MKDET1310P

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® ........................................................................................................................ 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®”, 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: 30˚C (annual average) Load factor: max. 80% Operating hours: max. 20 hours per day Daily and periodical inspections should be done per the following instructions. Type Cycles 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 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 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 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) 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 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 55°C (free from freezing) Lower than 90%RH (free from condensation) -20 to 80°C (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 40°C (free from freezing) Lower than 85%RH (free from condensation) -20 to 80°C (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 55°C (free from freezing) Lower than 90%RH (free from condensation) -20 to 70°C (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 • 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 • 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® ....................................................................... 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 60°C 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: 100Ω 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 • 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®” (optional component), the setup supporting software. Running “PANATERM®” 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 • 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) *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. *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. *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. 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) 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. 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. 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 For how to set up the parameters on the PC screen, refer to “PANATERM®” 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® This PANATERM® 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®” 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®” • DV0P4230: Japanese version • DV0P4240: English version For the latest version, contact us. Console • DV0P3690 x3 M MODE S SHIFT SET x1 Connecting to CNX6 • 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 1/s P • P2 11 1st velocity loop gain 1 - 3500 Hz P • P2 • S 12 1st velocity loop integration time constant 1 - 1000 ms P • P2 • S 13 1st speed detection filter 0-5 — 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 0.01ms P • P2 • S –2000 - 2000 0.1% P • P2 0 - 6400 0.01ms P • P2 — 0 — — 2nd position loop gain 0 - 32767 1/s P • P2 2nd velocity loop gain 1 - 3500 Hz P • P2 • S 1A 2nd velocity loop integration time constant 1 - 1000 ms P • P2 • S 1B 2nd speed detection filter 0-5 — 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 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 % 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 — 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 — P • P2 2nd gain action set-up 31 Position control switching mode 0 - 10 — P • P2 32 Position control switching delay time 0 - 10000 166µs P • P2 33 Position control switching level 0 - 20000 — P • P2 34 Position control switching hysteresis 0 - 20000 — P • P2 35 Position loop gain switching time 0 - 10000 Setup value × 166µs 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. • 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). *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® and the console. 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 × 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 × 100% = torque limit value 0.32N•m 45 For torque limit value 0.16N•m, set it to 50% (0.32N•m × 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). 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 “+” 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 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) • 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 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 . 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 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). 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 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 • 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 . 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. 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). 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. 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). 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. • 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). If connector CN X6 is disconnected during JOG operation, the servo is turned off after 100 ms at maximum. 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. 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). 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. 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 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). 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. 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+4.7kΩ VDC SRV-ON, etc. Relay 12~24V 1 COM+4.7kΩ VDC SRV-ON, etc. (1) Item Equivalent to AM26LS31 22 PULS1 23 220Ω (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 1kΩ 1/2W 24V 2kΩ 1/2W VDC—1.5 R+220 .=.10mA PULS2 220Ω 24 SIGN1 R VDC VDC 220Ω 14 SIGN2 GND 25 SIGN2 14 220Ω 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 [kΩ] = 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. 330Ω) 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 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). 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 220Ω. • 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 2kΩ CCW pulse command output 5.6kΩ X2 PULS1 23 PULS2 24 SIGN1 25 SIGN2 21 CZ 220Ω CW pulse command input 220Ω 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 3kΩ CCW limit over input 5.6kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ CW overtravel inhibit input Servo alarm output X5 CW limit over input 5.6kΩ 4.7kΩ 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 This represents a twisted pair cable. 73 COM– Connections and Settings in Position Control Mode Y1 2kΩ 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 220Ω CW pulse command input 220Ω CCW pulse command input Phase Z output 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ 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 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 220Ω CW pulse command input 220Ω CCW pulse command input Phase Z output Origin input Deviation counter reset output 1.6k 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input Origin proximity input From PLC I/O output B7 4.7kΩ 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 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 1kΩ Origin line driver input 3.5kΩ Emergency stop input 5V power supply for pulse output 20 23 PULS2 17 24 SIGN1 GND CCW limit input 3.5kΩ 3.5kΩ 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 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ CW overtravel inhibit input 4 To PLC I/O input 5 11 BRKOFF Origin proximity input 220Ω SIGN2 12 3.5kΩ CW pulse command input 25 1 CW limit input 220Ω 18 11 V+ PULS1 Brake release output 3 Origin proximity sensor CCW limit sensor CW limit sensor GND +5V DC5V power supply 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 7.4kΩ 7.4kΩ PULS1 7.4kΩ CW pulse command input 220Ω CCW pulse command input Phase Z output 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ CW overtravel inhibit input Servo alarm output 3a To PLC I/O input 2b 11 BRKOFF Origin proximity input 220Ω Positioning completing output Brake release output 4a Origin proximity sensor CCW limit sensor CW limit sensor GND +5V DC5V power supply 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 240Ω 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 1.6kΩ CW pulse command output 1.6kΩ CCW pulse command output 150Ω Origin line driver input Power supply for output V+ GND Deviation counter reset output 22 A6 A8 Origin proximity input 4.7kΩ 4.7kΩ 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 4.7kΩ CW pulse command input 220Ω CCW pulse command input Phase Z output 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ CW overtravel inhibit input Servo alarm output A23 CW limit over input 4.7kΩ 220Ω To PLC I/O input A22 11 BRKOFF Origin proximity sensor CCW limit sensor CW limit sensor GND +24V DC24V power supply 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 4.7kΩ Origin proximity input 4.7kΩ CCW limit over input 4.7kΩ CW limit over input 4.7kΩ 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 220Ω CW pulse command input 220Ω CCW pulse command input Phase Z output 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ 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 This represents a twisted pair cable. 79 GND +24V DC24V power supply COM– Connections and Settings in Position Control Mode 150Ω 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 1.6kΩ Pulse (CW+CCW) output 1.6kΩ 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 150Ω 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 2kΩ 2kΩ 2kΩ 2kΩ From PLC I/O output 19 7 220Ω CW pulse command input 220Ω CCW pulse command input Phase Z output 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ 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 This represents a twisted pair cable. 80 COM– [Connections and Settings in Position Control Mode] Mitsubishi Electric Corporation A1SD75/AD75P1 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 220Ω CW pulse command input 220Ω CCW pulse command input Phase Z output Point zero signal Deviation counter cleared Drive unit ready 4.7kΩ 7 In-position 4.7kΩ Common Near point signal From PLC I/O output From PLC I/O output 4.7kΩ 4.7kΩ Counter clear input 4.7kΩ Servo-ON input 4.7kΩ Gain switching input/torque limit switching input 4.7kΩ Alarm clear input 4.7kΩ CCW overtravel inhibit input 4.7kΩ CW overtravel inhibit input Servo alarm output 11 Upper limit 4.7kΩ 12 Lower limit 4.7kΩ To PLC I/O input 13 11 BRKOFF Origin proximity sensor CW limit sensor CCW limit sensor GND +24V DC24V power supply 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 500Ω 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 120Ω DC 5V COM+ 120Ω 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®”. 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. 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 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) 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. 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 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. 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®, 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. 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. 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. 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. 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 166µ 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 Second gain First Pr32 Settings of Pr33 (level) and Pr34 (hysteresis) are valid as absolute value (positive/negative). 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 µs 166 Kp1(Pr10)