sends EOT. The line enters transmission mode when sending ENQ and receiving EOT. It enters reception mode when receiving ENQ and sending EOT. ACK ... When a received block is judged normal, ACK is returned. NAK ... When a received block is judged as abnormal, NAK is returned. A judgment is made based on checksum and timeout. 160 [Reference] Transmission Sequence Transmission Protocol RS232C Host MINAS-E (1) ENQ (05h) (2) EOT (04h) STATUS (3) Data Block Received Data (4) ACK (06h) ALM CODE x6 x5 (or NAK (15h)) (5) ENQ (05h) x4 (6) EOT (04h) x3 (7) Data Block Transmitted Data (8) ACK (06h) x1 (or NAK (15h)) Line Control Direction of transmission and conflict are solved. Reception mode ...The module enters reception mode after receiving ENQ and returning EOT. Transmission mode ... The module enters transmission mode after sending ENQ and receiving EOT. When there occurs a conflict between the transmitting module and receiving module: When subsequent to transmission of ENQ, a slave receives ENQ while waiting for EOT, priority is given to ENQ sent from a maser, and the slave enters the reception mode. Transmission Control Entering transmission mode, a module transmits a command block continuously and then waits for reception of ACK. When the module receives ACK, transmission is complete. When the number of transferred command bytes is incorrect, ACK may not be returned. When ACK is not returned within T2 period, or when NAK or any code other than ACK is received, transmission retry will be executed. The retry will start with ENQ. Receiving Control Entering receiving mode, the module receives transmitted blocks continuously. It obtains the number of command bytes from the first byte, and receives as many command bytes as that number plus 3. When the sum of received data is zero, reception is considered successfully ended and ACK is returned. When abnormal checksum or timeout between characters occurs, NAK is sent. Reference 161 Communications Configuration of Data Block A data block to be transmitted in physical phase is configured as illustrated below: 1 byte N axis mode command Parameter (N bytes) check sum N : This is the number of command bytes (0 - 240), which indicates the number of parameters needed by a command. axis : This defines a module ID assigned to parameter No.00 axis name of the driver. (1 - 15) command : This is the control command (0 - 15). mode : This is the command execution mode (0 - 15), which differs depending on a command. check sum : This is 2's complement of the total number of bytes, ranging from the first byte to the byte immediately before the checksum byte. Protocol Parameter The following parameters can control transfer of a block. A user can set these parameters to any value with INIT command to be described later. Name T1 T2 RTY M/S Function Initial Value Range of Settings Timeout between character transmissions 5 (0.5 second) 1 - 255 Protocol time limit 10 (10 seconds) 1 - 255 Retry limit 1 (once) 1-8 Master/slave 0 (slave) 0, 1(master) Unit 0.1 second 1 second once T1 .... * This is allowable time between module identification byte and ENQ/EOT, or time from reception of a character code by this device to that of a next character code in a transmission/reception data block. When this specified time is exceeded, timeout error occurs and NAK is returned to the transmitting module. T2 .... * This is allowable time after this device transmits ENQ till it receives EOT. When this specified time is exceeded, it means that the receiving module is not ready to receive data or fails to receive ENQ code for some reason. In this case, ENQ code will be resent to the receiving module (number of retries). * This is allowable time after EOT is sent out till a first character is received. When this specified time is exceeded, NAK is returned and the receiving mode ends. * This is allowable time after checksum byte is sent out till ACK is received. When this specified time is exceeded, ENQ code is resent to the receiving module, as in the case of reception of NAK. RTY ..... This shows the maximum number of retries. When this specified value is exceeded, transmission error occurs. M/S ..... This shows switching of a master/slave. When conflict of ENQ transmission occurs, this parameter determines to which priority is given. (0=slave mode, 1=master mode) Transmission of the module defined as a master should take precedence. 162 [Reference] Example of Data Communication Example of Changing Parameters The following illustrates time-series communications data flow when a change is made to a parameter. Communications should be conducted in the sequence of outline, (1) individual writing of parameters and (2) writing to EEPROM if storage is needed. In this example of hardware connection, the device is directly connected with a host through RS232C communications with user ID=1. Data is represented in hexadecimals. (1) Individual Writing of Parameters Host 05 03 01 18 0B 00 00 D9 (ENQ) 04 MINAS-E(1) 06 (EOT) Host (2) Writing of Parameters to EEPROM 04 06 (EOT) MINAS-E(1) 05 05 MINAS-E(1) 01 48 (ACK) (ENQ) 01 01 18 00 E6 04 (ENQ) Host 00 (ACK) (EOT) B7 06 05 04 06 (EOT) (ACK) 01 01 48 00 B6 (ACK) (ENQ) (Note) For details of commands, refer to "List of Communications Commands" on Page 166. Reference 163 Communications State Transition Diagram RS232C Communications Transmitting Module EOT is received. Size Number of command bytes + 3 T2 stop Size Number of command bytes - 1 Waiting for EOT Transmission of block ENQ is received and in slave mode. There are requests for transmission (within the number of retries). One character is received. ENQ is returned to receiving buffer (To reception processing) T2 timeout Size becomes zero. The number of retries is counted once. T2 stop Transmission buffer is cleared. ENQ transmission and T2 start. There are requests for transmission but the number of retries is exceeded. T2 START Waiting for ACK/NAK NAK is received or T2 times out. The number of retries is to be reset once. A request for transmission is cleared. ACK is received. The number of retries is reset. T2 stop The request for transmission is cleared. The number of retries is counted once. T2 STOP Transmission buffer is cleared. Idling T2 timeout ENQ EOT is transmitted. T2 start NAK is transmitted. T2 stop T1 times out or checksum error occurs when size becomes 0. Reception is successful (checksum is OK when size becomes 0). NAK is transmitted. T1 stop ACK is transmitted. T1 stop Waiting for the number of command bytes The number of command bytes is received. Size Number of command bytes +3 Sum Number of command bytes T1 start, T2 stop Receiving Remaining blocks One character is received. Size Number of command bytes -1 Sum Sum + received characters T1 start Receiving module 164 [Reference] Communications Timing RS232C Communications T3 Host T4 T5 T3 T4 Driver Data block Request for transmission Driver Host ACK/NAK Permission to transmit T3 Host T5 T3 T4 T5 Driver Permission to transmit Driver ACK/NAK Host Request for transmission Data block Code T3 Name Continuous inter-character time Minimum Stop bit length Maximum Protocol parameter T1 T4 T5 Driver response time Host response time 4ms 2ms Protocol parameter T2 Protocol parameter T2 <Caution> The time represents a period of time from stop bit rising edge. Reference 165 Communications List of Communications Commands command 0 1 2 8 9 B mode 1 5 6 1 0 1 2 4 5 6 7 8 9 A 0 1 4 0 1 2 3 4 0 1 2 Description NOP Readout of CPU version Readout of the driver model name Readout of the motor model name INIT Setting of protocol parameters POS, STATUS, I/O Readout of status Readout of the command pulse counter Readout of the feedback pulse counter Readout of current speed Readout of current torque output Readout of the current deviation counter Readout of input signal Readout of output signal Readout of current speed/torque/deviation counter Readout of status/input signal/output signal PARAMETER Individual readout of parameters Individual writing of parameters Writing of parameters to EEPROM ALARM Readout of current alarm data Individual readout of alarm history Batch readout of alarm history Alarm history clear (also on EEPROM) Alarm clear PARAMETER Individual readout of user parameters Page readout of user parameters Page writing of user parameters <Note> Be sure to use the above commands only. We could not guarantee proper operation of the driver when you transmit a command not listed above. Details on Communications Commands command 0 mode 1 Readout of CPU version information Received data Transmitted data 0 axis 3 axis 1 0 1 checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 0 Version (high order) (low order) Error code checksum 4 3 2 1 0 For version information, Ver. is divided into high order data and low order data and sent back. (The decimal point returns low-order 4 bits of the high order data as "0".) A version is expressed by digits of 0 to 9 (Example: Ver.3.13 is composed of high order data 30h and low order data 13h). This indicates the CPU version. 166 [Reference] command 0 mode 5 Readout of the driver model name Received data Transmitted data 0 axis 0Dh axis 5 0 5 0 Driver Model Name (high order) checksum Driver Model Name (low order) Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 1 0 The driver model name is 12 characters and transmitted by ASCII code. ex. "MKDET1505 " command 0 mode 6 Readout of the motor model name Received data Transmitted data 0 axis 0Dh axis 6 0 6 0 Motor Model Name (high order) checksum Motor Model Name (low order) Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 1 0 The motor model name is 12 characters and transmitted by ASCII code. ex. "MUMA012P1 " command 1 mode 1 Setting of RS232C protocol parameters Received data Transmitted data 3 axis 1 axis 1 1 1 T1 T2 1 Error code checksum M/S RTY checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 RTY error 2 T2 error 1 T1 error 0 M/S error Setting of the previous protocol parameters remains valid until execution of this command completes. The updated parameter setting will be M/S=0 indicates "SLAVE" mode, while M/S=1 indicates "MASTER". The RTY code is 4 bit and M/S is 1 bit. Unit of T1 and T2 are 0.1 second and 1 second, respectively. 167 Reference valid from a next command after execution of this command. Communications command 2 mode 0 Readout of status Received data Transmitted data 0 axis 3 axis 0 0 2 checksum 2 Control mode Status Error code checksum Status bit7 Error code bit7 0 : Normal 1 : Error 6 6 5 4 3 CCW CW CCW Torque being output Torque being output rotating 5 Command error 4 3 2 1 0 Torque being Less than DB permission speed limited CW rotating 2 1 0 The control modes are defined as follows: 0 1 2 command 2 High speed response positioning control mode Internal velocity control mode High function positioning control mode 1 Readout of the command pulse counter Received data Transmitted data 0 axis 5 axis 1 1 2 checksum 2 Counter value L H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 1 0 A current command position is expressed by absolute coordinates from the start-up time. (Cumulative sum of the number of command pulses) The counter value is 32 bits. For the counter value, "-" indicates CW and "+" indicates CCW. 168 [Reference] command 2 mode 2 Readout of the feedback pulse counter Received data Transmitted data 0 axis 5 axis 2 2 2 checksum 2 Counter value L H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 3 4 2 1 0 A current position of the feedback pulse counter is expressed by absolute coordinates from the start-up time. For the counter value, "-" indicates CW and "+" indicates CCW. The feedback pulse counter indicates a cumulative sum of pulses of the position detector, which corresponds to a position of the motor that really moves. command 2 mode 4 Readout of current speed Received data Transmitted data 0 axis 3 axis 4 4 2 checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 Data (current speed) L H Error code checksum 2 1 0 This command is used to read current speed (unit [r/min]). An output value is 16 bits. For the counter value, "-" indicates CW and "+" indicates CCW. command 2 mode 5 Readout of current torque output Received data Transmitted data 0 axis 3 axis 5 5 2 checksum 2 Data (torque) L H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 169 0 Reference This command is used to read current torque output (unit: to be converted as rated torque = 2000). An output value is 16 bits. 1 Communications command 2 mode 6 Readout of the current deviation counter Received data Transmitted data 0 axis 5 axis 6 6 2 checksum 2 Data (deviation) L H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 1 0 This command is used to read a current value of the deviation counter. (unit [pulse]) An output value is 32 bits. "+" indicates that the encoder is in CW direction and "-" indicates that the encoder is in CCW direction relative to the position command. command 2 mode 7 Readout of input signal Received data Transmitted data 0 axis 5 axis 7 7 2 checksum 2 Data L Data H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 1 0 3 CCW overtravel inhibited 2 CCW overtravel inhibited 1 Alarm cleared 0 Servo-ON Data bit7 Reserved 6 5 Command dividing/ Zero speed multiplier switching clamp 4 Control mode switching bit15 Reserved 14 Reserved 13 12 11 Reserved Internal velocity Internal velocity command selection 2 command selection 1 10 Counter cleared 9 Gain switching 8 Reserved bit23 Reserved 22 Reserved 21 Reserved 20 Reserved 19 Reserved 18 Reserved 17 Reserved 16 Reserved bit31 Reserved 31 Reserved 29 Reserved 28 Reserved 27 Reserved 26 Reserved 25 Reserved 24 Reserved For "CW overtravel inhibited", "CCW overtravel inhibited" and speed zero clamp, "1" indicates the open status. For other input signals, "0" indicates the open status. 170 [Reference] command 2 mode 8 Readout of output signal Received data Transmitted data 0 axis 7 axis 8 8 2 2 checksum Data L Data H Warning data Warning data bit7 Overload bit5 Over-regeneration bit0 Battery Error code bit7 0 : Normal 1 : Error 6 L H Error code checksum 5 Command error 4 3 2 1 0 Data bit7 Reserved 6 Reserved 5 Torque being limited 4 Zero speed detected 3 Electromagnetic brake released 2 Positioning completed 1 Servo alarm 0 Servo ready bit15 Reserved 14 Reserved 13 Dynamic brake activated 12 Reserved 11 Reserved 10 Reserved 9 Speed achieved 8 Reserved bit23 Reserved 22 Reserved 21 Reserved 20 Reserved 19 Reserved 18 Reserved 17 Reserved 16 Reserved bit31 Reserved 31 Reserved 29 Reserved 28 Reserved 27 Reserved 26 Reserved 25 Reserved 24 Reserved The following table shows the relation between each signal and operation. Signal Servo ready Servo alarm In positioning completed Electromagnetic brake released Zero speed detected Torque being limited Achieved speed Dynamic brake activated command 2 mode 9 0 not Ready Normal condition Positioning not completed Electromagnetic brake running Zero speed not detected Torque not being limited Not achieved speed Dynamic brake released 1 Servo ready Abnormal condition Positioning being completed Electromagnetic brake released Zero speed detected Torque being limited Speed being achieved Dynamic brake being activated Readout of current speed/torque/deviation counter Transmitted data 9 axis Received data 0 axis 9 9 2 2 Data L (Speed) H Data L (Torque) H Data L checksum (Deviation) H Error code checksum 6 5 Command error 4 3 The speed and torque output values are 16 bits and deviation output value is 32 bits. The unit and sign of output data are same for command Nos. 24, 25, and 26. 171 2 1 0 Reference Error code bit7 0 : Normal 1 : Error Communications command 2 mode A Readout of status/input signal/output signal Received data Transmitted data 0 axis 0Dh axis A A 2 checksum 2 Control mode Status Input signal L Input signal H Output signal L Output signal H Warning data L Warning data H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 2 1 0 Meanings of each bit for control mode, status, input signal, output signal, and warning data are same as those of command No.20 (command=2, mode=0), 27 (mode=7), and 28 (mode=8). 172 [Reference] command 8 mode 0 Individual readout of parameters Received data Transmitted data 1 axis 3 axis 0 0 8 Parameter No. checksum Error code bit7 0 : Normal 1 : Error command 8 6 mode 1 5 Command error 4 3 No. error 2 1 Received data Transmitted data 3 axis 1 axis 8 1 Parameter No. Parameter value L H checksum 6 Data error 0 Individual writing of parameters 1 Error code bit7 0 : Normal 1 : Error 8 Parameter value L H Error code checksum 5 Command error 8 Error code checksum 4 3 No. error 2 1 0 This command just changes a parameter temporarily. If you wish to write to EEPROM, execute writing to EEPROM of parameter (mode=4) Be sure to set 0 to unused parameters. Otherwise, data error will occur. command 8 mode 4 Writing of parameters to EEPROM Received data Transmitted data 0 axis 1 axis 4 4 8 checksum Error code bit7 0 : Normal 1 : Error 6 Data error 5 Command error 8 Error code checksum 4 3 2 1 Control LV 0 173 Reference This command is used to write a set parameters to EEPROM. Transmission data will be returned after completion of EEPROM writing. Writing to EEPROM may take approx. 5 seconds max. (if all parameters are changed). When writing of parameters fails, data error will occur. When control power supply LV is detected, control LV of error code will be returned, and parameter writing will be disabled. Communications command 9 mode 0 Readout of current alarm data Received data Transmitted data 0 axis 2 axis 0 0 9 checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 9 Alarm No. Error code checksum 4 3 2 1 0 Alarm No. is 0 when no alarm is generated. (Refer to "Details of Protective Function" on Page 145.) command 9 mode 1 Individual readout of alarm history Received data Transmitted data 1 axis 3 axis 1 1 9 History No. checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 9 History No. Alarm No. Error code checksum 4 3 No. error 2 1 0 History No.1 to No.14 indicate the 1st to 14th previous alarm history, respectively. command 9 mode 2 Batch readout of alarm history Received data Transmitted data 0 axis 0Fh axis 2 2 9 1st previous 2nd previous checksum 14th previous Error code bit7 0 : Normal 1 : Error 6 5 Command error 4 3 The command is used to read 14 previous alarm events. 174 9 Alarm No. Alarm No. ~ Alarm No. Error code checksum 2 1 0 [Reference] command 9 mode 3 Alarm history clear Received data Transmitted data 0 axis 1 axis 3 9 3 checksum Error code bit7 0 : Normal 1 : Error 6 Data error 5 Command error 9 Error code checksum 4 3 2 1 Control LV 0 The command clears history of alarm data. When the command fails to clear, data error occurs. When control power supply LV is detected, control LV of error code will be returned, and parameter writing will be disabled. command 9 mode 4 Alarm clear Received data Transmitted data 0 axis 1 axis 4 9 4 checksum Error code bit7 0 : Normal 1 : Error 6 5 Command error 9 Error code checksum 4 3 2 1 0 This command clears the current alarm (only applicable to alarms that can be cleared). Reference 175 Communications command B mode 0 Individual readout of user parameters Received data Transmitted data 1 axis 9 axis 0 0 B Parameter No. checksum Attribute bit7 Unused parameter bit15 Error code bit7 0 : Normal 1 : Error command B 6 Display inhibited 5 For privileged users B Parameter value L H MIN value L H MAX value L H Attribute L H Error code checksum 3 System related 4 To be changed at initialization 2 1 14 13 12 11 10 9 6 5 Command error 4 3 No. error 2 1 mode 1 0 8 Read only 0 Page readout of user parameters Received data Transmitted data 1 axis 82h axis 1 1 B Page No. checksum B Page No. Parameter value L (No.0) H MIN value L (No.0) H MAX value L (No.0) H Attribute L (No.0) H Parameter value L (No.0fh) H MIN value L (No.0fh) H MAX value L (No.0fh) H Attribute L (No.0fh) H Error code checksum Attribute bit7 Unused parameter 6 Display inhibited bit15 14 Error code bit7 0 : Normal 1 : Error 6 Data error 5 For privileged users 4 To be changed at initialization 3 System related 2 1 13 12 11 10 9 5 Command error 4 3 No. error 2 1 A page number is designated from 0 to 7, and 16 parameters are read from each page designation. 176 0 8 Read only 0 [Reference] command B mode 2 Page writing of user parameters Received data Transmitted data 21h axis 2 axis 2 B Page No. Parameter L (No.0 value) H Parameter value (No.1 value) ~ Parameter value (No.0fh value) checksum Error code bit7 0 : Normal 1 : Error 6 Data error 5 Command error 4 2 B Page No. Error code checksum L H L H 3 No. error 2 1 0 The command writes 16 parameters at once. Be sure to set 0 to unused parameters. Otherwise, data error will occur. Reference 177 Description on Dividing/Multiplier Ratio Relation between Positional Resolution/Moving Speed and Command Dividing Multiplier Ratio Servo driver Command dividing multiplier ratio Pulse row position command D= Distance: P1 [P] Traveling speed: F [PPS] Pr46 x 2 Pr4B Rotation speed: N [r/min] Pr4A Servo motor Gear Machine Reduction ratio: R Encoder Number of encoder pulses E [P/r] 10000 = (phase A/B 2500 [P/r] x 4) Example of driving ball screw using the servo motor As an example of a machine, we describe a ball screw driving system below: When lead of a ball screw is L [mm], actual distance of a ball screw M [mm] with respect to the distance command PI [P] is expressed with formula (1) below: M = P1 x (D/E) x (1/R) x L ................................. (1) Therefore, position resolution (distance DM per command pulse) is expressed by the following formula (2): M = (D/E) x (1/R) x L ....................................... (2) Through transformation of formula (2), a command dividing multiplier ratio D is determined by the formula (3): M x E x R)/L ............................................ (3) D = ( In addition, actual traveling speed V [mm/s] of a ball screw with respect to traveling speed command F [PPS] is expressed by formula (4), and the corresponding motor rotation speed N is determined by formula (5): V = F x (D/E) x (1/R) x L ................................... (4) N = F x (D/E) x 60 ............................................. (5) Through transformation of formula (5), a command dividing multiplier ratio D is determined by the formula (6): D = (N x E)/(F x 60) ........................................... (6) <Remarks> 1. Set the positional resolution (M) at approx. 1/5 to 1/10 of the positioning accuracy (), in view of mechanical errors. 2. Set a value from 1 to 10000 to Pr46 and Pr4B. 3. You can set any value depending on numerator and denominator settings. However, if you specify an extreme dividing/multiplier ratio, we cannot guarantee proper operation of the motor. We recommend that you set the dividing/multiplier ratio in the range of 1/50 to 20 times. 4. 2n Decimal 20 21 1 2 22 4 3 2 24 8 16 25 32 26 27 64 128 28 256 29 210 512 1024 211 2048 212 213 4096 8192 214 16384 215 216 32768 65536 217 131072 178 [Reference] Example 1 2 Command dividing multiplier ratio Lead of ball screw L = 10mm Reduction ratio R=1 Position resolution M = 0.005mm For the encoder of 2500 P/r (E=10000P/r) D= Lead of ball screw L = 20mm Reduction ratio R=1 Position resolution M = 0.005mm For the encoder of 2500 P/r (E=10000P/r) D= M x E x R L Pr46 x 2 Pr4B 0.005 x 10000 x 1 10 0.0005 x 10000 x 1 20 D<1 is not appropriate to determination of the accuracy. = 0.25 Motor rotation speed (r/min) 0.005 x 10000 x 1 20 D= Lead of ball screw L= 20mm Reduction ratio R=1 Position resolution M = 0.005mm Line driver pulse input 500 kpps For the encoder of 2500 P/r ... Formula (3) D = Determine parameters Pr46, Pr4A and Pr4B so Pr46 = 10000 that D=5. Consider Pr4A = 0 the following: Pr4B = 2000 0 10000 x 2 D= 2000 =5 Example N=Fx Pr4A D = 1 is a condition of minimum resolution. D x 60 E ... Formula (5) ... Formula (3) = 25 N = 500000 x 2.5 10000 x 60 ... Formula (5) = 7500 Thus, motor specification is not met. Command dividing multiplier ratio To make motor rotation speed 3000 r/min under the same condition as above, with lead of ball screw of L = 20 mm and the line driver pulse input of 500 kpps. D= D= 3000 x 10000 500000 x 60 Pr46 x 2 D= Pr4B NxE D= ... Formula (6) F x 60 =1 Pr4A Determine parameters Pr46, Pr4A and Pr4B so Pr46 = 10000 that D=1. Consider Pr4A = 0 the following: Pr4B = 10000 D= 10000 x 2 10000 0 Then, distance per command pulse (mm) is as follows: (position resolution) D 1 1 1 M = x xL= x x 20 = 0.002mm E R 10000 1 Reference 179 Conformance to EC Directives/UL Standards EC Directives The EC Directives apply to all such electronic products as those having specific functions and directly sold to general consumers in EU countries. These products are required to meet the EU unified standards and to be furnished with CE Marking. However, our AC servo meet the EC Directives for Low Voltage Equipment so that the machine or equipment comprising our AC servo can meet relevant EC Directives. EMC Directives Our servo systems can meet EMC Directives and related standards. However, to meet these requirements, the systems must be limited with respect to configuration and other aspects, e g. the distance between the servo driver and motor is restricted, and some special wiring conditions must be met. This means that in some 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 drivers and servo motors. Applicable Standards Subject Motor Motor and driver Applicable standard Standards referenced by Low-Voltage Directives IEC60034-1 EN50178 EN55011 EN61000-6-2 Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio Frequency Equipment General standards for immunity in industrial environment IEC61000-4-2 IEC61000-4-3 Electrostatic Discharge Immunity Test Radio Frequency Electromagnetic Field Immunity Test IEC61000-4-4 Electric High-Speed Transition Phenomenon - Burst Immunity IEC61000-4-5 Test Lightning Surge Immunity Test IEC61000-4-6 High Frequency Conduction Immunity Test IEC61000-4-11 Instantaneous Outage - Immunity Test IEC: International Electrotechnical Commission EN: Europaischen Normen EMC: Electromagnetic Compatibility 180 Standards referenced by EMC Directives [Reference] Peripheral Equipment Environment The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the driver in an IP54 control box). Control box Controller Power supply for insulated type interface CN X5 Insulating transformer Noise filter for signal lines CN X1 Power Circuit breaker Leakage breaker(RCD) Noise filter AC servo driver L1 L2 L3 Noise filter for signal lines CN X3 U V W E AC servo driver M RE Surge absorber CN X4 Protective earth (PE) Power + Single-phase 100V: Single-phase 100V + Single-phase 200V: Single-phase 200V + Three-phase 200V: Three-phase 200V - 10% 15 % to 115V 10% 15 % to 240V 10% 15 % to 240V + + + - 10% 15 % 50/60Hz 10% 15 % 50/60Hz 10% 15 % 50/60Hz (1) Use under the environment of Over-voltage Category II specified by IEC60664-1 In order to realize the environment of overvoltage category II, install in the power supply input unit an insulating transformer that is compliant with ICE or EN standard (EN 60742). (2) The power for interface should be marked CE or appropriate EN Standard type (EN60950), 12VDC to 24VDC, insulated. Circuit Breaker Install a circuit breaker between the power supply and noise filter. The circuit breaker should be IEC Standard and UL listed marked. Reference 181 Conformance to EC Directives/UL Standards Noise Filter When, one set of noise filters is installed in the power unit with two or more drivers, be sure to consult with the noise filter manufacturer. Option Part No. Manufacturer's part No. DV0P4160 3SUP-HU10-ER-6 Manufacturer Okaya Electric Industries Co., Ltd. Surge Absorber Install the surge absorber on the primary line of the noise filter. <Note> When conducting voltage-resistant test on the machine/equipment, remove the surge absorber. Otherwise the absorber may be damaged. Option Part No. DV0P1450 Circuit diagram 182 Manufacturer's part No. Manufacturer R*A*V-781BXZ-4 Okaya Electric Industries Co., Ltd. [Reference] Noise Filter for Signal cables Provide all the cables (power supply cable, motor cable, encoder cable, interface cable) with the noise filter for signal cable. Option Part No. Manufacturer's part No. Manufacturer DV0P1460 ZCAT3035-1330 TDK Co., Ltd. Weight: 62.8 g Grounding (1) Don't fail to connect the servo driver protective earth terminal ( ) and the protective earth plate of the control panel together. (2) When connecting to the protective earth terminal ( ), avoid co-clamping. Two protective earth terminals are provided. Leakage Breaker Connect Type-B leakage breaker (RCD) to the primary power supply of the servo driver. Driver and Peripheral Devices Applied Thereto (EC Directives) For the detail refer to "System Configuration and Wiring", Page 26. Install the noise filters in reference to DV0P4160 (page 182). Conformance to UL Standards The noise filters conform to UL508C (File No. E164620) to satisfy the following conditions. (1) The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the driver in an IP54 control box). (2) Install a circuit breaker or fuse between the power supply and noise filter. The circuit breaker or fuse should be a UL listed mark ( ) type. The current rating of the circuit breaker or fuse should be per the table in page 26. Reference 183 Optional Parts MINAS-E Series Table of Junction Cable by Model Figure No. Motor Type Junction Cable For an encoder (2500 P/r 5 wires) 2-1 MUMA50W - 400W 3-1 4-1 Incremental For a motor For a brake Part No. MFECAO * * OEAM MFMCAO * * OAEB MFMCBO * * OGET Junction Cable for Encoder Figure 2-1 MFECA0 * * 0EAM L (16) (o9.2) (20) (4) (14) (4) Manufactured by Tyco Electronics AMP K.K. Connector Pin L (m) Part No. 3 MFECA0030EAM 5 10 MFECA0050EAM MFECA0100EAM 20 MFECA0200EAM Manufactured by Molex Incorporated 172160-1 170365-1 Connector 55100-0600 Junction Cable for Motors (Robotop(R) 600V DP) Figure 3-1 Robotop(R) is a trade mark of Daiden Co., Ltd. MFMCA0 * * 0AEB (50) (50) (12.0) (o11) L (4) (10.0) (4) Manufactured by Molex Incorporated Manufactured by Tyco Electronics AMP K.K. Connector 172159-1 Pin 170362-1 or 170366-1 L (m) Part No. 3 5 MFMCA0030AEB MFMCA0050AEB 10 MFMCA0100AEB 20 MFMCA0200AEB L (m) 3 Part No. MFMCB0030GET 5 MFMCB0050GET 10 20 MFMCB0100GET MFMCB0200GET Connector 5557-06R-210 Pin 5556PBTL Junction Cable for Brakes (Robotop(R) 600V DP) MFMCB0 * * 0GET L (50) (o9.8) (12.0) (40) (10.0) Figure 4-1 (5.6) Manufactured by Tyco Electronics AMP K.K. Connector Pin 172157-1 170362-1 or 170366-1 184 For pressure connection terminal M4 [Reference] Connector Kits for Power Supply of the Driver (1) Part No. DV0P2870 (2) Components Name Manufacturer's part No. Number Manufacturer Remarks Connector (10P) Connector Pin 5557-10R-210 5556PBTL 1 6 Molex Incorporated For connector CN X1 (pin 10) (3) Pin arrangement of connector for CN x 1 10 L1 5 P 9 (NC) 4 (NC) (4) Recommended manual pressure bonding tool (Customers are requested to provide it by themselves.) 8 L2 3 B 7 (NC) 2 (NC) 6 L3 1 E Manufacturer's part No. Wire rod 57026-5000 UL1007 57027-5000 UL1015 <Cautions> 1. The above table shows arrangement of pins viewed from the pin inserting direction of the connector. Also check pin Nos. carved on the main body of the connector so as to avoid incorrect wiring. 2. For wiring and connection, refer to "System Configuration and Wiring", Wiring of Main Circuits (Page 27). 3. You should leave a pin labeled with (NC) unconnected. Reference 185 Optional Parts Connector Kits for Connection of Motor and Encoder Used for: MUMA 50W to 400W Incremental 2500 pulse 5-wire (1) Part No. DV0P3670 (2) Components Name Manufacturer's part No. Number Manufacturer Remarks For connector CN X4 (pin 6) Connector 55100-0600 1 Molex Incorporated Connector (6P) 172160-1 1 Connector pin Connector (4P) 170365-1 172159-1 6 1 Manufactured by Tyco Electronics AMP K.K. Manufactured by Connector pin 170366-1 4 Tyco Electronics AMP K.K. Connector (6P) Connector pin 5557-06R-210 5556PBTL 1 4 Molex Incorporated For junction of encoder cable (pin 6) For junction of motor power line (pin 4) For connector CN X3 (pin 6) <Note> You may use parts of other manufacturer equivalent to the above parts for such components as connector, connector cover, etc. (3) Pin arrangement of connector CN X4 plug 1 +5V 2 0V 3 +5V 4 0V 5 Tx/Rx 6 Tx/Rx (Case FG) (4) Recommended manual pressure bonding tool (A customer is requested to provide it by himself.) Name Manufacturer's part No. For junction of encoder cable 755330-1 For junction of motor power line For connector CN X3 755331-1 57026-5000 57027-5000 Manufacturer Wire rod Tyco Electronics AMP K.K. - Molex Incorporated UL1007 UL1015 <Cautions> 1. The above figure shows the pin arrangement viewed from the soldering side of the connector. Also check pin Nos. carved on the main body of the connector so as to avoid incorrect wiring. 2. Be sure to connect shield of the shielded wire to be used to the case (FG). 3. For wiring and connection, refer to "System Configuration and Wiring", Connector CNX4 (Page 29). 186 [Reference] (5) Pin arrangement of connector for junction of encoder cable 1 (NC) 4 +5V 2 TX/RX 5 0V 3 TX/RX 6 FG (6) Pin arrangement of connector for junction of motor power line 1 U 3 W 2 V 4 E (7) Pin arrangement of connector for connector CN X3 6 W 3 E 5 (NC) 2 (NC) 4 V 1 U <Cautions> 1. The above table shows arrangement of pins viewed from the pin inserting direction of the connector. Also check pin Nos. carved on the main body of the connector so as to avoid incorrect wiring. 2. For wiring and connection, refer to "System Configuration and Wiring", Wiring of Main Circuits (Page 27). Reference 187 Optional Parts Connector Kit for Connection with Host Controller (1) Part No. DV0P0770 (2) Components Name Manufacturer's part No. Number Connector 10126-3000PE 1 Connector Cover 10326-52A0-008 1 Manufacturer Sumitomo 3M Ltd Remarks For CN X5 (Pin 26) (3) Pin arrangement of connector X5 (pin 26) (viewed from the soldering side of the connector) 14 GND 16 OA- 15 OA+ 18 OB- 17 OB+ 20 OZ- 19 OZ+ 1 3 5 COM+ A-CLR GAIN 2 SRVON 4 CL 21 CZ 7 CWL ZEROSPD 6 DIV INTSPD2 22 24 26 PULS1 SIGN1 FG 23 25 PULS2 SIGN2 9 ALM 11 13 BRK- COM- OFF 8 10 12 CCWL COIN WARN INTSPD1 <Cautions> 1. When wiring, also check pin Nos. carved on the main body of the connector. 2. For codes representative of signal names in the above table or functions of signals, refer to Wiring to Connector CN X5 (Page 30, 67 and 105). Interface Cable for Connection with Host Controller Shell Kit : 10326-52AO-008 (1) Part No. DV0P0800 (2) Outline dimension Sumitomo 3M Ltd or item equivalent to it 2000 12.7 39 1 14 37.2 26 13 50 14 Plug : 10126-3000PE Sumitomo 3M Ltd or item equivalent to it (3) Table of Wiring Pin No. Signal Name Color of Core Wire Pin No. Signal Name Color of Core Wire Pin No. Signal Name 1 COM+ Orange (red 1) 10 COIN Pink (black 1) 19 OZ+ Color of Core Wire Pink (red 2) 2 3 SRV-ON A-CLR Orange (black 1) Gray (red 1) 11 12 BRK-OFF WARN Orange (red 2) Orange (black 2 ) 20 21 OZCZ Pink (black 2) Orange (red 3) 4 CL/INTSPD2 Gray (black 1 ) 13 COM- Gray (red 2) 22 PLUS1 Gray (red 3) 5 6 GAIN/ZEROSPD DIV/INTSPD1 White (red 1) White (black 1) 14 15 GND OA+ Gray (black 2) White (red 2) 23 24 PLUS2 SIGN1 Gray (black 3) White (red 3) 7 CWL Yellow (red 1) 16 OA- White (black 2) 25 SIGN2 White (black 3) 8 9 CCWL ALM Yellow (black 1 ) Pink (red 1) 17 18 OB+ OB- Yellow (red 2) Yellow (black 2) 26 FG Orange (black 3) <Remarks> * For example, the color of the wire, Orange (Red 1) means that the lead wire is colored in orange with one red dot mark. * The shield of this cable is not connected with the terminal of the connector. Please use the connector kit for connection with Host Controller when you connect the shield with FG or GND on the driver side. 188 [Reference] Communications Cable (Connection with Personal Computer) (1) Part No. DV0P 1960 (for DOS/V compatible machines) 2000 33 18 Mini DIN8P MD connector D sub connector 9P For pin arrangement of CN X6, see Page 159. "PANATERM(R)", software for communications control (1) Part No. DV0P4230 (Japanese version) DV0P4240 (English version) (2) This is supplied in the form of a 3.5 inch floppy disk. <Cautions> For details on the operating environment or others, refer to the operating instructions of "PANATERM(R)". For information on latest version, please contact us. Console Part No. DV0P3690 (62) M3 depth 5 (15) (24) Insert screw Screw down with a tightening torque of no more than 0.5 N*m. MINAS (114) DIGITAL AC SERVO M MODE SHIFT Nameplate S SET (15) (1500) DIN8P mini MD connector Reference 189 Optional Parts External Regenerative Resistor Manufacturer's Part No. model name Specification Operating Temperature for Ohmic Value Rated Power Built-in Temperature Fuse Remarks (Specifications for the driver voltage) DV0P2890 45M03 50 10W 1302C For single-phase 100V DV0P2891 45M03 100 10W 1302C For single-phase/ three-phase 200V Manufactured by: IWAKI MUSEN KENKYUSHO CO., LTD. <Note> For safety reasons, the external regenerative resistor has a built-in temperature fuse. The built-in temperature fuse may be disconnected depending on heat dissipation conditions, range of use temperatures, supply voltage, and load variations. 4.3 <Cautions> The regenerative resistor may be hot. 57 Take preventive actions against a fire and burn. Do not mount the regenerative resistor in the vicinity of an inflammable object or in a place where an operator may easily touch it by hand. 60 52 300 4.3 Female terminal 5556PBTL (or 5556PBT) t0.6 10 65 DIN Rail Mounting Unit (1) Part No. DV0P3811 (2) Outline Dimension 35 2-M4 bar ring (for mounting screws) (6) 5 20 <Remarks> * Two mounting screws (M4 x length 8, pan head machine screws) are supplied. * * When extended, the rail stopper is 10mm long. <Note> For installation and removal, refer to "Installation" of Before Use edition on Pages 18 to 19. * (7) 130.5 140 Mounting plate Rail stop (6) 190 [Reference] Reactor 2-I Figure 1 Reactor Part No. Figure C D Rated Output E 50 - 100W DV0P227 1 A 50 - 100W 4-H (Mounting dimension) DV0P220 B 2 F (Mounting dimension) G 50 - 200W Figure 2 200W DV0P228 XY Z 1 NP RS T 200 - 400W DV0P220 6-I 2 E 400W C D Voltage Driver Specification Outline for Power Frame Source of Code Driver Singlephase 100V SingleMKDE phase 200V Threephase 200V Singlephase 100V SingleMLDE phase 200V Threephase 200V A 4-H (Mounting dimension) B Figure 1 2 Part No. DV0P227 DV0P228 DV0P220 A B C D E F G H I 55 80 68 90 90 41 55 o7 M4 65 125 83 118 145 70 85 Width 7 x Length 12 M4 F (Mounting dimension) G Inductance (mH) Rated Current (A) 4.02 5 8 3 2 6.81 * The former Agency of Natural Resources and Energy of Ministry of International Trade and Industry (present Ministry of Economy, Trade and Industry) established higher harmonics suppression guidelines in September 1994. (1) Drivers rated 4kW or lower are subject to "Higher Harmonics Suppression Guidelines for Home Electric and General Purpose Appliances". (2) Drivers rated over 4kW are subject to "Higher Harmonics Suppression Guidelines for High Voltage and Special Customers". * The Ministry of Economy, Trade and Industry strongly demands manufacturers to enforce measures to curb harmonics. In order to comply with the established regulatory level, connect a power-factor improvement reactor (L) to drivers of 4 kW or lower. For drivers of over 4kW, determine the level of harmonics according to the guideline and take a suppression measure, as appropriate. <Reference> [Harmonics Suppression Technical Guideline], JEAG 9702-1995, Japan Electric Association [Harmonic Current Calculation Procedure for General-purpose Inverter at Special Customers], JEM-TR201-1996, Japan Electrical Manufacturers' Association Reference 191 Recommended Parts Surge Absorber for Motor Brake Motor Surge Absorber for Motor Brake MUMA50W - 400W * C-5A2 or Z15D151 Ishizuka Electronics Corporation * The recommended parts are specified items to measure the brake release time. List of Manufacturers of Peripheral Equipment As of February 2003 Manufacturer/Agent Matsushita Electric Works, Ltd. Automation Controls Company Phone Number Equipment No-fuse breaker +81-6-6908-1131 http://www.mew.co.jp Electromagnetic switch Surge absorber IWAKI MUSEN NKENKYUSHO CO., LTD. +81-44-833-4311 http://www.iwakimusen.co.jp/ Ishizuka Electronics Corporation Renesas Technology Corpration. TDK Corporation +81-3-3621-2703 http://www.semitec.co.jp/ Regenerative resistor Surge absorber for holding brake +81-6-6233-9511 http://www.renesas.com/jpn/ +81-3-5201-7229 Noise filter for signal line http://www.tdk.co.jp/ Okaya Electric Industries, Co., Ltd. Sumitomo 3M Ltd Tyco Electronics AMP K.K. +81-3-3424-8120 http://www.okayatec.co.jp/ Surge absorber Noise filter +81-3-5716-7290 http://www.mmmco.jp +81-44-844-8111 Connector http://www.tycoelectronics.com/japan/amp Japan Molex Incorporated Daiden Co., Ltd. +81-462-65-2313 http://www.molex.co.jp +81-3-5805-5880 Cable http://www.dyden.co.jp 192 Dimensional Outline Drawing Driver (Frame K) Estimated Mass 0.35 kg Driver (Frame L) Estimated Mass 0.4 kg [Reference] Reference 193 Dimensional Outline Drawing Motor MUMA Series 50W to 400W LR LL LE LBh7 Sh6 200 LG LF Output LG 50W, 100W 230mm 200W, 400W 220mm (Unit: mm) Without a brake With a brake MUMA Model Output (W) LL S LB LE 8 22 2 MUMA5A P1 50 75.5 MUMA01 P1 100 92.5 MUMA02 P1 200 96 11 MUMA04 P1 400 124 14 MUMA5A P1 50 107 MUMA01 P1 100 124 MUMA02 P1 200 129 11 MUMA04 P1 400 157 14 LF LR 24 7 8 50 3 30 22 2 24 7 50 194 3 30 [Reference] Shaft-end Center Tap TP Specification of Keyed Version (Dimension) Output 50W, 100W Screw M3 Depth 6 200W M4 8 400W M5 10 LC LZ LW LK KW KH RH LH Without a brake MUMA LA 48 42 3.4 14 12.5 3 3 6.2 34 With a brake (Unit: mm) 48 20 70 60 42 60 4 4 8.5 43 3.4 25 22.5 5 5 11 14 12.5 3 3 6.2 20 70 18 4.5 18 4 4 Mass (kg) Rotor Moment of Inertia (x10-4kg*m2) 0.40 0.021 0.50 0.032 0.96 0.10 1.5 0.17 0.60 0.026 0.70 0.036 1.4 0.13 1.9 0.20 34 8.5 43 4.5 25 22.5 5 5 11 Reference 195 Dimensional Allowable Load Outline of Output Drawing Shaft Radial Load Direction (P) Thrust Load Directions (A, B) LR A M B LR/2 P Unit: N (1kgf = 9.8N) Motor Series MUMA When Assembled Motor Output 50W, 100W 200W, 400W In Operation Thrust Load Thrust Load Radial Load Radial Load Directions A, B Direction A Direction B 58.8 147 88.2 117.6 68.6 98 392 147 196 245 <Remarks> If a position of load point varies, calculate allowable radial load P (N) from distance L (mm) of a load point from mounting flange face, based on the relational expression, so that the result of calculation will be as follows: Motor Series MUMA Motor Output Relational Expression of Load - Load Point 50W, 100W P= 200W P= 400W P= L P 196 1406 L + 7.5 2940 L-3 5831 L + 8.8 Motor Characteristics (S-T Characteristics) [Reference] Note that motor characteristics may vary depending on whether or not there is a brake. The continuous torque -- ambient temperature characteristic shows a value when our standard flange made of aluminum (having about doubled angle of that of the motor flange) is mounted. They are characteristics without an oil seal. Supply Voltage of Driver Motor Capacity AC100V AC200V MUMA5AZP1 Supply Voltage of Driver: At AC100V/200V Torque [Nm] 50W * Continuous Torque/Ambient Temperature With a Brake 100 90 0.5 0.25 Instant Operation Area 50 Continuous Operation Area 0 1000 2000 3000 4000 5000 Rotation Speed [r/min] 0 10 20 30 40 Ambient Temperature [C] MUMA011P1 MUMA012P1 Supply Voltage of Driver: AC100V Supply Voltage of Driver: AC200V (A dotted line indicates the case in which the supply voltage drops by 10%.) Instant Operation Area 0.58 0.5 Continuous Operation Area 0 1.0 100 95 Instant Operation Area 0.5 50 Continuous Operation Area 0 10 20 30 40 Ambient Temperature [C] 0 1000 2000 3000 4000 5000 Rotation Speed [r/min] 100 95 50 0 10 20 30 40 Ambient Temperature [C] MUMA021P1 MUMA022P1 Supply Voltage of Driver: AC200V Supply Voltage of Driver: AC200V (A dotted line indicates the case in which the supply voltage drops by 10%.) (A dotted line indicates the case in which the supply voltage drops by 10%.) * Continuous Torque/Ambient Temperature With a Brake Torque 2.0 1.0 Instant Operation Area Continuous Operation Area 0 1000 2000 3000 4000 5000 Rotation Speed [r/min] 100 90 2.0 50 1.0 Instant Operation Area Continuous Operation Area 0 10 20 30 40 Ambient Temperature [C] * Continuous Torque/Ambient Temperature With a Brake Torque 3300 3800 1000 2000 3000 4000 5000 0 Rated Torque Ratio [%] 200W 1000 2000 3000 4000 5000 Rotation Speed [r/min] Rated Torque Ratio [%] 0.73 1.0 Rated Torque Ratio [%] 100W * Continuous Torque/Ambient Temperature With a Brake Torque Rated Torque Ratio [%] * Continuous Torque/Ambient Temperature With a Brake Torque 100 90 50 0 10 20 30 40 Ambient Temperature [C] Rotation Speed [r/min] MUMA042P1 Supply Voltage of Driver: AC200V Torque 400W 4.0 2.0 Instant Operation Area 0 1000 2000 3000 4000 5000 Rotation Speed [r/min] * Continuous Torque/Ambient Temperature With a Brake 100 90 50 0 10 20 30 40 Ambient Temperature [C] * In the case of no oil seal and no brake, the rated torque ratio is 100% at ambient temperature of 40C. 197 Reference Continuous Operation Area Rated Torque Ratio [%] (A dotted line indicates the case in which the supply voltage drops by 10%.) Servo Motor with Gear Checking Model of Servo Motor with Gear How to check the model M U M A 1~4 Symbol MUMA 0 1 1 5~6 7 P 3 1N 8 9 10 Reduction Ratio Type Symbol Reduction Ratio Ultra low Inertia Structure of the motor Motor Rated Output Symbol Rated Output 100W 01 200W 02 400W 04 Specifications of Position/Speed Detector Rated Output Voltage Specification 1 : 100V 2 : 200V Specification of Rotary Encoder Specification Symbol Number of Pulses Resolution Lead Wire Method 2500P/r Incremental 10000 5-wire P 198 Structure of the motor Holding Brake Symbol No Yes 3 4 1N 1/5 2N 4N 1/9 1/25 [Reference] Check the Combination of Driver and Motor with Gear This driver was designed for use with the motor designated by us. Check a name of the series, rated output, voltage specification, and encoder specification of the motor you plan to use. <Note> Incremental Specification 2500 P/r You must not use any combination other than those listed below. Applicable Motors with Gear Power Supply Motor Rated Output Reduction Ratio 1/5 Applicable Drivers Reduction Ratio 1/9 Reduction Ratio 1/25 Driver Model Driver Frame Single Phase 100W MUMA011P * 1N MUMA011P * 2N MUMA011P * 4N MKDET1110P Frame K 100V 200W MUMA021P * 1N MUMA021P * 2N MUMA021P * 4N MLDET2110P Frame L 100W MUMA012P * 1N MUMA012P * 2N MUMA012P * 4N MKDET1505P Frame K 200W MUMA022P * 1N MUMA022P * 2N MUMA022P * 4N MLDET2210P 400W MUMA042P * 1N MUMA042P * 2N MUMA042P * 4N MLDET2510P 100W MUMA012P * 1N MUMA012P * 2N MUMA012P * 4N MKDET1505P 200W MUMA022P * 1N MUMA022P * 2N MUMA022P * 4N MKDET1310P 400W MUMA042P * 1N MUMA042P * 2N MUMA042P * 4N Single Phase 200V Three-Phase 200V Frame L Frame K MLDET2310P Frame L MLDET2510P <Remarks> The mark "*" under the model name of the applicable motors refer to the structure of motor. Reference 199 Dimensional Outline Drawing of Motor with Gear Servo Motor with Gear * 220 refers to 200W or higher. (unit: mm) Model Motor Reduction Ratio Output 1/5 MUMA01 P31N Without a brake MUMA01 P32N 192 234,5 1/5 200.5 1/9 235.5 MUMA02 P34N 1/25 246 MUMA042P31N 1/5 MUMA02 P31N MUMA02 P32N 200W 400W 1/5 MUMA01 P41N MUMA01 P42N 1/9 1/25 MUMA042P34N 100W 1/9 263 223.5 1/5 233.5 1/9 268.5 MUMA02 P44N 1/25 279 MUMA042P41N 1/5 MUMA02 P42N MUMA042P42N MUMA042P44N 200W 400W 1/9 1/25 LM LT 92.5 64 28.5 96 69.5 KB1 LF LR LQ LB S LP LH J (LG) 32 20 50 12 45 10 14 67.5 50 30 70 19 62 17 22 92 32 20 50 12 45 10 14 72.5 123.5 124 34 129 7 156.5 89.5 50 30 70 19 62 17 22 3 100 34 61.5 28.5 102.5 61 40 90 24 75 18 28 104 32 20 50 12 45 10 14 67.5 50 30 70 19 62 17 22 92 32 20 50 12 45 10 14 72.5 5 38.8 34 25 7 89.5 50 26.5 296 25 89.5 97 95.5 LE (G) 38.8 288.5 266 MUMA02 P41N LL 26.5 1/25 MUMA01 P44N With a brake 1/9 1/25 MUMA01 P34N MUMA042P32N MUMA 100W L 30 70 19 62 17 22 3 100 34 89.5 130 61.5 61 321.5 200 40 90 24 75 18 28 104 5 [Reference] Detailed View of Shaft End (unit: mm) With a brake MUMA Without a brake LC LA LZ LD Key Dimensions (B x H x LK) T LN Mass (kg) Moment of Inertia (x10-4kg m2) 0.072 52 60 M5 12 4 x 4 x 16 2.5 78 90 M6 20 6 x 6 x 22 3.5 2.20 0.0645 52 60 M5 12 4 x 4 x 16 2.5 1.68 0.218 1.05 34 2.66 78 90 M6 20 6 x 6 x 22 3.5 43 3.2 0.533 3.2 0.438 0.470 4.7 12 4 x 4 x 16 2.5 1.25 M6 20 6 x 6 x 22 3.5 2.40 0.0685 M5 12 4 x 4 x 16 2.5 2.08 0.248 M8 52 60 M5 78 90 52 60 34 3.06 98 115 0.388 4 115 90 0.368 8 x 7 x 30 98 78 0.0663 M6 M8 20 6 x 6 x 22 3.5 43 3.6 8 x 7 x 30 4 5.1 0.076 0.0703 0.398 0.418 0.563 0.468 0.500 A value of moment of inertia is a motor shaft converted value (of the motor + speed reducer). Reference 201 Allowable Load of Output Shaft of Servo Motor with Gear Radial Load (P) Direction Thrust Loading (A, B) Direction LR A M B LR/2 P Unit: N Shaft Allowable Load Thrust Load Radial Load A, B directions Motor Output Gear Ratio 100W 1/5 1/9 490 588 245 294 1/25 1670 833 1/5 1/9 490 1180 245 588 1/25 1670 833 1/5 1/9 980 1180 490 588 1/25 2060 1030 200W 400W Requests Concerning Installation (1) (2) (3) (4) Do not tap on the shaft when mounting the pulley, sprocket, etc. to the output shaft of the gear head. If you do tap on it, you may hear abnormal sound. Give load to the pulley, sprocket, etc., so that force can act on the root of the output shaft, whenever possible. If you plan to use a rigid coupling, ask us for information on the mounting precision and strength. The motor has a built-in detector. If you inadvertently give excessive shock to the motor unit when coupling it with a device, the detector may be broken. Thus, assemble it carefully. 202 Characteristics of Servo Motor with Gear (S-T Characteristics) Reduction Driver Ratio Supply Motor Voltage Output 1/5 1/9 Torque 4.0 3.72 2.0 Torque 20.0 19.0 6.86 Instant Operation Area Instant Operation Area 4.0 1.18 10.0 6.27 2.25 Continuous Operation Area 0 1/25 Torque 8.0 Instant Operation Area 100W [Reference] Continuous Operation Area Continuous Operation Area 500 600 1000 0 333 400 555 0 100 120 Rotation Speed [r/min] Rotation Speed [r/min] 200 Rotation Speed [r/min] 100V Torque 8.04 8.0 Torque 16.0 Torque 40.0 33.3 11.3 Instant Operation Area 200W 4.0 Instant Operation Area 8.0 20.0 2.65 0 11.1 3.72 Continuous Operation Area 1000 0 333 400 555 Torque 4.0 3.72 Torque 8.0 200 Rotation Speed [r/min] Torque 20.0 19.0 Instant Operation Area Instant Operation Area 4.0 1.18 10.0 6.27 2.25 Continuous Operation Area 0 100 120 6.86 Instant Operation Area 2.0 0 Rotation Speed [r/min] Rotation Speed [r/min] 100W Continuous Operation Area Continuous Operation Area 500 600 Instant Operation Area Continuous Operation Area Continuous Operation Area 500 600 1000 0 333 400 555 100 120 Rotation Speed [r/min] Rotation Speed [r/min] Torque 8.04 8.0 0 Torque 16.0 200 Rotation Speed [r/min] Torque 40.0 33.3 200V 11.3 Instant Operation Area 200W 4.0 Instant Operation Area 8.0 20.0 2.65 0 11.1 3.72 Continuous Operation Area Continuous Operation Area Continuous Operation Area 500 600 1000 0 333 400 555 0 100 120 Rotation Speed [r/min] Rotation Speed [r/min] Torque 20.0 Instant Operation Area 200 Rotation Speed [r/min] Torque 80.0 79.2 Torque 40.0 16.2 28.5 Instant Operation Area 400W 10.0 20.0 40.0 9.51 Continuous Operation Area Continuous Operation Area Continuous Operation Area 500 600 1000 0 333 400 555 Rotation Speed [r/min] Rotation Speed [r/min] 203 0 100 120 200 Rotation Speed [r/min] Reference 26.4 5.39 0 Instant Operation Area Instant Operation Area 204 Pulse Output Control Output Control Input Pulse Row Command Alarm Signal CN X5 CN X6 External Regenerative Resistor B P L1 L2 L3 Dividing/ Multiplier N + - +3.3V +5V Display Control Internal Command Speed Position Error Driver Speed Position + - + Dividing Process Speed Error Driver EEPROM Detection of Speed Parameter Control Sequence Control Gate Drive Power Supply RE Power Supply Deviation Counter DC/DC Internal Block Diagram of MINAS-E Driver P CN X1 Processing of Encoder Signal Torque Limit Protective Circuit Current Control Detection of Abnormality A/D PWM Circuit Gate Drive CN X4 E W V U CN X3 RE M Driver Internal Block Diagram Pr42 Input Mode Setting Reference 205 Feedback Pulse (OZ*CZ) Feedback Pulse (OA*OB) PULS SIGN Pulse Row Command PANATERM Monitor Total of Command ulses Pr4E FIR Filter Command Dividing/ Multiplier Numerator Pr46 Scale Pr4A Numerator 2 Denominator Pr4B Pr4C Pr53 Pr54 Pr55 Pr56 Internal 2nd Speed Internal 3rd Speed Internal 4th Speed Inversion Pr45 Dividing Pr44 Speed Setting Internal/ External Switching - + Waveform Graphic Position Deviation + + Waveform Graphic Command Speed Pr18 2nd Position Pr10 Position Error Driver 1st Position S PANATERM Velocity Control Mode PANATERM Position Control Mode Deviation Counter Between Acceleration and Deceleration Acceleration Pr58 Deceleration Pr59 Vibration Damping Filter Frequency Pr2B Setting of Filter Pr2C PANATERM Position Control Mode Waveform Graphic Command Speed Pr16 Pr15 Internal 1st Speed Smoothing Filter Feed Forward Filter Velocity Feed Forward Control Block Diagram P - + Inertia Ratio Pr20 2nd Pr19 Speed 2nd ntegration Pr1A Pr1B Pr13 Speed Detection PANATERM Monitor Feedback Pulse Waveform Graphic PANATERM Actual Speed 2nd 1st Speed Error Driver 1st Speed Pr11 1st ntegration Pr12 Speed Detection Filter Pr02 S P 2nd 1st Pr1C Pr14 2nd 1st Encoder Signal (Phases A/B) PANATERM Encoder Signal (Phase Z) Pr71 Pr5E Torque Waveform Graphic Command Torque Command Selection of Control Mode Torque Limit Select with Pr02 Torque Command Filter 4 times Multiplier Width Pr1E Frequency Pr1D Notch Filter : Internal Velocity Control Mode : Position Control Mode : Servo Gain/Filter Time Constant Related Block Control Block Diagram [Reference] Specifications Power Supply Single-phase 100V Single-phase AC100V Single-phase 200V Single-phase AC200V Three-phase 200V Three-phase AC200V Driver Allowable frequency variations Control method Detector Specification of applicable rotary encoder Regeneration Dynamic brake Auto gain tuning Built-in functions Electronic gear (Dividing/multiplier of a command pulse) Dividing of feedback pulse Protective Function Monitor Setting Position Control Motor Velocity Control Capable of storing 14 alarms including a current alarm code No. Note, however, that alarm marked with * cannot be stored. +10% +10% - 115V 50/60Hz --15% --15% +10% +10% - 240V 50/60Hz --15% --15% +10% +10% - 240V 50/60Hz --15% --15% Within -5% IGBT transistor PWM control (Sine wave driving) Incremental encoder 5-wire 2500 P/r Externally installed regenerative resistor At power-off, Servo-OFF, activation of protective function, and activation of limit switches Normal, real time A value resulting from the calculation of 1 - 10000 1 - 10000 2 0 - 17 Two-phase pulse of 5 to 2500 P/r output at any number of pulse Undervoltage*, overvoltage, overcurrent, overload, regenerative overload, encoder error, position over-deviation, over-speed, command pulse dividing error, position deviation overflow, EEPROM data error* (abnormal parameter, abnormal check code), overtravel input error*, etc. Panel Display Status LED (STATUS), alarm code LED (ALM CODE) Communications RS232C Maximum Input Pulse Frequency Line driver 500 kpps, open collector 200 kpps Form Line driver, open collector Type 90 phase difference two-phase pulse, CW/CCW pulse, pulse row + sign Four-speed setup (Capable of setting CW/CCW, up to Internal command speed 20000r/min. However, use it within the use range of the motor.) 0 to 10 s/1000r/min, possible to individually set acceleration/ Acceleration time setting deceleration. Phases A B Rotary encoder Line driver output Rotary feedback signal Phases Z Line driver output, Open collector output Encoder Control Input Refer to Section "System Configuration and Wiring". Structure Base mount type, open (IPOO) Mass Refer to Section "Dimensional Outline Drawing of Driver". Ambient Conditions Refer to Section "Installation". Rated Rotation Speed 3000r/min 100V 50W - 200W: 5000r/min Maximum Rotation Speed 200V 50W - 400W: 5000r/min Holding Brake Refer to Section "Holding Brake Built in the Servo Motor" for DC24V. Rotary Encoder Incremental encoder 5-wire 2500 P/r Structure (dust-proof/drip-proof protection) Equivalent to IP65 (excluding connector unit, shaft-through part) Mass Refer to Section "Dimensional Outline Drawing". Ambient Conditions Refer to Section "Installation". 206 Hit-and-stop Initialization and Load Pressing Control [Reference] Hit-and-stop Initialization When you find it difficult to install a sensor as the surroundings are not good, Hit-and-stop Initialization can be used. (2) When you stop the motor using phase Z (1) When you set a point where the motor hits, with the hit point as a starting point, and as the origin: make it an origin 1st 1st 2nd Torque Limit ON Pin 5 2nd Torque Limit ON Pin 5 (ZEROSPD/TC) (ZEROSPD/TC) ON ON WARN WARN (Torque being limited) 50% (Torque being limited) Torque Torque Hitting Hitting ON Counter clear command Counter clear command Motor rotation speed Motor rotation speed (1) (2) ON (2) (1) (3) Phase Z (1) (1) (2) (2) Initial Point Parameter No. Initial Point (3) 70 71 72 73 Name 1st over-speed level set-up 2nd torque limit set-up 2nd position over-deviation set-up 2nd over-speed level set-up 06 ZEROSPD/TC input selection 09 Warning output selection Example of Settings 6000 50 (Set it 100% or less) 1875 (Same as No.1) 6000 2 Speed zero clamp disabled. Torque limit switching input enabled. 0 (Torque being limited) <Note> Set pin 5 "H (OFF)" after hit-and-stop initialization completes. Reference 207 Hit-and-stop Initialization and Load Pressing Control Load Pressing Control Example of Application PrNo. ZEROSPD/TC input selection 2 09 Warning output selection 0 5E Torque limit set-up 70 1st over-speed level set-up 71 2nd torque limit set-up 72 73 (2) (3) (4) Example of Settings 06 Press-fit Machine (1) Name 2nd over-position deviation set-up 2nd over-speed level set-up 200 3000 50 10000 3000 (5) On Pin 5 (ZEROSPD/TLC : Torque limit switching input) On Pin 11 (WARN : Under Torque limit output) The value of second torque limit (+) Torque (-) B (+) A Command (-) Search Speed (Low Speed) C=A+B Distance for which the motor has not moved is held in the deviation counter (+) Motor Rotation Speed (-) (1) (2) (3) 208 (4) (5) Index [Reference] A Items Terms Adjustment Real time Auto Gain Tuning (Position Control Mode) Real time Auto Gain Tuning (Velocity Control Mode) Gain Adjustment Normal Auto Gain Tuning Cancellation of the Automatic Gain Tuning Manual Gain Tuning To Reduce Mechanical Resonance Adaptive Filter Gain Switching Function Anti-Vibration Control page 86 114 128 132 135 136 140 131 138 142 Alarm Code Protective Functions 144 Driver Model Designation Name plate Combination of Driver and Motor Check the Combination of Driver and Motor with Gear Parts Description Dimensional Outline Drawing Specifications (Driver/Motor) 14 14 15 199 16 193 206 B Items Terms page Block Diagrams Control Block Diagram in Position Control Mode Control Block Diagram in Velocity Control Mode Driver Internal Block Diagram Brake Holding Brake Dynamic Brake 60 104 204 35 36 C Items Communications Protocol page 158 Communications Specification Interface of Communication Connector Unit Communications Method Transmission Sequence Configuration of Data Block Protocol Parameter State Transition Diagram Communications Timing List of communications Commands 159 159 160 161 162 162 164 165 166 Connections and Setting in Position Control Mode Connections and Setting in Internal Velocity Control Mode 65 103 209 Reference Control Mode Terms Outline of Communications Index D Items Terms Display (Monitor) Monitoring Mode EEPROM Writing Mode Parameter Setting Mode Normal Auto Gain Tuning Mode Alarm Clear page Dividing-Multiplier Description on Dividing/Multiplier Ratio 51 50 57 58 59 178 E Items Terms Encoder Incremental specification 2500P/r page 15 H Items Terms Hit-and-stop Homing Operation Hit-and-stop Initialization Homing Operation (Precautions) page 207 38 I Items Terms International Standards EMC Directives EC Directives Peripheral Equipment Applicable Standards List of Available Components page 180 180 181 180 183 L Items Terms Load Pressing Load Pressing Control page 208 M Items Terms Motor Model Designation Name Plate Check the Combination of Driver and Motor Parts Description Allowable Load of Output Shaft Dimensional Outline Drawing Motor Characteristics (S-T Characteristics) page 210 15 15 15 16 196 194 197 [Reference] O Items Terms page Option Noise Filter Surge Absorber Noise Filter for Signal cables Table of Junction Cable by Model Junction Cable for Encoder Junction Cable for Motors Junction Cable for Brakes Communications Cable (Connection with Personal computer) [PANATERM(R)], Software for Communications Control Connector Kits for Connection of Motor and Encoder Connector Kit for Connection with Host Controller Interface Cable for Connection with Host Controller External Regenerative Resistor Reactor Console DIN Rail Mounting Unit 182 182 183 184 184 184 184 189 189 186 188 188 190 191 189 190 Overload Time Limit Characteristics Overload Protection 146 P Items Terms page PANATERM(R) PANATERM(R) Parameters Parameter Groups and Listing Position Control Mode Velocity Control Mode 41 88 116 Peripheral Equipment List of Driver and Compatible Peripheral Equipment Magnetic Contactor Cable Diameter Circuit Breaker Surge Absorber Noise Filter Noise Filter for Signal Cables Grounding Leakage Breaker List of Manufacturers of Peripheral Equipment 26 26 26 26 182 182 183 183 183 192 39 Reference 211 Index R Items Terms page Recommended Parts Surge Absorber for Motor Brake 192 S Items Terms Safety Precautions Safety Precautions Maintenance and Inspection page Servo Motor with Gear Model Designation Checking the Combination of the driver and the motor with gear Dimensional Outline Drawing of Motor with Gear Allowable load of Output Shaft of Servo Motor with Gear Characteristics of Servo Motor with Gear (S-T Characteristics) 8 12 14 199 200 202 203 T Items Terms page Test Run Inspection prior to Test Run Test Run Procedure Test Run in Position Control Mode Test Run in Internal Velocity Control Mode Timing Chart After Power-ON After an Alarm event After an Alarm is Cleared Servo-ON/OFF Operation When the Motor is Stopped Servo-ON/OFF Operation When the Motor is Rotating Troubles Troubleshooting 60 61 82 110 32 33 33 34 34 150 U Items Terms page Using Console Structure of Operation Panel and Display How to Operate 212 47 48 [Reference] W Items Terms page Wiring Installation of Driver Installation of Motor General Wiring Diagram Wiring of Main Circuits Wiring Diagrams Connection with Encoder Connection with Personal Computer/Console Connection with Host Controller Wiring in Position Control Mode Wiring in Velocity Control Mode 18 20 24 27 28 29 31 30 67 105 Reference 213 Reference Motor Company, Matsushita Electric Industrial Co., Ltd. Marketing Group Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03) 3538-2961 FAX (03) 3538-2964 Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044 TEL (072) 870-3065 FAX (072) 870-3151 214 [Reference] MEMO Reference 215 After-Sale Service (Repair) Repair * Ask the seller where the product was purchased for details of repair work. When the product is installed in a machine or device, consult first the manufacture of the machine or device. Cautions for Proper Use * This product is intended to be used with a general industrial product, but not designed or manufactured to be used in a machine or system that may cause personal death when it is failed. * Install a safety equipments or apparatus in your application, when a serious accident or loss of property is expected due to the failure of this product. * Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination. * We have been making the best effort to ensure the highest quality of the products, however, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected 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 the bearing, 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 product depending on its content, may generate smoke of about one cigarette. Take this into consideration when the application of the machine is clean room related. * Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a poor contact connection. * Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or a fire and other trouble. Electronic data of this manual Electronic data of this manual can be downloaded at the following web site. * Web Site of Motor Company, Matsushita Electric Industrial Co., Ltd. <http://panasonic.co.jp/motor/> Memorandum (Fill in the blanks for convenience in case of inquiry or repair) Date of purchase Date: Model No. (Driver) (Motor) Place of purchase TEL: Motor Company Matsushita Electric Industrial Co., Ltd. 7-1-1, Morofuku, Daito, Osaka 574-0044, Japan TEL: +81 -72-871 -1212 IMC80A S0303-3066