 |
|
| If you can't view the Datasheet, Please click here to try to view without PDF Reader . |
|
|
|
| If you can't view the Datasheet, Please click here to try to view without PDF Reader . |
|
|
| Datasheet File OCR Text: |
| ac servo motor driver minas a-series operating manual ? thank you very much for your buying panasonic ac servo motor driver,a-series. ? before use, read through this manual to ensure proper use. keep this manual at an easily accessible place so as to be referred anytime as necessary. be sure give this instruction manual to the user. http://www..net/ datasheet pdf - http://www..net/
table of contents - 2 - safety precautions ?????????? 4 introduction ???????????????? 8 ? after opening the package ?????????????? 8 ? check the model of driver ??????????????? 8 ? check the model of motor ??????????????? 9 ? check the combination of driver and motor ????????????????????? 10 system configuration and wiring ?????????????? 18 ? system configuration and wiring ???????????????? 18 ? general wiring diagram list of available components ????????? 20 ? main circuits ?????????????????????????????? 22 ? cn sig connector (for encoder) ??????????????????????????? 24 ? cn ser and cn net connectors (for pc or controller) ???????????????????????????? 27 ? cn i/f connector (for controller) ?????????????????????????? 28 (circuits available for typical control modes) ?????????? 29 (input and output signals, and their functions) ?????????????????? 32 (interface circuit) ???????????????????????? 38 parameter setting ??????????? 42 overview ???????????????????????????????????? 42 par a meter groups and listing ?????????????????? 42 setting the parameters ??????????????????? 47 modes structure ?????????????????????????? 48 before use preparations and adjustments parts description ??????????? 12 driver ???????????????????????????????????????? 12 motor ????????????????????????????????????????? 13 installation ????????????????? 14 driver ???????????????????????????????????????? 14 motor ????????????????????????????????????????? 16 trial operation ???????????? 50 inspections before trial operation ????????????????? 50 peration without motor load (jog) ???????????????? 51 operation with cn i/f connected ?????????????????? 52 adjustments ??????????????? 55 purposes of gain adjustments ?????????????????? 55 kinds of gain adjustments ?????????????? 55 how to adjust gain ???????????????????????? 57 how to use "normalauto-gain" tuning ?????????? 58 how to use "real time auto-gain" tuning ???????????????? 59 how to adjust gain manually ??????????????? 60 http://www..net/ datasheet pdf - http://www..net/ protective functions ??????????? 64 maintenance and inspections ???????????????? 71 conformance to ec directives and ul standards ??????????? app. 2 list of connectable motors ???????????? app. 7 how to useapp ??????????????????????? app. 9 "absolute" driver ??????????????????? app. 20 "full close" driver ?????????????????? app. 28 details of parameters ????????????? app. 30 details of operation ???????????????? app. 57 appendixes important information troubleshooting ?????????????????????????????? 73 after-sale service ?????????????????????? back cover overview of a communication control software panaterm ??????????? app. 67 optional parts ??????????????????????? app. 69 recommended parts ?????????????? app. 84 outer views and dimensions ?????????????? app. 86 properties ??????????????????????????? app. 106 specifications ?????????????????????? app. 107 http://www..net/ datasheet pdf - http://www..net/ - 4 - danger safety precautions observe the following precautions in order to avoid injuries of operators and other persons, and mechanical damages. the following danger and caution symbols are used according to the level of dangers possibly occur- ring if you fail to observe the instructions or precautions indicated. the following symbols indicate what you are not allowed to do, or what you must observe. (important) 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 or moderate injury and physical damage. this symbol indicates that the operation is prohibited. this symbol indicates that the operation must be per- formed without fail. don't insert your hands in the driver. failure to observe this instruction could result in burns and/or electric shocks. an over-current protection, earth leakage breaker, over-temperature protection and emergency stop should be installed. failure to observe this instruction could result in elec- tric shocks, injuries and/or fire. http://www..net/ datasheet pdf - http://www..net/ - 5 - danger ground the earth terminal of the driver. failure to observe this instruction could result in electric shocks. don't touch the rotating part of the motor in motion. failure to observe this instruction could result in injuries. rotating part do not expose the cables to sharp edges, excessive pressing forces, heavy loads or pinching forces. failure to observe this instruction could result in electric shocks, malfunction and/or damages. perform the transportation, wiring and inspection at least 10 minutes after the power off. failure to observe this in- struction could result in electric shocks. don't subject the product to wa- ter splash, corrosive gases, flam- mable gases and combustible things. failure to observe this in- struction could result in fire. before use install an external emergency stop device so that you can shut off the power in any emergency cases. failure to observe this instruction could result in injuries, electric shocks, fire, malfunction and/or mechanical damages. http://www..net/ datasheet pdf - http://www..net/ - 6 - caution safety precautions use the motor and driver in the specified combination. failure to observe this in- struction could result in fire. execute the trialoperations with the motor fixed but without motor load connected. connecting a load to the motor is possible only after successful trial operation. failure to observe this in- struction could result in in- juries. avoid extreme adjustment or change. avoid an operation which causes unstable action. failure to observe this instruction could result in injuries. if an error occurs, remove the causes for the errora and secure the safety before restarting the operation. failure to observe this instruction could result in injuries. don't touch the motor, driver or its regenerative discharge resistor, since they become hot. failure to observe this instruction could result in burns. don't modify, dismantle or repair the driver. failure to observe this in- struction could result in electric shocks and/or inju- ries. (important) http://www..net/ datasheet pdf - http://www..net/ - 7 - caution *provide appropriate settings as a preparedness against the accidental restart of the machine in order to ensure the safety of personnel. after recovery from the power failure, the equipment may restart suddenly. don't approach to the equipment during power failure. observe the voltage speci- fied. failure to observe this instruction could result in electric shocks, injuries and/or fire. this equipment should be treated as an industrial waste when it is disposed of. when discarding batteries, insulate them with tapes or other similar means and obey the local rules. don't block the heat dissipation hole or insert foreign matters in it. failure to observe this instruction could result in electric shocks, injuries and/or fire. make sure that the wirings are made correctly. failure to observe this instruction could result in electric shocks, injuries. don't hold the cables or motor shaft when transpoting the motor. failure to observe this instruction could result in injuries. before use http://www..net/ datasheet pdf - http://www..net/ - 8 - msda043a1a uu 1~3 5~6 11~12 478910 introduction after opening the package ? after opening the package ? make sure that the product is what you have ordered. check the model of driver name plate model designation series symbol a: a-series rated motor output (see table 1-a) check whether the product has been damaged or not during transportation. if the product is not correct, or it has been damaged, contact dealer or sales agent. msda3a1d1a01 100-115v 32v 17bits 1? 3? 1.0a 1.0a 30w 50/60hz 0~333.3hz 98120001 power f. l . c phase voltage input output encoder ac servo driver 60/75 wire only use copper conductors only refer to manual for wiring and wire size refer to manual for over load protection ser.no. model freq. model rated input voltage rated motor output number of pulses of the encoder(resolution) rated output current serial number custom specification custom specification 2 (a, b, c...) custom specification 1 (1, 2, 3...) rotary encoder (see table 1-b) power supply 1: single-phase, 100v 3: three-phase, 200v applicable motors symbol msd mdd mhd mfd mqd mgd applicable motors msm low inertia mdm middle inertia mhm high inertia mfm flat mqm flat & small mgm middle inertia http://www..net/ datasheet pdf - http://www..net/ - 9 - msma042a1a uu 1~3 5~6 11~12 478910 check the model of motor name plate type serial no revolution rating model designation rated output (see table 1-a) motor structure (see table 1-c) ac servo motor rating s1 model msma022a1a ins. class b (tv) a (ul) cont. torque 0.64 nm a 1.6 connection rated output rated freq. kw 0.2 ser no. t98120001 hz 200 rated rev. r/min 3000 input 3?ac 92 ip65 v matsushitaelectric industrial co..ltd. made in japan rated output series symbol a: a-series voltage 1: 100v 2: 200v z: 100/200v rotary encoder (see table 1-b) custom specification 1: standard custom specification symbol msm mdm mhm mfm mqm mgm type low inertia middle inertia high inertia flat flat & small middle inertia symbol a c d type incremental absolute absolute/ incremental no. of pulses 2500p/r lead wire 11-wire 7-wire 7-wire specifications resolution 10000 17bit 17bit before use symbol 3a 5a 01 02 03 04 05 06 08 09 rated output 30w 50w 100w 200w 300w 400w 500w 600w 750w 900w symbol 10 12 15 20 25 30 35 40 45 50 rated output 1kw 1.2kw 1.5kw 2kw 2.5kw 3kw 3.5kw 4kw 4.5kw 5kw table 1-a rated motor output table 1-b rotary encoder http://www..net/ datasheet pdf - http://www..net/ - 10 - motor structure table 1-c introduction check the combination of driver and motor the driver has been designed for use in combination with the specified motors only. check the specifications (series symbol, output rating, voltage rating and encoder type) of the mo- tor you want to use. motor amplifier msda3a1a1a msda5a1a1a msda011a1a msda021a1a msda041a1a msda3a3a1a msda5a3a1a msda013a1a msda023a1a msda043a1a msda083a1a msda103a1a msda153a1a msda203a1a msda253a1a msda303a1a msda353a1a msda403a1a msda453a1a msda503a1a amplifier type type1 type2 type2 type1 type2 type2 type4-2 type4-3 type5 series symbol msma (small) low inertia msma (large) low inertia motor type msma3aza** msma5aza** msma011a** msma021a** msma041a** msma3aza** msma5aza** msma012a** msma022a** msma042a** msma082a** msma102a** msma152a** msma202a** msma252a** msma302a** msma352a** msma402a** msma452a** msma502a** voltage 100v 200v 200v output rating 30w 50w 100w 200w 400w 30w 50w 100w 200w 400w 750w 1.0kw 1.5kw 2.0kw 2.5kw 3.0kw 3.5kw 4.0kw 4.5kw 5.0kw revolution rating 3000r/min 3000r/min encoder type incremental 2500p/r, 11 wires incremental 2500p/r, 11 wires "d-cut" shafts are available for msma30w to 750w and mqma100w to 400w. oil seal none straight a b c d shaft brake none yes none yes d-cut n p q r key way e f g none with the incremental type encoder: 2500p/r http://www..net/ datasheet pdf - http://www..net/ - 11 - < notes > 1. the above table shows the possible combinations between the driver (msda) and low- inertia type motors (msma). for middle-inertia (mdma), high-inertia (mhma), flat (mfma), flat & small (mqma) and middle-inertia (mgma) motors, see the appendix. 2. the default is for "incremental" spec. when you use the driver with the "absolute" spec, you need to; 1) change the value of the parameter "absolute encoder set-up (prob)" from 1 (factory set default) to 0. 2) install the battery (see appendix "optional parts" for the batteries). 3. the absolute/incremental spec driver can be used as "full closed driver". with the absolute/incremental type encoder, 17 bits motor amplifier msda3a1d1a msda5a1d1a msda011d1a msda021d1a msda041d1a msda3a3d1a msda5a3d1a msda013d1a msda023d1a msda043d1a msda083d1a msda103d1a msda153d1a msda203d1a msda253d1a msda303d1a msda353d1a msda403d1a msda453d1a msda503d1a motor type msma3azc** msma5azc** msma011c** msma021c** msma041c** msma3azc** msma5azc** msma012c** msma022c** msma042c** msma082c** msma102d** msma152d** msma202d** msma252d** msma302d** msma352d** msma402d** msma452d** msma502d** voltage 100v 200v 200v output rating 30w 50w 100w 200w 400w 30w 50w 100w 200w 400w 750w 1.0kw 1.5kw 2.0kw 2.5kw 3.0kw 3.5kw 4.0kw 4.5kw 5.0kw revolution rating 3000r/min 3000r/min encoder type with the absolute/ incremental type encoder, 17 bits absolute/ incremental type, 17 bits, 7 wires see note 2) before use series symbol msma (small) low inertia msma (large) low inertia amplifier type type1 type2 type2 type1 type2 type2 type4-2 type4-3 type5 http://www..net/ datasheet pdf - http://www..net/ - 12 - parts description driver < notes > for detailed information for each of driver types, see the drawings in the appendix. safe separation are provided between power board and control circuit. example: msda023a1a (200v 200w: type 1) ?mterminal block cover opened?n 200v 200w 023a1a msda w v u sig i/f ser net w v u sig i/f ser net set mode g sp im id l1 l2 l3 r t p b1 b2 set mode g sp im id caution connect the wiring correctly and properly, and screw the cover after wire connection rotary switch (id) mounting bracket led indicator (6 digits) communication connector 1 (cn net) communication connector 2 (cn ser) mode selector switch controller connection (cn i/f) encoder connection (cn sig) data setting buttons : shift : up : down check pins mains power connection control power connection external regenerative discharge resistor connection earth connections (2) terminal block cover motor connection (u.v.w) terminal set button cover securing screw ?mterminal block cover closed?n http://www..net/ datasheet pdf - http://www..net/ - 13 - < notes > for detailed information for each of motor types, see the drawings in the appendix. motor example: small low-inertia motor (msma series, 750w and below) mounting bolt holes (4) flange frame motor cable encoder encoder cable before use brake cable http://www..net/ datasheet pdf - http://www..net/ - 14 - installation the driver and motor should be properly installed to avoid failures, mechanical damages and injuries. amplifier location a indoors, where the driver is not subjected to rain water and direct sun beams. note that the driver is not a waterproof structure. b a void the place where the driver is subjected to corrosive gases, flammable gases, grinding liquids, oil mists, iron powders and cutting particles. c place in a well-ventilated, and humid- and dust-free space. d place in a vibration-free space. environmental conditions how to install a his is a rack-mount type. place the driver vertically. allow enough space surrounding for ventilation. type 3 and smaller (up to 750w): back panel mount type (projected, use bracket a) type 4 and larger (1kw and larger): front panel mount type (recessed, use bracket b) bracket a msda 750w and smaller bracket b msda 1kw and larger b if you want to change the mounting configuration, use the optional bracket (see appendix "optional parts"). c fit to noncombustibles such as metal. (types 1 to 3) item ambient temperature ambient humidity storage temperature storage humidity vibration altitude conditions 0 to 55??c (free from freezing) not greater than 90%rh (free from condensation) -20 to 80??c (free from condensation) not greater than 90%rh (free from condensation) not greater than 5.9m/s2 (0.6g) at 10 to 60 hz not greater than 1000 m (types 4-2 - 4-3,type 5) http://www..net/ datasheet pdf - http://www..net/ - 15 - id mode im i/f sig u v w sp g set id mode im i/f sig u v w sp g set id mode im i/f sig u v w sp g set id mode im i/f sig u v w sp g set 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. before use < notes > conformance to ul standard observing the following instruction makes this driver a ul508c standard authorized and en50178 approved product. 1 instructions in wiring 1)use copper conductor wire with the rated temperature of 60? or higher for wiring to terminal blocks or grounding terminals. 2) be sure to connect the protective grounding of the control panel(pe) to a protective grounding terminal( ) of the driver to prevent electric shock. do not double-c onnect to the protective grounding terminals ( ).two protective grounding terminals are provided. 2 overload protection level the overload protective function of the driver is activated when the effective current of the driver is 115% or more of the rated current. make sure that the effective current of the driver dose not exceed the rated current. the maximum allowable instantaneous current of the driver is the current set by the torque limit setting(pr06). 3 installation environment use the driver in environment with the pollution level 2 higher provided in iec60664-1.for example,installing in a control panel of ip54 makes the pollution level of the environment 2. to achieve ip54,the structure shall not allow water,oil,carbon or dust to enter. min. 40mm min. 100mm min. 40mm min. 100mm min. 10mm fan fan min. 10mm min. 10mm http://www..net/ datasheet pdf - http://www..net/ - 16 - how to install the motor can be installed either vertically or horizontally. observe the following notes. a horizontal mounting ? place the motor with the cable outlet facing down to prevent the entry of oil and water. b vertical mounting ? if the motor is coupled with a reduction gear, make sure that the oil in the reduction gear does not enter into the motor. oil and water protections a this motor(ip65 rating) can be used where it is subjected to water and/or oil drops, but is not water or oilproof. therefore, the motors should not be placed or used in such environ- ment. b if the motor is coupled with a reduction gear, use the motor should with oil seals to prevent the reduction gear oil from entering into the motor. c don't use the motor with the cables being immersed in oil or water. installation motor location a indoors, where the driver is not subjected to rain water and direct sun beams. b avoid the place where the driver is subjected to corrosive gases, flammable gases, grind- ing liquids, oil mists, iron powders and cutting particles. c place in a well-ventilated, and humid- and dust-free space. d easy maintenance, inspections and cleaning is also important. environmental conditions item ambient temperature ambient humidity storage temperature storage humidity vibration conditions 0 to 40?c (free from freezing) not greater than 90%rh (free from condensation) -20 to 80?c (free from condensation) not greater than 90%rh (free from condensation) not greater than 49m/s2 (5g) in operation; not greater than 24.5m/s2 (2.5g) at rest http://www..net/ datasheet pdf - http://www..net/ - 17 - cable: stress relieving a make sure that the cables are not subjected to moments or vertical loads due to external bending forces or self-weight at the cable outlets or connections. b in case the motor is movable, secure the cable (proper one supplied together with the motor) to a stationery part (e.g. floor), and it should be extended with an additional cable which should be housed in a cable bearer so that bending stresses can be minimized. c make the bending radius of cables as large as possible. permissible shaft load a make sure that both of radial and thrust load to be applied to the motor shaft during instal- lation and running, becomes within the specified value of each model. b pay extra attention at installing a rigid coupling(especially an excess bending load which may cause the damages and/or wear of the shaft and bearings. c flexible coupling is recommended in order to keep the radial load smaller than the per- missible value, which is designed exclusively for servo motors with high mechanical stiff- ness. d for the permissible shaft load, see "allowable shaft loads listing" in appendix. installation notes a don't hit the shaft with a hammer directly while attaching/detaching the coupling to the motor shaft.(otherwise the enc oder at the opposite end of the shaft will be damaged). b try perfect alignment between shafts (misalignment may cause vibration, and damages of the bearings). before use http://www..net/ datasheet pdf - http://www..net/ - 18 - main circuits non-fuse breaker (nfb) used to protect the power lines: overcurrent will shutoff the circuit. noise filter (nf) prevents the external noise from the power line, and reduces the effect of the noises gen- erated by the servo motor. magnetic contactor (mc) turns on/off the main power of the servo motor. used together with a surge absorber. reactor (l) reduces the harmonic in the main power. motor cable: ? without a brake ? with a brake terminals p, b1 and b2 ? normally keep b1 and b2 shorted. ? if the capacity of the internal regen- erative discharge resistor is not enough, disconnect between b1 and b2, and connect an external regenerative dis- charge resistor to p and b2 terminals. system configuration and wiring general wiring diagram regenerative discharge resistor ground http://www..net/ datasheet pdf - http://www..net/ - 19 - communication control software penaterm ? cn ser/cn net (to connect a pc or controller) ? cn sig (to connect an encoder) ? cn i/f (to connect a controller) personal computer motor cable brake power supply(24vdc) encoder cable preparations and adjustments http://www..net/ datasheet pdf - http://www..net/ - 20 - system configuration and wiring list of available components te r m i n a l s on the terminalblock m4 m5 magnetic contactor (contacts) bmft61041n (3p+1a) bmft61541n (3p+1a) bmft61042n (3p+1a) bmft61042n (3p+1a) bmft61542n (3p+1a) bmft61842n (3p+1a) bmf6252n (3p+2a2b) bm6352n (3p+2a2b) noise filter lf-210 lf-215 lf-230 lf-305 lf-310 lf-310 lf-315 lf-320 lf-330 lf-340 non-fuse breaker (rated current) bbp2-10 (10a) bbp2-15 (15 a) bbp2-30 (30a) bbp3-5 (5a) bbp3-10 (10a) bbp3-10 (10a) bbp3-15 (15a) bbp3-20 (20a) bbp3-30 (40a) bbp3-40 (40a) output 30 - 50w 100w 200w 400w 100w 200w 400w 750w 300w 400w 500w 600w 750w 900w 1.0kw 1.2kw 1.5kw 2.0kw voltage 100v 200v 200v control powerwire di- ameter (r and t) 0.75mm 2 a. w. g. 18 0.75mm 2 a. w. g. 18 series msda msda mqda msda mqda msda mqda msda mgda mfda mhda mgda mdda mfda mgda msda mdda mhda mgda msda mdda mhda mfda msda mdda mhda mgda amplifier main circuit wire diameter (l1, l2, l3, u, v, w and e) 0.75mm 2 - 2.0mm 2 a. w. g. 14?`18 0.75mm 2 -2.0mm 2 a. w. g. 18 2.0mm 2 a. w. g. 14 required power (at the rated load) approx. 0.3kva approx. 0.4kva approx. 0.5kva approx. 1.0kva approx. 0.3kva approx. 0.5kva approx. 0.9kva approx. 1.3kva approx. 0.7kva approx. 1.0kva approx. 1.0kva approx. 1.1kva approx. 1.3kva approx. 1.8kva approx. 2.3kva approx. 3.3kva approx. 3.8kva ? when these wires are used, wire lenght between circuit breaker and driver should be less than 3m. ? chose suitable wire size for earthing cnductor which has some dimension as wire for power input and output. http://www..net/ datasheet pdf - http://www..net/ - 21 - ? the model numbers of non-fuse breakers and magnetic contactors shown in the above list are manufactured by matsushita electric works, ltd. ? the model numbers of noise filters shown in the above list are manufactured by tokin corporation. - 22 - system configuration and wiring main circuits don't turn on the main power until the wiring is completed, to avoid electric shocks. wiring instructions a detach the terminal block by removing the cover securing screw. b make necessary connections. use clamp terminal connectors with an insulation cover. for wire diameter and connector sizes, see list of available components (page 20). c attach the terminal block cover and tighten the cover securing screw. ground red black green yellow motor dc 24v white or yellow nfb power supply power supply for elector magnetic brake nf mc l1 1 2 3 4 l2 l3 r t p b1 b2 u v w l yellow 2 wires see the nameplate of the driver to check the power specification. install a non-fuse breaker or leakage breaker. the latter should be a spe- cial one intended for inverters, i.e. with a countermeasure against higher harmonics. install a noise filter without fail. install a surge absorber to the magnetic contactor coil. install an ac reactor. for single-phase 100v, connect between l1 and r, and between l3 and t. do not use l2 terminal. don't remove the short bar connecting between b1 and b2. remove this only when an external regenerative discharge resistor is connected. ensure matching in color between the motor wires and terminals (u, v and w). don't short circuit or ground. don't connect to the main power. if cannon plugs are used, see the next page. connect to the grounding system of the facility. never fail to connect between the driver's protective earth ter- minal ( ) and control board's protective earth terminal (pe) in order to avoid electric shocks. no multiple connections to a single earth terminal permis- sible. there are two earth terminals ( ) earth wires should in no case be connected or made contact to any of the terminals other than the earth terminals on the block. the electromagnetic brake is not polar-sensitive. for power capacities, see the appendix (page 11). for use of the brake, see "holding brake" in page 9 of appendix. http://www..net/ datasheet pdf - http://www..net/ - 23 - wiring diagrams for 3-phase 200vac for 1-phase 100v ? cannon plug type motor connectorss - 24 - system configutration and wiring cn sig connector (for encoder) wiring instructions the cable length between the driver and motor should be max. 20 m. if you use a longer cable, contact the dealer or sales agent. two types of encoder wire exit: one is "lead wire + connector" and other is can- non plug type(depending on the motor model). id mode im ser in ser out i/f sig u v w l 1 l 2 l 3 b 1 b 2 r t p sp g set 3.6v+ 3.6vg sd sd pin 3, 15 or j (j) 20 + 5v 0v fg batt+ batt - rx/tx rx/tx + 5v + 5v 0v 0v fg separate these wiring min. 30 cm from the main circuit wires. don't lay these wires in the same duct of the mains or bundle with them. power motor encoder max. 20 cm connector connecting cable connecting cable cannon plug encoder cable connectors (canon plugs) on the encoder cn sig connectors on the driver 3) signal/power paired wires should be of a twist-paired type. min. 30 cm max. 20 cm max. 20 cm when you prepare your own connecting cables see the "optional parts" for connectors, and 1) follow the wiring diagram and use the 2) wire material: 0.18 mm2 (awg24) or above, shielded twist-paired wire with an enough bending durability, 4) shield: ? the shield at the driver side should be connected to pin 20 (fg) of cn sig connector. ? the shield at the motor side should be connected to: pin 3 (for amp connector of 9 pins type) pin 15 (for amp connector of 15 pins type) j-pin (for canon plug connector) 5) if the cable is longer than 10 m, the encoder power line (+5v and 0v) should be dual per the figure shown left. 6) other terminals should be left uncon- nected. http://www..net/ datasheet pdf - http://www..net/ - 25 - ? msma 750w or smaller, and mqma ? msma 1kw or larger, mdma, mfma, mhma and mgma * 1 for encoder symbols, see table 1-b in page 9. ) shows a pair of twisted wires. yellow black white purple pink red blue yellow green light biue orange motor side driver side (japan amp mode) (japan amp mode) connecting cable fg 0v +5v rx rx +5v encorder power supply 172163-1 172171-1 0v cn sig 18 8 7 10 9 12 11 17 4 2 3 1 20 12 2 1 4 3 6 5 11 13 14 15 rx +5v 0v +5v 0v fg rx a b z a b z a a b b z z wiring diagrams (with a 2500p/r incremental type encoder ([a]*1) preparations and adjustments rx +5v 0v +5v 0v fg rx a b z a b z fg 0v o5v rx rx a a b b z z ms3106b20-29s ms3102a20-29p cn sig 11 e 12 f 9 c 10 d 7 a 8 b 18 r 17 4 2 3 1 20 p h g j +5v encorder power supply 0v (japan amp mode) canon plug (japan amp mode) motor side driver side connecting cable http://www..net/ datasheet pdf - http://www..net/ - 26 - system configutration and wiring ? msma 750w or smaller, and mqma ? msma 1kw or larger, mdma, mfma, mhma, mgma *2 if you use an absolute encoder ([c]) or absolute/incremental encoder ([d]) as an incremental encoder, you don't need to connect the back-up battery. shows a pair of twisted wires. cannon plug motor side driver side connecting cable fg 0v 0v +5v +5v +5v 0v fg rx/tx rx/tx +5v ms3106b20-29s ms3102a20-29p 0v cn sig 5 t 6 s 17 k 18 4 2 3 1 20 l h g j sd sd 3.6vg 3.6v+ batt+ batt - *2 (japan air electric mode) (japan air electric mode) encorder power supply wiring diagram driver with a 17 bits absolute encoder ([c]*1) driver with a 17 bits absolute/incremental encoder ([d]*1) black yellow / green white purple light biue pink red motor side driver side (japan amp mode) (japan amp mode) connecting cable 0v o5v sd fg sd 3.6v+ 3.6vg 0v o5v o5v 0v fg rx/tx rx/tx 172161-1 *2 172169-1 cn sig 17 4 2 3 1 20 6 5 18 4 2 1 5 7 8 3 batt+ batt - +5v 0v encorder power supply http://www..net/ datasheet pdf - http://www..net/ - 27 - cn ser and cn net connectors (for pc or controller) ? these connectors can be used as either rs232c or rs485. there are three ways for using these connectors as shown below. for rs232c communication only connect the personal computer and the driver 1:1 through rs-232c,the panaterm using for communication control softwere. the panaterm using this function the monitor of the personal computre settings wave graphics. for both rs232c and rs485 communication you connect the host and the 1st driver with rs232c, and connect the drivers in series with rs485. for rs485 communication only connect all the drivers and a host with rs485. ? rotary switch (id): select a position 1 to f. < note > ? max. 15 drivers can be connected to a host. ? for detailed information, see communication specifications. id mode im i/f sp g set rotary switch (id): default position of 1 must be selected how to connect special cable (optional) cn ser turn off the power of both the driver and computer, before con- necting or disconnecting the con- nectors. tighten the screws firmly. rs232c connector (rear) id mode im i/f sp g set id mode im i/f sp g set id mode im i/f sp g set rotary switch (id): select a position 1 to f. rotary switch (id): select the position of 0. rs485 rs485 rs232c host (personal computer or controller) rs485 connector (cn net) 232c/485 connector (cn ser) preparations and adjustments http://www..net/ datasheet pdf - http://www..net/ - 28 - receptacle on the driver side 10250-52a2jl connector to controller side part description solder type plug shell part no. 10150-3000ve 10350-52a0-008 manufacturer by sumitomo 3m list of available components cn i/f connector (for controller) wiring instructions displace the peripheral devices such as the controller max. 3 m away from the driver. ? cn i/f connector specifications ? the cn i/f pins assignment is shown in "optional parts" in appendix. id mode im ser in ser out i/f sig u v w l 1 l 2 l 3 b 1 b 2 r t p sp g set controller max. 3 m min. 30 cm com+ gnd 1 gnd analog gnd cn i/f com- fg vdc power supply motor 2 separate these wiring min. 30 cm from the main circuit wires. don't lay these wires in the same duct of the mains or bundle with them. t he control power (vdc) between com+ and com- should be supplied by the customer (recommended volt- age: +12vdc to +24vdc). control signal output terminals can accept max. 24v or 50ma: don't apply larger voltage or current exceed- ing these limits. if you directly activate a relay using the control signal, install a diode in parallel to the relay as shown in the left figure. without a diode or with it but placed in the opposite direction, the driver will be damaged. use a shielded twist-paired type for the wiring of pulse input, encoder signal output or ana- log command input. the frame ground (fg) is connected to an earth terminal in the driver. http://www..net/ datasheet pdf - http://www..net/ - 29 - circuits available for typical control modes 1 2 14 15 16 17 43 18 42 if this is an open collector i/f, see p01 in page 40. ccw torque limit input (0 to +10v) cw torque limit input (-10 to 0v) velocity monitor output torque monitor output command pulse input 7 4.7k com+ puls2 sign1 sign2 gnd oa+ oa - ob+ ob - oz+ oz - gnd cz spr/trqr gnd ccwtl/trqr gnd cwtl spm im 1 2 3 4 5 6 13 21 22 48 24 46 47 25 19 20 49 23 10k 10k 20k 10k 10k 1k 1k puls1 inh cl srv-on gain div zerospd c-mode a-clr ccwl cwl s-rdy + s-rdy - alm+ coin+ brkoff + brkoff - tlc vdc 12~24v zsp com - batt+ to cn sig (5th pin) to cn sig (6th pin) batt - cn / i f fg coin - alm - 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 servo-on p-operation/2nd gain switching command pulse scaler switch control mode switching alarm clear ccw overtravel inhibit a-phase output b-phase output z-phase output ccw torque limit input (0 to +10v) cw overtravel inhibit servo-ready servo alarm in-position mechanical brake release torque in-limit (pr09) zero speed detection (pr0a) counter clear 26 44 45 command pulse input inhibit battery for absolute encoder in case the battery for absolute encoder is installed at the controller side scaler ? cn i/f wiring for position control preparations and adjustments http://www..net/ datasheet pdf - http://www..net/ - 30 - system configutration and wiring 7 4.7k com+ puls2 sign1 sign2 gnd oa+ oa - ob+ ob - oz+ oz - gnd cz spr/trqr gnd ccwtl/trqr gnd cwtl spm im 1 2 3 4 5 6 13 21 22 48 24 46 47 25 19 20 49 23 10k 10k 20k 10k 10k 1k 1k puls1 inh cl srv-on gain div zerospd c-mode a-clr ccwl cwl s-rdy+ s-rdy - alm+ coin+ brkoff + brkoff - tlc vdc 12~24v zsp com - batt+ to cn sig (5th pin) to cn sig (6th pin) batt - cn / i f fg coin - alm - 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 servo-on p-operation/2nd gain switching control mode switching alarm clear ccw overtravel inhibit a-phase output b-phase output z-phase output cw overtravel inhibit servo-ready servo alarm at-speed mechanical brake release torque in-limit (pr09) zero speed detection (pr0a) internal vel .cmnd.select 1 14 15 16 17 18 43 42 26 44 45 internal vel .cmnd.select 2 speed zero clamp (pr06) velocity command (0 to 10v) ccw torque limit (0 to +10v) cw torque limit (-10 to 0v) battery for absolute encoder in case the battery for absolute encoder is installed at the controller side scaler ccw torque limit input (0 to +10v) velocity monitor output torque monitor output ? cn i/f wiring for velocity control http://www..net/ datasheet pdf - http://www..net/ - 31 - 7 4.7k com+ puls2 sign1 sign2 gnd oa+ oa - ob+ ob - oz+ oz - gnd cz spr/trqr gnd ccwtl/trqr gnd cwtl spm im 1 2 3 4 5 6 13 21 22 48 24 46 47 25 19 20 14 15 16 17 43 18 42 49 23 10k 10k 20k 10k 10k 1k 1k puls1 inh cl srv-on gain div zerospd c-mode a-clr ccwl cwl s-rdy+ s-rdy- alm+ coin+ brkoff + brkoff - tlc vdc 12~24v zsp com- batt+ batt - cn / i f fg coin- alm- 29 27 28 26 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 50 servo-on p-operation/2nd gain switching control mode switching alarm clear ccw overtravel inhibit a-phase output b-phase output z-phase output torque command (0 to 10v) velocity monitor torque monitor ccw torque limit input (0 to +10v) cw overtravel inhibit servo-ready servo alarm at-speed mechanical brake release in case the battery for absolute encoder is installed at the controller side torque in-limit (pr09) zero speed detection (pr0a) - 32 - system configutration and wiring cn i/f connector input signals (common) and their functions ? connect to (+) of an external power supply(12vdc to 24vdc). ? connect to (-) of an external power supply(12vdc to 24vdc). ? the required capacity depends on the i/o circuit configura- tion. 0.5a or larger is recommended. ? when this signal is connected to com-, the dynamic brake will be re- leased and the driver is enabled. (servo-on). ?e when pr02 (control mode selection) = 3, 4 or 5, the con- trol mode is selected per the table below. ? if com- is opened when the movable part of the ma- chine has moved to cw exceeding the limit, the mo- tor does not generate torque. ? if com- is opened when the movable part of the ma- chine has moved ccw exceeding the limit, the motor does not generate torque. ? when pr04 (overtravel limit input disabled) = 1, cw and ccw inputs are disabled. ? the dynamic brake can be made operable during cw/ccw inputs valid. use pr66 (dynamic brake inactivation at overtravel limit) to make the dynamic brake operable. signal pin symbol function i/f no. circuit control signal power (+) control signal power (-) servo-on control mode switching cw overtravel inhibit ccw overtravel inhibit 7 41 29 32 8 9 com + com - srv-on c-mode cwl ccwl si page 38 si page 38 si page 38 si page 38 pr02 value 3 4 5 com- open (1st) position control mode position control mode velocity control mode com- closed (2nd) velocity control mode torque control mode torque control mode 1. this signal becomes effective about two seconds after power on (see the timing chart). 2. don't use this servo-on or servo-off signal to turn on or off the motor. ? allow at least 50ms delay after the driver is enabled before any command input is entered. ? by opening the connection to com- , the driver will be disabled(servo-off) and the current flow to the motor will be inhibited. ? operation of the dynamic brake and clearing action of the position error counter can be selected using pr69 (sequence under servo-off). - 33 - counter clear command pulse input inhibit speed zero clamp the function differs depending on the control mode. the function differs depending on the control mode. ? with com- open, the velocity command is con- sidered zero. ? this input can be made disabled using pr06. 30 33 26 cl inh zerospd si page 38 si page 38 si page 38 signal pin symbol function i/f no. circuit position control velocity control torque control ? the command pulse input inhibit signal (input) is selected. ? this signal can be made disabled using pr43. ? he internal command velocity selection 1 (input) is valid. use this together with the cl signal (input). ? for details, see pr05 (speed set-up switching) description. ? invalid pr43 value 1 0 meaning the inh signal (input) is disabled. ? with com- closed, the pulse command signal (pulse sign) is enabled. ? with com- open, the pulse command signal (pulse sign) is inhibited. position control velocity control torque control ? clears the position error counter. connect to com- to clear the counter. ? use pr4d to select the clear mode (0 = level, 1 = edge) ? the internal speed selection 2 (input) is valid. use this to- gether with the inh signal (input). ? for details, see pr05 (velocity set-up switching) description. ? invalid pr43 value 0 1 meaning zerospd is disabled. zerospd is enabled preparations and adjustments http://www..net/ datasheet pdf - http://www..net/ - 34 - system configutration and wiring signal pin symbol function i/f no. circuit gain switching alarm clear ? the function depends on the value of pr30. ? no.2 gain change funcutions see protective adjustments on page 62. ? i f the com- connection is kept closed for more than 120 ms, the alarm status will be cleared. ? for details, see protective functions on page 64. 27 31 gain a-clr si page 38 si page 38 input signals (position control) and their functions signal pin symbol function i/f no. circuit command pulse command sign command pulse scalar switch battery + battery - ? this is the input terminal for command pulses. the driver receives this signal by a high-speed photo coupler. ? the input impedance of pulse and sign signals is 220?. ? command pulses can be input in three different ways. use pr42 to select one of the following. 1) quadrature (a and b) input 2) cw (pulse)/ccw (sign) pulse input 3) command pulse (puls)/sign (sign) input ? with com- closed, the numerator of the command scalar is changed from the value stored in pr46 (numerator of 1st com- mand scalar) to the value stored in pr47 (numerator of 2nd command scalar). < note > don't enter command pulses 10 ms after or be- fore switching. ? connect a backup battery for absolute encoder (pole-sensitive !). ? i f the battery is connected directly to the driver, it is not neces- sary to connect a battery to this terminal. 3 4 5 6 28 44 45 puls1 puls2 sign1 sign2 div batt + batt - pi page 38 si page 38 pr30 value 0 1 connection to com- open close open close function velocity loop: pi operation velocity loop: p operation ? 1st gain selected (pr10, 11, 12, 13 and 14) ? 2nd gain selected (pr18, 19, 1a, 1b, 1c) http://www..net/ datasheet pdf - http://www..net/ - 35 - input signals (velocity and torque control) and their functions signal pin symbol function i/f no. circuit velocity (torque) command ccw torque limit cw torque limit < at velocity control > ? this becomes velocity command input (analogue) ? you can set-up the relationship between the command voltage level and the motor speed, with pr50 (velocity command input gain) . ? use pr51 to inverse the polarity of the command input. < at torque control >* ? this becomes torque command input (analogue) ? you can set-up the relationship between the command voltage level and the motor torque, with pr5c (torque command input gain) . ? use pr5d to inverse the polarity of input signals. ? use pr56 (4th speed set-up) to adjust the speed limit in torque control. < note > spr/trqr are invalid in position control mode. < at velocity and position control > ? you can limit the motor torque in the ccw direction by entering positive voltage (0 to +10v) to ccwtl. ? you can limit the motor torque in the cw direction by enter- ing negative voltage (-10 to 0v) to cwtl. ? the torque limit value is proportional to the volt- age with a factor of 100%/3v. ? ccwtl and cwtl are valid when pr03 (torque limit input in- hibit) = 0. they are invalid when pr03 = 1. < at torque control >* ? both of ccwtl and cwtl are invalid. ? use the 4th. speed set-up(pr56) to limit the speed. 14 (15) 16 (17) 18 (17) spr/ trqr (gnd) ccwtl/ trqr* (gnd) cwtl (gnd) ai page 39 ai page 39 * when the torque control mode is selected at the velocity/torque switching mode (pr02 = 5), the no.16 pin (ccwtl/trqr) becomes the torque command input (analogue). you can set-up the relationship between the command voltage level and the motor torque with pr5c (torque command input gain). preparations and adjustments http://www..net/ datasheet pdf - http://www..net/ - 36 - system configutration and wiring output signals (common) and their functions signal pin symbol function i/f no. circuit servo alarm servo-ready mechanical brake release zero speed detection to r q ue in-limit in-position/at- speed ? this output(transistor) turns off, when the driver detects and error(trip). ? this output(transistor) turns on, when the main power is on(for both the driver and the motor) and no alarm is active. ? this output(transistor) turns on , when the brake is released. ? signal which is selected at pr0a (zsp output selection) will be turned on.s ? signal which is selected by pr09 (tlc output selection) will be turned on. ? see the above zsp signal for the set-up of pr09 and functions. 37 36 35 34 11 10 12 40 39 38 alm + alm - s-rdy + s-rdy - brk-off + brk-off - zsp tlc coin + coin - so1 page 40 so1 page 40 so1 page 40 so2 page 40 so2 page 40 so1 page 40 signal symbol tlc zsp warn all warn reg warn ol warn batt function output(transistor) turns on during the in-toque limiting. output(transistor) turns on when the motor speed becomes lower than that of the preset speed with pr61(zero speed). output(transistor) turns on when either one of over-regeneration, overload or battery warn- ing is activated. output(transistor) turns on when the over-regeneration (more than 85% of permissible power of the internal regenerative discharge resistor) warn- ing is activated. output(transistor) turns on when the overload (the ef- fective torque is more than 85% of the overload trip level) warning is activated. output(transistor) turns on when the battery (the voltage of the backup battery becomes lower than approx. 3.2v at the encoder side) warning is activated. pr0a value 0 1 2 3 4 5 control mode position velocity and torque function output(transistor) turns on when the position error is below the preset value by pr60 (in-position range). output(transistor) turns on when the motor speed reaches the preset value by pr62 (at-speed ). http://www..net/ datasheet pdf - http://www..net/ - 37 - ? provides differential outputs of the encoder signals (a, b and z phases) that come from the divider (equivalent to rs422 signals). ? the logical relation between a and b phases can be selected by pr45 (output pulse logic inversion). ? not insulated ? z-phase signal output in an open collector (not insulated) ? outputs the motor speed, or voltage in proportion to the commanded speed with polarity. + : ccw rotation - : cw rotation ? use pr07 (velocity monitor selection) to switch between actual and commanded speed, and to define the relation between speed and output voltage. ? outputs the output torque, or voltage in proportion to the posi- tion error with polarity. + : fgenerating ccw-torque - : fgenerating cw-torque ? use pr08 (torque monitor selection) to switch between torque and positional error, and to define the relation between torque/ positional error and output voltage. signal pin symbol function i/f no. circuit a-phase output b-phase output z-phase output z-phase output velocity monitor output to r q ue monitor output 21 22 48 49 23 24 19 43 (17) 42 (17) oa + oa - ob + ob - oz + oz - cz sp (gnd) im (gnd) po1 page 40 po2 page 41 ao page 41 ao page 41 output signals (others) and their functions signal pin symbol function i/f no. circuit signal ground frame ground (not in use) ? signal ground in the driver ? internally isolated from the control power (com - ). ? internally connected to the earth terminal. ? no connections should be made. 13 15 17 25 50 1 2 20 46 47 gnd fg preparations and adjustments http://www..net/ datasheet pdf - http://www..net/ - 38 - system configutration and wiring cn i/f connector interface circuit (input circuit) pi command pulse input circuit 1) line driver i/f ? this is a good signal transmission method that is less sensitive to noises. we recommend you to use this to maintain the reliability of signals. 2) open collector i/f ? this uses an external control power supply(vdc). ? this requires a current-limiting resistor correspond- ing to the capacity of the vdc value. pi si connecting to se quence input signals ? connect to a contact of switch and relay, or a tran- sistor of an open collector output. ? use a switch or relay for micro current so that insufficient contact can be avoided. ? lower limit of the power supply (12 to 24v) should not be less than 11.4v in order to secure the ap- propriate level of primary current of the photo cou- pler. si v dc r value 12v 1k? 1/4w 24v 2k? 1/4w 12~24v 7 com+ 4.7k servo-on or other input relay 7 com+ 4.7k 12~24v servo-on or other input am26ls31or equivalent 3 puls1 puls2 sign1 sign2 gnd 220 220 4 5 6 13 puls1 puls2 sign1 gnd sign2 220 220 v dc r r 3 4 5 6 13 @ a shows a pair of twisted wires. v dc - 1.5 r + 220 = 10ma http://www..net/ datasheet pdf - http://www..net/ - 39 - ai analogue commend input ? there are three analogue command inputs of spr/rtqr (14 pins), ccwtl (16 pins) and cwtl (18 pins). ? the maximum permissible input voltage is 0v. for the input impedance of these inputs, see the right figure. ? if you make a simplified circuit comprising a vari- able resistor (vr) and resistor (r), refer to the right figure. when the variable range of each input is - 10v to + 10v, the vr should be a b type resistor of 2k? (min.1/2w). the r should be 200? (min.1/2w). ? the a/d converters for these inputs should have the following resolution. ai preparations and adjustments 1) adc1 (spr and trqr) : 16 bits (including one bit for sign) 2) adc2 (ccwtl and cwtl) : 10 bits (including one bit for sign 12v spr/trqr ccwtl cwtl r 14 20k 10k gnd gnd 10k 10k 10k adc 1 adc 2 15 16 17 18 r vr ?12v ? ? ? http://www..net/ datasheet pdf - http://www..net/ - 40 - sequence output circuit ? this comprises a darlington amplifier with an open collector. this is connected to a relay or photo coupler. ? here exists a collector-to-emitter oltage vce(sat) of approx. 1v at transistor on, because of darlington connection of the out put transistor. note that nor- mal ttlic can't be directly connected since this does not meet vil re quirement. ? this circuit has an independent emitter connection, or a emitter connection that is commonly used as the minus (-) ter- minal (com-) of the control power. ? the maximum rating is 30v, 50ma. so1 so2 install as per the fig. shows with- out fail calculate the value of r using the formula below so as the primary current of the photo coupler become approx. 10ma. po line driver (differential out- put) output ? provides differential outputs of encoder signals (a, b and z phases) that come from the scalar. ? receive these signals with a line re- ceivers. in this case, install a resis- tor of approx. 330? between the in- puts. ? these outputs are non-insulated signals. connect the signal grounds between the controller and driver. system confguration and wiring interface circuit (output circuit) r = v dc 2.5 1 [k?] v dc 12~24v so1 + alm+ or other signal alm- or other signal com- 41 zsp, tlc - so2 am26ls32 or equivalent am26ls31 or equivalent a b z 22 21 oa+ oa- oz+ oz- ob+ ob- 48 23 25 gnd 24 49 shows a pair of twisted wires. http://www..net/ datasheet pdf - http://www..net/ - 41 - 43 1k 1k sp im 42 gnd 17 measuring instrument or external circuit 19 25 cz maximum rating: 30v, 50ma gnd high-speed photo coupler analogue monitor output ? this output is the velocity monitor signal (sp) or torque monitor signal (im). ? the signal range is approx. 0 to 9v. ? the output impedance is 1k?. pay atten- tion to the input impedance of your mea- suring instruments and external circuits connected. - 42 - parameter setting overview this driver has various parameters that are used for adjusting or setting the features or functions of the driver. this section describes the purpose and functions of these parameters. understanding these pa- rameters is essential for obtaining the best, application-specific operation of the driver. you can view, set and adjust these parameters using either: 1) the front touch panel or 2) your personal computer with the communication software panaterm . parameter groups and listing group parameterno. pr brief explanation function selection adjustment position control velocity and torque control sequence full-close version 00 ~ 0f 10 ~ 1f 20 ~ 2f 30 ~ 3f 40 ~ 4f 50 ~ 5b 5c ~ 5f 60 ~ 6f 70 ~ 7f for details, see "details of parameters" in appendix. you can select the control mode, allocate i/o signals, and set the baud rate and etc. you can set various factors and constants such as the servo gains (1st and 2nd) for position, velocity and integration, and time constants of filters. real time auto-tuning parameters you can set the real time auto-tuning mode, select the machine stiffness, etc. you can set the parameters relating to the switching between 1st and 2nd gains. you can set the input format of command pulses, logical selection, encoder pulse rate and pulse scalar.. you can set the input gain, polarity inversion and offset ad- justment of velocity command. you can set the internal speed (1st to 4th and jog speed), and it's acceleration and deceleration time. you can set the input gain, polarity inversion and offset ad- justment of torque command and set the torque limit. you can set the conditions for detecting of the output such as in-position and zero-speed, and set the processing condi- tions at excess position error, etc. you can also set the conditions for stopping at the main power-off, in-alarm and servo-off, or conditions for the error counter clearance, etc. "full close" parameters. for details, see "full-close specifi- cations". http://www..net/ datasheet pdf - http://www..net/ - 43 - parameters for selecting function parameters for adjusting time constants of gain filters, etc. parameter no. parameter description range default unit related control 1st position loop gain 1st velocity loop gain 1st velocity loop integration time constant 1st speed detection filter 1st torque filter time constant velocity feed forward feed forward filter time constant (internal use) 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant notch frequency notch width selection disturbance torque obserber 10 ~ 2000 1 ~ 3500 1 ~ 1000 0 ~ 5 0 ~ 2500 0 ~ 100 0 ~ 6400 10 ~ 2000 1 ~ 3500 1 ~ 1000 0 ~ 5 0 ~ 2500 100 ~ 1500 0 ~ 4 0 ~ 8 50 <<100>> 50 4 <<50>> 0 0 50 <<100>> 50 4 <<50>> 1500 2 8 1/s hz ms 0.01ms % 0.01ms 1/s hz ms 0.01ms hz p p s t p s t p s t p s t p p p p s t p s t p s t p s t p s t p s t p s t ?? 1 0 ?? 1 1 ?? 1 2 ?? 1 3 ?? 1 4 ?? 1 5 ?? 1 6 ?? 1 7 ?? 1 8 ?? 1 9 ?? 1 a ?? 1 b ?? 1 c ?? 1 d ?? 1 e ?? 1 f parameter no. parameter description range default default related control mode axis address initial led status control mode set-up analogue torque limit inhibit overtravel input inhibit internal speed switching zerospd input selection speed monitor(sp) selection torque monitor (im) selection tlc output selection zsp output selection absolute encoder set-up baud rate set-up of rs232c baud rate set-up of rs485 internal use 0 ~ 15 0 ~ 2 0 ~ 10 0 ~ 1 0 ~ 1 0 ~ 2 0 ~ 1 0 ~ 9 0 ~ 10 0 ~ 5 0 ~ 5 0 ~ 2 0 ~ 2 0 ~ 2 1 1 1 1 1 0 0 3 0 0 1 1 2 2 p s t p s t p s t p s p s t s s p s t p s t p s t p s t p s t p s t p s t * 0 0 * 0 1 * 0 2 ?? 0 3 ?? 0 4 ?? 0 5 * 0 6 ?? 0 7 ?? 0 8 ?? 0 9 ?? 0 a * 0 b * 0 c * 0 d 0 e, 0 f p : position, s : velocity, t : torque for values marked with << >>, see - 44 - parameter setting parameters for defining the real time auto gain tuning parameters for adjustments (for 2nd gain) parameter no. parameter description range default unit related control (pr ) mode 2nd gain action set-up position control switching mode position control switching delay time position control switching level position control swiching hysteresis position loop gain switching time velocity control switching mode velocity control switching delay time velocity control switching level velocity control switching hysteresis torque control switching mode torque control switching delay time torque control switching level torque control switching hysteresis (internal use) 0 ~ 1 0 ~ 8 0 ~ 10000 0 ~ 10000 0 ~ 10000 0 ~ 10000 0 ~ 5 0 ~ 10000 0 ~ 10000 0 ~ 10000 0 ~ 3 0 ~ 10000 0 ~ 10000 0 ~ 10000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 166s (1 + setting value) x 166s 166s 166s p s t p p p p p s s s s t t t t ?? 3 0 ?? 3 1 ?? 3 2 ?? 3 3 ?? 3 4 ?? 3 5 ?? 3 6 ?? 3 7 ?? 3 8 ?? 3 9 ?? 3 a ?? 3 b ?? 3 c ?? 3 d 3 e ~ 3 f parameter no. parameter description range default unit related control (pr ) mode inertia ratio real time auto tuning set-up machine stiffness at auto tuning (not available) (internal use) 0 ~ 10000 0 ~ 3 0 ~ 9 <<100>> 0 2 % p s t p s t p s t ?? 2 0 ?? 2 1 ?? 2 2 ?? 2 3 2 4 ~ 2 f for values marked with << >>, see - 45 - parameters for position control parameters for velocity and torque control parameter no. parameter description range default unit related control (pr ) mode velocity command input gain velocity command input logic inversion velocity command offset 1st internal speed 2nd internal speed 3rd internal speed 4th internal speed jog speed set-up acceleration time set-up deceleration time set-up s-shaped accel./decel. time set-up (internal use) torque command input gain torque command input inversion torque limit set-up (internal use) 10 ~ 2000 0 ~ 1 - 2047 ~ 2047 - 10000 ~ 10000 - 10000 ~ 10000 - 10000 ~ 10000 - 10000 ~ 10000 0 ~ 500 0 ~ 5000 0 ~ 5000 0 ~ 500 10 ~ 100 0 ~ 1 0 ~ 500 500 1 0 0 0 0 0 300 0 0 0 30 0 300 (r/min) / v 0.3mv r/min r/min r/min r/min r/min 2ms/kr/min 2ms/kr/min 2ms 0.1v/100% % s t s t s t s t s t s t p s t s t s t s t t t p s t ?? 5 0 ?? 5 1 ?? 5 2 ?? 5 3 ?? 5 4 ?? 5 5 ?? 5 6 ?? 5 7 ?? 5 8 ?? 5 9 ?? 5 a ?? 5 b ?? 5 c ?? 5 d ?? 5 e ?? 5 f s t parameter no. parameter description range default unit related control (pr ) mode command pulse multiplier set-up command pulse logic inversion command pulse input mode set-up command pulse inhibit input invalidation output pulses per single turn pulse output logic inversion numerator of 1st command pulse ratio numerator of 2nd command pulse ratio numerator of 3rd command pulse ratio numerator of 4th command pulse ratio multiplier of numerator of command pulse ratio denominator of command pulse ratio smoothing filter set-up counter clear input (internal use) 1 ~ 4 0 ~ 3 0 ~ 3 0 ~ 1 1 ~ 16384 0 ~ 1 1 ~ 10000 1 ~ 10000 1 ~ 10000 1 ~ 10000 0 ~ 17 1 ~ 10000 0 ~ 7 0 ~ 1 4 0 1 1 2500 0 <10000> <10000> <10000> <10000> <0> 10000 1 0 p/r 2 ^ n * 4 0 * 4 1 * 4 2 ? 4 3 * 4 4 * 4 5 ? 4 6 ? 4 7 ? 4 8 ? 4 9 ? 4 a ? 4 b ? 4 c 4 d 4 e, 4 f p p p p p s t p s t p p p p p p p p for values marked with < > or *, see - 46 - parameter no. parameter description range default unit related control (pr ) mode in-position range zero speed at-speed position error set-up position error invalidation undervoltage trip selection at main power-off dynamic brake inhibition at overtravel limit sequence at main power-off sequence at alarm sequence at servo-off mech. break action set-up at motor stadstill mech. break action set-up at motor in motion external regenerative discharge resistor selection (internal use) 0 ~ 32767 0 ~ 10000 0 ~ 10000 1 ~ 32767 0 ~ 1 0 ~ 1 0 ~ 1 0 ~ 7 0 ~ 3 0 ~ 7 0 ~ 100 0 ~ 100 0 ~ 2 <10> 50 1000 <1875> 0 1 0 0 0 0 0 0 0 pulse r/min r/min 1/256pulse 2ms 2ms p ? s ? t s ? t p p p ? s ? t p ? s ? t p ? s ? t p ? s ? t p ? s ? t p ? s ? t p ? s ? t p ? s ? t ?? 6 0 ?? 6 1 ?? 6 2 ?? 6 3 ?? 6 4 ?? 6 5 ?? 6 6 ?? 6 7 ?? 6 8 ?? 6 9 ?? 6 a ?? 6 b * 6 c 6 d ~ 6 f p parameter setting parameters for sequence - 47 - setting the parameters ? you can set the parameters with; 1) the front touch panel or 2) ayour personal computer with the a-series communication software panaterm. - 48 - mode's structure parameter setting monitor mode set button mode selector button mode selector button mode selector button mode selector button mode selector button for details, see page 57 of the appendix part of this manual. for details, see page 58 of the main body of this manual. for details, see page 64 of the main body of this manual. power on set button set button set button set button see the next page. see the next page. parameter setting mode eeprom writing mode auto gain tuning mode auxiliary mode you can select a desired mode by using the front panel button. http://www..net/ datasheet pdf - http://www..net/ - 49 - ? if you set a parameter that will become valid after a reset operation, " " w ill appear at writing complete. turn off the power and then turn it on again to make the change valid. ? you can re-write the parameter by keeping the up button depressed at the parameter writing complete. - 50 - power controller motor machine (motor load) 3rd class ground led display trial run inspections before trial run 1) inspecting the wiring ? make sure that all wire connections (especially main power and motor output ) are correct. ? make sure that there are no improper grounding connections, and earth wires are properly connected. 2) inspecting the power specifications ? make sure that the voltage is correct. 3) securing the servo motor ? make sure that the servo motor is firmly secured. 4) disconnecting the motor load 5) releasing the brake cni/f cnsig http://www..net/ datasheet pdf - http://www..net/ - 51 - trial run without motor load (jog) use the jog function (run with the motor and driver alone) for trial run. if the motor runs with this jog, it means the motor and the driver are in good condition and so is the connection between them. - 52 - trial run operation with cn i/f connected 1) connect cn i/f. 2) connect the control signal (com+/-) to the power supply (12 to 24 vdc) . 3) turn the main power (driver) on. 4) check the defaults of the parameters. 5) connect between srv-on (cn i/f pin 29) and com- (cn i/f pin 41) to make servo-on active. the motor will be kept excited. run at position control mode 1) set pr42 (command pulse input mode set-up) according to the output form of the controller. then write it down to eeprom. then turn the power off and then on again. 2) send a low-frequency pulse signal from the controller to the driver to run the motor at low speed. 3) check the motor speed at monitor mode. ? make sure that the speed is per the set-up. ? check if the motor stops when the command(pulse) is stopped. use the controller to send command pulses. com+ 7 33 29 41 3 4 5 6 com - inh srv-on puls1 puls2 sign1 sign2 cz gnd 120? 120? note that the motor can start by command-open with pr43. open collector forcw/ccw pulse inputs z-phase output for homing dc 12v24v dc 5v no. 0 2 3 8 a input signal servo-on cw overtravel inhibit ccw overtravel inhibit command pulse input inhibit counter clear monitor display + a related to pr43 prno. pr02 pr04 pr42 pr43 parameter description control mode set-up overtravel input inhibit command pulse input mode set-up command pulse inhibit input invalidation value 0 1 1 1 wiring diagram parameters input signals status http://www..net/ datasheet pdf - http://www..net/ - 53 - set-up of motor speed and input pulse frequency input pulse frequency (pps) 500k 250k 100k 500k motor speed (r/min) 3000 3000 3000 1500 17 bits 2500p/r pr 46 x 2 pr 4b pr 4a 1 x 2 10000 17 1 x 2 5000 17 1 x 2 2000 17 1 x 2 10000 16 5000 x 2 10000 0 10000 x 2 2000 0 10000 x 2 5000 0 10000 x 2 10000 0 theory determining the parameter encoder pulse 17 bits 2500p/r from the controller to the driver, enter a command with which the motor turns one revolution with 8192 (2 13 ) pulses. the numerator 47841280 is greater than 2621440, and the denominato r is greater than 10,000. thus, 365 x 2 6912 10 365 x 2 108 0 pr46 x 2 pr48 pr4a 365 18 1 x 2 10 2 6 60? 360? x x 2 n 2 0 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 2 10 2 11 2 12 2 13 2 14 2 15 2 16 2 17 365 18 1?~2 17 2 13 60? 360? x x = 365 x 2 884736 17 = 365 x 2 108 0 365 18 10000 10000 60? 360? x x 10 decimal 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 60 gear preparetions and adjustments (example) rotate the motor by 60 degrees with an overall reduction ratio of 18/365 * you can set any value by setting any value for the numerator and denominator. however, the motor action will not follow the extreme setting of the ratio. it is recommended to set within a range from 1/50 to 20. relationship between motor speed and input pulse frequency pulley ratio: 18/60 gear ratio: 12/73 overall reduction: 18/365 from the controller to the driver, enter a command with which the motor turns one revolution with 10000 pulses. = 365 x 2 6912 17 http://www..net/ datasheet pdf - http://www..net/ - 54 - parameters com+ srv-on spr/trqr gnd zerospd com - 7 29 14 15 26 41 dc 12v24v zerospd switch close: run open: stop one way operation for two ways (cw and ccw) operation, use a bipolar power source. dc 10v prno. pr02 pr04 pr06 pr50 pr58 pr59 pr5a parameter description control mode set-up overtravel input inhibit zerospd input selection velocity command input gain acceleration time set-up deceleration time set-up s-shaped accel/decel time set-up value 1 1 1 set as re- quired default 1 1 0 500r/min/v 0 0 0 no. 0 2 3 5 input signal servo-on cw overtravel inhibit ccw overtravel inhibit speed zero clamp monitor display + a stop with +a trial run wiring diagram run at velocity control mode 1) apply a dc voltage between the velocity command input spr (cn i/f pin 14) and gnd (cn i/f pin 15). increase the voltage gradually from 0, and make sure that the motor runs and the speed change accord- ingly. 2) select the monitor mode to monitor the motor speed. ? make sure that the motor speed is as per the commanded speed. ? set the command to 0 to see if the motor stops. 3) if the motor still runs at very low speed, even the command voltage is set to 0, use the auxiliary mode to correct the voltage of command input (see automatic offset adjustment function in appendix). 4) to change the speed or direction, adjust the following parameters. pr50 (velocity command input gain) pr51 (velocity command input inversion) see "details of parameters" in appendix input signal status http://www..net/ datasheet pdf - http://www..net/ - 55 - adjustments purposes of gain adjustment in case of the servo motor, the motor is required to act per any command without any time delay, or without missing any commands. to ensure this, gain adjustment is necessary. - 56 - adjustments applicability of automatic adjustment the auto gain tuning affects the values of the following six parameters. ? pr15 (velocity feed forward) will be automatically changed to 0%, if the auto gain tuning is ex- ecuted. - 57 - how to adjust gain - 58 - adjustments how to use "normal auto gain tuning 1) select the normal auto gain tuning mode. press set button once and press mode switching button three times. see page 48. 2) press up ordown button to select the stiffness of the machine. motor speed display (initial display) mechanical stiffness value mechanical stiffness (higher) press up button to increase the value. press down button to decrease the value. mechanical stiffness (lower) 3) press set button to turn to the monitor/execution mode. 4) operation at the monitor/execution mode: keep pressing up button until appears. ? cn i/f pin 29: servo-on ? pr10 (notch frequency) = 1500 keep pressing up button (approx. three seconds). the horizontal bar increases as shown in the right figure. the motor starts to run. for approx. 15 seconds, the motor repeats the cycle 5 times(at most), which consists of two ccw revolutions and two cw revolutions. note that this pro- cess doesn't necessarily repeat 5 cycles and this is not abnormal. 5) download the obtained gain values to eeprom. note that if you turn off the power before downloading, the gain values will be lost. driving method ball screw + direct coupling ball screw + timing belt timing belt gear, or rack & pinion others: lower stiffness mechanical stiffness 4 ~ 8 3 ~ 6 2 ~ 5 1 ~ 3 1 ~ 3 http://www..net/ datasheet pdf - http://www..net/ - 59 - 4) set pr21 (real time auto tuning mode set-up) to 1 or 2. ? the operation may not be stable depending the operation pattern. in this case, set the parameter to 0 (to disable the auto tuning function). ? with a larger value, the response to the change in load inertia (acceleration) is quicker. 5) start the motor. 6) if the fluctuation in load inertia is small, stop the motor (machine), and set pr21 to 0 to fix the gain (in order to raise the safety). 7) download the obtained gain values to eeprom. note that if you turn off the power before down- loading, the gain values will be lost. - 60 - adjustment how to adjust gain manually before adjustment you may adjust the gains by viewing or hearing the motions and sound of the machine during opera- tion. but, to adjust the gains more quickly and precisely, you can obtain quicker and secure adjust- ment by analog wave form monitoring. 1. using the analogue monitor output you can measure the actual motor speed, commanded speed, torque, position error in analog voltage level with an oscilloscope. to do this, it is necessary to specify the types of output signals and output voltage level by using pr07 (velocity monitor selection), pr08 (torque monitor selection). for details, see "cn i/f connector" in the main part of this manual, and "details of parameters" in appendix. 2. wave form graphic function of panaterm you can view the graphic information of the command to the motor, actual motor action (speed, torque and position error) on the computer display screen. for details, see the instructions of panaterm. id mode im sp g set 1k 1k 42 43 17 cn i /f im sp guidance values of gains, and how to adjust see the table below for the guidance values of gains, if the inertia ratio has been set correctly. how to adjust 1) adjust the gain pr11 and pr12 which relate to the velocity loop. 2) adjust the position loop gain, pr10. 3) pr10 (position loop gain) should be smaller than pr11 (velocity loop gain). - 61 - how to adjust the gain at position control mode 1) start the motor (machine). 2) set pr10 (1st position loop gain) to 50. 3) increase the value of pr11 (1st velocity loop gain) gradually until the motor (machine) does not generate abnormal sound or vibration. 4) cincrease the value of pr10 (1st position loop gain) gradually until the motor (machine) does not generate abnormal sound or vibration. 5) decrease the value of pr12 (1st velocity loop integration time constant) accord ing to the in- position time. ? with a larger value, positional errors may not be converged. 6) if you want to improve the response further, adjust pr15 (velocity feed forward) within the extent that the motor (machine) does not generate abnormal sound or vibration. ? with a larger value, overshoot and/or chattering of in-position signals may occur, which results in a longer in-position time. note that this may be improved by adjusting the value of pr16 (feed forward filter). how to adjust the gains for velocity control 1.if the controller does not have a position loop gain adjust pr11 (1st velocity loop gain) and pr12 (1st velocity loop integration time constant). note that pr15 (velocity feed forward) is not effective. 1) increase the value of pr11 (1st velocity loop gain) gradually until the motor (machine) does not generate abnormal sound or vibration. 2) decrease the value of pr12 (1st velocity loop integration time constant) gradually until the over- shoot/undershoot is reduced to an acceptable level. 2. if the controller has a position loop gain 1) set pr58 (acceleration time set-up), pr59 (deceleration time set-up) and pr5a (s-curve accel/ decel time set-up) to 0. 2) increase the value of pr11 (1st velocity loop gain) gradually until the motor (machine) does not generate abnormal sound or vibration. 3) decrease the value of pr12 (1st velocity loop integration time constant) gradually until the overshoot/undershoot is reduced to an acceptable level. 4) adjust the position loop gain on the controller. - 62 - adjustment how to improve the response further you can manually adjust the 2nd gain. with the 2nd gain adjustment, you can expect quicker response. - 63 - to reduce the mechanical resonance if the machine is not stiff, vibration and noise may be generated due to the resonance by shaft torsion, and you mey not be able to set-up the higher gains. you can suppress the resonance by 2 types of the filters. 1. torque command filter (pr14 and pr1c) set the filter's time constant so that the frequency components around the resonance region can be attenuated. you can obtain the cutoff frequency (fc) by the following formula; cutoff frequency, fc (hz) = 1/(2? x parameter value x 0.00001) 2. notch filter (pr1d and pr1e) adjust the notch frequency of the filter to the resonance frequency. how to measure the resonance frequency of a machine system 1) log-on panaterm and open the frequency characteristics screen. 2) set the following parameters and measuring conditions. note that the values shown below are only guidance. ? decrease the value of pr11 (1st velocity loop gain) to 25 (to make the resonance frequency more distinguishable). ? set the amplitude to 50 r/min (so that the torque may not saturate). ? set the offset to 100 r/min. (to increase the amount of velocity detection information, and run the motor in one-way rotation). ? polarities: (+) for ccw and (-) for cw. ? set the sampling rate to 1 (from a range between 0 and 7). 3) start the frequency characteristics analysis function. - 64 - protective functions what are the protective functions? the minas driver has various protective functions. when one of the protections is activated, the motor trips according to the timing chart shown in "error handling" in appendix, and the servo alarm output (alm) is turned off. actions to be taken after trip events ? after a trip event, the led touch panel displays an alarm code no., and no servo-on occurs. ? any trip status is cleared by keeping a-clr (alarm clear input) on for at least 120 ms after a-clr off. ?the overload protection can be cleared by a-clr at least 10 seconds after the occurrence of the event. if the control power connection between r and t is opened, the time limiting operation is cleared. ? the alarms mentioned above can also be cleared with the led touch panel. see alarm clear modes in appendix. ? the alarms mentioned above can also be cleared by using panaterm. - 65 - protection overvoltage error (continued) undervoltage, main power alarm code no. 12 13 cause 1) the internal regenerative discharge resistor is disconnected. 2) the external regenerative discharge resistor is not suitable so that regenerative energy can- not be absorbed. 3) the driver (circuit) failed. the p-n voltage of the main power converter is lower than the specified value during servo-on. 2) the main power line voltage is too low, an instant aneous outage occurred, the power source is too small, the main power is turned off, or the main power is not fed. 3) too small power source: the line voltage dropped due to the inrush current at power on. countermeasures 1) measure the p-b1 resistance of the driver us- ing a circuit tester. if it read ?, the connec- tion is broken. replac the driver. insert an external regen- erative discharge resistor between the p and b2 terminals. 2) use a resistor having the specified resistance for specified watt. 3) replace with a new driver (that is working cor- rectly for another axis). measure the terminal-to-terminal voltages (between l1, l2 and l3). 1) increase the capacity of the main power or replace it with a larger one. or remove the causes of the failure of the magnetic contact, and then restart the power source. 2) aincrease the capacity of the main power. for the required capacity, see "list of applicable components". 3) correct the phase (l1, l2 and l3) c onnections of the main power. if the main power is signle-phase 100v. use l1 and l3. 4) check the timing of power-on (for both the main power and control power). important information http://www..net/ datasheet pdf - http://www..net/ - 66 - protective functions protection * overcurrent error * overheat error alarm code no. 14 15 cause the current flowing in the converter is larger than the specified value. 1) the driver failed (due to defective circuits or igbt parts). 2) motor wires (u, v and w) are shorted. 3) motor wires (u, v and w) are grounded. 4) motor burned 5) poor connection of motor wires 6) the relay for the dynamic brake is melted and stuck due to the fre quent servo-on/ off. 7) the motor is not compatible with the driver. the radiator is heated up to exceed the limit temperature. the power elements of the driver is overheated. overload. countermeasures 1) disconnect the motor wires, and enter servo-on. if this trouble hap-pens im- mediately, replace the driver with a new one (that is working correctly). 2) check if the u. v and w wires are shorted at the connections. recon nect them, if necessary. 3) measure the insulation resistance be- tween u/v/w and earth wire. if the re- sistance is not correct, replace the mo- tor with a new one. 4) measure the resistance between u,v and w. if they are unbalanced, replace the motor with a new one. 5) check if the u/v/w connector pins are firmly secured with screws. loosened pins should be fixed firmly. 6) replace the driver with a new one. do not start or stop the motor by entering servo-on or off. 7) check the capacity of the motor and driver on the nameplate. if the motor is not compatible with the driver, replace it with a correct one. check the ambient temperature and cool- ing conditions. check the load rate. make the environment under which the driver operates. reduce the load. http://www..net/ datasheet pdf - http://www..net/ - 67 - protection overload error regenerative discharge alarm code no. 16 18 cause overload protection is activated via the specified time limiting operation when the integration of a torque command exceeds the specified overload level. caused by a long operation with a torque that exceeds the specified torque limit. 1) long operation with more load and torque than the rating. 2) vibration or hunting due to incorrect gains. cause vibration and/or abnormal sound. 3) motor wires connected wrong or broken 4) the machine is hit against a heavy hing, or suddenly becomes heavy in operation. the machine is en tangled. 5) the electromagnetic brake is on. 6) in a system of multiple drivers, some motors are wired incorrectly to other axis. the regenerative energy is larger than the capacity of the regenerative discharge re- sistor. 1) when the load inertia is too large,the converter voltage increases due to the large energy regener ated during decel- eration, and in creases more due to the shortage of energy consumption by the regenerative discharge resistor. 2) when the velocity of the motor is too high, the regenerative energy cannot be con- sumed within the countermeasures monitor the torque (current wave) using an oscilloscope to check whether the torque is surging or not. check the load factor and overload alarm messages. 1) increase the capacity of the driver and motor. lengthen the ramp time of accel- eration/deceleration. reduce the motor load. 2) readjust the gains. 3) correct the motor wiring per the wiring diagrams. replace cables. 4) free the machine of any tangle . reduce the motor load. 5) measure the voltage at the brake wiring connections. turn off the brake. 6) correct the motor and encoder wiring to eliminate the mismatching between the mo check the load rate of the regenerative re- sistor in the monitor mode. the driver should not be used with continuous regen- erative braking. 1) check the operation pattern (using the velocity monitor). check the load rate of the regenerative resistor and the over-re- generation alarm on dis play. increase the capacity of the driver and motor. increase the deceleration time. use an external regenerative resistor. check the connection wire between b1 and b2 terminals. 2) check the operation pattern (using the velocity monitor). check the load rate of the regenerative resistor and important information http://www..net/ datasheet pdf - http://www..net/ - 68 - protective functions protection * encoder a/b- phase error * encoder communication error * encoder connection error * encoder communication data error position error hybrid error over-speed alarm code no. 20 21 22 23 24 25 26 cause no a- and b-phase pulse is detected. the 11- wire encoder failed. due to no communication between the encoder and driver, the detective function for broken en- coder wires is activated. the connection between the 11-wire encoder and driver is broken. the encoder rotates higher than the specified rate when control power is on . the encoder sends an erroneous data mainly due to noises. the encoder is connected cor- rectly, though the data is not correct. the position error pulse is larger than pr63 (po- sition error limit). the motor operation does not respond to the commands. when the driver of the full-closed version is un- der the full-closed and hybrid control with an external encoder, the load position detected by the external encoder and the motor position detected by the motor encoder are beyond the limit specified by pr73 (hybrid error limit). the motor velocity exceeds the specified limit. countermeasures correct the encoder wiring per the wiring dia- gram. correct the connection of the pins. make sure that the power of the encoder is 5vdc ? 5% (4.75 to 5.25v). especially when the wire length is long, it is important to meet this require- ment. you should not bundle the encoder wires and motor wires together. connect the shield to fg. see the encoder wiring diagram. check whether the motor operates per the po- sition command pulse or not. see the torque monitor to check if the output torque is saturated. readjust the gains. maximize the value of pr5e (torque limit set-up). correct the encoder wiring per the wiring diagram. increase the accelera- tion and deceleration time. reduce the load and velocity. check the connection between the motor and load. check the connection between the exter- nal encoder and driver. correct the values of the external scale numerator and denominator re- garding parameters pr74, pr75, pr 76 and pr77. increase the value of pr73. increase the value of pr71 (hybrid switching time). decrease the target speed (command values). decrease the value of pr50 (velocity command input gain). adjust the scale ratio so that the fre- quency of the command pulse is 500 kpps or less. if an overshoot occurs, readjust the gains. correct the encoder wiring per the wiring diagram.?b http://www..net/ datasheet pdf - http://www..net/ - 69 - protection command pulse sealer error external scale error error counter over flow * external scale disconnection error * eeprom parameter error * eeprom check code error overttravel inhibit alarm code no. 27 28 29 35 36 37 38 cause the command pulse is larger than 500 kpps at the entrance of the position error counter. the scale ratios set by pr46 through pr4b (numera- tor of 1st to 4th command scale) are not cor- rect. when pr76 (scale error invalidation) = 0, and the driver is operated under the full-closed and hybrid control with an external encoder, the scale error input is off. the value of the position error counter is over 227 (134217728). the external scale is disconnected, or the scale fails. the data contained in the parameter storage area of the eeprom is broken, so erroneous data is retrieved. the check code of the eeprom is broken, so erroneous data is retrieved. both the cw and ccw over-travel limits are not active. countermeasures reduce the multiplication factor by adjusting the values of pr46 through pr4b, and then adjust the scale ratios so that the command pulse fre- quency is 500 kpps or less. check the reason why the cn i/f pin 33 is off. check that the motor operates per the position command pulse. see the torque monitor to check that the output torque does not get saturated. readjust the gains. maximize the value of pr5e (torque limit set-up). correct the encoder wiring per the wiring diagram. check the power supply for the external scale. correct the wiring and sig connections per the wiring diagram. set all the parameters again. if this error occurs frequently, the driver may have been broken. replace the driver with a new one. return the old driver to the sales agent for repair. the driver may have been broken. replace the driver with a new one. return the old driver to the sales agent for repair. check the switches, wires and power supply that constitute the circuits. check that the control power (12 to 24vdc) can be established with- out delay. check the value of pr04. correct the wiring, if necessary. important information http://www..net/ datasheet pdf - http://www..net/ - 70 - protective functions protection absolute system down error absolute encoder counter overflow absolute encoder overspeed error * absolute encoder single- turn counter error * absolute encoder multi- turn counter error absolute encoder status error full close selection error * other error error * other error alarm code no. 40 41 42 44 45 47 97 numbers other than the above cause the power of the encoder is out. the data of the multi-turn counter of the encoder exceeds the specified limit. the encoder rotates faster than the specified rate when it is battery-powered. the encoder detects an error of the single-turn counter. the encoder detects an error of the multi- turn counter. the encoder detects an internal status error. after the control power on, the encoder ro- tates faster than the specified rate. when an 11-wire encoder is used, pr02 (con- trol mode selection) is set to 7, 8 or 9 ("full- close" control). the control circuit operates incorrectly due to large noises or any other reasons. the driver's self-diagnosing function is acti- vated, because an error happens in the driver. countermeasures check the voltage of the battery. connect to the battery, and then clear the encoder using the absolute encoder clear mode contained in the auxiliary function (see details of op- eration in appendix). limit the movable range to ?32767 revolu- tions (15 bits) from the initial position. adjust the value of pr0b. connect the power to the encoder and then make sure that the encoder voltage is 5v?5%. correct the sig connections, if nec- essary. the motor may be broken. replace the mo- tor with a new one. return the old motor to the sales agent for repair. take measures to keep the motor away from rotating until the driver outputs s-rdy.take measures to keep the motor away from rotating until the driver outputs s-rdy. set the value of pr02 to 0, 1, 2, 3, 4 or 5. turn off the power and turn it on again. if the error cannot be eliminated, the motor and/or driver may be broken. disconnect the power supply of these equipment, and replace them with new ones. return the old equipment to the sales agent for repair. http://www..net/ datasheet pdf - http://www..net/ - 71 - maintenance and inspections ? 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)do not take insulation resistance measures because the driver gets damaged. inspection items and cycles normal (correct) operating conditions: ambient temperature: 30?c (annual average) load factor : max. 80% operating hours : max. 20 hours per day daily and periodical inspections should be done per the following instructions. - 72 - maintenance and inspections replacement guidance parts replacement cycles depend on the actual operating conditions and how the equipment has been used. defective parts should be replaced or repaired immediately. equipment driver motor part smoothing condenser cooling fan aluminum electrolytic capacitor on the print board bearing oil seal encoder battery (absolute encoder) standard replacement cycles (hour) about 5 years 2 to 3 years (10 to 30 thousand hours) about 5 years 3 to 5 years (20 to 30 thousand hours) 5000 hours 3 to 5 years (20 to 30 thousand hours) 1 year from the first use remarks the replacement cycles shown here are just only for reference. if any part is found defective regardless of the standard re- placement cycles, immediately replace it with a new one. prohibited dismantling for inspections or repairs should be done by our company (or our sales agents). http://www..net/ datasheet pdf - http://www..net/ - 73 - troubleshooting the motor does not rotate. [check points] controller motor machine the magnetic brake improperly activated? coupling loosened? the voltage of the power is correct? is the power fed? power line connections firmly secured? alarm code no. displayed? parameter values correct? cn i/f connections correct? not loosened? loosened connections (wire break, ill contact)? wiring correct? abnormal sound from the motor? cn sig connections correct? not loosened? important information http://www..net/ datasheet pdf - http://www..net/ - 74 - troubleshooting the motor does not rotate. category parameters wiring installation causes the control mode selected is not cor- rect. the internal velocity command (switching between internal and exter- nal commands) does not work. the torque limit inhibition setting is not correct. the torque limit has been set to 0. the zero speed clamp is on, so the motor does not operate. the circuit for cw/ccw overt-ravel inhibit is open. cn i/f servo-on signal is not re- ceived. cn i/f counter clear is on (shorted). cn i/f command pulse input inhibit is active, so the motor does not operate. bearing lock countermeasures check the value of pr02 (control mode set-up). 0: position control, 1: velocity control, 2: torque control check the value of pr05 (internal speed swiching). 0: at analogue velocity command set-up, change the value to 1 or 2. check the value of pr03 (analog torque limit inhibit). 0: torque cannot be produced, so the motor does not rotate. change the value to 1. check the value of pr5e (torque limit set-up). change the value to 300 (default). check the value of pr06 (zerpspd input selection) . change the value to 0. if the value is 1, the zero clamp func- tion is valid. if you desire to set the parameter to 1, enable the zero speed clamp input, and adjust the wiring so that the zero speed clamp input can be turned on correctly. check the value of pr04. if the value is 0, connect between cn i/f pins 9 and 41, and 8 and 41. connect (short circuit) between cn i/f pins 29 and 41. disconnect between cn i/f pins 30 and 41. check the value of pr43. if the value is 0, connect between cn i/f pins 33 and 41. if the value is 1, the command pulse input inhibition is disregarded, so the motor will rotate ac- cording to command pulses. turn off the power. disconnect the motor. rotate the motor shaft by hand to make sure that the motor rotates freely. if the motor is fitted with an electromagnetic brake, rotate the shaft by hand while applying a voltage (24vdc) to the brake. if the motor does not rotate, consult the sales agent to repair it. http://www..net/ datasheet pdf - http://www..net/ - 75 - the rotation is not smooth. the motor rotates slowly even if the target speed is zero in the speed control mode. category parameters adjustment wiring causes the control mode selection is not cor- rect. the gains are not appropriate. velocity and position commands are not stable. cn i/f signals are chattering. 1) servo-on signal 2) cw/ccw torque limit input signal 3) counter clear input signal 4) speed zero clamp signal 5) command pulse input inhibit signal countermeasures with the position control mode selected, if pr02 is set to other than 0, the motor will rotate slowly because pr52 (velocity command offset) governs the operation of the motor. change the value of pr02 to 0. increase the value of pr11 (1st velocity loop gain). insert a torque filter (pr14) and then further increase the value of pr11. check the behavior of the motor using the check pin on the led touch panel and the wave form graphics function of panaterm. check the wiring and its connections. check the controller. 1) check the wiring and connections between cn i/f pins 29 and 41 by monitoring the display of input and output sig- nals status. modify the wiring so that servo-on signals can be made active correctly. check the controller. 2) check the wiring and connections between cn i/f pins 17 and 18, and 16 and 17 using a circuit tester and/or oscil- loscope. modify the wiring so that cw/ccw torque limit input can be made active correctly. check thecontroller. 3) check the wiring and connections between cn i/ f pins 30 and 41 by monitoring the display of input and output signals status. modify the wiring so that position error counter input can be made active correctly. check the controller. 4) check the wiring and connections between cn i/f pins 26 and 41 by monitoring the display of input and output sig- nals status. modify the wiring so that zero speed clamp input can be made active correctly. check the controller. 5) check the wiring and connections between cn i/f pins 33 and 41 by monitoring the display of input and output sig- nals status. modify the wir-ing so that command pulse input inhibit can be made active correctly. check the ontroller. important information http://www..net/ datasheet pdf - http://www..net/ - 76 - category wiring causes velocity commands contain noises. improper offset velocity commands contain noises. countermeasures use shielded cables for connection to cn i/f. power and sig- nal cables should be separated by at least 30 cm and put in duct. measure the voltage between cn i/f pins 14 and 15 (veloc- ity command inputs) using a circuit tester and/or oscilloscope. adjust the value of pr52 so that the motor can stop. use shielded cables for connection to cn i/f. power and sig- nal cables should be separated by at least 30 cm and put in duct. positioning accuracy is bad. category system adjustment parameter causes position commands (amount of com- mand pulses) are not correct. reading of in-position signals occurs at the edge. the form and width of the command pulses deviate from the specified val- ues. the position loop gain is too small. the setting of in-position detection range (pr60) is too large. the command pulse frequency ex- ceeds 500 kpps. the scale is not appropriate. countermeasures count the number of feedback pulses while repeating to travel back and forth within a fixed distance. if the number of feed- back pulses varies, adjust the controller. take measures to reduce the noise on the command pulse. use the check pin (im), to monitor the position error when the in-position signals are received. read the in-position sig- nals at a mid point on the time span, not at the edge. if the command pulses are deformed or narrowed, adjust the pulse generation circuit. take measures to reduce the noise on the command pulse. check the amount of position error in the monitor mode. in- crease the value of pr10 to the extent that no oscillation oc- curs. decease the value of pr60 (in-position range) to the extent that the in-position signals do not chatter. decrease the command pulse frequency. change the values of pr46 through pr4b (numerator of 1st to 4th command scale). check the repetition accuracy. if repeated without fluctua- tion, increase the capacity of the motor and driver. troubleshooting http://www..net/ datasheet pdf - http://www..net/ - 77 - category wiring installation causes cn i/f signals are chattering: 1) servo-on signals 2) counter clear input signal 3) cw/ccw torque limit input signal 4) command pulse input inhibit signal load inertia is large. countermeasures 1) check the wiring and connections between cn i/f pins 29 and 41 by monitoring the display of input and output signals status. modify the wiring so that servo-on signals can be made active correctly. check the controller. 2) check the wiring and connections between cn i/f pins 30 and 41 by monitoring the display of input and output signals status. modify the wiring so that position error counter input can be made active correctly. check the controller. 3) check the wiring and connections between cn i/f pins 17 and 18, and 16 and 17 using a circuit tester and/or osc illo- scope. modify the wiring so that cw/ccw torque limit in- put can be made active correctly. check the controller. 4) check the wiring and connections between cn i/f pins 33 and 41 by monitoring the display of input and output signals status. modify the wiring so that command pulse input in- hibit can be made active correctly. check the controller. check the overshoot at stop using the wave form graphics function of panaterm. adjust the gains. if this is not effec- tive, increase the capacity of the driver and motor. the initial (home) position varies. category system wiring causes when calculating the initial (home) position, the z-phase output is not detected. creep speed to initial position is too high. the output of the initial (home) posi- tion proximity sensor (dog sensor) is chattering. noise on encoder wires countermeasures check that the z-phase accords to the center of the proxim- ity dog. perform initialization correctly according to the con- troller. decrease the return speed near the initial (home) position, or lengthen the initialization sensor. check the input to the sensor using an oscilloscope. modify the wiring around the sensor. take measures to reduce the noise. take measures to reduce the noise (noise filters, ferrite cores, etc.). properly connect the shield wires of i/f cables. use twist-paired wires. separate the signal and power wires. important information http://www..net/ datasheet pdf - http://www..net/ - 78 - category wiring causes z-phase signal is not output. the circuit for z-phase signal is not correct. countermeasures monitor the z-phase signal using an oscilloscope. check that cn i/f pin 13 is connected to the ground terminal of the con- troller. connect the open collector to the ground of the driver. replace the driver and controller, or repair them. check that the line driver is connected at the both sides. if the controller does not have a differential input, use cz out- put (open collector). the motor produces an abnormal sound and/or vibration. category wiring adjustment installation causes velocity commands contain noises. the gains are too large. the velocity detection filter is not cor- rect. resonance between the machine and motor occurs. motor bearing electromagnetic sound, gear sound, braking sound, hub sound, rubbing sound from the encoder, etc. countermeasures check the wiring between cn i/f pins 14 and 15 (velocity command inputs) using an oscilloscope. take measures to reduce the noise (noise filters, ferrite cores, etc.). properly connect the shield wires of i/f cables. use twist-paired wires. separate the signal and power wires. decrease the values of pr10 (velocity loop gain) and pr11 (position loop gain). increase the value of pr13 (speed detection filter) until the sound decreases to an acceptable level, or return the value to 4 (default). adjust the value of pr14 (torque filter). check the mechani- cal resonance using the frequency characteristics analysis program in panaterm. if a resonance occurs, set pr10(notch frequency). operate the motor without load in order to check the sound and vibration near the bearing. replace the motor and oper- ate it to do the same checks. repair the motor, if necessary. operate the motor without load or use a new motor in order to locate the source of sounds. repair the motor, if neces- sary. troubleshooting http://www..net/ datasheet pdf - http://www..net/ - 79 - overshoot or undershoot the motor overheats (burnt) category adjustment installation causes gains are not correct. load inertia is too large. rattling or slip of the machine environment (ambient temperature, etc.) the cooling fan does not work. the air intake is dirty. mismatch between the driver and motor motor bearings fail. the electromagnetic brake is on (fail- ure to release the brake). the motor fails (due to oil, water, etc.). the motor is operated by external forces while the dynamic brake is ac- tivated. countermeasures check the gains using the wave form graphics monitoring function of panaterm, speed monitor (sp) and/or torque monitor (im). adjust the gains. see "adjustments" chapter. check the load inertia using the wave form graphics moni- toring function of panaterm, velocity monitor check the coupling between the motor and machine. if the ambient temperature is higher than the specified value, install a cooling fan. check the cooling fans of the driver and machine. the cool- ing fan of the driver should be replaced at regular cycles. this replacement should be done by a service engineer of the sales agent. check the nameplates of the driver and motor. for available combinations between driver and motor, see the instruction manuals or catalogues. turn off the power. rotate the motor shaft by hand to check whether abnormal sound (rumbling) occurs or not. if it rumbles, replace it with a new one, or repair it. check the voltage at the brake terminal. apply 24vdc to re- lease the brake. avoid high temperature/humidity, oil, dust and iron powders. check the operation pattern, use and working status. this kind of operation should be avoided. important information http://www..net/ datasheet pdf - http://www..net/ - 80 - troubleshooting parameter values change to the former value. category parameter causes parameter values are not downloaded into eeprom before power off. countermeasures see "parameter setting" chapter (page 52). category wiring causes the communication cable (rs232c) is connected to cn net. countermeasures the communication cable (rs232c) must be connected to cn ser. in panaterm, a message "communication port or driver cannot be detected" appears. category parameter adjustment causes the velocity command input gain is not correct. the position loop gain is too small. the scale is not appropriate. countermeasures check that the value of pr50 (velocity command input gain) is 500 (i.e. 3000rpm/6v). adjust the value of pr10 (position loop gain) to approximately 100. correct the values of pr46 (numerator of 1st command pulse ratio), pr4a (multiplier of numerator of command pulse radio) and pr4b (denominator of pulse command scale). see "details of parameters" chapter. the motor speed does not increase up to the specified value. the speed (movement) is too large or small. http://www..net/ datasheet pdf - http://www..net/ - 81 - conform to ec directives and ul standards app. 2 list of connectable motors app. 7 how to use ? holding brake app. 9 ? dynamic brake app. 12 ? timing chart app. 14 ? allowable loads on output axes app. 18 ? initialization (precautions) app. 19 "absolute" driver app. 20 full close" driver app. 28 details of parameters app. 30 details of operation app. 57 overview of a communication control software panaterm app. 67 optional parts (encoder cables, motor cables, brake cable connector kits, communication cables, communication control software panaterm, mounting brackets and reactors) app. 69 recommended parts ? surge absorber for motor brake app. 84 ? list of peripheral equipment manufacturers app. 85 outer views and dimensions ? motor app. 86 ? driver app. 100 properties overload protection: time-related characteristics app. 106 specifications ? gain switching conditions for each control mode app. 107 ? block diagrams app. 109 ? specifications of driver app. 113 appendixes appendixes http://www..net/ datasheet pdf - http://www..net/ - app. 2 - conformance to ec directives and ul standards ec directives the ec directives apply to all such electronic products as those having specific functions and directly sold to general consumers in eu countries. these products are required to meet the eu unified standards and to be furnished with ce marking. our product, ac servo, has specific functions, but is not sold directly to general consumers, i.e. this product is regarded as a component that constitutes a machine or equipment. therefore, the product (ac servo) is not required to be furnished with ce marking. however, our ac servos meet the ec directives for low voltage equipment so that the machine or equipment comprising our ac servos can meet relevant ec directives. emc directives our servo systems can meet emc directives and related standards. however, to meet these requirements, the systems must be limited with respect to configuration and other aspects, e.g. the distance between the servo driver and motor is restricted, and some special wiring conditions must be met. this means that in some cases machines and equipment comprising our servo systems may not satisfy the requirements for wiring and grounding conditions specified by the emc directives. therefore, conformance to the emc directives (especially the requirements for emission noise and noise terminal voltage) should be examined based on the final products that include our servo drivers and servo motors. applicable standards iec: international electrical commission en europaischen normen emc: electromagnetic compatibility subject motor motor and driver iec34-1 en50178 iec61800-3 emc requirements for variable speed electric power driven systems em55011 iec61000-4-2 electrostatic discharge immunity test iec61000-4-3 radio frequency electromagnetic field immunity test iec61000-4-4 electric high-speed transition phenomenon - burst immunity test iec61000-4-5 lightning surge immunity test iec61000-4-6 high freq uency conduction - immunity test iec61000-4-11 instant aneous outage- immunity test applicable standard standards referenced by low-voltage directive standards referenced by emc directives radio disturbance characteristics of industrial, scientific and medical (ism) radio-frequency equipment http://www..net/ datasheet pdf - http://www..net/ - app. 3 - appendixes peripheral equipment environment the servo driver should be used under contamination level 2 or 1 specified by iec60664-1 (housing the driver in an ip54 control box). control box controller insulated power for interface power circuit breaker surge absorber noise filter noise filter for signal lines protective earth (pe) l1 u cnCi/f cnCsig m re v w l2 l3 r t noise filter for signal lines ac servo driver ac servo motor power 100v system: single-phase 100 to 115v +10%/-15%, 50/60hz 200v system: three-phase 200 to 230v +10%/-15%, 50/60hz (1) use under the environment of over-voltage category iii specified by iec60664-1. (2) the power for interface should be marked ce or en standard (en60950) type, 12vdc to 24vdc, insulated. circuit breaker install a circuit breaker between the power supply and noise filter. the circuit breaker should be iec standard and ul listed marked). noise filter if several drivers are used, and a single noise filter is installed at the power supply, consult the manufacturer of the noise filter. surge absorber install a surge absorber at the primary side of the noise filter. - app. 4 - noise filters for signal lines install noise filters. install noise filters (specially designed for signal wires) for all cables (power, motor, encoder and interface wires). grounding 1) connect between the servo driver's protective earth terminal and control box's protec- tive earth (pe) to prevent electric shocks. 2) multiple connections to a single protective earth terminal should be avoided. there are two protective earth terminals. peripheral devices applicable to drivers (ec directives) voltage 100v 200v circuit breaker (current rating) 10a 15a 10a 15a 20a 30a 50a output rating 30w ~ 200w 400w 30w ~ 400w 300w 750w, 1kw 750w, 1kw 400w, 750w 500w, 1kw 600w, 900w 1.5kw 1.5kw 1.5kw 1.5kw 1.2kw 2kw, 2.5kw 2kw, 2.5kw 2.5kw 2kw 2kw 3kw?`5kw 3kw?`5kw 3kw?`5kw 3.5kw, 4.5kw 3kw, 4.5kw driver's series no. msda mqda msda mqda mgda msda mdda mfda mhda mgda msda mdda mfda mhda mgda msda mdda mfda mhda mgda msda mdda mhda mfda mgda noise filter dvop1441 dvop1442 dvop1441 dvop1442 dvop1443 surge absorber dvop1450 noise filter for signal lines dvop1460 http://www..net/ datasheet pdf - http://www..net/ - app. 5 - appendixes surge absorber install noise filfers manufacturer's product no. zcat3035-1330 manufacturer tdk corporation optional part no. dvop1460 manufacturer's product no. r?a?v-781bxz-4 manufacturer okaya electric industries co., ltd. optional part no. dvop1450 circuit diagram 123 ?4.2 x 0.2 41 x 1 ul-1015 awg16 28 x 1 5.5 x 1 11 x 1 28.5 x 1 4.5 x 0.5 200 +30 - 0 12 3 39 x 1 34 x 1 30 x 1 13 x 1 weight: 62.8 kg http://www..net/ datasheet pdf - http://www..net/ - app. 6 - noise filter manufacturer's product no. 3sup-a10h-er-4 3sup-a30h-er-4 ssup-a50h-er-4 manufacturer optional part no. dvop1441 dvop1442 dvop1443 abcdefghi j no km l 188 dvop1443 160 145 130 110 95 70 55 25 m5 m4 17.5 4.5 10 ?4.5a7 228 dvop1442 200 185 170 110 95 70 60 30 m6 m4 17.5 4.5 10 ?4.5a7 272 dvop1441 240 220 200 140 110 70 80 40 m6 m4 20 6.5 15 ?6.5a8 h x 1.5 a x 4.0 b x 1.5 c x 1.0 g x 1.5 f x 1.0 e x 1.5 d x 1.5 l a b e l i x 1.5 m x 1.5 6-j 2-?l 2-?k n o x 1.5 circuit diagram r 1 2 3 4 5 6 cx cx cy l noise filters for signal lines conform to ul standards the noise filters conform to ul508c (file no. e164620) to satisfy the following conditions. 1) the servo driver should be used under contamination level 2 or 1 specified by iec60664-1 (housing the driver in an ip54 control box). 2) install a circuit breaker or fuse between the power supply and noise filter. the circuit breaker or fuse should be a ul listed marked) type. the current rating of the circuit breaker or fuse should be per the table in page 4. okaya electric industries co., ltd. http://www..net/ datasheet pdf - http://www..net/ - app. 7 - appendixes list of motors applicable to drivers driver with a 2500 p/r incremental encoder 750w 1.0kw 1.5kw 2.0kw 2.5kw 3.0kw 3.5kw 4.0kw 4.5kw 5.0kw 500w 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw 400w 750w 1.5kw 2.5kw 3.5kw 4.5kw 300w 600w 900w 1.2kw 2.0kw 3.0kw 4.5kw 100w 200w 400w 100w 200w 400w product name mdma082a** mdma102a** mdma152a** mdma202a** mdma252a** mdma302a** mdma352a** mdma402a** mdma452a** mdma502a** mhma052a** mhma102a** mhma152a* mhma202a**? mhma302a** mhma402a** mhma502a** mfma042a** mfma082a** mfma152a** mfma252a** mfma352a** mfma452a** mgma032a** mgma062a** mgma092a** mgma122a** mgma202a** mgma302a** mgma452a** mqma011a** mqma021a** mqma041a** mqma012a** mqma022a** mqma042a** series mdma mhma mfma mgma mqma drivers mdda083aia mdda103aia mdda153aia mdda203aia mdda253aia mdda303aia mdda353aia mdda403aia mdda453aia mdda503aia mhda053aia mhda103aia mhda153aia mhda203aia mhda303aia mhda403aia mhda503aia mfda043aia mfda083aia mfda153aia mfda253aia mfda353aia mfda453aia mgda033aia mgda063aia mgda093aia mgda123aia mgda203aia mgda303aia mgda453aia mqda011aia mqda021aia mqda041aia mqda013aia mqda023aia mqda043aia applicable motors size size 4-3 size 3 size 4-3 size 3 size 4-3 size 1 size 2 size 3 size 2 voltage 200v 200v 200v 200v 100v 200v 2000r/min 2000r/min 2000r/min 1000r/min 3000r/min encoder output rating velocity rating size 4-2 size 4-3 size 5 size 4-2 size 5 size 5 size 1 size 4-2 size 4-2 size 5 middle inertia high inertia flat middle inertia flat small incremental, 2500 p/r, 11-wire incremental, 2500 p/r, 11-wire incremental, 2500 p/r, 11-wire incremental, 2500 p/r, 11-wire incremental, 2500 p/r, 11-wire http://www..net/ datasheet pdf - http://www..net/ - app. 8 - list of motors applicable to drivers driver with a 17 bits absolute/incremental encoder 750w 1.0kw 1.5kw 2.0kw 2.5kw 3.0kw 3.5kw 4.0kw 4.5kw 5.0kw 500w 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw 400w 750w 1.5kw 2.5kw 3.5kw 4.5kw 300w 600w 900w 1.2kw 2.0kw 3.0kw 4.5kw 100w 200w 400w 100w 200w 400w product name mdma082d** mdma102d** mdma152d** mdma202d** mdma252d** mdma302d** mdma352d** mdma402d** mdma452d** mdma502d** mhma052d** mhma102d** mhma152d** mhma202d** mhma302d** mhma402d** mhma502d** mfma042d** mfma082d** mfma152d** mfma252d** mfma352d** mfma452d** mgma032d** mgma063d** mgma093d** mgma123d** mgma203d** mgma303d** mgma453d** mqma011c** mqma021c** mqma041c** mqma012c** mqma022c** mqma042c** mdma mhma mfma mgma mqma drivers mdda083dia mdda103dia mdda153dia mdda203dia mdda253dia mdda303dia mdda353dia mdda403dia mdda453dia mddm503dia mhda053dia mhda103dia mhda153dia mhda203dia mhda303dia mhda403dia mhda503dia mfda043dia mfda083dia mfda153dia mfda253dia mfda353dia mfda453dia mgda033dia mgda063dia mgda093dia mgda123dia mgda203dia mgda303dia mgda453dia mqda011dia mqda021dia mqda041dia mqda013dia mqda023dia mqda043dia applicable motors 200v 200v 200v 200v 100v 200v 2000r/min 2000r/min 2000r/min 1000r/min 3000r/min size voltage output rating encoder velocity rating middle inertia absolute/ incremental, 17 bits, 7-wire, see note 1) size 4-2 size 4-3 size 5 size 4-2 size 4-3 size 5 size 3 size 4-2 size 4-3 size 5 size 3 size 4-2 size 4-3 size 5 size 1 size 2 size 3 size 2 size 1 high inertia flat middle inertia flat small absolute/ incremental, 17 bits, 7-wire, see note 1) absolute/ incremental, 17 bits, 7-wire, see note 1) absolute/ incremental, 17 bits, 7-wire, see note 1) absolute/ incremental, 17 bits, 7-wire, see note 1) http://www..net/ datasheet pdf - http://www..net/ - app. 9 - appendixes holding brake the brake is to hold the work (movable part coupled to a vertical motor axis) to prevent it from falling by gravity in case the servo power is lost. - app. 10 - holding brake brk-off signal ? see timing chart describing the timing of issuing brk-off signal, e.g. to release the brake after power-on, and activate the brake in case a servo-off/alarm occurs during the operation of the motor. ? the timing (delay) of deactivating brk-off signal (i.e. activating the brake) after the motor is freed into a non-excited status in case of servo-off or alarm event can be adjusted by using pr6b (brake output delay time set-up at motor in motion). for details, see details of parameters. - app. 11 - appendixes holding brake specifications excitation voltage should be 24vdc 10% *1) delay of dc cutoff in case a surge absorber is used. the values in this table are representative (except the friction torque, releasing voltage and excitation voltage). the backlash of the brake is factory-set to within 1 degree. msma mqma msma mdma mhma mfma mgma capacity 30w ~ 100w 200w, 400w 750w 100w 200w, 400w 1kw 1.5kw ~ 2.5kw 3kw, 3.5kw 4kw ~ 5kw 750w 1kw 1.5kw, 2kw 2.5kw, 3kw 3.5kw, 4kw 4.5kw, 5kw 500w, 1kw 1.5kw 2kw ~ 5kw 400w 750w, 1.5kw 2.5kw, 3.5kw 4.5kw 300w 600w, 900w 1.2kw, 2kw 3kw, 4.5kw static friction torque (n?m) 0.29 or more 1.27 or more 2.45 or more 0.29 or more 1.27 or more 4.9 or more 7.8 or more 11.8 or more 16.1 or more 7.8 or more 4.9 or more 13.7 or more 16.1 or more 21.5 or more 24.5 or more 4.9 or more 13.7 or more 24.5 or more 4.9 or more 7.8 or more 21.6 or more 31.4 or more 4.9 or more 11.8 or more 24.5 or more 58.8 or more inertia x 10 ?|4 (kg?m 2 ) 0.003 0.03 0.09 0.03 0.09 0.25 0.33 1.35 0.33 1.35 4.25 4.7 1.35 4.7 1.35 4.7 8.75 1.35 4.7 absorption time (ms) 25 or less 50 or less 60 or less 50 or less 60 or less 50 or less 80 or less 110 or less 50 or less 80 or less 100 or less 110 or less 90 or less 80 or less 100 or less 80 or less 150 or less 80 or less 150 or less releasing time (ms) *1 20 or less 15 or less 50 or less 15 or less 70 or less 50 or less 35 or less 25 or less 70 or less 50 or less 25 or less 70 or less 35 or less 100 or less 70 or less 15 or less 25 or less 50 or less 0.26 0.36 0.43 0.29 0.41 0.74 0.81 0.90 0.81 0.59 0.79 0.90 1.10 1.30 0.59 0.79 1.30 0.59 0.83 0.75 0.59 0.81 1.3 1.4 releasing voltage 1vdc or more 2vdc or more 39.2 137 196 137 196 392 1470 392 588 1176 1470 1078 1372 588 1176 1372 588 1372 1470 588 392 1372 4.9 44.1 147 44.1 147 196 490 2156 490 784 1470 2156 2450 2940 784 1470 2940 784 2940 1470 2156 784 490 2940 motor excitation current (dc current (a)) (during cooling) allowable thermal equivalent of work per braking (j) allowable overall thermal equivalent of work(x103 j) http://www..net/ datasheet pdf - http://www..net/ - app. 12 - dynamic brake (db) the driver has a dynamic brake for emergency use. observe the following precautions. - app. 13 - appendixes d options of the operation through deceleration and stop by turning on over-travel inhibit (cwl or ccwl) (pr66) d b d b free run free run d b free run free run d b clear 0 pr68 1 2 3 sequence at alarm-on (pr68) position error counter operating conditions during deceleration after stop d b free run free run free run 0 pr66 1 db inhibition at overtravel limit (pr66) operating conditions during deceleration after stop b options of the operation through deceleration and stop by turning on servo-off (pr69) c options of the operation through deceleration and stop by turning on a protective function (pr68) d b d b free run free run d b d b free run free run d b free run free run d b d b clear hold free run free run d b 0 pr69 1 2 3 4 5 6 7 sequence at servo-off (pr69) position error counter operating conditions during deceleration after stop http://www..net/ datasheet pdf - http://www..net/ - app. 14 - timing chart after power on (receiving servo-on signal) - app. 15 - appendixes after an alarm event (during servo-on) *1. the value of t1 is the value of pr6b or the time needed for decreasing the motor speed to approx. 30 r/min, which is shorter. *2. for the operation of the dynamic brake following an alarm event, see the explanation of pr68 in "details of parameters". alarm dynamic brake motor energized normal energized ready not alarm error (alarmed) operation (braking) *2 free (not energized) not ready alarm servo ready (s-rdy) servo alarm (alm) approx.1 to 5 ms t1 *1 braking braking released approx. 30 r/min approx. 30 r/min released a b brake release (brk-off) t1 *1 set by pr6b set by pr6b http://www..net/ datasheet pdf - http://www..net/ - app. 16 - timing chart after an alarm is cleared (during servo-on) dynamic brake motor energized brake release (brk-off) servo ready (s-rdy) servo alarm (alm) alarm clear (a-clr) 120 ms or more entry of clear signal operation (braking) released energized released ready not alarm free (not energized) braking not ready alarm no yes position/velocity/ torque command approx, 50 ms *1. the value of t depends on the value of pr6a. *2. for the operation of the dynamic brake at servo-off, see the explanation of pr69 in "details of parameters". dynamic brake motor brake release (brk-off) motor speed servo-on (srv-on) approx. 50 ms approx. 1 to 5 ms servo-off servo-on servo-off braking *2 t * 1 free (not energized) braking released energized released approx. 30 r/min braking free (not energized) braking approx. 1 to 5 ms servo-on/off operation when the motor is stopped http://www..net/ datasheet pdf - http://www..net/ - app. 17 - appendixes *1. the value of t1 is the value of pr6b or the time needed for decreasing the motor speed to about 30 r/min , which is shorter. *2. during deceleration, servo-on does not become active until the motor stops, even if you attempt to turn on srv-on again. *3. for the operation of the dynamic brake at servo-off, see the explanation of pr69 in "details of parameters". servo-off servo-on released energized released braking free (not energized) braking dynamic brake motor servo-on does not become active until the motor speed decreases to about 30 r/min or less. brake release (brk-off) servo-on (srv-on) approx. 50 ms motor speed approx. 30 r/min approx. 1 to 5 ms servo-on servo-off braking *3 t1 *1 free (not energized) braking braking released energized released approx. 30 r/min approx. 30 r/min released dynamic brake motor motor speed a brake release (brk-off) a motor speed b b brake release (brk-off) servo-on (srv-on) t1 *1 set by pr6b set by pr6b servo-on/off operation when the motor is in operation with servo-on entered with servo-off entered http://www..net/ datasheet pdf - http://www..net/ - app. 18 - acceptable loads on output axes acceptable loads on output axes l l/2 p a m b radial load (p) thrust load (a and b) motor series msma mqma msma mdma mhma mfma mgma design acceptable during operation radial load 147 392 686 147 392 686 980 686 980 1666 980 1666 980 1862 980 1666 2058 thrust load a direction 88 147 294 88 147 392 588 392 588 784 588 784 588 686 588 784 980 b direction 117.6 196 392 117.6 196 490 686 490 686 980 686 980 686 980 1176 radial load 49 68.6 245 392 68.6 245 392 490 784 392 490 784 490 784 392 490 784 490 784 1176 thrust load (a or b direction) 29.4 58.8 98 147 58.8 98 147 196 343 147 196 343 196 343 147 196 294 196 343 490 motor capacity 30w 50w, 100w 200w, 400w 750w 100w 200w, 400w 1kw 1.5kw ~ 3.5kw 4kw ~ 5kw 750w 1kw ~ 2kw 2.5kw, 3kw 3.5kw, 4kw 4.5kw, 5kw 500w ~ 1.5kw 2kw ~ 5kw 400w 750w, 1.5kw 2.5kw ~ 4.5kw 300w ~ 900w 1.2kw ~ 3kw 4.5kw unit: n (1 kgf = 9.8 n) http://www..net/ datasheet pdf - http://www..net/ - app. 19 - appendixes initialization (precautions) in the operation of initialization (returning to the home position), if the initialization signal (z-phase signal from the encoder) is entered before the motor is not substantially decelerated (after the proximity sensor is activated), the motor may not stop at the requ ired position. to avoid this, determine the positions with the proximity sensor on and initialization signal on in consideration of the number of pulses required for successful deceleration. the parameters for setting the acceleration/deceleration time also affect the o peration of initialization, so that these parameters should be determined in consideration of both the positioning and initializing oper ations. the motor will start to decelerate with the proximity sensor on, and stop with the first initialization signal (z-phase). the motor will start to decelerate with the proximity sensor on, and stop with the first initialization z-phase signal after the proximity sensor off. proximity sensor initialization signal proximity sensor (dog) range proximity sensor (dog) range going back and forth z-phase output from encoder velocity if the initial (home) position could not be found within the proximity range, the motor will repeat deceleration and acceleration while going back and forth (stop with the proximity sensor (dog) off (moving beyond the proximity range) and move in the opposite direction). proximity sensor initialization signal proximity sensor (dog) range z-phase signal from encoder velocity http://www..net/ datasheet pdf - http://www..net/ - app. 20 - "absolute" driver in case of using an absolute encoder, or in case of using an absolute/incremental encoder as an absolute encoder, connect a battery for operating the absolute encoder, and set pr0b (absolute encoder set-up) to 0. with this setting, the controller can know the current position of the motor, and the absolute system without any operation of initialization will become available. initializing the encoder before using the driver-motor system, it is necessary to clear (initialize) the encoder at the home position. with this operation, the value of the multi-turn counter will become 0. for this operation, use the led touch panel (auxiliary function: absolute encoder clear mode) or panaterm (dvop1950). after this operation, you must turn off the control power and turn it on again to save the data in the encoder. absolute data the absolute data consist of:single-turn data that defines the absolute position of the motor, and multi-turn data that counts the number of turns after the latest clearing operation of the encoder. single-turn data cw ccw -1 0 0 1 1 2 131071 0,1,2 ? ? ? ? ? ? 131071 0,1,2 131071 0,1, multi-turn data motor rotating direction 0bh rsw (id) d2h 03h 11h encoder status (l) absolute data (15 characters) received value of rsw(id) on the led touch panel encoder status (h) single-turn data (l) single-turn data (m) single-turn data (h) multi-turn data (l) multi-turn data (h) 00h error code checksum after communication is executed, this value is 0. if not 0, read again the absolute data from the driver. single-turn data = single-turn data (h) x 10000h + single-turn data (m) x 100h + single-turn data (l) multi-turn data = multi-turn data (h) x 100h + multi-turn data (l) structure of absolute data the single- and multi-turn data consist of 15-character data (hexadecimal binary code) from the rs232c or rs485 communication interface. for the communication procedure, see pages 23 and 25 in appendix. http://www..net/ datasheet pdf - http://www..net/ - app. 21 - appendixes encoder status (1 means the occurrence of an error) encoder status (l) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 over-speed err42 (absolute over-speed error) bit 0 0 encoder status (h) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 0 0000 multi-turn counter error battery error battery alarm full absolute status err47 (absolute status error) err44 (absolute single-turn counter error) err41 (absolute counter overflow error) count error counter overflow err45 (absolute multi-turn counter error) err40 (absolute system down error) battery alarm battery error occurrence of battery alarm, multi-turn counter error, counter over, counter error, full absolute status or over-speed for details of the encoder status, see encoder specifications. ? for details of the transfer of absolute data, see communication specifications. ? when transferring absolute data, enter servo-off and fix the motor using a brake. installing the battery the backup battery is used for saving the position data of the absolute encoder when the main power of the driver is off. use one of the following methods for connecting the battery. 1 install the battery at the controller side. 2 install the battery in the driver. 3 install the battery at the motor side. if the encoder cable must be removed and then reconnected at the installation site, apply the method 3 (install the battery at the motor side) so that the encoder can be powered continually. http://www..net/ datasheet pdf - http://www..net/ - app. 22 - "absolute" driver rs232c communication protocol the baud rate is determined by parameter no.0c (baud rate set-up of rs232c). 2400, 4800, 9600bps 8 bits nil 1 bit 1 bit baud rate data length parity start bit stop bit id mode im ser in ser out i/f sig u v w sp g set rs232c switch, etc. controller * for battery connection, see installing the battery in the previous page. rs232c interface sn751701 or equivalent motor positioning controller battery txd host id mode im ser in ser out i/f sig u v w sp g set rsw(id)=0 rsw(id)=1 rsw(id)=2 rsw(id)=3 rs485 id mode im ser in ser out i/f sig u v w sp g set rs485 id mode im ser in ser out i/f sig u v w sp g set rs485 max. 16 axes host id mode im ser in ser out i/f sig u v w sp g set id mode im ser in ser out i/f sig u v w sp g set id mode im ser in ser out i/f sig u v w sp g set id mode im ser in ser out i/f sig u v w sp g set rxd gnd 5 3 4 44 45 5 3 6 driver batt+ batt - 2 1 * * rxd txd gnd cn ser cn i/f cn sig http://www..net/ datasheet pdf - http://www..net/ - app. 23 - appendixes rs232c communication protocol for the transfer of commands, see the instructions of the controller. rs232c communication is possible with servo ready output on. *1 and *2 data depend on the value of rsw(id) on the led touch panel. start of transfer n n n n y y y y end of transfer 05h sent the controller requests the driverto send absolute data. the controller receives absolutedata from the driver. 04h sent 06h sent 15h sent absolute data received (15 characters) 04h received 06h received 05h received checksum ok 00h sent 00h sent 2dh sent *1 *2 d2h sent the host enters the rsw value (*1 data) of the desired driver into the "axis" field of the command block, and sends the command according to the rs232c communication protocol. checksum: ok if the value of the lowest 8 bits of the sum of the received absolute data (15 characters) is 0. rsw (id) 0 1 2 3 4 5 6 7 8 9 a b c d e f *1 data 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0ah 0bh 0ch 0dh 0eh 0fh *2 data 2eh 2dh 2ch 2bh 2ah 29h 28h 27h 26h 25h 24h 23h 22h 21h 20h 1fh http://www..net/ datasheet pdf - http://www..net/ - app. 24 - "absolute" driver rs485 connection * for battery connection, see installing the battery in the previous page. * * * idmode im ser in ser out i/f sig u v w sp g set idmode im ser in ser out i/f sig u v w sp g set rs485 rsw(id)=1 module id = 0 rsw(id)=2 rsw(id)=3 rsw(id)=4 idmode im ser in ser out i/f sig u v w sp g set idmode im ser in ser out i/f sig u v w sp g set set the value of rsw (id) (on the led touch panel) to 1 to f. max. 15 axes ? ? ? host controller rs485 interface adm485 or equivalent motor positioning controller next driver battery rs485+ rs485 - gnd 7 8 4 44 45 3 driver cn net cn ser cn i/f batt+ cn sig batt - rs485+ 7 8 4 rs485 - gnd rs485+ rs485 - gnd 2 1 the baud rate is determined by parameter no.0d (baud rate set-up of rs485). 2400, 4800, 9600 bps 8 bits nil 1 bit 1 bit baud rate data length parity start bit stop bit http://www..net/ datasheet pdf - http://www..net/ - app. 25 - appendixes rs485 communication protocol for the transfer of commands, see the instructions of the controller. rs485 communication is possible with servo ready output on. the following flow chart shows the communication when rsw(id) = 1. *1, *2 and *3 data depend on the value of rsw(id) on the led touch panel. the host sends the command to the desired driver according to the rs485 communication protocol. checksum : ok if the value of the lowest 8 bits of the sum of the received absolute data (15 characters) is 0. rsw(id) 0 1 2 3 4 5 6 7 8 9 a b c d e f *1 data 81h 82h 83h 84h 85h 86h 87h 88h 89h 8ah 8bh 8ch 8dh 8eh 8fh *2 data 01h 02h 03h 04h 05h 06h 07h 08h 09h 0ah 0bh 0ch 0dh 0eh 0fh *3 data 2dh 2ch 2bh 2ah 29h 28h 27h 26h 25h 24h 23h 22h 21h 20h 1fh rs485 is not available start of transfer n n n n y y y y end of transfer the controller requests the driver to send absolute data. 04h sent 80h sent 06h sent 15h sent absolute data received (15 characters) 81h received 06h received 80h received 05h received checksum ok 01h sent 00h sent 2dh sent *2 *3 d2h sent 81h sent *1 05h sent 04h received the controller the controller receives absolute receives absolute data from the driver data from the driver . the controller receives absolute data from the driver. *1 http://www..net/ datasheet pdf - http://www..net/ - app. 26 - 1 remove the screw. 2 remove the cover, and cut away its upper right corner. terminal block cover 3 replace the cover, and tighten the screw. use nippers. "absolute" driver how to install the battery 1. cut away the upper right corner of the terminal block cover for types 1 through 3 1connect the cable. battery holder 2 set the lug into place. note: make sure that the cable is not caught between the driver and holder. 3 snap the upper lug into place while pressing the mark. 2. insert the battery into the holder. + - + - 1insert the battery battery holder (optional: dvop2061) battery dvop2060 3. set the holder to the driver. driver http://www..net/ datasheet pdf - http://www..net/ - app. 27 - appendixes battery cover 1 press mark and remove the cover. insert the coverwhile pressing mark. driver 1 press the lug and set the battery. 2 connect the cable. connector battery holder 1. remove the battery cover for types 4-2, 4-3 and 5 3. snap the battery ?@?@cover into place 2. set the battery into the holder. 1 . never use a damaged (liquid leaking) battery. 2. make sure that the battery cable is firmly connected. otherwise electric contact may be lost due to aging. - app. 28 - "full close" driver combining a certain type of the driver with an external scale (linear type), you can use the full-close driver for precise positioning. drivers available for "full-close" use are the 17-bit absolute driver and 17-bit absolute/incremental driver. details, see full-close specifications. wiring of main circuit for wiring, see page 22. cn sig connector msma (750w or less) and mqma black yellow/ green white purple light blue pink red motor side driver side nihon amp make nihon amp make intermediate cable fg servo motor external scale 0v + 5v sd sd 3.6v+ 3.6vg 0v + 5v exz exz exb exb exa exa + 5v 0v fg rx/tx rx/tx pg5v pg5v 172161-1 172169-1 pg0v cn sig 17 4 2 3 1 20 6 5 18 7 8 9 10 11 12 4 2 1 5 7 8 9 3 batt + batt - motor side driver side (japan aviation electronics industry, ltd. make) (japan aviation electronics industry, ltd. make) intermediate cable fg servo motor external scale 0v + 5v sd sd 3.6v+ 3.6vg 0v + 5v exz exz exb exb exa exa + 5v 0v fg rx/tx rx/tx pg5v pg5v ms3106b20-29s ms3102a20-29p pg0v cn sig 17 4 2 3 1 20 6 5 18 7 8 9 10 11 12 k s t l h g j batt + batt - msma (1kw or more), mdma, mfma, mhma and mgma - app. 29 - appendixes cn i/f connector see full-close specifications. for wiring, see page 28. parameter listing see full-close specifications. connection to an external scale external scale max. 500 kpps cn sig ex 220 ? 2k ? 2k ? 43k ? 43k ? twist-paired wires ds26c32atm or equivalent ex 0v ? relationship between signal from external scale and rotating direction ccw rotation exb precedes exa by 90 degrees, and t1 > 0.5 s t2 > 2.0 s cw rotation exb succeeds to exa by 90 degrees, and t1 > 0.5 s t1 > 2.0 s t1 t2 exa exb t1 t2 exa exb http://www..net/ datasheet pdf - http://www..net/ - app. 30 - details of parameters parameters for function selection default setting is shown by [ ] prno. parameter value function if multiple axes are used, it is necessary for the river to identify the current axis that is accessed by the host (e.g. pc). you can identify axis address by number with this parameter. you can select the type of information to be displayed initially on the 7-segment led at power on. 00 01 axis address initial led status 0 ~ 15 [1] 0 ~ 2 ? with the mains power on, the current value of rsw id (0 to f) on the led touch panel is downloaded to the driver as the value of this parameter. ? the value of this parameter cannot be modified by other means than the ro- tary switch (rsw) id. reading (pulse count) of the position error counter unit: pulse + : generates ccw-torque C : generates cw-torque motor speed unit : r/min. + : runs in ccw C : runs in cw motor torque unit : % + : generates ccw-torque C : generates cw-torque id mode im sp g set power on pr01 value 0 1 2 flashes (about two seconds) during the initializing process [1] displayed information polarity http://www..net/ datasheet pdf - http://www..net/ - app. 31 - appendixes prno. parameter value function you can set the control mode to be used. you can disable the analogue torque limit input (ccwtl or cwtl). 1?finput disabled 0?finput enabled 02 03 control mode set-up analogue torque limit inhibit 0 ~ 10 [1] 0 ~ 1 [1] value 0 1 2 3 4 5 6 ~ 10 1st mode position velocity torque position position velocity 2nd mode *2 velocity torque torque control mode if you do not use the torque limit, set pr03 to 1. with pr03 = 0 and torque limit input (ccwtl and cwtl) open, the motor does not run. *1 these are special modes intended for "full-close" operation. for detals, see full-close specifications. *2 if a hybrid mode has been selected (pr02 = 3, 4, 5, 9 or 10), switch the 1st. and 2nd. mode with the control mode switching input(c-mode). ?notes?? allow 10ms or longer before entering any commands, after entering c-mode. 1st 2nd (on) (open) c-mode min. 10 ms min. 10 ms (open) 1st *1 http://www..net/ datasheet pdf - http://www..net/ - app. 32 - details of parameters prno. parameter value function for linear motion or other similar motion, overtraveling of the work may cause mechanical damages. to avoid this, it is necessary to provide a limit switches at each end so that traveling over the limit switch position can be inhibited. - app. 33 - appendixes prno. parameter value function 05 internal speed switching 0 ~ 2 [0] ? you can select whether to enable or disable the internal velocity set-up. ? there are four options of internal velocity commands: pr53 (1st speed), pr54 (2nd speed), pr55 (3rd speed) and pr56 (4th speed). ? block diagrams of the internal and external velocity set-up functions a inh (cn i/f pin 33): internal velocity command select 1 b cl (cn i/f pin 30): internal velocity command select 2 ? you can easily set-up the internal speed with contact inputs only. 0 external velocity command 1 1st internal speed (pr53) 2st internal speed (pr54) 3st internal speed (pr55) 4st internal speed (pr56) 2 external velocity command value of pr05 30 33 ad converter 11 2 2 00 pr05 spr cl cn i/f inh external velocity command contact input velocity command 1st.internal speed (pr53) 2st.internal speed (pr54) 3st.internal speed (pr55) 4st.internal speed (pr56) 14 inh (pin 33) off on off on cl (pin 30) off off on on ? switching between the four options of internal velocity commands uses two contact inputs.example: 4-speed opera- tion using the internal velocity commands to run/stop the motor, you need zero speed clamp input(zerospd) and servo-on input(srv-on) in addition to cl/inh input. http://www..net/ datasheet pdf - http://www..net/ - app. 34 - details of parameters prno. parameter value function you can switch whether to enable or disable the zero speed clamp input (zerospd, cn i/f pin 26). 05 06 internal speed switching zerospd input selection 0 ~ 1 [0] function of zerospd input (pin 26) the zerospd input is disabled, and the driver assumes that the motor is always "not clamped to zero speed". the zerospd input is enabled, and the velocity command is regarded as "0", by opening the connection to com- . value 0 1 ? example: 4-speed operation using the internal velocity commands to run/stop the motor, you need zero speed clamp input(zerospd) and servo-on input(srv-on) in addition to cl/inh input. - app. 35 - appendixes prno. parameter value function you can select/set-up the relationship between the voltage to be fed-out to the speed monitor signal output (spm: cn i/f pin 43) and the actual speed (or command velocity) of the motor. you can select/set-up the relationship between the voltage to be fed-out to torque monitor signal output (im: cn i/f pin 42) and the actual torque of the motor or position error pulse counts. you can define the functions of the torque limit output (tlc: cn i/f pin 40). 07 08 09 speed monitor(sp) selection torque monitor (im)selection tlc output selection 0 ~ 9 [3] 0 ~ 5 [0] 0 ~ 5 [0] varue 0 1 2 3 4 5 function torque in-limit zero speed detection alarm signal overregeneration alarm overload alarm absolute battery alarm signal symbol tlc zsp warn all warn reg warn ol warn batt remarks for details of these functions, see the section of cn i/f connector. value 0 1 2 3 4 5 6 7 8 9 spm signal actual motor speed relationship between output voltage level and velocity 1. 6v / 47 r/min 1. 6v / 187 r/min 1. 6v / 750 r/min 1. 6v / 3000 r/min 1.5v / 3000 r/min 1. 6v / 47 r/min 1. 6v / 187 r/min 1. 6v / 750 r/min 1. 6v / 3000 r/min 1.5v / 3000 r/min value 0 1 2 3 4 5 6?`10 spm signal torque 3v / rated torque (100%) 3v / 31 pulse 3v / 125 pulse 3v / 500 pulse 3v / 2000 pulse 3v / 8000 pulse enabled at full-close control (see full-close specifications) commanded veloctly relationship between output voltage and torque or position error pulse counts position error pulse counts http://www..net/ datasheet pdf - http://www..net/ - app. 36 - prno. parameter value function you can define the functions of the zero speed detection output (zsp: cn i/f pin 12). the relationship between pr0a value and zsp output is the same as that of pr09 (tlc). use this when using an absolute encoder. 0a 0b 0c 0d zsp output selection absolute encoder set-up baud rate set-up of rs232c baud rate set-up of rs485 0 ~ 5 [1] 0 ~ 2 [1] 0 ~ 2 [2] 0 ~ 2 [2] value 0 1 2 description uses an absolute encoder as an ab- solute encoder. uses an absolute encoder as an in- cremental encoder. uses an absolute encoder as an ab- solute encoder (but ignoring the "multi-turn counter over"). value 0 1 2 baud rate 2400bps 4800bps 9600bps value 0 1 2 baud rate 2400bps 4800bps 9600bps details of parameters - app. 37 - appendixes parameters for time constants of gains and filters: related to real time auto tuning * see page 38 in appendix. prno. parameter value function ? you can define the response characteristics of position control. higher the gain you set, quicker the in-position time you can obtain. ? to obtain the overall response of the servo system to- gether with the above position gain, set this gain as large as possible. ? integration element of the velocity loop. the smaller the setting, the quicker you can reduce the velocity er- ror to 0, after stopping. ? the integration is disabled by setting this to 1,000. ? you can set-up the time constant of low-pass filter(lpf) in 6 stages(0 to 5), which is inserted after the block , and which converts the en- coder signal to the velocity signal. ? the higher the value you set-up, the smaller the noise you can obtain, however, it is usually recommended to use the default value (4). ? you can set-up the time constant of the primary delay filter that is inserted to the torque command portion. ? use this function to suppress the oscillation caused by torsion resonance. you can set-up the amount of velocity feed forward at posi- tion control. position error becomes almost 0 while the mo- tor runs at a constant speed, by setting this to 100%. the higher the setting you make, the quicker the response you can obtain with smaller position error, however, it may cause overshoot. ?you can set-up the time constant of the primary delay filter that is inserted to the velocity feed forward portion. ? use this function to reduce the over and under- shoot of the speed, chattering of the in-posi- tion signal. 10 11 12 13 14 15 16 17 1st position loop gain 1st velocity loop gain 1st speed detection filter feed forward filter time constant (reserved) 10 ~ 2000 [50] 1 ~ 3500 1 ~ 1000 [50} 0 ~ 5 [4] 0 ~ 2500 0 ~ 100 [0] 0 ~ 6400 [0] 1/s hz * ms % 0.01ms % 0.01ms 1st velocity loop integration time constant 1st torque filter time constant velocity feed forward unit http://www..net/ datasheet pdf - http://www..net/ - app. 38 - prno. parameter value unit function ? this driver provides 2(two) sets (1st. and 2nd.) of gain and time constant for position loop, velocity loop, velocity detection filter and torque command filter. ? the functions and meanings of these 2nd gains or time constants are the same as those of the 1st ones mentioned in the previous page. ? for switching between the 1st and 2nd gains or constants, see adjustment. * if pr20 (inertia ratio) has been set correctly, the unit of the values of pr11 and pr19 is hz. ? you can set-up the frequency of the resonance suppression notch filter. ? you can set-up the resonance frequency of the machine system which you can obtain by the frequency characteristics analysis program contained in panaterm. ? this notch filter function will be disabled by setting this parameter to 1500. ? you can set-up the width (five options) of the resonance suppression notch filter in 5 steps. the higher the setting is, the wider the width you can obtain. ? in normal cases, the default value should be used. ? you can set-up the time constant (eight options) of the primary delay filter inserted in the distulbance torque observer. 18 19 1a 1b 1c 1d 1e 1f 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant notch frequency notch width selection disturbance torque observer 10 ~ 2000 [50] 1 ~ 3500 1 ~ 1000 [50] 0 ~ 5 [4] 0 ~ 2500 100 ~ 500 [1500] 0 ~ 4 [2] 0 ~ 8 [8] 1/s hz * ms ?[ 0.01ms hz details of parameters 0?`7 the smaller the setting is, the larger the suppression you can expect. *1 8 ? @ ? @ value of pr1f *1 note that the running noise of the motor becomes larger, with a smaller value of pr1f(better suppres- sion of the disturbance torque). it is recommended that you start from the smaller value of pr1f to see the actual response and increase the value. ? for the calculation of disturbance torque in the observer, the inertia ratio (pr20) is necessary. if the load inertia is known, calculate the inertia ratio and set the value of pr20 to the inertia ratio calcu- lated. if the load inertia is unknown, perform the auto gain tuning that automatically enters the value of pr20. - app. 39 - appendixes prno. parameter value unit function ? you can set-up the ratio of load inertia to the motor's rotor inertia. ? the load inertia can be estimated by executing the auto gain tuning, and this result will be reflected in this parameter. if pr20 (inertia ratio) is set correctly, the unit of the val- ues of pr11 and pr19 becomes hz. if the value of pr20 is larger than the actual load inertia, the unit of the value of these parameters becomes larger. if the value of pr20 is smaller than the actual load inertia, the unit of the value of these parameters becomes smaller. ? you can define the operating mode of the real time auto tuning. ? with a larger value of pr21, a quicker response to the change in load inertia can be obtained, though the operation may become unstable depending on the operating pattern. in normal cases, the value of this parameter should be 1 or 2. ? you can set-up the machine stiffness (from 10 options) that is used at the real time auto gain tuning. ? large impact shock might be given to the machine, when you suddenly set this parameter to a larger value. start from the smaller value while monitoring the machine movement. 20 21 22 inertia ratio real time auto tuning set-up machine stiffness at auto tuning 0 ~ 10000 0 ~ 3 [0] 0 ~ 9 [2] % CC CC pr20 =(load inertia)/(rotor inertia) x100% low machine stiffness high low servo gain high low response high pr22 0 ? 1- - - - - - - - - - - - - 8 ? 9 parameters for real time gain tuning value 0 1 2 3 real time auto tuning not used used fluctuation of load inertia during operation CCCC rarely fluctuates fluctuates slowly fluctuates quickly http://www..net/ datasheet pdf - http://www..net/ - app. 40 - prno. parameter range unit function description ? you can select the switching between pi and p operati ons, and switch- ing between the 1st and 2nd gains. *1 switch the pi and p-action with the gain switching input (gain: cn i/f pin 27). *2 see adjustment for the conditions for switching be tween the 1st and 2nd gains. ?e you can select the conditions for switching between the 1st and 2nd gains at the position control mode. 30 31 2nd gain action set-up position control switching mode 0 ~ 1 [0] 0 ~ 8 [0] CC CC details of parameters parameters for switching to 2nd gains value 0 1 gain selection and switching fixed to the 1st gains *1 (switching between pi and p possible) switching between the 1st and 2nd gains possible *2 gain input com- disconnected com- connected operation of the position loop pi operation p operation value 0 1 2 3 4 5 6 7 8 conditions for gain switching fixed to the 1st gain fixed to the 2nd gain 2nd gain selection with the gain switching input (gain) on/ (pr30 must be set to 1) 2nd gain selection with a larger torque command change fixed to the 1st gain 2nd gain selection with a larger velocity command 2nd gain selection with a larger position error 2nd gain selection with the position command issued 2nd gain selection with no in-position http://www..net/ datasheet pdf - http://www..net/ - app. 41 - appendixes prno. parameter range unit function description ? you can set-up the delay time when switching from the 2nd. to the 1st. gain when the actual status shifts out of the preset condition with pr31.(see page 62) ? this parameter is enabled when pr31 is set to 3, 5 and 6, and you can define the level of judgement fo switch from the 1st. to the 2nd. gain. ?you can set-up the width of the hysteresis to be defined at the top and bottom of the level of judgement set with pr33. ? the figure below shows the definitions of pr32 (delay time), pr33 (switching level) and pr34 (hysteresis). - app. 43 - appendixes you can set-up the multiplication when [quadrature pulse input] is selected with pr42(command pulse input mode set-up). you can individually set-up the logic of 2-series of pulse com- mand inputs (pulse and sign). you can set-up the type of command pulse to be given to the driver from the controller. there are three types of command pulse as shown in the table below. select an appropriate type accord- ing to the controller. 40 41 42 command pulse multiplier set-up command pulse logic inversion command pulse input mode set-up 1 ~ 4 [4] 0 ~ 3 [0] 0 ~ 3 [1] prno. parameter range function description parameters for position control value 1 2 3 or 4 multiplication at quadrature pulse input x 1 x 2 x 4 value 0 or 2 1 3 signal puls sign puls sign puls sign type of command pulse quadrature pulse command mode cw/ccw pulse command mode pulse/sign command mode ccw command cw command value 0 1 2 3 logic of pulse signal non-inversion inversion non-inversion inversion logic of sign signal non-inversion non-inversion inversion inversion t1 t1 t1 t1 t1 t1 t1 t1 t4 h l t5 t4 t6 t6 t6 t6 t5 a-phase b-phase b-phase delays from a-phase by 90 degrees b-phase advances a-phase by 90 degrees t2 t2 t2 t2 t2 http://www..net/ datasheet pdf - http://www..net/ - app. 44 - command pulse inhibit input invalidation output pulses per single turn you can select enabled or disabled of the command pulse inhibit input (inh: cn i/f pin 33). you can set-up encoder pulse counts per single turn, which is to be fed-out to the controller. setting in scalar.set the required pulse counts per single turn in [pulse/rev] unit directly. note that the set-up of the larger counts than the encoder pulses is disabled. details of parameters maximum permissible frequency and minimum required time width of command pulse inputs make both of the rising and tailing time 0.1 s or shorter. i/f for inputting pulse/sign signals interface for line drivers interface for open collectors t 1 2 5 t 2 1 2.5 t 3 1 2.5 t 4 1 2.5 t 5 1 2.5 t 6 1 2.5 maximum permissible frequency 500kps 200kpps minimum required time width [s] command pulse input is disabled by opening the connection between inh input and com-. if you do not use inh inputs, set pr43 to 1. with this setting, you do not have to externally connect between inh (cn i/f pin 33) and com- (pin 41). value 0 1 inh input enabled disabled prno. parameter range function description 42 43 44 0 ~ 1 [1] 1 ~ 16384 [2500] (continued) http://www..net/ datasheet pdf - http://www..net/ - app. 45 - appendixes prno. parameter range function description when the motor runs cw, the b-phase pulse advances the a-phase pulse (when the motor runs ccw, the b-phase pulse delays from the a-phase pulse). pulse command scaling function (electronic gear) ? purpose 1) you can set-up any motor speed or work travel amount per input com- mand pulse(unit). 2) you can increase the nominal command pulse frequency with scaling, when your required speed can't be obtained due to the capacity of the pulse generator of the controller(maximum available frequency). ? block diagram of the scaling function ? the calculated numerator is max. 2621440. set-up of larger value than this is disabled, and automatically substituted by 2621440. 45 46 47 48 49 4a 4b 0 ~ 1 [0] 1 ~ 10000 1 ~ 10000 1 ~ 10000 1 ~ 10000 0 ~ 17 1 ~ 10000 parameters for pulse command scaler (pr46 through pr4b) you can invert the the phase relation between a and b phases by inverting the logic of the b-phase pulse with this parameter. ccw run a-phase (oa), b-phase (ob), non-inversion b-phase (ob), inversion cw run value 0 1 command pulse x 2 numerator of 1st. command pulse ratio (pr46) *1 *1 *2 *2 multiplier of numerator of command pulse ratio (pr4a) internal command f f + - feedback pulse (resolution) to the position error counter 10000p/rev or 2 p/rev denominator of pulse command pulse raito (pr4b) numerator of 2st. command pulse ratio (pr47) numerator of 3st. command pulse ratio (pr48) numerator of 4st. command pulse ratio (pr49) 17 - app. 46 - prno. parameter range function description you can select the numerator of the command scalar. *1 select the 1st. or 2nd. numerator with scalar input switching (div: cn i/f pin 28) . *2 use the 3rd and 4th command scalars only for special operati ons such as "fill-close" operations. for details, see fullclose specifications. - app. 47 - appendixes prno. parameter range function description this filter is a primary delay filter that is inserted after the scaling function in the command pulse input portion. ? you can set-up the time constant of the smoothing filter in 8 steps with pr4c. you can set-up the conditions for clearing the position error counter, i.e. for issuing the counter clear signal (cl: cn i/f pin 30). *1 : minimum time width of the cl signal 4c 4d smoothing filter set-up counter clear input 0 ~ 7 [1] 0 ~ 1 [0] value 0 1 ~ 7 time constant no filtering function large time constant value 0 1 conditions cleared with level (*1) cleared with edge (rising part) purpose of this filter ? reduce the stepwise motion of the motor that may appear when the command input is rough. ? the command input may become rough when: 1) the scale ratio is large (10 times or greater) 2) the command frequency is low. cl (pin 30) min. 100 s http://www..net/ datasheet pdf - http://www..net/ - app. 48 - prno. parameter range function description you can set-up the relationship between the motor speed and the voltage applied to the velocity command input (spr: cn i/f pin 14). you can invert the polarity of the velocity command input (spr). use this parameter in such a case as you want to change the motor rotating direction without changing the polarity of the command signals from the controller. - app. 49 - appendixes prno. parameter range function description ? you can adjust the offset of the external analogue velocity command sys- tem including that the controller. ? the offset is about 0.3mv per unit of this parameter. ? there are two ways for adjusting the offset : (1) manual adjustment and (2) automatic adjustment. you can set-up the internal command velocity of 1st to 4th speed to pr53 to 56 respectively in [r/min] unit, when the internal velocity set-up is enabled with the parameter pr05 (switching of internal and external velocity set-up). - app. 50 - prno. parameter range function description you can control the speed while applying the acceleration/ deceleration to the velocity commands in the driver, at velocity control mode. you can obtain soft-start/soft-down action of the motor when the phased velocity command is entered, or when the internal veloc- ity set-up is selected. - app. 51 - appendixes parameters for torque control prno. parameter range function description you can invert the polarity of the torque command input signal (trqr: cn i/f pin 14) when pr02 = 5. when the driver has been configured for torque control, the torque command signal input uses cn i/f pin 16. ? e you can limit the max. motor torque with this parameter. ? e in normal specifications, the driver can produce 300 % of the ?@ rated torque for a short duration(peak-torque). use this limiting ?@ function when 300% torque may cause the trouble to the ?@ machine. 5c 5d 5e torque command input inversion torque limit set-up ? the unit of the set-up is [0.1v/100%]. enter the required volt- age for producing the rated torque. ? the default value of 30 corresponds to 3v/100%. 0 ~ 1 [0] 0 ~ 500 [300] rated torque torque default voltage of command input 2 -2 -4 -6 -8 -10v 100 100 200 300[%] 200 300[%] 4 6 8 10v cw ccw value 0 1 direction of motor torque ccw torque with (+) commands cw torque with (+) commands ? set-up the value in % against the rated torque. ? the right figure shows an example that the maxi- mum torque is limited to 150% of the rated torque. ? this parameter limits the maximum torque in both cw and ccw directions. velocity 200 100 (rated torque) (rated torque) 100 200 300 torque[%] 300 (maximum) (maximum) cw ccw with pr5e = 150 - app. 52 - details of parameters parameters for various sequences prno. parameter range function description ? you can set-up the output timing of the in-position signal (coin: cn i/ f pin 39), completing the travel of the motor (work), after the command pulse entry. ? the in-position (positioning complete) signal (coin) will be fed-out when the position error counter pulsed fall within a preset r ange ? you can set-up the output timing of the zero speed detection signal (zsp: cn i/f pin 12). unit in [r/min]. ? the zsp signal will be fed-out when the motor speed becomes lower than this setting. 60 61 in-position range zero speed 0 ~ 32767 0 ~ 10000 [50] ? the unit of position error pulses is the "resolution" of the encoder. it differs depending on the type of encoder. 1) 17-bit encoder: 217 = 131072 2) 2500 p/rev encoder: 4 x 2500 - app. 53 - appendixes prno. parameter range function description ? you can set-up the output timing of the at-speed signal (coin : cn i/f pin 39) at velocity and torque control mode. unit in [r/min]. ? the at-speed (coin) signal will be fed-out when the motor speed exceeds the preset value by this parameter. ? you can set-up the detection level for the position error limit at [position error limit protection], with error counter pulses. 62 63 64 at-speed position error set-up position error invalidation 0 ~ 10000 [1000] 0 ~ 32767 0 ~ 1 [0] ? calculate the value of this parameter using the following formula. pr62 affects both cw and ccw rotation regardless of the actual rotating direction. value 0 1 position error limit protection enabled disabled. the motor continues to run, even though the pulse counts ex- ceeds the level set by pr63, judging that no error is found. speed cw coin off on ccw pr62 pr62 parameter value = [position error limit level (pulses)]/256 - app. 54 - you can select whether or not to activate the under-voltage trip in case the main power is shut-off. see "timing chart for the mains and control power shut off" in appendix. you can set-up the conditions for decelerating the motor after the over-travel limit input (ccwl: cni/ f pin 9 or cwl : cn i/f pin 8) is made active. you can set-up the conditions of the following operations after main power off. 1) decelerating and halting the motor 2) clearing the position error counter (db: dynamic brake engaged) prno. parameter range function description 65 66 67 uvtrip selection at main power-off db inhibition at overtravel limit sequence at main power-off 0 ~ 1 [1] 0 ~ 1 [0] 0 ~ 7 [0] ??? ? motor operation from deceleration to and after stop the dynamic brake (db) is activated, and the motor is stopped. after stop, the dynamic brake is released. without dynamic brake the motor stops after coasting. after stop, the motor remains free. value 0 1 details of parameters under-voltage protective function if the main power is lost during servo-on, servo-off get active (the motor does not trip). after this, when the main power is on, servo-on will be made active again. if the main power is lost during servo-on, the under-voltage protective func- tion (err-13) is activated, and the motor trips. value 0 1 value 0 1 2 3 4 5 6 7 after stop db db free (db not engaged) free (db not engaged) db db free (db not engaged) free (db not engaged) content of the position error counter cleared held during deceleration db free run (coasting) db free run (coasting) db free run (coasting) db operating conditions free run (coasting) http://www..net/ datasheet pdf - http://www..net/ - app. 55 - appendixes prno. parameter range function description 68 69 6a sequence at alarm sequence at servo-off mechanical brake aclion set-up at motor standstill 0 ~ 3 [0] 0 ~ 7 [0] 0 ~ 100 [0] value 0 1 2 3 during deceleration db free run (coasting) db free run (coasting) after stop db db free (db not engaged) free (db not engaged) operating conditions content of the position error counter cleared pr6a?????tb ? the value of this parameter should not be less than the value of tb (delay of braking) in order to avoid the minute movement or fall of the motor (work). ? pr6a = (entry) x 2 ms on srv-on brk-off actual braking motor current brake released brake released off brake engaged brake engaged energized free (not energized) pr6a tb defines the conditions for decelerating the motor and keeping the motor stopped after one of the driver's protective functions (alarms) is activated. (db : dynamic brake engaged) see also "timing chart for alarms" in appendix. defines the following processes after servo-off (ser-on signal: cn i/f pin 29). 1) operating conditions during deceleration and after stop 2) process for clearing the position error counter the functions of this parameter and the meanings of parameter values are the same as those of pr67. see also "timing chart for servo-on/off during the halt of motor" in ap- pendix. defines the duration from off of the brake release signal (brk- off) (i.e. brake engaged) to the shutdown of motor current (servo free) in transition to servo-off during the halt of the motor. see also "timing chart for servo-on/off during the halt of motor" in appendix. http://www..net/ datasheet pdf - http://www..net/ - app. 56 - prno. parameter range function description defines the duration from off of the brake release signal (brk- off) (i.e. brake engaged) to the shutdown of motor current (servo free) in transition to servo-off during the motor in motion, not during the halt as handled by pr6a. see also "timing chart for serve-on/off during the operation of the motor" in appendix. defines whether the internal regenerative discharge resistor is used, or an external regenerative discharge resistor is installed (between p and b2 terminals on the terminal block) with the inter- nal resistor disconnected. 6b 6c mechanical brake action set-up at motor in motion external regenerative discharge resistor selection 0 ~ 100 [0] 0 ~ 2 [0] details of parameters value 0 1 2 regenerative discharge resistor internal resistor external resistor external resistor over-regenerative power protection the protection operates for the internal resistor. the protection operates for the external resistor whose operating limit is 10% of the duty. no protection ? this parameter is necessary for avoiding the degra- dation of the brake due to the rotation of the motor. ? the value of tb is the value of pr6b or the time needed for decreasing the motor revolution to about 30 rpm, whichever is smaller. ? pr6b = (entry) x 2 ms t b on srv-on brk-off motor velocity (r/min) brake released off brake engaged motor current energized free (not energized) 30 r/min approy. http://www..net/ datasheet pdf - http://www..net/ - app. 57 - appendixes details of operation (monitor mode) motor mode operation 1) turn on the mains power (driver). 2) open the monitor mode (see parameter setting and mode's structure). 3) select a mode that you want to view. motor speed (initial display) select thisdisplay. note) with power on, the indication starts with the indication items marked with *. position error motor speed (rpm) torque control mode input and output signals status alarm (cause andhistory) internal information warning load factor of the regenerative dis- charge resistor load factor pressing up button will scroll downward (in the arrow direction). pressing down button will scroll upward. position error corresponding to three pulses 1000 r/min. torque output of 100% position control mode no.0 active currently no errors internal information overload warning occurred, no battery or no over-regen- erative warning occurred 30% of the acceptable regenerative discharge load factor of 28% * set mode selection monitoring/execution display (example) meaning { http://www..net/ datasheet pdf - http://www..net/ - app. 58 - details of operation (monitor mode) details of monitor mode indication of position error, motor speed and torque ?????? position error display the reading (pulse count) of the position error counter with an indication of polarity (unit: p). (+): error in ccw direction ( - ): error in cw direction ?????? motor speed display the motor speed (rpm) with an indication of polarity (unit: r/ min.). (+): revolution in ccw direction ( - ): revolution in cw direction ?????? torque output display the generated torque with an indication of polarity (unit: %). (+): torque in ccw direction ( - ): torque in cw direction display of control mode display the current control mode. control mode ?????? position control mode ?????? torque control mode data ?????? speed control mode - app. 59 - appendixes display of i/o signals status display the status of control (input) and output signals via the cn i/f connectors. use this information for checking the wiring connections. active inactive signal no. (hexadecimal digit 0 to 1f) ? pressing left button will move the decimal point in blinking. 1) input/output selection mode 2) signal selection mode the lowest no. of input signal the highest no. of input signal the lowest no. of output signal input signa output signal the highest no. of output signal (decimal point placed on the right side: signal selection mode) (decimal point placed on the left side: input/output selection mode) pressing up button will scroll downward (in the arrow direction). http://www..net/ datasheet pdf - http://www..net/ - app. 60 - details of operation (monitor mode) signal numbers and names no. 0 1 2 3 4 5 6 7 8 9 a b c d e f 10 11 12 13 14 15 16 17 18 19 1a 1b 1c 1d 1e 1f signal description servo-on alarm clear cw overtravel inhibit ccw overtravel inhibit control mode switching speed zero clamp command pulse scaler switch 1 internal use command pulse input inhibit gain switching counter clear internal use internal vel.cmnd. select 1 internal vel.cmnd. select 2 internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use symbol srv-on a-clr cwl ccwl c-mode zerospd div inh gain cl inh cl pin no. 29 31 8 9 32 26 28 33 27 30 33 30 no. 0 1 2 3 4 5 6 7 8 9 a b c d e f 10 11 12 13 14 15 16 17 18 19 1a 1b 1c 1d 1e 1f signal description servo-ready servo alarm in-position mechanical brake release zero speed detection torque in-limit internal use internal use internal use at-speed internal use internal use internal use dynamic brake action internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use internal use symbol s-rdy alm coin brk-off zsp tlc coin dbrk pin no. 35 (34) 37 (36) 39 (38) 11 (10) 12 40 39 (38) internal signal input signals output signals - app. 61 - appendixes viewing the causes and history of an alarm ? you can view the latest 14 alarms including the current one. alarm code no. (if no errors are occurring, -- is displayed) : current alarm : no.0 alarm (the latest (current) alarm) : no.1 alarm : no.13 alarm (the oldest alarm) ? to select any alarm event you wanted, press up or down button for access to the desired alarm no. ( pressing down will move to older alarms.) - app. 62 - details of operation (monitor mode) alarm display a : falarm occurred C : fno alarms occurred over-regeneration alarm: over 85% of the acceptable consumption of the regenerative discharge resistor overload alarm: over 85% of the acceptable load level battery alarm: under the acceptable voltage level - app. 63 - appendixes operation in the parameter setting mode operation in the mode selection mode parameter no. (hexadecimal digit) 1) press up or down button to select a parameter no. that you want to view or edit. 2) press set button to switch to monitor/execution mode. operation in the monitor/execution mode the digit with the decimal point in blinking is the digit that you can modify the value. parameter value - app. 64 - details of parameters (auxiliary function mode) auxiliary function mode operation automatic offset adjustment mode this mode is to set the voltage of analogue velocity (or torque) commands to 0v, measure the offset during servo-off, and correct the offset so that small motions (rotation) can be eliminated. this automatic offset adjustment mode should be started by the following procedure. procedure 1) select the automatic offset adjustment mode using the procedure mentioned above. will appear. press set button to display 2) the mode is ready for execution. automatic offset adjustment mode motor trial mode alarm clear mode absolute encoder clear mode set keep pressing up button (for about three seconds). the number of short bars (-) will in- crease. the mode is started. the adjustment will complete instantaneously. adjustment completed error set press up or down to select your desired mode. mode selection execution http://www..net/ datasheet pdf - http://www..net/ - app. 65 - appendixes - app. 66 - details of parameters (auxiliary function mode) absolute encoder clear mode this mode is to clear the multi-turn data of the absolute encoder, and clear the alarms regarding the encoder. procedure 1) select the absolute encoder clear mode (refer to page 39 in appendix). will appear. press set button to display 2) the mode is ready for execution. set the mode is started. the clearing operation will complete instanta- neously. clearing completed error - app. 67 - appendixes id mode im net ser i/f sig u v w l 1 l 2 l 3 b 1 b 2 r t p sp g set *note overview of a communication control software panaterm how to connect setup disc of dvop2320 panaterm connect to cn ser. rs232c cable dvop1160 (for pc-98 series) dvop1960 (dos/v) installing panaterm on a hard disc - app. 68 - starting panaterm - app. 69 - appendixes optional parts minas-a series cables encoder cable (17 bits, 7 wires) for absolute/incremental encoders encoder cable (2500 pulses, 11 wires), incremental encoders motor cable brake cable encoder cable (17 bits, 7 wires) for absolute/incremental encoders encoder cable (2500 pulses, 11 wires), incremental encoders motor cable brake cable(with brake) encoder cable (17 bits, 7 wires) for absolute/incremental encoders encoder cable (2500 pulses, 11 wires), incremental encoders motor cable brake cable(with brake) encoder cable (17 bits, 7 wires) for absolute/incremental encoders encoder cable (2500 pulses, 11 wires), incremental encoders motor cable brake cable(with brake) encoder cable (17 bits, 7 wires) for absolute/incremental encoders encoder cable (2500 pulses, 11 wires), incremental encoders motor cable brake cable(with brake) msma30 ~ 750w mqma100 ~ 400w msma1.0 ~ 2.5kw mdma750w ~ 2.5kw mhma500w ~ 1.5kw mgma300 ~ 900w msma3.0 ~ 5.0kw mdma3.0 ~ 5.0kw mhma2.0 ~ 5.0kw mgma1.2 ~ 4.5kw mfma400w ~ 1.5kw mfma2.5 ~ 4.5kw dwg. no. motor type cable part no. remarks 1-1 2-1 3-1 4-1 1-2 2-2 3-2 4-2 1-2 2-2 3-3 4-3 1-2 2-2 3-4 4-2 1-2 2-2 3-5 4-3 mfecao**olaa mfecao**oeaa mfmcao**oeet mfmcbo**oget mfecao**olsa mfecao**oesa mfmcdo**2ect mfmcao**2fct mfecao**olsa mfecao**oesa mfmcao**3ect mfmcao**3fct mfecao**olsa mfecao**oesa mfmcao**2ect mfmcao**2fct mfecao**olsa mfecao**oesa mfmcdo**3ect mfmcao**3fct http://www..net/ datasheet pdf - http://www..net/ - app. 70 - optional parts encoder cables fig1-1 mfeca0**0laa fig1-2 mfeca0**0lsa fig2-1 mfecao**oeaa fig2-2 mfecao**oesa l 3m 10320 (?7) (14) (16) (4) (4) l 3m 10320 ?37.3 (?7) (?9.2) (20) l 3m 10320 (23) (17) (4) (4) l 3m 10320 ?37.3 (?9.2) l (m) 3 5 10 20 part no. mfeca0030laa mfeca0050laa mfeca0100laa mfeca0200laa l (m) 3 5 10 20 part no. mfeca0030lsa mfeca0050lsa mfeca0100lsa mfeca0200lsa l (m) 3 5 10 20 part no. mfecao030eaa mfecao050eaa mfecao100eaa mfecao200eaa part no. mfecao030esa mfecao050esa mfecao100esa mfecao200esa l (m) 3 5 10 20 http://www..net/ datasheet pdf - http://www..net/ - app. 71 - appendixes motor cables (robotopr, 600v dp) fig 3-1 mfmca0**0eet fig 3-2 mfmcd0**2ect fig 3-3 mfmca0**3ect (50) (50) l (?11) (10.0) (12.0) (4) (4) (50) l ?37.3 (?12.5) (50) l ?40.5 (?14) l (m) 3 5 10 20 part no. mfmca0030eet mfmca0050eet mfmca0100eet mfmca0200eet l (m) 3 5 10 20 part no. mfmcd0032ect mfmcd0052ect mfmcd0102ect mfmcd0202ect part no. mfmca0033ect mfmca0053ect mfmca0103ect mfmca0203ect l (m) 3 5 10 20 fig 3-5 mfmcd0**3ect (50) l ?37.3 (?12.5) (?14) (50) l ?43.7 l (m) 3 5 10 20 part no. mfmd0033ect mfmd0053ect mfmd0103ect mfmd0203ect l (m) 3 5 10 20 part no. mfmca0032ect mfmca0052ect mfmca0102ect mfmca0202ect fig 3-4 mfmca0**2ect robotop is the trademark of sumitomo denso. http://www..net/ datasheet pdf - http://www..net/ - app. 72 - optional parts motor (with brake) cables (robotop ? , 600v dp) fig 4-1 mfmcb0**0get (brake cable) fig 4-2 mfmca0**2fct fig 4-3 mfmca0**3fct (?9.8) (40) (50) l (5.6) (12.0) (10.0) l (50) l ( 5 0 ) ?37.3 (?12.5) ( ? 9 . 8 ) l (50) l ( 5 0 ) ?43.7 (?14) ( ? 9 . 8 ) part no. mfmcb0030get mfmcb0050get mfmcb0100get mfmcb0200get l (m) 3 5 10 20 l (m) 3 5 10 20 part no. mfmca0033fct mfmca0053fct mfmca0103fct mfmca0203fct l (m) 3 5 10 20 part no. mfmca0032fct mfmca0052fct mfmca0102fct mfmca0202fct http://www..net/ datasheet pdf - http://www..net/ - app. 73 - appendixes connector kits for external equipment 1) part no. dv0p0980 2) components 3) alignment of cn i/f (50 pins) (looking from where the plug is soldered) - app. 74 - optional parts connector kits for motor and encoder ? used for: msma 30w to 750w mqma 100w to 400w 1) part no. dvop2110 2) components ? used for: msma 30w to 750w mqma 100w to 400w 1) part no. dvop0490 2) components item plug shell cap socket cap socket manufacturer's part no. 10120-3000ve 10320-52a0-008 172163-1 170365-1 172159-1 170366-1 quantity 1 1 1 15 1 4 manufacturer sumitomo 3m amp amp remarks for cn i/sig (20pin) for encoder cable (15 pins) for motor cable (4 pins) item plug shell cap socket cap socket manufacturer's part no. 10120-3000ve 10320-52a0-008 172161-1 170365-1 172159-1 170366-1 quantity 1 1 1 9 1 4 manufacturer sumitomo 3m amp amp remarks for cn i/sig (20pin) for encoder cable (9 pins) for motor cable (4 pins) with a 2500-pulse, 11-wire incremental encoder with a17-bit absolute encoder http://www..net/ datasheet pdf - http://www..net/ - app. 75 - appendixes ? used for : msma 1.0kw to 2.5kw mdma 0.75kw to 2.5kw mhma 0.5kw to 1.5kw mgma 300w to 900kw 1) part no. dvop0960 2) components ? used for : msma 3.0kw to 5.0kw mdma 3.0kw to 5.0kw mhma 2.0kw to 5.0kw mgma 1.2kw to 4.5kw 1) part no. dvop1510 2) components item plug shell straight plug cable clamp straight plug cable clamp manufacturer's part no. 10120-3000ve 10320-52a0-008 ms3106b20-29s ms3057-12a ms3106b20-4s ms3057-12a quantity 1 1 1 1 1 1 manufacturer sumitomo 3m japan aviation electronics industry, ltd. japan aviation electronics industry, ltd. remarks for cn i/sig (20pin) for encoder cable for motor cable item plug shell straight plug cable clamp straight plug cable clamp manufacturer's part no. 10120-3000ve 10320-52a0-008 ms3106b-20-29s ms3057-12a ms3106b22-22s ms3057-12a quantity 1 1 1 1 1 1 manufacturer sumitomo 3m japan aviation electronics industry, ltd. japan aviation electronics industry, ltd. remarks for cn i/sig (20pin) for encoder cable for motor cable with a 17-bit absolute/incremental encoder or 2500-pulse incremental encoder without brake with a 17-bit absolute/incremental encoder or 2500-pulse incremental encoder without brake http://www..net/ datasheet pdf - http://www..net/ - app. 76 - optional parts ? used for : msma 1.0kw to 2.5kw mdma 0.75kw to 2.5kw mhma 0.5kw to 1.5kw mgma 300w to 900w mfm 0.4kw to 1.5kw 1) part no. dvop0690 2) components ? used for : msma 3.0kw to 5.0kw mdma 3.0kw to 5.0kw mhma 2.0kw to 5.0kw mgma 1.2kw to 4.5kw mfm 2.5kw to 4.5kw 1) part no. dvop0970 2) components item plug shell straight plug cable clamp straight plug cable clamp manufacturer's part no. 10120-3000ve 10320-52ao-008 ms3106b20-29s ms3057-12a ms3106b20-18s ms3057-12a quantity 1 1 1 1 1 1 manufacturer sumitomo 3m apan aviation electronics industry, ltd. japan aviation electronics industry, ltd. remarks for cn i/sig (20pin) for encoder cable for motor cable item plug shell straight plug cable clamp straight plug cable clamp manufacturer's part no. 10120-3000ve 10320-52ao-008 ms3106b20-29s ms3057-12a ms3106b24-11s ms3057-16a quantity 1 1 1 1 1 1 manufacturer sumitomo 3m apan aviation electronics industry, ltd. japan aviation electronics industry, ltd. remarks for cn i/sig ?i20pin) for encoder cable for motor cable with brake with a 17-bit absolute/incremental encoder or 2500-pulse incremental encoder with a 17-bit absolute/incremental encoder or 2500-pulse incremental encoder without brake with brake with brake with a 17-bit absolute/incremental encoder or 2500-pulse incremental encoder with a 17-bit absolute/incremental encoder or 2500-pulse incremental encoder without brake with brake http://www..net/ datasheet pdf - http://www..net/ - app. 77 - appendixes - app. 78 - optional parts interface cables 1) part no. dvop2190 2) dimension 3) wire table 1 25 50 26 52.4 2000 +200 0 50 +10 0 39 12.7 pin no. 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 10 wire color orange (red 1) orange (brack1) gray (red 1) gray (brack 1) white (red 1) white (brack 1) yellow (red 1) pink (red 1) pink (brack 1) orange (red2) pin no. 11 12 13 14 15 16 17 18 19 20 wire color orange (brack 2) yellow (brack 1) gray (red 2) gray (brack 2) white (red 2) yellow (red 2) yellow (brack 1)?epink(brack 2) pink (red 2) white (brack2) CC pin no. 21 22 23 24 25 26 27 28 29 30 wire color orange (red 3) orange (brack3) gray (red 3) gray (brack 3) white (red 3) white (brack3) yellow (red 3) yellow (brack3) pink (red 3) pink (brack 3) pin no. 31 32 33 34 35 36 37 38 39 40 wire color orange (red 4) orange (brack4) gray (red 4) white(red 4) white (brack4) yellow (red 4) yellow (brack4) pink (red 4) pink (brack 4) gray (brack 4) pin no. 41 42 43 44 45 46 47 48 49 50 wire color orange (red 5) orange (brack5) gray (red 5) white(red 5) white( (brack5) yellow (red 5) yellow (brack5) pink (red 5) pink (brack 5) gray (brack 5) - app. 79 - appendixes communication cables (for connection to personal computer) 1) part no. dvop1160 (for pc98 series) 2) part no. dvop1960 (for dos/v) communication cables (for rs485) 2000 +200 "d" subconnector 25p, eight clamp terminals mini din8p, md connector, eight clamp terminals 0 2000 +200 "d" subconnector 9p, eight clamp terminals mini din8p, md connector, eight clamp terminals 0 mini din8p, md connector, eight clamp terminals l communication control software panaterm 1) part no. dvop2320 2) 3.5 inch floppy disc \ - app. 80 - driver type type 1 type 2 ? 3 type 4-2 4-3 part no. dvop 2100 dvop 2101 dvop 2102 screws *1 m3 x 8 pan head screw x 4 pcs. m3 x 8 pan head screw x 4 pcs. m4x 6 pan head screw x 4 pcs. outer dimension upper and lower brackets (each 1) for front panel mounting 2-m3 pan head screw brackets (2) for back panel mounting optional parts brackets for mounting the driver *1 the mounting screws are supplied together with the brackets. - app. 81 - appendixes external regenerative discharge resistor rh150m, rh220m rh500m lead wires : 450mm lead wires lead wires : 300mm 250 234 2m3 218 2?4.5 3 60 40 80 4.5 ?4.5 4.5 d e 3.5 b a c abcde 212 180 202 44 30 230 rh150 rh220 200 220 60 20 manufacturer: iwaki musen kenkyusho co., ltd. for driver types, see pages 10 and 11 (main part) and pages 7 and 8 (appendix). recommended combination between driver and external regenerative discharge resistor part.no. dv0p1980 dv0p1981 dv0p1982 dv0p1983 spesifications 50? 100? 30? 20? model product number rh150m rh150m rh220m rh500m resistance 90w 90w 120w 300w driver type 1 2 3 4-2 4-3 5 single-phase 100v dvop1980 x 1 three-phase 200v dvop1981 x 1 dvop1982 x 2 (in parallel) or dvop1983 x 1 dvop1982 x2?`3(in parallel) or dvop1983 x1or2(in parallel) power supply http://www..net/ datasheet pdf - http://www..net/ - app. 82 - optional parts battery and battery holder for absolute encoder battery (for driver types 1 to 5) a part no. dvop2060 b lithium battery, toshiba battery make er6v, 3.6v, 2000mah battery holder (for driver types 1 to 3) a part no. dvop2061 - app. 83 - appendixes reactre driver series voltage rated output reactor part no. msda mqda msda mqda msda mqda mgda mfda mhda mgda msda mdda mfda mgda msda mdda mhda mfda 100v 200v 30w ~ 100w 100w 200w ~ 400w 30w ~ 400w 100w ~ 400w 300w 400w 500w 600w 750w 900w, 1.2kw 1.0kw 1.5kw 1.5kw dvop222 dvop220 dvop221 dvop222 msda mdda mhda mgda msda mdda mfda msda mdda mhda mgda msda mdda mfda msda mdda mfda 200v 2.0kw 2.0kw 2.5kw 3.0kw 3.5kw 4.0kw dvop223 dvop224 dvop225 driver series voltage rated output reactor part no. http://www..net/ datasheet pdf - http://www..net/ - app. 84 - recommended parts surge absorber for motor brake ? c-5a2 or z15d151 ishizuka.co. ? c-5a3 or z15d151 ishizuka.co. ? tnr9g820k nippon chemi ?[ con co. motor surge absorber for brake msma30w ~ 1.0kw mqma100w ~ 400w mhma2.0kw ~ 5.0kw mgma600w ~ 2.0kw msma1.5kw ~ 5.0kw mdma750w mdma3.5kw ~ 5.0kw mfma750w ~ 1.5kw mgma3.0kw ~ 4.5kw mdma1.0kw ~ 3.0kw mfma400w mfma2.5kw ~ 4.5kw mhma500w ~ 1.5kw mgma300w http://www..net/ datasheet pdf - http://www..net/ - app. 85 - appendixes peripheral equipment manufacturers 06-6908-1131 044-833-4311 kantou area 03-5436-7608 chub area 052-772-8551 kansai ares 06-6338-2331 kantou area 03-3621-2703 chub area 052-777-5070 kansai ares 06-6391-6491 kantou area 03-3475-6814 chub area 052-581-9336 kansai ares 06-6263-6781 kantou area 03-5201-7229 chub area 052-971-1712 kansai ares 06-6245-7333 east japan 0 3 - 3424-8120 west japan 06- 6392-1781 kantou area 03-3780-2717 chub area 052-953-9520 kansai ares 06-6447-5259 kantou area 03-5716-7290 chub area 052-322-9652 kansai ares 06-6447-3944 kantou area 044-844-8111 chub area 0565-29-0890 kansai ares 06-6251-4961 manufacturer/agent tel equipment matsushita electric works, ltd. iwaki musen kenkyusho co., ltd. nippon chemi_con corporation ishizuka electronics corporation tokin corporation tdk corporation okaya electric industries co., ltd. japan aviation electronics industry, ltd. sumitomo 3m amp (japan), ltd. no-fuse breaker, magnetic contact and surge absorber regenerative discharge resistor surge absorber for brake noise filter noise filter for signal line surge absorber / noise filter connector 3.1999.present http://www..net/ datasheet pdf - http://www..net/ - app. 86 - dimensions msma series 30w ~ 750w encoder wire dimension lh 30w ~ 100w 230mm 200w ~ 750w 220mm encoder specifications a 2500 p/r incremental encoder c 17 bits absolute encoder ll 65 73 103 94 123.5 142.5 82 90 120 109 138.5 157.5 97 105 135 127 156.5 177.5 114 122 152 142 171.5 192.5 output(w) 30 50 100 200 400 750 30 50 100 200 400 750 30 50 100 200 400 750 30 50 100 200 400 750 s 7 8 11 14 19 7 8 11 14 19 7 8 11 14 19 7 8 11 14 19 model msma3aza1 msma5za1 msma01 a1 msma02 a1 msma04 a1 msma082a1 msma3azc1 msma5azc1 msma01 c1 msma02 c1 msma04 c1 msma082c1 msma3aza1 msma5aza1 msma01 a1 msma02 a1 msma04 a1 msma082a1 msma3azc1 msma5azc1 msma01 c1 msma02 c1 msma04 c1 msma082c1 lb 30 50 70 30 50 70 30 50 70 30 50 70 la 45 70 90 45 70 90 45 70 90 45 70 90 lc 38 60 80 38 60 80 38 60 80 38 60 80 lf 6 7 8 6 7 8 6 7 8 6 7 8 without brake m s m a with brake ll lf lr 3 200 lh lbh7 ?sh6 http://www..net/ datasheet pdf - http://www..net/ - app. 87 - appendixes "d" cut type key way type lc ln lp lo 9 0 ? 1 ? lw kwh9 kh rh lk ? l a 4-?lz rh 5.8 6.2 8.5 11 15.5 5.8 6.2 8.5 11 15.5 5.8 6.2 8.5 11 15.5 5.8 6.2 8.5 11 15.5 ln 20 22 25 20 22 25 20 22 25 20 22 25 lo 6.5 7.5 10 12.5 17.5 6.5 7.5 10 12.5 17.5 6.5 7.5 10 12.5 17.5 6.5 7.5 10 12.5 17.5 lr 25 30 35 25 30 35 25 30 35 25 30 35 lz 3.4 4.5 6 3.4 4.5 6 3.4 4.5 6 3.4 4.5 6 lw 13 14 20 25 13 14 20 25 13 14 20 25 13 14 20 25 lk 12 12.5 18 22.5 22 12 12.5 18 22.5 22 12 12.5 18 22.5 22 12 12.5 18 22.5 22 kw 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 without brake m s m a with brake kh 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 2 3 4 5 6 lp 6.5 7.5 10 12.5 17.5 6.5 7.5 10 12.5 17.5 6.5 7.5 10 12.5 17.5 6.5 7.5 10 12.5 17.5 weight (kg) 0.27 0.34 0.56 1.0 1.6 3.2 0.33 0.40 0.62 1.1 1.7 3.3 0.47 0.53 0.76 1.4 2.0 3.9 0.53 0.59 0.82 1.5 2.1 4.0 http://www..net/ datasheet pdf - http://www..net/ - app. 88 - msma series 1.0 ~ 5.0kw encoder specifications a1 2500 p/r incremental encoder d1 17 bits absolute encoder ll 172 177 202 227 214 234 237 257 277 172 177 202 227 214 234 237 257 277 197 202 227 252 239 259 262 282 302 197 202 227 252 239 259 262 282 302 output(w) 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 s 19 22 24 19 22 24 19 22 24 19 22 24 model msma102a1 msma152a1 msma202a1 msma252a1 msma302a1 msma352a1 msma402a1 msma452a1 msma502a1 msma102d1 msma152d1 msma202d1 msma252d1 msma302d1 msma352d1 msma402d1 msma452d1 msma502d1 msma102a1 msma152a1 msma202a1 msma252a1 msma302a1 msma352a1 msma402a1 msma452a1 msma502a1 msma102d1 msma152d1 msma202d1 msma252d1 msma302d1 msma352d1 msma402d1 msma452d1 msma502d1 lb 80 95 110 80 95 110 80 95 110 80 95 110 la 100 115 ?\ 145 100 115 ?\ 145 100 115 ?\ 145 100 115 ?\ 145 lc 90 100 120 130 90 100 120 130 90 100 120 130 90 100 120 130 ld 120 135 162 165 120 135 162 165 120 135 162 165 120 135 162 165 le 3 6 3 6 3 6 3 6 without brake m s m a with brake ?sh6 l bh7 lr le ll lf dimensions http://www..net/ datasheet pdf - http://www..net/ - app. 89 - appendixes 4-?lz lc msma 1.0~2.5kw 4.0~5.0kw msma 3.0~3.5kw lc ?lq lz lw kwh9 lk kh rh a ? l a ? l d ?lp ? l d lf 7 10 12 7 10 12 7 10 12 7 10 12 lp CC 130 CC 130 CC 130 CC 130 CC lz 6.6 9 wide 9 9 6.6 9 wide 9 9 6.6 9 wide 9 9 6.6 9 wide 9 9 lr 55 65 55 65 55 65 55 65 lw 45 55 45 55 45 55 45 55 lk 42 41 51 42 41 51 42 41 51 42 41 51 kh 6 7 6 7 6 7 6 7 rh 15.5 18 20 15.5 18 20 15.5 18 20 15.5 18 20 lq CC 145 CC 145 CC 145 CC 145 CC kw 6 8 6 8 6 8 6 8 without brake m s m a with brake weight (kg) 4.5 5.1 6.5 7.5 9.3 10.9 12.9 15.1 17.3 4.5 5.1 6.5 7.5 9.3 10.9 12.9 15.1 17.3 5.1 6.5 7.9 8.9 11.0 12.6 14.8 17.0 19.2 5.1 6.5 7.9 8.9 11.0 12.6 14.8 17.0 19.2 http://www..net/ datasheet pdf - http://www..net/ - app. 90 - mqma series 100w ~ 400w ll lr le lf 200 220 lbh9 ?sh6 ll 60 67 82 87 94 109 84 99.5 114.5 111 126.5 141.5 output(w) 100 200 400 100 200 400 100 200 400 100 200 400 s 8 11 14 8 11 14 8 11 14 8 11 14 model mqma01 a1 mqma02 a1 mqma04 a1 mqma01 c1 mqma02 c1 mqma04 c1 mqma01 a1 mqma02 a1 mqma04 a1 mqma01 c1 mqma02 c1 mqma04 c1 without brake m q m a with brake lb 50 70 50 70 50 70 50 70 la 70 90 70 90 70 90 70 90 lc 60 80 60 80 60 80 60 80 le 3 5 3 5 3 5 3 5 dimensions encoder specifications a1 2500 p/r incremental encoder d1 17 bits absolute encoder http://www..net/ datasheet pdf - http://www..net/ - app. 91 - appendixes lc ln lp lo 9 0 ? 1 ? lw kwh9 kh rh lk ? l a 4-?4.5 "d" cut type lf 7 8 7 8 7 8 7 8 lr 25 30 25 30 25 30 25 30 kw 3 4 5 3 4 5 3 4 5 3 4 5 lk 12.5 18 22.5 12.5 18 22.5 12.5 18 22.5 12.5 18 22.5 kh 3 4 5 3 4 5 3 4 5 3 4 5 ln 20 22 20 22 20 22 20 22 lp 7.5 10 12.5 7.5 10 12.5 7.5 10 12.5 7.5 10 12.5 lw 14 20 25 14 20 25 14 20 25 14 20 25 lo 7.5 10 12.5 7.5 10 12.5 7.5 10 12.5 7.5 10 12.5 without brake m q m a with brake rh 6.2 8.5 11 6.2 8.5 11 6.2 8.5 11 6.2 8.5 11 weight (kg) 0.65 1.3 1.8 0.75 1.4 1.9 0.9 2.0 2.5 1.0 2.1 2.6 http://www..net/ datasheet pdf - http://www..net/ - app. 92 - mdma series 750w ~ 5.0kw ?sh6 l bh7 lr le ll lf ll 144 147 172 197 222 247 219 239 202 222 144 147 172 197 222 247 219 239 202 222 169 172 197 222 247 272 244 264 227 247 169 172 197 222 247 272 244 264 227 247 output(w) 0.75 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 0.75 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 0.75 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 0.75 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 s 19 22 24 28 35 19 22 24 28 35 19 22 24 28 35 19 22 24 28 35 model mdma082a1 mdma102a1 mdma152a1 mdma202a1 mdma252a1 mdma302a1 mdma352a1 mdma402a1 mdma452a1 mdma502a1 mdma082d1 mdma102d1 mdma152d1 mdma202d1 mdma252d1 mdma302d1 mdma352d1 mdma402d1 mdma452d1 mdma502d1 mdma082a1 mdma102a1 mdma152a1 mdma202a1 mdma252a1 mdma302a1 mdma352a1 mdma402a1 mdma452a1 mdma502a1 mdma082d1 mdma102d1 mdma152d1 mdma202d1 mdma252d1 mdma302d1 mdma352d1 mdma402d1 mdma452d1 mdma502d1 lb 110 130 114.3 110 130 114.3 110 130 114.3 110 130 114.3 la CC 145 165 200 CC 145 165 200 CC 145 165 200 CC 145 165 200 lc 120 130 150 176 120 130 150 176 120 130 150 176 120 130 150 176 ld 162 165 190 233 162 165 190 233 162 165 190 233 162 165 190 233 le 3 6 3.2 3 6 3.2 3 6 3.2 3 6 3.2 without brake m d m a with brake dimensions encoder specifications a1 2500 p/r incremental encoder d1 17 bits absolute encoder http://www..net/ datasheet pdf - http://www..net/ - app. 93 - appendixes 4-?lz lc mdma 1.0~5.0kw mdma 750w lc ?lq lz lw kwh9 lk kh rh ? l a ? l d ?lp ? l d lf 12 18 12 18 12 18 12 18 lp 130 CC CC CC CC CC CC CC CC CC 130 CC CC CC CC CC CC CC CC CC 130 CC CC CC CC CC CC CC CC CC 130 CC CC CC CC CC CC CC CC CC lz wide 9 9 11 13.5 wide 9 9 11 13.5 wide 9 9 11 13.5 wide 9 9 11 13.5 lr 55 65 70 55 65 70 55 65 70 55 65 70 lw 45 55 45 55 45 55 45 55 lk 42 41 51 50 42 41 51 50 42 41 51 50 42 41 51 50 kh 6 7 8 6 7 8 6 7 8 6 7 8 rh 15.5 18 20 24 30 15.5 18 20 24 30 15.5 18 20 24 30 15.5 18 20 24 30 lq 145 CC CC CC CC CC CC CC CC CC 145 CC CC CC CC CC CC CC CC CC 145 CC CC CC CC CC CC CC CC CC 145 CC CC CC CC CC CC CC CC CC kw 6 8 10 6 8 10 6 8 10 6 8 10 without brake m d m a with brake weight (kg) 4.8 6.8 8.5 10.6 12.8 14.6 16.2 18.8 21.5 25.0 4.8 6.8 8.5 10.6 12.8 14.6 16.2 18.8 21.5 25.0 6.5 8.7 10.1 12.5 14.7 16.5 18.7 21.3 25.0 28.5 6.5 8.7 10.1 12.5 14.7 16.5 18.7 21.3 25.0 28.5 http://www..net/ datasheet pdf - http://www..net/ - app. 94 - mhma series 500w ~ 5.0kw ?sh6 l bh7 lr le ll lf ll 147 172 197 187 202 227 252 147 172 197 187 202 227 252 172 197 222 212 227 252 277 172 197 222 212 227 252 277 output(w) 0.5 1.0 1.5 2.0 3.0 4.0 5.0 0.5 1.0 1.5 2.0 3.0 4.0 5.0 0.5 1.0 1.5 2.0 3.0 4.0 5.0 0.5 1.0 1.5 2.0 3.0 4.0 5.0 s 22 35 22 35 22 35 22 35 model mhma052a1 mhma102a1 mhma152a1 mhma202a1 mhma302a1 mhma402a1 mhma502a1 mhma052d1 mhma102d1 mhma152d1 mhma202d1 mhma302d1 mhma402d1 mhma502d1 mhma052a1 mhma102a1 mhma152a1 mhma202a1 mhma302a1 mhma402a1 mhma502a1 mhma052d1 mhma102d1 mhma152d1 mhma202d1 mhma302d1 mhma402d1 mhma502d1 lb 110 114.3 110 114.3 110 114.3 110 114.3 la 145 200 145 200 145 200 145 200 lc 130 176 130 176 130 176 130 176 ld 165 233 165 233 165 233 165 233 without brake m h m a with brake dimensions encoder specifications a1 2500 p/r incremental encoder d1 17 bits absolute encoder http://www..net/ datasheet pdf - http://www..net/ - app. 95 - appendixes lw kwh9 lk kh rh 4-?lz lc ? l a ? l d lk 41 50 41 50 41 50 41 50 kw 8 10 8 10 8 10 8 10 kh 7 8 7 8 7 8 7 8 rh 18 30 18 30 18 30 18 30 le 6 3.2 6 3.2 6 3.2 6 3.2 lf 12 18 12 18 12 18 12 18 lr 70 80 70 80 70 80 70 80 lz 9 13.5 9 13.5 9 13.5 9 13.5 lw 45 55 45 55 45 55 45 55 without brake m h m a with brake weight (kg) 5.3 8.9 10.0 16.0 18.2 22.0 26.7 5.3 8.9 10.0 16.0 18.2 22.0 26.7 6.9 9.5 11.6 19.5 21.7 25.5 30.2 6.9 9.5 11.6 19.5 21.7 25.5 30.2 http://www..net/ datasheet pdf - http://www..net/ - app. 96 - mfma series 400w ~ 4.5kw ll 117 124 142 136 144 160 117 124 142 136 144 160 142 149 167 163 171 191 142 149 167 163 171 191 output(w) 0.4 0.75 1.5 2.5 3.5 4.5 0.4 0.75 1.5 2.5 3.5 4.5 0.4 0.75 1.5 2.5 3.5 4.5 0.4 0.75 1.5 2.5 3.5 4.5 s 19 22 35 19 22 35 19 22 35 19 22 35 model mfma042a1 mfma082a1 mfma152a1 mfma252a1 mfma352a1 mfma452a1 mfma042d1 mfma082d1 mfma152d1 mfma252d1 mfma352d1 mfma452d1 mfma042a1 mfma082a1 mfma152a1 mfma252a1 mfma352a1 mfma452a1 mfma042d1 mfma082d1 mfma152d1 mfma252d1 mfma352d1 mfma452d1 lb 110 114.3 200 110 114.3 200 110 114.3 200 110 114.3 200 la 145 200 235 145 200 235 145 200 235 145 200 235 lc 130 176 220 130 176 220 130 176 220 130 176 220 ld 165 233 268 165 233 268 165 233 268 165 233 268 without brake m f m a with brake ll lr le lf lbh7 ? sh6 dimensions encoder specifications a1 2500 p/r incremental encoder d1 17 bits absolute encoder http://www..net/ datasheet pdf - http://www..net/ - app. 97 - appendixes lc ? l d 4-?lz ?la ? l d ? 2 5 0 lc mfma2.5 ~ 4.5kw mfma400w ~ 1.5kw 4-?lz ?la lw lk kwh9 kh rh lk 42 41 50 42 41 50 42 41 50 42 41 50 kw 6 8 10 6 8 10 6 8 10 6 8 10 kh 6 7 8 6 7 8 6 7 8 6 7 8 rh 15.5 18 30 15.5 18 30 15.5 18 30 15.5 18 30 le 6 3.2 4 6 3.2 4 6 3.2 4 6 3.2 4 lf 12 18 16 12 18 16 12 18 16 12 18 16 lr 55 65 70 55 65 70 55 65 70 55 65 70 lz 9 13.5 9 13.5 9 13.5 9 13.5 lw 45 55 45 55 45 55 45 55 without brake m f m a with brake weight (kg) 4.7 8.6 11.0 14.8 15.5 19.9 4.7 8.6 11.0 14.8 15.5 19.9 6.7 10.6 14.0 17.5 19.2 24.3 6.7 10.6 14.0 17.5 19.2 24.3 http://www..net/ datasheet pdf - http://www..net/ - app. 98 - ll 122 147 172 162 182 222 300.5 122 147 172 162 182 222 300.5 147 172 197 187 207 247 345.5 147 172 197 187 207 247 345.5 output(w) 0.3 0.6 0.9 1.2 2.0 3.0 4.5 0.3 0.6 0.9 1.2 2.0 3.0 4.5 0.3 0.6 0.9 1.2 2.0 3.0 4.5 0.3 0.6 0.9 1.2 2.0 3.0 4.5 s 22 35 42 22 35 42 22 35 42 22 35 42 model mgma032a1 mgma062a1 mgma092a1 mgma122a1 mgma202a1 mgma302a1 mgma452a1 mgma032d1 mgma062d1 mgma092d1 mgma122d1 mgma202d1 mgma302d1 mgma452d1 mgma032a1 mgma062a1 mgma092a1 mgma122a1 mgma202a1 mgma302a1 mgma452a1 mgma032d1 mgma062d1 mgma092d1 mgma122d1 mgma202d1 mgma302d1 mgma452d1 without brake m g m a with brake lb 110 114.3 110 114.3 110 114.3 110 114.3 la 145 200 145 200 145 200 145 200 lc 130 176 130 176 130 176 130 176 ld 165 233 165 233 165 233 165 233 eyebolt call 10 mgma 300w~3.0kw mgma 4.5kw ?sh6 l bh7 ?sh6 l bh7 lr lr le ll ll lf lf le mgma series 300w ~ 4.5kw dimensions encoder specifications a1 2500 p/r incremental encoder c1 17 bits absolute encoder http://www..net/ datasheet pdf - http://www..net/ - app. 99 - appendixes 4-?lz 4-?lz lc mgma 300w ~ 3.0kw mgma 4.5kw lc lw kwh9 lk kh rh ? la ? l a ? l d ? l d le 6 3.2 6 3.2 6 3.2 6 3.2 lf 12 18 24 12 18 24 12 18 24 12 18 24 lw 45 55 96 45 55 96 45 55 96 45 55 96 lz 9 13.5 9 13.5 9 13.5 9 13.5 lk 41 50 90 41 50 90 41 50 90 41 50 90 kw 8 10 12 8 10 12 8 10 12 8 10 12 rh 18 30 37 18 30 37 18 30 37 18 30 37 lr 70 80 113 70 80 113 70 80 113 70 80 113 kh 7 8 7 8 7 8 7 8 without brake m g m a with brake weight (kg) 5.1 6.8 8.5 15.5 17.5 25.0 34.0 5.1 6.8 8.5 15.5 17.5 25.0 34.0 6.7 8.4 10.0 19.0 21.0 28.5 39.5 6.7 8.4 10.0 19.0 21.0 38.5 39.5 http://www..net/ datasheet pdf - http://www..net/ - app. 100 - mounting bracket (standard) mounting bracket (optional: dvop2100) back panel mount type (standard) mounting bracket (optional: dvop2100) mounting bracket (standerd) nameplate nameplate front panel mount type (front panel mounting is optional) nameplate w v u sig i/f ser net set mode g sp im id id im sp g mode set net ser i/f sig u v w 50 25 2.3 130 46 15 5 182 5.2 46 15 5 190 5.2 50 25 50 25 2 2 2 172 160 160 180 2 . 6 r 2 . 6 r ? 5 . 2 ? 5 . 2 dimensions driver type 1 approximate weight : 1.0 kg http://www..net/ datasheet pdf - http://www..net/ - app. 101 - appendixes driver type 2 approximate weight : 1.1 kg w v u sig i/f ser net set mode g sp im id id im sp g mode set net ser i/f sig u v w 2 2 2 25 130 2.3 182 5 11 61 61 5.2 65 50 32.5 5.2 65 15 5 190 65 32.5 50 172 160 160 180 2 . 6 r 2 . 6 r ? 5 . 2 ? 5 . 2 mounting bracket (optional: dvop2100) mounting bracket (optional: dvop2101) mounting bracket (standerd) mounting bracket (standerd) front panel mount type (front panel mounting is optional) back panel mount type (standard) nameplate nameplate nameplate http://www..net/ datasheet pdf - http://www..net/ - app. 102 - dimensions driver type 3 approximate weight : 1.4 kg w v u sig i/f ser net set mode g sp im id id im sp g mode set net ser i/f sig u v w 50 32.5 65 190 5 15 65 5.2 32.5 50 65 5.2 61 61 11 5 182 2.3 170 25 2 2 2 180 160 160 172 2.6 r 2 . 6 r ? 5 . 2 ? 5 . 2 mounting bracket (optional: dvop2101) mounting bracket (optional: dvop2101) mounting bracket (standerd) mounting bracket (standard) front panel mount type (front panel mounting is optional) back panel mount type (standard) nameplate nameplate nameplate http://www..net/ datasheet pdf - http://www..net/ - app. 103 - appendixes driver type 4-2 approximate weight : 3.8kg net ser i/f sig id im sp g mode set 205 2.3 2.3 2.3 2.3 22.3 38 220 250 76 38 15 5.2 5.2 5.2 5.2 85 7.5 235 13 50 13 50 ? 5 . 2 ? 5 . 2 nameplate nameplate mounting bracket (optional: dvop2102) mounting bracket (optional: dvop2102) mounting bracket (standerd) fan wind direction (upward) mounting bracket (standerd) battery cover http://www..net/ datasheet pdf - http://www..net/ - app. 104 - dimensions driver type 4-3 approximate weight : 4.2 kg net ser i/f sig id im sp g mode set 205 2.3 2.3 2.3 22.3 38 220 250 76 76 38 15 5.2 5.2 5.2 5.2 100 7.5 235 13 50 13 50 ? 5 . 2 ? 5 . 2 2.3 nameplate nameplate mounting bracket (optional: dvop2102) mounting bracket (optional: dvop2102) mounting bracket (standerd) mounting bracket (standerd) battery cover fan wind direction (upward) http://www..net/ datasheet pdf - http://www..net/ - app. 105 - appendixes driver type 5 approximate weight : 8 kg battery cover net ser i/f sig id im sp g mode set 22.3 2.3 275 2.5 10 2.3 2.3 2.3 2.3 2.3 75 5.2 5.2 100 25 5.2 5.2 75 150 250 76 235 220 25 100 ? 5 . 2 ? 5 . 2 nameplate nameplate mounting bracket (change to the bracket for back panel mounting) mounting bracket (standerd) mounting bracket (standerd) mounting bracket (standerd) fan wind direction (from front to r e http://www..net/ datasheet pdf - http://www..net/ - app. 106 - time(sec) overload protection: time limiting characteristic 100 100 115 150 200 250 300 350 400 torque(%) 10 1 msma 30w~100w msma 200w~5kw mdma 750w~5kw mhma 500w~5kw mfma 400w~4.5kw mgma 300w~4.5kw mqma 100w~400w specifications http://www..net/ datasheet pdf - http://www..net/ - app. 107 - appendixes specifications gain switching conditions ? position control mode ( : the parameter valid, C: invalid) ? velocity control mode ? gain switching conditions pr3a 0 1 2 3 torque control mode delay time * 1 pr3b CC CC CC level pr3c CC CC CC hysteresis * 2 pr3d CC CC CC gain switching conditions switching conditions fixed to 1st gain fixed to 2nd gain gain switching input, 2nd gain selected with gain on 2nd gain selected with a large torque command differentia l figure a switching conditions fixed to 1st gain fixed to 2nd gain gain switching input, 2nd gain selected with gain on 2nd gain selected with a large torque command differentia l 2nd gain selected with a large speed command differential large speed command parameters for velocity control delay time * 1 pr37 CC CC CC level pr38 CC CC CC hysteresis * 2 pr39 CC CC CC gain switching conditions pr36 0 1 2 3 4 5 figure a b c parameters for position control figure a c d e f switching conditions fixed to 1st gain fixed to 2nd gain gain switching input, 2nd gain selected with gain on 2nd gain selected with a large torque command differentia l fixed to 1st gain large target velocity commanded large position error position command existing positioning incomplete delay time * 1 pr32 CC CC CC CC level pr33 CC CC CC CC CC CC hysteresis * 2 pr34 CC CC CC CC CC CC pr31 0 1 2 3 4 5 6 7 8 gain switching conditions http://www..net/ datasheet pdf - http://www..net/ - app. 108 - specifications *1 delay time (parameters pr32, pr37 and pr3b) become effective when returning from 2nd gain to 1st gain. *2 for the definitions of hysteresis parameters (pr34, pr39 and pr3d), see the right figure. ? figures a through f are shown in the next page. hysteresis level (pr33.38.3c) 0 h l - app. 109 - appendixes id mode im sp g set internal block diagram of minas-a driver (types 1, 2 and 3) l 1 l 2 l 3 dc/dc r t p b1 cn net cn ser cn sig u v w m re cn bat cn i/f n p + 12v +5v gate drive power supply gate drive encoder power supply led touch panel alarm signal pulse command pulse output analogue velocity command for battery connection control (input) scale + + - + + - a/d a/d 16 bits position speed speed to r q ue internal external position error counter internal velocity command velocity detection scaling position error amplifier operator interface parameter control protective circuit error detection voltage detection eeprom sequence control velocity error amplifier to r q ue limit current control pwm circuit processing encoder signals control (output) b2 http://www..net/ datasheet pdf - http://www..net/ - app. 110 - id mode im sp g set l 1 l 2 l 3 dc/dc r t p b1 cn net cn ser cn sig u v w m re cn bat cn i/f n p + (24v) +5v + + - + + - fan b2 12v internal block diagram of minas-a driver (types 4-2, and 4-3) gate drive power supply gate drive ere power supply fan led touch panel alarm signal pulse command pulse output analogue velocity command for battery connection control (input) scale a/d a/d 16 bits position speed speed to r q ue internal external position error counter internal velocity command velocity detection scaling position error amplifier operator interface parameter control protective circuit error detection fuse fuse fuse voltage detection eeprom sequence control velocity error amplifier to r q ue limit current control pwm circuit processing encoder signals control (output) specifications http://www..net/ datasheet pdf - http://www..net/ - app. 111 - appendixes id mode im sp g set l 1 l 2 l 3 dc/dc r t p b1 cn net cn ser cn sig db u v w m re cn bat cn i/f n p + (24v) +5v + + - + + - eeprom b2 12v internal block diagram of minas-a driver (types 5) gate drive power supply fan gate drive ere power supply fan led touch panel alarm signal pulse command pulse output analogue velocity command for battery connection control (input) scale a/d a/d 16 bits position speed speed to r q ue internal external position error counter internal velocity command velocity detection scaling position error amplifier operator interface parameter control protective circuit error detection fuse fuse fuse voltage detection sequence control velocity error amplifier to r q ue limit current control pwm circuit processing encoder signals control (output) http://www..net/ datasheet pdf - http://www..net/ - app. 112 - ? control block diagram pulse command puls sign analogue command t feedback pulse(oa ? ob) feedback pulse(oz ? cz) encoder signal a/b phase or rx for 17-bit encoder 2500 / p r encoder signal (z phase) + + + + + - - + (spr/trqr) torque command ccwtl (pr02=5) a/d a/d offset input mode selection [pr42] smoothing filter pr4c position 2 [pr18] position 1 [pr10] position error counter position error amplifier 2nd [pr18] 1st [pr13] speed detection filter width [pr1e] frequency [pr1d] selected by pr02 notch filter pr5e torque limit torque command 2nd [pr1c] 1st [pr14] torque command filter control mode switching velocity feed forward pr15 feed forward filter pr16 denominator pr46 pr4b pr50 pr53 pr54 pr55 pr56 pr52 pr02 pr5c pr44 multi plier pr4a numerator x 2 scaling command input gain internal 1st speed internal 2st speed internal 3st speed internal 4st speed switching between internal and external velocity setting acceleration, deceleration and s-curve accel./decel. time input command gain output pulse per single turn[pr44] multiplier of 4 speed detection 5 2,4 s p t t p/s s p : torque control mode : velocity control mode : position control mode block for servo gains and filter time constants s pr02 pr02 acceleration time [pr58] deceleration time [pr59] s-curve accel./decel. time [pr5a] velocity, 2nd [pr19] integration, 2nd [pr1a] velocity, 1st [pr11] integration, 1st [pr12] inertia ratio [pr20] velocity error amplifier panaterm monitoring the sum of command pulses panaterm monitoring feedback pulses panaterm wave form graphics (actual velocity) wave form graphics speed command panaterm wave form graphics velocity command panaterm only position control mode specifications http://www..net/ datasheet pdf - http://www..net/ - app. 113 - appendixes power encoder built-in functions protective functions monitor setting position control velocity control torque control rotary encoder single-phase, ac100 ~ 115v + 10% 50/60hz C 15% single-phase, ac100 ~ 115v + 10% 50/60hz C 15% 3-phase, ac200 ~ 230v + 10% 50/60hz C 15% single-phase, ac200 ~ 230v + 10% 50/60hz C 15% max. 5% igbt pwm control (sine wave control) incremental encoder, 11 wires, 2500 p/r absolute encoder, 7 wires, 17 bits regenerative discharge resistor incorporated (external regenerative discharge resistor connectable) active after main power-off, servo-off, protective function and limit switch. normal and real time 11-wire incremental encoder: 1 to 2500 p/r 7-wire absolute encoder: 1 to 16384 p/r undervoltage,overvoltage,overcurrent,overheat,overload,regenerative discharge,encoder error,position error,over speed,command pulse scaler error,error counter over flow,eeprom data error,overtravel inhibit input error,absolute system down error etc 6digits?\7 segmment led velocity monitor: 6v/3000r/min (rated revolution, default) torque monitor: 3v/100% (rated torque, default) position error pulse number rs232c and rs485, max. 16 axes 5 switches (mode, set, up, down and left) line driver 500 kpps, open collector 200 kpps line driver and open collector quadrature pulse command, cw/ccw pulse command and pulse/direction command analogue velocity (external) command 1:5000 internal velocity command 1:5000 0 to 10s/1000rpm, individual set-up of acceleration and deceleration, s- shaped acceleration/deceleration 0 ~ 10v 4 speeds set-up 0 ~ 10v torque limiting individually in cw and ccw line driver output output from line driver and open collector see "system configuration and wiring". front or back panel mounting (mounting plate optional) see "outer views and dimensions". see "installation". 500hz (motor rotor inertia jm = load inertia jl) driver input of control signal control system physical structure 100v main power supply system control power supply 200v main power supply control power supply permissible frequency variation rotary encoder regenerative discharge dynamic brake auto gain tuning electronic gear (command pulse ratio) scale of feedback pulse stores past14 errors includ- ing current one . digital display analogue output (check pins and connector pins) selects the items to be measured by using a param- eter, and measuring range (output impedance of 1k?) communication touch panel keys max. input pulse frequency type command type velocity control range acceleration/deceleration time setting analogue velocity (external) command input internal velocity command analogue torque (external) command input torque limit command torque command rotary encoder a/b phase feedback signal z phase system 1 to 10000 x 2 0 to 17 1 to 10000 calculated as approximate weight working environment frequency response shared by speed command - torque or position/torque control : 3v/ rated torque (default) share by ccw torque limit - velocity/torque control: 3v/rated torque (default) http://www..net/ datasheet pdf - http://www..net/ industrial and appliance motor division, motor co., matsushita electric industrial co.,ltd. 1-1, morofuku 7-chome, daito, osaka, japan 574-0044 after-sale service repair repair ask the seller where the product was purchased for details of repair work. when the product is installed in a machine or device, consult first the manufacturer of the machine or device. information customer service tel : 072-870-30573110 operating hours : 9:00 to 17:00, monday to saturday (except sunday, national holiday and the end/biginning of the year) memorandum(fill in the blanks for convenience in case of inquiry or repair) date of purchase place of purchase model no. muds mums telephone no.( ) tel:(072)871-1212 date: imb29 m0699-0 http://www..net/ datasheet pdf - http://www..net/ |
Price & Availability of MINASA
 |
|
|
|
|
All Rights Reserved © IC-ON-LINE 2003 - 2022 |
| [Add Bookmark] [Contact Us] [Link exchange] [Privacy policy] |
|
Mirror Sites : [www.datasheet.hk]
[www.maxim4u.com] [www.ic-on-line.cn]
[www.ic-on-line.com] [www.ic-on-line.net]
[www.alldatasheet.com.cn]
[www.gdcy.com]
[www.gdcy.net] |