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| * this product image is 200w type of a5-series. operating instructions (overall) ac servo motor & driver minas a5-series ? thank you for purchasing this panasonic product. ? before operating this product, please read the instructions carefully, and save this manual for future use. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/
2 thank you for purchasing digital ac servo motor & driver, minas a5-series. this instruction manual contains information necessary to correctly and safely use the minas a5-series motor and driver. by reading this instruction manual, you will learn how to identify the model of the motor and driver that will be best suitable your application, how to wire and set up them, how to set parameters, and how to locate possible cause of symptom and to take corrective action. this is the original instruction. caution 1) any part or whole of this document shall not be reproduced without written permis- sion from us. 2) contents of this document are subject to change without notice. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3 1 . before using the products check of the driver model ... installation describes how to identify and select the desired product and components, how to u h d g w k h v s h f l f d w l r q v d q g k r z w r l q v w d o o w k h h t x l s p h q w 2 . preparation operating requirements and procedure shows the timing chart and the list of parameters, and describes how to make wiring and to use the front panel. 3 . connection wiring ... i/o settings shows block diagrams for each control mode and connection diagrams to the host controllor, i/o settings. 4 . setup describes parameters ... jog running shows describes parameters and procedure of test operation. 5 . adjustment gain adjustment ... auto tuning describes various adjusting method including auto tuning and manual gain tuning. 6 . when in trouble read this section when you encounter trouble or error. 7 . supplement contains s-t characteristic diagram, dimensional outline drawing, supplemental description on communications and operation. organization of this manual 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4 contents organization of this manual ............................................................................................ 3 safety precautions ............................................................................................................. 6 conformance to international standards ................................................................... 10 maintenance and inspections ....................................................................................... 11 1. before using the products ................................................................... 1-1 1. introduction ............................................................................................................... 1-2 2. driver ..................................................................................................................... ... 1-3 3. motor ...................................................................................................................... . 1-21 4. check of the combination of the driver and the motor ........................................... 1-23 6. installation ............................................................................................................... 1-28 7. permissible load at output shaft ........................................................................... 1-35 2. preparation ......................................................................................................... 2-1 1. conformance to international standards ................................................................... 2-2 6 \ v w h p & r q j x u d w l r q d q g : l u l q j ........................................................................... 2-10 3. wiring to the connector, x1 .................................................................................... 2-51 4. wiring to the connector, x2 .................................................................................... 2-51 5. wiring to the connector, x3 .................................................................................... 2-53 6. wiring to the connector, x4 .................................................................................... 2-54 7. wiring to the connector, x5 .................................................................................... 2-55 8. wiring to the connector, x6 .................................................................................... 2-57 9. wiring to the connector, x7 .................................................................................... 2-60 10. timing chart .......................................................................................................... 2-61 11. built-in holding brake ............................................................................................ 2-65 12. dynamic brake....................................................................................................... 2-67 13. setup of parameter and mode .............................................................................. 2-72 14. setup of command division and multiplication ratio (electronic gear ratio) ........... 2-84 15. how to use the front panel .................................................................................. 2-86 3. connection ......................................................................................................... 3-1 1. outline of mode ......................................................................................................... 3-2 2. control block diagram ............................................................................................ 3-14 3. wiring to the connector, x4 .................................................................................... 3-18 4. inputs and outputs on connector x4 ....................................................................... 3-30 5. if monitor settings .................................................................................................. 3-50 page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. setup ........................................................................................................................ 4-1 1. describes parameters ............................................................................................... 4-2 2. jog running ............................................................................................................ 4-59 5. adjustment .......................................................................................................... 5-1 1. gain adjustment ........................................................................................................ 5-2 2. real-time auto-gain tuning ..................................................................................... 5-4 3. adaptive filter ......................................................................................................... 5-1 0 4. manual auto-gain tuning (basic) ............................................................................ 5-13 5. manual auto-gain tuning (application) ................................................................... 5-24 6. about homing operation ......................................................................................... 5-39 6. when in trouble ............................................................................................. 6-1 1. when in trouble ........................................................................................................ 6-2 2. setup of gain pre-adjustment protection ................................................................. 6-18 3. troubleshooting ...................................................................................................... 6-21 7. supplement ........................................................................................................ 7-1 1. safety function .......................................................................................................... 7- 2 2. absolute system ..................................................................................................... 7-10 3. setup support software, panaterm ..................................................................... 7-26 4. communication ....................................................................................................... 7-27 5. motor characteristics (s-t characteristics) ............................................................ 7-55 6. dimensions ............................................................................................................. 7-73 7. options .................................................................................................................... 7-92 warranty ...................................................................................................................... ..... 7-126 cautions for proper use ................................................................................................... 7-12 7 after-sale service .................................................................................................... back cov er page 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6 the following explanations are for things that must be observed in order to prevent harm to people and damage to property. ? 0 l v x v h v w k d w f r x o g u h v x o w l q k d u p r u g d p d j h d u h v k r z q d v i r o o r z v f o d v v l h g d f f r u g l q j w r w k h degree of potential harm or damage. danger indicates great possibility of death or serious injury. caution indicates the possibility of injury or property damage. ? 7 k h i r o o r z l q j l q g l f d w l r q v v k r z w k l q j v w k d w p x v w e h r e v h u y h g indicates something that must not be done. indicates something that must be done. danger do not subject the product to water, corrosive or d p p d e o h j d v h v d q g f r p e x v w l e o h v failure to observe this instruc- w l r q f r x o g u h v x o w l q u h h o h f w u l f d o shocks, damages and break- downs. do not place combustibles near by the motor, driverd regenerative resistor and dynamic brake resister.. don't use the motor in a place subject to exces- sive vibration or shock. failure to observe this instruc- tion could result in electrical v k r f n l q m x u \ r u u h don't use cables soaked in water or oil. failure to observe this instruc- tion could result in electrical shocks, damages and break- downs. the installation area should be away from heat generating objects such as a heater and a large wire wound resistor. failure to observe this instruc- w l r q f r x o g u h v x o w l q u h d q g breakdowns. never connect the motor directly to the commer- cial power supply. don't attempt to carry out wiring or manual opera- tion with wet hand. failure to observe this instruc- tion could result in electrical v k r f n l q m x u \ r u u h do not put your hands in the servo driver. failure to observe this instruc- tion could result in burn and electrical shocks. safety precautions please observe safety precautions fully. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7 in the case of the motor with shaft end keyway, do not touch the keyway with bare hands. failure to observe this instruc- tion could result in personal injury. do not touch the rotating portion of the motor while it is running. failure to observe this instruction could result in damages and breakdowns. do not touch the motor, servo driver, heat sink, regenerative resistor and dynamic brake resister, since they become very hot. failure to observe this instruc- tion could result in burns. do not drive the motor with external power. failure to observe this instruc- w l r q f r x o g u h v x o w l q u h do not subject the cables to excessive force, heavy object, or pinching force, nor damage the cables. failure to observe this instruc- tion could result in electrical shocks, damages and break- downs. installation area should be free from excessive dust, and from splashing water and oil. failure to heed this precaution will result in electric shock, per- v r q d o l q m x u \ u h p d o i x q f w l r q r u damage. mount the motor, driver and peripheral equip- ments on incombustible material such as metal. , q v w d o o d w l r q r q d d p p d e o h p d - w h u l d o p d \ f d x v h u h : l u l q j k d v w r e h f d u u l h g r x w e \ w k h t x d o l h g d q g authorized specialist. allowing a person with no ex- pertise to carry out wiring will result in electrical shocks. correctly run and arrange wiring. incorrect wiring will result in short circuit, electric shock, per- sonal injury, etc. after correctly connecting cables, insulate the live parts with insulator. incorrect wiring will result short f l u f x l w h o h f w u l f v k r f n u h r u malfunction. ground the earth terminal of the motor and driver without fail. floating ground circuit will cause electric shock. install and mount the product and machinery v h f x u h o \ w r s u h y h q w d q \ s r v v l e o h u h r u d f f l g h q w v incurred by earthquake. ) d l o x u h w r k h h g w k l v u h t x l u h p h q w will result in electric shock, per- v r q d o l q m x u \ u h p d o i x q f w l r q r u damage. install an emergency stop circuit externally so that you can stop the operation and shut off the power immediately. install an overcurrent protection, earth leakage breaker, over-temperature protection and emer- gency stop apparatus without fail. ) d l o x u h w r k h h g w k h v h u h t x l u h - ments will result in electric v k r f n s h u v r q d o l q m x u \ r u u h & k h f n d q g f r q u p w k h v d i h w \ r i w k h r s h u d w l r q after the earthquake. before transporting, wiring and inspecting the driver, turn off power and wait for a time longer w k d q w k d w v s h f l h g r q w k h q d p h s o d w h r q w k h v l g h panel of the product; and make sure that there is no risk of electrical shock. energized circuit will cause electric shock. 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 8 caution do not hold the motor cable or motor shaft during the transportation. failure to observe this instruc- tion could result in injuries. don't drop or cause topple over of something dur- ing transportation or installation. failure to observe this instruc- tion could result in injuries and breakdowns. do not step on the product nor place the heavy object on them. failure to observe this instruc- tion could result in electrical shocks, injuries, breakdowns and damages. don't use the equipment under direct sunshine. failure to heed these instruc- tions will cause personal injury r u u h do not block the heat dissipating holes or put the foreign particles into them. failure to observe this instruc- tion could result in electrical v k r f n v d q g u h do not give strong impact shock to the product. failure to observe this instruc- tion could result in breakdowns. do not give strong impact shock to the motor shaft. failure to observe this instruc- tion could result in a failure of the detector etc. do not turn on and off the main power of the driv- er repeatedly. failure to observe this instruc- tion could result in breakdowns. never run or stop the motor with the electro-mag- netic contactor installed in the main power side. do not make an extreme gain adjustment or change of the drive. do not keep the machine running/operating unsta- bly. failure to observe this instruc- tion could result in injuries. do not use the built-in brake as a "braking" to stop the moving load. failure to observe this instruc- tion could result in injuries and breakdowns. do not approach to the machine since it may sud- denly restart after the power resumption. design the machine to secure the safety for the operator even at a sudden restart. failure to observe this instruc- tion could result in injuries. never attempt to perform modication, dismantle or repair. failure to heed this instruction z l o o u h v x o w l q u h h o h f w u l f v k r f n personal injury or malfunction. safety precautions please observe safety precautions fully. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 9 make an appropriate mounting of the product matching to its wight and output rating. ) d l o x u h w r k h h g w k h v h u h t x l u h - ments will result in personal injury or malfunction. 2 e v h u y h w k h v s h f l h g p r x q w l q j p h w k r g d q g g l - rection. use the eye bolt of the motor for transportation of the motor only, and never use this for transporta- tion of the machine. using it for transportation of the machine will cause personal injury or malfunction. don't place any obstacle object around the motor and peripheral, which blocks air passage. temperature rise will cause e x u q l q m x u \ r u u h adjust the motor and driver ambient environmen- tal condition to match the motor operating tem- perature and humidity. ) d l o x u h w r k h h g w k h v h u h t x l u h - ments will result in personal injury or malfunction. & u h d w h w k h v s h f l h g f o h d u d q f h e h w z h h q w k h g u l y h u and the control panel inner surface or other de- vices. 2 e v h u y h w k h v s h f l h g y r o w d j h operation from a voltage out- side the rated voltage will cause electric shock, personal injury r u u h connect the brake control relay to the relay which is to shut off at emergency stop in series. missing of one of these devices will result in personal injury or malfunction. provide protection device against idling of electro- magnetic brake or gear head, or grease leakage from gear head. no protection will cause per- sonal injury, damage, pollution r u u h 8 v h w k h p r w r u d q g w k h g u l y h u l q w k h v s h f l h g f r p - bination. not using the motor and the g u l y h u l q w k h v s h f l h g f r p e l q d - w l r q z l o o u h v x o w l q u h 7 h v w u x q w k h v h f x u h o \ [ h g p r w r u z l w k r x w o r d g l q j to verify normal operation, and then connect it to the mechanical system. operation using a wrong model or wrong wiring connection will result in personal injury. when any error occurs, remove the cause and release the error after securing the safety, then restart. not removing the cause of the error will result in personal in- jury. if the driver fails, shut off the power on the power supply side of the driver. allowing a large current to con- w l q x h w r s d v v z l o o u h v x o w l q u h maintenance must be performed by an experi- enced personnel. wrong wiring will cause person- al injury or electric shock. always keep power disconnected when the power is not necessary for a long time. improper operation will cause personal injury. when you dispose the batteries, observe any applicable regulations or laws after insulating them with tape. this product shall be treated as industrial waste when you dispose. 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 10 conformed standards driver motor ec direc- tives emc directives en55011 en61000-6-2 en61800-3 C low-voltage directives en61800-5-1 en60034-1 en60034-5 machinery directives functional safety (*1) en954-1 (cat. 3) iso13849-1 (pl c,d)(cat. 3) en61508 (sil 2) en62061 (sil 2) en61800-5-2 (sto) iec61326-3-1 C ul standards ul508c (e164620) ul1004-1 e327868: to 750w (200v) ( from 6.0kw ) ul1004 e327868: 400w (400v) 600w (400v), 750w (400v) ( 0.9kw to 5.0kw ) csa standards c22.2 no.14 c22.2 no.100 iec : international electrotechnical commission en : europaischen normen emc : electromagnetic compatibility ul : underwriters laboratories csa : canadian standards association pursuant to the directive 2004/108/ec, article 9(2) panasonic testing centre panasonic service europe, a division of panasonic marketing europe gmbh winsbergring 15, 22525 hamburg, f.r. germany * products shall conform to the statutory regulations applied in the place of destination. * only for position control type does not support functional safety (*1) standards. note for details on compatibility with international standard, refer to p.2-2 conformance to international standards. conformance to international standards phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 11 routine maintenance and inspection of the driver and motor are essential for the proper and safe operation. notes on maintenance and inspection 1) turn on and turn off should be done by operators or inspectors themselves. when es- tablishing a system using safety functions, completely understand the applicable safety standards and the operating instruction manual or technical documents for the product. 2) internal circuit of the driver is kept charged with high voltage for a while even after power-off. turn off the power and allow 15 minutes or longer after led display of the front panel has gone off, before performing maintenance and inspection. 3) disconnect all of the connection to the driver when performing megger test (insulation resistance measurement) to the driver, otherwise it could result in breakdown of the driver. 4) do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case. 5) the upper fan on h-frame driver is kept deactivated while servo is off, for the purpose of energy saving. this is normal. inspection items and cycles general and normal running condition $ p e l h q w f r q g l w l r q v y & d q q x d o d y h u d j h o r d g i d f w r u r i r u lower, operating hours of 20 hours or less per day. perform the daily and periodical inspection as per the items below. type cycles items to be inspected daily inspection daily ? $ p e l h q w w h p s h u d w x u h k x p l g l w \ v s h f n g x v w r u i r u h l j q r e m h f w ? $ e q r u p d o y l e u d w l r q d q g q r l v h ? 0 d l q f l u f x l w y r o w d j h ? 2 g r u ? / l q w r u r w k h u s d u w l f o h v d w d l u k r o h v ? & o h d q q h v v d w i u r q w s r u w l r q r i w k h g u l y h u d q g f r q q h f w r u ? ' d p d j h r i w k h f d e o h v ? / r r v h f r q q h f w l r q r u p l v d o l j q p h q w e h w z h h q w k h p r w r u d q g p d f k l q h r u h t x l s p h q w ? 3 l q f k l q j r i i r u h l j q r e m h f w d w w k h o r d g motor with gear reducer annual ? / r r v h w l j k w h q l q j ? 7 u d f h r i r y h u k h d w ? ' d p d j h w r w k h w h u p l q d o e o r f n ? / r r v h i d v w h q h u v r q w h u p l q d o e o r f n note inspection cycle may change when the running conditions of the above change. maintenance and inspections 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 12 related page ? 3 : d u u d q w \ guideline for parts replacement use the table below for a reference. parts replacement cycle varies depending on the ac- tual operating conditions. defective parts should be replaced or repaired when any error have occurred. prohibited disassembling for inspection and repair should be carried out only by authorized dealers or service company. product component standard replacement cycles (hour) note driver smoothing condenser approx. 5 years these hours or cycles are reference. when you experience any h u u r u u h s o d f h p h q w l v u h t x l u h g even before this standard replacement cycle. cooling fan 2 to 3 years (10,000 to 30,000 hours) aluminum electrolytic capacitor (on pcb) approx. 5 years rush current preventive relay approx. 100,000 times (depending on working condition) rush current preventive resistor approx. 20,000 times (depending on working condition) motor bearing 3 to 5 years (20,000 to 30,000 hours) oil seal 5000 hours encoder 3 to 5 years (20,000 to 30,000 hours) battery for absolute encoder life time varies depending on working conditions. refer to the operating instructions attached to the battery for absolute encoder. maintenance and inspections phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-1 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 . before using the products 1. introduction outline .........................................................................................................1-2 on opening the product package ...............................................................1-2 2. driver check of the model......................................................................................1-3 parts description a to e-frame..............................................................................................1-4 f-frame .....................................................................................................1-5 g-frame.....................................................................................................1-6 h-frame.....................................................................................................1-7 d to f-frame (400 v).................................................................................1-8 g-frame (400 v)........................................................................................1-9 h-frame (400 v) ......................................................................................1-10 specifications.............................................................................................1-11 block diagram ...........................................................................................1-15 3. motor check of the model....................................................................................1-21 parts description .......................................................................................1-22 4. check of the combination of the driver and the motor incremental specifications, 20-bit..............................................................1-23 absolute specifications, 17-bit................................................................... 1-25 junction cable for motor ...........................................................................1-27 5. installation driver .........................................................................................................1-28 motor..........................................................................................................1-32 6. permissible load at output shaft motor.......................................................................................................... 1-35 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-2 the ac servo motor & driver, minas a5-series is the latest servo system that meets all g h p d q g v i u r p d y d u l h w \ r i p d f k l q h v z k l f k u h t x l u h k l j k v s h h g k l j k s u h f l v l r q d q g k l j k s h u i r u p d q f h r u z k l f k u h t x l u h v l p s o l h g v h w w l q j v compared with the preceding a4-series, product of a5-series offers superior performance z k l o h u h t x l u l q j v l p s o h v h w x s d q g d g m x v w p h q w e \ w k h x v h u newly designed motors have wide range of outputs from 50 w to 15.0 kw, associated z l w k e l w l q f u h p h q w d o h q f r g h u d q g u h g x f h g f r j j l q j w r u t x h (only for position control type have range of outputs from 50 w to 5.0 kw.) they are compatible with 2 closed controls (serial communication type and a-/b-phase output type) and provided with various automatic adjusting functions such as real time auto tuning with many automatic setting parameters to make complex tuning easy. (only for position control type do not conform to full-closed control.) these motors assure higher stability with low stiffness machine and high-speed, high accurate operation with high stiffness machine. they can be used in combination with a wide variety of machines. this manual is written as a complete guide for you so that you can fully and correctly make use of all functions available from minas a5. 1 before using the products 1. introduction on opening the product package ? 0 d n h v x u h w k d w w k h p r g h o l v z k d w \ r x k d y h r u g h u h g ? & k h f n l i w k h s u r g x f w l v g d p d j h g r u q r w g x u l q j w u d q v s r u w d w l r q ? & k h f n l i w k h 2 s h u d w l q j , q v w u x f w l r q v v d i h w \ d u h l q f o x g h g r u q r w ? & k h f n l i w k h s r z h u f r q q h f w r u p r w r u f r q q h f w r u v f r q q h f w r u i r u h [ w h u q d o u h j h q h u d w l y h resistor connection (d-frame (400 v) and e-frame) and safety by-pass plug are includ- ed or not. (neither the power connector nor motor connector are included to f-frame to h-frame.) (safety bypass plug is not supplied with only for position control type because it does not use this plug.) contact to a dealer if you nd any failures. 1 before using the products 1. introduction outline phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-3 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 before using the products 2. driver check of the model contents of name plate model number input/output voltage rated output of applicable motor rated input/output current input/output frequency number of phase serial number e.g.) : p09040001n lot number month of production year of production (lower 2 digits of ad year) manufacture date e.g.) : 2009 04 01 manufacture date manufacture year manufacture month model designation madht1505e special specifications (letters and numbers) special specifications (letters and numbers) only for position control type current detector rating power supply max. current rating of power device frame-size symbol velocity, position, torque and full-closed f r q w u r o w \ s h only for position control type madh mbdh mcdh mddh medh mfdh mgdh mhdh frame symbol a5-series, a-frame a5-series, b-frame a5-series, c-frame a5-series, d-frame a5-series, e-frame a5-series, f-frame a5-series, g-frame a5-series, h-frame current rating symbol specifications symbol 1 3 4 5 single phase, 100v 3-phase, 200v 3-phase, 400v single/3-phase, 200v current rating symbol 1 to 4 7 10 5 to 6 11 to 12 8 to 9 madht1505 1 to 4 7 5 to 6 10 to 12 8 to 9 note) only for position control type is s u r y l g h g $ ) u d p h w r ) i u d p h t1 t2 t3 t4 t5 t7 ta tb tc 10a 15a 30a 35a 50a 70a 100a 150a 300a 05 07 10 12 20 30 40 64 90 a2 b4 5a 7.5a 10a 12a 20a 30a 40a 64a 90a 120a 240a related page ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-4 a to d-frame e-frame led cover safety by-pass prug charge lamp l1c l2c l1 l2 l3 b1 b3 b2 v u w connector xa: for main power connection 05jfat-saxgf (jst) connector xb: for motor connection 06jfat-saxgf (jst) terminals for external regenerative resistor (normally short-circuit b3 to b2) connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel screws for earth (x2) main power input terminals control power input terminals terminals for motor connection 1 before using the products 2. driver parts description note ? & r q q h f w r u ; $ d q g ; % d u h d w w d f k h g l q $ w r ' i u d p h g u l y h u ? & r q q h f w r u ; $ ; % d q g ; & d u h d w w d f k h g l q ( i u d p h g u l y h u ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. led cover safety by-pass prug screws for earth (x2) charge lamp l1c l2c l1 l2 l3 b1 b3 b2 nc* * nc is no connect. u v w connector xa: for main power connection 05jfat-saxgsa-l (jst) connector xb: for motor connection 03jfat-saxgsa-l (jst) connector xc: connector for external regenerative resistor 04jfat-saxgsa-l (jst) terminals for external regenerative resistor (normally short-circuit b3 to b2) terminals for motor connection control power input terminals main power input terminals connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-5 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 2. driver parts description f-frame terminal cover led cover safety by-pass prug control power input terminals l1 l2 l3 l1c l2c b1 b3 b2 nc* u v w main power input terminals terminals for motor connection screws for earth (x2) terminals for external regenerative resistor (normally short-circuit b3 to b2) charge lamp connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel * nc is no connect. details of terminal block note related page ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 , q v w d o o d w l r q ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v ? 3 w r ' l p h q v l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-6 2. driver parts description g-frame terminal cover led cover safety by-pass prug nc nc nc l2c l1c nc nc nc db3 db2 db1 db4 l1 l2 l3 b1 b2 nc u v w x1 x2 x3 x4 x5 x6 charge control power input terminals nc* l1c l2c nc* nc* db1 db2 nc* nc* db3 db4 nc* l1 l2 l3 b1 b2 nc* u v w control terminal for dynamic brake resister control terminal for dynamic brake resister (normally short-circuit db3 to db4.) screws for earth (x2) charge lamp connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel details of terminal block main power input terminals terminals for motor connection terminals for external regenerative resistor * nc is no connect. terminal cover screw terminal cover screw terminal cover note related page ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 , q v w d o o d w l r q ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v ? 3 w r ' l p h q v l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-7 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 2. driver parts description h-frame x1 x2 x3 x4 x5 x6 charge l1 l2 l3 b1 b2 nc l1c l2c db1 db2 uvw l1 l1c l2c db1 db2 l2 l3 b1 b2 nc* uvw control power input terminals screws for earth (x2) charge lamp connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel control terminal for dynamic brake resister main power input terminals terminals for motor connection terminals for external regenerative resistor details of terminal block * nc is no connect. terminal cover terminal cover screw led cover safety by-pass prug note related page ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 , q v w d o o d w l r q ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v ? 3 w r ' l p h q v l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-8 2. driver parts description d, e-frame (400 v) f-frame (400 v) led cover safety by-pass prug screws for earth (x2) charge lamp 24v 0v l1 l2 l3 b1 b3 b2 u v w connector xa: for main power connection 03jfat-saygsa-l (jst) connector xb: for motor connection 03jfat-saxgsa-l (jst) connector xd: control power input terminals 02mjfat-sagf (jst) connector xc: connector for external regenerative resistor 04jfat-saxgsa-l(jst) terminals for external regenerative resistor (normally short-circuit b3 to b2) terminals for motor connection control power input terminals main power input terminals connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel nc* * nc is no connect. control power input terminals l1 l2 l3 24v 0v b1 b3 b2 nc* u v w main power input terminals terminals for motor connection screws for earth (x2) terminals for external regenerative resistor (normally short-circuit b3 to b2) charge lamp connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel terminal cover led cover safety by-pass prug * nc is no connect. details of terminal block note ? & r q q h f w r u ; d q g ; d u h d w w d f k h g l q $ w r ' i u d p h g u l y h u ? & r q q h f w r u ; $ ; % ; & d q g ; ' d u h d w w d f k h g l q ' d q g ( i u d p h 9 g u l y h u ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-9 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 2. driver parts description g-frame (400 v) terminal cover led cover safety by-pass prug nc* nc* nc* nc* nc* nc* control terminal for dynamic brake resister control terminal for dynamic brake resister (normally short-circuit db3 to db4.) details of terminal block * nc is no connect. nc* 24v 0v db1 db2 db3 db4 l1 l2 l3 b1 b2 u v w nc nc nc 0v 24v nc nc nc db3 db2 db1 db4 x1 x2 x3 x4 x5 x6 charge 400v control power input terminals screws for earth (x2) charge lamp connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel main power input terminals terminals for motor connection terminals for external regenerative resistor l1 l2 l3 b1 b2 nc u v w terminal cover screw terminal cover screw terminal cover note related page ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 , q v w d o o d w l r q ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v ? 3 w r ' l p h q v l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-10 2. driver parts description h-frame (400 v) h-frame (400 v) control terminal for dynamic brake resister details of terminal block nc* * nc is no connect. l1 24v 0v db1 db2 l2 l3 b1 b2 u v w x1 x2 x3 x4 x5 x6 charge l1 l2 l3 b1 b2 nc db2 24v 0v db1 uvw control power input terminals screws for earth (x2) charge lamp connector x6: for encoder connection connector x4: parallel i/o connector connector x3: safety function connector connector x2: for serial bus connector x1: usb connector connector x5: for feedback scale connection connector x7: monitor connector front panel main power input terminals terminals for motor connection terminals for external regenerative resistor terminal cover terminal cover screw led cover safety by-pass prug note related page ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 , q v w d o o d w l r q ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v ? 3 w r ' l p h q v l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-11 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 before using the products 2. driver specifications (velocity, position, torque, full-closed control type) % d v l f 6 s h f l f d w l r q v input power 100v main circuit single phase, 100 to 120v +10% 50/60hz C15% control circuit single phase, 100 to 120v +10% 50/60hz C15% 200v main circuit a to d-frame single/3-phase, 200 to 240v +10% 50/60hz C15% e to h-frame 3-phase, 200 to 230v +10% 50/60hz C15% control circuit a to d-frame single phase, 200 to 240v +10% 50/60hz C15% e to h-frame single phase, 200 to 230v +10% 50/60hz C15% 400v *1 main circuit 3-phase, 380 to 480v +10% 50/60hz C15% control circuit dc24v 15% withstand voltage primary to earth: withstand 1500 vac, 1 min, (sensed current: 20 ma) [100v/200v] withstand 1960 vac, 1 min, (sensed current: 20 ma) [400v] * 400v control circuit is excluded. environment temperature $ p e l h q w w h p s h u d w x u h y & w r y & i u h h i u r p i u h h ] l q j 6 w r u d j h w h p s h u d w x u h 2 y & w r y & (max. temperature guarantee: 80 y c for 72 hours free from condensation *2 ) humidity both operating and storage : 20 to 85%rh or less (free from condensation *2 ) altitude lower than 1000m vibration 5.88m/s 2 r u o h v v w r + ] 1 r f r q w l q x r x v x v h d w u h v r q d q f h i u h t x h q f \ control method igbt pwm sinusoidal wave drive encoder feedback 17-bit (131072 resolution) absolute encoder, 7-wire serial 20-bit (1048576 resolution) incremental encoder, 5-wire serial feedback scale feedback a/b phase, initialization signal defferential input. manufacturers that support serial communication scale: mitsutoyo corp. magnescale co., ltd. (old sony manufacturing systems corp.) parallel i/o connector control signal input general purpose 10 inputs the function of general-purpose input is selected by parameters. output general purpose 6 outputs the function of general-purpose input is selected by parameters. analog signal input 3 inputs (16bit a/d : 1 input, 12bit a/d : 2 inputs) output 2 outputs (analog monitor: 2 output) pulse signal input 2 inputs (photo-coupler input, line receiver input) photocoupler input is compatible with both line driver i/f and open collector i/f. line receiver input is compatible with line driver i/f. output 4 outputs ( line driver: 3 output, open collector: 1 output) feed out the encoder feedback pulse (a, b and z-phase) or feedback scale pulse (exa, exb and exz-phase) in line driver. z-phase and exz-phase pulse is also fed out in open collector. communication function usb connection with pc etc. rs232 1 : 1 communication to a host. rs485 1 : n communication to a host. safety function used for functional safety. front panel (1) 5 keys (mode, set, up, down, shift) (2) led (6-digit) (3) monitor connector (analog monitor output (2ch), digital monitor output (1ch)) regeneration a, b, g and h-frame: no built-in regenerative resistor (external resistor only) c to f-frame: built-in regenerative resistor (external resistor is also enabled.) dynamic brake a to g-frame: built-in (external resistor is also available to g-frame) h-frame: external only control mode switching among the following 7 mode is enabled, 3 r v l w l r q f r q w u r o 9 h o r f l w \ f r q w u r o 7 r t x h f r q w u r o 3 r v l w l r q 9 h o r f l w \ f r q w u r o 3 r v l w l r q 7 r u t x h f r q w u r o 9 h o r f l w \ 7 r u t x h f r q w u r o ) x o o f o r v h g f r q w u r o caution related page 7 k h v s h f l f d w l r q r x w r i - d s d q *2 air containing water vapor will become saturated with water vapor as the temperature falls, causing dew. ? 3 , q v w d o o d w l r q r i ' u l y h u ? 3 , q v w d o o d w l r q r i 0 r w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-12 function control input (1) servo-on input (2) alarm clear input (3) gain switching input (4) positive direction over-travel inhibition input (5) negative direction over-travel inhibition input (6) forced alarm input (7) inertia ratio switching input control output (1) servo-alarm output (2) servo-ready output (3) external brake release signal 6 s h h g d u u l y d o r x w s x w 7 r u t x h l q o l p l w v l j q d o r x w s x w (6) zero-speed detection output signal (7) alarm output (8) alarm attribute output position control control input (1) deviation counter clear (2) command pulse inhibition (3) command dividing gradual increase switching (4) damping control switching 7 r u t x h o l p l w v z l w f k l q j & r q w u r o p r g h v z l w f k l q j control output (1) positioning complete (in-position) (2)positional command on/off output pulse input max. command s x o v h i u h t x h q f \ exclusive interface for photo-coupler: 500kpps exclusive interface for line driver : 4mpps input pulse signal format differential input. selectable with parameter. ((1) positive and negative direction, (2) a and b-phase, (3) command and direction) electronic gear (division/multiplication of command pulse) 3 u r f h v v f r p p d q g s x o v h i u h t x h q f \ e h o h f w u r q l f j h d u u d w l r ( 1 to 2 30 1 to 2 30 ) as positional command input. use electronic gear ratio in the range 1/1000 to 1000 times. 6 p r r w k l q j o w h u 3 u l p d u \ g h o d \ o w h u r u ) , 5 w \ s h o w h u l v d g d s w d e o h w r w k h f r p p d q g l q s x w analog input 7 r u t x h o l p l w command input , q g l y l g x d o w r u t x h o l p l w i r u e r w k s r v l w l y h d q g q h j d w l y h g l u h f w l r q l v h q d e o h g 7 r u t x h i h h g i r u z d u g l q s x w $ q d o r j y r o w d j h f d q e h x v h g d v w r u t x h i h h g i r u z d u g l q s x w instantaneous speed observer available damping control available velocity control control input (1) selection of internal velocity setup (2) speed zero clamp (3) speed command sign input (4)control mode switching control output (1) s peed coincidence output (2)speed command on /off output analog input velocity command input speed command input can be provided by means of analog voltage. parameters are used for scale setting and command polarity. (6v/rated rotational speed default) 7 r u t x h o l p l w command input , q g l y l g x d o w r u t x h o l p l w i r u e r w k s r v l w l y h d q g q h j d w l y h g l u h f w l r q l v h q d e o h g 7 r u t x h i h h g i r u z d u g l q s x w $ q d o r j y r o w d j h f d q e h x v h g d v w r u t x h i h h g i r u z d u g l q s x w internal velocity command switching the internal 8speed is enabled by command input. soft-start/down function individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. sigmoid acceleration/deceleration is also enabled. zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled. instantaneous speed observer available 7 r u t x h f r q w u r o control input 6 s h h g ] h u r f o d p s 7 r u t x h f r p p d q g v l j q l q s x w & r q w u r o p r g h v z l w f k l q j control output (1) speed coincidence output (2) speed in-limit output analog input 7 r u t x h f r p p d q g input 7 r u t x h f r p p d q g l q s x w f d q e h s u r y l g h g e \ p h d q v r i d q d o r j y r o w d j h 3 d u d p h w h u v d u h x v h g i r u v f d o h v h w w l q j d q g f r p p d q g s r o d u l w \ 9 u d w h g w r u t x h ' h i d x o w speed limit function speed limit value with parameter t is enabled. full-closed control control input (1) deviation counter clear (2) command pulse inhibition (3) command dividing gradual increase switching (4) damping control switching 7 r u t x h o l p l w v z l w f k l q j control output (1) full-closed positioning complete (2) positional command on/off output pulse input max. command s x o v h i u h t x h q f \ exclusive interface for photo-coupler: 500kpps exclusive interface for line driver : 4mpps input pulse signal format differential input. selectable with parameter. ((1) positive and negative direction, (2) a and b-phase, (3) command and direction) electronic gear (division/multiplication of command pulse) 3 u r f h v v f r p p d q g s x o v h i u h t x h q f \ e h o h f w u r q l f j h d u u d w l r ( 1 to 2 30 1 to 2 30 ) as positional command input. use electronic gear ratio in the range 1/1000 to 1000 times. 6 p r r w k l q j o w h u 3 u l p d u \ g h o d \ o w h u r u ) , 5 w \ s h o w h u l v d g d s w d e o h w r w k h f r p p d q g l q s x w analog input 7 r u t x h o l p l w command input , q g l y l g x d o w r u t x h o l p l w i r u e r w k s r v l w l y h d q g q h j d w l y h g l u h f w l r q l v h q d e o h g 7 r u t x h i h h g i r u z d u g l q s x w $ q d o r j y r o w d j h f d q e h x v h g d v w r u t x h i h h g i r u z d u g l q s x w setup range of division/ multiplication of feedback scale 1/40 to 160 times the ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 2 20 (numerator) to 1 to 2 20 (denominator), but should be set to a ratio within the range shown above. common auto tuning the load inertia is identified in real time by the driving state of the motor operating according w r w k h f r p p d q g j l y h q e \ w k h f r q w u r o o l q j g h y l f h d q g v h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 the gain is set automatically in accordance with the rigidity setting. division of encoder feedback pulse set up of any value is enabled (encoder feedback pulses count is the max.). protective function hard error over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc. soft error excess position deviation, command pulse division error, eeprom error etc. traceability of alarm data the alarm data history can be referred to. 2. driver specifications (velocity, position, torque, full-closed control type) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-13 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 before using the products 2. driver specifications (only for position control type) % d v l f 6 s h f l f d w l r q v input power 100v main circuit single phase, 100 to 120v +10% 50/60hz C15% control circuit single phase, 100 to 120v +10% 50/60hz C15% 200v main circuit a to d-frame single/3-phase, 200 to 240v +10% 50/60hz C15% e to f-frame 3-phase, 200 to 230v +10% 50/60hz C15% control circuit a to d-frame single phase, 200 to 240v +10% 50/60hz C15% e to f-frame single phase, 200 to 230v +10% 50/60hz C15% 400v main circuit d to f-frame 3-phase, 380 to 480v +10% 50/60hz C15% control circuit d to f-frame dc 24v 15% withstand voltage primary to earth: withstand 1500 vac, 1 min, (sensed current: 20 ma) [100v/200v] withstand 1960 vac, 1 min, (sensed current: 20 ma) [400v] * 400v control circuit is excluded. environment temperature $ p e l h q w w h p s h u d w x u h y & w r y & i u h h i u r p i u h h ] l q j 6 w r u d j h w h p s h u d w x u h 2 y & w r y & (max. temperature guarantee: 80 y c for 72 hours free from condensation *2 ) humidity both operating and storage : 20 to 85%rh or less (free from condensation) altitude lower than 1000m vibration 5.88m/s 2 r u o h v v w r + ] 1 r f r q w l q x r x v x v h d w u h v r q d q f h i u h t x h q f \ control method igbt pwm sinusoidal wave drive encoder feedback 20-bit (1048576 resolution) incremental encoder, 5-wire serial parallel i/o connector control signal input general purpose 10 inputs the function of general-purpose input is selected by parameters. output general purpose 6 outputs the function of general-purpose input is selected by parameters. analog signal output 2 outputs (analog monitor: 2 output) pulse signal input 2 inputs (photo-coupler input, line receiver input) photocoupler input is compatible with both line driver i/f and open collector i/f. line receiver input is compatible with line driver i/f. output 4 outputs ( line driver: 3 output, open collector: 1 output) feed out the encoder feedback pulse (a, b and z-phase) or feedback scale pulse (exa, exb and exz-phase) in line driver. z-phase and exz-phase pulse is also fed out in open collector. communication function usb connection with pc etc. front panel (1) 5 keys (2) led (6-digit) (3) analog monitor output (2ch) regeneration a, b-frame: no built-in regenerative resistor (external resistor only) c to f-frame: built-in regenerative resistor (external resistor is also enabled.) dynamic brake a to f-frame: built-in control mode (1) position control (2) internal velocity control (3) position/ internal velocity control caution related page caution 7 k h v s h f l f d w l r q r x w r i - d s d q *2 air containing water vapor will become saturated with water vapor as the temperature falls, causing dew. ? 3 , q v w d o o d w l r q r i ' u l y h u ? 3 , q v w d o o d w l r q r i 0 r w r u only for position control type is provided a-frame to f-frame. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-14 2. driver specifications (only for position control type) function position control control input (1) deviation counter clear (2) command pulse inhibition (3) command dividing gradual increase switching (4) damping control switching etc. control output positioning complete (in-position) etc. pulse input max. command s x o v h i u h t x h q f \ exclusive interface for photo-coupler: 500kpps exclusive interface for line driver : 4mpps input pulse signal format differential input ((1) positive and negative direction, (2) a and b-phase, (3) command and direction) electronic gear (division/ multiplication of command pulse) 3 u r f h v v f r p p d q g s x o v h i u h t x h q f \ e h o h f w u r q l f j h d u u d w l r ( 1 to 2 30 1 to 2 30 ) as positional command input. use electronic gear ratio in the range 1/1000 to 1000 times. 6 p r r w k l q j o w h u 3 u l p d u \ g h o d \ o w h u r u ) , 5 w \ s h o w h u l v d g d s w d e o h w r w k h f r p p d q g l q s x w instantaneous speed observer available damping control available internal velocity control control input (1) selection of internal velocity setup (2) speed zero clamp control output speed arrival internal velocity command switching the internal 8speed is enabled by command input. soft-start/down function individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/ min. sigmoid acceleration/deceleration is also enabled. zero-speed clamp 0-clamp of internal velocity command with speed zero clamp input is enabled. instantaneous speed observer available common auto tuning the load inertia is identified in real time by the driving state of the motor operating according to the command given by the controlling device and set up support v r i w z d u h 3 $ 1 $ 7 ( 5 0 the gain is set automatically in accordance with the rigidity setting. division of encoder feedback pulse set up of any value is enabled (encoder pulses count is the max.). protective function hard error over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc. soft error excess position deviation, command pulse division error, eeprom error etc. traceability of alarm data the alarm data history can be referred to. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-15 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement a, b-frame (100/200 v) b1 b3 n p resistor fuse error detection voltage detection sequence control b2 l1c l2c x5 feedback scale signal processing limit feedback scale unit dc/dc x1 x2 x6 u v w m re x4 + (12v +5v ps for gate drive gate drive ps for re front panel alarm signal usb serial pulse train command pusle output analog velocity command control input division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection division processing position deviation amp. display operation control parameter control protective curcuit eeprom speed deviation amp. to r q u e limit current control pwm circuit encoder signal processing limit control output x3 safety function l 1 l 2 l 3 fuse fuse c, d-frame (100/200 v) b1 b3 n p error detection voltage detection sequence control b2 l1c l2c division processing feedback scale signal processing limit dc/dc x6 u v w m re + (12v +5v ps for gate drive gate drive ps for re alarm signal pulse train command pusle output analog velocity command control input division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. display operation control parameter control protective curcuit eeprom speed deviation amp. to r q u e limit current control pwm circuit encoder signal processing limit control output fuse fan (d-frame only) front panel x5 feedback scale unit x1 x2 x4 usb serial x3 safety function l 2 l 3 l 1 fuse fuse resistor 1 before using the products 2. driver block diagram note ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-16 e-frame (200 v) b1 b3 n p error detection voltage detection sequence control b2 l1c l2c division processing dc/dc x6 u v w m re + (12v +5v ps for gate drive ps for re fuse parameter control eeprom fan front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. torque limit current control pwm circuit encoder signal processing limit gate drive x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function l 1 fuse fuse l 2 l 3 resistor f-frame (200 v) b1 b3 error detection sequence control b2 l1c l2c division processing dc/dc x6 u v w m re + (12v +5v ps for gate drive ps for re fuse parameter control eeprom fan front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. torque limit current control pwm circuit encoder signal processing limit gate drive x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function l 1 l 2 l 3 n p fuse resistor fuse voltage detection 2. driver block diagram note ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-17 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement g-frame (200 v) h-frame (200 v) 2. driver block diagram b1 b3 error detection sequence control b2 division processing x6 parameter control eeprom front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. to r q u e limit current control pwm circuit encoder signal processing limit x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function l 1 l 2 l 3 dc/dc l1c l2c u v w db1 db2 m re n p + gate drive resistor fuse db3 db4 fuse fuse voltage detection (12v +5v ps for gate drive ps for re fan b1 b3 error detection sequence control b2 division processing x6 parameter control eeprom front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. to r q u e limit current control pwm circuit encoder signal processing limit x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function l 1 l 2 l 3 dc/dc l1c l2c u v w db1 db2 m re n p + gate drive resistor fuse fuse fuse voltage detection (12v +5v ps for gate drive ps for re fan note ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-18 d-frame (400 v) e-frame (400 v) 2. driver block diagram l 2 l 3 l 1 b1 b3 n p fuse resistor fuse dc/dc 24v 0v u v w m re + 12v +5v ps for gate drive ps for re fuse fan error detection sequence control b2 division processing x6 parameter control eeprom front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. torque limit current control pwm circuit encoder signal processing limit x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function voltage detection gate drive l 2 l 3 l 1 b1 b3 n p fuse resistor fuse dc/dc 24v 0v u v w m re + 12v +5v ps for gate drive ps for re fuse fan error detection sequence control b2 division processing x6 parameter control eeprom front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity to r q u e internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. to r q u e limit current control pwm circuit encoder signal processing limit x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function voltage detection gate drive note ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-19 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement f-frame (400 v) g-frame (400 v) 2. driver block diagram l 2 l 3 l 1 b1 b3 n p fuse resistor fuse dc/dc 24v 0v u v w m re + 12v +5v ps for gate drive ps for re fuse fan error detection sequence control b2 division processing x6 parameter control eeprom front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. to r q u e limit current control pwm circuit encoder signal processing limit x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function voltage detection gate drive b1 b3 error detection sequence control b2 division processing x6 parameter control eeprom front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. torque limit current control pwm circuit encoder signal processing limit x5 feedback scale signal processing limit feedback scale unit x1 x2 x4 usb serial x3 safety function l 1 l 2 l 3 dc/dc 24v 0v u v w db1 db2 m re n p + gate drive resistor fuse db3 db4 fuse fuse voltage detection (12v +5v ps for gate drive ps for re fan note ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided with x2, x3 and x5. g-frame: only for position control type is not provided. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-20 h-frame (400 v) 2. driver block diagram b1 b3 error detection sequence control b2 division processing x6 parameter control eeprom front panel display operation control protective curcuit alarm signal pulse train command pusle output analog velocity command control input control output division/ mulitiplication + + C C a/d a/d 16-bit position speed velocity torque internal external deviation counter internal speed command speed detection position deviation amp. speed deviation amp. torque limit current control pwm circuit encoder signal processing limit x5 feedback scale signal processing limit x1 x2 x4 usb serial x3 safety function l 1 l 2 l 3 dc/dc 24v 0v u v w db1 db2 m re n p + gate drive resistor fuse fuse fuse voltage detection (12v +5v ps for gate drive ps for re fan note ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u only for position control type is not provided. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-21 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 before using the products 3. motor check of the model contents of name plate serial number e.g.) : 09 04 0001n lot number month of production year of production (lower 2 digits of ad year) manufacture date e.g.) : 2009 04 01 manufacture date manufacture year manufacture month model rated output rated input voltage/current rated frequency rated rotational speed model designation msme5azs1s 1 to 4 5 to 6 11 to 12 7 8 9 10 special specifications motor structure rotary encoder specifications voltage specifications specifications type symbol low inertia (50w to 750w) high inertia (200w to 750w) low inertia (50w to 5.0kw) middle inertia (400w to 15.0kw) middle inertia (1.5kw to 4.5kw) middle inertia (0.9kw to 6.0kw) high inertia (1.0kw to 7.5kw) g s incremental absolute specifications symbol format pulse count output motor rated output symbol specifications symbol resolution 5-wire 7-wire wire count motor structure msme (50w to 750w) *4 the product with oil seal is a special order product. *5 key way with center tap [ products are standard stock items or manufactured by order. for details, inquire the dealer.] a b s t shaft holding brake oil seal without with round key way without with symbol msme (750w(400v), 1.0kw to 5.0kw) , mdme, mfme, mgme, mhme c d g h shaft holding brake oil seal without with round key way without with symbol *4 *5 *5 msmd mhmd msme mdme mfme mgme mhme 5a 01 02 04 06 08 09 10 15 20 25 30 40 45 50 60 75 c1 c5 50w 100w 200w 400w 600w 750w 900w 1.0kw 1.5kw 2.0kw 2.5kw 3.0kw 4.0kw 4.5kw 5.0kw 6.0kw 7.5kw 11.0kw 15.0kw 20bit 17bit 1,048,576 131,072 *1 the position control type only. *2 only for position control type is msme, mdme and mhme: 1.0kw to 5.0kw, mgme: 0.9kw to 3.0kw, mfme is none. 1 2 4 z 100 v 200 v 400 v 100/200 v common (50w only) design order symbol specifications 1 c standard connector for encoder : n/ms3102a20-29p ip65 motor 0.9 kw to 5.0 kw ( only selectable ) *3 only for position control type does not support the 17-bit absolute specification. it supports only 20-bit incremental specification. *1 *1 *2 *2 *2 *2 *2 *3 note related page ? ) r u g h w d l o v r i v s h f l f p r g h o u h i h u w r w k h ' l p h q v l r q v r i 6 x s s o h p h q w ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 w r ' l p h q v l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-22 1 before using the products 3. motor parts description motor frame flange connector for motor connector for encoder connector for motor connector for brake connector for encoder [with brake] motor frame flange mounting holes (x4) mounting holes (x4) connector for motor connector for encoder oil seal motor frame flange mounting holes (x4) note ) r u g h w d l o v r i v s h f l f p r g h o u h i h u w r w k h ' l p h q v l r q v r i 6 x s s o h p h q w 3 w r ? 0 6 0 ( : w r : ? msme 750w(400v), 1.0kw to 5.0kw ? mdme 400w to 15.0kw ? mfme 1.5kw to 4.5kw ? mgma 0.9kw to 6.0kw ? mhme 1.0kw to 7.5kw e.g.) : low inertia type (msme series, 50w) e.g.) : middle inertia type (mdme series, 1.0kw) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-23 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 before using the products 4. check of the combination of the driver and the motor incremental specifications, 20-bit 7 k l v g u l y h u l v g h v l j q h g w r e h x v h g l q d f r p e l q d w l r q z l w k w k h p r w r u z k l f k d u h v s h f l h g e \ x v & k h f n w k h v h u l h v q d p h r i w k h p r w r u u d w h g r x w s x w w r u t x h y r o w d j h v s h f l f d w l r q v d q g h q f r g h u v s h f l f d w l r q v remarks do not use in other combinations than those listed below. motor driver power supply type rated rotational speed model rated output model of velocity, position, torque and full-closed control type model of only for position control type frame single phase, 100v msmd low inertia 3000r/min msmd5azg1 * 50w madht1105 madht1105e a-frame msmd011g1 * 100w madht1107 madht1107e msmd021g1 * 200w mbdht2110 mbdht2110e b-frame msmd041g1 * 400w mcdht3120 mcdht3120e c-frame single/ 3-phase, 200v msme5azg1 * 50w madht1505 madht1505e a-frame msme012g1 * 100w msme022g1 * 200w madht1507 madht1507e msme042g1 * 400w mbdht2510 mbdht2510e b-frame msme082g1 * 750w mcdht3520 mcdht3520e c-frame single phase, 100v msme low inertia 3000r/min msme5azg1 * 50w madht1105 madht1105e a-frame msme011g1 * 100w madht1107 madht1107e msme021g1 * 200w mbdht2110 mbdht2110e b-frame msme041g1 * 400w mcdht3120 mcdht3120e c-frame single/ 3-phase, 200v msme5azg1 * 50w madht1505 madht1505e a-frame msme012g1 * 100w msme022g1 * 200w madht1507 madht1507e msme042g1 * 400w mbdht2510 mbdht2510e b-frame msme082g1 * 750w mcdht3520 mcdht3520e c-frame msme102g ? * 1.0kw mddht5540 mddht5540e d-frame msme152g ? * 1.5kw 3-phase, 200v msme202g ? * 2.0kw medht7364 medht7364e e-frame msme302g ? * 3.0kw mfdhta390 mfdhta390e f-frame msme402g ? * 4.0kw mfdhtb3a2 mfdhtb3a2e msme502g ? * 5.0kw 3-phase, 400v msme084g1 * 750w mddht2412 mddht2412e d-frame msme104g ? * 1.0kw mddht3420 mddht3420e msme154g ? * 1.5kw mddht3420 mddht3420e msme204g ? * 2.0kw medht4430 medht4430e e-frame msme304g ? * 3.0kw mfdht5440 mfdht5440e f-frame msme404g ? * 4.0kw mfdhta464 mfdhta464e msme504g ? * 5.0kw single/ 3-phase, 200v mdme middle inertia 2000r/min mdme102g ? * 1.0kw mddht3530 mddht3530e d-frame mdme152g ? * 1.5kw mddht5540 mddht5540e 3-phase, 200v mdme202g ? * 2.0kw medht7364 medht7364e e-frame mdme302g ? * 3.0kw mfdhta390 mfdhta390e f-frame mdme402g ? * 4.0kw mfdhtb3a2 mfdhtb3a2e mdme502g ? * 5.0kw 1500r/min mdme752g1 * 7.5kw mgdhtc3b4 g-frame mdmec12g1 * 11.0kw mhdhtc3b4 h-frame mdmec52g1 * 15.0kw 3-phase, 400v 2000r/min mdme044g1 * 400w mddht2407 mddht2407e d-frame mdme064g1 * 600w mdme104g ? * 1.0kw mddht2412 mddht2412e mdme154g ? * 1.5kw mddht3420 mddht3420e mdme204g ? * 2.0kw medht4430 medht4430e e-frame mdme304g ? * 3.0kw mfdht5440 mfdht5440e f-frame mdme404g ? * 4.0kw mfdhta464 mfdhta464e mdme504g ? * 5.0kw 1500r/min mdme754g1 * 7.5kw mgdhtb4a2 g-frame mdmec14g1 * 11.0kw mhdhtb4a2 h-frame mdmec54g1 * 15.0kw note ? 6 x i [ r i ? l q w k h d s s o l f d e o h p r w r u p r g h o u h s u h v h q w v g h v l j q r u g h u ? 6 x i [ r i * l q w k h d s s o l f d e o h p r w r u p r g h o u h s u h v h q w v w k h p r w r u v w u x f w x u h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-24 motor driver power supply type rated rotational speed model rated output model of velocity, position, torque and full-closed control type model of only for position control type frame single/ 3-phase, 200v mfme middle inertia 2000r/min mfme152g1 * 1.5kw mddht5540 mddht5540e d-frame 3-phase, 200v mfme252g1 * 2.5kw medht7364 medht7364e e-frame mfme452g1 * 4.5kw mfdhtb3a2 mfdhtb3a2e f-frame 3-phase, 400v mfme154g1 * 1.5kw mddht3420 mddht3420e d-frame mfme254g1 * 2.5kw medht4430 medht4430e e-frame mfme454g1 * 4.5kw mfdhta464 mfdhta464e f-frame single/ 3-phase, 200v mgme middle inertia 1000r/min mgme092g * 0.9kw mddht5540 mddht5540e d-frame 3-phase, 200v mgme202g * 2.0kw mfdhta390 mfdhta390e f-frame mgme302g * 3.0kw mfdhtb3a2 mfdhtb3a2e mgme452g1 * 4.5kw mgme602g1 * 6.0kw mgdhtc3b4 g-frame 3-phase, 400v mgme094g * 0.9kw mddht3420 mddht3420e d-frame mgme204g * 2.0kw mfdht5440 mfdht5440e f-frame mgme304g * 3.0kw mfdhta464 mfdhta464e mgme454g1 * 4.5kw mgme604g1 * 6.0kw mgdhtb4a2 g-frame single phase, 100v mhmd high inertia 2000r/min mhmd021g1 * 200w mbdht2110 mbdht2110e b-frame mhmd041g1 * 400w mcdht3120 mcdht3120e c-frame single/ 3-phase, 200v mhmd022g1 * 200w madht1507 madht1507e a-frame mhmd042g1 * 400w mbdht2510 mbdht2510e b-frame mhmd082g1 * 750w mcdht3520 mcdht3520e c-frame single/ 3-phase, 200v mhme high inertia 2000r/min mhme102g * 1.0kw mddht3530 mddht3530e d-frame mhme152g * 1.5kw mddht5540 mddht5540e 3-phase, 200v mhme202g * 2.0kw medht7364 medht7364e e-frame mhme302g * 3.0kw mfdhta390 mfdhta390e f-frame mhme402g * 4.0kw mfdhtb3a2 mfdhtb3a2e mhme502g * 5.0kw 1500r/min mhme752g1 * 7.5kw mgdhtc3b4 g-frame 3-phase, 400v 2000r/min mhme104g * 1.0kw mddht2412 mddht2412e d-frame mhme154g * 1.5kw mddht3420 mddht3420e mhme204g * 2.0kw medht4430 medht4430e e-frame mhme304g * 3.0kw mfdht5440 mfdht5440e f-frame mhme404g * 4.0kw mfdhta464 mfdhta464e mhme504g * 5.0kw 1500r/min mhme754g1 * 7.5kw mgdhtb4a2 g-frame note ? suffx of " " in the applicable motor model represents design order. ? suffx of " * " in the applicable motor model represents the motor structure. 4. check of the combination of the driver and the motor incremental specifications, 20-bit phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-25 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 before using the products 4. check of the combination of the driver and the motor absolute specifications, 17-bit 7 k l v g u l y h u l v g h v l j q h g w r e h x v h g l q d f r p e l q d w l r q z l w k w k h p r w r u z k l f k d u h v s h f l h g e \ x v & k h f n w k h v h u l h v q d p h r i w k h p r w r u u d w h g r x w s x w w r u t x h y r o w d j h v s h f l f d w l r q v d q g h q f r g h u v s h f l f d w l r q v remarks do not use in other combinations than those listed below. motor driver power supply type rated rotational speed model rated output model of velocity, position, torque and full-closed control type frame single phase, 100v msme low inertia 3000r/min msme5azs1 * 50w madht1105 a-frame msme011s1 * 100w madht1107 msme021s1 * 200w mbdht2110 b-frame msme041s1 * 400w mcdht3120 c-frame single/ 3-phase, 200v msme5azs1 * 50w madht1505 a-frame msme012s1 * 100w msme022s1 * 200w madht1507 msme042s1 * 400w mbdht2510 b-frame msme082s1 * 750w mcdht3520 c-frame msme102s ? * 1.0kw mddht5540 d-frame msme152s ? * 1.5kw 3-phase, 200v msme202s ? * 2.0kw medht7364 e-frame msme302s ? * 3.0kw mfdhta390 f-frame msme402s ? * 4.0kw mfdhtb3a2 msme502s ? * 5.0kw 3-phase, 400v msme084s1 * 750w mddht2412 d-frame msme104s ? * 1.0kw mddht3420 msme154s ? * 1.5kw mddht3420 msme204s ? * 2.0kw medht4430 e-frame msme304s ? * 3.0kw mfdht5440 f-frame msme404s ? * 4.0kw mfdhta464 msme504s ? * 5.0kw single/3-phase, 200v mdme middle inertia 2000r/min mdme102s ? * 1.0kw mddht3530 d-frame mdme152s ? * 1.5kw mddht5540 3-phase, 200v mdme202s ? * 2.0kw medht7364 e-frame mdme302s ? * 3.0kw mfdhta390 f-frame mdme402s ? * 4.0kw mfdhtb3a2 mdme502s ? * 5.0kw 1500r/min mdme752s1 * 7.5kw mgdhtc3b4 g-frame mdmec12s1 * 11.0kw mhdhtc3b4 h-frame mdmec52s1 * 15.0kw 3-phase, 400v 2000r/min mdme044s1 * 400w mddht2407 d-frame mdme064s1 * 600w mdme104s ? * 1.0kw mddht2412 mdme154s ? * 1.5kw mddht3420 mdme204s ? * 2.0kw medht4430 e-frame mdme304s ? * 3.0kw mfdht5440 f-frame mdme404s ? * 4.0kw mfdhta464 mdme504s ? * 5.0kw 1500r/min mdme754s1 * 7.5kw mgdhtb4a2 g-frame mdmec14s1 * 11.0kw mhdhtb4a2 h-frame mdmec54s1 * 15.0kw note ? 6 x i [ r i ? l q w k h d s s o l f d e o h p r w r u p r g h o u h s u h v h q w v g h v l j q r u g h u ? 6 x i [ r i * l q w k h d s s o l f d e o h p r w r u p r g h o u h s u h v h q w v w k h p r w r u v w u x f w x u h ? ' h i d x o w r i w k h g u l y h u l v v h w i r u w k h l q f u h p h q w d o h q f r g h u v s h f l f d w l r q v when you use in absolute, make the following operations. a) install a battery for absolute encoder. b) 6 z l w f k w k h s d u d p h w h u 3 u $ e v r o x w h h q f r g h u v h w x s i u r p g h i d x o w w r ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-26 motor driver power supply type rated rotational speed model rated output model of velocity, position, torque and full-closed control type frame single/3-phase, 200v mfme middle inertia 2000r/min mfme152s1 * 1.5kw mddht5540 d-frame 3-phase, 200v mfme252s1 * 2.5kw medht7364 e-frame mfme452s1 * 4.5kw mfdhtb3a2 f-frame 3-phase, 400v mfme154s1 * 1.5kw mddht3420 d-frame mfme254s1 * 2.5kw medht4430 e-frame mfme454s1 * 4.5kw mfdhta464 f-frame single/3-phase, 200v mgme middle inertia 1000r/min mgme092s * 0.9kw mddht5540 d-frame 3-phase, 200v mgme202s * 2.0kw mfdhta390 f-frame mgme302s * 3.0kw mfdhtb3a2 mgme452s1 * 4.5kw mgme602s1 * 6.0kw mgdhtc3b4 g-frame 3-phase, 400v mgme094s * 0.9kw mddht3420 d-frame mgme204s * 2.0kw mfdht5440 f-frame mgme304s * 3.0kw mfdhta464 mgme454s1 * 4.5kw mgme604s1 * 6.0kw mgdhtb4a2 g-frame single/ 3-phase, 200v mhme high inertia 2000r/min mhme102s * 1.0kw mddht3530 d-frame mhme152s * 1.5kw mddht5540 3-phase, 200v mhme202s * 2.0kw medht7364 e-frame mhme302s * 3.0kw mfdhta390 f-frame mhme402s * 4.0kw mfdhtb3a2 mhme502s * 5.0kw 1500r/min mhme752s1 * 7.5kw mgdhtc3b4 g-frame 3-phase, 400v 2000r/min mhme104s * 1.0kw mddht2412 d-frame mhme154s * 1.5kw mddht3420 mhme204s * 2.0kw medht4430 e-frame mhme304s * 3.0kw mfdht5440 f-frame mhme404s * 4.0kw mfdhta464 mhme504s * 5.0kw 1500r/min mhme754s1 * 7.5kw mgdhtb4a2 g-frame note ? suffx of " " in the applicable motor model represents design order. ? suffx of " * " in the applicable motor model represents the motor structure. ? default of the driver is set for the incremental encoder specifcations. when you use in absolute, make the following operations. a) install a battery for absolute encoder. b) switch the parameter pr0.15 (absolute encoder setup) from "1 (default)" to "0". ? only for position control type does not support the 17-bit absolute specifcation. it supports only 20-bit incremental specifcation. 4. check of the combination of the driver and the motor absolute specifications, 17-bit phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-27 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement encoder cable motor series , q f u h p h q w d o 6 s h f l f d w l r q v e l w note)1 absolute specifications, 17-bit note)1 detail page msmd 50w to 750w mfeca0 ** 0eam 7-98 msme 50w to 750w (200v) mfeca0 ** 0mjd (highly bendable type, direction of motor shaft) mfeca0 ** 0mkd (highly bendable type, opposite direction of motor shaft) mfeca0 ** 0tjd (standard bendable type, direction of motor shaft) mfeca0 ** 0tkd (standard bendable type, opposite direction of motor shaft) mfeca0 ** 0mje (highly bendable type, direction of motor shaft) mfeca0 ** 0mke (highly bendable type, opposite direction of motor shaft) mfeca0 ** 0tje (standard bendable type, direction of motor shaft) mfeca0 ** 0tke (standard bendable type, opposite direction of motor shaft) 7-98 7-99 msme 750w (400v), 1.0kw to 5.0kw mfeca0 ** 0esd note)2 mfeca0 ** 0etd note)3 mfeca0 ** 0ese note)2 mfeca0 ** 0ete note)3 7-99 to 7-100 mdme 400w to 15.0kw mfeca0 ** 0esd note)2 mfeca0 ** 0etd note)3 mfeca0 ** 0ese note)2 mfeca0 ** 0ete note)3 mfme 1.5kw to 4.5kw mfeca0 ** 0etd mfeca0 ** 0ete mgme 0.9kw to 6.0kw mfeca0 ** 0esd note)2 mfeca0 ** 0etd note)3 mfeca0 ** 0ese note)2 mfeca0 ** 0ete note)3 mhmd 200w to 750w mfeca0 ** 0eam mhme 1.0kw to 7.5kw mfeca0 ** 0esd note)2 mfeca0 ** 0etd note)3 mfeca0 ** 0ese note)2 mfeca0 ** 0ete note)3 1 r w h u h s u h v h q w v w k h f d e o h o h q j w k 1 r w h ' h v l j q r u g h u & n : w r n : 0 * 0 ( w r n : 1 r w h ' h v l j q r u g h u motor cable/ brake cable motor series motor cable note)1 brake cable note)1 detail page without brake with brake msmd 50w to 750w mfmca0 ** 0eed mfmcb0 ** 0get 7-101 7-106 msme 50w to 750w mfmca0 ** 0njd highly bendable type, ( direction of motor shaft ) mfmca0 ** 0nkd highly bendable type, ( opposite direction of motor shaft ) mfmca0 ** 0rjd standard bendable type, ( direction of motor shaft ) mfmca0 ** 0rkd standard bendable type, ( opposite direction of motor shaft ) mfmcb0 ** 0pjt highly bendable type, ( direction of motor shaft ) mfmcb0 ** 0pkt highly bendable type, ( opposite direction of motor shaft ) mfmcb0 ** 0sjt standard bendable type, ( direction of motor shaft ) mfmcb0 ** 0skt standard bendable type, ( opposite direction of motor shaft ) 7-101 7-106 msme 1.0kw to 2.0kw 200v mfmcd0 ** 2ecd mfmca0 ** 2fcd 7-102 to 7-106 msme 750w to 2.0kw 400v mfmce0 ** 2fcd msme 3.0kw to 5.0kw mfmca0 ** 3ect mfmca0 ** 3fct mdme 1.0kw to 2.0kw 200v mfmcd0 ** 2ecd mfmca0 ** 2fcd mdme 400w to 2.0kw 400v mfmce0 ** 2fcd mdme 3.0kw to 5.0kw mfmca0 ** 3ect mfmca0 ** 3fct mfme 1.5kw 200v mfmca0 ** 2ecd mfmca0 ** 2fcd mfme 1.5kw 400v mfmcf0 ** 2ecd mfmce0 ** 2fcd mfme 2.5kw mfme 4.5kw mfmcd0 ** 3ect mfmca0 ** 3fct mgme 0.9kw 200v mfmcd0 ** 2ecd mfmca0 ** 2fcd mgme 0.9kw 400v mfmce0 ** 2fcd mgme 2.0kw to 4.5kw mfmca0 ** 3ect mfmca0 ** 3fct mhmd 200w to 750w mfmca0 ** 0eed mfmcb0 ** 0get mhme 1.0kw, 1.5kw 200v mfmcd0 ** 2ecd mfmca0 ** 2fcd mhme 1.0kw, 1.5kw 400v mfmce0 ** 2fcd mhme 2.0kw mfmce0 ** 2ecd mhme 3.0kw to 5.0kw mfmca0 ** 3ect mfmca0 ** 3fct 1 r w h u h s u h v h q w v w k h f d e o h o h q j w k 1 before using the products 4. check of the combination of the driver and the motor junction cable for motor caution related page ? 0 r w r u f d e o h i r u 0 + 0 ( n : 0 * 0 ( n : 0 ' 0 ( n : w r n : l v q r w s u h s d u h g l q option. ? ) r u r w k h u f d e o h f r q q h f w r u d q g f r q q h f w r u n l w u h i h u w r 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-28 1 before using the products 5. installation driver install the driver properly to avoid a breakdown or an accident. installation place 1) install the driver in a control panel enclosed in noncombustible material and placed in- door where the product is not subjected to rain or direct sunlight. the products are not waterproof. 2) where the products are not subjected to corrosive atmospheres such as hydrogen sul- g h v x o i x u r x v d f l g f k o r u l q h d p p r q l d v x o i x u f k o r u l f j d v v x o i x u l f j d v d f l g d o n d o l q h d q g v d o w d q g v r r q d q g d u h i u h h i u r p v s o d v k r i l q d p p d e o h j d v 3) where the motor is free from grinding oil, oil mist, iron powder or chips. 4) well-ventilated and low humidity and dust-free place. 5) vibration-free place. 6) do not use benzine, thinner, alcohol, acidic cleaner and alkaline cleaner because they can discolor or damage the exterior case. environmental conditions item conditions ambient temperature y & w r y & i u h h i u r p i u h h ] l q j ambient humidity 20% to 85% rh (free from condensation) storage temperature * 1 2 y & w r y & (max. temperature guarantee: 80 y c for 72 hours free from condensation * 2 ) storage humidity 20% to 85% rh (free from condensation * 2 ) vibration lower than 5.88m/s 2 (0.6g), 10 to 60hz altitude lower than 1000m * 1 extreme temperatures are permissible only for short period such as during transportation. * 2 air containing water vapor will become saturated with water vapor as the temperature falls, causing dew. how to install 1) rack-mount type. install in vertical position, and reserve enough space around the servo driver for ventilation. 2) base mount (rear mount) is standard for a/b/c/d-frame driver. 3) to change the mounting surface of a/b/c/d-frame driver, use the optional mounting brack- h w ) r u f k r r v l q j w k h f r u u h f w r s w l r q d o p r x q w l q j e u d f n h w u h i h u w r 3 0 r x q w l q j % u d f n h w 4) in consideration of strength of the screws and the material of the mounting base, se- o h f w d s s u r s u l d w h i d v w h q l q j w r u t x h i r u w k h s u r g x f w p r x q w l q j v f u h z v v r w k d w w k h v f u h z v will not be loosened or damaged. example) to tighten a steel screw into a steel base a to g-frame: m5 2.7 to 3.3 nm, h-frame: m6 4.68 to 5.72 nm a to d-frame e to g-frame basemount (standard) [rear mount] frontmount [use mounting bracket] front or rearmount [use mounting bracket] mounting bracket (optional parts) mounting bracket (attachment) fastening torque of ground terminal (m4) to be 0.7 to 0.8 n ? m. 1-29 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement related page ? 3 6 s h f l f d w l r q v ? 3 , q v w d o o d w l r q r i p r w r u ? 3 ' l p h q v l r q v ? 3 0 r x q w l q j e u d f n h w mounting direction and spacing ? 5 h v h u y h h q r x j k v x u u r x q g l q j v s d f h i r u h i i h f w l y h f r r o l q j ? , q v w d o o i d q v w r s u r y l g h x q l i r u p g l v w u l e x w l r q r i w h p s h u d w x u h l q w k h f r q w u r o s d q h o ? ' w r + i u d p h l v s u r y l g h g z l w k d f r r o l q j i d q d w w k h e r w w r p (on the h-frame, the cooling fan is also installed on the upper side.) ? observe the environmental conditions of the control panel described in the previous page. note it is recommended to use the conductive paint when you make your own mounting brack- et, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure. caution on installation caution ? : k h q h y h u o l i w l q j w k h s u r g x f w g x u l q j w u d q v s r u w d w l r q l q v w d o o d w l r q r i + i u d p h v h u y r g u l y h u w z r r u more persons should hold it by metallic member, not by plastic member. ? : h k d y h e h h q p d n l q j w k h e h v w h i i r u w w r h q v x u h w k h k l j k h v w t x d o l w \ k r z h y h u d s s o l f d w l r q r i h [ f h s - tionally large external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. it is highly recommended that you make a fail-safe design and secure the safety in the operative range. ? if stranded wires are used as the cable, bunch the conductors of the cable using a rod terminals or a round terminals. if stranded wires are used as they are, unexpected accidents such as an electric shock and short circuit or injury may result. ? 7 k h u h p l j k w e h d f k d q f h r i v p r n h j h q h u d w l r q g x h w r w k h i d l o x u h r i w k h v h s u r g x f w v 3 d \ d q h [ w u d attention when you apply these products in a clean room environment. ? % h v x u h w r l q v w d o o d q r i x v h e u h d n h u l q w k h s r z h u v x s s o \ , q d g g l w l r q e h v x u h w r j u r x q g w k h grounding terminal or grounding wire provided. (in order to prevent electric shock and malfunc- w l r q v & o d v v ' j u r x q g l q j j u r x q g l q j u h v l v w d q f h r i w r u o h v v l v u h f r p p h q g h g , i w k h s u r g x f w l v j u r x q g h g l q v x i f l h q w o \ q r w r q o \ w k h g u l y h u p d \ q r w g h o l y h u l w v s h u i r u p d q f h v x i - f l h q w o \ e x w d o v r v d i h w \ k d ] d u g v v x f k d v d p d o i x q f w l r q g x h w r d h o h f w u l f d w l r q r u d g l v w x u e d q f h may be caused. ? , i h o h f w u l f z l u h v d u h e r x q g d q g u x q w k u r x j k p h w d o g x f w w k h \ f d q q r w f d u u \ w k h u d w h g f x u u h q w g x h w r temperature rise. if they are forced to carry the rated current, they may burn. when determining size of the wire. ? ' r q r w x v h r u v w r u h w k h s u r g x f w l q d s o d f h v x e m h f w w r p v 2 or more vibration or shock, for- h l j q p d w h u l d o v v x f k d v g x v w p h w d o o l f s r z g h u d q g r l o p l v w o l t x l g v v x f k d v z d w h u r l o d q g j u l q g l q j x l g f o r v h w r d p p d e o h p d w h u l d o v r u l q d q d w p r v s k h u h r i f r u u r v l y h j d v + 2 s, so 2 , no 2 , cl 2 , h w f r u l q d p p d e o h j d v x q g h u d q \ f l u f x p v w d q f h fan fan 100mm or more 100mm or more 40mm or more 40mm or more a a a direction of air flowing from the internal cooling fan (d to h-frame) control panel 5. installation driver y a a to f-frame 10mm or more g, h-frame 50mm or more phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-30 ? be sure to conduct wiring properly and securely. insecure or improper wiring may cause the mo- tor running out of control or being damaged from overheating. in addition, pay attention not to al- low conductive materials, such as wire chips, entering the driver during the installation and wiring. ? 6 h f x u h w k h v f u h z v d q g h d u w k v f u h z r q w k h w h u p l q d o e o r f n z l w k w k h w r u t x h v s h f l h g l q w k h v s h f l - cation. ? : k h q h v w d e o l v k l q j d v \ v w h p x v l q j v d i h w \ i x q f w l r q v f r p s o h w h o \ x q g h u v w d q g w k h d s s o l f d e o h v d i h w \ standards and the operating instruction manual or technical documents for the product. ? 1 h y h u p d n h d q d s s u r d f k w r w k h p r w r u d q g w k h p d f k l q h v g u l y h q e \ w k h p r w r u z k l o h s r z h u l v applied because they may become failure or malfunction. ? ' r q r w x v h v h u y r r q v l j q d o 6 5 9 2 1 d v w k h v w d u w v w r s v l j q d o ' r l q j v r p d \ g d p d j h w k h e x l o w l q dynamic brake circuit in the driver. ? 3 d \ d w w h q w l r q w r w k h k h d w g l v v l s d w l r q 7 k h g u l y h u z l o o j h q h u d w h k h d w z k l o h w k h p r w r u l v l q r s h u d - tion. using the driver in a sealed control box may cause an abnormal heating of the control box. a proper consideration should be given to cool the driver so that the ambient temperature p d w f k h v w k h v s h f l h g r s h u d w l q j w h p s h u d w x u h u d q j h ? 7 k h u h l v d s r v v l e l o l w \ w k d w w k h p r w r u z l o o e h g d p d j h g e \ k h d w r u h p l w v p r n h r u g x v w g x h w r d i d x o w in the motor itself or the driver coupled with it. a proper consideration should be given if the mo- tor is used in a clean room or similar environment. ? 7 k h x s s h u i d q r q w k h + i u d p h g u l y h u v w r s v g x u l q j v h u y r 2 ) ) w r v d y h h q h u j \ 7 k l v l v q r u p d o ? , i w k h g \ q d p l f e u d n h l v d s s o l h g g x u l q j r s h u d w l r q d w d k l j k v s h h g s u r y l g h d s s u r [ p l q x w h dwell period. restarting the motor earlier may cause a broken wire in the dynamic brake making the brake in- operable. ? 7 k h f d s d f l w d q f h r i f d s d f l w r u l q w k h s r z h u v x s s o \ u h f w l h u f l u f x l w g h f u h d v h v l w v f d s d f l w d q f h z l w k age. to prevent a secondary accident due to malfunction, it should be replaced with new one after 5-year use. replacement should be performed by us or our authorized distributor. ? % h i r u h x v l q j w k h s u r g x f w e h v x u h w r u h d g w k h l q v w u x f w l r q p d q x d o 6 d i h w \ s d u w recommended electric wires for driver ? ) r u w k h p d l q f l u f x l w x v h h o h f w u l f z l u h w k d w z l w k v w d q g v d w o h d v w 9 $ & z l w k w h p s h u d - w x u h u d w l q j ? r u k l j k h u ? : k h q x v l q j e x q g o h g z l u h v u x q q l q j w k u r x j k p h w d o o l f f r q g x l w w k h d p r x q w v r i f x u u h q w determined according to the reduction rate must be subtracted from the nominal allow- able current. ? ( o h f w u l f z l u h v 1-31 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement relationship between wire diameter and permissible current caution caution ? : k h q v h o h f w l q j d f d e o h u h i h u w r w k h i r o o r z l q j v h o h f w l r q j x l g h v k r z l q j u h o d w l r q v k l s e h - w z h h q f d e o h v s h f l f d w l r q d q g f x u u h q w f d u u \ l q j f d s d f l w \ example: power supply 3-phase, 200 v, 35 a, ambient temperature 30c determine the fundamental permissible current according to the cable conductor material (example: stranded copper wire). (for the purpose of this example, the ampere indicated by is selected from the table right.) next, determine the number of conductors. (in this example, the cable contains 4 conductors (3 + ground).) determine the applicable permissible current using the following formula. applicable permissible current = i x q g d p h q w d o s h u p l v v l e o h f x u u h q w [ f x u u h q w u h g x f w l r q f r h i f l h q w [ f x u u h q w f r u u h f w l r q f r h i f l h q w = 37 x 0.7 x 1.414 . = . 36.6 (a) this permissible value is larger than 35 a to be carried though the cable. therefore, according to the list of recommended eco-cables, the cable to be selected for the cable with nominal cross section 3.5 mm 2 is a polyethylene-insulated heat-resistant 4-conductor power f d e o h k d y l q j p p q l v k 2 ' d s s u r [ p p z l w k v k l h o g 1-32 install the motor properly to avoid a breakdown or an accident. installation place since the conditions of location affect a lot to the motor life, select a place which meets the conditions below. 1) indoors, where the products are not subjected to rain or direct sun beam. the products are not waterproof. 2) where the products are not subjected to corrosive atmospheres such as hydrogen sul- g h v x o i x u r x v d f l g f k o r u l q h d p p r q l d v x o i x u f k o r u l f j d v v x o i x u l f j d v d f l g d o n d o l q h d q g v d o w d q g v r r q d q g d u h i u h h i u r p v s o d v k r i l q d p p d e o h j d v 3) where the motor is free from grinding oil, oil mist, iron powder or chips. 4) well-ventilated and humid and dust-free place, far apart from the heat source such as a furnace. 5) easy-to-access place for inspection and cleaning 6) vibration-free place. 7) avoid enclosed place. motor may gets hot in those enclosure and shorten the motor life. environmental conditions item conditions ambient temperature * 1 y & w r y & i u h h i u r p i u h h ] l q j ambient humidity 20% to 85% rh (free from condensation) storage temperature * 2 2 y & w r y & (max. temperature guarantee: 80 y c for 72 hours free from condensation * 5 ) storage humidity 20% to 85% rh (free from condensation * 5 ) vibration motor only lower than 49m/s 2 (5g) at running, 24.5m/s 2 (2.5g) at stall impact motor only lower than 98m/s 2 (10g) enclosure rating motor only (connector type) ip67 (except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector) * 3 * 4 altitude lower than 1000m * 1 ambient temperature to be measured at 5cm away from the motor. * 2 permissible temperature for short duration such as transportation. * 3 7 k h v h p r w r u v f r q i r u p w r w k h w h v w f r q g l w l r q v v s h f l h g l q ( 1 v w d q g d u g v ( 1 ( 1 ' r q r w x v h w k h v h p r w r u v l q d s s o l f d w l r q z k h u h z d w h u s u r r i s h u i r u p d q f h l v u h t x l u h g v x f k d v f r q w l q x r x v wash-down operation. * 4 this condition is applied when the connector mounting screw in case of motor 750w or less are w l j k w h q h g w r w k h u h f r p p h q g h g w l j k w h q l q j w r u t x h 5 h i h u w r 3 % h v x u h w r x v h p r x q w l q j screw supplied with the connector. correctly install and secure the gasket supplied with the cable connector. * 5 air containing water vapor will become saturated with water vapor as the temperature falls, causing dew. how to install you can mount the motor either horizontally or vertically as long as you observe the followings. 1) horizontal mounting ? 0 r x q w w k h p r w r u z l w k f d e o h r x w o h w i d f l q j g r z q z d u g i r u z d w h u r l o f r x q w h u p h d v x u h 2)vertical mounting ? 8 v h w k h p r w r u z l w k r l o v h d o p d n h w r r u g h u l q f d v h r i p r w r u : r u o h v v z k h q mounting the motor with gear reducer to prevent the reducer oil/grease from entering to the motor. 1 before using the products 5. installation motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-33 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement oil/water protection 1) don't submerge the motor cable to water or oil. 2) install the motor with the cable outlet facing downward. 3) avoid a place where the motor is always subject- ed to oil or water. 4) use the motor with an oil seal when used with the gear reducer, so that the oil may not enter to the motor through shaft. stress to cables 1) avoid a stress application to the cable outlet and connecting portion by bending or self- weight. ( v s h f l d o o \ l q d q d s s o l f d w l r q z k h u h w k h p r w r u l w v h o i w u d y h o v [ w k h m x q f w l r q f d e o h l q w r w k h bearer so that the stress by bending can be minimized. 3) take the cable bending radius as large as possible. (when you use our optional cable, minimum r20mm) permissible load to output shaft note 1) design the mechanical system so that the applied radial load and/or thrust load to the motor shaft at installation and at normal operation can meet the permissible value v s h f l h g w r h d f k p r g h o 2) pay an extra attention when you use a rigid coupling. (excess bending load may dam- age the shaft or deteriorate the bearing life.) 8 v h d h [ l e o h f r x s o l q j z l w k k l j k v w l i i q h v v g h v l j q h g h [ f o x v l y h o \ i r u v h u y r d s s o l f d w l r q l q order to make a radial thrust caused by micro misalignment smaller than the permis- sible value. ) r u s h u p l v v l e o h o r d g r i h d f k p r g h o u h i h u w r 3 3 h u p l v v l e o h / r d g d w 2 x w s x w 6 k d i w . notes on installation 1) do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the motor shaft. (or it may damage the encoder mounted on the other side of the shaft.) 2) make a full alignment. (incomplete alignment may cause vibration and damage the bearing.) 3) if the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending on the condition of the machine and its mounting environment, and p d \ u h v x o w l q w k h e h d u l q j q r l v h & k h f n d q g y h u l f d w l r q e \ f x v w r p h u l v u h t x l u h g cable motor oil / water motor related page ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 , q v w d o o d w l r q r i g u l y h u ? 3 3 h u p l v v l e o h / r d g d w 2 x w s x w 6 k d i w ? 3 ' l p h q v l r q v 5. installation motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-34 wiring precautions on movable section when wiring cable bear, take the following precautions: ? & d e o h e h d u z l u l q j 7 k h e h q g u d g l x v r i w k h f d e o h p x v w e h w l p h v r u p r u h l w v q l v k r x w v l g h g l d p h w h u ) r u q l v k r x w v l g h g l d p h w h u u h i h u w r 3 + r z w r , q v w d o o 5 h o d w l r q v k l s e h w z h h q : l u h ' l d p h w h u d q g 3 h u p l v v l e o h & x u u h q w d q g d v v r f l d w h g w d e o h v ' r q r w [ r u e x q g o h z l u h v l q w k h f d e o h e h d u : k h q v h f x u l q j w k h f d e o h [ l w r q o \ d w q r q p r y d e o h h q g v r i w k h f d e o h e h d u z k h u h w k h cable is free from any stress (e.g. tension). (avoid tight lock.) [recommended cable bear wiring] caution do not keep the cable loosened (too long) or under tension (too short). otherwise, the sheath will be cracked by internal wall of the cable bear, tangled by other cable, etc., causing unpredictable troubles. ? & d e o h g l v w r u w l r q keep the cable free from twists or kinks. distorted cable will cause loose connection, lowering performance and reliability. ? / d p l q d w l r q i d f w r u r i f d e o h l q f d e o h e h d u 3 o d f h f d e o h v r q d d w v x u i d f h l q s d u d o o h o z l w k r x w e u l q j l q j w k h p l q w r f r q w d f w z l w k h d f k other and measure the dimension necessary to cover these cables. then select a ca- ble bear which is wider than the measured dimension. the lamination factor of cables should be lower than 60% (recommended factor is 30% or below). do not run smaller and larger size cables in the same cable bear. thin cables may break under the pressure of thick cables. if it is necessary to mix cables of different size, isolate them by using suitable separating material such as partition. [wiring arrangement in cable bear ? example] cable cable bear cable end cable cable partition partition thick cable thin cable 5. installation motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-35 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1 before using the products 6. permissible load at output shaft motor l l/2 p a m b radial load (p) direction thrust load (a and b) direction unit : n (1kgf=9.8n) motor series motor output at assembly during running radial thrust thrust load radial thrust thrust load a and b-direction a-direction b-direction msmd 50w, 100w 147 88 117.6 68.6 58.8 200w, 400w 392 147 196 245 98 750w 686 294 392 392 147 msme 50w, 100w 147 88 117.6 68.6 58.8 200w, 400w 392 147 196 245 98 750w (200v) 686 294 392 392 147 750w (400v), 1.0kw, 1.5kw, 2.0kw, 3.0kw 980 588 686 490 196 4.0kw, 5.0kw 784 343 mdme 400w to 2.0kw 980 588 686 490 196 3.0kw 784 343 4.0kw 1666 784 980 5.0kw 7.5kw 2058 980 1176 1176 490 11.0kw, 15.0kw 4508 1470 1764 2254 686 mgme 0.9kw 980 588 686 686 196 2.0kw 1666 784 980 1176 490 3.0kw 2058 980 1176 1470 4.5kw 6.0kw 1764 588 mfme 1.5kw 980 588 686 490 196 2.5kw, 4.0kw 1862 686 784 294 mhmd 200w, 400w 392 147 196 245 98 750w 686 294 392 392 147 mhme 1.0kw, 1.5kw 980 588 686 490 196 2.0kw to 5.0kw 1666 784 980 784 343 7.5kw 2058 980 1176 1176 490 note when the load point varies, calculate the permissible radial load, p (n) from the distance r i w k h o r d g s r l q w / p p i u r p w k h p r x q w l q j d q j h e d v h g r q w k h i r u p x o d r i w k h u l j k w w d - ble, and make it smaller than the calculated result. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1-36 l p motor series motor output formula of load and load point relation msmd 50w p 1 3533 l+39 100w p 1 4905 l+59 200w p 1 14945 l+46 400w p 1 19723 l+65.5 750w p 1 37044 l+77 msme 50w p 1 3533 l+39 100w p 1 4905 l+59 200w p 1 14945 l+46 400w p 1 19723 l+65.5 750w (200v) p 1 37044 l+77 750w (400v) 1.0kw to 3.0kw p 1 20090 l+13.5 4.0kw 5.0kw p 1 36848 l+14.5 mdme 400w 600w p 1 20090 l 13.5 1.0kw to 2.0kw p 1 20580 l 14.5 3.0kw p 1 36848 l+14.5 4.0kw 5.0kw p 1 42336 l+19 7.5kw p 1 89946 l+20 11.0kw 15.0kw p 1 200606 y l+31 motor series motor output formula of load and load point relation mgme 0.9kw p 1 33957 l+14.5 2.0kw p 1 69384 y l+19 3.0kw p 1 86730 y l+19 4.5kw 6.0kw p 1 89964 y l+20 mfme 1.5kw p 1 25235 y l+19 2.5kw p 1 40376 y l+19 4.0kw p 1 42336 y l+19 mhmd 200w p 1 14945 l+46 400w p 1 19723 l+65.5 750w p 1 37044 l 77 mhme 1.0kw 1.5kw p 1 24255 l 14.5 2.0kw to 5.0kw p 1 46256 y l+19 7.5kw p 1 89964 y l+20 6. permissible load at output shaft motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-1 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 2 . preparation 1. conformance to international standards ec directives .............................................................................................2-2 composition of peripheral equipments......................................................2-6 2. system configuration and wiring driver and list of applicable peripheral equipments ...............................2-10 a to g-frame, 100/200 v type: overall wiring/ wiring of the main circuit/ wiring diagram ..................................2-12 e-frame, 200 v type: overall wiring/ wiring of the main circuit/ wiring diagram ...2-16 f-frame, 200 v type: overall wiring/ wiring of the main circuit/ wiring diagram ...2-20 g-frame, 200 v type: overall wiring/ wiring of the main circuit/ wiring diagram ..2-24 h-frame, 200 v type: overall wiring/ wiring of the main circuit/ wiring diagram ...2-28 d, e-frame, 400 v type: overall wiring/ wiring of the main circuit/ wiring diagram ..2-32 f-frame, 400 v type: overall wiring/ wiring of the main circuit/ wiring diagram ...2-36 g-frame, 400 v type: overall wiring/ wiring of the main circuit/ wiring diagram ..2-40 h-frame, 400 v type: overall wiring/ wiring of the main circuit/ wiring diagram ...2-44 specifications of motor connector ............................................................2-48 wiring method to connector .....................................................................2-50 3. wiring to the connector, x1 connecting host computer.............................................................................. 2-51 4. wiring to the connector, x2 connecting communication connector ........................................................... 2-51 5. wiring to the connector, x3 safety function connector.........................................................................2-53 6. wiring to the connector, x4 connection to host controller ..................................................................2-54 7. wiring to the connector, x5 connect on to external scale...................................................................2-55 8. wiring to the connector, x6 connection to encoder.............................................................................2-57 9. wiring to the connector, x7 monitor output ..........................................................................................2-60 10. timing chart timing on power-up .................................................................................2-61 alarm........................................................................................................2-62 servo-lock ...............................................................................................2-63 servo-on/off .........................................................................................2-64 11. built-in holding brake outline......................................................................................................2-65 specifications ...........................................................................................2-66 12. dynamic brake outline......................................................................................................2-67 connections of external dynamic brake resistor (example) ........................... 2-68 condition setting chart.................................................................................... 2-70 13. setup of parameter and mode outline / setup / connection ....................................................................2-72 composition and list of parameters ........................................................2-73 list of parameters ....................................................................................2-74 setup of torque limit...............................................................................2-82 14. setup of command division and multiplication ratio (electronic gear ratio) relation between electronic gear and position resolution or traveling speed ...2-84 15. how to use the front panel setup........................................................................................................2-86 structure of each mode ...........................................................................2-88 setup of front panel lock ..........................................................................2-90 monitor mode (selection display) .......................................................2-91 monitor mode (execution display).......................................................2-92 parameter setup mode ..........................................................................2-106 eeprom writing mode .........................................................................2-107 auxiliary function mode (selection display).....................................2-108 auxiliary function mode (execution display) ....................................2-109 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-2 2 preparation 1. conformance to international standards ec directives ec directives 7 k h ( & ' l u h f w l y h v d s s o \ w r d o o v x f k h o h f w u r q l f s u r g x f w v d v w k r v h k d y l q j v s h f l f i x q f w l r q v and have been exported to eu and directly sold to general consumers. those products d u h u h t x l u h g w r f r q i r u p w r w k h ( 8 x q l h g v w d q g d u g v d q g w r i x u q l v k w k h & ( p d u n l q j r q w k h products. however, our ac servos meet the relevant ec directives for low voltage equipment so that the machine or equipment comprising our ac servos can meet ec directives. emc directives minas servo system conforms to relevant standard under emc directives setting up certain model (condition) with certain locating distance and wiring of the servo motor and the driver. and actual working condition often differs from this model condition especially in wiring and grounding. therefore, in order for the machine to conform to the emc di- rectives, especially for noise emission and noise terminal voltage, it is necessary to ex- amine the machine incorporating our servos. conformity to ul standards remarks note observe the following conditions of (1) and (2) to make the system conform to ul508c (e164620). (1) use the driver in an environment of pollution degree 2 or 1 prescribed in iec60664-1. (e.g. install in the control box with ip54 enclosure.) (2) make sure to install a circuit breaker or fuse which are ul recognized (listed p d u n h g e h w z h h q w k h s r z h u v x s s o \ d q g w k h q r l v h o w h u 8 v h d f r s s h u f d e o h z l w k w h p s h u d w x u h u d w l q j r i y & r u k l j k h u for rated current of circuit breaker and fuse, refer to p.2-10 ?driver and list of appli- cable peripheral equipments?. (3) over-load protection level over-load protective function will be activated when the effective current exceeds 115% or more than the rated current based on the time characteristics (see the next s d j h & r q u p w k d w w k h h i i h f w l y h f x u u h q w r i w k h g u l y h u g r h v q r w h [ f h h g w k h u d w h g f x u - rent. set up the peak permissible current with pr0.13 (setup of 1st torque limit) and pr5.22 (setup 2nd torque limit). semi f47 caution ? , q f o x g h v d i x q f w l r q l q f r p s o l d q f h z l w k w k h 6 ( 0 , ) v w d q g d u g i r u y r o w d j h v d j l p p x q l w \ under no load or light load. ? , g h d o i r u w k h v h p l f r q g x f w r u d q g / & ' l q g x v w u l h v (1) excluding the single-phase 100-v type. (2) please verify the actual compliance of your machine with the f47 standard for volt- age sag immunity. note for overload protection time characterstics, refer to p.6-14. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-3 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement conformed standards driver motor ec direc- tives emc directives en55011 en61000-6-2 en61800-3 ? low-voltage directives en61800-5-1 en60034-1 en60034-5 machinery directives functional safety (*1) en954-1 (cat. 3) iso13849-1 (pl c,d)(cat. 3) en61508 (sil 2) en62061 (sil 2) en61800-5-2 (sto) iec61326-3-1 ? ul standards ul508c (e164620) ul1004-1 e327868: to 750w (200v) ( from 6.0kw ) ul1004 e327868: 400w (400v) 600w (400v), 750w (400v) ( 0.9kw to 5.0kw ) csa standards c22.2 no.14 c22.2 no.100 iec : international electrotechnical commission en : europaischen normen emc : electromagnetic compatibility ul : underwriters laboratories csa : canadian standards association pursuant to the directive 2004/108/ec, article 9(2) panasonic testing centre panasonic service europe, a division of panasonic marketing europe gmbh winsbergring 15, 22525 hamburg, f.r. germany * only for position control type does not support functional safety (*1) standards. caution use options correctly after reading operating instructions of the options to better understand the precautions. take care not to apply excessive stress to each optional part. 1. conformance to international standards ec directives phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-4 installation environment use the servo driver in the environment of pollution degree 1 or 2 prescribed in iec-60664-1 (e.g. install the driver in control panel with ip54 protection structure.) *3 metallic control box 100v/200v controller insulated power supply for interface power supply circuit breaker residual current device (rcd) ? ? ? ? ? ? ? ? surge absorber noise filter noise filter for signal lines *1 *1 a to d-frame: noise filter for signal lines, e to h-frame: noise filter for signal lines 2-5 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement caution use options correctly after reading operating instructions of the options to better understand the precautions. take care not to apply excessive stress to each optional part. ? ' h w d l o v r i f d e o h o h i w k d q g i l j x u h symbol from to cable function length remarks shield 1 r l v h o w h u for signal lines ? breaker 1 r l v h o w h u power line 2m single phase or 3-phase none none ? 1 r l v h o w h u servo driver power line 2m ? none with ? servo driver servo motor junction cable for motor 20m ? *1 with ? servo driver servo motor junction cable for encoder 20m ? with with ? switch box servo driver i/o cable 3m ? with with ? frame ground 1 r l v h o w h u fg line 1m ? none none ? frame ground 1 r l v h o w h u fg line 1m ? none none ? ac power supply switch box power line 1m ? none none *1 frame a to f: none, frame g and h: with. ? 5 h i h u w r 3 i r u d o h i w k d q g i l j x u h d q g w k h o l v w r i w k h 3 h u l s k h u d o ( t x l s p h q w v d i w h u 1. conformance to international standards ec directives phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-6 power supply remarks 100v type : single phase, 100v +10% to 120v +10% 50/60hz (a to c-frame) ?15% ?15% 200v type : single/3-phase, 200v +10% to 240v +10% 50/60hz (a to d-frame) ?15% ?15% 200v type : 3-phase, 200v +10% to 230v +10% 50/60hz (e to h-frame) ?15% ?15% 400v type : main power supply 3-phase, 380v +10% to 480v +10% 50/60hz (d to h-frame) ?15% ?15% : control power supply dc 24v 15% (1) this product is designed to be used in over-voltage category (installation category) iii of en 61800-5-1:2007. (2) use an insulated power supply of dc12 to 24v which has ce marking or complies with en60950. ? use sheathed (jacketed) cable, twisted cable or closely bundled cable for power cable. ? 3 r z h u f d e o h d q g v l j q d o z l u h v p x v w e h v x i f l h q w o \ l v r o d w h g i u r p h d f k r w k h u twisted servo driver l1c l2c closely bundled cable united servo driver l2 l3 l1 circuit breaker install a circuit breaker which complies with iec standards and ul recognized (listed and p d u n h g e h w z h h q s r z h u v x s s o \ d q g q r l v h o w h u the short-circuit protection circuit on the product is not for protection of branch circuit. the branch circuit should be protected in accordance with nec and the applicable local regulations in your area. 2 preparation 1. conformance to international standards & r p s r v l w l r q r i 3 h u l s k h u d o ( t x l s p h q w v note for driver and applicable peripheral equipments, refer to p.2-10 "driver and list of applicable peripheral equipments". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-7 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement noise filter option part no. 9 r o w d j h v s h f l f d w l r q v for driver manufacturer?s part no. applicable driver (frame) manufacturer dv0p4170 single phase 100v/200v sup-ek5-er-6 a, b-frame okaya electric ind. dv0pm20042 3-phase 200v 3sup-hu10-er-6 a, b-frame single phase 100v/200v 3-phase 200v c-frame dv0p4220 single/ 3-phase 200v 3sup-hu30-er-6 d-frame dv0pm20043 3-phase 200v 3sup-hu50-er-6 e-frame dv0p3410 3-phase 200v 3sup-hl50-er-6b f-frame remarks ? 5 h f r p p h q g h g f r p s r q h q w v model no. 9 r o w d j h v s h f l f d w l r q v for driver rated current applicable driver (frame) manufacturer rthn-5010 3-phase 200v 10 a, b, c-frame tdk-lambda corp. rthn-5030 30 d-frame rthn-5050 50 e, f-frame fs5559-60-34 60 g-frame schaffner fs5559-80-34 80 h-frame fn258l-16-07 3-phase 400v 16 d, e-frame fn258l-30-07 30 f-frame fn258-42-07 42 g, h-frame fn258-42-33 42 ? 6 h o h f w d q r l v h o w h u z k r v h f d s d f l w \ l v f r p p h q v x u d w h z l w k w k h s r z h u v r x u f h f d s d f l w \ l q consideration of the load condition). ? ) r u w k h g h w d l o h g v s h f l f d w l r q v r i h d f k q r l v h o w h u f r q w d f w w k h p d q x i d f w x u h u ? : k h q w z r r u p r u h v h u y r g u l y h u v d u h x v h g z l w k d v l q j o h q r l v h o w h u d w w k h f r p p r q s r z - h u v r x u f h f r q v x o w z l w k w k h q r l v h o w h u p d q x i d f w x u h u ? do not run the input and output wiring on the same passage: noise resistance will drop. (figure at lower right) ? isolate the input and output line from each other. (figure at lower left) 1 isolate the input and output 2 3 4 5 6 e noise filter ac input ac output ground 1 the effect of the noise filter is a little. do not place the input and output lines in the same duct or do not tie both in a bundle. 2 3 4 5 6 e noise filter ac input ac output ground surge absorber remarks option part no. 9 r o w d j h v s h f l f d w l r q v for driver manufacturer?s part no. manufacturer dv0p1450 3-phase 200v r k a k v-781bxz-4 okaya electric ind. dv0p4190 single phase 100v/200v r k a k v-781bwz-4 dv0pm20050 3-phase 400v r k a k v-801bxz-4 when performing withstand voltage test of machine and equipment, be sure to remove the surge absorber; otherwise, it will be damaged. 1. conformance to international standards & r p s r v l w l r q r i 3 h u l s k h u d o ( t x l s p h q w v related page ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v ? 3 2 s w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-8 1. conformance to international standards & r p s r v l w l r q r i 3 h u l s k h u d o ( t x l s p h q w v noise filter for signal lines signal line, encoder line, control power line, power line (a to d-frame: 100v/ 200v and d to f-frame: 400v) and motor line (a to f-frame). option part no. manufacturer?s part no. manufacturer dv0p1460 zcat3035-1330 tdk corp. ? 5 h f r p p h q g h g f r p s r q h q w v option part no. manufacturer?s part no. applicable driver (frame) manufacturer power cable rj8035 e-frame 200 v, f-frame 200 v kk-corp.co.jp rj8095 g, h-frame motor cable t400-61d g, h-frame micrometals 2-9 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. conformance to international standards & r p s r v l w l r q r i 3 h u l s k h u d o ( t x l s p h q w v note caution for driver and applicable peripheral equipments, refer to p.2-10 ?driver and list of applicable peripheral equipments?. use options correctly after reading operating instructions of the options to better understand the precautions. take care not to apply excessive stress to each optional part. residual current device install a type b residual current device (rcd) at primary side of the power supply. grounding (1) to prevent electric shock, be sure to connect the ground terminal ( ) of the driver, and the ground terminal (pe) of the control panel. (2) the ground terminal ( ) must not be shared with other equipment. two ground ter- minals are provided. structure of control board if there is a gap at cable inlet/outlet, mounting hole of operation panel or a door, radio waves will penetrate into or radiate out through the gap. to prevent unfavorable condi- tions due to radio frequency activities, observe the following control board design and selection instruction. ? the control board should be made of metal which provides electrical continuity. ? the control board should not have electrically-isolated conductor. ? all units installed in the casing should be grounded to the case. increasing noise resistance of control i/o signal when noise is applied to the control input/output, it causes displacement and malfunc- tioning of i/o signal. ? x1 to x7 are secondary side circuit which should be isolated from the primary power source (24 vdc control power source, 24 vdc braking power source and 24 vdc for regenerative resistor). do not connect the secondary side circuit to the primary power source and ground wire. otherwise, i/o signal will cause error operation. ? control power source (particularly 24 vdc) should be completely isolated from external operating power source. never connect the ground of the control power source to that of external power source. ? the signal line should have shield, the both end of which should be connected to the ground. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-10 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v driver applicable motor voltage *1 rated output 5 h t x l u h g power at the ( rated load ) circuit breaker rated ( current ) noise o w h u ( single phase ? 3-phase ) surge absorber ( single phase ? 3-phase ) noise o w h u i r u signal rated operating current of magnetic contactor contact ( f r q j x u d w l r q ) *2 diameter and withstand voltage of main circuit cable crimp terminal for main circuit terminal block diameter and withstand voltage of control power supply cable crimp terminal for control power supply terminal block diameter and withstand voltage of motor cable *4 diameter and withstand voltage of brake cable madh msme single phase, 100v 50w u p 100w approx. 0.4kva 10a dv0p4170 dv0p4190 dv0p1460 20a (3p+1a) 0.75mm 2 / awg18 600 vac or more connection to exclusive connector 0.75mm 2 / awg18 600 vac or more connection to exclusive connector 2.0mm 2 / awg14 600 vac or more 0.75mm 2 / awg18 100 vac or more single/ 3-phase, 200v 50w u p 200w approx. 0.5kva dv0p4170 ? dv0pm20042 dv0p4190 ? dv0p1450 mbdh msme single 100v 200w approx. 0.5kva dv0p4170 dv0p4190 single/ 3-phase, 200v 400w approx. 0.9kva dv0p4170 ? dv0pm20042 dv0p4190 ? dv0p1450 mcdh msme single 100v 400w approx. 0.9kva dv0pm20042 dv0p4190 single/ 3-phase, 200v 750w approx. 1.3kva 15a dv0p4190 ? dv0p1450 mddh mdme 3-phase, 200v 1.0kw approx. 1.8kva dv0p4220 30a (3p+1a) 2.0mm 2 / awg14 600v vac or more mhme mgme 0.9kw approx. 1.8kva 20a msme 1.0kw approx. 1.8kva mhme 1.5kw approx. 2.3kva mdme mfme msme msme 3-phase, 400v 1.0kw approx. 1.8kva 10a fn258l-16-07 recommended ( component ) dv0pm20050 20a (3p+1a) 0.52mm 2 / awg20 100 vac or more mdme mhme mgme 0.9kw msme 1.5kw approx. 2.3kva mdme mfme mhme medh mdme 3-phase, 200v 2.0kw approx. 3.3kva 30a dv0pm20043 dv0p1450 dv0p1460 rj8035 recommended ( component ) *5 60a (3p+1a) 0.75mm 2 / awg18 600 vac or more msme mhme mfme 2.5kw approx. 3.8kva msme 3-phase, 400v 2.0kw approx. 3.3kva 15a fn258l-16-07 recommended ( component ) dv0pm20050 dv0p1460 30a (3p+1a) 0.52mm 2 / awg20 100 vac or more mdme mhme mfme 2.5kw approx. 3.8kva mfdh mgme 3-phase, 200v 2.0k , approx. 3.8kva 50a dv0p3410 dv0p1450 dv0p1460 rj8035 recommended ( component ) *5 60a (3p+1a) 3.5mm 2 / awg12 600 vac or more 11mm or smaller ?5.3 terminal block m5 0.75mm 2 / awg18 600 vac or more 11mm or smaller ?5.3 terminal block m5 3.5mm 2 / awg12 600 vac or more mdme 3.0k , approx. 4.5kva mhme msme mgme mdme 4.0k , approx. 6.0kva 100a (3p+1a) mhme msme mfme 4.5k , approx. 6.8kva mgme approx. 7.5kva mdme 5.0k , mhme msme mgme 3-phase, 400v 2.0kw approx. 3.8kva 30a fn258l-30-07 recommended ( component ) dv0pm20050 dv0p1460 60a (3p+1a) 10mm or smaller ?4.3 terminal block m4 0.75mm 2 / awg18 100 vac or more 7mm or smaller ?3.2 terminal block m3 msme 3.0kw approx. 4.5kva mdme mgme mhme msme 4.0kw approx. 6.0kva mdme mhme mfme 4.5k , approx. 6.8kva mgme approx. 7.5kva msme 5.0kw mdme mhme related page 1 r l v h o w h u 3 6 x u j h d e v r u e h u 3 1 r l v h o w h u i r u v l j q d o 3 0 r w r u e u d n h f r q q h f w r u 3 *1 select peripheral equipments for single/3phase common specification according to the power source. *2 for the external dynamic brake resistor, use the magnetic contactor with the same rating as that for the main circuit. *3 when use the external regenerative resistor of the option (dv0pm20058, dv0pm20059), use the cable with the same diameter as t he main circuit cable. *4 the diameter of the ground cable and the external dynamic brake resistor cable must be equal to, or larger than that of the motor cable. the motor cable is a shield cable, which conforms to the ec directives and ul standards. (g, h-frame only) *5 use thses products to suit an international standard. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-11 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v driver applicable motor voltage *1 rated output 5 h t x l u h g power at the ( rated load ) circuit breaker rated ( current ) noise o w h u surge absorber noise o w h u i r u signal rated operating current of magnetic contactor contact ( f r q j x u d w l r q ) *2 diameter and withstand voltage of main circuit cable crimp terminal for main circuit terminal block diameter and withstand voltage of control power supply cable crimp terminal for control power supply terminal block diameter and withstand voltage of motor cable *4 diameter and withstand voltage of brake cable mgdh mdme 3-phase, 200v 7.5kw approx. 11kva 60a fs5559-35-33 recommended ( component ) dv0p1450 dv0p1460 rj8095 recommended ( component ) t400-61d recommended ( component ) *5 100a 3p+1a 5.3mm 2 / awg10 600 vac or more 11mm or smaller ?5.3 terminal block m5 0.75mm 2 / awg18 600 vac or more 10mm or smaller ?5.3 terminal block m5 13.3 mm 2 / awg6 600 vac or more 0.75mm 2 / awg18 100 vac or more mgme 6.0kw approx. 9.0kva mhme 7.5kw approx. 11kva mdme 3-phase, 400v 7.5kw approx. 11kva 30a fn258-42-07 p s fn258-42-33 recommended ( component ) dv0pm20050 60a 3p+1a 0.75mm 2 / awg18 100 vac or more mgme 6.0kw approx. 9.0kva mhme 7.5kw approx. 11kva mhdh mdme 3-phase, 200v 11kw approx. 17kva 100a fs5559-80-34 recommended ( component ) dv0p1450 150a 3p+1a 13.3mm 2 / awg6 600 vac or more *3 16mm or smaller ?6.4 terminal block m6 0.75mm 2 / awg18 600 vac or more 10mm or smaller ?4.3 terminal block m4 15kw approx. 22kva 125a 21.1 mm 2 / awg4 600 vac or more 3-phase, 400v 11kw approx. 17kva 50a fn258-42-07 p s fn258-42-33 recommended ( component ) dv0pm20050 100a 3p+1a 0.75mm 2 / awg18 100 vac or more 13.3 mm 2 / awg6 600 vac or more 15kw approx. 22kva 60a 21.1 mm 2 / awg4 600 vac or more remarks ? $ e r x w f l u f x l w e u h d n h u d q g p d j q h w l f f r q w d f w r u 7 r f r p s o \ w r ( & ' l u h f w l y h v l q v w d o o d f l u f x l w e u h d n h u e h w z h h q w k h s r z h u d q g w k h q r l v h o w h u without fail, and the circuit breaker should conform to iec standards and ul recognized (listed and marked). suitable for use on a circuit capable of delivering not more than 5,000arms symmetrical amperes, be- low the maximum input voltage of the product. remarks 6 h o h f w d f l u f x l w e u h d n h u d q g q r l v h o w h u z k l f k p d w f k w r w k h f d s d f l w \ r i s r z h u supply (including a load condition). ? terminal block and protective ground terminals ? 8 v h d f r s s h u f r q g x f w r u f d e o h v z l w k w h p s h u d w x u h u d w l q j r i y & r u k l j k h u ? 8 v h w k h d w w d f k h g h [ f o x v l y h f r q q h f w r u i r u $ w r ( i u d p h d q g p d l q w d l q w k h s h h o h g r i i o h q j w k r i w r 9mm. (refer to p.2-50) ? ) d v w h q l q j w r u t x h o l v w 7 h u p l q d o e o r f n v f u h z 7 h u p l q d o f r y h u i d v w h q l q j v f u h z driver terminal block screw terminal cover fastening screw frame terminal name nominal size ) d v w h q l q j w r u t x h 1 ? p (note 1) nominal size ) d v w h q l q j w r u t x h 1 ? p (note 1) f200v l1, l2, ! , l1c, l2c, b1, b2, b3, nc, u, v, w m5 1.0 to 1.7 m3 0.19 to 0.21 f400v 24v z 0v m3 0.4 to 0.6 l1, l2, ! , b1, b2, b3, nc, u, v, w m4 0.7 to 1.0 g l1c, l2c, 24v, 0v, db1, db2, db3, db4, nc m5 1.0 to 1.7 l1, l2, ! , b1, b2, nc, u, v, w m5 2.0 to 2.4 m3 0.3 to 0.5 h l1c, l2c, 24v, 0v, db1, db2 m4 0.7 to 1.0 m5 2.0 to 2.5 l1, l2, ! , b1, b2, nc, u, v, w m6 2.2 to 2.5 ? ) d v w h q l q j w r u t x h o l v w * u r x q g w h u p l q d o v f u h z & r q q h f w r u w r k r v w f r q w u r o o h u ; driver frame terminal block screw connector to host controller (x4) nominal size ) d v w h q l q j w r u t x h 1 ? p (note 1) nominal size ) d v w h q l q j w r u t x h 1 ? p (note 1) a to e m4 0.7 to 0.8 m2.6 0.3 to 0.35 f, g m5 1.4 to 1.6 h m6 2.4 to 2.6 caution (note 1) ? applying fastening torque larger than the maximum value may result in damage to the product. ? ' r q r w w x u q r q s r z h u z l w k r x w w l j k w h q l q j d o o w h u p l q d o e o r f n v f u h z v s u r s h u o \ ? ' r q r w w x u q r q s r z h u z l w k r x w w l j k w h q l q j d o o w h u p l q d o e o r f n v f u h z v s u r s h u o \ r w k h u z l v h o r r v h f r q w d f w v p d \ j h q h u d w h k h d w v p r n l q j u l q j ? 7 r f k h f n i r u o r r v h q h v v f r q g x f w s h u l r g l f l q v s h f w l r q r i i d v w h q l q j w r u t x h r q f h d \ h d u be sure to conduct wiring properly and securely. insecure or improper wiring may cause the motor running out of control or being damaged from overheating. in addition, pay attention not to allow conductive materials, such as wire chips, entering the driver during the installation and wiring. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-12 ? & r q q h f w l r q w r l q s x w s r z h u wiring to connector, xa p.2-14 ? & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v regenerative resistor (optional) ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u install an external protective apparatus, such as thermal fuse without fail. ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h u h j h q h u d w l y h u h v l v w r u 2 s w l r q if the thermal fuse is activated, it will not resume. ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u on incombustible material such as metal. remarks note ? : l u l q j r i 0 d l q & r q q h f w r u ; $ ? : l u l q j r i 0 r w r u & r q q h f w r u ; % & l u f x l w % u h d n h u 0 & & % 7 r s u r w h f w s r z h u v x s s o \ o l q h i u r p r y h u o r d g - l q j l q v w d o o d z l u l q j f l u f x l w e u h d n h u u d w h g w r w k h f d s d f l w \ r i w k h s r z h u v x s s o \ noise filter (nf) 5 h p r y h v h [ w h u q d o q r l v h i u r p w k h s r z h u o l q h v $ q g u h g x f h v d q h i i h f w r i w k h q r l v h j h q h u d w h g e \ w k h v h u y r g u l y h u 0 d j q h w l f & r q w d f w r u 0 & 7 x u q v r q r i i w k h p d l q s r z h u r i w k h v h u y r g u l y h u 8 v h f r l o v x u j h v x s s u h v v l r q x q l w v w r j h w k h u z l w k w k l v ? never start nor stop the servo motor z l w k w k l v 0 d j q h w l f & r q w d f w r u reactor (l) w r e h v x s s o l h g e \ f x v w r p h u 5 h g x f h v k d u p r q l f f x u u h q w r i w k h p d l q s r z h u 3 l q % s l q % s l q d q g % s l q ? % d q g % w r e h n h s w v k r u w h g i r u q r u p d o r s h u d w l r q ) r u & i u d p h d q g ' i u d p h ? : k h q \ r x f r q q h f w d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u g l v f r q q h f w d v k r u w f l u f x l w z l u h e h w z h h q % d q g % ) r u & i u d p h d q g ' i u d p h w k h q f r q q h f w w k h h [ w h u q d o u h j h q h u d w l y h u h v l v w r u e h w z h h q % d q g % v h w x s 3 u w r r u 1 r w h w k d w q r u h j h q h u d w l y h u h v l v w r u l v h t x l s s h g l q ) u d p h $ d q g % w \ s h 0 d l q v 5 h v l g x d o f x u u h q w g h y l f h : l u l q j w r & r q q h f w r u ; % p.2-14 % 3 l q % 3 l q / 3 l q / 3 l q / 3 l q / & 3 l q / & 3 l q ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h s o d w h i u r p w k h s r z h u v r x u f h 6 \ p p h w u l f f x u u h q w v k r x o g e h $ u p v r u e h o r z , i w k h v k r u w f l u f x l w f x u u h q w r q w k h s r z h u v r x u f h h [ f h h g v w k l v y d o x h x v h d f x u u h q w o l p l w l q j g h y l f h h j f x u u h q w o l p l w l q j i x v h f x u u h q w o l p l w l q j f l u f x l w e u h d n h u r u w u d q v i r u p h u connecting example of a to d-frame note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (a to d-frame, 100/200 v type) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-13 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement : high voltage * u r x q g w h u p l q d o - x q f w l r q f d e o h i r u e u d n h ' & 3 r z h u v x s s o \ i r u e u d n h ' & 9 w r e h v x s s o l h g e \ f x v w r p h u 8 s k d v h u h g 9 s k d v h z k l w h : s k d v h e o d f n 7 k h v h f r o r u v d u h x v h g i r u r s w l r q d o f d e o h 3 & w r e h v x s s o l h g e \ f x v w r p h u 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 3 o h d v h g r z q o r d g i u r p r x u z h e v l w h & k d u j h o d p s 5 h g / ( ' *1 * u r x q g h d u w k + d q g o h o h y h u 8 v h w k l v i r u f r q q h f w r u f r q q h f w l r q 6 w r u h w k l v d i w h u f r q q h f w l r q i r u r w k h u r f f d v l r q v 5 h i h u w r 3 2-50 i r u f r q q h f w l r q - x q f w l r q f d e o h i r u h q f r g h u - x q f w l r q f d e o h i r u p r w r u ? 0 r q l w r u r x w s x w ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 r u k r v w f r q w u r o o h u ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j ? & r q q h f w l r q w r h q f r g h u ? & r q q h f w l r q w r i h h g e d f n v f d o h ? & r q q h f w l r q w r k r v w f r q w u r o o h u ' r q r w p d n h g l v s o d f h p h q w z l u l q j r u l q v s h f w l r q z k l o h w k h / ( ' l v o l w f d x v h r i h o h f w u l f v k r f n wiring to connector, x7 3 ? & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g : l u l q j w r & r q q h f w r u ; % p.2-14 : l u l q j w r & r q q h f w r u ; p.2-57 : l u l q j w r & r q q h f w r u ; p. 2 - 5 5 : l u l q j w r & r q q h f w r u ; p.2-54 : l u l q j w r & r q q h f w r u ; 3 : l u l q j w r & r q q h f w r u ; p.2-51 : l u l q j w r & r q q h f w r u ; p.2-51 6 k r u w f l u f x l w z l u h % % ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u v x s s o \ s d u w l f x o d u o \ 9 ' & s r z h u v x s s o \ i r u e u d n h l q v x o d w l r q l v u h t x l u h g ' r q r w f r q q h f w w k h v h w h u p l q d o v w r w k h v d p h s r z h u v x s s o \ remarks note related page 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (a to d-frame, 100/200 v type) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-14 a to d-frame, 100 v / 200 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? 1 h y h u w r x f k w k h s r z h u f r q q h f w r u ; $ d q g ; % w r z k l f k k l j k y r o w d j h l v d s s o l h g there is a risk of electric shock. ? tips on wiring 1) wire connector (xa and xb). 2) connect the wired connector to the driver. fully insert the connector to the bottom until it clicks. motor varistor dc 24v mccb power supply nf mc u v w e l fuse (125 v 10 a) ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? 3 u r y l g h d q $ & 5 h d f w r u ? connect l1 and l1c, and l3 and l2c at single phase use (100v and 200v), and don't use l2. ? 0 d w f k w k h f r o r u v r i w k h p r w r u o h d g z l u h v w r w k r v h r i w k h f r u u h v s r q g l q j p r w r u r x w s x w w h u p l q d o v 8 9 : ? ' r q w g l v f r q q h f w w k h v k r u w l q j f d e o h e h w z h h q % d q g % & d q g ' i u d p h w \ s h 6 k r u w l q j f d e o h l v q r w u h t x l u h g i r u $ d q g % i u d p h ' l v f r q q h f w w k l v r q o \ z k h q w k h h [ w h u q d o u h j h q h u d w l y h u h j l v w h u l v x v h g ? avoid shorting and grounding. don't connect the main power. ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 l1c / l2 l1 l2c b1 % b2 u v w xa xb 2 3 4 5 1 2 3 4 5 6 1 dc power supply i r u e u d n h 5 h g % o d f n * u h h q r u * u h h q \ h o o r z : k l w h 5 & ' ( [ w h u q d o u h j h q h u d w l y h resistor 7 k h v h f r o r u v d u h x v h g i r u r s w l r q d o f d e o h note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u ? 3 : l u l q j p h w k r g w r f r q q h f w r u ? 3 & r q q h f w r u n l w i r u ; $ ? 3 & r q q h f w r u n l w i r u ; % 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (a to d-frame, 100/200 v type) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-15 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement compose the circuit so that the main circuit power will be shut off when an error occurs. in case of single phase, a to d-frame, 100 v / 200 v type noise filter noise filter motor 37 alm+ l2 l3 l1c l2c b1 mc mccb b3 b2 u v w l1 $ / 0 ? external regenerative resistor remove the short wire when you connect the external regenerative resistor. (c, d-frame) external regenerative resistor 36 l on motor 37 alm+ l2 l3 l1c l2c b1 mc mccb alm off b3 b2 u v w l1 coil surge suppression units built-in thermostat of an external regenerative resistor (light yellow) built-in thermostat of an external regenerative resistor (light yellow) $ / 0 ? red white black green or green/yellow red white black green or green/yellow xa xb x4 36 l on mc alm alm off mc alm main power supply control power supply motor connection main power supply control power supply motor connection power supply single phase, 100v to 120v C15% +10% single phase, 200v to 240v C15% +10% power supply 3-phase, 200v to 240v C15% +10% xa xb x4 when you use single phase, connect the main power between l1 and l3 terminals. coil surge suppression units remarks remove the short wire when you connect the external regenerative resistor. (c, d-frame) * these colors are used for optional cable. * these colors are used for optional cable. insulated dc12 to 24v (5%) + ? insulated dc12 to 24v (5%) + ? in case of 3-phase, a to d-frame, 200 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (a to d-frame, 100/200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u ? 3 : l u l q j p h w k r g w r f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-16 b1 (pin-6) b2 (pin-4) regenerative resistor (optional) ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u install an external protective apparatus, such as thermal fuse without fail. ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h u h j h q h u d w l y h u h v l v w r u 2 s w l r q if the thermal fuse is activated, it will not resume. ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u on incombustible material such as metal. ? : l u l q j r i 0 d l q & r q q h f w r u ; $ & l u f x l w % u h d n h u 0 & & % 7 r s u r w h f w s r z h u v x s s o \ o l q h i u r p r y h u o r d g - l q j l q v w d o o d z l u l q j f l u f x l w e u h d n h u u d w h g w r w k h f d s d f l w \ r i w k h s r z h u v x s s o \ noise filter (nf) 5 h p r y h v h [ w h u q d o q r l v h i u r p w k h s r z h u o l q h v $ q g u h g x f h v d q h i i h f w r i w k h q r l v h j h q h u d w h g e \ w k h v h u y r g u l y h u 0 d j q h w l f & r q w d f w r u 0 & 7 x u q v r q r i i w k h p d l q s r z h u r i w k h v h u y r g u l y h u 8 v h f r l o v x u j h v x s s u h v v l r q x q l w v w r j h w k h u z l w k w k l v ? never start nor stop the servo motor z l w k w k l v 0 d j q h w l f & r q w d f w r u reactor (l) w r e h v x s s o l h g e \ f x v w r p h u 5 h g x f h v k d u p r q l f f x u u h q w r i w k h p d l q s r z h u ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h s o d w h i u r p w k h s r z h u v r x u f h 6 \ p p h w u l f f x u u h q w v k r x o g e h $ u p v r u e h o r z , i w k h v k r u w f l u f x l w f x u u h q w r q w k h s r z h u v r x u f h h [ f h h g v w k l v y d o x h x v h d f x u u h q w o l p l w l q j g h y l f h h j f x u u h q w- o l p l w l q j i x v h f x u u h q w o l p l w l q j f l u f x l w e u h d n h u r u w u d q v i r u p h u 5 h p d u n v ? : l u l q j r i 0 r w r u & r q q h f w r u ; & 3 l q % s l q % s l q d q g % s l q ? % d q g % w r e h n h s w v k r u w h g i r u normal operation. ? : k h q \ r x f r q q h f w d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u g l v f r q q h f w d v k r u w f l u f x l w z l u h e h w z h h q % d q g % w k h q f r q q h f w w k h h [ w h u q d o u h j h q h u d w l y h u h v l v w r u e h w z h h q % d q g % v h w x s 3 u w r r u ? & r q q h f w l r q w r l q s x w s r z h u : l u l q j w r & r q q h f w r u ; $ 3 ? & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v : l u l q j w r & r q q h f w r u ; & 3 / 3 l q / 3 l q / 3 l q / & 3 l q / & 3 l q 0 d l q v 5 h v l g x d o f x u u h q w g h y l f h connecting example of e-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (e-frame, 200 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-17 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement + l j k y r o w d j h * u r x q g w h u p l q d o - x q f w l r q f d e o h i r u e u d n h 8 s k d v h u h g 9 s k d v h z k l w h : s k d v h e o d f n 7 k h v h f r o r u v d u h x v h g i r u r s w l r q d o f d e o h 3 & w r e h v x s s o l h g e \ f x v w r p h u 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 3 o h d v h g r z q o r d g i u r p r x u z h e v l w h & k d u j h o d p s 5 h g / ( ' *1 * u r x q g h d u w k + d q g o h o h y h u 8 v h w k l v i r u f r q q h f w r u f r q q h f w l r q 6 w r u h w k l v d i w h u f r q q h f w l r q i r u r w k h u r f f d v l r q v 5 h i h u w r 3 i r u f r q q h f w l r q - x q f w l r q f d e o h i r u h q f r g h u - x q f w l r q f d e o h i r u p r w r u ? 0 r q l w r u r x w s x w ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 r u k r v w f r q w u r o o h u ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j ? & r q q h f w l r q w r h q f r g h u ? & r q q h f w l r q w r i h h g e d f n v f d o h ? & r q q h f w l r q w r k r v w f r q w u r o o h u ' r q r w p d n h g l v s o d f h p h q w z l u l q j r u l q v s h f w l r q z k l o h w k h / ( ' l v o l w f d x v h r i h o h f w u l f v k r f n : l u l q j w r & r q q h f w r u ; 3 ? & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g : l u l q j w r & r q q h f w r u ; % 3 : l u l q j w r & r q q h f w r u ; 3 : l u l q j w r & r q q h f w r u ; 3 : l u l q j w r & r q q h f w r u ; 3 : l u l q j w r & r q q h f w r u ; 3 : l u l q j w r & r q q h f w r u ; 3 : l u l q j w r & r q q h f w r u ; 3 6 k r u w f l u f x l w z l u h % % ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u v x s s o \ s d u w l f x o d u o \ 9 ' & s r z h u v x s s o \ i r u e u d n h l q v x o d w l r q l v u h t x l u h g ' r q r w f r q q h f w w k h v h w h u p l q d o v w r w k h v d p h s r z h u v x s s o \ 5 h p d u n v ' & 3 r z h u v x s s o \ i r u e u d n h ' & 9 w r e h v x s s o l h g e \ f x v w r p h u 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (e-frame, 200 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-18 e-frame, 200 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? 1 h y h u w r x f k w k h s r z h u f r q q h f w r u ; $ ; % d q g ; & w r z k l f k k l j k y r o w d j h l v d s s o l h g there is a risk of electric shock. ? tips on wiring 1) wire connector (xa, xb and xc). 2) connect the wired connector to the driver. fully insert the connector to the bottom until it clicks. motor varistor dc 24v u v w e fuse (125 v 10 a) ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? 3 u r y l g h d q $ & 5 h d f w r u ? connect l1 and l1c, and l3 and l2c at single phase use (100v and 200v), and don't use l2. ? ' r q w g l v f r q q h f w w k h v k r u w l q j f d e o h e h w z h h q % d q g % ' l v f r q q h f w w k l v r q o \ z k h q w k h h [ w h u q d o u h j h q h u d w l y h u h j l v w h u l v x v h g ? ' r q r w f r q q h f w d q \ w k l q j w r 1 & ? 0 d w f k w k h f r o r u v r i w k h p r w r u o h d g z l u h v w r w k r v h r i w k h f r u u h v s r q g l q j p r w r u r x w s x w w h u p l q d o v 8 9 : ? avoid shorting and grounding. don't connect the main power. ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 l1c / l2 l1 l2c % % 1 & u v w xa xc ; % 2 3 4 5 1 2 3 1 3 % 2 4 1 ' & s r z h u v x s s o \ i r u e u d n h 5 h g % o d f n * u h h q : k l w h 0 & & % 3 r z h u v x s s o \ 1 ) mc l 5 & ' ( [ w h u q d o u h j h q h u d w l y h resistor 7 k h v h f r o r u v d u h x v h g i r u r s w l r q d o f d e o h 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (e-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u ? 3 : l u l q j p h w k r g w r f r q q h f w r u ? 3 & r q q h f w r u n l w i r u ; $ ? 3 & r q q h f w r u n l w i r u ; % ; & phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-19 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement xc xb motor 37 alm+ l2 l3 l1c l2c mc mccb l1 $ / 0 ? xa x4 36 l on alm b1 b3 b2 nc u v w alm off built-in thermostat of an external regenerative resistor (light yellow) mc external regenerative resistor remove the short wire when you connect the external regenerative resistor. red white black green main power supply control power supply motor connection power supply 3-phase, 200v to 230v C15% +10% noise filter coil surge suppression units * these colors are used for optional cable. insulated dc12 to 24v (5%) + ? compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, e-frame, 200 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (e-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u ? 3 : l u l q j p h w k r g w r f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-20 ? : l u l q j r i 0 d l q & l u f x l w & l u f x l w % u h d n h u 0 & & % to protect power supply line from overload- ing, install a wiring circuit breaker rated to the capacity of the power supply. 1 r l v h ) l o w h u 1 ) removes external noise from the power lines. and reduces an effect of the noise generated by the servo driver. 0 d j q h w l f & r q w d f w r u 0 & turns on/off the main power of the servo driver. use coil surge suppression units together with this. ? 1 h y h u v w d u w q r u v w r s w k h v h u y r p r w r u z l w k w k l v 0 d j q h w l f & r q w d f w r u 5 h d f w r u / (to be supplied by customer) reduces harmonic current of the main power. ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h s o d w h from the power source. symmetric current should be 5000 arms or below. if the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). b1 b2 l3 l2 l1 l2c l1c 5 h j h q h u d w l y h u h v l v w r u r s w l r q d o ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h regenerative resistor (option). , i w k h w k h u p d o i x v h l v d f w l y d w h g l w z l o o q r w u h v x p h ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o 5 h p d u n v 0 d l q v residual current device 3 l q % % d q g % ? % d q g % w r e h n h s w v k r u w h g i r u q r u p d o r s h u d w l r q ? : k h q \ r x f r q q h f w d q h [ w h u q d o regenerative resistor, disconnect a short bar between b2 and b3, then connect the external regen- erative resistor between b1 and b2, set up pr0.16 to 1 or 2. 3 l q 1 & ? ' r q r w f r q q h f w d q \ w k l q j & r q q h f w l r q z l w k l q s x w s r z h u v x s s o \ & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v p. 2 - 2 2 p.2-22 connecting example of f-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (f-frame, 200 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-21 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement p.2-22 short circuit wire (b2-b3) ground (earth) ground terminal charge lamp (red led) *1 junction cable for brake dc power supply for brake dc24v (to be supplied by customer) junction cable for motor junction cable for encoder : high voltage u-phase(red) v-phase(white) w-phase(black) *1 do not make displacement, wiring or inspection while the led is lit - cause of electric shock. ? 0 r q l w r u r x w s x w : l u l q j w r & r q q h f w r u ; p.2-60 pc (to be supplied by customer) setup support software 3 $ 1 $ 7 ( 5 0 please download from our web site. ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 or host controller ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j ? & r q q h f w l r q w r encoder ? & r q q h f w l r q w r feedback scale ? & r q q h f w l r q w r k r v w f r q w u r o o h u : l u l q j w r & r q q h f w r u ; p.2-57 : l u l q j w r & r q q h f w r u ; p.2-55 : l u l q j w r & r q q h f w r u ; p.2-54 : l u l q j w r & r q q h f w r u ; p.2-53 : l u l q j w r & r q q h f w r u ; p.2-51 : l u l q j w r & r q q h f w r u ; p.2-51 & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g * these colors are used for optional cable. ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ circuit. to connect these terminals to the primary power supply (particularly, 24 vdc power supply for brake), insulation is required. do not connect these terminals to the same power supply. 5 h p d u n v 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (f-frame, 200 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-22 f-frame, 200 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? never touch the terminal to which high voltage is applied. there is a risk of electric shock. ? tips on wiring 7 d n h r i i w k h f r y h u [ l q j v f u h z v d q g g h w d f k w k h w h u p l q d o f r y h u 2) make wiring use clamp type terminals of round shape with insulation cover for wiring to the termi- nal block. for cable diameter and size, reter to "driver and list of applicable periph- eral equipments" (p.2-10). tighten the terminal block screw with a torque between 1.0 and 1.7 n ? p $ w w d f k w k h w h u p l q d o f r y h u d q g [ z l w k v f u h z v tighten the screw securing the cover with a torque written on p.2-11. motor varistor dc 24v l1 u v w e l2 l3 l1c l2c b1 b3 b2 nc u v w ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? 3 u r y l g h d q $ & 5 h d f w r u ? ' r q w g l v f r q q h f w w k h v k r u w e d u e h w z h h q % d q g % ' l v f r q q h f w w k l v r q o \ z k h q d q h [ w h u q d o u h j h q h u d w l y h u h j l v w h u l v x v h g ? ' r q r w f r q q h f w d q \ w k l q j w r 1 & ? 0 d w f k w k h f r o r u v r i w k h p r w r u o h d g z l u h v w r w k r v h r i w k h f r u u h v s r q g l q j p r w r u r x w s x w w h u p l q d o v 8 9 : ? avoid shorting and grounding. don't connect the main power. ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 ' & s r z h u v x s s o \ i r u e u d n h ) x v h 9 $ 5 h g % o d f n * u h h q : k l w h mccb 3 r z h u v x s s o \ 1 ) mc l 5 & ' ( [ w h u q d o u h j h q h u d w l y h u h v l v w r u 7 k h v h f r o r u v d u h x v h g i r u r s w l r q d o f d e o h 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (f-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-23 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement motor 37 alm+ l2 l3 l1c l2c mc mccb l1 $ / 0 ? x4 terminal block 36 l on alm b1 b3 b2 nc u v w alm off built-in thermostat of an external regenerative resistor (light yellow) mc noise filter external regenerative resistor (remove the short wire when you connect the external regenerative resistor.) main power supply control power supply motor connection power supply 3-phase, 200v to 230v C15% +10% red white black green coil surge suppression units * these colors are used for optional cable. insulated dc12 to 24v (5%) + ? compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, f-frame, 200 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (f-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-24 ? : l u l q j r i 0 d l q & l u f x l w & l u f x l w % u h d n h u 0 & & % to protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. 1 r l v h ) l o w h u 1 ) removes external noise from the power lines. and reduces an effect of the noise generated by the servo driver. 0 d j q h w l f & r q w d f w r u 0 & turns on/off the main power of the servo driver. use coil surge suppression units together with this. ? 1 h y h u v w d u w q r u v w r s w k h v h u y r p r w r u z l w k w k l v 0 d j q h w l f & r q w d f w r u 5 h d f w r u / (to be supplied by customer) reduces harmonic current of the main power. ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h s o d w h from the power source. symmetric current should be 5000 arms or below. if the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). & r q q h f w l r q z l w k l q s x w s r z h u v x s s o \ p.2-26 ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o . ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h regenerative resistor (option). , i w k h w k h u p d o i x v h l v d f w l y d w h g l w z l o o q r w u h v x p h ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o. the wiring indicated with the broken line shall be provided only when required. l3 l2 l1 l2c l1c 0 d l q v residual current device b1 b2 5 h j h q h u d w l y h u h v l v w r u (optional) 3 l q % d q g % ? : k h q \ r x f r q q h f w d q h [ w h u q d o u h j h q h u d w l y h resistor, connect the external regenerative resistor between b1 and b2, set up pr0.16 to 1 or 2. 3 l q ' % ' % ' % d q g ' % k 1 r u p d o o \ o h d y h ' % d q g ' % v k r u w f l u f x l w h g k to connect the external dynamic brake resistor, u h i h u w r ' \ q d p l f % u d n h r q 3 ' r q r w x v h w k h h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u w r j h w k h u z l w k w k h e x l o w l q u h v l v w r u 3 l q 1 & ? ' r q r w f r q q h f w d q \ w k l q j & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v p.2-26 5 h p d u n v 1 r w h connecting example of g-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (g-frame, 200 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-25 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement : high voltage ground (earth) ground terminal short bar (db3-db4) 0 r w r u f d e o h 6 k l h o g z l u h ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ circuit. to connect these terminals to the primary power supply (particularly, 24 vdc power supply for brake), insulation is required. do not connect these terminals to the same power supply. brake cable dc power supply for brake dc24v (to be supplied by customer) junction cable for encoder u -phase v -phase : -phase charge lamp (led) do not make displacement, wiring or inspection while the led is lit - cause of electric shock. pc (to be supplied by customer) 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 please download from our web site. ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 or host controller ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j ? & r q q h f w l r q w r encoder ? & r q q h f w l r q w r feedback scale ? & r q q h f w l r q w r k r v w f r q w u r o o h u : l u l q j w r & r q q h f w r u ; p. : l u l q j w r & r q q h f w r u ; p. 2 - 5 5 : l u l q j w r & r q q h f w r u ; p.2-54 : l u l q j w r & r q q h f w r u ; p.2-53 : l u l q j w r & r q q h f w r u ; p.2-51 : l u l q j w r & r q q h f w r u ; p.2-51 ? 0 r q l w r u r x w s x w : l u l q j w r & r q q h f w r u ; p.2-60 p.2-26 & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g 5 h p d u n v nc nc nc l2c l1c nc nc nc db3 db2 db1 db4 l1 l2 l3 b1 b2 nc u v w x1 x2 x3 x4 x5 x6 charge 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (g-frame, 200 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-26 g-frame, 200 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? never touch the terminal to which high voltage is applied. there is a risk of electric shock. ? tips on wiring 7 d n h r i i w k h f r y h u [ l q j v f u h z v d q g g h w d f k w k h w h u p l q d o f r y h u 2)make wiring use clamp type terminals of round shape with insulation cover for wiring to the terminal block. for cable diameter and size, reter to "driver and list of applicable peripheral equipments" (p.2-11). tighten the terminal block screw with a torque between 2.0 and 2.4 1 ?m (left side) and 1.0 and 1.7 1 ?m (right side). $ w w d f k w k h w h u p l q d o f r y h u d q g [ z l w k v f u h z v tighten the screw securing the cover with the torque written on p.2-11. motor varistor dc 24v l1 u v w e l2 l3 b1 b2 nc u v w nc l1c l2c nc nc db1 db2 nc nc db3 db4 nc ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? 3 u r y l g h d q $ & 5 h d f w r u w r e h v x s s o l h g e \ f x v w r p h u ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g ' % p x v w e h 9 $ & r u e h o r z r u 9 ' & r u e h o r z ? 0 d w f k w k h f r q q h f w r u r i w k h p r w r u d q g g u l y h u 8 9 : ? avoid shorting and grounding. don't connect the main power. ? ) r u q r u p d o r s h u d w l r q g r q r w g l v f r q q h f w w k h v k r u w l q j e d u i u r p ' % d q g ' % u h p r y h w k h e d u r q o \ z k h q w k h h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u l v x v h g ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * do not connect anything to nc. * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 / h i w v l g h 5 l j k w v l g h ' & s r z h u v x s s o \ i r u e u d n h ) x v h 9 $ mccb 3 r z h u v x s s o \ 1 ) mc l 5 & ' 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (g-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-27 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement power supply 3-phase, 200v to 230v C15% +10% noise filter main power supply control power supply motor 37 alm l2 l3 l1c l2c mc1 l1 alm mccb motor connection 36 l on alm b1 b2 nc db1 db2 db3 db4 u v w alm off coil surge suppression units built-in thermostat of an external regenerative resistor (light yellow) external regenerative resistor power supply (3-phase) mc1 note 1) normally, do not disconnect the shorting bar. note 1) insulated dc12 to 24v (5%) + ? compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, g-frame, 200 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (g-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-28 ? : l u l q j r i 0 d l q & l u f x l w & l u f x l w % u h d n h u 0 & & % to protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. 1 r l v h ) l o w h u 1 ) removes external noise from the power lines. and reduces an effect of the noise generated by the servo driver. 0 d j q h w l f & r q w d f w r u 0 & turns on/off the main power of the servo driver. use coil surge suppression units together with this. ? 1 h y h u v w d u w q r u v w r s w k h v h u y r p r w r u z l w k w k l v 0 d j q h w l f & r q w d f w r u 5 h d f w r u / (to be supplied by customer) reduces harmonic current of the main power. ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h - plate from the power source. symmetric current should be 5000 arms or below. if the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). l1 l2 l3 l1c l2c charge lamp (led) do not make displacement, wiring or inspection while the led is lit - cause of electric shock. 0 d j q h w l f & r q w d f w r u 0 & b1 b2 5 h j h q h u d w l y h u h v l v w r u (optional) 9 ' & s r z h u v x s s o \ i r u u h j h q h u d w l y h u h v l v w r u to be supplied by ( customer ) * use a power supply with 5 a or larger capacity. ? : k h q \ r x x v h d q h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o ? 0 r x q w w k h g \ q d p l f e u d n h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o ? ) r u z l u l q j r i w k h f l u f x l w u h i h u w r : l u l q j ' l d j u d p r q 3 ? ) r u d q h [ d p s o h r i w k h u h f r p p h q g h g s u r w h f w l y h f l u f x l w u h i h u w r ?dynamic brake? on p.2-67. ' \ q d p l f % u d n h u h v l v w r u to be supplied by ( customer ) turns on/off the dynamic brake resistor. use coil surge suppression units together with this. mains residual current device ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h resistor, l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o. ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h regenerative resistor (option). , i w k h w k h u p d o i x v h l v d f w l y d w h g l w z l o o q r w u h v x p h ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o. ? ) r u z l u l q j r i w k h f l u f x l w u h i h u w r : l u l q j diagram? on p.2-31. 5 h p d u n v 5 h p d u n v & r q q h f w l r q z l w k l q s x w s r z h u v x s s o \ p.2-30 & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v p.2-30 connecting example of h-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (h-frame, 200 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-29 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement : high voltage pc (to be supplied by customer) setup support software ?panaterm? please download from our web site. ? 0 r q l w r u r x w s x w : l u l q j w r & r q q h f w r u ; p.2-60 motor cable (shield wire) p.2-30 & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g u -phase v -phase w -phase ground (earth) junction cable for encoder brake cable dc power supply for brake dc24v (to be supplied by customer) ground terminal x1 x2 x3 x4 x5 x6 charge l1 l2 l3 b1 b2 nc l1c l2c db1 db2 uvw ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w to connect these terminals to the primary power supply (particularly, the 24 vdc power supply for brake and the 24 vdc power supply for regenerative resistor), insulation is required. do not connect these terminals to the same power supply. 3 l q % d q g % ? : k h q \ r x f r q q h f w d q h [ w h u q d o u h j h q h u d w l y h resistor, connect the external regenerative resistor between b1 and b2, set up pr0.16 to 1 or 2. 3 l q ' % d q g ' % ? : k h q l q v w d o o l q j d q h [ w h u q d o g \ q d p l f e u d n h resistor, connect the magnetic contactor (for controlling) for external dynamic brake to between lic and db1. ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g ' % p x v w e h 9 $ & r u e h o r z r u 9 ' & r u e h o r z 3 l q 1 & ? ' r q r w f r q q h f w d q \ w k l q j ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 or host controller ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j ? & r q q h f w l r q w r encoder ? & r q q h f w l r q w r feedback scale ? & r q q h f w l r q w r k r v w f r q w u r o o h u : l u l q j w r & r q q h f w r u ; p. 2 - 5 7 : l u l q j w r & r q q h f w r u ; p. 2 - 5 5 : l u l q j w r & r q q h f w r u ; p.2-54 : l u l q j w r & r q q h f w r u ; p.2-53 : l u l q j w r & r q q h f w r u ; p.2-51 : l u l q j w r & r q q h f w r u ; p. 2 - 5 1 5 h p d u n v 5 h p d u n v 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (h-frame, 200 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-30 h-frame, 200 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? never touch the terminal to which high voltage is applied. there is a risk of electric shock. ? tips on wiring 7 d n h r i i w k h f r y h u [ l q j v f u h z v d q g g h w d f k w k h w h u p l q d o f r y h u 2)make wiring use clamp type terminals of round shape with insulation cover for wiring to the terminal block. for cable diameter and size, reter to "driver and list of applicable peripheral equipments" (p.2-11). tighten the terminal block screw with a torque between 0.7 and 0.8 1 ?m (upper side) and 2.2 and 2.5 1 ?m (lower side). $ w w d f k w k h w h u p l q d o f r y h u d q g [ z l w k v f u h z v tighten the screw securing the cover with the torque written on p.2-11. power supply motor varistor dc 24v l1 u v w e l2 l3 b1 b2 nc u v w l1c l2c db1 db2 ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g ' % p x v w e h 9 $ & r u e h o r z r u 9 ' & r u e h o r z ? 3 u r y l g h d q $ & 5 h d f w r u w r e h v x s s o l h g e \ f x v w r p h u ? ' r q r w f r q q h f w d q \ w k l q j w r 1 & ? 0 d w f k w k h f r q q h f w r u r i w k h p r w r u d q g g u l y h u ?u, v, w? ? avoid shorting and grounding. don't connect the main power. ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 dc power supply i r u e u d n h ) x v h 9 $ mccb 1 ) mc l 5 & ' upper v l g h lower v l g h 3 r z h u v x s s o \ i r u u h j h q h u d w l y h u h v l v w r u dc 24v 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (h-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-31 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement power supply 3-phase, 200v to 230v ?15% +10% note 1) magnetic contactor mc2 must be the same as the contactor mc1 in the main circuit. note 2) servo may be turned on in the external sequence if the dynamic brake resistor deposits: to protect the system, provide the auxiliary contact. note 3) use 1.2 w, 400 w resistor (to be supplied by customer). note 4) to use the external dynamic brake resistor: connect the r1 and r2 terminals to b1 and b2. connect the t1 and t2 terminals as shown in the left diagram. connect the 24 v and 0 v terminals to a 24 vdc power supply. connect the e terminal to the ground. refer to p.7-122 ?options? for the specifications of the external regenerative resistor. note 5) provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external dynamic brake resistor. noise filter main power supply control power supply motor 37 alm l2 l3 l1c l2c mc1 l1 alm mccb motor connection 36 l on alm b1 b2 db1 nc db2 u v w alm off coil surge suppression units built-in thermostat of an external regenerative resistor (t1 and t2 terminals) power supply (3-phase) mc1 note 1) note 4) note 5) note 5) note 5) dynamic brake resistor note 3) note 2) mc2 mc2 coil surge suppression units external regenerative resistor insulated dc12 to 24v (5%) + ? insulated dc24v + ? compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, h-frame, 200 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (h-frame, 200 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-32 ? : l u l q j r i 0 d l q & r q q h f w r u ; $ & l u f x l w % u h d n h u 0 & & % to protect power supply line from overload- ing, install a wiring circuit breaker rated to the capacity of the power supply. 1 r l v h ) l o w h u 1 ) removes external noise from the power lines. and reduces an effect of the noise generated by the servo driver. 0 d j q h w l f & r q w d f w r u 0 & turns on/off the main power of the servo driver. use coil surge suppression units together with this. ? 1 h y h u v w d u w q r u v w r s w k h v h u y r p r w r u z l w k w k l v 0 d j q h w l f & r q w d f w r u 5 h d f w r u / (to be supplied by customer) reduces harmonic current of the main power. ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h s o d w h from the power source. symmetric current should be 5000 arms or below. if the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). 5 h j h q h u d w l y h u h v l v w r u (optional) ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h regenerative resistor (option). , i w k h w k h u p d o i x v h l v d f w l y d w h g l w z l o o q r w u h v x p h ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o 5 h p d u n v ? : l u l q j r i 0 r w r u & r q q h f w r u ; & 3 l q % s l q % s l q d q g % s l q ? % d q g % w r e h n h s w v k r u w h g i r u q r u p d o r s h u d w l r q ? : k h q \ r x f r q q h f w d q h [ w h u q d o u h j h q h u d w l y h resistor, disconnect a short circuit wire between b2 and b3, then connect the external regenerative resistor between b1 and b2, set up pr0.16 to 1 or 2. ? & r q q h f w l r q w r l q s x w s r z h u : l u l q j w r & r q q h f w r u ; $ p. 2 - 3 4 ? & r q q h f w l r q w r control power : l u l q j w r & r q q h f w r u ; ' p. 2 - 3 4 ? & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v : l u l q j w r & r q q h f w r u ; & p.2-34 l3 (pin-1) l2 (pin-2) l1 (pin-3) 0v 24v * use a power supply with 2 a or larger capacity. b1 (pin-4) b2 (pin-2) 9 ' & s r z h u v x s s o \ i r u f r q w u r o (to be supplied by customer) 0 d l q v residual current device connecting example of d, e-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (d, e-frame, 400 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-33 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement pc (to be supplied by customer) setup support software 3 $ 1 $ 7 ( 5 0 please download from our web site. ? & r q q h f w l r q w r encoder ? & r q q h f w l r q w r k r v w f r q w u r o o h u : l u l q j w r & r q q h f w r u ; p.2-57 : l u l q j w r & r q q h f w r u ; p.2-54 u-phase(red) v-phase(white) : s k d v h e o d f n ground (earth) ground terminal charge lamp (red led) *1 *1 do not make displacement, wiring or inspection while the led is lit - cause of electric shock. brake cable dc power supply for brake dc24v (to be supplied by customer) junction cable for encoder handle lever use this for connector connection. store this after connection for other occasions. (refer to p.2-50 for connection.) short circuit wire (b2-b3) ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ circuit. to connect these terminals to the primary power supply (particularly, the 24 vdc power supply for control and the 24 vdc power supply for brake), insulation is required. do not connect these terminals to the same power supply. : high voltage ? 0 r q l w r u r x w s x w : l u l q j w r & r q q h f w r u ; p.2-60 ? & r q q h f w l r q w r feedback scale : l u l q j w r & r q q h f w r u ; p.2-55 ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 or host controller ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j : l u l q j w r & r q q h f w r u ; p.2-53 : l u l q j w r & r q q h f w r u ; p.2-51 : l u l q j w r & r q q h f w r u ; p.2-51 ? & r q q h f w l r q w r p r w r u : l u l q j w r & r q q h f w r u ; % p.2-34 0 r w r u f d e o h 6 k l h o g z l u h p.2-34 & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g 5 h p d u n v 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (d, e-frame, 400 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-34 d, e-frame, 400 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? 1 h y h u w r x f k w k h s r z h u f r q q h f w r u ; $ ; % ; & d q g ; ' w r z k l f k k l j k y r o w d j h l v d s - plied. there is a risk of electric shock. ? tips on wiring 1) wire connector (xa, xb, xc and xd). 2) connect the wired connector to the driver. fully insert the connector to the bottom until it clicks. red black motor varistor dc 24v mccb power supply dc 24v nf mc l u v w e yellow (x2) fuse (125 v 10 a) ? ' l u h f w s r z h u v x s s o \ i r u f r q w u r o f l u f x l w ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? 3 u r y l g h d q $ & 5 h d f w r u ? $ & s k d v h s r z h u v x s s o \ 9 i r u p d l q f l u f x l w ? ' r q w g l v f r q q h f w w k h v k r u w l q j f d e o h e h w z h h q % d q g % ' l v f r q q h f w w k l v r q o \ z k h q w k h h [ w h u q d o u h j h q h u d w l y h u h j l v w h u l v x v h g ? ' r q r w f r q q h f w d q \ w k l q j w r 1 ? 0 d w f k w k h f r o r u v r i w k h p r w r u o h d g z l u h v w r w k r v h r i w k h f r u u h v s r q g l q j p r w r u r x w s x w w h u p l q d o v 8 9 : ? avoid shorting and grounding. don't connect the main power. ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 : k l w h u v w xb 2 3 1 % b2 n xc l1 l2 / xa 2 3 1 24v 0v xd 2 1 2 3 b1 4 1 dc power supply i r u e u d n h rcd 7 k h v h f r o r u v d u h x v h g i r u r s w l r q d o f d e o h * u h h q or * u h h q/ yellow 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (d, e-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u ? 3 : l u l q j p h w k r g w r f r q q h f w r u ? 3 & r q q h f w r u n l w i r u ; $ ? 3 & r q q h f w r u n l w i r u ; % ; & ? 3 & r q q h f w r u n l w i r u ; ' phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-35 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement power supply 3-phase, 380v to 480v ?15% +10% motor 37 alm+ l2 l3 0v mccb l1 $ / 0 ? 24v xc xb xa xd x4 36 l on alm b1 b3 b2 n u v w alm off built-in thermostat of an external regenerative resistor (light yellow) mc external regenerative resistor (remove the short wire when you connect the external regenerative resistor.) main power supply control power supply motor connection noise filter coil surge suppression units insulated dc24v insulated dc12 to 24v (5%) + ? + ? note 1) shielding the circuit is recommended for the purpose of noise reduction. note 1) compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, d, e-frame, 400 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (d, e-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u ? 3 : l u l q j p h w k r g w r f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-36 ? : l u l q j r i 0 d l q & l u f x l w & l u f x l w % u h d n h u 0 & & % to protect power supply line from overload- ing, install a wiring circuit breaker rated to the capacity of the power supply. 1 r l v h ) l o w h u 1 ) removes external noise from the power lines. and reduces an effect of the noise generated by the servo driver. 0 d j q h w l f & r q w d f w r u 0 & turns on/off the main power of the servo driver. use coil surge suppression units together with this. ? 1 h y h u v w d u w q r u v w r s w k h v h u y r p r w r u z l w k w k l v 0 d j q h w l f & r q w d f w r u 5 h d f w r u / (to be supplied by customer) reduces harmonic current of the main power. ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h s o d w h from the power source. symmetric current should be 5000 arms or below. if the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). 5 h j h q h u d w l y h u h v l v w r u r s w l r q d o ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h regenerative resistor (option). , i w k h w k h u p d o i x v h l v d f w l y d w h g l w z l o o q r w u h v x p h ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o 5 h p d u n v 3 l q % % d q g % ? % d q g % w r e h n h s w v k r u w h g i r u normal operation. ? : k h q \ r x f r q q h f w d q h [ w h u q d o regenerative resistor, disconnect a v k r u w e d u e h w z h h q % d q g % then connect the external regen- h u d w l y h u h v l v w r u e h w z h h q % d q g % v h w x s 3 u w r r u 3 l q 1 & ? ' r q r w f r q q h f w d q \ w k l q j & r q q h f w l r q z l w k l q s x w s r z h u v x s s o \ & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v 3 & r q q h f w l r q z l w k f r q w u r o s r z h u v x s s o \ 3 3 % % / l2 / 0v 24v 0 d l q v residual current device * use a power supply with 2 a or larger capacity. 9 ' & s r z h u v x s s o \ i r u f r q w u r o (to be supplied by customer) connecting example of f-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (f-frame, 400 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-37 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement : high voltage ? 0 r q l w r u r x w s x w : l u l q j w r & r q q h f w r u ; p.2-60 pc (to be supplied by customer) 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 please download from our web site. 3 junction cable for brake junction cable for motor & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g junction cable for encoder short bar % % u-phase(red) v-phase(white) : s k d v h e o d f n ground (earth) ground terminal charge lamp 5 h g / ( ' ' r q r w p d n h g l v s o d f h p h q w z l u l q j r u l q v s h f w l r q z k l o h w k h / ( ' l v o l w f d x v h r i h o h f w u l f v k r f n ' & 3 r z h u v x s s o \ i r u e u d n h ' & 9 (to be supplied by customer) ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 or host controller ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j ? & r q q h f w l r q w r encoder ? & r q q h f w l r q w r feedback scale ? & r q q h f w l r q w r k r v w f r q w u r o o h u : l u l q j w r & r q q h f w r u ; p.2-57 : l u l q j w r & r q q h f w r u ; p.2-55 : l u l q j w r & r q q h f w r u ; p.2-54 : l u l q j w r & r q q h f w r u ; p. : l u l q j w r & r q q h f w r u ; p. : l u l q j w r & r q q h f w r u ; p. ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w to connect these terminals to the primary s r z h u v x s s o \ s d u w l f x o d u o \ w k h 9 ' & s r z h u v x s s o \ i r u f r q w u r o d q g w k h 9 ' & s r z h u supply for brake), insulation is required. ' r q r w f r q q h f w w k h v h w h u p l q d o v w r w k h v d p h power supply. 5 h p d u n v 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (f-frame, 400 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-38 f-frame, 400 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? never touch the terminal to which high voltage is applied. there is a risk of electric shock. ? tips on wiring 7 d n h r i i w k h f r y h u [ l q j v f u h z v d q g g h w d f k w k h w h u p l q d o f r y h u 2) make wiring use clamp type terminals of round shape with insulation cover for wiring to the terminal block. for cable diameter and size, reter to "driver and list of applicable peripheral equipments" (p.2-10). tighten the terminal block screw with a torque written on p.2-11. $ w w d f k w k h w h u p l q d o f r y h u d q g [ z l w k v f u h z v tighten the screw securing the cover with a torque written on p.2-11. motor varistor dc 24v l1 u v w e l2 l3 24v 0v b1 b3 b2 nc u v w ? ' l u h f w s r z h u v x s s o \ i r u f r q w u r o f l u f x l w ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? 3 u r y l g h d q $ & 5 h d f w r u ? $ & s k d v h s r z h u v x s s o \ 9 i r u p d l q f l u f x l w ? ' r q w g l v f r q q h f w w k h v k r u w e d u e h w z h h q % d q g % ' l v f r q q h f w w k l v r q o \ z k h q d q h [ w h u q d o u h j h q h u d w l y h u h j l v w h u l v x v h g ? ' r q r w f r q q h f w d q \ w k l q j w r 1 & ? 0 d w f k w k h f r o r u v r i w k h p r w r u o h d g z l u h v w r w k r v h r i w k h f r u u h v s r q g l q j p r w r u r x w s x w w h u p l q d o v 8 9 : ? avoid shorting and grounding. don't connect the main power. ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 ' & s r z h u v x s s o \ i r u e u d n h ) x v h 9 $ 5 h g % o d f n : k l w h < h o o r z ; mccb 3 r z h u v x s s o \ 1 ) mc l 5 & ' * u h h q r u * u h h q \ h o o r z dc 24v 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (f-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-39 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement power supply 3-phase, 380v to 480v ?15% +10% motor 37 alm+ l2 l3 mc mccb l1 $ / 0 ? noise filter x4 36 l on alm b1 b3 b2 nc u v w alm off built-in thermostat of an external regenerative resistor (light yellow) mc external regenerative resistor (remove the short wire when you connect the external regenerative resistor.) main power supply 24v 0v control power supply motor connection coil surge suppression units insulated dc12 to 24v (5%) + ? insulated dc24v + ? note 1) shielding the circuit is recommended for the purpose of noise reduction. note 1) compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, f-frame, 400 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (f-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-40 ? : l u l q j r i 0 d l q & l u f x l w & l u f x l w % u h d n h u 0 & & % to protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. 1 r l v h ) l o w h u 1 ) removes external noise from the power lines. and reduces an effect of the noise generated by the servo driver. 0 d j q h w l f & r q w d f w r u 0 & turns on/off the main power of the servo driver. use coil surge suppression units together with this. ? 1 h y h u v w d u w q r u v w r s w k h v h u y r p r w r u z l w k w k l v 0 d j q h w l f & r q w d f w r u 5 h d f w r u / (to be supplied by customer) reduces harmonic current of the main power. ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h - plate from the power source. symmetric current should be 5000 arms or below. if the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). & r q q h f w l r q z l w k l q s x w s r z h u v x s s o \ p. 2 - 4 2 & r q q h f w l r q z l w k f r q w u r o s r z h u v x s s o \ p. 2 - 4 2 ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o . ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h regenerative resistor (option). , i w k h w k h u p d o i x v h l v d f w l y d w h g l w z l o o q r w u h v x p h ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o. the wiring indicated with the broken line shall be provided only when required. 5 h j h q h u d w l y h u h v l v w r u (optional) 3 l q % d q g % ? : k h q \ r x f r q q h f w d q h [ w h u q d o u h j h q h u d w l y h resistor, connect the external regenerative resistor e h w z h h q % d q g % v h w x s 3 u w r r u 3 l q ' % ' % ' % d q g ' % k 1 r u p d o o \ o h d y h ' % d q g ' % v k r u w f l u f x l w h g k to connect the external dynamic brake resistor, u h i h u w r ' \ q d p l f % u d n h r q 3 ' r q r w x v h w k h h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u w r j h w k h u z l w k w k h e x l o w l q u h v l v w r u 3 l q 1 & ? ' r q r w f r q q h f w d q \ w k l q j & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v p. 2 - 4 2 5 h p d u n v 1 r w h l3 l2 / 0v 24v * use a power supply with 5 a or larger capacity. % b2 9 ' & s r z h u v x s s o \ i r u f r q w u r o (to be supplied by customer) 0 d l q v residual current device connecting example of g-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (g-frame, 400 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-41 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement nc nc nc 0v 24v nc nc nc db3 db2 db1 db4 l1 l2 l3 b1 b2 nc u v w x1 x2 x3 x4 x5 x6 charge 400v : high voltage ? ; w r ; d u h x v h g i r u w k h secondary circuit. to connect these terminals to the primary power supply (particularly, 24 vdc power supply for brake), insulation is required. do not connect these terminals to the same power supply. charge lamp (led) do not make displacement, wiring or inspection while the led is lit - cause of electric shock. pc (to be supplied by customer) 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 please download from our web site. ? & r q q h f w l r q w r k r v w f r q w u r o o h u : l u l q j w r & r q q h f w r u ; p. 2 - 5 4 ? 0 r q l w r u r x w s x w : l u l q j w r & r q q h f w r u ; p. ground (earth) ground terminal 0 r w r u f d e o h 6 k l h o g z l u h p.2-42 & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g 5 h p d u n v u-phase v-phase : s k d v h brake cable dc power supply for brake dc24v (to be supplied by customer) junction cable for encoder short bar (db3-db4) ? & r q q h f w l r q w r encoder ? & r q q h f w l r q w r feedback scale : l u l q j w r & r q q h f w r u ; p. : l u l q j w r & r q q h f w r u ; p.2-55 ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j : l u l q j w r & r q q h f w r u ; p.2-53 : l u l q j w r & r q q h f w r u ; p. ? & r q q h f w l r q w r 5 6 5 6 or host controller : l u l q j w r & r q q h f w r u ; p. 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (g-frame, 400 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-42 g-frame, 400 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? never touch the terminal to which high voltage is applied. there is a risk of electric shock. ? tips on wiring 7 d n h r i i w k h f r y h u [ l q j v f u h z v d q g g h w d f k w k h w h u p l q d o f r y h u 2)make wiring use clamp type terminals of round shape with insulation cover for wiring to the terminal block. for cable diameter and size, reter to "driver and list of applicable peripheral equipments" (p.2-11). tighten the terminal block screw with a torque between 2.0 and 2.4 1 ?m (left side) and 1.0 and 1.7 1 ?m (right side). $ w w d f k w k h w h u p l q d o f r y h u d q g [ z l w k v f u h z v tighten the screw securing the cover with the torque written on p.2-11. motor varistor dc 24v l1 u v w e l2 l3 b1 b2 nc u v w nc 24v 0v nc nc db1 db2 nc nc db3 db4 nc ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d - w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? ' l u h f w s r z h u v x s s o \ 9 ' & i r u f r q w u r o f l u f x l w ? 3 u r y l g h d q $ & 5 h d f w r u w r e h v x s s o l h g e \ f x v w r p h u ? $ & s k d v h s r z h u v x s s o \ 9 i r u p d l q f l u f x l w ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g ' % p x v w e h 9 $ & r u e h o r z r u 9 ' & r u e h o r z ? 0 d w f k w k h f r q q h f w r u r i w k h p r w r u d q g g u l y h u 8 9 : ? avoid shorting and grounding. don't connect the main power. ? ) r u q r u p d o r s h u d w l r q g r q r w g l v f r q q h f w w k h v k r u w l q j e d u i u r p ' % d q g ' % u h p r y h w k h e d u r q o \ z k h q w k h h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u l v x v h g ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * do not connect anything to nc. * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 / h i w v l g h 5 l j k w v l g h ' & s r z h u v x s s o \ i r u e u d n h ) x v h 9 $ mccb 3 r z h u v x s s o \ 1 ) mc l 5 & ' dc 24v 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (g-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-43 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement power supply 3-phase, 380v to 480v ?15% +10% note 1) shielding the circuit is recommended for the purpose of noise reduction. note 2) normally, do not disconnect the shorting bar. noise filter main power supply control power supply motor 37 alm l2 l3 24v 0v mc1 l1 alm mccb motor connection power supply (3-phase) 36 l on alm b1 b2 nc db1 db2 db3 db4 u v w alm off coil surge suppression units built-in thermostat of an external regenerative resistor (light yellow) external regenerative resistor note 2) mc1 insulated dc12 to 24v (5%) + ? insulated dc24v + ? note 1) compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, g-frame, 400 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (g-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-44 ? : l u l q j r i 0 d l q & l u f x l w & l u f x l w % u h d n h u 0 & & % to protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. 1 r l v h ) l o w h u 1 ) removes external noise from the power lines. and reduces an effect of the noise generated by the servo driver. 0 d j q h w l f & r q w d f w r u 0 & turns on/off the main power of the servo driver. use coil surge suppression units together with this. ? 1 h y h u v w d u w q r u v w r s w k h v h u y r p r w r u z l w k w k l v 0 d j q h w l f & r q w d f w r u 5 h d f w r u / (to be supplied by customer) reduces harmonic current of the main power. ? $ s s o \ w k h y r o w d j h g h v l j q d w h g r q w k h q d p h - plate from the power source. symmetric current should be 5000 arms or below. if the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer). 5 h j h q h u d w l y h u h v l v w r u (optional) ? : k h q \ r x x v h d q h [ w h u q d o u h j h q h u d w l y h resistor, l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o. ? 7 k h u p d o i x v h d q g w k h u p r v w d w d u h e x l o w l q w r w k h regenerative resistor (option). , i w k h w k h u p d o i x v h l v d f w l y d w h g l w z l o o q r w u h v x p h ? 0 r x q w w k h u h j h q h u d w l y h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o. ? ) r u z l u l q j r i w k h f l u f x l w u h i h u w r : l u l q j diagram? on p.2-47. 5 h p d u n v & r q q h f w l r q z l w k l q s x w s r z h u v x s s o \ p. 2 - 4 6 charge lamp (led) do not make displacement, wiring or inspection while the led is lit - cause of electric shock. 24v0v neutral point l1c b1 b2 l1 l2 l3 0 d j q h w l f & r q w d f w r u 0 & ? : k h q \ r x x v h d q h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o ? 0 r x q w w k h g \ q d p l f e u d n h u h v l v w r u r q l q f r p e x v w l e o h p d w h u l d o v x f k d v p h w d o ? ) r u z l u l q j r i w k h f l u f x l w u h i h u w r : l u l q j ' l d j u d p r q 3 ? ) r u d q h [ d p s o h r i w k h u h f r p p h q g h g s u r w h f w l y h f l u f x l w u h i h u w r ?dynamic brake? on p.2-67. ' \ q d p l f % u d n h u h v l v w r u to be supplied by ( customer ) turns on/off the dynamic brake resistor. use coil surge suppression units together with this. 5 h p d u n v 9 ' & s r z h u v x s s o \ i r u u h j h q h u d w l y h u h v l v w r u to be supplied by ( customer ) * use a power supply with 5 a or larger capacity. & r q q h f w l r q w r h [ w h u q d o f r p s r q h q w v p.2-46 mains residual current device * use a power supply with 5 a or larger capacity. 9 ' & s r z h u v x s s o \ i r u f r q w u r o (to be supplied by customer) & r q q h f w l r q z l w k f r q w u r o s r z h u v x s s o \ p.2-46 connecting example of h-frame 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (h-frame, 400 v type) note related page 7 k l v r y h u d o o z l u l q j g l d j u d p l v d w \ s l f d o r q h 7 k h s d j h v w k d w i r o o r z v k r z z l u l q j i r u v s h f l f application. the wiring indicated with the broken line shall be provided only when required. ? 3 2 s w l r q v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-45 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement : high voltage pc (to be supplied by customer) setup support software ?panaterm? please download from our web site. ? 0 r q l w r u r x w s x w : l u l q j w r & r q q h f w r u ; p.2-60 u -phase v -phase : -phase brake cable dc power supply for brake dc24v (to be supplied by customer) x1 x2 x3 x4 x5 x6 charge l1 l2 l3 b1 b2 nc db2 24v 0v db1 uvw ground (earth) ground terminal ? & r q q h f w l r q w r 3 & 3 $ 1 $ 7 ( 5 0 ? & r q q h f w l r q w r 5 6 5 6 or host controller ? & r q q h f w l r q w r 6 d i h w \ e \ s d v v s o x j ? & r q q h f w l r q w r encoder ? & r q q h f w l r q w r feedback scale ? & r q q h f w l r q w r k r v w f r q w u r o o h u : l u l q j w r & r q q h f w r u ; p.2-57 : l u l q j w r & r q q h f w r u ; p. 2 - 5 5 : l u l q j w r & r q q h f w r u ; p.2-54 : l u l q j w r & r q q h f w r u ; p. 2 - 5 3 : l u l q j w r & r q q h f w r u ; p.2-51 : l u l q j w r & r q q h f w r u ; p.2-51 motor cable (shield wire) p.2-46 & r q q h f w l r q w r p r w r u g u l y l q j s k d v h d q g j u r x q g ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r connect these terminals to the primary power supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor), insulation is required. do not connect these terminals to the same power supply. 3 l q % d q g % ? : k h q \ r x f r q q h f w d q h [ w h u q d o u h j h q h u d w l y h resistor, connect the external regenerative resistor between b1 and b2, set up pr0.16 to 1 or 2. 3 l q ' % d q g ' % ? : k h q l q v w d o o l q j d q h [ w h u q d o g \ q d p l f e u d n h resistor, connect the magnetic contactor (for controlling) for external dynamic brake to between lic and db1. ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g ' % p x v w e h 9 $ & r u e h o r z r u 9 ' & r u e h o r z ? / & l v f r q q h f w h g d i w h u w k h 5 s k d v h r i w k h q r l v h filter. ? / & l v q r w l q g l f d w h g r q w k h g u l y h u e r g \ 3 l q 1 & ? ' r q r w f r q q h f w d q \ w k l q j 5 h p d u n v 5 h p d u n v 1 r w h junction cable for encoder 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j overall wiring (h-frame, 400 v type) note related page phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-46 h-frame, 400 v type ? : l u l q j v k r x o g e h s h u i r u p h g e \ d v s h f l d o l v w r u d q d x w k r u l ] h g s h u v r q q h o ? ' r q r w w x u q r q w k h s r z h u x q w l o w k h z l u l q j l v f r p s o h w h g ? never touch the terminal to which high voltage is applied. there is a risk of electric shock. ? tips on wiring 7 d n h r i i w k h f r y h u [ l q j v f u h z v d q g g h w d f k w k h w h u p l q d o f r y h u 2)make wiring use clamp type terminals of round shape with insulation cover for wiring to the terminal block. for cable diameter and size, reter to "driver and list of applicable peripheral equipments" (p.2-11). tighten the terminal block screw with a torque between 0.7 and 1.0 1 ?m (upper side) and 2.2 and 2.5 1 ?m (lower side). $ w w d f k w k h w h u p l q d o f r y h u d q g [ z l w k v f u h z v tighten the screw securing the cover with the torque written on p.2-11. power supply motor varistor dc 24v l1 u v w e l2 l3 b1 b2 nc u v w 24v 0v db1 db2 ? & k h f n w k h q d p h s o d w h r i w k h g u l y h u i r u s r z h u v s h f l i l f d w l r q v ? 3 u r y l g h d u h v l g x d o f x u u h q w g h y l f h 7 k h u h v l g x d o f x u u h q w g h y l f h w r e h w k h r q h g h v l j q h g i r u , q y h u w h u d q g l v h t x l s s h g z l w k f r x q w h u p h d v x u h v i r u k d u p r q l f v ? 3 u r y l g h d f l u f x l w e u h d n h u ? 0 d n h v x u h w r s u r y l g h d q r l v h i l o w h u ? 3 u r y l g h f r l o v x u j h v x s s u h v v l r q x q l w v w r w k h f r l o r i w k h 0 d j q h w l f & r q w d f w r u u h f r p p h q g h g e \ p d q x i d f w x u h u never start/stop the motor with this magnetic contactor. ? ' l u h f w s r z h u v x s s o \ i r u f r q w u r o f l u f x l w ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g ' % p x v w e h 9 $ & r u e h o r z r u 9 ' & r u e h o r z ? 3 u r y l g h d q $ & 5 h d f w r u w r e h v x s s o l h g e \ f x v w r p h u ? $ & s k d v h s r z h u v x s s o \ 9 i r u p d l q f l u f x l w ? ' r q r w f r q q h f w d q \ w k l q j w r 1 & ? 0 d w f k w k h f r q q h f w r u r i w k h p r w r u d q g g u l y h u 8 9 : ? avoid shorting and grounding. don't connect the main power. ? earth-ground this. ? 7 r s u h y h q w h o h f w u l f v k r f n e h v x u h w r f r q q h f w w k h j u r x q g w h u p l q d o r i w k h g u l y h u d q g w k h j u r x q g w h u p l q d o j u r x q g s o d w h r i w k h f r q w u r o s d q h o ? 7 k h j u r x q g w h u p l q d o p x v w q r w e h v k d u h g z l w k r w k h u h t x l s p h q w 7 z r j u r x q g w h u p l q d o v d u h s u r y l g h g ? don't connect the earth cable to other inserting slot, nor make them touch. ? & r p s r v h d g x s o h [ % u d n h & r q w u r o & l u f x l w v r w k d w w k h e u d n h f d q d o v r e h d f w l y d w h g e \ d q h [ w h u q d o l p p h g l d w h v w r s v l j q d o ? 7 k h k r o g l q j e u d n h k d v q r s r o d u l w l h v ? ) r u w k h k r o g l q j e u d n h s r z h u v x s s o \ f d s d f l w \ d q g k r z w r x v h w k h e u d n h u h i h u w r 6 s h f l i l f d w l r q v r i % x l o w l q + r o g l q j % u d n h r q 3 ? 3 u r y l g h d y d u l v w r u & r q q h f w d $ i x v h l q v h u l h v z l w k w k h y d u l v w r u * u r x q g u h v l v w d q f h w p d [ ) r u d s s o l f d e o h z l u h u h i h u w r 3 dc power supply i r u e u d n h ) x v h 9 $ mccb 1 ) mc l 5 & ' upper v l g h lower v l g h dc 24v 3 r z h u v x s s o \ i r u u h j h q h u d w l y h u h v l v w r u dc 24v 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring of the main circuit (h-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-47 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement power supply 3-phase, 380v to 480v ?15% +10% note 1) shielding the circuit is recommended for the purpose of noise reduction. note 2) magnetic contactor mc2 must be the same as the contactor mc1 in the main circuit. note 3) servo may be turned on in the external sequence if the dynamic brake resistor deposits: to protect the system, provide the auxiliary contact. note 4) use 4.8 w, 400 w resistor (to be supplied by customer). note 5) to use the external dynamic brake resistor: connect the r1 and r2 terminals to b1 and b2. connect the t1 and t2 terminals as shown in the left diagram. connect the 24 v and 0 v terminals to a 24 vdc power supply. connect the e terminal to the ground. refer to p.7-122 ?options? for the specifications of the external regenerative resistor. note 6) provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external dynamic brake resistor. noise filter main power supply control power supply motor 37 alm l2 l3 24v 0v mc1 mc2 l1 alm mccb motor connection power supply (3-phase) power supply ( neutral point ) the ac voltage across db1 and db2 must be 300 v or below. 36 l on alm b1 b2 nc db1 db2 u v w alm off coil surge suppression units coil surge suppression units built-in thermostat of an external regenerative resistor (t1 and t2 terminals) dynamic brake resistor note 4) note 3) mc2 note 1) mc1 note 5) note 1) external regenerative resistor note 6) note 6) note 6) insulated dc12 to 24v (5%) + ? insulated dc24v + ? insulated dc24v + ? compose the circuit so that the main circuit power will be shut off when an error occurs. in case of 3-phase, h-frame, 400 v type 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring diagram (h-frame, 400 v type) note related page the wiring indicated with the broken line shall be provided only when required. ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-48 do not connect anything to nc. remarks jn6cr07pm2 20-bit incremental 17-bit absolute ? : k h q w k h p r w r u v r i 0 6 0 ( : w r : ! d u h x v h g w k h \ d u h f r q q h f w h g d v v k r z q e h o r z connector: made by japan aviation electronics industry, ltd. (the figures below show connectors for the motor.) * do not remove the gasket supplied with the junction cable connector. securely install the gasket in place. otherwise, the degree of protection of ip67 will not be guaranteed. jn8at04nj1 1 u-phase v-phase w-phase ground pin no. 2 3 pe application pe 3 2 1 2 1 jn4at02pjm-r 1 2 brake brake pin no. application 1 2 3 4 5 6 7 & r q q h f w r u i r u h q f r g h u [motor with brake] & r q q h f w r u i r u p r w r u tightening torque of the screw (m2) 0.085 to 0.095 nm (screwed to plastic) * be sure to use only the screw supplied with the connector, to avoid damage. & r q q h f w r u i r u e u d n h tightening torque of the screw (m2) 0.19 to 0.21 nm * be sure to use only the screw supplied with the connector, to avoid damage. tightening torque of the screw (m2) 0.19 to 0.21 nm * be sure to use only the screw supplied with the connector, to avoid damage. 1 2 3 4 5 6 7 fg (shield) e0v ps e5v ps pin no. application 1 2 3 4 5 6 7 fg (shield) % $ 7 ? e0v ps bat e5v ps pin no. application * electromagnetic brake is a nonpolar device. 172167-1 172168-1 1 u-phase v-phase w-phase ground pin no. 2 3 4 application ? : k h q w k h p r w r u v r i 0 6 0 ' 0 + 0 ' ! d u h x v h g w k h \ d u h f r q q h f w h g d v v k r z q e h o r z connector: made by tyco electronics k.k, (the figures below show connectors for the motor.) 172165-1 1 2 brake brake pin no. application & r q q h f w r u i r u h q f r g h u & r q q h f w r u i r u e u d n h & r q q h f w r u i r u p r w r u 20-bit incremental 1 2 3 4 5 6 nc ps ps e5v e0v fg (shield) pin no. application 2-49 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement do not connect anything to nc. ? : k h q w k h p r w r u v r i 0 6 0 ( : 9 n : w r n : 0 ' 0 ( 0 * 0 ( 0 + 0 ( ! d u h x v h g w k h \ d u h f r q q h f w h g d v v k r z q e h o r z connector: made by japan aviation electronics industry, ltd. (the figures below show connectors for the motor.) 5 h p d u n v a jl04v-2e20-4pe-b-r jl04hv-2e22-22pe-b-r jl04v-2e20-18pe-b-r jl04v-2e24-11pe-b-r u-phase v-phase w-phase ground pin no. b c d application g h a f i b e d c brake brake nc u-phase v-phase w-phase ground ground nc pin no. application a brake brake nc u-phase v-phase w-phase ground ground nc pin no. b c d e f g h i application 2-50 ? ) r o o r z w k h s u r f h g x u h v e h o r z i r u w k h z l u l q j f r q q h f w l r q w r w k h & r q q h f w r u xa , xb and xc . how to connect 1. peel off the insulation cover of the cable. ? ) r u v l q j o h z l u h 3 o h d v h r e h \ w k h o h q j w k l q j x u h ? ) r u v w u d q g h g z l u h v i h u u x o h v p x v w e h x v h g d v l o o x v w u d w h g e h o r z example: ferrules with plastic insulating sleeve (ai series, phoenix contact, ltd.) 1) peel off the sheath so that the conductor portion of the cable will protrude from the tip of the ferrule. (it should protrude 1 mm or more from the ferrule.) 2) insert the cable into the ferrule and crimp it with an ap- propriate crimping tool. 3) after crimping, cut off the cable conductor portion pro- truding from the ferrule. (the allowable protruding length after cutting should be 0 to 0.5 mm.) ? part no. of the crimping tool: crimpfox u-d66 (1204436) available from phoenix contact, ltd. (1) (2) (3) " "? # 1mm or more # examples: nylon-insulated ferrule (ntub series, j.s.t. mfg. co., ltd.) vinyl-insulated ferrule (vtub series, j.s.t. mfg. co., ltd.) 1) peel off the sheath of the cable conductor portion to the length equal to that of sheath on the ferrule. 2) insert the cable into the ferrule and crimp it with an appropriate crimping tool. ? 3 d u w 1 r r i w k h f u l p s l q j w r r o < 1 7 available from j.s.t. mfg. co., ltd ? ? " "? #y "? # $ # $ ? : k h q s h h o l q j r i i w k h v k h d w k r i w k h f d e o h w d n h f d u h q r w w r g d p d j h r w k h u s r u w l r q v ? : k h q f u l p s l q j w k h i h u u x o h v x i f l h q w o \ f k h f n w k h v w d w x v r i w k h i h u u x o h d q g f d e o h , i w k h f r q g x f w r u v r i w k h cable stick out from the insulation cover or protrude excessively from the tip of the ferrule, accidents v x f k d v d q h o h f w u l f v k r f n d q g u h i u r p d v k r u w f l u f x l w p d \ u h v x o w 2. insert the cable to the connector in the following 2 methods. (a) insert the cable using the supplied handle lever. e , q v h u w w k h f d e o h x v l q j d d w e o d g h v f u h z g u l y h u ( g j h z l g w k w r p p attach the handle lever to the handling slot on the upper portion. press down the lever to push down the spring. insert the peeled cable while pressing down the lever, until it hits the insertion slot (round hole). release the lever. press the screw driver to the handling slot on the upper portion to push down the spring. insert the peeled cable while pressing down the screw driver, until it hits the insertion slot (round hole). release the screw driver. (a) using handle lever (b) using screw driver * you can pull out the cable by pushing down the spring as the above. 1 2 3 1 2 3 8 to 9 mm ? 7 d n h r i i w k h f r q q h f w r u i u r p w k h 6 h u y r ' u l y h u e h i r u h p d n l q j f r q q h f w l r q ? , q v h u w r q o \ r q h f d e o h l q w r h d f k r q h r i f d e o h l q v h u w l r q v o r w ? 3 d \ d w w h q w l r q w r l q m x u \ e \ v f u h z g u l y h u 2 preparation 2. 6 \ v w h p & r q j x u d w l r q d q g : l u l q j wiring method to connector phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-51 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 2 preparation 3. wiring to the connector, x1 connecting host computer caution this is used for usb connection to a personal computer. it is possible to change the pa- rameter setting and perform monitoring. application symbol connector pin no. contents usb signal terminal vbus 1 use for communication with personal computer. d ? 2 d+ 3 ? 4 do not connect. gnd 5 connected to ground of control circuit. use commercially available usb mini-b connector for the driver. 2 preparation 4. wiring to the connector, x2 connecting communication connector this is used for connection to the host controller when two or more units are used. rs232 and rs485 interfaces are supplied. application symbol connector pin no. contents signal ground gnd 1 connected to ground of control circuit. nc ? 2 do not connect. rs232 signal txd 3 rs232 the transmission / reception method. rxd 4 rs485 signal ? 5 rs485 the transmission / reception method. 485+ 6 ? 7 485+ 8 frame ground fg shell connected with protective earth terminal in the servo driver. connector (plug): 2040008-1 (optional, available from tyco electronics) [connector pin assignment] (viewed from cable) 8642 7531 remarks note related page ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; ? 3 & r q q h f w r u . l w i r u & r p p x q l f d w l r q & d e o h i r u 5 6 5 6 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-52 ? 7 k l v v h u y r g u l y h u i h d w x u h v n l q g v r i f r p p x q l f d w l r q i x q f w l r q 5 6 d q g 5 6 d q g \ r x f d q x v h l q 3 connecting methods. to communicate with a single driver through rs232 connect the host (pc or controller) to an driver through rs232. [how to connect] to communicate with multiple drivers through rs232 and rs485 by connecting the host (pc and host controller) and one driver via rs232 and connect- ing other drivers via rs485 each other, you can connect multiple drivers. note ? < r x f d q f r q q h f w x s w r g u l y h u v z l w k w k h k r v w ? ) r u g h w d l o v u h i h u w r 3 & r p p x q l f d w l r q r i 6 x s s o h p h q w to communicate with multiple drivers only through rs485 communications between the host (pc or controller) and multiple drivers can be made through rs485. note ? < r x f d q f r q q h f w x s w r g u l y h u v z l w k w k h k r v w ? ) r u g h w d l o v u h i h u w r 3 & r p p x q l f d w l r q r i 6 x s s o h p h q w connector x2 connector shut off both powers of the pc andthe driver before inserting/pulling out the connector. cable prepared by the user rs485 rs485 rs232 host controller (pc controller) connector x2 connector x2 connector x2 set the axis number (pr5.31) of driver to be connected through rs485 to a value in the range 1 to 31. set the axis number (pr5.31) of driver to be connected to the host through rs232 to 0. 4. wiring to the connector, x2 connecting host computer rs485 rs485 rs232 host controller (pc controller) connector x2 connector x2 connector x2 set the axis number (pr5.31) of driver to be connected through rs485 to a value in the range 1 to 31. remarks note ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-53 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement a safety by-pass plug is supplied as standard equipment. do not disconnect it in normal times. when controlling the safety function from the connected host controller, accessory con- q h f w r u f d q q r w e h x v h g 3 u h s d u h d q g z l u h w k h f r q q h f w r u r s w l r q d v v s h f l h g e h o r z since the standard connector cannot be used when controlling the safety function from the host controller, purchase the optional connector and make connection as shown be- low. application symbol connector pin no. contents nc ?1 do not connect. ?2 safety input 1 sf1 ? 3 these are two independent circuits that turn off the operation signal to the power module to shut off the motor current. sf1+ 4 safety input 2 sf2 ? 5 sf2+ 6 edm output edm ? 7 this is an output for monitoring the failure of the safety function. edm+ 8 frame ground fg shell connected with protective earth terminal in the servo driver. connector (plug): 2013595-1 (optional, available from tyco electronics) 8642 7531 [connector pin assignment] (viewed from cable) 2 preparation 5. wiring to the connector, x3 safety function connector remarks caution note related page ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. ? ' l v f r q q h f w l q j w k l v f r q q h f w r u g x u l q j r s h u d w l r q u h v x o w v l q l p p h g l d w h v w r s ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; ? 3 & r q q h f w r u . l w i r u 6 d i h w \ phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-54 tips on wiring controller 3m or shorter 30cm or longer power supply motor com+ gnd 1 connector x4 comC fg v dc 2 peripheral apparatus such as host controller should be located within3m. separate the main circuit at least 30cm away. don't pass them in the same duct, nor bind them together. power supply for control signals (v cc ) between com+ and comC (v dc ) should be prepared by customer. use shield twisted pair for the wiring of command pulse input and encoder signal output. don't apply more than 24v to the control signal output terminals, nor run 50ma or more to them. when the relay is directly driven by the control output signals, install a diode in parallel with a relay, and in the direction as the fig. shows. the driver might be damaged without a diode installment, or by reverse direction. frame ground (fg) and the shell of connector is connected to the earth terminal inside of the driver. related page ? ) r u g h w d l o v u h i h u w r 3 : l u l q j ' l d j u d p w r w k h f r q q h f w r u ; d q g 3 , q s x w v and outputs on connector x4?. ? 6 s h f l f d w l r q v r i w k h & r q q h f w r u ; connector at driver side connecter to be prepared by customer manufacturer part name part no. 52986-5079 equivalent connecter (soldering type) 54306-5019 equivalent molex inc. connector cover 54331-0501 equivalent or 10250-52a2** equivalent connecter (soldering type) 10150-3000pe equivalent sumitomo 3m connector cover 10350-52a0-008 equivalent note remarks ? ) r u g h w d l o v u h i h u w r 3 2 s w l r q v r i 6 x s s o h p h q w ? 7 l j k w h q l q j w r u t x h r i w k h v f u h z v i r u f r q q h f w r u ; i r u w k h f r q q h f w l r q w r w k h k r v w w r e h 0.3 to 0.35n ? m. larger tightening torque than these may damage the connector at the driver side. 2 preparation 6. wiring to the connector, x4 connection to host controller remarks ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-55 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement provide a power supply for the external scale on your part or use the following power out- put (250ma or less). application symbol connector pin no. contents power supply output ex5v 1 supply the power of external scale or a, b, z phase encoder. ex0v 2 connected to ground of control circuit. i/f of external scale signals exps 3 serial signal the transmission / reception method. /exps 4 a, b, z phase endoder signal input exa 5 parallel signal reception correspondence speed : 4mpps (after quadruple) /exa 6 exb 7 /exb 8 exz 9 /exz 10 frame ground fg shell connected with protective earth terminal in the servo driver. connector (plug) sirial external signal: muf-pk10k-x (by j.s.t. mfg. co., ltd.) ? caution 1) the manufacturers applicable external scales for this product are as follows. ? mitutoyo corp. ? magnescale co., ltd. for the details of the external scale product, contact each company. 2) 5 h f r p p h q g h g h [ w h u q d o v f d o h u d w l r l v ? ( [ w h u q d o v f d o h u d w l r ? if you set up the external scale ratio to smaller value than 50/position loop gain (pr1.00 and pr.1.05), you may not be able to control per 1 pulse unit, even if within the range as described above. setup of larger scale ratio may result in larger noise. 2 preparation 7. wiring to the connector, x5 connect on to external scale remarks note related page ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; ? 3 ' h w d l o v r i 3 d u d p h w h u ? 3 & r q q h f w r u . l w i r u ( [ w h u q d o 6 f d o h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-56 wiring diagram of x5 external scale side external scale unit detection head junction cable servo driver ex5v ex0v exps exps exa exa exb exb exz exz ex5v ex0v exps exps exa exa exb exb exz exz fg connector x5 1 2 +5v 0v 3 4 5 6 7 8 9 10 regulator shell of x5 (fg) muf-pk10-x (j.s.t. mfg. co., ltd.) twisted pair 7. wiring to the connector, x5 connect on to feedback scale how to wiring wire the signals from the external scale to the external scale connector, x5. 1) cable for the external scale to be the twisted pair with bundle shielding and to hav- ing the twisted core wire with diameter of 0.18mm 2 . 2) cable length to be max. 20m. double wiring for 5v power supply is recommended when the wiring length is long to reduce the voltage drop effect. & r q q h f w w k h r x w h u o p r i w k h v k l h o g z l u h r i w k h h [ w h u q d o v f d o h w r w k h v k l h o g r i w k h m x q f w l r q f d e o h $ o v r f r q q h f w w k h r x w h u o p r i w k h v k l h o g z l u h w r w k h v k h o o ) * r i f r q - nector x5 of the driver without fail. 4) separate the wiring to x7 from the power line (l1, l2, l3, b1, b2, b3, u, v. w, ) as much as possible (30cm or more). do not pass these wires in the same duct, nor bundle together. 5) do not connect anything to the vacant pins of x5. 6) the maximum power available from the connector x5 is 250 ma at 5 v 5%. if you use an external scale requiring more power, you should provide the suitable power source by yourself. some external scales need longer initialization period after s r z h u x s < r x u g h v l j q v k r x o g p h h w w k l v r s h u d w l r q w l p l q j d i w h u s r z h u x s 7) when driving the external scale from an external power supply, keep the ex5v pin open circuit so that it does not receive any external voltage. connect the gnd circuit (0 v) to ex0v (connector x5, pin 2) of the driver to eliminate potential difference. input circuit ? ( ; $ ( ; % ( ; = l q s x w f l u f x l w exa, exb, exz exa, exb, exz 20k w 2kw 2kw 20k w 120 w puls remarks note ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-57 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement tips on wiring motor encoder 30cm or more 20m max. maximum cable length between the driver and the motor to be 20m. consult with a dealer or distributor if you want to use the longer cable than 20m. (refer to the back cover.) keep this wiring away from the main circuit by 30 cm or more. don't guide this wiring through the same duct with the main, nor bind them together. the voltage of input power to encoder side connector should be in the range 4.90?5.25 vdc. when you make your own encoder junction cable (for connectors, refer to p.7-111, "options (connector kit for motor and encoder connection)" of supplement. 1) refer to the wiring diagram below. 2) cable to be : shielded twisted pair cable with core diameter of 0.18mm 2 or larger (awg24), and with higher bending resistance. 3) use twisted pair cable for corresponding signal/power wiring. 4) shielding treatment ? 6 k l h o g z d o o r i w k h g u l y h u v l g h , w v r o g h u v w k h v k h o o r i connector x6. ? 6 k l h o g z d o o r i w k h p r w r u v l g h manufactured by jae small type motor (50w to 750w): connect to 6-pins large type motor (0.9w to 15.0kw): connect to 9-pins 5) connect nothing to the empty terminals of each connector. power supply encoder junction cable encoder side connector driver side connector x6 e5v e0v ps ps ps ps fg e5v e0v 2 preparation 8. wiring to the connector, x6 connection to encoder remarks related page ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. ? 3 & r q q h f w r u . l w i r u ( q f r g h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-58 wiring diagram ? , q f d v h r i e l w l q f u h p h q w d o h q f r g h u shell (fg) +5v 0v 1 2 3 4 5 6 4 1 3 7 twisted pair encoder cable cable connector: jn2ds10sl1-r (by japan aviation electronics ind.) motor driver e5v e0v ps ps 9 ps ps fg e5v e0v x6 regulator regulator regulator shell (fg) +5v 0v 1 2 3 4 5 6 6 3 7 4 twisted pair encoder cable cable connector: jn6fr07sm1 (by japan aviation electronics ind.) motor driver e5v e0v ps ps 1 ps ps fg e5v e0v x6 connector pin [ assignment ] 2 5 1 3 6 4 7 (viewed from cable) msme 50w to 750w ? 7 l j k w h q w k h p r w r u f r q q h f w r u p r x q w l q j v f u h z 0 z l w k d w r u t x h e h w z h h q d q g n ? m. to avoid damage, be sure to use only the screw supplied with the connector. ? ' r q r w u h p r y h w k h j d v n h w v x s s o l h g z l w k w k h m x q f w l r q f d e o h f r q q h f w r u 6 h f x u h o \ l q v w d o o w k h j d v n h w l q s o d f h 2 w k h u z l v h w k h g h j u h h r i s u r w h f w l r q r i , 3 z l o o q r w e h j x d u d q w h h g msmd 50w to 750w mhmd 200w to 750w motor driver 5v 0v x6 shell (fg) motor 1 2 3 4 5 6 4 5 2 3 6 twisted pair encoder cable 172160-1 (tyco electronics) % o d f n purple white light blue e5v e0v e5v e0v ps ps fg ps ps caution 2 q o \ w k h w \ s h r i r q o \ i r u s r v l w l r q f r q w u r o caution msme 750w (400v), 1.0kw to 5.0kw mfme 1.5kw to 4.5kw mgme 0.9kw to 6.0kw mdme 400w to 15.0kw mhme 1.0kw to 7.5kw 8. wiring to the connector, x6 connection to encoder remarks ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-59 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? in case of 17-bit absolute encoder shell (fg) +5v 0v 1 2 3 4 5 6 4 1 3 7 twisted pair encoder cable cable connector: jn2ds10sl1-r (by japan aviation electronics ind.) motor driver e5v e0v ps ps 9 ps 5 bat ? 6 bat+ ps fg e5v e0v x6 shell (fg) +5v 0v 1 2 3 4 5 6 6 3 7 2 5 4 twisted pair encoder cable cable connector: jn6fr07sm1 (by japan aviation electronics ind.) motor driver e5v e0v ps ps 1 ps bat ? bat+ ps fg e5v e0v x6 battery battery regulator regulator connector pin [ assignment ] 2 5 1 3 6 4 7 (viewed from cable) msme 50w to 750w ? 7 l j k w h q w k h p r w r u f r q q h f w r u p r x q w l q j v f u h z 0 z l w k d w r u t x h e h w z h h q d q g n ? m. to avoid damage, be sure to use only the screw supplied with the connector. ? ' r q r w u h p r y h w k h j d v n h w v x s s o l h g z l w k w k h m x q f w l r q f d e o h f r q q h f w r u 6 h f x u h o \ l q v w d o o w k h j d v n h w l q s o d f h 2 w k h u z l v h w k h g h j u h h r i s u r w h f w l r q r i , 3 z l o o q r w e h j x d u d q w h h g caution ? & r q q h f w w k h e d w w h u \ i r u d e v r o x w h h q f r g h u d f u r v v 3 d q g 3 r i w k h m x q f w l r q f r q q h f w r u w k h figure above). ? $ e d w w h u \ k r o g h u d q g d e d w w h u \ f r q q h f w l r q f d e o h v k r x o g e h w k h r s w l r q f d e o h r u s u h s d u h g e \ the user. remarks ? & r q q h f w w k h e d w w h u \ i r u d e v r o x w h h q f r g h u d f u r v v 3 d q g 3 r i w k h m x q f w l r q f r q q h f w r u w k h figure above). ? $ e d w w h u \ k r o g h u d q g d e d w w h u \ f r q q h f w l r q f d e o h v k r x o g e h w k h r s w l r q f d e o h r u s u h s d u h g e \ the user. remarks msme 750w (400v), 1.0kw to 5.0kw mfme 1.5kw to 4.5kw mgme 0.9kw to 6.0kw mdme 400w to 15.0kw mhme 1.0kw to 7.5kw 8. wiring to the connector, x6 connection to encoder remarks ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-60 the connector x7 of the front panel is for monitor output. analogue output : 2 systems digital output : 1 systems in both cases, it is possible to switch the output signal by setting parameters. connector x7 manufacturers part no. : 530140610 manufacturer: japan molex inc. 61 x7 measuring instrument output circuit 1 nw nw am1 dm 4 gnd 3 nw am2 2 application symbol connector pin no. contents analogue monitor output 1 am1 1 ? 2 x w s x w w k h d q d o r j x h v l j q d o i r u p r q l w r u ? 7 k h d p s o l w x g h r i w k h r x w s x w v l j q d o l v ? 9 ? 2 x w s x w l p s h g d q f h l v n : : k h q connecting a measuring instrument, check its input circuit for impedance matching. analogue monitor output 2 am2 2 signal ground gnd 3 connected to ground of control circuit. digital monitor output *1 dm 4 ? 2 x w s x w w k h g l j l w d o v l j q d o i r u p r q l tor. ? 2 x w s x w y r o w d j h l v & 0 2 6 o h y h o f r p s d w l e o h ? 2 x w s x w l p s h g d q f h l v n : : k h q connecting a measuring instrument, check its input circuit for impedance matching. nc ? 5 do not connect. nc ? 6 do not connect. *1 position, velocity, torque, full closed type. nc on only for position control type. leave this pin unconnected. ? 3 d u d p h w h u u h u d w h g w r p r q l w r u r x w s x w parametr no. title function class no. 416 type of analog monitor 1 select the type of monitor for analog monitor 1. 417 analog monitor 1 output gain set up the output gain of analog monitor 1. 418 type of analog monitor 2 select the type of monitor for analog monitor 2. 419 analog monitor 2 output gain set up the output gain of analog monitor 2. 420 type of digital monitor select type of the digital monitor. 421 analog monitor output setup select output format of the analog monitor. *1 position, velocity, torque, full closed type. only for position control type is not provided with this function. 2 preparation 9. wiring to the connector, x7 monitor output remarks related page ? ; w r ; d u h x v h g i r u w k h v h f r q g d u \ f l u f x l w 7 r f r q q h f w w k h v h w h u p l q d o v w r w k h s u l p d u \ s r z h u supply (particularly, the 24 vdc power supply for control, the 24 vdc power supply for brake, and the 24 vdc power supply for regenerative resistor [h-frame only]), insulation is required. do not connect these terminals to the same power supply. ? 3 ' h w d l o v r i s d u d p h w h u ? 3 & r q q h f w r u . l w i r u $ q d o r j 0 r q l w r u 6 l j q d o phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-61 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement servo-on signal accept timing on power-up caution ? 7 k h d e r y h f k d u w v k r z v w k h w l p l q j i u r p $ & s r z h u 2 1 w r f r p p d q g l q s x w ? $ f w l y d w h w k h h [ w h u q d o f r p p d q g l q s x w d f f r u g l q j w r w k h d e r y h w l p l q j f k d u w *1. in this term servo-on input (srv-on) turns on as a hard ware, but operation com- mand can not be received. 6 5 ' < r x w s x w z l o o w x u q r q z k h q e r w k f r q g l w l r q v d u h p h w l q l w l d o l ] d w l r q r i p l f u r f r p - puter has been completed and the main power has been turned on. *3. after internal control power supply , protective functions are active from approx. 1.5 sec after the start of initializing microcomputer. please set the signals, especially for protective function, for example over-travel inhibit input (pot, not) or external scale input, so as to decide their logic until this term. the lapse time can be changed with pr6.18 wait time after power-up. servo-ready output (s-rdy) servo-on input (srv-on) external brake release output (brk-off) output tr off output tr on input coupler on input coupler off control power supply (l1c,l2c) internal control power supply action of driver cpu main power supply (l1,l2,l3) dynamic brake motor energization position/speed/ torque command 10ms or longer *2 10ms or longer *2 off off on reset (initialization) usually operation off on output tr off (brake engaged) on (brake released) released engaged not-energized energized no command entry command entry 100ms or longer *1 approx.2s approx.100 to 300 ms approx.1.5s established approx.60ms approx.2ms approx.4ms 0ms or longer 0s or longer *3 2 preparation 10. timing chart timing on power-up related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-62 when an error (alarm) has occurred (at servo-on command) when an alarm has been cleared (at servo-on command) caution *1. t1 will be a shorter time of either the setup value of pr4.38[mechanical brake action at running setup] or elapsing time for the motor speed to fall below pr4.39[brake release speed setup]. t1 will be 0 when the motor is in stall regardless of the setup pf pr4.37. *2. when an alarm is generated, the dynamic brake operates according to pr5.10 se- quence at alarm. normal released energized output tr on (not alarm) alarm engaged *2 non-energized output tr off (not ready) output tr off (alarm) 0.5 to 5 ms t1 *1 output tr off (break engage) engaged (off) output tr on (break release) setup value of pr4.39 output tr on (break release) motor speed motor speed t1 *1 setup value of pr4.38 alarm dynamic brake motor energization servo-ready output (s-rdy) servo-alarm output (alm) external brake release output (brk-off) when time to fall below value of pr4.39 is shorter, output tr on (ready) value of pr4.38 setup value of pr4.39 when setup value of pr4.38 is shorter, approx.60ms approx.2ms 120ms or longer *1 input coupler on input coupler off input coupler off engaged released energized not-energized output tr off (break engage) output tr on (break release) output tr on (ready) output tr off (alarm) output tr on (not alarm) no input entry input enabled 100ms or longer approx.4ms dynamic brake motor energization external brake release output (brk-off) servo-ready output (s-rdy) servo-alarm output (alm) alarm-clear input (a-clr) position/speed/ torque command output tr off (not ready) caution *1. the alarm clear input recognition time can be changed in pr5.16 alarm clear input setup. 2 preparation 10. timing chart alarm phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-63 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement servo-on/off action while the motor is at stall (servo-lock) remarks to turn on/off the servo during normal operation, first stop the motor. caution *1 t1 depends on the setup value of pr4.37 setup of mechanical brake action at stalling. *2 the operation of dynamic brake during servo off depends on the setup value of pr5.06 sequence at servo off. *3. servo-on will not be activated until the motor speed falls below approx. 30r/min. dynamic brake motor energization external brake release output (brk-off) servo-on input (srv-on) approx.60ms approx.2ms approx.4ms 1 to 6ms t1 *1 output tr on (break release) input coupler off not-energized input coupler on released energized output tr off (break engage) input coupler off engaged *2 engaged *3 not-energized output tr off (break engage) 2 preparation 10. timing chart servo-lock related page ? 3 ' h w d l o v r i 3 d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-64 input coupler off input coupler off input coupler on engaged *3 released not-energized engaged *3 *4 not-energized *5 energized output tr off output tr.on engaged (off) released (on) no servo-on until the motor speed falls below approx. 30r/min. 1 to 5ms approx.60ms setup value of pr4.38 setup value of pr4.38 when setup value of pr4.38 is shorter approx.4ms approx.30r/min dynamic brake motor energization motor rotational speed motor rotational speed servo validated external brake release output (brk-off) servo-on input (srv-on) when time to fall below value of pr4.39 is shorter motor rotational speed setup value of pr4.39 motor rotational speed setup value of pr4.39 at servo-on at servo-off t1 *1 t1 *1 output tr off servo-on/off action while the motor is in motion remarks 7 l p l q j d w h p h u j h q f \ v w r s r u w u l s ' r q r w u h s h d w w k l v v h t x h q f h caution *1. t1 will be a shorter time of either the setup value of pr4.38 ?mechanical brake action at running setup? or elapsing time for the motor speed to fall below pr4.39 ?brake re- lease speed setup? . *2. even though the srv-on signal is turned on again during the motor deceleration, servo-on will not be activated until the motor stops. *3. for the action of dynamic brake at alarm occurrence, refer to an explanation of pr5.06, ?sequence at servo-off? as well. *4. servo-on will not be activated until the motor speed falls below approx. 30r/min. *5. for the motor energization during deceleration at servo-off depends on the setup value of pr.5.08, ?sequence at servo-off?. related page ? 3 ' \ q d p l f e u d n h 2 preparation 10. timing chart servo-on/off phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-65 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 2 preparation 11. built-in holding brake outline in the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is shut off. caution use this built-in brake for "holding" purpose only, that is to hold the stalling status. never use this for "brake" purpose to stop the load in motion. connecting example the following shows the example when the brake is controlled by using the brake release output signal (brk-off) of the driver. note caution 1. the brake coil has no polarity. 2. power supply for the brake to be provided by customer. do not co-use the power sup- ply for the brake and for the control signals (vdc). 3. install a surge absorber as the above fig. shows to suppress surge voltage gener- d w h g e \ 2 1 2 ) ) d f w l r q r i w k h u h o d \ 5 < : k h q \ r x x v h d g l r g h q r w h w k d w w k h w l p h from the brake release to brake engagement is slower than that of the case of using a surge absorber. 4. for a surge absorber, refer to p.7-124, "recommended components" of supplement. 5 h f r p p h q g h g f r p s r q h q w v d u h v s h f l h g w r p h d v x u h w k h e u d n h u h o h d v l q j w l p h reactance of the cable varies depending on the cable length, and it might generate surge voltage. select a surge absorber so that relay coil voltage (max. rating : 30v, 50ma) and termi- nal voltage may not exceed the rating. output timing of brk-off signal note ? ) r u w k h e u d n h u h o h d v h w l p l q j d w s r z h u r q r u e u d n l q j w l p l q j d w 6 h u y r 2 ) ) 6 h u y r $ o d u p while the motor is in motion, refer to p.2-61, "timing chart". ? : l w k w k h s d u d p h w h u 3 u 6 h w x s r i p h f k d q l f d o e u d n h d f w l r q z k l o h w k h p r w r u l v l q motion), you can set up a time between when the motor enters to a free-run from en- ergized status and when brk-off signal turns off (brake will be engaged), when the servo-off or alarm occurs while the motor is in motion. 1. the lining sound of the brake (chattering and etc.) might be generated while running the motor with built-in brake, however this does not affect any functionality. 0 d j q h w l f x [ p l j k w e h j h q h u d w h g w k u r x j k w k h p r w r u v k d i w z k l o h w k h e u d n h f r l o l v h q h u - gized (brake is open). pay an extra attention when magnetic sensors are used nearby the motor. driver surge absorber relays to be shut off at emergency stop motor brake coil brk-off+ 11 10 41 ry brk-offC v dc ry 12 to 24v power supply for brake dc24v comC connector x4 fuse (5a) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-66 motor series motor output static friction w r u t x h nm rotor inertia x 10 ?4 kgm 2 engaging time ms releasing time ms exciting current dc a (at cool-off) releasing voltage permissible work (j) per one braking permissible total work x 10 3 j permissible angular acceleration rad/s 2 msmd 50w, 100w 0.29 or less 0.002 35 or less 20 or less 0.3 dc1v or more 39.2 4.9 30000 200w, 400w 1.27 or less 0.018 50 or less 15 or less 0.36 137 44.1 750w 2.45 or less 0.075 70 or less 20 or less 0.42 196 147 msme 50w, 100w 0.29 or less 0.002 35 or less 20 or less 0.3 dc1v or more 39.2 4.9 30000 200w, 400w 1.27 or less 0.018 50 or less 15 or less 0.36 137 44.1 750w(200v) 2.45 or less 0.075 70 or less 20 or less 0.42 196 147 750w(400v) 2.5 or less 0.33 50 or less 15 or less 0.7 dc2v or more 392 490 10000 1.0kw, 1.5kw, 2.0kw 7.8 or less 15 or less 100 0.81 3.0kw 11.8 or less 80 or less 4.0kw, 5.0kw 16.2 or less 1.35 110 or less 50 or less 130 0.9 1470 2200 mdme 400w, 600w 2.5 or less 1.35 50 or less 15 or less 0.70 dc2v or more 392 490 10000 1.0kw 4.9 or less 80 or less 70 or less 200 0.59 588 780 1.5kw, 2.0kw 13.7 or less 100 or less 50 or less 130 0.79 1176 1500 3.0kw 16.2 or less 110 or less 0.9 1470 2200 4.0kw, 5.0kw 24.5 or less 4.7 80 or less 25 or less 200 1.3 1372 2900 5440 7.5kw 58.8 or less 150 or less 50 or less 1.4 5000 11kw, 15kw 100 or less 7.1 300 or less 140 or less 1.08 2000 4000 3000 mfme 1.5kw 7.8 or less 4.7 80 or less 35 or less 0.83 dc2v or more 1372 2900 10000 2.5kw 21.6 or less 8.75 150 or less 100 or less 0.75 1470 1500 4.5kw 31.4 or less 2200 mgme 0.9kw 13.7 or less 1.35 100 or less 50 or less 130 0.79 dc2v or more 1176 1500 10000 2.0kw 24.5 or less 4.7 80 or less 25 or less 200 1.3 1372 2900 5440 3.0kw 58.8 or less 150 or less 50 or less 130 1.4 4.5kw, 6.0kw 50 or less 5000 mhmd 200w, 400w 1.27 or less 0.018 50 or less 15 or less 0.36 dc1v or more 137 44.1 30000 750w 2.45 or less 0.075 70 or less 20 or less 0.42 196 147 mhme 1.0kw 4.9 or less 1.35 80 or less 70 or less 200 0.59 dc2v or more 588 780 10000 1.5kw 13.7 or less 100 or less 50 or less 130 0.79 1176 1500 2.0kw to 5.0kw 24.5 or less 4.7 80 or less 25 or less 200 1.3 1372 2900 5440 7.5kw 58.8 or less 150 or less 50 or less 1.4 5000 ? ( [ f l w d w l r q y r o w d j h l v ' & 9 ? ? 5 h o h d v l q j w l p h y d o x h v u h s u h v h q w w k h r q h v z l w k ' & f x w r i i x v l q j d y d u l v w r u values in ( ) represent those measured by using a diode (v03c by hitachi, ltd.) ? $ e r y h y d o x h v h [ f h s w v w d w l f i u l f w l r q w r u t x h u h o h d v l q j y r o w d j h d q g h [ f l w d w l r q f x u u h q w u h s u h v h q w w \ s l f d o values. ? % d f n o d v k r i w k h e x l o w l q k r o g l q j e u d n h l v n h s w ? y r u v p d o o h u d w h [ i d f w r u \ s r l q w ? 6 h u y l f h o l i h r i w k h q x p e h u r i d f f h o h u d w l r q g h f h o h u d w l r q z l w k w k h d e r y h s h u p l v v l e o h d q j x o d u d f f h o h u d - w l r q l v p r u h w k d q p l o o l r q w l p h v / l i h h q g l v g h q h g d v z k h q w k h e u d n h e d f n o d v k g u d v w l f d o o \ f k d q j - es.) 2 preparation 11. built-in holding brake specifications phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-67 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement caution this driver (a to g-frame) is equipped with a dynamic brake for emergency stop. pay a special attention to the followings. the h-frame driver does not incorporate the dynamic brake. 1. dynamic brake is only for emergency stop. do not start/stop the motor by turning on/off the servo-on signal (srv-on). otherwise it may damage the dynamic brake circuit of the driver. the motor becomes a dynamo when driven externally and short circuit cur- u h q w r f f x u u h g z k l o h g \ q d p l f e u d n h l v d f w l y d w h g p d \ f d x v h v p r n l q j r u u h 2. dynamic brake is a short-duration rating, and designed for only emergency stop. allow ap- prox. 10 minutes pause when the dynamic brake is activated during high-speed running. (f-frame(200v), g-frame(200v/400v) built-in dynamic brake resistor is capable of handling up to 3 continuous halts at the rated revolutions with max. permissible inertia. when overheated under more critical operating conditions, the brake will blow out and should be replaced with a new one.) ? < r x f d q d f w l y d w h w k h g \ q d p l f e u d n h l q w k h i r o o r z l q j f d v h v 1) when the main power is turned off 2) at servo-off 3) when one of the protective function is activated. 4) when over-travel inhibit input (not, pot) of connector x4 is activated in the above cases from 1) to 4), you can select either activation of the dynamic brake or making the motor free-run during deceleration or after the stop, with parameter. note that when the control power is off, for a to f-frame driver, the dynamic brake will be kept actived, and for g and h-frame driver, the dynamic brake will be kept released. ? , i w k h e x l o w l q g \ q d p l f e u d n h u h v l v w r u r i w k h * i u d p h g u l y h u l v l q v x i f l h q w h [ w h u - nal dynamic brake resistors can be connected. ? ) r u w k h + i u d p h g u l y h u h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u v f d q e h f r q q h f w h g connections of the external dynamic brake resistors are the same as those of the g-frame driver. (the db3 and db4 terminals are not provided.) ? 8 v h w k h i r o o r z l q j u h v l v w r u v d v w k h h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u v 7 r e h s u h - pared by user) driver resistance specifications per piece quantity of use frame voltage resistance electric power g, h 200v w 400w 3 pcs. g, h 400v w 400w 3 pcs. dynamic brake characteristics (e.g. motor mdme 15kw 200v) 0 500 1000 1500 2000 motor speed (r/min) brake torque (n ~ m) resistor 1.2 w resistor 2.4 w 0 10 20 30 40 50 60 70 80 2 preparation 12. dynamic brake outline related page ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 ' h w d l o v r i 3 d u d p h w h u ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-68 2 preparation 12. dynamic brake connections of external dynamic brake resistor (example) g-frame, 200 v remarks magnetic contactor (mc) turns on/off the dynamic brake resistor. use coil surge suppression units together with this. ? 8 v h w k h v d p h p d j q h w l f f r q w d f w r u d v w k d w r i the main circuit. ? 3 u r y l g h d q d x [ l o l d u \ f r q w d f w i r u s u r w h f w l r q so that the servo does not turn on with an external sequence when the dynamic brake resistor is fused. dynamic brake resistor (to be supplied by customer) ? : k h q \ r x x v h d q h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u install an external protective apparatus, such as thermal fuse without fail. ? 0 r x q w w k h g \ q d p l f e u d n h u h v l v w r u on incombustible material such as metal. ? do not use an external dynamic brake resistor together with the built-in resistor. ? provide one dynamic brake resistor for each phase. ? : k h q x v l q j d q h [ w h u q d o g \ q d p l f e u d n h e h v x u h w r x v h w k h resistor. do not make short circuit. remarks remarks u-phase v-phase : s k d v h terminals db1, db2, db3 and db4 ? 7 r f r q q h f w d q h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u g l v f r q q h f w w k h v k r u w l q j e d u between db3 and db4. ? & r q q h f w d p d j q h w l f f r q w d f w r u i r u f r q w u r o i r u w k h h [ w h u q d o g \ q d p l f e u d n h e h w z h h q / & d q g ' % ? 3 u r y l g h d q h [ w h u q d o s u r w h f w l y h g h y l f h (e.g. thermal fuse) between db2 and / & ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g db2 must be 300 vac or below or 100 vdc or below. pin nc ? ' r q r w f r q q h f w d q \ w k l q j l3 l2 l1 / & / & 9 ' & s r z h u v x s s o \ for brake (to be supplied by customer) thermal fuse (one fuse for each resistor) (to be supplied by customer) disconnect the shorting bar (between db3 and db4). nc nc nc l2c l1c nc nc nc db3 db2 db1 db4 x1 x2 x3 x4 x5 x6 charge l1 l2 l3 b1 b2 nc u v w 0 d l q v residual f x u u h q w g h y l f h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-69 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement g-frame, 400 v 12. dynamic brake connections of external dynamic brake resistor (example) nc nc nc 0v 24v nc nc nc db3 db2 db1 db4 l1 l2 l3 b1 b2 nc u v w x1 x2 x3 x4 x5 x6 charge 400v l3 l2 l1 l1c neutral point u-phase v-phase w-phase 0v 24v 24 vdc power supply for control (to be supplied by customer) * use a power supply with 5 a or larger capacity. terminals db1, db2, db3 and db4 ? 7 r f r q q h f w d q h [ w h u q d o g \ q d p l f e u d n h resistor, disconnect the shorting bar between db3 and db4. ? & r q q h f w d p d j q h w l f f r q w d f w r u i r u f r q w u r o i r u w k h h [ w h u q d o g \ q d p l f e u d n h between l1c and db1. ? 3 u r y l g h d q h [ w h u q d o s u r w h f w l y h g h y l f h h j w k h u p d o i x v h e h w z h h q ' % d q g the neutral point. ? 7 k h y r o w d j h d s s o l h g d f u r v v ' % d q g db2 must be 300 vac or below or 100 vdc or below. ? / & l v f r q q h f w h g d i w h u w k h 5 s k d v h r i w k h q r l v h i l o w h u ? / & l v q r w l q g l f d w h g r q w k h g u l y h u e r g \ pin nc ? ' r q r w f r q q h f w d q \ w k l q j 24 vdc power supply i r u e u d n h (to be supplied by customer) 7 k h u p d o i x v h r q h i x v h i r u h d f k u h v l v w r u (to be supplied by customer) disconnect the shorting bar (between db3 and db4). 0 d j q h w l f & r q w d f w r u 0 & 7 x u q v r q r i i w k h g \ q d p l f e u d n h u h v l v w r u use coil surge suppression units together with this. ? 8 v h w k h v d p h p d j q h w l f f r q w d f w r u d v w k d w r i the main circuit. ? 3 u r y l g h d q d x [ l o l d u \ f r q w d f w i r u s u r w h f w l r q so w k d w w k h v h u y r g r h v q r w w x u q r q z l w k d q h [ w h u q d o v h t x h q f h z k h q w k h g \ q d p l f brake resistor is fused. dynamic brake resistor (to be supplied by customer) ? : k h q \ r x x v h d q h [ w h u q d o g \ q d p l f e u d n h u h v l v w r u l q v w d o o d q h [ w h u q d o s u r w h f w l y h d s s d u d w x v v x f k d v w k h u p d o i x v h z l w k r x w i d l o ? 0 r x q w w k h g \ q d p l f e u d n h u h v l v w r u on incombustible p d w h u l d o v x f k d v p h w d o ? do not use an external dynamic brake resistor w r j h w k h u z l w k w k h e x l o w l q u h v l v w r u ? 3 u r y l g h r q h g \ q d p l f e u d n h u h v l v w r u i r u h d f k s k d v h ? : k h q x v l q j d q h [ w h u q d o g \ q d p l f e u d n h e h v x u h w r x v h w k h resistor. ' r q r w p d n h v k r u w f l u f x l w 0 d l q v 5 h v l g x d o f x u u h q w g h y l f h remarks remarks remarks note phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-70 torque limit value at emergency stop will be that of pr5.11 (setup of torque at emergency stop) when the setup value is 8 or 9. torque limit value at emergency stop will be that of pr5.11 (setup of torque at emergency stop) when the setup value is 8 or 9. 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 clear clear clear hold hold hold hold free-run free-run emergency stop clear d b emergency stop clear free-run d b 0 setup value of pr5.07 1 2 3 4 5 6 7 8 9 sequence at main power-off (pr5.07) driving condition during deceleration after stalling contents of deviation counter 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 clear clear clear hold hold hold hold free-run free-run d b 0 setup value of pr5.06 1 2 3 4 5 6 7 sequence at main servo-off (pr5.06) contents of deviation counter driving condition during deceleration after stalling emergency stop clear d b emergency stop clear free-run 8 9 1) setup of driving condition from deceleration to after stop by main power-off (pr5.07) 2) setup of driving condition from deceleration to after stop by servo-off (pr5.06) 2 preparation 12. dynamic brake condition setting chart phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-71 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement when setup value is within the range 4 and 7, the protection function that supports immediate stop acts according to operation a and the function that does not support acts according to operation b. during deceleration to stop, the main power supply must be maintained. when the protection function acts, content of deviation counter is cleared as the alarm is cleared. torque limit value during deceleration will be that of pr5.11 (setup of torque at emergency stop) when the setup value is 2. changes will be validated after the control power is turned on. db hold hold 0 setup value of pr5.05 1 2 sequence at over-travel inhibit input (pr5.05) contents of deviation counter driving condition during deceleration after stalling emergency stop clear torque command to inhibited direction is 0 torque command to inhibited direction is 0 torque command to inhibited direction is 0 torque command to inhibited direction is 0 d b d b free-run free-run d b free-run free-run d b hold hold hold hold 0 setup value of pr5.10 1 2 3 4 5 6 7 sequence at over-travel inhibit input (pr5.10) driving condition during deceleration after stalling contents of deviation counter hold hold hold hold engaged a: emergency stop engaged b: db engaged a: emergency stop engaged b: free-run engaged a: emergency stop engaged b: db engaged a: emergency stop engaged b: free-run d b free-run free-run d b 3) setup of driving condition from deceleration to after stop by activation of protective function (pr5.10) 4) setup of driving condition from deceleration to after stop by validation of over-travel inhibit input (pr5.05) 12. dynamic brake condition setting chart phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-72 outline of parameter this driver is equipped with various parameters to set up its characteristics and functions. this section describes the function and purpose of each parameter. read and compre- hend very well so that you can adjust this driver in optimum condition for your running requirements. setup of parameter note ? < r x f d q u h i h u d q g v h w x s w k h s d u d p h w h u z l w k h l w k h u r q h r i w k h i r o o r z l q j 1) front panel of the driver 2) combination of the setup support software, "panaterm" and pc. how to control the front panel, refer to p.2-86. setup with the pc note it is possible to connect your personal computer to connector x1 of minas a5 using a usb cable for personal computer connection. downloading the setup support software ?panaterm? from our web site and installing it on your personal computer will allow you to perform the following easily. ? : l w k w k h 3 $ 1 $ 7 ( 5 0 \ r x f d q h [ h f x w h w k h i r o o r z l q j v 1) setup and storage of parameters, and writing to the memory (eeprom). 2) monitoring of i/o, pulse input and load factor. 3) display of the present alarm and reference of the error history. 4) data measurement of the wave-form graphic and bringing of the stored data. 5) normal auto-gain tuning 6) frequency characteristic measurement of the machine system. because no production software such as cd-rom is available, download the setup sup- port software from our web site and install it on your personal computer. ? + r z w r & r q q h f w ? 8 6 % f d e o h on the driver, use commercially available usb mini-b connector. 7 k h f r q q h f w r u r q w k h s h u v r q d o f r p s x w h u v l g h v k r x o g e h l q d f f r u g d q f h z l w k w k h v s h f l - cations of the pc. : k h q w k h f d e o h g r h v q r w k d y h q r l v h o w h u d w w d f k d v l j q d o o l q h q r l v h o w h u ' 9 3 to both ends of the cable. connect to x1 (usb mini-b) setup support software panaterm please download from our web site and use after install to the pc. 2 preparation 13. setup of parameter and mode outline / setup / connection related page ? 3 ' h w d l o v r i 3 d u d p h w h u ? 3 6 h w x s v x s s r u w v r i w z d u h > 3 $ 1 $ 7 ( 5 0 @ phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-73 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? 7 k h s d u d p h w h u 1 r l v g l v s o d \ h g l q w k h i r u p r i 3 u ; < < ; & o d v v l f d w l r q < < 1 r ? ) r u w k h g h w d l o v r q w k h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u parametr no. class name group page class no.* 0 00 to 17 basic setting parameter for basic setting p.2-74 1 00 to 27 gain adjustment parameter for gain adjustment p.2-75 2 00 to 23 damping control parameter for damping control p.2-76 3 00 to 29 verocity/ torque/ full-closed control parameter for verocity/ torque/ full-closed control p.2-77 4 00 to 44 i/f monitor setting parameter for i/f monitor setting p.2-78 5 00 to 35 enhancing setting parameter for enhancing setting p.2-79 6 00 to 39 special setting parameter for special setting p.2-81 * the parameter no. consists of 2 digits. ? , q w k l v g r f x p h q w i r o o r z l q j v \ p e r o v u h s u h v h q w h d f k p r g h symbol control mode setup value of pr0.01 p position control 0 s velocity control 1 t torque control 2 f full-closed control 6 p/s position (1st)/velocity (2nd) control 3* p/t position (1st)/torque (2nd) control 4* s/t velocity (1st)/torque (2nd) control 5* * when you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd with control mode switching input (c-mode). when c-mode is on : 1st mode selection when c-mode is off : 2nd mode selection do not enter the command 10ms before/after the switching. 2 preparation 13. setup of parameter and mode composition and list of parameters phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-74 [class 0] basic setting parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 0 00 rotational direction setup 0 to 1 1 ? 4-4 0 01 control mode setup 0 to 6 0 ? 0 02 real-time auto-gain tuning setup 0 to 6 1 ? 4-5 003 selection of machine stiffness at real- time auto-gain tuning 0 to 31 13 11 ? 0 04 inertia ratio 0 to 10000 250 % 4-6 0 05 selection of command pulse input 0 to 1 0 ? 006 command pulse rotational direction setup 0 to 1 0 ? 4-7 0 07 command pulse input mode setup 0 to 3 1 ? 008 command pulse counts per one motor revolution 0 to 2 20 10000 pulse 4-8 0 09 1st numerator of electronic gear 0 to 2 30 0 ? 0 10 denominator of electronic gear 0 to 2 30 10000 ? 011 output pulse counts per one motor revolution 1 to 262144 2500 p/r 4-9 0 12 reversal of pulse output logic 0 to 3 0 ? 4-11 0 13 1st torque limit 0 to 500 500 * 1 % 0 14 position deviation excess setup 0 to 2 27 100000 command unit 0 15 absolute encoder setup 0 to 2 1 ? 0 16 external regenerative resistor setup 0 to 3 3 0 3 ? 4-12 017 load factor of external regenerative resistor selection 0 to 4 0 ? ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o *1 default settings depend on the combination of driver and motor. refer to p. 2-82 ?torque limit setting?. 2 preparation 13. setup of parameter and mode list of parameters note parameter describes of this page is p.4-4 to p.4-12. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-75 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement [class 1] gain adjustment parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 1 00 1st gain of position loop 0 to 30000 480 320 0.1/s * 4-13 1 01 1st gain of velocity loop 1 to 32767 270 180 0.1hz * 102 1st time constant of velocity loop integration 1 to 10000 210 310 0.1ms * 103 v w o w h u r i v s h h g g h w h f w l r q 0 to 5 0 ? 104 v w w l p h f r q v w d q w r i w r u t x h o w h u 0 to 2500 84 126 0.01ms 1 05 2nd gain of position loop 0 to 30000 570 380 0.1/s * 4-14 1 06 2nd gain of velocity loop 1 to 32767 270 180 0.1hz * 107 2nd time constant of velocity loop integration 1 to 10000 10000 0.1ms * 108 q g o w h u r i v s h h g g h w h f w l r q 0 to 5 0 ? 109 q g w l p h f r q v w d q w r i w r u t x h o w h u 0 to 2500 84 126 0.01ms * 1 10 velocity feed forward gain 0 to 1000 300 0.10% * 111 9 h o r f l w \ i h h g i r u z d u g o w h u 0 to 6400 50 0.01ms * 1 12 torque feed forward gain 0 to 1000 0 0.10% * 4-15 113 7 r u t x h i h h g i r u z d u g o w h u 0 to 6400 0 0.01ms * 1 14 2nd gain setup 0 to 1 1 ? 1 15 mode of position control switching 0 to 10 0 ? 4-16 116 delay time of position control switching 0 to 10000 50 0.1ms * 1 17 level of position control switching 0 to 20000 50 ? 4-17 118 hysteresis at position control switching 0 to 20000 33 ? 1 19 position gain switching time 0 to 10000 33 0.1ms * 1 20 mode of velocity control switching 0 to 5 0 ? 4-18 121 delay time of velocity control switching 0 to 10000 0 0.1ms * 1 22 level of velocity control switching 0 to 20000 0 ? 123 hysteresis at velocity control switching 0 to 20000 0 ? 1 24 mode of torque control switching 0 to 3 0 ? 4-19 1 25 delay time of torque control switching 0 to 10000 0 0.1ms * 1 26 level of torque control switching 0 to 20000 0 ? 1 27 hysteresis at torque control switching 0 to 20000 0 ? ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o 13. setup of parameter and mode list of parameters caution note the symbol ? * ? attached to ?unit?. indicates that the digits of setting unit will change if the parameter is set by using the setup support software panaterm. parameter describes of this page is p.4-13 to p.4-19. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-76 [class 2] damping control parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 200 $ g d s w l y h o w h u p r g h v h w x s 0 to 4 0 ? 4-20 2 01 1st notch frequency 50 to 5000 5000 hz 2 02 1st notch width selection 0 to 20 2 ? 2 03 1st notch depth selection 0 to 99 0 ? 2 04 2nd notch frequency 50 to 5000 5000 hz 2 05 2nd notch width selection 0 to 20 2 ? 2 06 2nd notch depth selection 0 to 99 0 ? 4-21 2 07 3rd notch frequency 50 to 5000 5000 hz 2 08 3rd notch width selection 0 to 20 2 ? 2 09 3rd notch depth selection 0 to 99 0 ? 2 10 4th notch frequency 50 to 5000 5000 hz 2 11 4th notch width selection 0 to 20 2 ? 2 12 4th notch depth selection 0 to 99 0 ? 213 6 h o h f w l r q r i g d p s l q j o w h u v z l w f k l q j 0 to 3 0 ? 4-22 2 14 1st damping frequency 0 to 2000 0 0.1hz * 215 v w g d p s l q j o w h u v h w x s 0 to 1000 0 0.1hz * 4-23 2 16 2nd damping frequency 0 to 2000 0 0.1hz * 4-22 217 q g g d p s l q j o w h u v h w x s 0 to 1000 0 0.1hz * 4-23 2 18 3rd damping frequency 0 to 2000 0 0.1hz * 4-22 219 u g g d p s l q j o w h u v h w x s 0 to 1000 0 0.1hz * 4-23 2 20 4th damping frequency 0 to 2000 0 0.1hz * 4-22 221 w k g d p s l q j o w h u v h w x s 0 to 1000 0 0.1hz * 4-23 222 3 r v l w l r q d o f r p p d q g v p r r w k l q j o w h u 0 to 10000 0 0.1ms * 223 3 r v l w l r q d o f r p p d q g ) , 5 o w h u 0 to 10000 0 0.1ms * 4-24 ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o 13. setup of parameter and mode list of parameters caution note the symbol ? * ? attached to ?unit?. indicates that the digits of setting unit will change if the parameter is set by using the setup support software panaterm. parameter describes of this page is p.4-20 to p.4-24. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-77 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement > & o d v v @ 9 h u r f l w \ 7 r u t x h ) x o o f o r v h g f r q w u r o parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 300 speed setup, internal/external switching 0 to 3 0 ? 4-25 301 speed command rotational direction selection 0 to 1 0 ? 302 input gain of speed command 10 to 2000 500 (r/min)/ v 4-26 303 reversal of speed command input 0 to 1 1 ? 304 1st speed of speed setup ? w r 0r / m i n 4-27 305 2nd speed of speed setup ? w r 0r / m i n 306 3rd speed of speed setup ? w r 0r / m i n 307 4th speed of speed setup ? w r 0r / m i n 308 5th speed of speed setup ? w r 0r / m i n 309 6th speed of speed setup ? w r 0r / m i n 310 7th speed of speed setup ? w r 0r / m i n 311 8th speed of speed setup ? w r 0r / m i n 312 acceleration time setup 0 to 10000 0 ms/ (1000r/min) 313 deceleration time setup 0 to 10000 0 ms/ (1000r/min) 314 sigmoid acceleration/ deceleration time setup 0 to 1000 0 ms 4-28 315 speed zero-clamp function selection 0 to 3 0 ? 316 speed zero clamp level 10 to 20000 30 r/min 317 selection of torque command 0 to 2 0 ? 4-29 318 torque command direction selection 0 to 1 0 ? 319 input gain of torque command 10 to 100 30 0.1v/100% * 320 input reversal of torque command 0 to 1 0 ? 321 speed limit value 1 0 to 20000 0 r/min 4-30 322 speed limit value 2 0 to 20000 0 r/min 323 external scale selection 0 to 2 0 ? 324 numerator of external scale division 0 to 2 20 0 ? 4-31 325 denominator of external scale division 1 to 2 20 10000 ? 326 reversal of direction of external scale 0 to 1 0 ? 327 external scale z phase disconnection detection disable 0 to 1 0 ? 328 hybrid deviation excess setup 1 to 2 27 16000 command unit 4-32 329 hybrid deviation clear setup 0 to 100 0 revolution ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o 13. setup of parameter and mode list of parameters caution note the symbol ? * ? attached to ?unit?. indicates that the digits of setting unit will change if the parameter is set by using the setup support software panaterm. parameter describes of this page is p.4-25 to p.4-32. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-78 [class 4] i/f monitor setting parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 4 00 si1 input selection (pin no.8) 0 to 00ffffffh 8553090 ? 4-33 4 01 si2 input selection (pin no.9) 0 to 00ffffffh 8487297 ? 4-34 4 02 si3 input selection (pin no.26) 0 to 00ffffffh 9539850 ? 4 03 si4 input selection (pin no.27) 0 to 00ffffffh 394758 ? 4 04 si5 input selection (pin no.28) 0 to 00ffffffh 4108 ? 4 05 si6 input selection (pin no.29) 0 to 00ffffffh 197379 ? 4 06 si7 input selection (pin no.30) 0 to 00ffffffh 3847 ? 4 07 si8 input selection (pin no.31) 0 to 00ffffffh 263172 ? 4 08 si9 input selection (pin no.32) 0 to 00ffffffh 328965 ? 4 09 si10 input selection (pin no.33) 0 to 00ffffffh 3720 ? 4 10 so1 output selection pin no.10, 11 ( line driver output ) 0 to 00ffffffh 197379 ? 4-35 4 11 so2 output selection pin no.34, 35 ( line driver output ) 0 to 00ffffffh 131586 ? 4 12 so3 output selection pin no.36, 37 ( line driver output ) 0 to 00ffffffh 65793 ? 4 13 so4 output selection pin no.38, 39 ( line driver output ) 0 to 00ffffffh 328964 ? 4 14 so5 output selection pin no.12 ( open collector output ) 0 to 00ffffffh 460551 ? 4 15 so6 output selection pin no.40 ( open collector output ) 0 to 00ffffffh 394758 ? 4 16 type of analog monitor 1 0 to 21 0 ? 4-36 4 17 analog monitor 1 output gain 0 to 214748364 0 ? 4 18 type of analog monitor 2 0 to 21 4 ? 4 19 analog monitor 2 output gain 0 to 214748364 0 ? 4 20 type of digital monitor 0 to 3 0 ? 4 21 analog monitor output setup 0 to 2 0 ? 4-38 4 22 analog input 1 (ai1) offset setup ? w r 0 0.366mv 423 $ q d o r j l q s x w $ , o w h u 0 to 6400 0 0.01ms * 424 analog input 1 (ai1) overvoltage setup 0 to 100 0 0.1v * 4 25 analog input 2 (ai2) offset setup ? w r 0 5.86mv 426 $ q d o r j l q s x w $ , o w h u 0 to 6400 0 0.01ms * 427 analog input 2(ai2) overvoltage setup 0 to 100 0 0.1v * 4 28 analog input 3 (ai3) offset setup ? w r 0 5.86mv 429 $ q d o r j l q s x w $ , o w h u 0 to 6400 0 0.01ms * 4-39 ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o 13. setup of parameter and mode list of parameters caution note the symbol ? * ? attached to ?unit?. indicates that the digits of setting unit will change if the parameter is set by using the setup support software panaterm. parameter describes of this page is p.4-33 to p.4-39. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-79 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 430 analog input 3 (ai3) overvoltage setup 0 to 100 0 0.1v * 4-39 431 positioning complete (in-position) range 0 to 262144 10 command unit 432 positioning complete (in-position) output setup 0 to 3 0 ? 4 33 inp hold time 0 to 30000 0 1ms 4 34 zero-speed 10 to 20000 50 r/min 4-40 4 35 speed coincidence range 10 to 20000 50 r/min 4 36 at-speed (speed arrival) 10 to 20000 1000 r/min 4-41 437 mechanical brake action at stalling setup 0 to 10000 0 1ms 438 mechanical brake action at running setup 0 to 10000 0 1ms 4 39 brake release speed setup 30 to 3000 30 r/min 4-42 4 40 selection of alarm output 1 0 to 10 0 ? 4 41 selection of alarm output 2 0 to 10 0 ? 442 2nd positioning complete (in-position) range 0 to 262144 10 command unit ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o [class 5] enhancing setting parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 5 00 2nd numerator of electronic gear 0 to 2 30 0 ? 4-43 5 01 3rd numerator of electronic gear 0 to 2 30 0 ? 5 02 4th numerator of electronic gear 0 to 2 30 0 ? 5 03 denominator of pulse output division 0 to 262144 0 ? 5 04 over-travel inhibit input setup 0 to 2 1 ? 5 05 sequence at over-travel inhibit 0 to 2 0 ? 5 06 sequence at servo-off 0 to 9 0 ? 4-44 5 07 sequence at main power off 0 to 9 0 ? 5 08 lv trip selection at main power off 0 to 1 1 ? 4-45 5 09 detection time of main power off 70 to 2000 70 1ms ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o 13. setup of parameter and mode list of parameters note parameter describes of this page is p.4-39 to p.4-45. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-80 parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 5 10 sequence at alarm 0 to 7 0 ? 4-45 5 11 torque setup for emergency stop 0 to 500 0 % 4-46 5 12 over-load level setup 0 to 500 0 % 5 13 over-speed level setup 0 to 20000 0 r/min 5 14 motor working range setup 0 to 1000 10 0.1 revolution * 515 , ) u h d g l q j o w h u 0 to 3 0 ? 5 16 alarm clear input setup 0 to 1 0 ? 4-47 5 17 counter clear input mode 0 to 4 3 ? 518 invalidation of command pulse inhibit input 0 to 1 1 ? 519 command pulse inhibit input reading setup 0 to 4 0 ? 5 20 position setup unit select 0 to 1 0 ? 4-48 5 21 selection of torque limit 0 to 6 1 ? 5 22 2nd torque limit 0 to 500 500 * 1 % 5 23 torque limit switching setup 1 0 to 4000 0 ms/100% 4-49 5 24 torque limit switching setup 2 0 to 4000 0 ms/100% 525 external input positive direction torque limit 0 to 500 500 * 1 % 526 external input negative direction torque limit 0 to 500 500 * 1 % 5 27 input gain of analog torque limit 10 to 100 30 0.1v/100% * 5 28 led initial status 0 to 35 1 ? 4-50 5 29 rs232 baud rate setup 0 to 6 2 ? 5 30 rs485 baud rate setup 0 to 6 2 ? 5 31 axis address 0 to 127 1 ? 4-51 532 command pulse input maximum setup 250 to 4000 4000 kpulse/s 5 33 pulse regenerative output limit setup 0 to 1 0 ? 5 34 for manufactuer's use ? 4 ? 5 35 front panel lock setup 0 to 1 0 ? ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o *1 default settings depend on the combination of driver and motor. refer to p. 2-82 ?torque limit setting?. 13. setup of parameter and mode list of parameters caution note the symbol ? * ? attached to ?unit?. indicates that the digits of setting unit will change if the parameter is set by using the setup support software panaterm. parameter describes of this page is p.4-45 to p.4-51. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-81 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement [class 6] special setting parametr no. title range default unit turning on of power supply related control mode detail page class no. a,b -frame c -frame d,e,f -frame g,h -frame pstf 600 analog torque feed forward conversion gain 0 to 100 0 0.1v/100% * 4-51 6 02 velocity deviation excess setup 0 to 20000 0 r/min 6 04 jog trial run command speed 0 to 500 300 r/min 6 05 position 3rd gain valid time 0 to 10000 0 0.1ms * 6 06 position 3rd gain scale factor 50 to 1000 100 % 6 07 torque command additional value ? w r 0% 4-52 608 positive direction torque compensation value ? w r 0% 609 negative direction torque compensation value ? w r 0% 6 10 function expansion setup 0 to 63 0 ? 6 11 current response setup 50 to 100 100 % 6 13 current response setup 0 to 10000 250 % 4-53 6 14 emergency stop time at alarm 0 to 1000 200 1ms 6 15 2nd over-speed level setup 0 to 20000 0 r/min 616 for manufacturer's use ? 0 ? 617 front panel parameter writing selection 0 to 1 0 ? 6 18 power-up wait time 0 to 100 0 0.1s * 6 19 encoder z phase setup 0 to 32767 0 pulse 4-54 6 20 z-phase setup of external scale 0 to 400 0 e v 621 serial absolute external scale z phase setup 0 to 2 28 0 pulse 622 a, b phase external scale pulse output method selection 0 to 1 0 ? 623 disturbance torque compensating gain ? w r 0% 624 ' l v w x u e d q f h r e v h u y h u o w h u 0 to 2500 53 0.01ms * 4-55 6 27 alarm latch time selection 0 to 10 5 s 631 real time auto tuning estimation speed 0 to 3 1 ? 6 32 real time auto tuning custom setup ? w r 0 ? 4-56 6 33 for manufacturer's use ? 1000 ? 4-57 6 34 hybrid vibration suppression gain 0 to 30000 0 0.1/s * 635 + \ e u l g y l e u d w l r q v x s s u h v v l r q o w h u 0 to 6400 10 0.01ms * 6 37 oscillation detecting level 0 to 1000 00.1% * 6 38 alarm mask setup ? w r 4 ? 6 39 for manufactuer's use ? 0 ? ' h q l w l r q r i v \ p e r o v x q g h u 3 r z h u 2 i i 2 q l i d f k d q j h l v p d g h l w z l o o e h u h h f w h g x s r q w k h s d u d p h w h u z k h q w k h power to the driver is turned off and then on again. * ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o 13. setup of parameter and mode list of parameters caution note the symbol ? * ? attached to ?unit?. indicates that the digits of setting unit will change if the parameter is set by using the setup support software panaterm. parameter describes of this page is p.4-51 to p.4-57. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-82 caution torque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver listed in the table below. ? the above limit applies to pr0.13 (1st torque limit), pr5.22 (2nd torque limit), pr5.11 (torque setup for emergency stop), pr5.25 (external input positive direction torque limit) and pr5.26(external input negative direction torque limit). when you change the motor model, above max. value may change as well. check and reset the setup values of pr0.13, pr5.22, pr5.11, pr5.25 and pr5.26. 2 preparation 13. setup of parameter and mode 6 h w x s r i 7 r u t x h / l p l w frame model no. applicable motor max. value of w r u t x h o l p l w frame model no. applicable motor max. value of w r u t x h o l p l w d mddht5540 mgme092g ** 225 g mgdhtc3b4 mgme602g ** 272 mgme092s ** 225 mgme602s ** 272 mddht3420 mgme094g ** 225 mdme752g ** 265 mgme094s ** 225 mdme752s ** 265 f mfdhta390 mgme202g ** 250 mhme752g ** 265 mgme202s ** 250 mhme752s ** 265 mfdhtb3a2 mgme302g ** 250 mgdhtb4a2 mgme604g ** 272 mgme302s ** 250 mgme604s ** 272 mgme452g ** 262 mdme754g ** 267 mgme452s ** 262 mdme754s ** 267 mfdht5440 mgme204g ** 250 mhme754g ** 267 mgme204s ** 250 mhme754s ** 267 mfdhta464 mgme304g ** 250 h mhdhtc3b4 mdmec12g ** 265 mgme304s ** 250 mdmec12s ** 265 mgme454g ** 263 mdmec52g ** 253 mgme454s ** 263 mdmec52s ** 253 mhdhtb4a2 mdmec14g ** 265 mdmec14s ** 265 mdmec54g ** 253 mdmec54s ** 253 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-83 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement cautions on replacing the motor as stated previously, torque limit setup range might change when you replace the combi- nation of the motor and the driver. pay attention to the followings. : k h q w k h p r w r u w r u t x h l v o l p l w h g when you replace the motor series or to the different wattage motor, you need to reset the torque limit setup because the rated toque of the motor is different from the previ- ous motor. (see e.g.1) : k h q \ r x z d q w w r r e w d l q w k h p d [ p r w r u w r u t x h < r x q h h g w r u h v h w w k h w r u t x h o l p l w l q j v h w x s w r w k h x s s h u o l p l w e h f d x v h w k h x s s h u o l p l w value might be different from the previous motor. (see e.g.2) e.g.1) pr0.13 setup range : 0 to 300% setup value : 100%. before replacing the motor rated torque 0.64n ? m rated torque 0.32n ? m madht1507 msme022s1a pr0.13 setup range : change to 0 to 300%. setup value : keep 100%. after replacing the motor madht1507 msme012s1a torque limit value 0.32n ? m 0.32n ? m x 100% = torque limit value 0.64n ? m 0.64n ? m x 100% = set up pr0.13 to 200 to make torque limit value to 0.64n ? m (0.32n ? m x 200% = 0.64n ? m) madht1507 madht1507 msme022s1a msme012s1a e.g.2) before replacing the motor after replacing the motor pr0.13 setup range : 0 to 300% setup value : 300%. pr0.13 setup range : change to 0 to 300% setup value : keep 300%. rated torque 0.32n ? m set up pr0.13 to 300 to obtain the max. output torque. 13. setup of parameter and mode 6 h w x s r i 7 r u t x h / l p l w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-84 note here we take a ball screw drive as an example of machine. a travel distance of a ball screw m [mm] corresponding to travel command p1 [p], can be described by the following formula (1) by making the lead of ball screw as l [mm] m = p1 x (d/e) x (1/r) x l .................. (1) w k h u h i r u h s r v l w l r q u h v r o x w l r q w u d y h o g l v w d q f h 0 s h u r q h f r p p d q g s x o v h z l o o e h g h - scribed by the formula (2) 0 ' ( [ 5 [ / modifying the above formula (2), electronic gear ratio can be found in the formula (3). ' 0 [ ( [ 5 [ / actual traveling velocity of ball screw, v[mm/s] can be described by the formula (4) and the motor rotational speed, n at that time can be described by the formula (5). v = f x (d/e) x (1/r) x l ..................... (4) n = f x (d/e) x 60 ............................... (5) modifying the above formula (5), electronic gear ratio can be found in the formula (6). d = (n x e)/ (f x 60) ........................... (6) 0 d n h d s r v l w l r q u h v r o x w l r q 0 d v d s s u r [ w r r i w k h p d f k l q h s r v l w l r q l q j d f - f x u d f \ ^ , considering a mechanical error. 2) set up pr0.09 and pr0.10 to any values between 1 to 2 30 . 3) the desired setting can be determined by selecting value of numerator and denomina- tor of electronic gear. however, an excessively high division or multiplication ratio can- not guarantee the operation. the ratio should be in a range between 1/1000 and 1000. excessively high multiplication ratio will cause err27.2 (command pulse multiplication error protection) due to varying command pulse input or noises, even if the other set- w l q j v d u h z l w k l q w k h v s h f l h g u d q j h 4) 2 n decimal 2 n decimal 2 0 12 11 2048 2 1 22 12 4096 2 2 42 13 8192 2 3 82 14 16384 2 4 16 2 15 32768 2 5 32 2 16 65536 2 6 64 2 17 131072 2 7 128 2 18 262144 2 8 256 2 19 524288 2 9 512 2 20 1048576 2 10 1024 pulse train position command travel distance : p1 [p] traveling speed : f [pps] electronic gear ratio driver d= pr0.09 pr0.10 motor encoder gear machine rotational speed : n[r/min] reduction ratio : r encoder pulse counts : e [p/r] * 1,048,576 (=20bit) * 131,072 (=17bit) example of ball screw drive by servo motor [ ] + C 2 preparation 14. relation between electronic gear and position resolution or traveling speed setup of command division and multiplication ratio (electronic gear ratio) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-85 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement electronic gear ratio = 10 0.00052 17 1 1010 4 52 17 = 100000 655360 = 0.32768 20 0.000052 17 1 20 0.000052 20 1 = = 2010 5 52 20 2000000 5242880 d < 1, hence use 120-bit. d= l cmer electronic gear ratio travel distance per command pulse (mm) (position resolution) d = f 60 n e d = 1 is the condition for minimum resolution. pr0.09 = 655360 pr0.10 = 100000 pr0.09 = 5242880 pr0.10 = 2000000 pr0.09 = 262144000 pr0.10 = 30000000 d= pr0.10 pr0.09 motor rotational speed (r/min), n = f 60 e d = 50 60 = 750 2 2 1 500000 60 10000 12 15 c m = l e d 2 17 1 1 1 r 1 20 = 3750 2 15 d = = = 50000060 20002 17 30000000 20002 17 30000000 262144000 2 2 20 = 3750 1 = 0.00133mm 3750 4 20 2 17 1 lead of ball screw, l =10mm gear reduction ratio, r = 1 position resolution, c 0 p p encoder, 17-bit (e= 2 17 p/r) lead of ball screw, l =20mm gear reduction ratio, r = 1 position resolution, c 0 p p encoder, 17-bit (e= 2 17 p/r) lead of ball screw, l =20mm gear reduction ratio, r = 1 position resolution, c 0 p p line driver pulse input, 500kpps encoder, 17-bit ditto to make it to 2000r/min. encoder : 20-bit (e = 2 20 p/r) d = pr0.10 pr0.09 related page ? 3 ' h w d l o v r i 3 d u d p h w h u 14. setup of command division and multiplication ratio (electronic gear ratio) relation between electronic gear and position resolution or traveling speed phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-86 setup with the front panel press these to change display and data, select parameters and execute actions. (change/selection/execution is valid to the digit which decimal point flashes.) numerical value increases by pressing, , decreases by pressing . shifting of the digit for data changing to higher digit. x7 output connector for monitor display led (6-digit) switch to error display screen when error occurs, and led will flash (about 2hz). led will flash slowly (about 1hz) when warning occurs. mode switching button (valid at selection display) press this to switch 4 kinds of mode. 1) monitor mode 2) parameter set up mode 3) eeprom writing mode 4) auxiliary function mode set button (valid at any time) press this to switch selection and execution display. 61 x7 note for connector x7, refer to p.2-60 ?wiring to the connector, x7?. 2 preparation 15. how to use the front panel setup phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-87 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement approx. 2 sec approx. 0.6 sec approx. 0.6 sec initial display of led (determined by the setup of parameter, pr5.28 "initial status of led".) approx. 0.8 sec repeatedly(during continuous alarm) 0.3 sec initial status of the front panel display (7 segment led) status front panel display shows the following after turning on the power of the driver. upon occurrence of an alarm if a driver alarm is generated, the front panel display shows the following repeatedly. below shows possible cause of an alarm. alarm no. alarm content a0 overload protection load factor is 85% or more the protection level. a1 over-regeneration alarm regenerative load factor is 85% or more the protection level. a2 battery alarm battery voltage is 3.2 v or lower. a3 fan alarm fan has stopped for 1 sec. a4 encoder communication alarm the number of successive encoder communication errors h [ f h h g v w k h v s h f l h g y d o x h a5 encoder overheat alarm the encoder detects overheat alarm. a6 oscillation detection alarm oscillation or vibration is detected. a7 lifetime detection alarm the life expectancy of capacity or fan becomes shorter w k d q w k h v s h f l h g w l p h a8 external scale error alarm the external scale detects the alarm. a9 external scale communication alarm the number of successive external scale communication h u u r u v h [ f h h g v w k h v s h f l h g y d o x h 15. how to use the front panel setup related page ? 3 ' h w d l o v r i 3 d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-88 use each button on the touch panel to select the structure and switch the mode. , q l w l d o v w d w x v r i w k h & r q v r o h / ( ' 0 r q l w r u p r g h 0 r g h v z l w f k l q j e x w w r q 3 d u d p h w h u v h w x s p r g h ( ( 3 5 2 0 z u l w l q j p r g h $ x [ l o l d u \ i x q f w l r q p r g h 0 r g h v z l w f k l q j e x w w r q 0 r g h v z l w f k l q j e x w w r q 0 r g h v z l w f k l q j e x w w r q 6 ( 7 e x w w r q p.2-91 p.2-108 p.2-106 p.2-107 selection display note caution < r x f d q f k d q j h w k h d v k l q j g h f l p d o s r l q w z l w k , then shift the digit for data change ? ? on power-up, the monitor mode executed is displayed according to the setup of pr5.28 led initial status. 2 preparation 15. how to use the front panel structure of each mode phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-89 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ......p.2-106 ? ) r u g h w d l o v r i s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u 3 w r 105 ......p.2-107 ......p.2-111 ? 0 r w r u w u l d o u x q - 2 * ......p.2-110 ? $ x w r p d w l f r i i v h w d g m x v w p h q w $ , w r ......p.2-109 ? $ o d u p f o h d u 3 ? & o h d u l q j r i d e v r o x w h h q f r g h u ......p.2-114 ? , q l w l d o l ] d w l r q r i s d u d p h w h u 6 ( 7 e x w w r q 6 ( 7 e x w w r q 6 ( 7 e x w w r q 6 ( 7 e x w w r q ......p.2-115 ? 5 h o h d v h r i i u r q w s d q h o o r f n execution display 15. how to use the front panel structure of each mode phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-90 outline to prevent operational error e.g. unintentional parameter modification, the front panel may be locked. once locked, operations on the panel are limited as follows: mode locked panel conditions monitor mode no limitation: all monitored data can be checked. parameter set up mode no parameter can be changed but setting can be checked. eeprom writing mode cannot be run. (no display) auxiliary function mode cannot be run except for ?release of front panel lock?. (no display) how to operate ? 5 h o d w h g s d u d p h w h u v parameter no. title function class no. 5 35 setup of front panel lock locks the operation attempted from the front panel. lock and unlock can be made in one of two ways. procedure front panel setup support software panaterm lock (1) set pr5.35 ?front panel lock? to 1, and writ the setting to eeprom. (2) turn on power to the driver. (3) the front panel is locked. unlock (1) execute the auxiliary function mode, front panel lock release function. (2) turn on power to the driver. (3) the front panel is unlocked. (1) set pr5.35 ?front panel lock? to 0, and writ the setting to eeprom. (2) turn on power to the driver. (3) the front panel is unlocked. note related page for details of front panel lock release, refer to p.2-113. ? 3 ' h w d l o v r i 3 d u d p h w h u 2 preparation 15. how to use the front panel setup of front panel lock phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-91 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement display shifts toward the arrowed direction by pressing and reversed direction by pressing . p.2-92 (2 p.2-92 (2 p.2-92 (2 p.2-92 (2 p.2-93 (3 p.2-93 (3 p.2-93 (3 p.2-93 (4 p.2-94 (5 p.2-95 (6 p.2-96 (7 p.2-98 (8 p.2-99 (9 p.2-99 (9 p.2-99 (9 p.2-100 (10 p.2-101 (11 p.2-101 (12 p.2-102 (13 p.2-102 (14 p.2-102 (15 p.2-102 (16 p.2-103 (17 p.2-103 (18 p.2-103 (19 p.2-103 (20 p.2-103 (21 p.2-104 (22 p.2-104 (23 p.2-104 (24 p.2-104 (25 p.2-105 (26 positional command deviation no. of changes in i/o signals absolute encoder data absolute external scale position no. of encoder/ external scale communication errors monitor communication axis address encoder positional deviation [encoder unit] external scale deviation [external scale unit] hybrid deviation [command unit] voltage across pn [v] software version driver serial number motor serial number accumulated operation time automatic motor recognizing function temperature information safety condition monitor motor speed positional command speed velocity control command torque command feedback pulse sum command pulse sum external scale feedback pulse sum control mode i/o signal status analog input value error factor and reference of history alarm display regenerative load factor over-load factor inertia ratio factor of no-motor running to change the monitor display setting, select the display option to be changed from ? selection display?, and press to change to ? execution display?. after completion of changing, press to return to the selection display, note : k h q \ r x w x u q r q w k h 3 u r g x f w i r u w k h u v w w l p h g l v s o d \ v k r z v . (at motor stall) to change this display, change the setup of pr5.28 (initial status of led). 2 preparation 15. how to use the front panel monitor mode (selection display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-92 (1) display of positional command deviation [command unit] displays positional deviation of the command unit in high order or low order. ......low order ......high order positional command deviation ? to switch between low order (l) and high order (h), press . (2) display of motor speed, positional command speed, y h o r f l w \ f r q w u r o f r p p d q g d q g w r u t x h f r p p d q g displays the motor speed (r/min). ? 0 r w r u v s h h g u p l q displays positional command speed (r/min). ? 3 r v l w l r q d o f r p p d q g v s h h g u p l q displays velocity control command (r/min). ? 9 h o r f l w \ f r q w u r o f r p p d q g u p l q displays torque command (%). ? 7 r u t x h f r p p d q g 2 preparation 15. how to use the front panel monitor mode (execution display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-93 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement (3) display of feedback pulse sum, command pulse sum and external scale feedback pulse sum ......low order ......high order feedback pulse sum ? ) h h g e d f n 3 x o v h 6 x p > ( q f r g h u i h h g e d f n s x o v h] ......low order ......high order command pulse sum ? & r p p d q g 3 x o v h 6 x p > & r p p d q g 3 x o v h @ ......low order ......high order external scale feedback pulse sum ? ( [ w h u q d o 6 f d o h ) h h g e d f n 3 x o v h 6 x p ? to switch between low order (l) and high order (h), press . ? to switch between low order (l) and high order (h), press . ? to switch between low order (l) and high order (h), press . (4) display of control mode .....position control mode .....velocity control mode .....torque control mode .....full-closed control mode 15. how to use the front panel monitor mode (execution display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-94 (5) display of i/o signal status displays the control input and output signal to be connected to connector x4. use this function to check if the wiring is correct or not. .....input signal .....output signal pin no. .....active *1 .....inactive *1 *1 when input signal active : input signal photocoupler is on. inactive : input signal photocoupler is off. when output signal active : output signal transistor is on. inactive : output signal transistor is off. ? 6 h o h f w w k h 3 l q 1 r w r e h p r q l w r u h g e \ s u h v v l q j ? 6 k l i w w k h i o d v k l q j g h f l p d o s r l q w z l w k ? 6 h o h f w , q r u 2 x w e \ s u h v v l q j r u e x w w r q 5 l j k w v l g h r i g h f l p d o s r l q w 3 l q 1 r v h o h f w l r q / h i w v l g h r i g h f l p d o s r l q w , q s x w 2 x w s x w 3 l q 1 r v h o h f w l r q / r z h v w s o d f h 3 l q 1 r r i r x w s x w v l j q d o (highest place pin no. r i l q s x w v l j q d o 15. how to use the front panel monitor mode (execution display) note for detail of input/output signal, refer to p.3-30 ?inputs and outputs on connector x4? for detail of error code, refer to p.6-2 ?protective function?. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-95 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement (6) display of analog input value 15. how to use the front panel monitor mode (execution display) (analog input 1 value, unit [v]) (analog input 2 value, unit [v]) (analog input 3 value, unit [v]) input signal input voltage value [v] ? select the signal no. to be monitored by pressings . displays the value after offset correction. caution voltage exceeding 10v can not be displayed correctly. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-96 15. how to use the front panel monitor mode (execution display) (7) display of error factor and reference of history
2-97 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note caution history ...the error will be stored in the error history. can be cleared ...to cancel the error, use the alarm clear input (a-clr). if the alarm clear input is not effective, turn off power, remove the cause of the error and then turn on power again. immediate stop ...instantaneous controlled stop upon occurrence of an error. (setting of ?pr.5.10 sequence at alarm? is also required.) 1) certain alarms are not included in the history. for detailed information on alarms e.g. alarm numbers, refer to p.6-2. 2) when one of the errors which are listed in error history occurs, this error and history o shows the same error no. 15. how to use the front panel monitor mode (execution display) error code protective function attribute main sub history can be cleared immediate stop 34 0 software limit protection 36 0 to 2 eeprom parameter error protection 37 0 to 2 eeprom check code error protection 38 0 over-travel inhibit input protection 39 0 analog input1 excess protection 1 analog input2 excess protection 2 analog input3 excess protection 40 0 absolute system down error protection 41 0 absolute counter over error protection 42 0 absolute over-speed error protection 43 0 initialization failure 44 0 absolute single turn counter error protection 45 0 absolute multi-turn counter error protection 47 0 absolute status error protection 48 0 encoder z-phase error protection 49 0 encoder cs signal error protection 50 0 external scale connection error protection 1 external scale communication error protection 51 0 external scale status 0 error protection 1 external scale status 1 error protection 2 external scale status 2 error protection 3 external scale status 3 error protection 4 external scale status 4 error protection 5 external scale status 5 error protection 55 0 a-phase connection error protection 1 b-phase connection error protection 2 z-phase connection error protection 87 0 compulsory alarm input protection 95 0 to 4 motor automatic recognition error protection other number other error phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-98 (8) alarm display alarm no. alarm content latched time *1 a0 overload protection load factor is 85% or more the protection level. w r v r u ? a1 over-regeneration alarm regenerative load factor is 85% or more the protection level. v r u ? a2 battery alarm battery voltage is 3.2 v or lower. ) l [ h g d w ? a3 fan alarm fan has stopped for 1 sec. w r v r u ? a4 encoder communication alarm the number of successive encoder communication h u u r u v h [ f h h g v w k h v s h f l h g y d o x h w r v r u ? a5 encoder overheat alarm the encoder detects overheat alarm. w r v r u ? a6 oscillation detection alarm oscillation or vibration is detected. w r v r u ? a7 lifetime detection alarm life expectancy of capacitor or fan is short. ) l [ h g d w ? a8 external scale error alarm the external scale detects the alarm. w r v r u ? a9 external scale communication alarm the number of successive external scale f r p p x q l f d w l r q h u u r u v h [ f h h g v w k h v s h f l h g y d o x h w r v r u ? *1 alarms can be cleared by using the alarm clear. because the all existing alarms are kept cleared while the alarm f o h d u l q s x w $ & / 5 l v n h s w 2 1 e h v x u h w r w x u q l w 2 ) ) g x u l q j q r u p d o r s h u d w l r q ( l w k h u v r u ? f d q e h v h o h f w h g by using user parameter. ( [ f h s w l r q % d w w h u \ d o d u p l v [ h g d w ? e h f d x v h l w l v o d w f k h g e \ w k h h q f r g h u % h f d x v h w k h h q g r i o l i h d o d u p p h d q v w k d w w k h o l i h h [ s h f w d q f \ f d q q r w e h h [ w h q g h g w k h d o d u p l v v h w d w ? ......no alarm occurred ......high priority alarm alarm number ? 7 r g l v s o d \ w k h d o d u p r f f x u u h q f h f r q g l w l r q s u h v v r u e x w w r q 15. how to use the front panel monitor mode (execution display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-99 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement (9) display of regenerative load factor, over-load factor and inertia ratio ? 5 h j h q h u d w l y h / r d g ) d f w r u ? 2 y h u o r d g ) d f w r u ? , q h u w l d 5 d w l r display the ratio (%) against the alarm trigger level of regenerative protection. this is valid when pr0.16 (external regenerative resistor setup) is 0 or 1. displays the ratio (%) against the rated load. refer to p.6-14, "overload protection time characteristics" of when in trouble. displays the inertia ratio (%) . value of pr0.04 (inertia ratio) will be displayed as it is. 15. how to use the front panel monitor mode (execution display) note for alarm function, refer to p.4-42 "pr4.40, pr4.41". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-100 15. how to use the front panel monitor mode (execution display) 10) display of the factor of no-motor running displays the factor of no-motor running in number. ? ( [ s o d q d w l r q r i i d f w r u 1 r factor no. factor related control mode content pstf d v k l q j occurrence of error/alarm an error is occurring, and an alarm is triggered. 00 no particular factor no factor is detected for no-motor run. the motor runs in normal case. 01 main power shutoff the main power of the driver is not turned on. 02 no entry of srv-on input the servo-on input (srv-on) is not connected to com?. 03 over-travel inhibition input is valid while pr5.04 is 0 (run-inhibition input is valid), ? 3 r v l w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w 3 2 7 l v r s h q d q g v s h h g command is positive direction. ? 1 h j d w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w 1 2 7 l v r s h q d q g v s h h g command is negative direction. 04 torque limit setup is small either one of the valid torque limit setup value of pr0.13 (1st) or pr5.22 (2nd) is set to 5% or lower than the rating. 05 analog torque limit input is valid. while pr5.21 is 0 (analog torque limit input accepted), ? 3 r v l w l y h g l u h f w l r q d q d o r j w r u t x h o l p l w l q s x w 3 $ 7 / l v q h j d w l y h y r o w d j h and speed command is positive direction. ? 1 h j d w l y h g l u h f w l r q d q d o r j w r u t x h o l p l w l q s x w 1 $ 7 / l v s r v l w l y h y r o w d j h and speed command is negative direction. 06 inh input is valid. pr5.18 is 0 (command pulse inhibition input is valid.), and inh is open. 07 command pulse input frequency is low. the position command per each control cycle is 1 pulse or smaller due to, ? 1 r f r u u h f w h q w u \ r i f r p p d q g s x o v h ? 1 r f r u u h f w f r q q h f w l r q w r w k h l q s x w v h o h f w h g z l w k 3 u ? 1 r p d w f k l q j w r l q s x w v w d w x v v h o h f w h g z l w k 3 u s u 3 u 08 cl input is valid. while pr5.17 is 0 (deviation counter clear at level), the deviation counter clear input (cl) is connected to com?. 09 zerospd input is valid. while pr3.15 is 1 (speed zero clamp is valid.), the speed zero clamp input (zerospd) is open. 10 external speed command is small. while the analog speed command is selected, the analog speed command is smaller than 0.06[v]. 11 internal speed command is 0. while the internal speed command is selected, the internal speed command is set to lower than 30 [r/min] 12 torque command is small. the analog torque command input (spr or p-atl) is smaller than 5 [%] of the rating. 13 speed limit is small. ? : k l o h 3 u l v v s h h g l v o l p l w h g e \ w k v s h h g r i l q w h u q d o v s h h g pr3.07, (4th speed of speed setup) is set to lower than 30 [r/min]. ? : k l o h 3 u l v v s h h g l v o l p l w h g e \ 6 3 5 l q s x w w k h d q d o r j v s h h g o l p l w input (spr) is smaller than 0.06 [v]. 14 other factor the motor runs at 20 [r/min] or lower even though the factors from 1 to 13 are cleared, (the command is small, the load is heavy, the motor lock or hitting, driver/ motor fault etc.) .......position control ....... velocity control .......torque control ....... full-closed control control mode factor no. note * motor might run even though the other number than 0 is displayed. refer to "6.in trouble". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-101 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 15. how to use the front panel monitor mode (execution display) (11) display of no. of changes in i/o signals .....input signal .....output signal pin no. no. of changes in i/o signals (the signal is invalid) ? 6 h o h f w w k h 1 r r i s l q w k h q x p e h u r i f k d q j h v r q w k d w s l q v k r x o g e h g l v s o d \ h g e \ s u h v v l q j r u e x w w r q ? 7 k h v z l w f k r i l q s x w r x w s x w e \ s u h v v l q j r u e x w w r q / h i w v l g h r i g h f l p d o s r l q w 3 l q 1 r v h o h f w l r q 5 l j k w v l g h r i g h f l p d o s r l q w , q s x w 2 x w s x w 3 l q 1 r v h o h f w l r q / r z h v w s o d f h 3 l q 1 r of output signal) (highest place pin no. of input signal) ? 6 k l i w w k h i o d v k l q j g h f l p d o s r l q w z l w k (12) display of absolute encoder data encoder data ......one revolution data, low order (l) ? 6 h o h f w w k h g d w d w r e h g l v s o d \ h g e \ s u h v v l q j r u e x w w r q 2 q h u h y r o x w l r q g d w d + l j k r u g h u + ......multi-revolution data phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-102 15. how to use the front panel monitor mode (execution display) (13) display of absolute external scale position ? ' l v s o d \ v w k h d e v r o x w h s r v l w l r q r i v h u l d o d e v r o x w h v f d o h ? , i d v h u l d o l q f u h p h q w d o v f d o h g l v s o d \ v w k h v f d o h s r v l w l r q u h o d w l y h w r w k h s r z h u r q s r v l w l r q z k l f k l v g h q h g d v external scale data ......absolute external scale position -low order ......absolute external scale position -high order ? select encoder or external scale by pressing or button. (14) display of no. of encoder/ external scale communication errors monitor no. of communication errors ? select encoder or external scale by pressing or button. ......encoder ......external scale (15) display of communication axis address displays the value set to pr5.31 axis address. (16) display of encoder positional deviation [encoder unit] encoder positional deviation [encoder unit] ......low order ......high order ? to switch between low order (l) and high order (h), press . phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-103 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 15. how to use the front panel monitor mode (execution display) (17) display of external scale deviation [external scale unit] external scale deviation [external scale unit] ......low order ......high order ? to switch between low order (l) and high order (h), press . (18) display of hybrid deviation [command unit] hybrid deviation [command unit] ......low order ......high order ? to switch between low order (l) and high order (h), press . (19) display of voltage across pn [v] displays the voltage across pn [v] (only for reference not an instrument) (20) display of software version displays the software version of the driver. (example of display: ver 1.00) (21) display of driver serial number driver serial number ......driver serial number- low order ......driver serial number- high order ? to switch between low order (l) and high order (h), press or . (example of display: serial number 09010001) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-104 15. how to use the front panel monitor mode (execution display) (22) display of motor serial number motor serial number ......motor serial number- low order ......motor serial number- high order ? to switch between low order (l) and high order (h), press or . (example of display: serial number 09040001) (23) display of accumulated operation time displays accumulated operation time [h]. ......low order ......high order ? to switch between low order (l) and high order (h), press . (24) automatic motor recognizing function ......automatic recognition is valid. ......automatic recognition is invalid. (25) display of temperature displays the driver temperature [c]. (this is not meter readings but only for reference.) displays the encoder temperature [c]. (this is not meter readings but only for reference.) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-105 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 15. how to use the front panel monitor mode (execution display) (26) display of safety condition monitor : safety condition : servo-off condition : servo-on condition : alarm condition servo ready condition off: dot unlit on: dot lit flashing normal change is possible dot information ? 6 h o h f w g h v l u h g p r q l w r u r s w l r q e \ s u h v v l q j r u e x w w r q , q s x w s k r w r f r x s o h u 2 ) ) , q s x w s k r w r f r x s o h u 2 1 , q s x w s k r w r f r x s o h u 2 ) ) , q s x w s k r w r f r x s o h u 2 1 2 x w s x w s k r w r f r x s o h u 2 ) ) 2 x w s x w s k r w r f r x s o h u 2 1 related page p.7-2 ?safety?. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-106 for parameters which place is displayed with ? ?, the content changed and written to eeprom becomes valid after turning off the power once. ? ' l v s o d \ w k h 1 r r i s d u d p h w h u w r e h changed and press to change to ( ; ( & 8 7 , 2 1 g l v s o d \ ? 3 u h v v d q g w k h i o d v k l q j g h f l p d o separator shifts to the high order position, allowing the figure at this digit to any other figure. (set button) ? 3 u h v v r u w r v h w x s w k h y d o x h r i parameter. (value increases with decreases with .) ? 3 u h v v d q g w k h i o d v k l q j g h f l p d o separator shifts to the high order position, allowing the figure at this digit to any other figure. ? 3 u r o r q j h g g h s u h v v l r q r i x s g d w h v w k h s d u d p h w h u l q w k h g u l y h u 1 r w h w k d w w k h parameter value selected by or is not reflected until is pressed in this way. ? 7 r f d q f h o w k h y d o x h v h o h f w h g e \ r u press instead of , and the driver internal parameter value is kept unchanged and the display returns to the parameter number display screen. after changing the parameter value and pressing , the content will be reflected in the control. ' r q r w h [ w u h p h o \ f k d q j h w k h parameter value which change might affect the motor movement very much (especially velocity loop or position loop gains). (mode switch button) (mode switch button) pr0.00 pr0.00 pr0.01 pr6.32 pr0.01 pr6.33 ? 3 u h v v r u w r v h o h f w s d u d p h w h u 1 r to be set. 3 d u d p h w h u 1 r + h [ d g h f l p d o 1 r parameter value class pr0.11 pr1.11 you can change the value which digit has a flashing decimal point. selection display monitor mode selection display parameter setup mode selection display eeprom writing mode execution display remarks note note ? $ i w h u v h w w l q j x s s d u d p h w h u v u h w x u q w r 6 ( / ( & 7 p r g h u h i h u u l q j w r v w u x f w x u h r i h d f k p r g h (p.2-88). ? ( d f k s d u d p h w h u k d v d o l p l w l q q x p e h u r i s o d f h v i r u x s s h u v k l i w l q j 2 preparation 15. how to use the front panel parameter setup mode phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-107 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement (set button) ? ? increases while keep pressing (for approx. 5sec) as the right fig. shows. when you change the parameters which contents become valid after resetting, will be displayed after finishing wiring. turn off the control power once to reset. ? . h h s s u h v v l q j x q w l o w k h g l v s o d \ changes to when you execute writing. * ?start? flashes instantaneously and is difficult to check visually. ? 7 r z u l w h w k h s d u d p h w h u w r ( ( 3 5 2 0 s u h v v w r f k d q j h w r ( ; ( & 8 7 , 2 1 g l v s o d \ 0 r g h v z l w f k e x w w r q 0 r g h v z l w f k e x w w r q writing completes writing error starts writing. selection display eeprom writing mode selection display parameter setup mode selection display auxiliary function mode execution display note caution 1. when writing error occurs, make writing again. if the writing error repeats many times, this might be a failure. 2. don't turn off the power during eeprom writing. incorrect data might be written. if this happens, set up all of parameters again, and re-write after checking the data. : k h q w k h h u u r u g h q h g e \ ( u u 8 q g h u y r o w d j h s u r w h f w l r q r i f r q w u r o s r z h u v x s s o \ occurs, is displayed indicating that no writing is made to eeprom. 2 preparation 15. how to use the front panel eeprom writing mode phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-108 ? 7 r v h o h f w w k h g h v l u h g d x [ l o l d u \ i x q f w l r q s u h v v r u ? 7 ' l v s o d \ w k h d x [ l o l d u \ i x q f w l r q w r e h f k d q j h g d q g s u h v v w r f k d q j h w r ( ; ( & 8 7 , 2 1 g l v s o d \ 6 ( 7 e x w w r q 0 r g h v z l w f k e x w w r q 0 r g h v z l w f k e x w w r q 3 u h v v l q j $ o d u p & o h d u $ $ x w r p d w l f 2 i i v h w $ g m x v w p h q w $ $ x w r p d w l f 2 i i v h w $ g m x v w p h q w $ o d u p & o h d u 3 $ o d u p f o h d u v w d u w v $ o d u p f o h d u f r p s o h w h v $ $ x w r p d w l f 2 i i v h w $ g m x v w p h q w 7 u l d o 5 x q & o h d u l q j r i $ e v r o x w h ( q f r g h u , q l w l d o l ] d w l r q r i s d u d p h w h u , q l w l d o l ] d w l r q r i s d u d p h w h u $ $ x w r p d w l f 2 i i v h w $ g m x v w p h q w $ $ x w r p d w l f 2 i i v h w $ g m x v w p h q w $ $ x w r p d w l f 2 i i v h w $ g m x v w p h q w 0 r w r u 7 u l d o 5 x q & o h d u l q j r i $ e v r o x w h ( q f r g h u $ o d u p & o h d u 5 h o h d v h r i i u r q w s d q h o o r f n 5 h o h d v h r i i u r q w s d q h o o r f n selection display auxiliary function mode selection display monitor mode execution display display example description pages to refer 3 3 3 3 3 3 3 selection display eeprom writing mode 2 preparation 15. how to use the front panel auxiliary function mode (selection display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-109 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1) alarm clear screen this function releases the current alarm status. certain alarms will persist. if this is the case, refer to p.6-2 ?when in trouble - protective function?. note ? after alarm cleaning, return to selection display, referring to structure of each mode (p.2-88). (set button) ? . h h s s u h v v l q j x q w l o w k h g l v s o d \ f k d q j h v w r z k h q \ r x h [ h f x w h d o d u p f u h d u $ o d u p f o h d u f r p s o h w h v & o h d u l v q r w i l q l v k h g 5 h o h d v h w k h h u u r u e \ u h v h w w l q j w k h s r z h u $ o d u p f o h d u v w d u w v & o h d u l q j i l q l v k h v selection display execution display l q f u h d v h v z k l o h n h h s s u h v v l q j i r u d s s u r [ v h f d v w k h o h i w i l j v k r z v ? 3 u h v v w r f d o o i r u ( ; ( & 8 7 , 2 1 g l v s o d \ 2 preparation 15. how to use the front panel auxiliary function mode (execution display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-110 (2) analog inputs 1 to 3 automatic offset adjustment this function automatically adjusts offset setting of analog input. analog input 1 (ai1)......pr4.22 (analog input 1 (ai1) offset setup) analog input 2 (ai2)......pr4.25 (analog input 2 (ai2) offset setup) analog input 3 (ai3)......pr4.28 (analog input 1 (ai3) offset setup) remarks note ? < r x f d q q r w z u l w h w k h g d w d r q o \ e \ h [ h f x w l q j d x w r p d w l f r i i v h w d g m x v w p h q w ( [ h f x w h d z u l w l q j w r ( ( 3 5 2 0 z k h q \ r x q h h g w r u h h f w w k h u h v x o w d i w h u z d u g ? after completion of the automatic offset adjustment, return to selection display by referring to p.2-88 ?structure of each mode?. ? : k h q \ r x h [ h f x w h d x w r p d w l f r i i v h w d g m x v w p h q w p d n h f r p p d q g l q s x w w r 9 w k h q n h h s s u h v v l q j x q w l o w k h g l v s o d \ f k d q j h v w r ? 3 u h v v w r f d o o i r u ( ; ( & 8 7 , 2 1 g l v s o d \ 6 ( 7 e x w w r q $ x w r p d w l f r i i v h w d g m x v w p h q w i l q l v k h v $ x w r p d w l f r i i v h w d g m x v w p h q w v w d u w v ( [ d p s o h r i $ q d o r j l q s x w $ , ( u u r u r f f x u v $ g m x v w p h q w i l q l v k h v ( , q y d o l g p r g h l v v h o h f w h g r u r i i v h w y d o x h h [ f h h g v w k h v h w x s u d q j h r i 3 u l q f u h d v h v z k l o h n h h s s u h v v l q j i r u d s s u r [ v h f d v w k h o h i w i l j v k r z v 6 ( 7 e x w w r q selection display execution display 15. how to use the front panel auxiliary function mode (execution display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-111 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement (3) motor trial run remarks < r x f d q p d n h d w u l d o u x q - 2 * u x q z l w k r x w f r q q h f w l q j w k h & r q q h f w r u & r q q h f w r u ; w r the host controller such as plc. ? 6 h s d u d w h w k h p r w r u i u r p w k h o r d g g h w d f k w k h & r q q h f w r u connector x4 before the trial run. ? % u l q j w k h x v h u s d u d p h w h u v h w x s v h v s h f l d o o \ 3 u d q g 3 u w r w r g h i d x o w v w r avoid oscillation or other failure. ? , q v s h f w l r q % h i r u h 7 u l d o 5 x q display led connector x6 ground power supply motor machine (1) inspection on wiring ? 0 l v z l u l q j " ( v s h f l d o o \ s r z h u l q s x w d q g p r w r u r x w s x w ? 6 k r u w r u j u r x q g h g " ? / r r v h f r q q h f w l r q " (2) confirmation of power supply and voltage ? 5 d w h g y r o w d j h " (3) fixing of the servo motor ? 8 q v w d e o h p r x q w l q j " (4) separation from the p h f k d q l f d o v \ v w h p (5) release of the brake (6) turn to servo-off after finishing the trial run by pressing . (1) inspection on wiring ? 0 l v z l u l q j " ( v s h f l d o o \ s r z h u l q s x w d q g p r w r u r x w s x w ? 6 k r u w r u j u r x q g h g " ? / r r v h f r q q h f w l r q " (2) confirmation of power supply and voltage ? 5 d w h g y r o w d j h " (3) fixing of the servo motor ? 8 q v w d e o h p r x q w l q j " (4) separation from the p h f k d q l f d o v \ v w h p (5) release of the brake (6) turn to servo-off after finishing the trial run by pressing . 15. how to use the front panel auxiliary function mode (execution display) related page ? ) r u z l u l q j g h w d l o v u h i h u w r 3 2 y h u d o o : l u l q j ? 3 3 u ? 3 3 u w r phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-112 ? 3 u r f h g x u h i r u 7 u l d o 5 x q caution note ? before starting the trial run, set the gain-related parameters to appropriate values to avoid problems such as oscillation. if the load is removed, be sure to set pr0.04 ?inertia ratio? to 0. ? during the trial run, use the velocity cont rol mode. various settings including parameters should assure safe and positive operation under appropriate velocity control. ? if srv-on becomes valid during trial run, the display changes to which is nor- mal run through external command. ? $ i w h u q l v k h g w u l d o u x q q l q j u h w x u q w r 6 ( / ( & 7 , 2 1 g l v s o d \ u h i h u u l q j w r v w u x f w x u h r i h d f k p r g h (p.2-88). keep pressing (approx. 5 sec) to shift the decimal point toward left as the left fig. shows. ? 7 k h q n h h s s u h v v l q j x q w l o w k h g l v s o d \ r i / ( ' f k d q j h v w r . 1 r w d v h u y r u h d g \ v w d w x v 6 k x w v r i i w k h p d l q z k h q h u u r u r f f x u v ? $ i w h u w k h 6 h u y r 2 1 r i s u h s d u d w l r q v w h s i r u w u l d o u x q w k h p r w r u u x q v d w w k h s u h v h w v s h h g z l w k 3 u - 3 * v s h h g w r 3 r v l w l y h g l u h f w l r q g l u h f w l r q e \ s u h v v l q j 1 h j d w l y h g l u h f w l r q e \ s u h v v l q j 3 u h s d u d w l r q v w h s 3 u h s d u d w l r q v w h s 1 r w d 6 h u y r 5 h d g \ or srv-on signal is not entered. ? 3 u h v v w r f d o o i r u ( ; ( & 8 7 , 2 1 g l v s o d \ 6 ( 7 e x w w r q 6 ( / ( & 7 , 2 1 g l v s o d \ ( ; ( & 8 7 , 2 1 g l v s o d \ l q f u h d v h v z k l o h n h h s pressing (for approx. 5sec) as the left fig. shows. ? . h h s s u h v v l q j x q w l o w k h g l v s o d \ f k d q j h v w r z k h q \ r x h [ h f x w h 0 r w r u w u l d o u x q 15. how to use the front panel auxiliary function mode (execution display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-113 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4) clearing of absolute encoder < r x f d q f o h d u w k h p x o w l w x u q g d w d r i w k h d e v r o x w h h q f r g h u clearing of absolute encoder completes error occurs ( when non-applicable ) encoder is connected clearing of absolute encoder starts clearing finishes ? 3 u h v v w r f d o o i r u execution display. (set button) selection display execution display increases while keep pressing (for approx. 5sec) as the left fig. shows. ? . h h s s u h v v l q j x q w l o w k h g l v s o d \ f k d q j h v w r when you execute clearing of absolute encoder. note ? $ i w h u f o h d u l q j r i d e v r o x w h h q f r g h u q l v k h v u h w x u q w r 6 ( / ( & 7 , 2 1 g l v s o d \ u h i h u u l q j w r v w u x f - ture of each mode (p.2-88). 15. how to use the front panel auxiliary function mode (execution display) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-114 (5) initialization of parameter initialize the parameter. initialization of parameter completes error occurs (minor error occurs) initialization of parameter initialization finishes ? 3 u h v v w r f d o o i r u execution display. (set button) selection display execution display increases while keep pressing (for approx. 5sec) as the left fig. shows. ? . h h s s u h v v l q j x q w l o w k h g l v s o d \ f k d q j h v w r when you execute initialization of parameter. caution ? parameter cannot be initialized when one of the following error occurs: err11.0 ?under voltage protection of control power supply?, eeprom related errors (err36.0, err36.1, err36.2, err37.0, err37.1 and err37.2) - initialization will result in ?error? display. 15. how to use the front panel auxiliary function mode (execution display) note ? $ i w h u l q l w l d o l ] d w l r q r i s d u d p h w h u q l v k h v u h w x u q w r 6 ( / ( & 7 , 2 1 g l v s o d \ u h i h u u l q j w r v w u x f w x u h of each mode (p.2-88). phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-115 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement (6) release of front panel lock release the front panel lock setting. release of front panel lock completes error occurs release of front panel lock release finishes ? 3 u h v v w r f d o o i r u execution display. (set button) selection display execution display increases while keep pressing (for approx. 5sec) as the left fig. shows. ? . h h s s u h v v l q j x q w l o w k h g l v s o d \ f k d q j h v w r when you execute release of front panel lock. 15. how to use the front panel auxiliary function mode (execution display) note ? $ i w h u u h o h d v h r i i u r q w s d q h o o r f n q l v k h v u h w x u q w r 6 ( / ( & 7 , 2 1 g l v s o d \ u h i h u u l q j w r v w u x f w x u h of each mode (p.2-88). phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 2-116 memo phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-1 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3 . connection 1. outline of mode position control mode ................................................................................3-2 velocity control mode .................................................................................3-6 torque control mode ..................................................................................3-9 full-closed control mode ..........................................................................3-12 2. control block diagram position control mode ..............................................................................3-14 velocity control mode ...............................................................................3-15 torque control mode ................................................................................3-16 full-closed control mode ..........................................................................3-17 3. wiring diagram to the connector, x4 ( [ d p s o h r i f r q w u r o p r g h v s h f l f z l u l q j ...................................................3-18 & r q q h f w l q j ( [ d p s o h w r + r v w & r q w u r o o h u ....................................................3-20 4. inputs and outputs on connector x4 interface circuit (input) .............................................................................3-30 interface circuit (output) ..........................................................................3-32 , q s x w 6 l j q d o d q g 3 l q 1 r ...........................................................................3-34 2 x w s x w 6 l j q d o d q g 3 l q 1 r ........................................................................3-45 5. if monitor settings + r z w r $ v v l j q 9 d u l r x v , 2 ) x q f w l r q v w r w k h , ) ........................................3-50 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-2 3 1. outline of mode connection position control mode outline < r x f d q s h u i r u p s r v l w l r q f r q w u r o e d v h g r q w k h s r v l w l r q d o f r p p d q g s x o v h w u d l q i u r p w k h k r v w f r q w u r o o h u 7 k l v v h f w l r q g h v f u l e h v w k h i x q g d p h q w d o v h w x s w r e h x v h g i r u w k h s r v l w l r q f r q w u r o function caution note (1) process of command pulse input 7 k h s r v l w l r q d o f r p p d q g v r i w k h i r o o r z l q j w \ s h v s x o v h w u d l q d u h d y d l o d e o h ? s k d v h s x o v h ? 3 r v l w l y h g l u h f w l r q s x o v h q h j d w l y h g l u h f w l r q s x o v h ? 3 x o v h w u d l q v l j q 6 h w w k h s x o v h f r q j x u d w l r q d q g s x o v h f r x q w l q j p h w k r g e d v h g r q w k h v s h f l f d w l r q d q g f r q j x u d w l r q r i l q v w d o o d w l r q r i w k h k r v w f r q w u r o o h u 7 k h l q s x w w h u p l q d o v f d q d f f r p p r g d w h w k h i r o o r z l q j v \ v w h p v ? , q s x w 3 8 / 6 + 3 8 / 6 + 6 , * 1 + 6 , * 1 + o l q h u h f h l y h u l q s x w 0 s s v ? , q s x w 3 8 / 6 3 8 / 6 6 , * 1 6 , * 1 s k r w r f r x s o h u l q s x w n s s v ) r u o l q h g u l y h u r x w s x w , q s x w f d q d o v r e h x v h g z l w k r x w f k d q j l q j w k h d o o r z d e o h l q s x w frequency. ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h function pr0.05 selection of command pulse input 0 to 1 < r x f d q v h o h f w h l w k h u w k h s k r w r f r x s o h u l q s x w r u w k h h [ f o x v l y h l q s x w i r u o l q h g u l y h u d v w k h f r p p d q g s x o v h input. pr0.06 command pulse rotational direction setup 0 to 1 6 h w v w k h f r x q w l q j g l u h f w l r q z k h q f r p p d q g s x o v h l v input. pr0.07 command pulse input mode setup 0 to 3 6 h w v w k h f r x q w l q j p h w k r g z k h q f r p p d q g s x o v h l v input. ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 d q g ' h w d l o v r i s d u d p h w h u 5 h o d w h g s d j h ? 3 & r q w u r o % o r f n ' l d j u d p ? 3 : l u l q j ' l d j u d p w r w k h f r q q h f w r u ; command pulse input section pulse regeneration function positioning complete output (inp) function electronic gear section positional command filtering function cl input inp output counter clear function inh input pulse output command pulse inhibition (inh) function positional command (pulse train) servo driver host controller position control section phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-3 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. outline of mode position control mode note (2) electronic gear function 7 k l v i x q f w l r q p x o w l s o l h v w k h l q s x w s x o v h f r p p d q g i u r p w k h k r v w f r q w u r o o h u e \ w k h s u h - g h w h u p l q h g g l y l g l q j r u p x o w l s o \ l q j i d f w r u d q g d s s o l h v w k h u h v x o w w r w k h s r v l w l r q f r q w u r o v h f w l r q d v w k h s r v l w l r q d o f r p p d q g % \ x v l q j w k l v i x q f w l r q g h v l u h g p r w r u u r w d w l r q v r u p r y h p h q w g l v w d q f h s h u x q l w l q s x w f r p p d q g s x o v h f d q e h v h w r u w k h f r p p d q g s x o v h i u h t x h q f \ f d q e h l q f u h d v h g l i w k h g h v l u h g p r w r u v s h h g f d q q r w e h r e w d l q h g g x h w r o l p - l w h g s x o v h r x w s x w f d s d f l w \ r i w k h k r v w f r q w u r o o h u ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h function pr0.08 command pulse counts per one motor u h y r o x w l r q 0 to 1048576 6 h w w k h f r p p d q g s x o v h v w k d w f d x v h v v l q j o h w x u q r i w k h p r w r u v k d i w pr0.09 1st numerator of h o h f w u r q l f j h d u 0 to 1073741824 6 h w w k h q x p h u d w r u r i g l y l v l r q p x o w l s o l f d w l r q r s h u d w l r q p d g h d f f r u g l q j w r w k h f r p p d q g s x o v h input. pr0.10 ' h q r p l q d w r u r i h o h f w u r q l f j h d u 1 to 1073741824 6 h w w k h ' h q r p l q d w r u r i g l y l v l r q p x o w l s o l f d w l r q r s h u d w l r q p d g h d f f r u g l q j w r w k h f r p p d q g s x o v h input. ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u note (3) positional command filtering function 7 r p d n h w k h s r v l w l r q d o f r p p d q g g l y l g h g r u p x o w l s o l h g e \ w k h h o h f w u r q l f j h d u v p r r w k v h w w k h f r p p d q g o w h u ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr2.22 positional command v p r r w k l q j o w h u 0 to 10000 0.1ms 6 h w x s w k h w l p h f r q v w d q w r i w k h v w g h o d \ o w h u l q u h v s r q v h w r w k h s r v l w l r q d o command. pr2.23 positional command ) , 5 o w h u 0 to 10000 0.1ms 6 h w x s w k h w l p h f r q v w d q w r i w k h v w g h o d \ o w h u l q u h v s r q v h w r w k h s r v l w l r q d o command. ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 d q g ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-4 1. outline of mode position control mode note (4) pulse regeneration function 7 k h l q i r u p d w l r q r q w k h d p r x q w r i p r y h p h q w f d q e h v h q w w r w k h k r v w f r q w u r o o h u l q w k h i r u p r i $ d q g % s k d v h s x o v h v i u r p w k h v h u y r g u l y h u : k h q w k h r x w s x w v r x u f h l v w k h h q f r g h u = s k d v h v l j q d o l v r x w s x w r q f h s h u p r w r u u h y r o x w l r q r u l i w k h i h h g e d f n v f d o h w k h v l j q d o l v r x w s x w d w d e v r o x w h ] h u r s r v l w l r q 7 k h r x w s x w u h v r o x w l r q % s k d v h o r j l f d q g r x w s x w v r x u f h h q f r g h u r u h [ w h u q d o v f d o h f d q e h v h w z l w k s d u d p h w h u v ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr0.11 output pulse counts per one motor u h y r o x w l r q 1 to 262144 3 u < r x f d q v h w x s w k h r x w s x w s x o v h f r x q w v s h u r q h p r w r u u h y r o x w l r q i r u h d f k 2 $ d q g 2 % z l w k w k h 3 u v h w x s pr0.12 5 h y h u v d o r i s x o v h r x w s x w o r j l f 0 to 3 ? < r x f d q v h w x s w k h % s k d v h o r j l f d q g w k h r x w s x w v r x u f h r i w k h s x o v h r x w s x w : l w k w k l v s d u d p h w h u \ r x f d q u h y h u v h w k h s k d v h u h o d w l r q e h w z h h q w k h $ s k d v h s x o v h d q g w k h % s k d v h s x o v h e \ u h y h u v l q j w k h % s k d v h o r j l f pr5.03 ' h q r p l q d w r u r i s x o v h r x w s x w g l y l v l r q 0 to 262144 ? ) r u d s s o l f d w l r q z k h u h w k h q x p e h u r i s x o v h v s h u u h y r o x w l r q l v q r w d q l q w h j h u w k l v s d u d p h w h u f d q e h v h w w r d y d o x h r w k h u w k d q d q g w k h g l y l g l q j u d w l r f d q e h v h w e \ v h w w l q j q x p h u d w r u r i g l y l v l r q w r 3 u d q g g h q r p l q d w r u r i g l y l v l r q w r 3 u pr5.33 3 x o v h u h j h q h u d w l y h output limit setup 0 to 1 ? ( q d e o h g l v d e o h g h w h f w l r q r i ( u u 3 x o v h u h j h q h u d w l y h o l p l w s u r w h f w l r q pr6.20 = s k d v h v h w x s r i external scale 0 to 400 e v 6 h w x s w k h = s k d v h u h j h q h u d w l y h z l g w k r i i h h g e d f n v f d o h l q x q l w r i w l p h pr6.21 serial absolute h [ w h u q d o v f d o h = s k d v h setup 0 to 268435456 pulse ) x o o f o r v h g f r q w u r o x v l q j v h u l d o d e v r o x w h i h h g e d f n v f d o h : k h q r x w s x w w l q j s x o v h v e \ x v l q j w k h i h h g e d f n v f d o h d v w k h v r x u f h r i w k h r x w s x w v h w w k h = s k d v h r x w s x w l q w h u y d o l q x q l w v r i $ s k d v h r x w s x w s x o v h v r i w k h i h h g e d f n v f d o h e h i r u h p x o w l s o l h g e \ pr6.22 $ % s k d v h h [ w h u q d o scale pulse output p h w k r g v h o h f w l r q 0 to 1 ? 6 h o h f w w k h s x o v h u h j h q h u d w l r q p h w k r g r i $ % d q g = s d u d o o h o i h h g e d f n v f d o h ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 d q g ' h w d l o v r i s d u d p h w h u note ' h y l d w l r q f r x q w h u f o h d u i x q f w l r q 7 k h g h y l d w l r q f r x q w h u f o h d u l q s x w & / f o h d u v w k h f r x q w v r i s r v l w l r q d o g h y l d w l r q f r x q w h u d w w k h s r v l w l r q f r q w u r o w r ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h function pr5.17 counter clear input mode 0 to 4 < r x f d q v h w x s w k h f o h d u l q j f r q g l w l r q v r i w k h f r x q w h u f o h d u l q s x w v l j q d o ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-5 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. outline of mode position control mode note (6) positioning complete output (inp) function 7 k h f r p s o h w l r q r i s r v l w l r q l q j f d q e h y h u l h g e \ w k h s r v l w l r q l q j f r p s o h w h r x w s x w , 1 3 : k h q w k h d e v r o x w h y d o x h r i w k h s r v l w l r q d o g h y l d w l r q f r x q w h u d w w k h s r v l w l r q f r q w u r o l v h t x d o w r r u e h o r z w k h s r v l w l r q l q j f r p s o h w h u d q j h e \ w k h s d u d p h w h u w k h r x w s x w l v 2 1 3 u h v h q f h d q g d e v h q f h r i s r v l w l r q d o f r p p d q g f d q e h v s h f l h g d v r q h r i m x g j p h q w conditions. ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr4.31 3 r v l w l r q l q j f r p s o h w h , q s r v l w l r q u d q j h 0 to 262144 command unit 6 h w x s w k h w l p l q j r i s r v l w l r q d o g h y l d w l r q d w z k l f k w k h s r v l w l r q l q j f r p s o h w h v l j q d o , 1 3 l v r x w s x w pr4.32 3 r v l w l r q l q j f r p s o h w h (in-position) output setup 0 to 3 ? 6 h o h f w w k h f r q g l w l r q w r r x w s x w w k h s r v l w l r q l q j f r p s o h w h v l j q d o , 1 3 pr4.33 , 1 3 k r o g w l p h 0 to 30000 1ms 6 h w x s w k h k r o g w l p h z k h q 3 u 3 r v l w l r q l q j f r p s o h w h r x w s x w v h w x s pr4.42 q g 3 r v l w l r q l q j complete (in-position) u d q j h 0 to 262144 command unit 6 h w x s w k h w l p l q j r i s r v l w l r q d o g h y l d w l r q d w z k l f k w k h s r v l w l r q l q j f r p s o h w h v l j q d o , 1 3 l v r x w s x w ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 d q g ' h w d l o v r i s d u d p h w h u note (7) command pulse inhibition (inh) function 7 k h f r p p d q g s x o v h l q s x w f r x q w l q j s u r f h v v f d q e h i r u f l e o \ w h u p l q d w h g e \ x v l q j w k h f r p p d q g s x o v h l q k l e l w l q s x w v l j q d o , 1 + : k h q , 1 + l q s x w l v 2 1 w k h v h u y r g u l y h u l j - q r u h v w k h f r p p d q g s x o v h g l v d e o l q j s x o v h f r x q w l q j i x q f w l r q 7 k h g h i d x o w v h w w l q j r i w k l v l q k l e l w l r q i x q f w l r q l v g l v d e o h 7 r x v h , 1 + i x q f w l r q f k d q j h w k h v h w w l q j r i 3 u , q y d o l g d w l r q r i f r p p d q g s x o v h s u r k l e l w l r q l q s x w ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h function pr5.18 , q y d o l g d w l r q r i f r p p d q g s x o v h l q k l e l w input 0 to 1 6 h o h f w f r p p d q g s x o v h l q k l e l w l q s x w h q d e o h g l v d e o h pr5.19 & r p p d q g s x o v h l q k l e l w l q s x w u h d g l q j v h w x s 0 to 4 6 h o h f w f r p p d q g s x o v h l q k l e l w l q s x w h q d e o h g l v d e o h v l j q d o u h d g l q j s h u l r g : k h q w k h v w d w x v r i v h y h u d o v l j q d o v u h d g g x u l q j w k h s u h g h w h u p l q h g u h d g l q j s h u l r g d u h v d p h x s g d w h w k h v l j q d o v w d w x v ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-6 3 1. outline of mode connection velocity control mode outline < r x f d q f r q w u r o w k h v s h h g d f f r u g l q j w r w k h d q d o r j v s h h g f r p p d q g i u r p w k h k r v w f r q - w u r o o h u r u w k h v s h h g f r p p d q g v h w l q w k h v h u y r g u l y h u note 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w function note (1) velocity control by analog speed command 7 k h d q d o r j v s h h g f r p p d q g l q s x w y r o w d j h l v f r q y h u w h g w r h t x l y d o h q w g l j l w d o v s h h g f r p p d q g < r x f d q v h w w k h o w h u w r h o l p l q d w h q r l v h r u d g m x v w w k h r i i v h w ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr3.00 6 s h h g v h w x s , q w h u q d o ( [ w h u q d o v z l w f k l q j 0 to 3 ? 7 k l v g u l y h u l v h t x l s s h g z l w k l q w h u q d o v s h h g v h w x s i x q f w l r q v r w k d w \ r x f d q f r q w u r o w k h v s h h g z l w k f r q w d f w l q s x w v r q o \ pr3.01 speed command rotational direction selection 0 to 1 ? 6 h o h f w w k h 3 r v l w l y h 1 h j d w l y h g l u h f w l r q v s h f l i \ l q j p h w k r g pr3.02 , q s x w j d l q r i v s h h g command 10 to 2000 u p l q 9 % d v h g r q w k h y r o w d j h d s s o l h g w r w k h d q d o r j v s h h g f r p p d q g 6 3 5 v h w x s w k h f r q y h u v l r q j d l q w r p r w r u f r p p d q g v s h h g pr3.03 5 h y h u v d o r i v s h h g command input 0 to 1 ? 6 s h f l i \ w k h s r o d u l w \ r i w k h y r o w d j h d s s o l h g w r w k h d q d o r j v s h h g f r p p d q g 6 3 5 pr4.22 $ q d o r j l q s x w $ , offset setup ? w r 5578 0.359mv 6 h w x s w k h r i i v h w f r u u h f w l r q y d o x h d s s o l h g w r w k h y r o w d j h i h g w r w k h d q d o r j l q s x w pr4.23 $ q d o r j l q s x w $ , o w h u 0 to 6400 0.01ms 6 h w x s w k h w l p h f r q v w d q w r i v w g h o d \ o w h u w k d w g h w h u p l q h v w k h o d j w l p h e h k l q g w k h y r o w d j h d s s o l h g w r w k h d q d o r j l q s x w ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 d q g ' h w d l o v r i s d u d p h w h u 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w servo driver host controller velocity control section process of analog speed command input analog speed command (10v) zerospd input at-speed output v-coin output internal speed command settings speed zero clamp (zerospd) function attained speed output speed coincidence output 5 h o d w h g s d j h ? 3 & r q w u r o % o r f n ' l d j u d p ? 3 : l u l q j ' l d j u d p w r w k h f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-7 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. outline of mode velocity control mode note (2) velocity control by internal speed command < r x f d q f r q w u r o w k h v s h h g e \ x v l q j w k h l q w h u q d o v s h h g f r p p d q g v h w w r w k h s d u d p h w h u % \ x v l q j w k h l q w h u q d o v s h h g f r p p d q g v h o h f w l r q v , 1 7 6 3 ' \ r x f d q v h o h f w e h v w d s s u r s u l d w h r q h d p r q j x s w r l q w h u q d o v s h h g f r p p d q g v h w w l q j v ' h i d x o w v h w w l q j x v h v w k h d q d o r j v s h h g f r p p d q g 7 r x v h w k h l q w h u q d o v s h h g f r p p d q g v h o h f w l w w k u r x j k 3 u , q w h u q d o h [ w h u q d o v s h h g v h w x s ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr3.00 6 s h h g v h w x s , q w h u q d o ( [ w h u q d o v z l w f k l q j 0 to 3 ? 7 k l v g u l y h u l v h t x l s s h g z l w k l q w h u q d o v s h h g v h w x s i x q f w l r q v r w k d w \ r x f d q f r q w u r o w k h v s h h g z l w k f r q w d f w l q s x w v r q o \ pr3.01 speed command rotational direction selection 0 to 1 ? 6 h o h f w w k h 3 r v l w l y h 1 h j d w l y h g l u h f w l r q v s h f l i \ l q j p h w k r g pr3.04 1st speed of speed setup ? w r 20000 u p l q 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r v w pr3.05 2nd speed of speed setup 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r q g pr3.06 3rd speed of speed setup 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r u g pr3.07 w k v s h h g r i v s h h g v h w x s 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r w k pr3.08 w k v s h h g r i v s h h g v h w x s 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r w k pr3.09 w k v s h h g r i v s h h g v h w x s 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r w k pr3.10 w k v s h h g r i v s h h g v h w x s 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r w k pr3.11 w k v s h h g r i v s h h g v h w x s 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r w k ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 d q g ' h w d l o v r i s d u d p h w h u note 6 s h h g ] h u r f o d p s = ( 5 2 6 3 ' i x q f w l r q < r x f d q i r u f l e o \ v h w w k h v s h h g f r p p d q g w r e \ x v l q j w k h v s h h g ] h u r f o d p s l q s x w ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr3.15 6 s h h g ] h u r f o d p s function selection 0 to 3 ? < r x f d q v h w x s w k h i x q f w l r q r i w k h v s h h g ] h u r f o d p s l q s x w pr3.16 6 s h h g ] h u r f o d p s o h y h o 0 to 1 u p l q h o h f w w k h w l p l q j d w z k l f k w k h s r v l w l r q f r q w u r o l v d f w l y d w h g d v w k h 3 u 6 s h h g ] h u r f o d p s i x q f w l r q v h o h f w l r q l v v h w w r r u 3. ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u note (4) attained speed output (at-speed) 7 k h v l j q d o $ 7 6 3 ( ( ' l v r x w s x w d v w k h p r w r u u h d f k h v w k h v s h h g v h w w r 3 u $ w w d l q h g v s h h g ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr4.36 $ w v s h h g 6 s h h g d u u l y d o 10 to 20000 u p l q 6 h w w k h g h w h f w l r q w l p l q j r i w k h v s h h g d u u l y d o r x w s x w $ 7 6 3 ( ( ' ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-8 1. outline of mode velocity control mode note (5) speed coincidence output (v-coin) 7 k l v v l j q d o l v r x w s x w z k h q w k h p r w r u v s h h g l v h t x d o w r w k h v s h h g v s h f l i l h g e \ w k h v s h h g f r p p d q g 7 k h p r w r u v s h h g l v m x g j h g w r e h f r l q f l g h q w z l w k w k h v s h f l h g v s h h g z k h q w k h g l i i h u h q f h i u r p w k h v s h h g f r p p d q g e h i r u h d i w h u d f f h o h u d w l r q g h f h o h u d w l r q l v z l w k l q w k h u d q j h v s h f l h g e \ 3 u 6 s h h g f r l q f l g h q w u d q j h ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr4.35 speed coincidence u d q j h 10 to 20000 u p l q 6 h w w k h v s h h g f r l q f l g h q f h 9 & 2 , 1 r x w s x w g h w h f w l r q w l p l q j ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u caution note (6) speed command acceleration/deceleration setting function 7 k l v i x q f w l r q f r q w u r o v w k h v s h h g e \ d g g l q j d f f h o h u d w l r q r u g h f h o h u d w l r q l q v w u x f w l r q l q w k h g u l y h u w r w k h l q s x w v s h h g f r p p d q g 8 v l q j w k l v i x q f w l r q \ r x f d q x v h w k h v r i w v w d u w z k h q l q s x w w l q j v w h s z l v h v s h h g f r p p d q g r u z k h q x v l q j l q w h u q d o v s h h g v h w x s < r x f d q d o v r x v h 6 v k d s h g d f f h o h u d w l r q g h f h o h u d - w l r q i x q f w l r q w r p l q l p l ] h v k r f n g x h w r f k d q j h l q v s h h g ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h unit function pr3.12 $ f f h o h u d w l r q w l p h setup 0 to 10000 p v u p l q 6 h w x s d f f h o h u d w l r q s u r f h v v l q j w l p h l q u h v s r q v h w r w k h v s h h g f r p p d q g l q s x w pr3.13 ' h f h o h u d w l r q w l p h setup 0 to 10000 p v u p l q 6 h w x s g h f h o h u d w l r q s u r f h v v l q j w l p h l q u h v s r q v h w r w k h v s h h g f r p p d q g l q s x w pr3.14 6 l j p r l g d f f h o h u d w l r q deceleration time setup 0 to 1000 ms 6 h w 6 f x u y h w l p h i r u d f f h o h u d w l r q g h f h o h u d w l r q s u r f h v v z k h q w k h v s h h g command is applied. : k h q w k h s r v l w l r q o r r s l v h [ w h u q d o w r w k h g u l y h u g r q r w x v h w k h d f f h o h u d w l r q g h f h o h u d w l r q w l p h v h w w l q j 6 h w w k h v h y d o x h v w r ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 d q g ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-9 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3 1. outline of mode connection torque control mode outline note 7 k h w r u t x h f r q w u r o l v s h u i r u p h g d f f r u g l q j w r w k h w r u t x h f r p p d q g v s h f l h g l q w k h i r u p r i d q d o r j y r o w d j h ) r u f r q w u r o o l q j w k h w r u t x h w k h v s h h g o l p l w l q s x w l v u h t x l u h g l q d g g l w l r q w r w k h w r u t x h f r p p d q g w r p d l q w d l q w k h p r w r u v s h h g z l w k l q w k h v s h h g o l p l w : l w k w k h $ v h u l h v w r u t x h f r q w u r o p r g h v d u h d y d l o d e o h h d f k u h t x l u h v g l i i h u h q w w r u t x h f r p p d q g d q g v s h h g o l p l w d v v k r z q l q w k h w d e o h e h o r z ? 3 u 6 h o h f w l r q r i w r u t x h f r p p d q g setup y d o x h torque command input velocity limit input 0 selection of torque command 1 $ q d o r j l q s x w * 1 $ , e l w u h v r o x w l r q 3 d u d p h w h u y d o x h (pr3.21) 1 selection of torque command 2 $ q d o r j l q s x w $ , e l w u h v r o x w l r q $ q d o r j l q s x w $ , e l w u h v r o x w l r q 2 selection of torque command 3 $ q d o r j l q s x w * 1 $ , e l w u h v r o x w l r q 3 d u d p h w h u y d o x h 3 u 3 u * 1 ) r u 3 u & r q w u r o p r g h v h w x s y h o r f l w \ w r u t x h f r q w u r o w k h w r u t x h f r p p d q g l q s x w l v w k h d q d o r j l q s x w $ , e l w u h v r o x w l r q ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 ' h w d l o v r i s d u d p h w h u 3-10 1. outline of mode torque control mode function note (1) process of analog torque command input 7 k l v s u r f h v v f r q y h u w v w k h d q d o r j w r u t x h f r p p d q g l q s x w y r o w d j h w r w k h h t x l y d o h q w g l j l w d o w r u t x h f r p p d q g k d y l q j w k h v d p h h i i h f w < r x f d q v h w w k h o w h u r u d g m x v w w k h r i i - set to eliminate noise. ? 5 h o h y d q w s d u d p h w h u v 3-11 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. outline of mode torque control mode caution note (2) speed limit function 7 k h v s h h g o l p l w l v r q h r i s u r w h f w l y h i x q f w l r q v x v h g g x u l q j w r u t x h f r q w u r o 7 k l v i x q f w l r q u h j x o d w h v w k h p r w r u v s h h g v r w k d w l w g r h v q r w h [ f h h g w k h v s h h g o l p l w z k l o h w k h w r u t x h l v f r q w u r o o h g : k l o h w k h v s h h g o l p l w l v x v h g w r f r q w u r o w k h p r w r u w k h w r u t x h f r p p d q g d s s o l h g w r w k h p r w r u l v q r w g l u h f w o \ s u r s r u w l r q d o w r w k h d q d o r j w r u t x h f r p p d q g 7 r u t x h f r p p d q g v k r x o g k d y h w k h i r o o r z l q j u h v x o w w k h p r w r u v s h h g l v h t x d o w r w k h v s h h g o l p l w ? 5 h o h y d q w s d u d p h w h u v 3-12 cautions on full-closed control ( q w h u w k h f r p p d q g s x o v h v p d n l q j w k h h [ w h u q d o v f d o h d v d u h i h u h q f h , i w k h f r p p d q g s x o v h v g r q r w p d w f k w r w k h h [ w h u q d o v f d o h s x o v h v x v h w k h f r p p d q g g l y l v l r q p x o w l s o l f d w l r q i x q f w l r q 3 u w r 3 u d q g v h w x s v r w k d w w k h f r p p d q g s x o v h v d i w h u g l y l v l r q p x o w l s o l f d w l r q l v e d v h g r q w k h h [ w h u q d o v f d o h u h i h u h q f h 7 k h $ v h u l h v v x s s r u w v w k h h [ w h u q d o v f d o h r i $ d q g % s k d v h r x w s x w w \ s h d q g v h u l d o f r p p x q l f d - w l r q w \ s h , q l w l d o l ] h w k h s d u d p h w h u v d f f r u g l q j w r w k h i r o o r z l q j s u r f h g x u h v d q g z u l w h w r ( ( 3 5 2 0 d q g w x u q r q s r z h u : k h q x v l q j d v f d o h r i $ d q g % s k d v h r x w s x w w \ s h f r u u h f w o \ f r q q h f w l w v r w k d w w k h u r w d w l q j g l - u h f w l r q r i w k h p r w r u & : & & : d q g $ s k d v h d q g % s k d v h r i w k h h [ w h u q d o v f d o h k d y h w k h i r o o r z - l q j u h o d w l r q v k l s ccw direction t1 t1 t2 t1 t1 exa t1 ? e vyt2 ? e v exb t1 ? e vyt2 ? e v t1 t1 t2 t1 t1 exa exb cw direction outline , q w k l v i x o o f o r v h g f r q w u r o \ r x f d q p d n h d s r v l w l r q f r q w u r o e \ x v l q j d h [ w h u q d o v f d o h p r x q w h g h [ w h u q d o o \ z k l f k g h w h f w v w k h s r v l w l r q g l u h f w o \ d q g i h h g v l w e d f n : l w k w k l v f r q w u r o \ r x f d q f r q w u r o z l w k r x w e h l q j d i i h f w h g e \ w k h s r v l w l r q d o y d u l d w l r q g x h w r w k h e d o o v f u h z h u u r u r u w h p s h u d w x u h d q g \ r x f d q h [ s h f w w r d f k l h y h d y h u \ k l j k s u h f l v l r q s r v l w l r q l q j l q sub-micron order. controller position command (speed detection) position detection external scale we recommend the external scale division ratio of ? external v f d o h g l y l v l r q u d w l r ? 3 1. outline of mode connection full-closed control mode 3-13 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. outline of mode full-closed control mode 6 h w x s d s s u r s u l d w h y d o x h r i k \ e u l g g h y l d w l r q h [ f h v v 3 u l q f r p p d q g x q l w l q r u g h u w r d y r l g w k h g d p d j h w r w k h p d f k l q h $ v h u l h v g u l y h u f d o f x o d w h v w k h g l i i h u h q f h e h w z h h q w k h h q f r g h u s r v l w l r q d q g w k h h [ w h u q d o v f d o h s r v l w l r q d v k \ e u l g g h y l d w l r q d q g l v x v h g w r s u h y h q w w k h p d f k l q h u x q d z d \ r u g d p d j h l q f d v h r i w k h h [ w h u q d o v f d o h e u h d n g r z q r u z k h q w k h p r w r u d q g w k h o r d g l v g l v f r q q h f w h g , i w k h k \ e u l g g h y l d w l r q h [ f h v v u d q j h l v w r r z l g h g h w h f w l r q r i w k h e u h d n g r z q r u w k h g l v f r q q h f w l r q z l o o e h g h o d \ h g d q g h u u r u g h w h f w l r q h i i h f w z l o o e h o r v w , i w k l v l v w r r q d u u r z l w p d \ g h w h f w w k h q r u p d o g l v w r u w l r q e h w z h h q w k h p r w r u d q g w k h p d f k l q h x q g h u q r u p d o r s h u d w l r q d v d q h u u r u : k h q w k h h [ w h u q d o v f d o h g l y l v l r q u d w l r q l v q r w f r u u h f w k \ e u l g g h y l d w l r q h [ f h v v h u u r u ( u u p d \ r f f x u h v s h f l d o o \ z k h q w k h z r u n w u d y h o v o r q j g l v w d q f h h y h q w k r x j k w k h h [ w h u q d o v f d o h d q g w k h p r w r u s r v l w l r q p d w f k h v , q w k l v f d v h z l g h q w k h k \ e u l g g h y l d w l r q h [ f h v v u d q j h e \ p d w f k l q j w k h h [ w h u q d o v f d o h g l y l v l r q u d - w l r w r w k h f o r v h v w y d o x h function note (1) selection of external scale type 6 h o h f w w k h w \ s h r i h [ w h u q d o v f d o h w r e h x v h g ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h function pr3.23 external scale selection 0 to 2 6 h o h f w w k h w \ s h r i h [ w h u q d o v f d o h pr3.26 5 h y h u v d o r i g l u h f w l r q r i external scale 0 to 1 5 h y h u v h w k h g l u h f w l r q r i h [ w h u q d o v f d o h i h h g e d f n counter. ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 and 31 ' h w d l o v r i s d u d p h w h u note 6 h w x s r i h [ w h u q d o v f d o h g l y l v l r q u d w l r 6 h w x s w k h g l y l v l r q u d w l r r i h q f r g h u u h v r o x w l r q d q g h [ w h u q d o v f d o h u h v r o x w l r q ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h function pr3.24 1 x p h u d w r u r i h [ w h u q d o v f d o h g l y l v l r q 0 to 2 20 6 h w x s w k h q x p h u d w r u r i w k h h [ w h u q d o v f d o h g l y l g l q j setup. pr3.25 ' h q r p l q d w r u r i h [ w h u q d o v f d o h g l y l v l r q 1 to 2 20 6 h w x s w k h ' h q r p l q d w r u r i w k h h [ w h u q d o v f d o h g l y l g l q j v h w x s ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 31 ' h w d l o v r i s d u d p h w h u note 6 h w x s r i k \ e u l g h [ f h v v l y h g h y l d w l r q 7 k l v i x q f w l r q g h w h f w v w k h s r v l w l r q d o g l i i h u h q f h e h w z h h q w k h p r w r u h q f r g h u d q g o r d g h [ w h u q d o v f d o h d q g h q d e o h v w k h k \ e u l g h [ f h v v l y h g h y l d w l r q s u r w h f w l r q l i w k h g l i i h u h q f h h [ f h h g v 3 u + \ e u l g h [ f h v v l y h g h y l d w l r q v h w x s + \ e u l g h [ f h v v l y h g h y l d w l r q l v p d l q o \ f d x v h g e \ i h h g e d f n v f d o h h u u r u z u r q j f r q q h f w l r q d q g o r r v h f r q q h f w l r q e h w z h h q w k h p r w r u d q g o r d g ? 5 h o h y d q w s d u d p h w h u v parameter no. title 5 d q j h function pr3.28 + \ e u l g g h y l d w l r q excess setup 1 to 2 27 < r x f d q v h w x s w k h s h u p l v v l e o h j d s k \ e u l g g h y l d w l r q e h w z h h q w k h s u h v h q w p r w r u s r v l w l r q d q g w k h s u h v h q w external scale position. pr3.29 + \ e u l g g h y l d w l r q f o h d u setup 0 to 100 $ v w k h p r w r u w x u q v w k h q x p e h u r i u h y r o x w l r q v v h w e \ w k l v s d u d p h w h u w k h k \ e u l g g h y l d w l r q l v f o h d u h g w r ) r u g h w d l o v r i w k h v h s d u d p h w h u v u h i h u w r 3 32 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-14 3 2. control block diagram connection position control mode pulse train puls sign input setup sum of command pulses [command unit] input selection direction setup mode notch filter 1st frequency depth 2nd width 3rd 4th adaptive mode setup velocity control 1st propor- tion integra- tion 2nd inertia ratio function expansion 2nd inertia ratio damping control 1st switching selection frequency filter 2nd 3rd 4th smoothing filter electric gear one revolu- tion 1st numerator denominator gain switching 2nd setup mode delay time level hysteresis switching time 3rd setup scale factor 2nd numerator 3rd numerator ' * 3 primary delay motor load main power supply encoder velocity feed forward gain filter to r q u e feed forward gain filter position control 1st 2nd current control speed detection response setup torque filter 1st 2nd disturbance observer gain filter speed detection filter 1st 2nd instantaneous speed torque limit selection 1st 2nd pulse regeneration pulses output oa ob oz numerator/ denominator one revolution reversal denomi- nator 4th numerator command positional deviation [command unit] encoder positional deviation [encoder pulse] velocity control command [r/min] torque command <? > sum of feedback pulses [encoder pulse] motor speed [r/min] inversion of electric gear friction compensation additional value positive direction negative direction positional command speed [r/min] internal positional command speed [r/min] 5 h o d w h g s d j h ? 3 : l u l q j h [ d p s o h r i s r v l w l r q f r q w u r o p r g h ? 3 & r q q h f w l q j h [ d p s o h w r k r v w f r q w u r o o h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 / l v w r i 3 d u d p h w h u v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-15 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3 2. control block diagram connection velocity control mode analog input analog input 1 16bit a/d ai1 al1 input voltage [ + ] velocity control command [r/min] offset filter scaling gain reversal gain switching internal velocity setup 1st 2nd 3rd 4th 7th 8th 5th 6th velocity command selection current control velocity detection friction compensation acceleration/ deceleration limit accelera- tion decelera- tion internal/external switching direction selection sigmoid sum of feedback pulses [encoder pulse] motor speed [r/min] 2nd setup mode delay time level hysteresis additional value to r q u e feed forward gain filter notch filter 1st frequency depth 2nd width 3rd 4th adaptive mode setup main power supply torque filter 1st 2nd disturbance observer gain filter torque limit selection 1st 2nd torque command <? > motor load encoder response setup pulse regeneration pulses output oa ob oz numerator/ denominator one revolution reversal denomi- nator velocity detection filter 1st 2nd instantaneous speed velocity control 1st 2nd inertia ratio 2nd inertia ratio propor- tion integra- tion function expansion note 5 h o d w h g s d j h 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w ? 3 : l u l q j h [ d p s o h r i y h o r f l w \ f r q w u r o p r g h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-16 3 2. control block diagram connection torque control mode gain switching 2nd setup mode delay time level hysteresis analog input analog input 2 12bit a/d ai2 analog input 1 16bit a/d ai1 al2 input voltage [ + ] analog input offset filter scaling motor load encoder scaling torque command gain reversal scaling speed limit gain reversal speed detection torque command selection speed limit [r/min] al1 input voltage [ + ] sum of feedback pulses [encoder pulse] motor speed [r/min] internal speed limit limit value 1 limit value 2 speed limit selection command selection sign absolute value offset filter gain reversal current control main power supply torque limit selection 1st 2nd torque command <? > response setup pulse regeneration pulses output oa ob oz numerator/ denominator one revolution reversal denomi- nator velocity detection filter 1st 2nd instantaneous speed velocity control 1st 2nd inertia ratio 2nd inertia ratio notch filter 1st frequency width 2nd depth 3rd 4th torque filter 1st 2nd internal/external switching direction selection propor- tion integra- tion function expansion note 5 h o d w h g s d j h 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w ? 3 : l u l q j h [ d p s o h r i w r u t x h f r q w u r o p r g h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-17 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3 2. control block diagram connection full-closed control mode external scale pulse regeneration numera- tor denomi- nator reversal z-phase width z-phase setup output method external scale dividing motor external scale encoder speed detection input setup type reversal / -phase invalid positional command speed [r/min] internal positional command speed [r/min] hybrid deviation [command unit] external scale reverse dividing numera- tor denomi- nator external scale pulse output exa exb exz torque command <? > current control response setup velocity control command [r/min] motor speed [r/min] inversion of electric gear inversion of electric gear pulse train puls sign input setup input selection direction setup mode electric gear one revolu- tion 1st numerator denominator 2nd numerator 3rd numerator 4th numerator damping control 1st switching selection frequency filter 2nd 3rd 4th smoothing filter gain switching 2nd setup mode delay time level hysteresis switching time 3rd setup scale factor ' * 3 primary delay friction compensation additional value positive direction negative direction torque feed forward gain filter velocity feed forward gain filter 1st 2nd inertia ratio 2nd inertia ratio speed detection filter 1st 2nd instantaneous speed pulse regeneration encoder feedback pulses output oa ob oz numerator/ denominator one revolution reversal denomi- nator main power supply torque filter 1st 2nd disturbance observer gain filter torque limit selection 1st 2nd notch filter 1st frequency width 2nd depth 3rd 4th adaptive mode setup position control 1st 2nd sum of command pulses [command unit] command positional deviation [command unit] sum of feedback pulses [external scale pulse] full-closed deviation [external scale pulse] numera- tor denomi- nator velocity control propor- tion integra- tion function expansion note 5 h o d w h g s d j h 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w ? 3 : l u l q j h [ d p s o h r i i x o o f o r v h f r q w u r o p r g h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-18 3 3. wiring diagram to the connector, x4 connection example of control mode specific wiring 2.2kw 2.2kw 2.2kw 2.2kw 14 15 16 17 43 18 42 in case of open collector i/f 7 com+ puls2 sign1 sign2 gnd oa+ oa - ob+ ob - oz+ oz - gnd cz spr/trqr/spl gnd p-atl/trqr gnd n-atl sp im 4 3 1 2 5 6 13 21 22 48 24 25 19 49 23 1kw 1kw puls1 opc2 opc1 inh cl srv-on gain div1 vs-sel1 c-mode a-clr pot not s-rdy + s-rdy - alm+ inp+ brkoff + brkoff - tlc v dc 12 to 24v zsp com - signh1 signh2 pulsh1 pulsh2 gnd fg inp - alm - 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 13 50 26 z-phase output (open collector) 3 puls1 4 puls2 x4 46 47 14k w 10k w 20k w 20k w 14k w 10k w 20k w 20k w 47k w 47k w 47k w 47k w 20k w 20k w + C + C C 20k w 2kw 2kw 20kw 120w 20k w 2kw 2kw 20kw 120w 220 w v dc r 5 sign1 6 sign2 220 w r 1 opc1 4 puls2 220w 24v dc 2 opc1 6 sign2 220w 2.2kw 2.2kw (1) when you use the external resistor with 12v and 24v power supply (2) when you do not use the external resistor with 24v power supply positive direction torque limit input (0 to +10v) negative direction torque limit input ( - 10 to +10v) velocity monitor output torque monitor output command pulse input a (use with 500 kpps or less.) divider a-phase output b-phase output z-phase output command pulse input b (use with 4mpps or less.) be sure to connect. v dc 12v 24v specifications of r 1kw1/2w 2kw1/2w v dc - 1.5 r + 220 =10ma . . servo-on input gain switching input electronic gear switching input 1 control mode switching input damping control switching input 1 alarm clear input positive direction over-travel inhibition input negative direction over-travel inhibition input servo-ready output servo-alarm output positioning complete output external brake release output torque in-limit output zero speed detection output deviation counter clear input command pulse inhibition input ( : twisted pair) 4.7kw 220w 2.2kw 2.2kw 220w 2.2kw 2.2kw 7 com+ oa+ oa - ob+ ob - oz+ oz - gnd cz spr/trqr/spl gnd p-atl/trqr gnd n-atl sp im 21 22 48 24 25 19 49 23 1kw 1kw intspd1 intspd2 srv-on gain intspd3 zerospd c-mode a-clr pot not s-rdy+ s-rdy - alm+ brkoff + brkoff - tlc v dc 12 to 24v zsp com - fg alm - 33 30 29 27 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 50 28 14 15 16 17 18 43 42 26 14k w 10k w 20kw 20k w 14k w 10k w 20kw 20k w 47kw 47kw 47k w 47k w 20kw 20kw x4 a-phase output b-phase output z-phase output z-phase output (open collector) velocity command input (0 to 10v) positive direction torque limit input (0 to 10v) negative direction torque limit input (-10 to 0v) velocity monitor output torque monitor output servo-on input gain switching input alarm clear input speed zero clamp input selection 1 input of internal command speed selection 2 input of internal command speed selection 3 input of internal command speed control mode switching input positive direction over-travel inhibition input negative direction over-travel inhibition input servo-ready output servo alarm output at-speed output torque in-limit output zero speed detection output divider + C + C + C at-speed + at-speed - ( : twisted pair) 4.7kw external brake release output wiring example of position control mode wiring example of velocity control mode note ? 7 k h i x q f w l r q v r i w k h i r o o r z l q j s l q f d q e h f k d q j h g x v l q j s d u d p h w h u v 5 h i h u w r 3 , q s x w 3 r v l w l r q 2 x w s x w , q s x w 9 h o r f l w \ 2 x w s x w 3 l q v l q w k h j x u h d e r y h u h s u h v h q w g h i d x o w s d u d p h w h u y d o x h v ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-19 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement wiring example of torque control mode wiring example of full-closed control mode 2.2kw 2.2kw 2.2kw 2.2kw 14 15 16 17 43 18 42 in case of open collector i/f 7 com+ puls2 sign1 sign2 gnd oa+ oa - ob+ ob - oz+ oz - gnd cz spr/trqr/spl gnd p-atl/trqr gnd n-atl sp im 4 3 1 2 5 6 13 21 22 48 24 25 19 49 23 1kw 1kw puls1 opc2 opc1 inh cl srv-on gain div1 vs-sel1 c-mode a-clr pot not s-rdy + s-rdy - alm+ inp+ brkoff + brkoff - tlc v dc 12 to 24v zsp com - signh1 signh2 pulsh1 pulsh2 gnd fg inp - alm - 33 30 29 27 28 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 44 45 13 50 26 z-phase output (open collector) 3 puls1 4 puls2 x4 46 47 14k w 10k w 20k w 20k w 14k w 10k w 20k w 20k w 47k w 47k w 47k w 47k w 20k w 20k w + C + C C 20k w 2kw 2kw 20kw 120 w 20k w 2kw 2kw 20kw 120 w 220w v dc r 5 sign1 6 sign2 220w r 1 opc1 4 puls2 220 w 24v dc 2 opc1 6 sign2 220 w 2.2kw 2.2kw (1) when you use the external resistor with 12v and 24v power supply (2) when you do not use the external resistor with 24v power supply positive direction torque limit input (0 to +10v) negative direction torque limit input ( - 10 to +10v) velocity monitor output torque monitor output command pulse input a (use with 500 kpps or less.) divider a-phase output b-phase output z-phase output command pulse input b (use with 4mpps or less.) be sure to connect. v dc 12v 24v specifications of r 1kw1/2w 2kw1/2w v dc - 1.5 r + 220 =10ma . . servo-on input gain switching input electronic gear switching input 1 control mode switching input damping control switching input 1 alarm clear input positive direction over-travel inhibition input negative direction over-travel inhibition input servo-ready output servo-alarm output positioning complete output external brake release output torque in-limit output zero speed detection output deviation counter clear input command pulse inhibition input ( : twisted pair) 4.7kw 220 w 2.2kw 2.2kw 220 w 2.2kw 2.2kw 7 com+ oa+ oa - ob+ ob - oz+ oz - gnd cz spr/trqr/spl gnd p-atl/trqr gnd n-atl sp im 21 22 48 24 25 19 14 15 16 17 43 18 42 49 23 14kw 10k w 20kw 20kw 14kw 10k w 20kw 20kw 47kw 47kw 47kw 47k w 20kw 20kw 1kw 1kw inh cl srv-on gain div1 zerospd c-mode a-clr pot not s-rdy+ s-rdy - alm+ at-speed + brkoff + brkoff - tlc v dc 12 to 24v zsp com - fg at-speed - alm - 33 30 29 27 28 26 32 31 9 8 35 34 37 36 39 38 11 10 40 12 41 50 z-phase output (open collector) x4 divider a-phase output b-phase output z-phase output torque command input or velocity limit input (0 to 10v) velocity monitor output torque monitor output wiring example when control mode pr0.01=5 or pr3.17=1 ccwtl/trqr gnd 16 17 negative direction torque limit input (0 to 10v) select with pr3.17. + C + C + C servo-on input gain switching input alarm clear input servo-ready output servo-alarm output at-speed output external brake release output torque in-limit output zero speed detection output speed zero clamp input control mode switching input positive direction over-travel inhibition input negative direction over-travel inhibition input ( : twisted pair) 4.7kw 3. wiring diagram to the connector, x4 example of control mode specific wiring note ? 7 k h i x q f w l r q v r i w k h i r o o r z l q j s l q f d q e h f k d q j h g x v l q j s d u d p h w h u v 5 h i h u w r 3 , q s x w 7 r u t x h 2 x w s x w , q s x w ) x o o f o r v h g 2 x w s x w 3 l q v l q w k h j x u h d e r y h u h s u h v h q w g h i d x o w s d u d p h w h u y d o x h v ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-20 3 3. wiring diagram to the connector, x4 connection connecting example to host controller connection between minas a5 and fp2-pp22 afp2434 (panasonic electric works) note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; a5-series ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . 7 % $ ( / % fp2-pp22 afp2434 (panasonic electric works) from plc i/o output to plc i/o input " # " # " # " # # " " # " # cw limit sensor origin proximity sensor ccw limit sensor l l gnd + 24v dc24v power supply command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input driver plc cw pulse command output ccw pulse command output origin input deviation counter reset output external power supply input origin proximity input limit excess limit excess * process of shield wire varies with equipment. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-21 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3. wiring diagram to the connector, x4 connecting example to host controller note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; connection between minas a5 and fpg-pp12 afpg432 (panasonic electric works) to plc i/o input counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output gain switching input cw pulse command output ccw pulse command output origin input deviation counter reset output external power supply input origin proximity input from plc i/o output to plc i/o input gnd + 24v dc24v power supply cw limit sensor origin proximity sensor ccw limit sensor a5-series fpg-pp12 afpg432 (panasonic electric works) driver plc command pulse input 2 command sign input 2 * process of shield wire varies with equipment. ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . l ' ( ' ( 7 % $ ( / % " # " # " # " # # " " # " # phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-22 3. wiring diagram to the connector, x4 connecting example to host controller connection between minas a5 and fp2-pp22 afp2434 (panasonic electric works) note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input a5-series fp2-pp2 afp2430 (panasonic electric works) to plc i/o input cw limit sensor origin proximity sensor ccw limit sensor from plc i/o output to plc i/o input gnd + 24v dc24v power supply driver plc cw pulse command output ccw pulse command output origin input deviation counter reset output external power supply input origin proximity input * process of shield wire varies with equipment. ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . ' ( ' ( 7 % $ ( / % " # " # " # " # # " " # " # phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-23 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3. wiring diagram to the connector, x4 connecting example to host controller note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; connection between minas a5 and fpg-c32t (panasonic electric works) a5-series fpg-c32t (panasonic electric works) from plc i/o output to plc i/o input gnd + 24v dc24v power supply command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input driver plc ccw limit sensor origin proximity sensor cw limit sensor cw pulse command output ccw pulse command output origin input deviation counter reset output origin proximity input ccw limit excess input cw limit excess input * process of shield wire varies with equipment. : : 9 $ 0 . : $ 0 . 9 9 9 l l l l l l ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / $ ; ( / % ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-24 3. wiring diagram to the connector, x4 connecting example to host controller connection between minas a5 and f3yp14-on/f3yp18-on (yokogawa electric corp.) note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input from plc i/o output to plc i/o input ccw limit sensor origin proximity sensor cw limit sensor a5-series f3yp14-on/f3yp18-on (yokogawa electric corp.) driver plc cw pulse command output ccw pulse command output origin line driver input deviation counter reset output 5v power supply for pulse output origin proximity input cw limit input ccw limit input * process of shield wire varies with equipment. b b b b b b b b c b b b b b 7 ( / % ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . l l l gnd + 24v dc24v power supply gnd + 5v dc5v power supply phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-25 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3. wiring diagram to the connector, x4 connecting example to host controller note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; connection between minas a5 and f3nc32-on/f3nc34-on (yokogawa electric corp.) a5-series f3nc32-on/f3nc34-on (yokogawa electric corp.) from plc i/o output to plc i/o input gnd + 24v dc24v power supply command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input driver plc ccw limit sensor origin proximity sensor cw limit sensor pulse output a pulse output b origin input deviation counter reset output contact point input com external power supply 24vdc input external power supply 24vdc input (gnd) negative direction limit input positive direction limit input encoder z-phase output + encoder z-phase output C * process of shield wire varies with equipment. ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . b b b b b b b b c b b b b l l l phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-26 3. wiring diagram to the connector, x4 connecting example to host controller connection between minas a5 and cj1w-nc113 (omron corp.) note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; a5-series cj1w-nc113 (omron corp.) from plc i/o output to plc i/o input gnd + 24v dc24v power supply command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input driver plc ccw limit sensor origin proximity sensor cw limit sensor cw pulse command output ccw pulse command output origin line driver input power supply for output deviation counter reset output emergency stop input origin proximity input ccw limit excess input cw limit excess input * process of shield wire varies with equipment. ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . " " " " " " " " " " " " l l l l 7 ( / % l l phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-27 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 3. wiring diagram to the connector, x4 connecting example to host controller note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; connection between minas a5 and cj1w-nc133 (omron corp.) a5-series cj1w-nc133 (omron corp.) driver plc a5-series cj1w-nc113 (omron corp.) from plc i/o output to plc i/o input command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input driver plc gnd + 24v dc24v power supply gnd + 5v dc5v power supply ccw limit sensor origin proximity sensor cw limit sensor cw pulse command output ccw pulse command output origin line driver input deviation counter reset output 24v power supply for output emergency stop input origin proximity input ccw limit over input cw limit over input 5v power supply for pulse output * process of shield wire varies with equipment. ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . " " " " " " " " " " " " " " " " 7 ( / % 7 ( / % l l l l phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-28 connection between minas a5 and qd75d1 (mitsubishi electric corp.) note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; * process of shield wire varies with equipment. a5-series qd75d1 (mitsubishi electric corp.) from plc i/o output to plc i/o input gnd + 24v dc24v power supply command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input driver plc cw limit sensor origin proximity sensor ccw limit sensor cw pulse command output ccw pulse command output zero point signal deviation counter clear common proximity signal upper limit lower limit drive unit ready ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . l l l l 3. wiring diagram to the connector, x4 connecting example to host controller phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-29 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note 5 h o d w h g s d j h u h s u h v h q w v w z l v w h g s d l u z l u h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; connection between minas a5 and kv-5000/3000 (keyence corp.) origin sensor input x axis limit switch cw x axis limit switch ccw x axis cw x sxis deviation counter clear x axis ccw a5-series kv-5000/3000 (keyence corp.) from plc i/o output to plc i/o input gnd + 24v dc24v power supply command pulse input 2 counter clear input servo-on input servo-ready output servo-alarm output positioning complete output alarm clear input inhibit negative direction travel input inhibit positive direction travel input z-phase output command sign input 2 gain switching input driver plc cw limit sensor origin proximity sensor ccw limit sensor * process of shield wire varies with equipment. ' ( 1 6 - 4 1 6 - 4 4 * ( / 4 * ( / 0 ; 0 ; ( / % $ 0 . $ - 4 3 7 0 / ( " * / " $ - 3 1 0 5 / 0 5 4 3 % : 4 3 % : " - . " - . * / 1 * / 1 $ 0 . l l l l l l 3. wiring diagram to the connector, x4 connecting example to host controller phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-30 3 4. inputs and outputs on connector x4 connection interface circuit (input) input circuit si connection to sequence input signals related control mode pstf note ? & r q q h f w w r f r q w d f w v r i v z l w f k h v d q g u h o d \ v r u r s h q f r o o h f w r u r x w s x w w u d q v l v w r u v ? : k h q \ r x x v h f r q w d f w l q s x w v x v h w k h v z l w f k h v d q g u h o d \ v i r u p l f u r f x u u h q w w r d y r l g f r q w d f w failure. ? 0 d n h w k h o r z h u o l p l w y r o w d j h r i w k h s r z h u v x s s o \ w r 9 d v 9 r u p r u h l q r u g h u w r v h f x u h w k h s u l p d u \ f x u u h q w i r u s k r w r f r x s o h u v 12 to 24v com+4.7k 1 srv-on etc. relay com+4.7k 1 relay srv-on etc. ? v \ v w h p v 6 , w r 6 , ) r u d v v l j q d q g i x q f w l r q u h i h u w r 3 w r 3 5 h o d w h g s d j h p.3-50 pi1 connection to sequence input signals (pulse train interface) related control mode p st f / l q h g u l y h u , ) 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ r i f r p p d q g s x o v h l q s x w v l j q d o n s s v ? 7 k l v v l j q d o w u d q v p l v v l r q p h w k r g k d v e h w w h u q r l v h l p p x q l w \ : h u h f r p p h q g w k l v w r v h f x u h w k h v l j q d o w u d q v p l v v l r q 2 s h q f r o o h f w r u , ) 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ r i f r p p d q g s x o v h l q s x w v l j q d o n s s v ? 7 k h p h w k r g z k l f k x v h v d q h [ w h u q d o f r q w u r o v l j q d o s r z h u v x s s o \ 9 ' & ? & x u u h q w u h j x o d w l q j u h v l v w r u 5 f r u u h v s r q g l q j w r 9 ' & is u h t x l u h g l q w k l v f d v h ? & r q q h f w w k h v s h f l h g u h v l v w h u d v e h o r z ? 5 v k r x o g e h s o d f h g f o r v h w r w k h g u l y h u i r u h i i h f w l y h q r l v h u h g x f w l r q v dc 12v 24v specifications 1k 11/2w 2k 11/2w v dc C1.5 r+220 . = . 10ma 2 s h q f r o o h f w r u , ) 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ r i f r p p d q g s x o v h l q s x w v l j q d o n s s v ? & r q q h f w l q j g l d j u d p z k h q d f x u u h q w u h j x o d w l q j u h v l v w r u l v q r w x v h g z l w k 9 s r z h u v x s s o \ (1) (2) (3) 3 puls1 4 puls2 220 w v dc r 5 sign1 6 sign2 220 w 2.2kw 2.2kw r 1 opc1 4 puls2 220 w 24v dc 2 opc1 6 sign2 220 w 2.2kw 2.2kw 2.2kw 2.2kw 1 puls1 4 puls2 220 w 2 sign1 6 sign2 220 w 2.2kw 2.2kw 2.2kw 2.2kw 13 13 13 * keep the length of wiring short (1 m or less). 0 d [ l q s x w y r o w d j h ' & 9 5 d w h g f x u u h q w p $ u h s u h v h q w v w z l v w h g s d l u ? v \ v w h p 3 , ) r u i x q f w l r q u h i h u w r 3 3 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-31 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement pi2 connection to sequence input signals 3 x o v h w u d l q l q w h u i d f h h [ f o x v l y h w r o l q h g u l y h u related control mode p st f / l q h g u l y h u , ) 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ r i f r p p d q g s x o v h l q s x w v l j q d o 0 s s v ? 7 k l v v l j q d o w u d q v p l v v l r q p h w k r g k d v e h w w h u q r l v h l p p x q l w \ : h u h f r p p h q g w k l v w r v h f x u h w k h v l j q d o w u d q v p l v v l r q z k h q o l q h g u l y h u , ) l v x v h g ? v \ v w h p 3 , ) r u i x q f w l r q u h i h u w r 3 3 ai analog command input related control mode pstf ? , w j r h v w k u r x j k v \ v w h p v $ , w r $ , ? 0 d [ s h u p l v v l e o h l q s x w y r o w d j h w r h d f k l q s x w l v ? 9 ) r u l q s x w l p s h g d q f h r i h d f k l q s x w u h i h u w r w k h u l j k w ) l j ? : k h q \ r x f r p s r v h d v l p s o h f r p p d q g f l u f x l w x v l q j y d u l d e o h u h v l v w r u 9 5 d q g u h j l v w h u 5 f r q q h f w d v w k h u l j k w ) l j v k r z v : k h q w k h y d u l d e o h u d q j h r i h d f k l q s x w l v p d g h d v 2 9 w r 9 x v h 9 5 z l w k n : % f k d u d f w h u l v w l f v : r u o d u j h u 5 z l w k : : r u o d u j h u ? $ ' f r q y h u w h u u h v r o x w l r q r i h d f k f r p p d q g l q s x w l v d v i r o o r z v $ ' & e l w $ , $ ' & e l w $ , $ , ? ) r u i x q f w l r q u h i h u w r 3 3 u h s u h v h q w v w z l v w h g s d l u 44 45 13 46 47 20k w 2kw 2kw 20k w 120 w puls sign 20k w 2kw 2kw 20k w 120 w 4. inputs and outputs on connector x4 interface circuit (input) note 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w 12v spr ai3 p-atl n-atl r 14 15 16 17 18 r vr C12v 14k w 10k w 20k w 20k w ? 14k w 10k w 20k w 20k w ? 47kw 47kw 47k w 47k w 20kw 20kw ? ai2 ai1 u h s u h v h q w v w z l v w h g s d l u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-32 3 4. inputs and outputs on connector x4 connection interface circuit (output) output circuit so sequence output circuit related control mode pstf note ? 7 k h r x w s x w f l u f x l w l v f r p s r v h g r i r s h q f r o o h f w r u w u d q v l v w r u r x w s x w v l q w k h ' d u o l q j w r q f r q q h f w l r q d q g f r q q h f w w r u h o d \ v r u s k r w r f r x s o h u v ? 7 k h u h h [ l v w v f r o o h f w r u w r h p l w w h u y r o w d j h 9 ce 6 $ 7 r i d s s u r [ 9 d w w u d q v l v w r u 2 1 g x h w r w k h ' d u o l q j w r q f r q q h f w l r q r i w k h r x w s x w r u 1 r w h w k d w q r u p d o 7 7 / , & f d q q r w e h g l u h f w o \ f r q q h f w h g v l q f h l w g r h v q r w p h h w 9 , / ? 7 k h u h d u h w z r w \ s h v r i r x w s x w r q h v \ v w h p v r i 6 2 6 2 z k l f k h p l w w h u v l g h r i w k h r x w s x w w u d q v l v w r u l v l q g h s h q g h q w d q g l v f r q q h f w d e o h l q g l y l g x d o o \ d q g w k h r q h v \ v w h p v r i 6 , w r 6 , z k l f k l v f r p p r q w r 2 v l g h r i w k h f r q w u r o s r z h u v x s s o \ & 2 0 2 ? , i d u h f r p p h q g h g s u l p d u \ f x u u h q w y d o x h r i w k h s k r w r f r x s o h u l v p $ g h f l g h w k h u h v l v w r u y d o x h x v l q j w k h i r u p x o d r i w k h e h o r z j x u h ? : k h q d f f h s w l q j w k h r x w s x w v l j q d o w k u r x j k d o r j l f f l u f x l w h j j d w h l q x h q f h i u r p q r l v h v v k r x o g e h s u h y h q w h g ) r u w k h u h f r p p h q g h g s u l p d u \ f x u u h q w y d o x h u h i h u w r w k h g d w d v k h h w r i w k h h t x l s p h q w d q g s k r w r f r x s o h u w r e h x v h g v dc so1 to 4 alm+ etc. alm? etc. com? 41 zsp, tlc install toward the direction as the fig. shows without fail. max. rating 30v, 50ma r [k 1] = v dc [v] ? 2.5[v] 10 12 to 24v pay attention to the polarity of the power supply. connection in the opposite polarity will damage the servo driver. so5, 6 ? ) r u i x q f w l r q u h i h u w r 3 w r 3 5 h o d w h g s d j h p.3-52 po1 / l q h g u l y h u ' l i i h u h q w l d o r x w s x w r x w s x w related control mode pstf ? ) h h g v r x w w k h g l y l g h g h q f r g h u r x w s x w v $ % d q g = s k d v h l q g l i i h u h q w l d o w k u r x j k h d f k o l q h g u l y h u ? $ w w k h k r v w v l g h u h f h l y h w k h v h l q o l q h u h f h l y h u , q v w d o o d w h u p l q d o u h v l v w r u d s s u r [ w u l j k w j x u h e h w z h h q o l q h u h f h l y h u l q s x w v z l w k r x w fail. ? 7 k h v h r x w s x w v d u h q r w l q v x o d w h g ? ) r u i x q f w l r q u h i h u w r 3 u h s u h v h q w v w z l v w h g s d l u am26ls32 or equivalent am26ls31 or equivalent a b z 22 21 oa + oa C oz + oz C ob + ob C 48 23 25 gnd 24 49 connect signal ground of the host and the driver without fail. (1) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-33 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement po2 open collector output related control mode pstf ? ) h h g v r x w w k h = s k d v h v l j q d o d p r q j w k h h q f r g h u v l j q d o v l q r s h q f r o o h f w r u 7 k l v r x w s x w l v not insulated. ? 5 h f h l y h w k l v r x w s x w z l w k k l j k v s h h g s k r w r f r x s o h u v d w w k h k r v w v l g h v l q f h w k h s x o v h z l g w k r i w k h = s k d v h v l j q d o l v q d u u r z ? ) r u i x q f w l r q u h i h u w r 3 ao analog monitor output related control mode pstf ? 7 k h u h d u h w z r r x w s x w v w k h v s h h g p r q l w r u v l j q d o r x w s x w 6 3 d q g w k h w r u t x h p r q l w r u v l j q d o r x w s x w , 0 ? 2 x w s x w v l j q d o z l g w k l v ? 9 ? 7 k h r x w s x w l p s h g d q f h l v nw 3 d \ d q d w w h q w l r q w r w k h l q s x w l p s h g d q f h r i w k h p h d v x u l q j l q v w u x p h q w r u w k h h [ w h u q d o f l u f x l w w r e h f r q q h f w h g 5 h v r o x w l r q ! (1) speed monitor output (sp) : l w k d v h w x s r i 9 u p l q w k h u h v r o x w l r q f r q y h u w h g w r v s h h g l v u p l q p 9 (2) torque monitor output (im) : l w k d u h o d w l r q r i 9 u d w h g w r u t x h w k h u h v r o x w l r q f r q y h u w h g w r w r u t x h l v p 9 ? ) r u i x q f w l r q u h i h u w r 3 high speed photo-coupler (tlp554 by toshiba or equivalent) 19 25 cz max. rating 30v, 50ma gnd u h s u h v h q w v w z l v w h g s d l u 43 nw nw sp im 42 gnd 17 measuring instrument or external circuit 4. inputs and outputs on connector x4 interface circuit (output) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-34 3 4. inputs and outputs on connector x4 connection input signal and pin no. input signals (common) and their functions pin 1 r 7 title of v l j q d o power supply for control signal (+) related control mode pstf symbol com+ , ) f l u f x l w ? ? & r q q h f w r i w k h h [ w h u q d o ' & s r z h u v x s s o \ w r 9 ? 8 v h w k h s r z h u v x s s o \ y r o w d j h r i 9 ? 2 9 ? pin 1 r 41 title of v l j q d o power supply for control signal (-) related control mode pstf symbol & 2 0 ? , ) f l u f x l w ? ? & r q q h f w 2 r i w k h h [ w h u q d o ' & s r z h u v x s s o \ w r 9 ? 7 k h s r z h u f d s d f l w \ y d u l h v g h s h q g l q j r q d f r p s r v l w l r q r i , 2 f l u f x l w $ r u p r u h l v recommended. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-35 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. inputs and outputs on connector x4 input signal and pin no. input signals (pulse train) and their functions < r x f d q v h o h f w d s s u r s u l d w h l q w h u i d f h r x w r i w z r n l q g v g h s h q g l q j r q w k h f r p p d q g s x o v h v s h f l f d w l r q v ? 3 x o v h w u d l q l q w h u i d f h h [ f o x v l y h i r u o l q h g u l y h u pin 1 r 44 45 title of v l j q d o command pulse input 1 related control mode p st f symbol 3 l q 1 r pulsh1 3 l q 1 r pulsh2 , ) f l u f x l w pi2 3-31 s d j h pin 1 r 46 47 title of v l j q d o command pulse sign input 1 related control mode p st f symbol 3 l q 1 r signh1 3 l q 1 r signh2 , ) f l u f x l w pi2 3-31 s d j h ? , q s x w w h u p l q d o i r u s r v l w l r q f r p p d q g s x o v h < r x f d q v h o h f w e \ v h w w l q j x s 3 u 6 h o h f w l r q r i command pulse input) to 1. ? 7 k l v l q s x w e h f r p h v l q y d o l g d w v x f k f r q w u r o p r g h d v y h o r f l w \ f r q w u r o r u w r u t x h f r q w u r o z k h u h no position command is required. ? 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ l v 0 s s v ? < r x f d q v h o h f w x s w r f r p p d q g s x o v h l q s x w i r u p d w v z l w k 3 u 6 h w x s r i f r p p d q g s x o v h rotational direction) and pr0.07 (setup of command pulse input mode). ) r u g h w d l o v u h i h u w r w k h w d e o h q h [ w s d j h & r p p d q g s x o v h l q s x w i r u p d w ? 3 x o v h w u d l q l q w h u i d f h v x s s r u w v e r w k o l q h g u l y h u d q g r s h q f r o o h f w r u pin 1 r 1 3 4 title of v l j q d o command pulse input 2 related control mode p st f symbol 3 l q 1 r opc1 3 l q 1 r puls1 3 l q 1 r puls2 , ) f l u f x l w pi1 3-30 s d j h pin 1 r 2 5 6 title of v l j q d o command pulse sign input 2 related control mode p st f symbol 3 l q 1 r opc2 3 l q 1 r sign1 3 l q 1 r sign2 , ) f l u f x l w pi1 3-30 s d j h ? , q s x w w h u p l q d o i r u w k h s r v l w l r q f r p p d q g < r x f d q v h o h f w e \ v h w w l q j x s 3 u 6 h o h f w l r q r i command pulse input) to 0. ? 7 k l v l q s x w e h f r p h v l q y d o l g d w v x f k f r q w u r o p r g h d v w k h y h o r f l w \ f r q w u r o r u w r u t x h f r q w u r o z k h u h q r s r v l w l r q f r p p d q g l v u h t x l u h g ? 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ l v n s s v d w o l q h g u l y h u l q s x w d q g n s s v d w r s h q collector input. ? < r x f d q v h o h f w x s w r f r p p d q g s x o v h l q s x w i r u p d w v z l w k 3 u 6 h w x s r i f r p p d q g s x o v h rotational direction) and pr0.07 (setup of command pulse input mode). ) r u g h w d l o v u h i h u w r w k h w d e o h q h [ w s d j h & r p p d q g s x o v h l q s x w i r u p d w 5 h o d w h g s d j h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-36 % s k d v h d g y d q f h v w r $ e \ y % s k d v h g h o d \ v i u r p $ e \ y t1 a-phase b-phase t1 t1 t1 t1 t1 t1 t1 t2 t2 t2 t3 t2 t4 h l t5 t4 t6 t6 t6 t6 t5 % s k d v h d g y d q f h v w r $ e \ y % s k d v h g h o d \ v i u r p $ e \ y t1 a-phase b-phase t1 t1 t1 t1 t1 t1 t1 t2 t2 t2 t3 t2 t4 l h t5 t4 t6 t6 t6 t6 t5 line driver interface open collector interface pulse train interface exclusive to line driver pulse train interface input i/f of puls/sign signal permissible max. input frequency 4mpps 500kpps 200kpps t 1 2 5 0 l q q h f h v v d u \ w l p h z l g w k e v t 2 1 t 3 1 t 4 1 t 5 1 t 6 1 ? 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ d q g p l q q h f h v v d u \ w l p h z l g w k r i f r p p d q g s x o v h l q s x w v l j q d o pr0.06 setup value & r p p d q g s x o v h rotational ( g l u h f w l r q v h w x s pr0.07 setup value & r p p d q g s x o v h l q s x w p r g h ( setup signal title 3 r v l w l y h g l u h f w l r q f r p p d q g 1 h j d w l y h g l u h f w l r q f r p p d q g & r p p d q g pulse format 0 or 2 01 3 0 or 2 11 3 puls sign puls sign puls sign puls sign puls sign puls sign y s k d v h difference 2-phase pulse (a + b-phase) positive direction pulse train + negative direction pulse train pulse train + signal y s k d v h difference 2-phase pulse (a + b-phase) positive direction pulse train + negative direction pulse train pulse train + signal ? , q s x w i r u p d w f r p p d q g s x o v h ? 3 8 / 6 d q g 6 , * 1 u h s u h v h q w v w k h r x w s x w v r i s x o v h w u d l q l q s x w f l u f x l w 5 h i h u w r w k h i l j r i 3 , q s x w & l u f x l w ? , q f d v h r i q h j d w l y h g l u h f w l r q s x o v h w u d l q s r v l w l y h g l u h f w l r q s x o v h w u d l q d q g s x o v h w u d l q v l j q s x o v h w u d l q z l o o e h f d s w x u h g d w w k h u l v l q j h g j h ? , q f d v h r i s k d v h s x o v h s x o v h w u d l q z l o o e h f d s w x u h g d w h d f k h g j h 4. inputs and outputs on connector x4 input signal and pin no. 5 h o d w h g s d j h ? 3 ' h w d l o v r i 3 d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-37 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. inputs and outputs on connector x4 input signal and pin no. control input & r q w u r o v l j q d o k d y l q j w k h g h v l u h g i x q f w l r q f d q e h d s s o l h g w r d q \ l q s x w s l q r i , ) f r q q h f w r u 7 k h o r j l f f d q e h f k d q j h g ? ' h i d x o w d v v l j q p h q w $ s s o l f d e o h parameter ' h i d x o w parameter v h w w l q j g h f l p d o notation ' h i d x o w 6 h w x s 3 r v l w l r q ) x o o f o r v h g f r q w u r o verocity control torque control 6 l j q d o / r j l f * 1 6 l j q d o / r j l f * 1 6 l j q d o / r j l f * 1 pin 1 r 8 title of v l j q d o si1 input pr4.00 k (8553090) 1 2 7 b -contact 1 2 7 b -contact 1 2 7 b -contact symbol si1 pin 1 r 9 title of v l j q d o si2 input pr4.01 k (8487297) pot b -contact pot b -contact pot b -contact symbol si2 pin 1 r 26 title of v l j q d o si3 input pr4.02 $ k (9539850) 9 6 6 ( / b -contact = ( 5 2 6 3 ' b -contact = ( 5 2 6 3 ' b -contact symbol si3 pin 1 r 27 title of v l j q d o si4 input pr4.03 k (394758) * $ , 1 a -contact * $ , 1 a -contact * $ , 1 a -contact symbol si4 pin 1 r 28 title of v l j q d o si5 input pr4.04 & k (4108) ' , 9 b -contact , 1 7 6 3 ' b -contact ?? symbol si5 pin 1 r 29 title of v l j q d o si6 input pr4.05 k (197379) 6 5 9 2 1 a -contact 6 5 9 2 1 a -contact 6 5 9 2 1 a -contact symbol si6 pin 1 r 30 title of v l j q d o si7 input pr4.06 i k (3847) & / a -contact , 1 7 6 3 ' a -contact ?? symbol si7 pin 1 r 31 title of v l j q d o si8 input pr4.07 k (263172) $ & / 5 a -contact $ & / 5 a -contact $ & / 5 a -contact symbol si8 pin 1 r 32 title of v l j q d o si9 input pr4.08 k (328965) & 0 2 ' ( a -contact & 0 2 ' ( a -contact & 0 2 ' ( a -contact symbol si9 pin 1 r 33 title of v l j q d o si10 input pr4.09 ( k (3720) , 1 + b -contact , 1 7 6 3 ' b -contact ?? symbol si10 note ? 7 k h i x q f w l r q g h s h q g v r q s d u d p h w h u v h w x s 5 h i h u w r 3 5 h i h u w r w k h q h [ w v h f w l r q ) x q f w l r q d v v l j q d e o h w r j h q h u d o s x u s r v h l q s x w * 2 s h u d w l r q r i d f r q w d f w d q g e f r q w d f w d f r q w d f w , q s x w v l j q d o g l v f r q q h f w h g i u r p & 2 0 2 i x q f w l r q g l v d e o h g 2 ) ) v w d w h , q s x w v l j q d o f r q q h f w h g w r & 2 0 2 i x q f w l r q h q d e o h g 2 1 v w d w h e f r q w d f w , q s x w v l j q d o g l v f r q q h f w h g i u r p & 2 0 2 i x q f w l r q h q d e o h g 2 1 v w d w h , q s x w v l j q d o f r q q h f w h g w r & 2 0 i x q f w l r q g l v d e o h g 2 ) ) v w d w h > 3 @ 1 r i x q f w l r q d v v l j q h g 5 h o d w h g s d j h p.3-50 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-38 4. inputs and outputs on connector x4 input signal and pin no. function allocatable to control input title of v l j q d o 6 h u y r 2 1 l q s x w related control mode pstf symbol 6 5 9 2 1 ' h i d x o w d v v l j q p h q w 29 (si6) , ) f l u f x l w si 3-30 s d j h ? 7 k l v v l j q d o w x u q v r q r i i w k h v h u y r p r w r u title of v l j q d o 3 r v l w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w related control mode pstf symbol pot ' h i d x o w d v v l j q p h q w 9 (si2) , ) f l u f x l w si 3-30 s d j h ? 3 r v l w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l q s x w ? 7 k h r s h u d w l r q z l w k w k l v l q s x w w x u q h g 2 1 l v v h w x s l q 3 u 6 h w x s r i r y h u w u d y h o l q k l e l w l q s x w ? : k h q x v l q j w k l v l q s x w v h w 3 u 6 h w x s r i r y h u w u d y h o l q k l e l w l q s x w w r d y d o x h r w k h u w k d q v r w k d w w k h l q s x w l v 2 1 z k h q w k h p r y l q j s r u w l r q r i w k h p d f k l q h h [ f h h g v w k l v v l j q d o u d q j h w r z d u g s r v l w l y h g l u h f w l r q title of v l j q d o 1 h j d w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w related control mode pstf symbol not ' h i d x o w d v v l j q p h q w 8 (si1) , ) f l u f x l w si 3-30 s d j h ? 1 h j d w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l q s x w ? 7 k h r s h u d w l r q z l w k w k l v l q s x w w x u q h g 2 1 l v v h w x s l q 3 u 6 h w x s r i r y h u w u d y h o l q k l e l w l q s x w ? : k h q x v l q j w k l v i x q f w l r q v h w 3 u 6 h w x s r i r y h u w u d y h o l q k l e l w l q s x w w r d y d o x h r w k h u w k d q v r w k d w w k h l q s x w l v 2 1 z k h q w k h p r y l q j s r u w l r q r i w k h p d f k l q h h [ f h h g v w k l v v l j q d o u d q j h w r z d u g q h j d w l y h g l u h f w l r q title of v l j q d o ' h y l d w l r q f r x q w h u f o h d u l q s x w related control mode p st f symbol cl ' h i d x o w d v v l j q p h q w 30 (si7) , ) f l u f x l w si 3-30 s d j h caution ? & o h d u v w k h s r v l w l r q d o g h y l d w l r q f r x q w h u ? ' h i d x o w v h w x s f o h d u v w k h f r x q w h u d w w k h u l v l q j h g j h r i w k h f o h d u l q s x w 7 r f k d q j h w k h v h w x s p r g l i \ l w l q w k h 3 u & r x q w h u f o h d u l q s x w p r g h 3-39 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement title of v l j q d o alarm clear input related control mode pstf symbol $ & / 5 ' h i d x o w d v v l j q p h q w 31 (si8) , ) f l u f x l w si 3-30 s d j h ? & o h d u v w k h d o d u p f r q g l w l r q ? 7 k l v l q s x w f d q q r w f o h d u v r p h d o d u p v ? ) r u g h w d l o v u h i h u w r 3 : k h q l q 7 u r x e o h 3 u r w h f w l y h i x q f w l r q 3 $ o d u p ' l v s o d \ d q g 3 ' l v s o d \ r i % d w w h u \ $ o d u p title of v l j q d o command pulse inhibition input related control mode p st f symbol inh ' h i d x o w d v v l j q p h q w 33 (si10) , ) f l u f x l w si 3-30 s d j h caution ? , j q r u h v w k h s r v l w l r q d o f r p p d q g s x o v h ? : k h q x v l q j w k l v i h d w x u h v h w 3 u , q y d o l g d w l r q r i f r p p d q g s x o v h l q k l e l w l r q l q s x w w r 7 k l v i x q f w l r q f d q e h d v v l j q h g w r r q o \ 6 , $ o o r f d w l r q r i w k l v i x q f w l r q w r d q \ r w k h u s l q z l o o cause an error. title of v l j q d o control mode switching input related control mode pst f symbol c-mode ' h i d x o w d v v l j q p h q w 32 (si9) , ) f l u f x l w si 3-30 s d j h caution ? 6 h o h f w v d f r q w u r o p r g h ? 7 k l v v l j q d o l v u h t x l u h g l q d o o f r q w u r o p r g h v 1 r v h w w l q j z l o o f d x v h d q h u u r u ? ' r q r w l q s x w d q \ f r p p d q g p v e h i r u h d q g d i w h u f k d q j l q j w k h f r q w u r o p r g h title of v l j q d o ( o h f w u r q l f j h d u g l y l v l r q p x o w l s o l f d w l r q v z l w f k l q j l q s x w related control mode p st f symbol div1 ' h i d x o w d v v l j q p h q w 28 (si5) , ) f l u f x l w si 3-30 s d j h title of v l j q d o ( o h f w u r q l f j h d u g l y l v l r q p x o w l s o l f d w l r q v z l w f k l q j l q s x w related control mode p st f symbol div2 ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w si 3-30 s d j h ? 8 s w r q x p h u d w r u v f d q e h x v h g i r u f r p p d q g g l y l g l q j p x o w l s o \ l q j e \ x v l q j ' , 9 d q g ' , 9 ' , 9 d q g ' , 9 y v q x p h u d w r u g h q r p l q d w r u r i v h o h f w h g f r p p d q g g l y l g l q j p x o w l s o \ l q j s u r f h v v ! div1 div2 6 h o h f w h g f r p p d q g g l y l g l q j p x o w l s o \ l q j s u r f h v v numerator denominator off off pr0.09 pr0.10 2 1 off pr5.00 pr0.10 off 2 1 pr5.01 pr0.10 2 1 2 1 pr5.02 pr0.10 title of v l j q d o damping control switching input 1 related control mode p st f symbol vs-sel1 ' h i d x o w d v v l j q p h q w 26 (si3) , ) f l u f x l w si 3-30 s d j h title of v l j q d o damping control switching input 2 related control mode p st f symbol vs-sel2 ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w si 3-30 s d j h note ? 6 h o h f w v d s s o l f d e o h i u h t x h q f \ i r u g d p s l q j f r q w u r o & r p e l q d w l r q r i g d p s l q j f r q w u r o l q s x w f k d q j h r y h u d q g 9 6 6 ( / 9 6 6 ( / h q d e o h v select of max. 4 options. $ o v r u h i h u w r 3 3 u > ' d p s l q j o w h u v z l w f k l q j v h o h f w l r q @ 4. inputs and outputs on connector x4 input signal and pin no. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-40 4. inputs and outputs on connector x4 input signal and pin no. title of v l j q d o gain switching input related control mode pstf symbol gain ' h i d x o w d v v l j q p h q w 27 (si4) , ) f l u f x l w si 3-30 s d j h ? 6 h o h f w v w r u q g j d l q title of v l j q d o torque limit switching input related control mode ps t f symbol tl-sel ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w si 3-30 s d j h ? select 1st or 2nd torque limit. pr5.21 torque limit switching input (tl-sel) torque limit switching setup (pr5.23, pr5.24) 3 r v l w l y h g l u h f w l r q torque limit 1 h j d w l y h g l u h f w l r q torque limit 0 $ q d o r j l q s x w * 1 1 ? ? pr0.13 2 ? ? pr0.13 pr5.22 3 off valid pr0.13 2 1 pr5.22 4 $ q d o r j l q s x w * 1 5 6 off ? pr0.13 pr5.22 2 1 pr5.25 pr5.26 * 1 7 r v s h f l i \ w k h w r u t x h o l p l w y d o x h e \ d q d q d o r j l q s x w u h i h u w r 3 u $ q d o r j w r u t x h o l p l w i x q f w l r q ? 6 h w x s r i u d w h r i f k d q j h d i w h u w r u t x h o l p l w v z l w f k r y h u : k h q d s s o \ l q j 3 u 7 r u t x h o l p l w v h o h f w l r q f k d q j l q j u d w h r i w r u t x h v o r s h d i w h u v h o h f w l q j q h z w r u t x h o l p l w f d q e h f k d q j h g : k h q f k d q j l q j i u r p w k h v w w r u t x h o l p l w w r q g w r u t x h o l p l w w k h f k d q j l q j u d w h v o r s h v h w d w 3 u 7 r u t x h o l p l w v h o h f w l r q v h w x s l v d s s o l h g d i w h u f k d q j l q j i u r p w k h q g w r u t x h o l p l w w r v w w r u t x h o l p l w w k h f k d q j l q j u d w h v o r s h v h w d w 3 u 7 r u t x h o l p l w v h o h f w l r q v h w x s l v d s s o l h g 7 k h v l j q r i w k h f k d q j l q j u d w h l v d x w r p d w l f d o o \ v h o h f w h g e \ w k h g u l y h u d f f r u g l q j w r w k h g l i i h u h q f h l q y d o x h e h w z h h q w k h v w d q g q g w r u t x h o l p l w , i 3 u 7 r u t x h o l p l w v h o h f w l r q v h w x s d q g 3 u 7 r u t x h o l p l w v h o h f w l r q v h w x s d u h v h w w r v z l w f k r y h u l v l q v w d q w d q h r x v caution torque limit selection setup 1 (pr5.23) torque limit selection setup 2 (pr 5.24) torque limit selection input (tl-sel) 1st torque limit (pr0.13) 2nd torque limit (pr5.22) : k h q w k h v w w r u t x h o l p l w 3 u d q g q g w r u t x h o l p l w 3 u d u h f k d q j h g i u r p w k h i u r q w s d q h o r u w k u r x j k f r p p x q l f d w l r q w k h f k d q j l q j u d w h v h w x s l v l j q r u h g d q g w k h q h z w r u t x h o l p l w y d o x h l v l p p h g l d w h o \ d q g g l u h f w o \ d s s o l h g 7 k d w l v f k d q j l q j u d w h v h w w l q j l v h i i h f w l y h r q o \ z k h q w k h v h o h f w l r q l v p d g h e \ x v l q j w k h w r u t x h o l p l w v h o h f w l q s x w 7 / 6 ( / 5 h o d w h g s d j h ? 3 ' h w d l o v r i 3 d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-41 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. inputs and outputs on connector x4 input signal and pin no. title of v l j q d o selection 1 input of internal command speed related control mode p s tf symbol intspd1 ' h i d x o w d v v l j q p h q w 33 (si10) , ) f l u f x l w si 3-30 s d j h title of v l j q d o selection 2 input of internal command speed related control mode p s tf symbol intspd2 ' h i d x o w d v v l j q p h q w 30 (si7) , ) f l u f x l w si 3-30 s d j h title of v l j q d o selection 3 input of internal command speed related control mode p s tf symbol intspd3 ' h i d x o w d v v l j q p h q w 28 (si5) , ) f l u f x l w si 3-30 s d j h caution ? 6 h o h f w r q h r i l q w h u q d o f r p p d q g v s h h g v 5 h o d w l r q v k l s e h w z h h q 3 u 6 z l w f k l q j e h w z h h q l q w h u q d o d q g h [ w h u q d o v s h h g v h w x s and internal command speed selection 1-3 and the speed command selected>. pr3.00 selection 1 of internal command speed (intspd1) selection 2 of internal command speed (intspd2) selection 3 of internal command speed (intspd3) selection of speed command 1 off off 1 r h i i h f w 1st speed 2 1 off 2nd speed off 2 1 3rd speed 2 1 2 1 w k v s h h g 2 off off 1 r h i i h f w 1st speed 2 1 off 2nd speed off 2 1 3rd speed 2 1 2 1 $ q d o r j v s h h g command 3 7 k h v d p h d v 3 u off v w w r w k v s h h g off off 2 1 w k v s h h g 2 1 off 2 1 w k v s h h g off 2 1 2 1 w k v s h h g 2 1 2 1 2 1 w k v s h h g , q w h u q d o f r p p d q g v s h h g v z l w f k l q j s d w w h u q v k r x o g e h v r d u u d q j h g d v v k r z q e h o r z w k d w v l q j o h l q s x w v l j q d o v d u h v h o h f w h g d o w h u q d w h o \ , i r u p r u h l q s x w v l j q d o v d u h v h o h f w h g v l p x o w d q h r x v o \ x q v s h f l h g l q w h u q d o f r p p d q g v s h h g p d \ e h d g y h u w h q w o \ v h o h f w h g z k r v h v h w w l q j y d o x h d q g d f f h o h u d w l r q g h f h o h u d w l r q v h w w l q j z l o o f d x v h x q h [ s h f w h g r s h u d w l r q 1st 2nd 4th 3rd open open com ? com ? 1st intspd1 open open com ? open com ? com ? 1st 1st 2nd 4th 3rd 7th 8th 6th 5th example 1) when pr3.00=1 or 2 example 2) when pr3.00=3 intspd1 intspd2 intspd3 intspd2 speed command [r/min] speed command [r/min] title of v l j q d o speed zero clamp input related control mode p s t f symbol = ( 5 2 6 3 ' ' h i d x o w d v v l j q p h q w 26 (si3) , ) f l u f x l w si 3-30 s d j h ? 6 h w w k h v s h h g f r p p d q g w r ? : k h q x v l q j v h w 3 u 6 s h h g ] h u r f o d p s i x q f w l r q v h o h f w l r q w r d y d o x h r w k h u w k d q title of v l j q d o speed command sign input related control mode p s tf symbol vc-sign ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w si 3-30 s d j h ? 6 s h f l i \ w k h v l j q r i v s h h g f r p p d q g l q s x w d w y h o r f l w \ f r q w u r o 5 h i h u w r 3 3 u 6 s h h g f r p p d q g u r w d w l r q d o g l u h f w l r q v h o h f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-42 title of v l j q d o torque command sign input related control mode ps t f symbol tc-sign ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w si 3-30 s d j h ? 6 s h f l i \ w k h v l j q r i w r u t x h f r p p d q g l q s x w d w w r u t x h f r q w u r o 2 1 1 h j d w l y h g l u h f w l r q off 3 r v l w l y h g l u h f w l r q 5 h i h u w r 3 3 u 7 r u t x h f r p p d q g g l u h f w l r q v h o h f w l r q title of v l j q d o forced alarm input related control mode pstf symbol e-stop ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w si 3-30 s d j h ? * h q h u d w h v ( u u ) r u f h g d o d u p l q s x w h u u r u title of v l j q d o inertia ratio switching input related control mode pstf symbol j-sel ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w si 3-30 s d j h ? 6 h o h f w v v w l q h u w l d u d w l r r u q g l q h u w l d u d w l r d f f r u g l q j w r w k h l q h u w l d u d w l r v h o h f w l q s x w - 6 ( / inertia ratio switching input (j-sel) applicable inertia ratio off 1st inertia ratio (pr0.04) 2 1 2nd inertia ratio (pr6.12) 5 h i h u w r 3 3 u ) x q f w l r q h [ s d q v l r q v h w x s 4. inputs and outputs on connector x4 input signal and pin no. note 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-43 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement input signals (analog command) pin 1 r 14 title of v l j q d o ai1 input correspondence function symbol ai1 6 3 5 7 5 4 5 6 3 / pin 1 r 16 title of v l j q d o ai2 input correspondence function symbol ai2 7 5 4 5 3 $ 7 / pin 1 r 18 title of v l j q d o ai3 input correspondence function symbol ai3 n-atl function allocatable to input signals (analog command) title of v l j q d o 3 r v l w l y h g l u h f w l r q 7 r u t x h o l p l w l q s x w related control mode ps t f symbol p-atl , ) f l u f x l w $ , 3-31 s d j h title of v l j q d o 1 h j d w l y h g l u h f w l r q 7 r u t x h o l p l w l q s x w related control mode ps t f symbol n-atl , ) f l u f x l w $ , 3-31 s d j h ? 6 s h f l i \ w k h w r u t x h o l p l w i r u h d f k g l u h f w l r q y d o x h e \ w k h d q d o r j y r o w d j h pr5.21 3 r v l w l y h g l u h f w l r q torque limit input (p-atl) 1 h j d w l y h g l u h f w l r q torque limit input (n-atl) 3 r v l w l y h g l u h f w l r q torque limit 1 h j d w l y h g l u h f w l r q torque limit 0 0 to 10v ? w r 9 3 $ 7 / 1 $ 7 / 1 ? 6 h w x s w k u r x j k s d u d p h w h u * 1 2 3 4 0 to 10v 0 to 10v 3 $ 7 / 1 $ 7 / 5 0 to 10v 1 r h i i h f w 3 $ 7 / 6 ? setup by parameter * 1 * : k h q v s h f l i \ l q j w k h w r u t x h o l p l w y d o x h w k u r x j k w k h s d u d p h w h u u h i h u w r 3 7 r u t x h o l p l w v h o h f w i x q f w l r q 4. inputs and outputs on connector x4 input signal and pin no. note 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-44 4. inputs and outputs on connector x4 input signal and pin no. title of v l j q d o speed command input related control mode p s tf symbol 6 3 5 , ) f l u f x l w $ , 3-31 s d j h ? , q s x w w k h v s h h g f r p p d q g l q w k h i r u p r i d q d o r j y r o w d j h ? 7 k h w d e o h e h o r z v k r z v u h o d w l r q v k l s e h w z h h q w k h f r p e l q d w l r q r i 3 u 6 z l w f k l q j e h w z h h q l q w h u q d o d q g h [ w h u q d o v s h h g v h w x s 3 u 6 s h h g f r p p d q g g l u h f w l r q v h o h f w l r q 3 u 6 s h h g f r p p d q g l q s x w l q y h u v l r q d q d o r j v s h h g f r p p d q g 6 3 5 r i , ) f r q q h f w r u d q g v s h h g f r p p d q g v l j q v h o h f w l r q 9 & 6 , * 1 d q g w k h p r w r u u r w d w l r q d o g l u h f w l r q d q g w k h f r q y h u v l r q j u d s k r i d q d o r j v s h h g f r p p d q g l q s x w y r o w d j h w r w k h v s h h g f r p p d q g pr3.00 pr3.01 pr3.03 speed command input 6 3 5 speed command sign selection (vc-sign) motor rotational direction 0 0 0 9 r o w d j h (0 to 10v) 1 r h i i h f w 3 r v l w l y h direction ? 9 r o w d j h ? w r 9 1 r h i i h f w 1 h j d w l y h direction 1 9 r o w d j h (0 to 10v) 1 r h i i h f w 1 h j d w l y h direction ? 9 r o w d j h ? w r 9 1 r h i i h f w 3 r v l w l y h direction 1 1 r h i i h f w 9 r o w d j h (0 to 10v) off 3 r v l w l y h direction ? 9 r o w d j h ? w r 9 9 r o w d j h (0 to 10v) 2 1 1 h j d w l y h direction ? 9 r o w d j h ? w r 9 title of v l j q d o torque command input related control mode ps t f symbol 7 5 4 5 , ) f l u f x l w $ , 3-31 s d j h ? , q s x w w k h w r u t x h f r p p d q g l q w k h i r u p r i d q d o r j y r o w d j h : k h q 3 u 7 r u t x h f r p p d q g v h o h f w l r q s l q 1 r : k h q 3 u 7 r u t x h f r p p d q g v h o h f w l r q s l q 1 r pr3.17 pr3.18 pr3.20 torque command input 7 5 4 5 torque command sign selection (tc-sign) motor rotational direction 0 0 0 9 r o w d j h (0 to 10v) 1 r h i i h f w 3 r v l w l y h direction ? 9 r o w d j h ? w r 9 1 r h i i h f w 1 h j d w l y h direction 1 9 r o w d j h (0 to 10v) 1 r h i i h f w 1 h j d w l y h direction ? 9 r o w d j h ? w r 9 1 r h i i h f w 3 r v l w l y h direction 1 1 r h i i h f w 9 r o w d j h (0 to 10v) off 3 r v l w l y h direction ? 9 r o w d j h ? w r 9 9 r o w d j h (0 to 10v) 2 1 1 h j d w l y h direction ? 9 r o w d j h ? w r 9 title of v l j q d o speed limit input related control mode ps t f symbol spl , ) f l u f x l w $ , 3-31 s d j h ? : k h q v h w w l q j 3 u 7 r u t x h f r p p d q g v h o h f w l r q w r l q s x w w k h v s h h g o l p l w y d o x h l q w k h i r u p r i d q d o r j y r o w d j h note 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-45 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement output signals (common) and their functions & r q w u r o r x w s x w v l j q d o r i g h v l u h g i x q f w l r q f d q e h d v v l j q h g w r , ) f r q q h f w r u / r j l f r i w k h r x w s x w s l q f d q q r w e h f k d q j h g $ s s o l f d e o h parameter ' h i d x o w parameter v h w w l q j g h f l p d o notation ' h i d x o w 6 h w x s 3 r v l w l r q ) x o o closed control verocity control torque control 6 l j q d o 6 l j q d o 6 l j q d o pin 1 r 10 11 title of v l j q d o so1 output pr4.10 k (197379) % 5 . 2 ) ) % 5 . 2 ) ) % 5 . 2 ) ) symbol 3 l q 1 r 6 2 ? 3 l q 1 r so1+ pin 1 r 34 35 title of v l j q d o so2 output pr4.11 k (131586) 6 5 ' < 6 5 ' < 6 5 ' < symbol 3 l q 1 r 6 2 ? 3 l q 1 r so2+ pin 1 r 36 37 title of v l j q d o so3 output * 1 pr4.12 k (65793) $ / 0 $ / 0 $ / 0 symbol 3 l q 1 r 6 2 ? 3 l q 1 r so3+ pin 1 r 38 39 title of v l j q d o so4 output pr4.13 k (328964) , 1 3 $ 7 6 3 ( ( ' $ 7 6 3 ( ( ' symbol 3 l q 1 r 6 2 ? 3 l q 1 r so4+ pin 1 r 12 title of v l j q d o so5 output pr4.14 k (460551) = 6 3 = 6 3 = 6 3 symbol so5 pin 1 r 40 title of v l j q d o so6 output pr4.15 k (394758) 7 / & 7 / & 7 / & symbol so6 note ? 7 k h i x q f w l r q l v f k d q j h g e \ w k h v h w w l q j r i s d u d p h w h u ) r u g h w d l o v u h i h u w r 3 6 h h ) x q f w l r q v d v v l j q d e o h w r f r q w u r o r x w s x w d v v k r z q e h o r z ) l [ h g $ / 0 r x w s x w > 3 @ 1 r i x q f w l r q d v v l j q h g 5 h o d w h g s d j h p.3-52 function allocatable to control input title of v l j q d o 6 h u y r $ o d u p r x w s x w related control mode pstf symbol alm ' h i d x o w d v v l j q p h q w 36, 37 (so3) , ) f l u f x l w so 3-32 s d j h ? 7 k l v v l j q d o v k r z v w k d w w k h g u l y h u l v l q d o d u p v w d w x v ? 2 x w s x w w u d q v l v w r u w x u q v 2 1 z k h q w k h g u l y h u l v d w q r u p d o v w d w x v d q g w x u q v 2 ) ) d w d o d u p v w d w x v title of v l j q d o 6 h u y r 5 h d g \ r x w s x w related control mode pstf symbol 6 5 ' < ' h i d x o w d v v l j q p h q w 34, 35 (so2) , ) f l u f x l w so 3-32 s d j h ? 7 k l v v l j q d o v k r z v w k d w w k h g u l y h u l v u h d g \ w r e h d f w l y d w h g ? 2 x w s x w w u d q v l v w r u w x u q v 2 1 z k h q e r w k f r q w u r o d q g p d l q s r z h u d u h 2 1 e x w q r w d w d o d u p v w d w x v : k h q l q w k h d e v r o x w h p r g h d q g d e v r o x w h , ) i x q f w l r q l v h q d e o h g w x u q v r q w k h r x w s x w w u d q v l v w r u x s r q f r p s o h w l r q r i w k h d e v r o x w h g d w d w u d q v i h u s u r y l g h g w k d w w k h f r q g l w l r q v v k r z q d e r y h d u h p h w 3 4. inputs and outputs on connector x4 connection output signal and pin no. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-46 4. inputs and outputs on connector x4 output signal and pin no. title of v l j q d o external brake release signal related control mode pstf symbol % 5 . 2 ) ) ' h i d x o w d v v l j q p h q w 10, 11 (so1) , ) f l u f x l w so 3-32 s d j h ? ) h h g v r x w w k h w l p l q j v l j q d o z k l f k d f w l y d w h v w k h k r o g l q j e u d n h r i w k h p r w r u ? 7 x u q v w k h r x w s x w w u d q v l v w r u 2 1 d w w k h u h o h d v h w l p l q j r i w k h k r o g l q j e u d n h title of v l j q d o positioning complete related control mode p st f symbol inp ' h i d x o w d v v l j q p h q w 38, 39 (so4) , ) f l u f x l w so 3-32 s d j h title of v l j q d o positioning complete 2 related control mode p st f symbol inp2 ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 2 x w s x w v w k h s r v l w l r q l q j f r p s o h w h v l j q d o s r v l w l r q l q j f r p s o h w h v l j q d o ? 7 x u q v 2 1 w k h r x w s x w w u d q v l v w r u x s r q f r p s o h w l r q r i s r v l w l r q l q j title of v l j q d o 6 s h h g d u u l y d o r x w s x w related control mode p st f symbol at-spped ' h i d x o w d v v l j q p h q w 38, 39 (so4) , ) f l u f x l w so 3-32 s d j h ? 2 x w s x w v w k h v s h h g d u u l y d o v l j q d o ? 7 x u q v 2 1 w k h r x w s x w w u d q v l v w r u x s r q d u u l y h r i v s h h g title of v l j q d o torque in-limit signal output related control mode pstf symbol tlc ' h i d x o w d v v l j q p h q w 40 (so6) , ) f l u f x l w so 3-32 s d j h ? 2 x w s x w v w k h w r u t x h l q o l p l w v l j q d o ? 7 x u q v 2 1 w k h r x w s x w w u d q v l v w r u x s r q o l p l w r i w r u t x h title of v l j q d o zero-speed detection output signal related control mode pstf symbol zsp ' h i d x o w d v v l j q p h q w 12 (so5) , ) f l u f x l w so 3-32 s d j h ? 2 x w s x w v w k h ] h u r v s h h g g h w h f w l r q v l j q d o ? 7 x u q v 2 1 w k h r x w s x w w u d q v l v w r u x s r q g h w h f w l r q r i = h u r v s h h g title of v l j q d o speed coincidence output related control mode p st f symbol v-coin ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 2 x w s x w v w k h v s h h g f r l q f l g h q f h v l j q d o ? 7 x u q v 2 1 w k h r x w s x w w u d q v l v w r u x s r q f r l q f l g h q f h r i v s h h g title of v l j q d o alarm output 1 related control mode pstf symbol : $ 5 1 ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 2 x w s x w v w k h z d u q l q j r x w s x w v l j q d o v h w w r 3 u : d u q l q j r x w s x w v h o h f w ? 7 x u q v 2 1 w k h r x w s x w w u d q v l v w r u x s r q r f f x u u h q f h r i z d u q l q j f r q g l w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-47 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. inputs and outputs on connector x4 output signal and pin no. title of v l j q d o alarm output 2 related control mode pstf symbol : $ 5 1 ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 2 x w s x w v w k h z d u q l q j r x w s x w v l j q d o v h w w r 3 u : d u q l q j r x w s x w v h o h f w ? 7 x u q v 2 1 w k h r x w s x w w u d q v l v w r u x s r q r f f x u u h q f h r i z d u q l q j f r q g l w l r q ? 6 h o h f w l r q r i d o d u p r x w s x w d q g r x w s x w alarm no. alarm content pr6.27 * 1 pr4.40/ pr4.41 * 2 pr6.38 corresponding bit *3 $ 2 y h u o r d g s u r w h f w l r q / r d g i d f w r u l v r u p r u h w k h s u r w h f w l r q o h y h o 1 bit7 $ 2 y h u u h j h q h u d w l r q alarm 5 h j h q h u d w l y h o r d g i d f w r u l v r u p r u h w k h s u r w h f w l r q o h y h o 2bit5 $ % d w w h u \ d o d u p % d w w h u \ y r o w d j h l v 9 r u o r z h u fixed at no time limit. 3 bit0 $ fan alarm ) d q k d v v w r s s h g i r u v h f 4bit6 $ encoder communication alarm 7 k h q x p e h u r i v x f f h v v l y h h q f r g h u f r p p x q l f d w l r q h u u r u v h [ f h h g v w k h v s h f l h g y d o x h 5bit4 $ ( q f r g h u r y h u k h d w alarm 7 k h h q f r g h u g h w h f w v r y h u k h d w d o d u p 6bit3 $ oscillation detection alarm 2 v f l o o d w l r q r u y l e u d w l r q l v g h w h f w h g 7bit9 $ / l i h w l p h g h w h f w l r q alarm 7 k h o l i h h [ s h f w d q f \ r i f d s d f l w \ r u i d q e h f r p h v v k r u w h u w k d q w k h v s h f l h g w l p h fixed at no time limit. 8 bit2 $ external scale error alarm 7 k h i h h g e d f n v f d o h g h w h f w v w k h d o d u p 9bit8 $ external scale communication alarm 7 k h q x p e h u r i v x f f h v v l y h i h h g e d f n v f d o h f r p p x q l f d w l r q h u u r u v h [ f h h g v w k h v s h f l h g y d o x h 10 bit10 * 7 k h f l u f o h p h d q v w k d w d w l p h l q w k h u d q j h w r v r u q r w l p h o l p l w f d q e h v h o h f w h g w k u r x j k 3 u : d u q l q j o d w f k l q j w l p h 1 r w h w k d w w k h e d w w h u \ z d u q l q j d q g w k h h q g r i o l i h z d u q l q j k d y h q r w l p h o l p l w * 6 h o h f w w k h z d u q l q j r x w s x w v l j q d o : $ 5 1 r u z d u q l q j r x w s x w v l j q d o : $ 5 1 w k u r x j k 3 u : d u q l q j r x w s x w v h o h f w r u 3 u : d u q l q j r x w s x w v h o h f w : k h q w k h v h w y d o x h l v d o o z d u q l q j v d u h 2 5 h g e h i r u h e h l q j r x w s x w ' r q r w v h w w r d q \ y d o x h r w k h u w k d q w k r v h v s h f l i l h g l q w k h w d e o h d e r y h * $ z d u q l q j g h w h f w l r q f d q e h p d v n h g e \ 3 u : d u q l q j p d v n v h w x s & r u u h v s r q g l q j e l w v d u h v k r z q l q w k h w d e o h : d u q l q j l v p d v n h g z l w k e l w * 4 7 k h x s s h u i d q r q w k h + i u d p h g u l y h u v w r s v g x u l q j v h u y r 2 ) ) w r v d y h h q h u j \ 7 k l v l v q r u p d o d q g q r i d q alarm is displayed. title of v l j q d o positional command on/off output related control mode p st f symbol p-cmd ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 7 x u q v r q r x w s x w w u d q v l v w r u z l w k s r v l w l r q d o f r p p d q g d s s o l h g title of v l j q d o speed in-limit output related control mode ps t f symbol v-limit ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 7 x u q v r q r x w s x w w u d q v l v w r u z k h q w k h v s h h g l v o l p l w h g e \ w r u t x h f r q w u r o o l q j i x q f w l r q title of v l j q d o alarm attribute output related control mode pstf symbol alm-atb ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 7 x u q v r q r x w s x w w u d q v l v w r u z k h q d q d o d u p w k d w f d q e h f o h d u h g j h q h u d w h v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-48 4. inputs and outputs on connector x4 output signal and pin no. title of v l j q d o speed command on/off output related control mode p s tf symbol v-cmd ' h i d x o w d v v l j q p h q w ? , ) f l u f x l w so 3-32 s d j h ? 7 x u q v r q r x w s x w w u d q v l v w r u z k h q w k h v s h h g f r p p d q g l v d s s o l h g z k l o h w k h v s h h g l v f r q w u r o o h g output signals (pulse train) and their functions pin 1 r 21 22 title of v l j q d o a-phase output related control mode pstf symbol 3 l q 1 r oa+ 3 l q 1 r oa? , ) f l u f x l w po1 3-32 s d j h pin 1 r 48 49 title of v l j q d o b-phase output related control mode pstf symbol 3 l q 1 r ob+ 3 l q 1 r ob? , ) f l u f x l w po1 3-32 s d j h pin 1 r 23 24 title of v l j q d o z-phase output related control mode pstf symbol 3 l q 1 r oz+ 3 l q 1 r oz? , ) f l u f x l w po1 3-32 s d j h ? ) h h g v r x w w k h g l y l g h g h q f r g h u v l j q d o r u i h h g e d f n v f d o h v l j q d o $ % = s k d v h l q g l i i h u h q w l d o h t x l y d o h q w w r 5 6 ? * u r x q g i r u o l q h g u l y h u r i r x w s x w f l u f x l w l v f r q q h f w h g w r v l j q d o j u r x q g * 1 ' d q g l v q r w l q v x o d w h g ? 0 d [ r x w s x w i u h t x h q f \ l v 0 s s v d i w h u t x d g u x s o h g pin 1 r 19 title of v l j q d o z-phase output related control mode pstf symbol cz , ) f l u f x l w po2 3-33 s d j h ? 2 s h q f r o o h f w r u r x w s x w r i = s k d v h v l j q d o ? 7 k h h p l w w h u v l g h r i w k h w u d q v l v w r u r i w k h r x w s x w f l u f x l w l v f r q q h f w h g w r w k h v l j q d o j u r x q g * 1 ' and is not insulated. ? : k h q x v l q j w k h & = v l j q d o l v r o d w h l w i u r p h [ w h u q d o q r l v h ? 1 r w h w k d w w k h o r j l f r i = s k d v h r s h q f r o o h f w r u r x w s x w & = l v d u h y h u v d o r i w k h o l q h g u l y h u r x w s x w 2 = o r j l f note ? : k h q w k h r x w s x w v r x u f h l v w k h h q f r g h u ? , i w k h h q f r g h u u h v r o x w l r q e pr0.11 pr5.03 l v p x o w l s o h r i = s k d v h z l o o e h i h g r x w v \ q f k u r q l ] l q j z l w k $ s k d v h , q r w k h u f d v h w k h = s k d v h z l g w k z l o o e h h t x d o w r w k h h q f r g h u u h v r o x w l r q d q g z l o o q r w v \ q f k u r q l ] h z l w k $ s k d v h e h f d x v h r i q d u u r z h u z l g w k w k d q w k d w r i $ s k d v h a b z synchronized a b z not-synchronized pr0.11 pr5.03 when the encoder resolution is multiple of 4, pr0.11 pr5.03 when the encoder resolution is not multiple of 4, ? , q f d v h r i w k h z l u h e l w l q f u h p h q w d o h q f r g h u w k h v l j q d o v h t x h q f h p l j k w q r w i r o o r z w k h d e r y h j x q w l o w k h u v w = s k d v h l v i h g r x w : k h q \ r x x v h w k h s x o v h r x w s x w d v w k h f r q w u r o v l j q d o u r w d w h w k h p r w r u r q h u h y r o x w l r q r u p r u h w r p d n h v x u h w k d w w k h = s k d v h l v i h g r x w d w o h d v w r q f h e h i r u h x v l q j phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-49 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement output signals (analog) and their functions pin 1 r 42 title of v l j q d o torque monitor output related control mode pstf symbol im , ) f l u f x l w $ 2 3-33 s d j h ? ' h q l w l r q r i w k h r x w s x w v l j q d o y d u l h v z l w k w k h r x w s x w r i 3 u d q d o r j p r q l w r u w \ s h ? 7 k h r x w s x w v l j q d o l v l g h q w l f d o w r w k h d q d o r j p r q l w r u r q w k h i u r q w p r q l w r u ? ) r u r x w s x w v h w w l q j u h i h u w r 3 ' h w d l o v r i s d u d p h w h u pin 1 r 43 title of v l j q d o speed monitor output related control mode pstf symbol sp , ) f l u f x l w $ 2 3-33 s d j h ? ' h q l w l r q r i w k h r x w s x w v l j q d o y d u l h v z l w k w k h r x w s x w r i 3 u d q d o r j p r q l w r u w \ s h ? 7 k h r x w s x w v l j q d o l v l g h q w l f d o w r w k h d q d o r j p r q l w r u r q w k h i u r q w p r q l w r u ? ) r u r x w s x w v h w w l q j u h i h u w r 3 ' h w d l o v r i s d u d p h w h u output signals (others) and their functions pin 1 r 13, 15 17, 25 title of v l j q d o signal ground related control mode pstf symbol gnd , ) f l u f x l w ? ? 6 l j q d o j u r x q g ? 7 k l v r x w s x w l v l q v x o d w h g i u r p w k h f r q w u r o v l j q d o s r z h u & 2 0 2 l q v l g h r i w k h g u l y h u pin 1 r 50 title of v l j q d o frame ground related control mode pstf symbol fg , ) f l u f x l w ? ? 7 k l v r x w s x w l v f r q q h f w h g w r w k h h d u w k w h u p l q d o l q v l g h r i w k h g u l y h u 4. inputs and outputs on connector x4 output signal and pin no. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-50 3 5. if monitor settings connection how to assign various i/o functions to the i/f control input settings title of signal connector x4 pin no. parameter no. si1 input selection 8 pr4.00 si2 input selection 9 pr4.01 si3 input selection 26 pr4.02 si4 input selection 27 pr4.03 si5 input selection 28 pr4.04 si6 input selection 29 pr4.05 si7 input selection 30 pr4.06 si8 input selection 31 pr4.07 si9 input selection 32 pr4.08 si10 input selection 33 pr4.09 (e.g. 1) parameter setting 00 82 82 82 h (hexadecimal numbers) position/ full-closed control (negative direction over-travel inhibition input; b-contact) velocity control (negative direction over-travel inhibition input; b-contact) torque control (negative direction over-travel inhibition input; b-contact) yconvert to a decimal number 8553090 enter this value to the rel evant parameter. (e.g. 2) parameter setting 00 ? ??? h (hexadecimal numbers) position/ full-closed control (damping control switching input 1; a-contact) velocity control (speed zero clamp input; b-contact) torque control (speed zero clamp input; b-contact) yconvert to a decimal number enter this value to the relevant parameter. title symbol 6 h w x s y d o x h a-contact b-contact , q y d o l g ? k ' r q r w v h w x s 3 r v l w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w pot k k 1 h j d w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w 1 2 7 k k 6 h u y r 2 1 l q s x w * 1 6 5 9 2 1 k k $ o d u p f o h d u l q s x w $ & / 5 k ' r q r w v h w x s & r q w u r o p r g h v z l w f k l q j l q s x w * 2 & 0 2 ' ( k k * d l q v z l w f k l q j l q s x w * $ , 1 k k ' h y l d w l r q f r x q w h u f o h d u l q s x w * 3 & / k ' r q r w v h w x s & r p p d q g s x o v h l q k l e l w l r q l q s x w * 4 , 1 + k k 7 r u t x h o l p l w v z l w f k l q j l q s x w 7 / 6 ( / k k ' d p s l q j f r q w u r o v z l w f k l q j l q s x w 9 6 6 ( / $ k $ k ' d p s l q j f r q w u r o v z l w f k l q j l q s x w 9 6 6 ( / % k % k ( o h f w u r q l f j h d u v z l w f k l q j l q s x w ' , 9 & k & k ( o h f w u r q l f j h d u v z l w f k l q j l q s x w ' , 9 ' k ' k selection 1 input of internal command speed , 1 7 6 3 ' ( k ( k selection 2 input of internal command speed , 1 7 6 3 ' ) k ) k selection 3 input of internal command speed , 1 7 6 3 ' k k 6 s h h g ] h u r f o d p s l q s x w = ( 5 2 6 3 ' k k 6 s h h g f r p p d q g v l j q l q s x w 9 & 6 , * 1 k k 7 r u t x h f r p p d q g v l j q l q s x w 7 & 6 , * 1 k k forced alarm input e-stop k k , q h u w l d u d w l r v z l w f k l q j l q s x w - 6 ( / k k 7 k h v h s d u d p h w h u v v k d o o e h v h w e \ x v l q j k h [ d g h f l p d o q x p e h u v 6 h w w l q j v k d o o e h p d g h i r u h d f k f r q w u r o p r g h d v v k r z q l q h [ d p s o h v e h o r z 00 ?????? k 3 r v l w l r q ) x o o f o r v h g f r q w u r o 00 ?????? k 6 s h h g f r q w u r o 00 ???? k 7 r u t x h f r q w u r o set an appropriate function number in place of ?? d q g ?? ) r u w k h i x q f w l r q q x p e h u v h h w k h w d e o h r q w k h e h o r z phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-51 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5. if monitor settings how to assign various i/o functions to the i/f caution note ? ' r q r w v h w x s w r d y d o x h r w k h u w k d q w k d w v s h f l h g l q w k h w d e o h ? ' r q r w d v v l j q v s h f l i l f i x q f w l r q w r r u p r u h v l j q d o v ' x s o l f d w h g d v v l j q p h q w z l o o f d x v h ( u u , ) l q s x w p x o w l s o h d v v l j q p h q w h u u r u r u ( u u , ) l q s x w p x o w l s o h d v v l j q p h q w h u u r u * 6 h u y r r q l q s x w v l j q d o 6 5 9 2 1 p x v w e h x v h g w r h q d e o h v h u y r r q * : k h q x v l q j f r q w u r o p r g h v z l w f k l q j l q s x w & 0 2 ' ( v h w w k h v l j q d o w r d o o f r q w u r o p r g h v , i w k h v l j q d o l v v h w w r r q o \ r u f r q w u r o p r g h v ( u u , ) l q s x w i x q f w l r q q x p e h u h u u r u r u ( u u , ) l q s x w i x q f w l r q q x p e h u h u u r u z l o o e h j h q h u d w h g ? 7 k h f r q w u r o l q s x w s l q v h w w r l q y d o l g v w d w h g r h v q r w d i i h f w d q \ r s h u d w l r q ? ) x q f w l r q v h u y r r q l q s x w d o d u p f o h d u h w f w r e h x v h g l q p x o w l s o h f r q w u r o p r g h v p x v w e h d v v l j q h g w r w k h v d p h s l q z l w k f r u u h f w o r j l f d o d u u d q j h p h q w , q f r u u h f w v h w w l q j z l o o f d x v h ( u u , ) l q s x w p x o w l s o h d v v l j q p h q w h u u r u r u ( u u , ) l q s x w p x o w l s o h d v v l j q p h q w h u u r u * ' h y l d w l r q f r x q w h u f o h d u l q s x w & / f d q e h d v v l j q h g r q o \ w r 6 , l q s x w : u r q j d v v l j q p h q w z l o o f d x v h ( u u & r x q w h u f o h d u d v v l j q p h q w h u u r u * & r p p d q g s x o v h l q k l e l w l q s x w , 1 + f d q e h d v v l j q h g r q o \ w r 6 , l q s x w : u r q j d v v l j q p h q w z l o o f d x v h ( u u & r p p d q g s x o v h l q s x w l q k l e l w l q s x w ? , q s x w f l u f x l w u h i h u w r 3 d q g i x q f w l r q u h i h u w r 3 w r 3 5 h o d w h g s d j h 3 3 61 x7 the front panel display is in decimal (six digits). for setting functions and parameters, hexadecimal and decimal numbers should be used respectively. the expression of ?00 ? ??? h? indicates that the number is hexadecimal. the si1 input (connector x4, pin no. 8) means that the negative direction over-travel inhibition input is set to b-contact as a factory default. for using the device in the position or full-closed control mode, the negative direction over-travel inhibition input is set to b-contact by setting ?8? and ?2? in the seventh and eighth digits from the left respectively. the settings in the first to sixth digits from the left do not matter. for the hexadecimal value ?00000082h? or simply ?82h?, enter ?130? (decimal) to the parameter pr4.00. to make multiple settings, enter the function number in the first eight digits from the left and then enter a parameter in a decimal number after converting it from a hexadecimal number. an example of this is shown in example 1 (the case on the left side). similarly, the si3 input (connector x4, pin no. 26) has a function of damping control switching input 1 as a default when used in the position control mode. also, if the speed control is used, it is set to the function of speed zero clamp input. therefore, in order to set it to the damping control switching input in the position control mode, enter the value of ?10? (decimal) in the parameter pr4.02 meaning the hexadecimal number ?0ah?, or ?ah?. to change the speed zero clamp of pin no. 26 from b-contact to a-contact in the speed control mode, enter the decimal number of ?4352? in the parameter pr4.02 meaning the hexadecimal number of ?00001100h?, or ?1100h?. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 3-52 control output settings 5. if monitor settings how to assign various i/o functions to the i/f title of signal connector x4 pin no. parameter no. so1 input pr4.10 so2 input pr4.11 so3 input pr4.12 so4 input pr4.13 so5 input 12 pr4.14 so6 input 40 pr4.15 (e.g. 1) parameter setting 00 03 03 03 h (hexadecimal numbers) position/ full-closed control (external brake release signal) velocity control (external brake release signal) torque control (external brake release signal) yconvert to a decimal number 197379 enter this value to the rel evant parameter. (e.g. 2) parameter setting 00 05 05 04 h (hexadecimal numbers) position/ full-closed control (positioning complete) velocity control (speed arrival output) torque control (speed zero clamp input; b-contact) yconvert to a decimal number 328964 enter this value to the rel evant parameter. caution note ? 6 d p h i x q f w l r q f d q e h d v v l j q h g w r r u p r u h r x w s x w v l j q d o v ? & r q w u r o r x w s x w s l q v h w w r l q y d o l g d o z d \ v k d v w k h r x w s x w w u d q v l v w r u w x u q h g 2 ) ) ? ' r q r w f k d q j h w k h v h w x s y d o x h v k r z q l q w k h w d e o h * 1 r w h w k d w w k h v h w x s y d o x h v d u h g l v s o d \ h g l q g h f l p d o r q w k h i u r q w s d q h o ? , q s x w f l u f x l w u h i h u w r 3 d q g i x q f w l r q u h i h u w r 3 w r 3 5 h o d w h g s d j h p.4-35 7 k h v h s d u d p h w h u v v k d o o e h v h w e \ x v l q j k h [ d g h f l p d o q x p e h u v 6 h w w l q j v k d o o e h p d g h i r u h d f k f r q w u r o p r g h d v v k r z q l q h [ d p s o h v e h o r z 00 ?????? k 3 r v l w l r q ) x o o f o r v h g f r q w u r o 00 ?????? k 6 s h h g f r q w u r o 00 ???? k 7 r u t x h f r q w u r o set an appropriate function number in place of ?? d q g ?? ) r u w k h i x q f w l r q q x p e h u v h h w k h w d e o h r q w k h u l j k w setup y d o x h title symbol k , q y d o l g ? k 6 h u y r 5 h d g \ r x w s x w 6 5 ' < k ( [ w h u q d o e u d n h u h o h d v h v l j q d o % 5 . 2 ) ) k 3 r v l w l r q l q j f r p s o h w h r x w s x w , 1 3 k $ w v s h h g r x w s x w $ 7 6 3 3 ( ' k torque in-limit v l j q d o output 7 / & k = h u r v s h h g g h w h f w l r q r x w s x w v l j q d o = 6 3 k speed coincidence output 9 & 2 , 1 k $ o d u p r x w s x w : $ 5 1 $ k $ o d u p r x w s x w : $ 5 1 % k 3 r v l w l r q d o f r p p d q g 2 1 2 ) ) r x w s x w 3 & 0 ' & k 3 r v l w l r q l q j f r p s o h w h , 1 3 ' k speed in-limit output 9 / , 0 , 7 ( k $ o d u p d w w u l e x w h r x w s x w $ / 0 $ 7 % ) k 6 s h h g f r p p d q g 2 1 2 ) ) r x w s x w 9 & 0 ' phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-1 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4 . setup 5. details of parameter list of parameters .......................................................................................4-2 [class 0] basic setting ...............................................................................4-4 [class 1] gain adjustment ........................................................................4-13 [class 2] damping control ........................................................................4-20 [class 3] verocity/ torque/ full-closed control .........................................4-25 [class 4] i/f monitor setting .....................................................................4-33 [class 5] enhancing setting .....................................................................4-43 [class 6] special setting ..........................................................................4-52 2.trial run (jog run) inspection before trial run ......................................................................4-59 trial run by connecting the connector x4 ..............................................4-60 setup of motor rotational speed and input pulse frequency .................4-63 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-2 4 1. details of parameter setup list of parameters ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ' h q l w l r q r i v \ p e r o v x q g h u 5 h o d w h g p r g h 3 s r v l w l r q f r q w u r o 6 y h o r f l w \ f r q w u r o 7 w r u t x h f r q w u r o ) i x o o f o r v h g f r q w u r o [class 0] basic setting 00 rotational direction setup 4-4 01 control mode setup 02 real-time auto-gain tuning setup selection of machine stiffness 4-5 03 04 inertia ratio 4-6 05 command pulse input selection otational direction setup input mode setup ? ? 06 ? ? 4-7 07 ? ? 08 command pulse counts s h u r q h p r w r u u h y r o x w l r q ? ? ? 4-8 09 1st numerator of electronic gear ? ? 10 denominator of electronic gear ? ? 11 output pulse counts per one motor u h y r o x w l r q 4-9 12 5 h y h u v d o r i s x o v h r x w s x w o r j l f 4-11 13 1st torque limit 14 3 r v l w l r q g h y l d w l r q h [ f h v v v h w x s ? ? 15 $ e v r o x w h h q f r g h u v h w x s ? ? 16 ( [ w h u q d o u h j h q h u d w l y h u h v l v w r u v h w x s 4-12 17 / r d g i d f w r u r i h [ w h u q d o u h j h q h u d w l y h resistor selection [class 1] gain adjustment 00 1st gain of position loop j d l q r i y h o r f l w \ o r r s w l p h f r q v w d q w r i y h o r f l w \ o r r s integration o w h u r i v s h h g g h w h f w l r q w l p h f r q v w d q w r i w r u t x h o w h u 2nd gain of position loop j d l q r i y h o r f l w \ o r r s w l p h f r q v w d q w r i y h o r f l w \ o r r s integration o w h u r i v s h h g g h w h f w l r q w l p h f r q v w d q w r i w r u t x h o w h u ? ? 4-13 01 02 03 04 05 ? ? 4-14 06 07 08 09 10 9 h o r f l w \ i h h g i r u z d u g gain o w h u ? ? 11 ? ? 12 7 r u t x h i h h g i r u z d u g gain o w h u ? 4-15 13 ? 14 2nd gain setup 15 position control v z l w f k l q j mode delay time o h y h o hysteresis ? ? 4-16 16 ? ? 17 ? ? 4-17 18 ? ? 19 3 r v l w l r q j d l q v z l w f k l q j w l p h ? ? 20 velocity control v z l w f k l q j mode delay time o h y h o hysteresis torque control v z l w f k l q j mode delay time o h y h o hysteresis ? ? ? 4-18 21 ? ? ? 22 ? ? ? 23 ? ? ? 24 ? ? ? 4-19 25 ? ? ? 26 ? ? ? 27 ? ? ? [class 2] damping control 00 $ g d s w l y h o w h u p r g h v h w x s ? 4-20 01 1st notch frequency z l g w k v h o h f w l r q depth selection 02 03 04 2nd notch frequency z l g w k v h o h f w l r q depth selection 05 06 4-21 07 3rd notch frequency z l g w k v h o h f w l r q depth selection 08 09 10 4th notch frequency z l g w k v h o h f w l r q depth selection 11 12 13 6 h o h f w l r q r i g d p s l q j o w h u v z l w f k l q j ? ? 4-22 14 1st damping frequency o w h u v h w x s ? ? 15 ? ? 4-23 16 2nd damping frequency o w h u v h w x s ? ? 4-22 17 ? ? 4-23 18 3rd damping frequency o w h u v h w x s ? ? 4-22 19 ? ? 4-23 20 4th damping frequency o w h u v h w x s ? ? 4-22 21 ? ? 4-23 22 positional command v p r r w k l q j o w h u ) , 5 o w h u ? ? 23 ? ? 4-24 [class 3] verocity/ torque/ full-closed control 00 6 s h h g v h w x s , q w h u q d o ( [ w h u q d o v z l w f k l q j ? ? ? 4-25 01 speed command rotational direction selection input gain u h y h u v d o l q s x w ? ? ? 02 ? ? 4-26 03 ? ? ? 04 speed setup 1st 2nd 3rd 4th 5th 6th 7th 8th ? ? ? 4-27 05 ? ? ? 06 ? ? ? 07 ? ? ? 08 ? ? ? 09 ? ? ? 10 ? ? ? 11 ? ? ? 12 time setup acceleration deceleration ? ? ? 13 ? ? ? 14 sigmoid acceleration/ deceleration time setup ? ? ? 4-28 15 speed zero-clamp function selection o h y h o ? ? 16 ? ? 17 torque command selection direction selection input gain l q s x w u h y h u v d o ? ? ? 4-29 18 ? ? ? 19 ? ? ? 20 ? ? ? 21 speed limit y d o x h 1 2 ? ? ? 4-30 22 ? ? ? 23 ( [ w h u q d o scale selection q x p h u d w r u r i g l y l v l r q g h q r p l q d w r u r i g l y l v l r q u h y h u v d o r i g l u h f w l r q z phase disconnection detection disable ? ? ? 24 ? ? ? 4-31 25 ? ? ? 26 ? ? ? 27 ? ? ? 28 hybrid g h y l d w l r q h [ f h v v v h w x s clear setup ? ? ? 4-32 29 ? ? ? parametr no. title related control mode detail page class no. pstf parametr no. title related control mode detail page class no. pstf note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ; 6 d i h w \ i x q f w l r q f r q q h f w r u ; ( [ w h u q d o v f d o h f r q q h f w r u d q g d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-3 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. details of parameter list of parameters [class 4] i/f monitor setting 00 input selection 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 6 , 3 l q 1 r 4-33 01 4-34 02 03 04 05 06 07 08 09 10 output selection so1 3 l q 1 r / l q h g u l y h u r x w s x w so2 3 l q 1 r / l q h g u l y h u r x w s x w so3 3 l q 1 r / l q h g u l y h u r x w s x w so4 3 l q 1 r / l q h g u l y h u r x w s x w so5 3 l q 1 r open collector output so6 3 l q 1 r open collector output 4-35 11 12 13 14 15 16 $ q d o r j p r q l w r u type output gain 4-36 17 18 $ q d o r j p r q l w r u type output gain 19 20 type of digital monitor 21 $ q d o r j p r q l w r u r x w s x w v h w x s 4-38 22 $ q d o r j l q s x w $ , offset setup o w h u r y h u y r o w d j h v h w x s 23 24 25 $ q d o r j l q s x w $ , offset setup o w h u r y h u y r o w d j h v h w x s 26 27 28 $ q d o r j l q s x w $ , offset setup o w h u r y h u y r o w d j h v h w x s 29 4-39 30 31 positioning complete , q s r v l w l r q range output setup ? ? 32 ? ? 33 , 1 3 k r o g w l p h ? ? 34 zero-speed 4-40 35 speed coincidence range ? ? 36 $ w v s h h g 6 s h h g d u u l y d o ? ? 4-41 37 mechanical brake action at stalling setup at running setup 38 39 mechanical brake action at running setup 4-42 40 selection of alarm output 1 2 41 42 q g 3 r v l w l r q l q j f r p s o h w h , q s r v l w l r q range ? ? [class 5] enhancing setting 00 2nd numerator of electronic gear 3rd 4th ? ? 4-43 01 ? ? 02 ? ? 03 ' h q r p l q d w r u r i s x o v h r x w s x w g l y l v l r q 04 2 y h u w u d y h o l q k l e l w l q s x w v h w x s 05 6 h t x h q f h d w r y h u w u d y h o l q k l e l w 06 6 h t x h q f h d w 6 h u y r 2 i i 4-44 07 p d l q s r z h u off sequence lv trip selection detection time 08 4-45 09 10 sequence at alarm 11 torque setup for emergency stop 4-46 12 2 y h u o r d g o h y h o v h w x s 13 2 y h u v s h h g o h y h o v h w x s [class 5] enhancing setting 14 0 r w r u z r u n l q j u d q j h v h w x s ? ? 4-46 15 , ) u h d g l q j o w h u 16 $ o d u p f o h d u l q s x w v h w x s 4-47 17 counter clear input mode ? ? 18 command pulse inhibit input , q y d o l g d w l r q reading setup ? ? 19 ? ? 20 position setup unit select ? ? 4-48 21 selection of torque limit ? 22 2nd torque limit ? 23 7 r u t x h o l p l w v z l w f k l q j setup 1 2 ? 4-49 24 ? 25 ( [ w h u q d o input s r v l w l y h g l u h f w l r q w r u t x h limit q h j d w l y h g l u h f w l r q w r u t x h limit ? 26 ? 27 input gain of analog torque limit ? 28 led initial status 4-50 29 rs232 baud rate setup rs485 30 31 $ [ l v d g g u h v v 4-51 32 & r p p d q g s x o v h l q s x w p d [ l p x p v h w x s ? ? 33 3 x o v h u h j h q h u d w l y h r x w s x w o l p l w v h w x s 34 for manufacturer's use 35 front panel lock setup [class 6] special setting 00 $ q d o r j w r u t x h i h h g i r u z d u g f r q y h u v l r q j d l q ? 4-52 02 9 h o r f l w \ g h y l d w l r q h [ f h v v v h w x s ? ? ? 04 jog trial run command speed 05 position 3rd gain y d o l g w l p h scale factor ? ? 06 ? ? 07 7 r u t x h f r p p d q g d g g l w l r q d o y d o x h ? 4-53 08 3 r v l w l y h g l u h f w l r q torque compensation y d o x h 1 h j d w l y h g l u h f w l r q ? ? 09 ? ? 10 ) x q f w l r q h [ s d q v l r q v h w x s 11 current response setup 13 2nd inertia ratio 4-54 14 emergency stop time at alarm 15 q g r y h u v s h h g o h y h o v h w x s 17 ) u r q w s d q h o s d u d p h w h u z u l w l q j selection 18 3 r z h u x s z d l w w l p h 19 encoder z phase setup ? ? ? 4-55 20 = s k d v h v h w x s r i h [ w h u q d o v f d o h ? ? ? 21 6 h u l d o d e v r o x w h h [ w h u q d o v f d o h = s k d v h setup ? ? ? 22 $ % s k d v h h [ w h u q d o v f d o h s x o v h output method selection ? ? ? 23 disturbance torque compensating gain ? ? 24 ' l v w x u e d q f h r e v h u y h u o w h u ? ? 4-56 27 $ o d u p o d w f k w l p h v h o h f w l r q 31 real time auto tuning estimation speed custom setup 32 4-57 34 + \ e u l g y l e u d w l r q suppression gain o w h u ? ? ? 4-58 35 ? ? ? 37 2 v f l o o d w l r q g h w h f w l r q o h y h o 38 $ o d u p p d v n v h w x s 39 for manufacturer's use parametr no. title related control mode detail page class no. pstf parametr no. title related control mode detail page class no. pstf phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-4 ' h i d x o w > @ 4 1. details of parameter setup [class 0] basic setting pr0.00 * rotational direction setup range unit default related control mode 0 to 1 ? 1 p s t f 6 h w x s w k h u h o d w l r q v k l s e h w z h h q w k h g l u h f w l r q r i f r p p d q g d q g g l u h f w l r q r i p r w r u u r w d w l r q 0 r w r u w x u q v & : l q u h v s r q v h w r s r v l w l y h g l u h f w l r q f r p p d q g & : z k h q y l h z h g i u r p o r d g v l g h v k d i w h q g 0 r w r u w x u q v & & : l q u h v s r q v h w r s r v l w l y h g l u h f w l r q f r p p d q g & & : z k h q y l h z h g i u r p o r d g v l g h v k d i w h q g positive direction (ccw) default negative direction (cw) setup value command direction motor rotational direction positive direction drive inhibit input negative direction drive inhibit input 0 3 r v l w l y h g l u h f w l r q & : valid ? 1 h j d w l y h g l u h f w l r q & & : ? valid [1] 3 r v l w l y h g l u h f w l r q & & : valid ? 1 h j d w l y h g l u h f w l r q & : ? valid pr0.01 * control mode setup range unit default related control mode 0 to 6 ? 0 p s t f you can set up the control mode to be used. setup value content 1st mode 2st mode [0] position ? 1 velocity ? 2 torque ? 3 * 1 position velocity 4 * 1 position torque 5 * 1 velocity torque 6 full-closed ? * : k h q \ r x v h w x s w k h f r p e l q d w l r q p r g h r i r u \ r x f d q v h o h f w h l w k h u w k h v w r u w k h q g z l w k f r q w u r o p r g h v z l w f k l q j l q s x w & 0 2 ' ( : k h q & 0 2 ' ( l v r s h q w k h v w p r g h z l o o e h selected. : k h q & 0 2 ' ( l v v k r u w h g w k h q g p r g h z l o o be selected. don't enter commands 10ms before/after v z l w f k l q j 1st 2nd close open c-mode 10ms or lon g er 10ms or lon g er open 1st 7 k h z d y h i r u p d e r y h v k r z v z k h q o r j l f d o v h w w l q j r i & 0 2 ' ( l q s x w l v d f r q w d f w : k h q e f r q w d f w l v x v h g r s h q d q g v k r u w l v u h y h u v h g note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ; 6 d i h w \ i x q f w l r q f r q q h f w r u ; ( [ w h u q d o v f d o h f r q q h f w r u d q g d q d o r j l q s x w ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-5 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ 1. details of parameter [class 0] basic setting pr0.02 real-time auto-gain tuning setup range unit default related control mode 0 to 6 ? 1 p s t f you can set up the action mode of the real-time auto-gain tuning. setup value mode varying degree of load inertia in motion 0 , q y d o l g real-time auto-gain tuning function is disabled. [1] standard % d v l f p r g h ' r q r w x v h x q e d o d q f h g o r d g i u l f w l r q f r p s h q v d w l r q r u j d l q v z l w f k l q j 2 positioning * 1 main application is positioning. it is recommended to use this mode r q h t x l s p h q w z l w k r x w x q e d o d q f h g k r u l ] r q w d o d [ l v e d o o v f u h z g u l y l q j h t x l s p h q w z l w k o r z i u l f w l r q h w f 3 9 h u w l f d o d [ l v * 2 : l w k d g g l w l r q d o i h d w x u h v w r w k h s r v l w l r q l q j p r g h x v h w k l v p r g h w r s r v l w l y h o \ d q g h i i h f w l y h o \ f r p s h q v d w h i r u x q e d o d q f h g o r d g w r w k h y h u w l f d o d [ l v r u p l q l p l ] h y d u l d w l r q v l q v h w w l q j w l p h 4 friction compensation * 3 : l w k d g g l w l r q d o i h d w x u h v w r w k h y h u w l f d o d [ l v p r g h x v h w k l v p r g h w r s r v l w l y h o \ d q g h i i h f w l y h o \ u h g x f h s r v l w l r q l q j v h w w l q j w l p h z k h q w k h e h o w g u l y l q j d [ l v k d v k l j k i u l f w l r q 5 load characteristic measurement ( v w l p d w h w k h o r d g f k d u d f w h u l v w l f v z l w k r x w f k d q j l q j f x u u h q w s d u d p h w h u v h w w l q j 7 k l v p r g h u h t x l u h v x v h r i w k h v h w x s v x s s r u w v r i w z d u h 6 customize * 4 functions of real-time auto-gain tuning can be customized to meet the u h t x l u h p h q w v r i w k h v s h f l f d s s o l f d w l r q e \ f r p e l q l q j g h v l u h g i x q f w l r q v d f f r u g l q j w r w k h 3 u 5 h d o w l p h d x w r j d l q w x q l q j f x v w r p v h w w l q j * 1 velocity and torque controls are the same as in the standard mode. * 2 torque control is the same as in the standard mode. * 9 h o r f l w \ f r q w u r o l v w k h v d p h d v l q w k h y h u w l f d o d [ l v p r g h 7 r u t x h f r q w u r o l v w k h v d p h d v in the standard mode. * & h u w d l q i x q f w l r q v l v q r w d y d l o d e o h l q d v s h f l f f r q w u r o p r g h 5 h i h u w r g h v f u l s w l r q l q pr6.32. pr0.03 selection of machine stiffness at real-time auto-gain tuning range unit default related control mode 0 to 31 ? $ % & i u d p h 13 d to h- i u d p h 11 pstf caution < r x f d q v h w x s w k h u h v s r q v h z k l o h w k h u h d o w l p h d x w r j d l q w x q l q j l v y d o l g 0, 1 - - - - - - - 11 - - 13 - - - - - - - - - - - - 30, 31 low machine stiffness high low servo gain high low response high + l j k h u w k h v h w x s y d o x h k l j k h u w k h y h o r f l w \ u h v s r q v h d q g v h u y r v w l i i q h v v z l o o e h r e w d l q h g + r z h y h u z k h q l q f u h d v l q j w k h y d o x h f k h f n w k h u h v x o w l q j r s h u d w l r q w r d y r l g r v f l o o d w l r q r u y l e u d w l r q & r q w u r o j d l q l v x s g d w h g z k l o h w k h p r w r u l v v w r s s h g , i w k h p r w r u f d q q r w e h v w r s s h g g x h w r h [ f h v v l y h o \ o r z j d l q r u f r q w l q x r x v d s s o l f d w l r q r i r q h z d \ g l u h f w l r q f r p p d q g d q \ f k d q j h p d g h w r 3 u 6 h o h f w l r q r i p d f k l q h v w l i i q h v v d w u h d o w l p h d x w r j d l q w x q l q j l v q r w x v h g i r u x s g d w h , i w k h f k d q j h g v w l i i q h v v v h w w l q j l v p d g h y d o l g d i w h u w k h p r w r u v w r s s h g d e q r u p d o v r x q g r u r v f l o o d w l r q z l o o e h j h q h u d w h g 7 r s u h y h q w w k l v s u r e o h p v w r s w k h p r w r u d i w h u f k d q j l q j the stiffness setting and check that the changed setting is enabled. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-6 ' h i d x o w > @ pr0.04 inertia ratio range unit default related control mode 0 to 10000 % 250 * pstf caution set 1st inertia ratio. < r x f d q v h w x s w k h u d w l r r i w k h o r d g l q h u w l d d j d l q v w w k h u r w r u r i w k h p r w r u l q h u w l d 3 u o r d g l q h u w l d u r w r u l q h u w l d e > @ 7 k h l q h u w l d u d w l r z l o o e h h v w l p d w h g d w d o o w l p h z k l o h w k h u h d o w l p h d x w r j d l q w x q l q j l v y d o l g d q g l w v u h v x o w z l o o e h v d y h g w r ( ( 3 5 2 0 h y h u \ p l q , i w k h l q h u w l d u d w l r l v f r u u h f w o \ v h w w k h v h w x s x q l w r i 3 u d q g 3 u e h f r p h v + ] : k h q w k h l q h u w l d u d w l r r i 3 u l v o d u j h u w k d q w k h d f w x d o w k h v h w x s x q l w r i w k h y h o r f l w \ o r r s j d l q e h f r p h v o d u j h u d q g z k h q w k h l q h u w l d u d w l r r i 3 u l v v p d o o h u w k d q w k h d f w x d o w k h v h w x s x q l w r i w k h y h o r f l w \ o r r s j d l q e h f r p h v v p d o o h u pr0.05 * selection of command pulse input range unit default related control mode 0 to 1 ? 0 p f < r x f d q v h o h f w h l w k h u w k h s k r w r f r x s o h u l q s x w r u w k h h [ f o x v l y h l q s x w i r u o l q h g u l y h u d v w k h command pulse input. setup value content [0] 3 k r w r f r x s o h u l q s x w 3 8 / 6 3 8 / 6 6 , * 1 6 , * 1 1 ( [ f o x v l y h l q s x w i r u o l q h g u l y h u 3 8 / 6 + 3 8 / 6 + 6 , * 1 + 6 , * 1 + 1. details of parameter [class 0] basic setting note ? 3 d u d p h w h u v z k l f k g h i d x o w y d o x h v k d y h d v x i i l [ r i * z l o o e h d x w r p d w l f d o o \ v h w x s g x u l q j u h d o w l p h d x w r j d l q w x q l q j : k h q \ r x f k d q j h p d q x d o o \ l q y d o l g d w h w k h u h d o w l p h d x w r j d l q w x q l q j u v w w k h q v h w u h i h u u l q j w r 3 5 h o h d v h r i $ x w r p d w l f * d l q $ g m x v w l q j ) x q f w l r q r i $ g m x v w p h q w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-7 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr0.06 * command pulse rotational direction setup range unit default related control mode 0 to 1 ? 0 p f pr0.07 * command pulse input mode setup range unit default related control mode 0 to 3 ? 1 p f % s k d v h d g y d q f h v w r $ e \ y % s k d v h g h o d \ v i u r p $ e \ y t1 a-phase b-phase t1 t1 t1 t1 t1 t1 t1 t2 t2 t2 t3 t2 t4 h l t5 t4 t6 t6 t6 t6 t5 % s k d v h d g y d q f h v w r $ e \ y % s k d v h g h o d \ v i u r p $ e \ y t1 a-phase b-phase t1 t1 t1 t1 t1 t1 t1 t2 t2 t2 t3 t2 t4 l h t5 t4 t6 t6 t6 t6 t5 line driver interface open collector interface pulse train interface exclusive to line driver pulse train interface input i/f of puls/sign signal permissible max. input frequency 4mpps 500kpps 200kpps t 1 2 5 0 l q q h f h v v d u \ w l p h z l g w k e v t 2 1 t 3 1 t 4 1 t 5 1 t 6 1 ? 3 h u p l v v l e o h p d [ l q s x w i u h t x h q f \ d q g p l q q h f h v v d u \ w l p h z l g w k r i f r p p d q g s x o v h l q s x w v l j q d o 0 d n h w k h u l v l q j i d o o l q j w l p h r i w k h f r p p d q g s x o v h l q s x w v l j q d o w r e v r u v p d o o h u 7 k h w d e o h e h o r z v k r z v f r p e l q d w l r q v r i 3 u & r p p d q g s x o v h u r w d w l r q d o g l u h f w l r q v h w x s d q g 3 u & r p p d q g s x o v h l q s x w p r g h v h w x s 3 x o v h v d u h f r x q w h g d w h g j h v l q g l f d w h g e \ w k h d u u r z v d v v k r z q l q w k h w d e o h pr0.06 setup value & r p p d q g s x o v h rotational ( g l u h f w l r q v h w x s pr0.07 setup value & r p p d q g s x o v h l q s x w p r g h ( setup signal title 3 r v l w l y h g l u h f w l r q f r p p d q g 1 h j d w l y h g l u h f w l r q f r p p d q g & r p p d q g pulse format 0 or 2 [0] [1] 3 0 or 2 11 3 puls sign puls sign puls sign puls sign puls sign puls sign y s k d v h difference 2-phase pulse (a + b-phase) positive direction pulse train + negative direction pulse train pulse train + signal y s k d v h difference 2-phase pulse (a + b-phase) positive direction pulse train + negative direction pulse train pulse train + signal ? , q s x w i r u p d w f r p p d q g s x o v h < r x f d q v h w x s w k h u r w d w l r q d o g l u h f w l r q d j d l q v w w k h f r p p d q g s x o v h l q s x w d q g w k h f r p p d q g pulse input format. 1. details of parameter [class 0] basic setting phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-8 ' h i d x o w > @ pr0.08 * command pulse counts per one motor revolution range unit default related control mode 0 to 1048576 pulse 10000 p set the command pulses that causes single turn of the motor shaft. : k h q w k l v v h w w l q j l v 3 u v w q x p h u d w r u r i h o h f w u r q l f j h d u d q g 3 u ' h q r p l q d w r u r i h o h f w u r q l f j h d u e h f r p h y d o l g pr0.09 1st numerator of electronic gear range unit default related control mode 0 to 2 30 ?0pf 6 h w w k h q x p h u d w r u r i g l y l v l r q p x o w l s o l f d w l r q r s h u d w l r q p d g h d f f r u g l q j w r w k h f r p p d q g s x o v h l q s x w 7 k l v v h w x s l v h q d e o h g z k h q 3 u f r p p d q g s x o v h f r x q w v s h u r q h p r w r u u h y r o x w l r q pr0.10 denominator of electronic gear range unit default related control mode 1 to 2 30 ? 10000 p f 6 h w w k h ' h q r p l q d w r u r i g l y l v l r q p x o w l s o l f d w l r q r s h u d w l r q p d g h d f f r u g l q j w r w k h f r p p d q g pulse input. 7 k l v v h w x s l v h q d e o h g z k h q 3 u f r p p d q g s x o v h f r x q w v s h u r q h p r w r u u h y r o x w l r q , q w h u u h o d w l r q v k l s e h w z h h q 3 u 3 u d q g 3 u g x u l q j 3 r v l w l r q f r q w u r o ! pr0.08 pr0.09 pr0.10 command division/multiplication operation 1 to 1048576 ? 1 r w h i i h f w ? 1 r w h i i h f w encoder resolution [pr0.08 setup value] command pulse input positional command 5 h j d u g o h v v r i v h w x s r i 3 u d q g 3 u w k l v r s h u d w l r q l v s u r f h v v h g d f f r u g l q j w r v h w x s y d o x h r i pr0.08. 0 0 0 to 1073741824 encoder resolution [pr0.10 setup value ] command pulse input positional command : k h q e r w k 3 u d q g 3 u d u h v h w w r w k l v r s h u d w l r q l v s u r f h v v h g d f f r u g l q j w r v h w x s y d o x h r i pr0.10. 1 to 1073741824 1 to 1073741824 [pr0.09 setting] [pr0.10 setting] command pulse input positional command : k h q v h w x s y d o x h r i 3 u l v d q g 3 u ? w k l v r s h u d w l r q l v s u r f h v v h g d f f r u g l q j w r v h w x s y d o x h r i 3 u d q g 3 u , q w h u u h o d w l r q v k l s e h w z h h q 3 u 3 u d q g 3 u g x u l q j i x o o f o r v h g f r q w u r o ! 1. details of parameter [class 0] basic setting related page ? 3 6 h w x s r i 0 r w r u 5 r w d w l r q d o 6 s h h g d q g , q s x w 3 x o v h ) u h t x h q f \ ? 3 3 3 u r w h f w l y h i x q f w l r q ' h w d l o r i h u u r u f r g h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-9 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ pr0.08 pr0.09 pr0.10 command division/multiplication operation , q y d o l g 0 1 to 1073741824 1 1 command pulse input positional command , i 3 u l v g x u l q j i x o o f o r v h g f r q w u r o o l q j w k h s u r f h v v d v v k r z q d e r y h l v s h u i r u p h g z l w k e r w k numerator and denominator set to 1. 1 to 1073741824 1 to 1073741824 [pr0.09 setting] [pr0.10 setting] command pulse input positional command : k h q v h w x s y d o x h r i 3 u ? w k l v r s h u d w l r q l v s u r f h v v h g d f f r u g l q j w r v h w x s y d o x h r i 3 u d q g pr0.10. caution 7 k h g h v l u h g v h w w l q j f d q e h g h w h u p l q h g e \ v h o h f w l q j y d o x h r i q x p h u d w r u d q g g h q r p l q d w r u r i h o h f w u r q l f j h d u + r z h y h u d q h [ f h v v l y h o \ k l j k g l y l v l r q r u p x o w l s o l f d w l r q u d w l r f d q q r w j x d u d q w h h w k h r s h u d w l r q 7 k h u d w l r v k r x o g e h l q d u d q j h e h w z h h q d q g ( [ f h v v l y h o \ k l j k p x o w l s o l f d w l r q u d w l r z l o o f d x v h ( u u f r p p d q g s x o v h p x o w l s o l f d w l r q h u u r u s u r w h f w l r q g x h w r y d u \ l q j f r p p d q g s x o v h l q s x w r u q r l v h v h y h q l i w k h r w k h u v h w w l q j v d u h z l w k l q w k h v s h f l h g u d q j h ' x u l q j i x o o f o r v h g f r q w u r o o l q j g r q r w f k d q j h f r p p d q g g l y l v l r q d q g p x o w l s o l f d w l r q u d w l r 2 w k h u z l v h ( u u + \ e u l g r y h u g h y l d w l r q d o d u p z l o o e h j h q h u d w h g pr0.11 * output pulse counts per one motor revolution range unit default related control mode 0 to 262144 p/r 2500 pstf caution < r x f d q v h w x s w k h r x w s x w s x o v h f r x q w v s h u r q h p r w r u u h y r o x w l r q i r u h d f k 2 $ d q g 2 % z l w k the pr0.11 setup. ) r u g h w d l o v r i v h w x s u h i h u w r g h v f u l s w l r q l q 3 u 1. details of parameter [class 0] basic setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 6 h w x s r i 0 r w r u 5 r w d w l r q d o 6 s h h g d q g , q s x w 3 x o v h ) u h t x h q f \ ? 3 3 3 u r w h f w l y h i x q f w l r q ' h w d l o r i h u u r u f r g h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-10 ' h i d x o w > @ note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 6 h w x s r i 7 r u t x h / l p l w ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q pr5.03 * denominator of pulse output division range unit default related control mode 0 to 262144 ? 0 p s t f ) r u d q d s s o l f d w l r q z k h u h w k h q x p e h u r i r x w s x w s x o v h v s h u r q h p r w r u u h y r o x w l r q l v q r w d q l q w h j h u v h w w k l v s d u d p h w h u w r d y d o x h r w k h u w k d q d q g w k h g l y l g l q j u d w l r f d q e h v h w e \ x v l q j pr0.11 as the numerator and pr5.03 as the denominator. 2 x w s x w s x o v h f r x q w v s h u r q h u h y r o x w l r q 3 u v h w x s y d o x h / pr5.03 v h w x s y d o x h e ( q f r g h u u h v r o x w l r q e 1 4 4-12 ' h i d x o w > @ pr0.16 * ( [ w h u q d o u h j h q h u d w l y h u h v l v w r u v h w x s range unit default related control mode 0 to 3 ? $ % * + i u d p h 3 & ' ( ) i u d p h 0 pstf remarks caution : l w k w k l v s d u d p h w h u \ r x f d q v h o h f w h l w k h u w r x v h w k h e x l o w l q u h j h q h u d w l y h u h v l v w r u r i w k h g u l y h u r u w r v h s d u d w h w k l v e x l o w l q u h j h q h u d w l y h u h v l v w r u d q g h [ w h u q d o o \ l q v w d o o w k h u h j h q h u d w l y h u h v l v w r u e h w z h h q % d q g % r i & r q q h f w r u ; % l q f d v h r i $ w r ' i u d p h e h w z h h q % d q g % r i & r q q h f w r u ; & l q f d v h r i ' i u d p h 9 d q g ( i u d p h e h w z h h q % d q g % r i w h u p l q d o e o r f n l q f d v h r i ) w r + i u d p h $ % * d q g + i u d p h g u l y h u l v q r w s u r y l g h g z l w k e x l o w l q u h v l v w h u setup value regenerative resistor to be used function [0] & w r ) i u d p h built-in resistor 5 h j h q h u d w l y h s u r f h v v l q j f l u f x l w z l o o e h d f w l y d w h g d q g u h j h q h u d w l y h u h v l v w r u r y h u o r d g s u r w h f w l r q z l o o e h w u l j j h u h g d f f r u g l q j w r w k h e x l o w l q u h v l v w r u d s s u r [ g x w \ 1 ( [ w h u q d o resistor 7 k h g u l y h u w u l s v g x h w r u h j h q h u d w l y h r y h u o r d g s u r w h f w l r q ( u u z k h q u h j h q h u d w l y h s u r f h v v l q j f l u f x l w l v d f w l y d w h g d q g l w v d f w l y h u d w l r h [ f h h g v 2 ( [ w h u q d o resistor 5 h j h q h u d w l y h s u r f h v v l q j f l u f x l w l v d f w l y d w h g e x w q r u h j h q h u d w l y h r y h u o r d g s u r w h f w l r q l v w u l j j h u h g [3] $ % * + i u d p h 1 r u h v l v w r u % r w k u h j h q h u d w l y h s u r f h v v l q j f l u f x l w d q g u h j h q h u d w l y h s u r w h f w l r q d u h q r w d f w l y d w h g d q g e x l o w l q f d s d f l w r u k d q g o h v d o o u h j h q h u d w l y h s r z h u , q v w d o o d q h [ w h u q d o s u r w h f w l r q v x f k d v w k h u p d o i x v h z k h q \ r x x v h w k h h [ w h u q d o u h j h q h u d w l y h resistor. 2 w k h u z l v h w k h u h j h q h u d w l y h u h v l v w r u p l j k w e h k h d w h g x s d e q r u p d o o \ d q g u h v x o w l q e x u q r x w u h j d u g o h v v r i y d o l g d w l r q r u l q y d o l g d w l r q r i u h j h q h u d w l y h r y h u o r d g s u r w h f w l r q : k h q \ r x x v h w k h e x l o w l q u h j h q h u d w l y h u h v l v w r u q h y h u w r v h w x s r w k h u y d o x h w k d q ' r q w w r x f k w k h h [ w h u q d o u h j h q h u d w l y h u h v l v w r u ( [ w h u q d o u h j h q h u d w l y h u h v l v w r u j h w v y h u \ k r w d q g p l j k w f d x v h e x u q l q j pr0.17 * / r d g i d f w r u r i h [ w h u q d o u h j h q h u d w l y h resistor selection range unit default related control mode 0 to 4 ? 0 p s t f : k h q v h o h f w l q j w k h h [ w h u q d o u h j h q h u d w l y h u h v l v w r u 3 u v h o h f w w k h f r p s x w l q j p h w k r g r i o r d g i d f w r u r i u h j h q h u d w l y h u h v l v w r u setup value function [0] 5 h j h q h u d w l y h o r d g i d f w r u l v z k h q g x w \ i d f w r u r i h [ w h u q d o u h j h q h u d w l y h u h v l v w r u l v 10%. 1 to 4 ) r u p d q x i d f w x u h u v x v h g r q r w v h w x s 1. details of parameter [class 0] basic setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 6 \ v w h p & r q j x u d w l r q d q g : l u l q j ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-13 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement pr1.00 1st gain of position loop range unit default related control mode 0 to 30000 0.1/s $ % c - i u d p h 480 d to h- i u d p h 320 pf you can determine the response of the positional control system. + l j k h u w k h j d l q r i s r v l w l r q o r r s \ r x v h w i d v w h u w k h s r v l w l r q l q j w l p h \ r x f d q r e w d l q 1 r w h w k d w w r r k l j k v h w x s p d \ f d x v h r v f l o o d w l r q pr1.01 1st gain of velocity loop range unit default related control mode 1 to 32767 0.1hz $ % c - i u d p h 270 d to h- i u d p h 180 pstf caution < r x f d q g h w h u p l q h w k h u h v s r q v h r i w k h y h o r f l w \ o r r s , q r u g h u w r l q f u h d v h w k h u h v s r q v h r i r y h u d o o v h u y r v \ v w h p e \ v h w w l q j k l j k s r v l w l r q o r r s j d l q \ r x q h h g k l j k h u v h w x s r i w k l v y h o r f l w \ o r r s j d l q d v z h o o + r z h y h u w r r k l j k v h w x s p d \ f d x v h oscillation. : k h q w k h l q h u w l d u d w l r r i 3 u l v v h w f r u u h f w o \ w k h v h w x s x q l w r i 3 u e h f r p h v + ] pr1.02 1st time constant of velocity loop integration range unit default related control mode 1 to 10000 0.1ms $ % c - i u d p h 210 d to h- i u d p h 310 pstf < r x f d q v h w x s w k h l q w h j u d w l r q w l p h f r q v w d q w r i y h o r f l w \ o r r s 6 p d o o h u w k h v h w x s i d v w h u \ r x f d q g r j l q g h y l d w l r q d w v w d o o w r 7 k h l q w h j u d w l r q z l o o e h p d l q w d l q h g e \ v h w w l q j w r 7 k h l q w h j u d w l r q h i i h f w z l o o e h o r v w e \ v h w w l q j w r pr1.03 1st filter of speed detection range unit default related control mode 0 to 5 ? 0 p s t f < r x f d q v h w x s w k h w l p h f r q v w d q w r i w k h o r z s d v v o w h u / 3 ) d i w h u w k h v s h h g g h w h f w l r q l q steps. + l j k h u w k h v h w x s o d u j h u w k h w l p h f r q v w d q w \ r x f d q r e w d l q v r w k d w \ r x f d q g h f u h d v h w k h p r w r u q r l v h k r z h y h u u h v s r q v h e h f r p h v v o r z 8 v h z l w k d g h i d x o w y d o x h r i l q q r u p d o operation. pr1.04 1st time constant of torque filter range unit default related control mode 0 to 2500 0.01ms $ % c - i u d p h 84 d to h- i u d p h 126 pstf < r x f d q v h w x s w k h w l p h f r q v w d q w r i w k h v w g h o d \ o w h u l q v h u w h g l q w k h w r u t x h f r p p d q g s r u w l r q < r x p l j k w h [ s h f w v x s s u h v v l r q r i r v f l o o d w l r q f d x v h g e \ g l v w r u w l r q u h v r q d q f h 4 1. details of parameter setup [class 1] gain adjustment caution note related page ? 7 r 3 d q d v r q l f 0 , 1 $ 6 x v h u v $ d q g k l j k h u v h u l h v & $ 8 7 , 2 1 3 d u d p h w h u v h w w l q j v v k r z q l q w k l v p d q x d o p d \ g l i i h u i u r p w k r v h d s s o l h g w r \ r x u s u r g x f w v ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-14 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr1.05 2nd gain of position loop range unit default related control mode 0 to 30000 0.1/s $ % c - i u d p h 570 d to h- i u d p h 380 pf pr1.06 2nd gain of velocity loop range unit default related control mode 1 to 32767 0.1hz $ % c - i u d p h 270 d to h- i u d p h 180 pstf pr1.07 2nd time constant of velocity loop integration range unit default related control mode 1 to 10000 0.1ms 10000 p s t f pr1.08 2nd filter of speed detection range unit default related control mode 0 to 5 ? 0 p s t f pr1.09 2nd time constant of torque filter range unit default related control mode 0 to 2500 0.01ms $ % c - i u d p h 84 d to h- i u d p h 126 pstf related page 3 r v l w l r q o r r s y h o r f l w \ o r r s v s h h g g h w h f w l r q o w h u d q g w r u t x h f r p p d q g o w h u k d y h w k h l u s d l u v r i j d l q r u w l p h f r q v w d q w v w d q g q g ) r u g h w d l o v r i v z l w f k l q j w k h v w d q g w k h q g j d l q r u w k h w l p h f r q v w d q w u h i h u w r 3 * d l q 6 z l w f k l q j ) x q f w l r q r i $ g m x v w p h q w the function and the content of each parameter is as same as that of the 1st gain and time constant. pr1.10 9 h o r f l w \ i h h g i r u z d u g j d l q range unit default related control mode 0 to 1000 0.10% 300 p f 0 x o w l s o \ w k h y h o r f l w \ f r q w u r o f r p p d q g f d o f x o d w h g d f f r u g l q j w r w k h l q w h u q d o s r v l w l r q d o command by the ratio of this parameter and add the result to the speed command resulting from the positional control process. pr1.11 9 h o r f l w \ i h h g i r u z d u g i l o w h u range unit default related control mode 0 to 6400 0.01ms 50 p f 6 h w w k h w l p h f r q v w d q w r i v w g h o d \ o w h u z k l f k d i i h f w v w k h l q s x w r i y h o r f l w \ i h h g i r u z d u g 8 v d j h h [ d p s o h r i y h o r f l w \ i h h g i r u z d u g ! 7 k h y h o r f l w \ i h h g i r u z d u g z l o o e h f r p h h i i h f w l y h d v w k h y h o r f l w \ i h h g i r u z d u g j d l q l v j u d g x d o o \ l q f u h d v h g z l w k w k h y h o r f l w \ i h h g i r u z d u g i l o w h u v h w d w d s s u r [ p v 7 k h s r v l w l r q d o g h y l d w l r q g x u l q j r s h u d w l r q d w d f r q v w d q w y h o r f l w \ l v u h g x f h g d v v k r z q l q w k h h t x d w l r q e h o r z l q s u r s r u w l r q w r w k h y d o x h r i y h o r f l w \ i h h g i r u z d u g j d l q 3 r v l w l r q d o g h y l d w l r q > x q l w r i f r p p d q g @ f r p p d q g v s h h g > x q l w r i f r p p d q g v @ s r v l w l r q d o o r r s j d l q > v @ e y h o r f l w \ i h h g i r u z d u g j d l q > @ 1. details of parameter [class 1] gain adjustment phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-15 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ 1. details of parameter [class 1] gain adjustment pr1.12 7 r u t x h i h h g i r u z d u g j d l q range unit default related control mode 0 to 1000 0.1% 0 p s f ? 0 x o w l s o \ w k h w r u t x h f r p p d q g f d o f x o d w h g d f f r u g l q j w r w k h y h o r f l w \ f r q w u r o f r p p d q g e \ w k h u d w l r r i w k l v s d u d p h w h u d q g d g g w k h u h v x o w w r w k h w r u t x h f r p p d q g u h v x o w l q j i u r p w k h y h o r f l w \ control process. ? 3 r v l w l r q d o g h y l d w l r q d w d f r q v w d q w d f f h o h u d w l r q g h f h o h u d w l r q f d q e h p l q l p l ] h g f o r v h w r e \ l q f u h d v l q j w k h w r u t x h i r u z d u g j d l q 7 k l v p h d q v w k d w s r v l w l r q d o g h y l d w l r q f d q e h p d l q w d l q h g d w q h d u r y h u h q w l u h r s h u d w l r q u d q j h z k l o h g u l y l q j l q w u d s h ] r l g d o v s h h g s d w w h u q x q g h u l g h d o f r q g l w l r q z k h u h g l v w x u e d q f h w r u t x h l v q r w d f w l y h pr1.13 7 r u t x h i h h g i r u z d u g i l o w h u range unit default related control mode 0 to 6400 0.01ms 0 p s f caution ? 6 h w x s w k h w l p h f r q v w d q w r i v w g h o d \ o w h u z k l f k d i i h f w v w k h l q s x w r i w r u t x h i h h g i r u z d u g ? 7 k h w r u t x h i h h g i r u z d u g z l o o e h f r p h h i i h f w l y h d v w k h w r u t x h i h h g i r u z d u g j d l q l v j u d g x d o o \ l q f u h d v h g z l w k w k h w r u t x h i h h g i r u z d u g o w h u l v v h w d w d s s u r [ p v 8 v d j h h [ d p s o h r i w r u t x h i h h g i r u z d u g ! ? 7 r x v h w k h w r u t x h i h h g i r u z d u g f r u u h f w o \ v h w w k h l q h u w l d u d w l r 8 v h w k h y d o x h w k d w z d v g h w h u p l q h g d w w k h v w d u w r i w k h u h d o w l p h d x w r w x q l q j r u v h w w k h l q h u w l d u d w l r w k d w f d q e h f d o f x o d w h g i u r p w k h p d f k l q h v s h f l f d w l r q w r 3 u , q h u w l d u d w l r ? 7 k h w r u t x h i h h g i r u z d u g z l o o e h f r p h h i i h f w l y h d v w k h w r u t x h i h h g i r u z d u g j d l q l v j u d g x d o o \ l q f u h d v h g z l w k w k h w r u t x h i h h g i r u z d u g o w h u l v v h w d w d s s u r [ p v ? 3 r v l w l r q d o g h y l d w l r q d w d f r q v w d q w d f f h o h u d w l r q g h f h o h u d w l r q f d q e h p l q l p l ] h g f o r v h w r e \ l q f u h d v l q j w k h w r u t x h i r u z d u g j d l q 7 k l v p h d q v w k d w s r v l w l r q d o g h y l d w l r q f d q e h p d l q w d l q h g d w q h d u r y h u h q w l u h r s h u d w l r q u d q j h z k l o h g u l y l q j l q w u d s h ] r l g d o v s h h g s d w w h u q x q g h u l g h d o f r q g l w l r q z k h u h g l v w x u e d q f h w r u t x h l v q r w d f w l y h = h u r s r v l w l r q d o g h y l d w l r q l v l p s r v v l e o h l q d f w x d o v l w x d w l r q e h f d x v h r i g l v w x u e d q f h w r u t x h $ v z l w k w k h y h o r f l w \ i h h g i r u z d u g o d u j h w r u t x h i h h g i r u z d u g o w h u w l p h f r q v w d q w g h f u h d v h v w k h r s h u d w l q j q r l v h e x w l q f u h d v h v s r v l w l r q d o g h y l d w l r q d w d f f h o h u d w l r q f k d q j h s r l q w pr1.14 2nd gain setup range unit default related control mode 0 to 1 ? 1 p s t f related page $ u u d q j h w k l v s d u d p h w h u z k h q s h u i r u p l q j r s w l p x p d g m x v w p h q w e \ x v l q j w k h j d l q v z l w f k l q j function. setup value * d l q v h o h f w l r q v z l w f k l q j 0 v w j d l q l v [ h g d w d y d o x h % \ x v l q j w k h j d l q v z l w f k l q j l q s x w * $ , 1 f k d q j h w k h y h o r f l w \ o r r s r s h u d w l r q i u r p 3 , w r 3 * $ , 1 l q s x w s k r w r f r x s o h u 2 ) ) pi operation * $ , 1 l q s x w s k r w r f r x s o h u 2 1 p operation * 7 k h d e r y h g h v f u l s w l r q d s s o l h v z k h q w k h o r j l f d o v h w w l q j r i * $ , 1 l q s x w l v d f r q w d f w 2 1 2 ) ) r i s k r w r f r x s o h u l v u h y h u v h g z k h q e f r q w d f w [1] ( q d e o h j d l q v z l w f k l q j r i v w j d l q 3 u 3 u d q g q g j d l q 3 u 3 u ) r u v z l w f k l q j f r q g l w l r q r i w k h v w d q g w k h q g u h i h u w r 3 * d l q 6 z l w f k l q j ) x q f w l r q r i $ g m x v w p h q w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-16 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; pr1.15 0 r g h r i s r v l w l r q f r q w u r o v z l w f k l q j range unit default related control mode 0 to 10 ? 0 p f setup value 6 z l w f k l q j condition * d l q v z l w f k l q j f r q g l w l r q [0] ) l [ h g w r v w j d l q ) l [ h g w r w k h v w j d l q 3 u w r 3 u 1 ) l [ h g w r q g j d l q ) l [ h g w r w k h q g j d l q 3 u w r 3 u 2 : l w k j d l q v z l w f k l q j l q s x w ? v w j d l q z k h q w k h j d l q v z l w f k l q j l q s x w * $ , 1 l v r s h q ? q g j d l q z k h q w k h j d l q v z l w f k l q j l q s x w * $ , 1 l v f r q q h f w h g w r & 2 0 * , i q r l q s x w v l j q d o l v d o o r f d w h g w r w k h j d l q v z l w f k l q j l q s x w * $ , 1 w k h v w j d l q l v [ h g 3 torque command is large ? 6 k l i w w r w k h q g j d l q z k h q w k h d e v r o x w h y d o x h r i w k h w r u t x h f r p p d q g h [ f h h g h g o h y h o k \ v w h u h v l v s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h d e v r o x w h y d o x h r i w k h w r u t x h f r p p d q g z d v n h s w e h o r z o h y h o k \ v w h u h v l v s u h y l r x v o \ g x u l q j g h o d \ w l p h z l w k w k h q g j d l q 5 speed command is large ? 9 d o l g i r u s r v l w l r q d q g i x o o f o r v h g f r q w u r o v ? 6 k l i w w r w k h q g j d l q z k h q w k h d e v r o x w h y d o x h r i w k h v s h h g f r p p d q g h [ f h h g h g o h y h o k \ v w h u h v l v u p l q s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h d e v r o x w h y d o x h r i w k h v s h h g f r p p d q g z d v n h s w e h o r z o h y h o k \ v w h u h v l v u p l q s u h y l r x v o \ g x u l q j g h o d \ w l p h z l w k w k h q g j d l q 6 position g h y l d w l r q l v large ? 9 d o l g i r u s r v l w l r q d q g i x o o f o r v h g f r q w u r o v ? 6 k l i w w r w k h q g j d l q z k h q w k h d e v r o x w h y d o x h r i w k h s r v l w l r q d o g h y l d w l r q h [ f h h g h g o h y h o k \ v w h u h v l v s x o v h s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h d e v r o x w h y d o x h r i w k h s r v l w l r q d o g h y l d w l r q z d v n h s w e h o r z o h y h o k \ v w h u h v l v s x o v h s u h y l r x v o \ r y h u g h o d \ w l p h z l w k w k h q g j d l q * 8 q l w r i o h y h o d q g k \ v w h u h v l v s x o v h l v v h w d v w k h h q f r g h u u h v r o x w l r q i r u s r v l w l r q d o f r q w u r o d q g h [ w h u q d o v f d o h u h v r o x w l r q i r u i x o o f o r v h g f r q w u r o 7 position command h [ l v w v ? 9 d o l g i r u s r v l w l r q d q g i x o o f o r v h g f r q w u r o v ? 6 k l i w w r w k h q g j d l q z k h q w k h s r v l w l r q d o f r p p d q g z d v q r w s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h s r v l w l r q d o f r p p d q g z d v n h s w s u h y l r x v o \ g x u l q j g h o d \ w l p h z l w k w k h q g j d l q 8 1 r w l q positioning complete ? 9 d o l g i r u s r v l w l r q d q g i x o o f o r v h g f r q w u r o v ? 6 k l i w w r w k h q g j d l q z k h q w k h s r v l w l r q l q j z d v q r w f r p s o h w h g s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h s r v l w l r q l q j z d v n h s w l q f r p s o h w h g f r q g l w l r q s u h y l r x v o \ g x u l q j g h o d \ w l p h z l w k w k h q g j d l q 9 $ f w x d o v s h h g l v large ? 9 d o l g i r u s r v l w l r q d q g i x o o f o r v h g f r q w u r o v ? 6 k l i w w r w k h q g j d l q z k h q w k h d e v r o x w h y d o x h r i w k h d f w x d o v s h h g h [ f h h g h g o h y h o k \ v w h u h v l v u p l q s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h d e v r o x w h y d o x h r i w k h d f w x d o v s h h g z d v n h s w e h o r z o h y h o k \ v w h u h v l v u p l q s u h y l r x v o \ g x u l q j g h o d \ w l p h z l w k w k h q g j d l q 10 position command h [ l v w v $ f w x d o v s h h g ? 9 d o l g i r u s r v l w l r q d q g i x o o f o r v h g f r q w u r o v ? 6 k l i w w r w k h q g j d l q z k h q w k h s r v l w l r q d o f r p p d q g z d v q r w s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h s r v l w l r q d o f r p p d q g z d v n h s w d w g x u l q j w k h g h o d \ w l p h d q g w k h d e v r o x w h y d o x h r i d f w x d o v s h h g z d v n h s w e h o r z o h y h o k \ v w h u h v l v u p l q s u h y l r x v o \ z l w k w k h q g j d l q 6 h w x s w k h w u l j j h u l q j f r q g l w l r q r i j d l q v z l w f k l q j i r u s r v l w l r q f r q w u r o pr1.16 ' h o d \ w l p h r i s r v l w l r q f r q w u r o v z l w f k l q j range unit default related control mode 0 to 10000 0.1ms 50 p f ) r u s r v l w l r q f r q w u r o o l q j : k h q v k l i w l q j i u r p w k h q g j d l q w r w k h v w j d l q z l w k 3 u 3 r v l w l r q f r q w u r o v z l w f k l q j p r g h v h w d w r u v h w x s w k h g h o d \ w l p h i u r p w u l j j h u g h w h f w l r q w r w k h v z l w f k l q j r s h u d w l r q 1. details of parameter [class 1] gain adjustment phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-17 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr1.17 / h y h o r i s r v l w l r q f r q w u r o v z l w f k l q j range unit default related control mode 0 to 20000 mode- dependent 50 p f caution ) r u s r v l w l r q f r q w u r o o l q j 6 h w x s w u l j j h u l q j o h y h o z k h q 3 u 3 r v l w l r q f r q w u r o j d l q v z l w f k l q j p r g h l v v h w d w r u 8 q l w r i v h w w l q j y d u l h v z l w k v z l w f k l q j p r g h 6 h w w k h o h y h o h t x d o w r r u k l j k h u w k d q w k h k \ v w h u h v l v pr1.18 + \ v w h u h v l v d w s r v l w l r q f r q w u r o v z l w f k l q j range unit default related control mode 0 to 20000 mode- dependent 33 p f caution ) r u s r v l w l r q f r q w u r o o l q j 6 h w x s w u l j j h u l q j k \ v w h u h v l v z k h q 3 u 3 r v l w l r q f r q w u r o j d l q v z l w f k l q j p r g h l v v h w d w r u 8 q l w r i v h w w l q j y d u l h v z l w k v z l w f k l q j p r g h : k h q o h y h o k \ v w h u h v l v w k h k \ v w h u h v l v l v l q w h u q d o o \ d g m x v w h g v r w k d w l w l v h t x d o w r o h y h o pr1.19 3 r v l w l r q j d l q v z l w f k l q j w l p h range unit default related control mode 0 to 10000 0.1ms 33 p f caution ) r u s r v l w l r q f r q w u r o o l q j , i w k h g l i i h u h q f h e h w z h h q 3 u v w j d l q r i s r v l w l r q o r r s d q g 3 u q g j d l q r i s r l v r q o r r s l v o d u j h w k h l q f u h d v l q j u d w h r i s r v l w l r q o r r s j d l q f d q e h o l p l w h g e \ this parameter. 7 k h s r v l w l r q o r r s j d l q z l o o l q f u h d v h r y h u w k h w l p h v h w 3 r v l w l r q j d l q v z l w f k l q j w l p h ! : k h q x v l q j s r v l w l r q f r q w u r o d q g i x o o f o r v h g f r q w u r o j d l q r i s r v l w l r q o r r s u d s l g o \ f k d q j h v f d x v l q j w r u t x h f k d q j h d q g y l e u d w l r q % \ d g m x v w l q j 3 u 3 r v l w l r q j d l q v z l w f k l q j w l p h l q f u h d v l q j u d w h r i w k h s r l v r q o r r s j d l q f d q e h g h f u h d v h g d q g y l e u d w l r q o h y h o f d q e h u h g x f h g 6 h w w l q j r i w k l v s d u d p h w h u g r h v q r w d i i h f w w k h j d l q v z l w f k l q j w l p h z k h q w k h j d l q r i s r v l w l r q o r r s l v v z l w f k h g w r o r z h u o h y h o j d l q l v v z l w f k h g l p p h g l d w h o \ ( [ d p s o h v w 3 u ! q g 3 u 2nd 1st 1st result of switching 1st (pr1.00) 2nd (pr1.05) position gain switching time (ms) (pr1.19) 1. details of parameter [class 1] gain adjustment phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-18 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr1.20 0 r g h r i y h o r f l w \ f r q w u r o v z l w f k l q j range unit default related control mode 0 to 5 ? 0 s related page ) r u y h o r f l w \ f r q w u r o o l q j 6 h w w k h f r q g l w l r q w r w u l j j h u j d l q v z l w f k l q j setup value 6 z l w f k l q j f r q g l w l r q * d l q v z l w f k l q j f r q g l w l r q [0] ) l [ h g w r w k h v w j d l q ) l [ h g w r w k h v w j d l q 3 u w r 3 u 1 ) l [ h g w r w k h q g j d l q ) l [ h g w r w k h q g j d l q 3 u w r 3 u 2 * d l q v z l w f k l q j l q s x w ? v w j d l q z k h q w k h j d l q v z l w f k l q j l q s x w * $ , 1 l v r s h q ? q g j d l q z k h q w k h j d l q v z l w f k l q j l q s x w * $ , 1 l v f r q q h f w h g w r com?. * , i q r l q s x w v l j q d o l v d o o r f d w h g w r w k h j d l q v z l w f k l q j l q s x w * $ , 1 w k h v w j d l q l v [ h g 3 torque command ? 6 k l i w w r w k h q g j d l q z k h q w k h d e v r o x w h y d o x h r i w k h w r u t x h f r p p d q g h [ f h h g h g o h y h o k \ v w h u h v l v s u h y l r x v o \ z l w k the 1st gain. ? 5 h w x u q w r w k h v w j d l q z k h q w k h d e v r o x w h y d o x h r i w k h w r u t x h f r p p d q g z d v n h s w e h o r z o h y h o k \ v w h u h v l v s u h y l r x v o \ g x u l q j g h o d \ w l p h z l w k w k h q g j d l q 4 speed command y d u l d w l r q l v o d u j h u ? 9 d o l g r q o \ g x u l q j y h o r f l w \ f r q w u r o ? 6 k l i w w r w k h q g j d l q z k h q w k h d e v r o x w h y d o x h r i w k h v s h h g f r p p d q g y d u l d w l r q v h [ f h h g h g o h y h o k \ v w h u h v l v u p l q v s u h y l r x v o \ z l w k w k h v w j d l q ? 5 h w x u q w r w k h v w j d l q z k h q w k h d e v r o x w h y d o x h r i w k h v s h h g f r p p d q g y d u l d w l r q v z d v n h s w e h o r z o h y h o k \ v w h u h v l v u p l q v g x u l q j g h o d \ w l p h s u h y l r x v o \ z l w k w k h q g j d l q * 7 k h v w j d l q l v [ h g z k l o h w k h y h o r f l w \ f r q w u r o l v q r w d s s o l h g ) r u w k h v z l w f k l q j o h y h o d q g w l p l q j u h i h u w r 3 6 h w x s r i * d l q 6 z l w f k l q j & r q g l w l r q r i $ g m x v w p h q w pr1.21 ' h o d \ w l p h r i y h o r f l w \ f r q w u r o v z l w f k l q j range unit default related control mode 0 to 10000 0.1ms 0 s ) r u y h o r f l w \ f r q w u r o o l q j : k h q v k l i w l q j i u r p w k h q g j d l q w r w k h v w j d l q z l w k 3 u 9 h o r f l w \ f r q w u r o v z l w f k l q j p r g h v h w d w r u v h w w k h g h o d \ w l p h i u r p w u l j j h u g h w h f w l r q w r w k h v z l w f k l q j r s h u d w l r q pr1.22 / h y h o r i y h o r f l w \ f r q w u r o v z l w f k l q j range unit default related control mode 0 to 20000 mode- dependent 0s caution ) r u y h o r f l w \ f r q w u r o o l q j 6 h w x s w u l j j h u l q j o h y h o z k h q 3 u 9 h o r f l w \ f r q w u r o j d l q v z l w f k l q j p r g h l v v h w d w r u 8 q l w r i v h w w l q j y d u l h v z l w k v z l w f k l q j p r g h 6 h w w k h o h y h o h t x d o w r r u k l j k h u w k d q w k h k \ v w h u h v l v pr1.23 + \ v w h u h v l v d w y h o r f l w \ f r q w u r o v z l w f k l q j range unit default related control mode 0 to 20000 mode- dependent 0s caution ) r u y h o r f l w \ f r q w u r o o l q j 6 h w x s w u l j j h u l q j k \ v w h u h v l v z k h q 3 u 9 h o r f l w \ f r q w u r o j d l q v z l w f k l q j p r g h l v v h w d w r u 8 q l w r i v h w w l q j y d u l h v z l w k v z l w f k l q j p r g h : k h q o h y h o k \ v w h u h v l v w k h k \ v w h u h v l v l v l q w h u q d o o \ d g m x v w h g v r w k d w l w l v h t x d o w r o h y h o 1. details of parameter [class 1] gain adjustment phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-19 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr1.24 0 r g h r i w r u t x h f r q w u r o v z l w f k l q j range unit default related control mode 0 to 3 ? 0 t ) r u w r u t x h f r q w u r o o l q j 6 h w w k h f r q g l w l r q w r w u l j j h u j d l q v z l w f k l q j setup value 6 z l w f k l q j f r q g l w l r q * d l q v z l w f k l q j f r q g l w l r q [0] ) l [ h g w r w k h v w j d l q ) l [ h g w r w k h v w j d l q 3 u w r 3 u 1 ) l [ h g w r w k h q g j d l q ) l [ h g w r w k h q g j d l q 3 u w r 3 u 2 * d l q v z l w f k l q j l q s x w ? v w j d l q z k h q w k h j d l q v z l w f k l q j l q s x w * $ , 1 l v r s h q ? q g j d l q z k h q w k h j d l q v z l w f k l q j l q s x w * $ , 1 l v f r q q h f w h g w r com?. * , i q r l q s x w v l j q d o l v d o o r f d w h g w r w k h j d l q v z l w f k l q j l q s x w * $ , 1 w k h v w j d l q l v [ h g 3 torque command ? 6 k l i w w r w k h q g j d l q z k h q w k h d e v r o x w h y d o x h r i w k h w r u t x h f r p p d q g h [ f h h g h g o h y h o k \ v w h u h v l v s u h y l r x v o \ z l w k the 1st gain. ? 5 h w x u q w r w k h v w j d l q z k h q w k h d e v r o x w h y d o x h r i w k h w r u t x h f r p p d q g z d v n h s w e h o r z o h y h o k \ v w h u h v l v s u h y l r x v o \ g x u l q j g h o d \ w l p h z l w k w k h q g j d l q pr1.25 ' h o d \ w l p h r i w r u t x h f r q w u r o v z l w f k l q j range unit default related control mode 0 to 10000 0.1ms 0 t ) r u w r u t x h f r q w u r o o l q j : k h q v k l i w l q j i u r p w k h q g j d l q w r w k h v w j d l q z l w k 3 u 7 r u t x h f r q w u r o v z l w f k l q j p r g h v h w d w v h w x s w k h g h o d \ w l p h i u r p w u l j j h u g h w h f w l r q w r w k h v z l w f k l q j operation. pr1.26 / h y h o r i w r u t x h f r q w u r o v z l w f k l q j range unit default related control mode 0 to 20000 mode- dependent 0t caution ) r u w r u t x h f r q w u r o o l q j 6 h w x s w u l j j h u l q j o h y h o z k h q 3 u 7 r u t x h f r q w u r o j d l q v z l w f k l q j mode is set at 3. 8 q l w y d u l h v g h s h q g l q j r q w k h v h w x s r i p r g h r i f r q w u r o v z l w f k l q j 6 h w w k h o h y h o h t x d o w r r u k l j k h u w k d q w k h k \ v w h u h v l v pr1.27 + \ v w h u h v l v d w w r u t x h f r q w u r o v z l w f k l q j range unit default related control mode 0 to 20000 mode- dependent 0t caution ) r u w r u t x h f r q w u r o o l q j 6 h w x s w u l j j h u l q j k \ v w h u h v l v z k h q 3 u 7 r u t x h f r q w u r o j d l q v z l w f k l q j p r g h l v v h w d w 8 q l w r i v h w w l q j y d u l h v z l w k v z l w f k l q j p r g h : k h q o h y h o k \ v w h u h v l v w k h k \ v w h u h v l v l v l q w h u q d o o \ d g m x v w h g v r w k d w l w l v h t x d o w r o h y h o 1. details of parameter [class 1] gain adjustment phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-20 pr2.00 adaptive filter mode setup range unit default related control mode 0 to 4 ? 0 p s f 6 h w x s w k h u h v r q d q f h i u h t x h q f \ w r e h h v w l p d w h g e \ w k h d g d s w l y h i l o w h u d q g v s h f l i \ w k h operation after estimation. setup value content [0] $ g d s w l y h o w h u l q y d o l g 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u k r o g w k h f x u u h q w y d o x h 1 $ g d s w l y h o w h u o w h u l v y d o l g 2 q h d g d s w l y h o w h u l v h q d e o h g 3 d u d p h w h u v u h o d w h g w r w k h u g q r w f k o w h u z l o o e h x s g d w h g e d v h g r q d g d s w l y h s h u i r u p d q f h 2 $ g d s w l y h o w h u o w h u v d u h y d o l g 7 z r d g d s w l y h o w h u v d u h h q d e o h g 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u v z l o o e h x s g d w h g e d v h g r q d g d s w l y h performance. 3 resonance frequency measurement mode measure the resonance frequency. result of measurement f d q e h f k h f n h g z l w k 3 $ 1 $ 7 ( 5 0 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u k r o g w k h f x u u h q w y d o x h 4 clear result of adaptation 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u d u h g l v d e o h g d q g u h v x o w v r i d g d s w l y h r s h u d w l r q d u h f o h d u h g pr2.01 1st notch frequency range unit default related control mode 50 to 5000 hz 5000 p s t f caution 6 h w w k h f h q w h u i u h t x h q f \ r i w k h v w q r w f k o w h u 7 k h q r w f k o w h u i x q f w l r q z l o o e h l q y d o l g d w h g e \ v h w w l q j x s w k l v s d u d p h w h u w r pr2.02 v w q r w f k z l g w k v h o h f w l r q range unit default related control mode 0 to 20 ? 2 p s t f caution 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h v w q r w f k o w h u + l j k h u w k h v h w x s o d u j h u w k h q r w f k z l g w k \ r x f d q r e w d l q 8 v h z l w k g h i d x o w v h w x s l q q r u p d o operation. pr2.03 1st notch depth selection range unit default related control mode 0 to 99 ? 0 p s t f caution 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h v w q r w f k o w h u + l j k h u w k h v h w x s v k d o o r z h u w k h q r w f k g h s w k d q g v p d o o h u w k h s k d v h g h o d \ \ r x f d q r e w d l q pr2.04 2nd notch frequency range unit default related control mode 50 to 5000 hz 5000 p s t f caution 6 h w w k h f h q w h u i u h t x h q f \ r i w k h q g q r w f k o w h u 7 k h q r w f k o w h u i x q f w l r q z l o o e h l q y d o l g d w h g e \ v h w w l q j x s w k l v s d u d p h w h u w r pr2.05 q g q r w f k z l g w k v h o h f w l r q range unit default related control mode 0 to 20 ? 2 p s t f caution 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h q g q r w f k o w h u + l j k h u w k h v h w x s o d u j h u w k h q r w f k z l g w k \ r x f d q r e w d l q 8 v h z l w k g h i d x o w v h w x s l q q r u p d o r s h u d w l r q 4 1. details of parameter setup [class 2] damping control phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-21 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ 1. details of parameter [class 2] damping control pr2.06 2nd notch depth selection range unit default related control mode 0 to 99 ? 0 p s t f caution 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h q g q r w f k o w h u + l j k h u w k h v h w x s v k d o o r z h u w k h q r w f k g h s w k d q g v p d o o h u w k h s k d v h g h o d \ \ r x f d q r e w d l q pr2.07 3rd notch frequency range unit default related control mode 50 to 5000 hz 5000 p s t f caution 1 r w f k i u h t x h q f \ l v d x w r p d w l f d o o \ v h w w r w k h v w u h v r q d q f h i u h t x h q f \ h v w l p d w h g e \ w k h d g d s w l y h o w h u , q q r u h v r q d q f h s r l q w l v i r x q g w k h i u h t x h q f \ l v v h w w r pr2.08 u g q r w f k z l g w k v h o h f w l r q range unit default related control mode 0 to 20 ? 2 p s t f caution 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h u g q r w f k o w h u + l j k h u w k h v h w x s o d u j h u w k h q r w f k z l g w k \ r x f d q r e w d l q 8 v h z l w k g h i d x o w v h w x s l q q r u p d o r s h u d w l r q : k h q w k h d s s o l f d e o h o w h u i x q f w l r q l v x v h g s d u d p h w h u y d o x h l v d x w r p d w l f d o o \ v h w pr2.09 3rd notch depth selection range unit default related control mode 0 to 99 ? 0 p s t f caution 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h u g q r w f k o w h u + l j k h u w k h v h w x s v k d o o r z h u w k h q r w f k g h s w k d q g v p d o o h u w k h s k d v h g h o d \ \ r x f d q r e w d l q : k h q w k h d s s o l f d e o h o w h u i x q f w l r q l v x v h g s d u d p h w h u y d o x h l v d x w r p d w l f d o o \ v h w pr2.10 4th notch frequency range unit default related control mode 50 to 5000 hz 5000 p s t f caution 1 r w f k i u h t x h q f \ l v d x w r p d w l f d o o \ v h w w r w k h q g u h v r q d q f h i u h t x h q f \ h v w l p d w h g e \ w k h d g d s w l y h o w h u 7 k h q r w f k o w h u i x q f w l r q z l o o e h l q y d o l g d w h g e \ v h w w l q j x s w k l v s d u d p h w h u w r pr2.11 w k q r w f k z l g w k v h o h f w l r q range unit default related control mode 0 to 20 ? 2 p s t f caution 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h w k q r w f k o w h u + l j k h u w k h v h w x s o d u j h u w k h q r w f k z l g w k \ r x f d q r e w d l q 8 v h z l w k g h i d x o w v h w x s l q q r u p d o r s h u d w l r q : k h q w k h d s s o l f d e o h o w h u i x q f w l r q l v x v h g s d u d p h w h u y d o x h l v d x w r p d w l f d o o \ v h w pr2.12 4th notch depth selection range unit default related control mode 0 to 99 ? 0 p s t f caution 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h w k q r w f k o w h u + l j k h u w k h v h w x s v k d o o r z h u w k h q r w f k g h s w k d q g v p d o o h u w k h s k d v h g h o d \ \ r x f d q r e w d l q : k h q w k h d s s o l f d e o h o w h u i x q f w l r q l v x v h g s d u d p h w h u y d o x h l v d x w r p d w l f d o o \ v h w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-22 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr2.13 6 h o h f w l r q r i g d p s l q j i l o w h u v z l w f k l q j range unit default related control mode 0 to 3 ? 0 p f caution $ p r q j o w h u v v h o h f w w k h o w h u v w r e h x v h g i r u g d p s l q j f r q w u r o ? : k h q v h w x s y d o x h l v 8 s w r o w h u v f d q e h x v h g v l p x o w d q h r x v o \ ? : k h q v h w x s y d o x h l v r u 6 h o h f w w k h o w h u z l w k h [ w h u q d o l q s x w v 9 6 6 ( / d q g r u 9 6 6 ( / setup value vs-sel2 vs-sel1 1st damping 2nd damping 3rd damping 4th damping [0] ?? 1 ? ? 2 ? : l w k v h w x s y d o x h 6 h o h f w w k h o w h u z l w k f r p p d q g g l u h f w l r q setup value position command direction 1st damping 2nd damping 3rd damping 4th damping 3 3 r v l w l y h g l u h f w l r q 1 h j d w l y h g l u h f w l r q ? 6 z l w f k l q j r i g d p s l q j f r q w u r o v z l o o e h g r q h r q w k h u l v l q j h g j h r i w k h f r p p d q g z k r v h q x p e h u r i s x o v h v p v k d v e h h q f k d q j h g i u r p z k l o h w k h s r v l w l r q l q j f r p s o h w h signal is being output. : k h q w k h g d p s l q j i u h t x h q f \ l v l q f u h d v h g r u g l v d e o h g d q g s r v l w l r q l q j f r p s o h w h u d q j h l v o d u j h d q g s x o v h v d u h v w r u h g l q w k h o w h u d w w k d w w l p h w k h d u h d u h s u h v h q w h g e \ w k h y d o x h r i s r v l w l r q f r p p d q g e h i r u h o w h u v x e w u d f w h g e \ w k h y d o x h r i s r v l w l r q f r p p d q g d i w h u o w h u d q g l q w h j u d w h g z l w k w k h w l p h 1 r w h w k d w v l q f h w k h v h s x o v h v z l o o e h g l v f k d u j h g d w d k l j k h u u d w h x s r q v z l w f k l q j w r u h w x u q e d f n w r w k h r u l j l q d o s r v l w l r q w k h p r w r u p d \ u x q d w d v s h h g k l j k h u than the command speed for a short time. pr2.14 1st damping frequency range unit default related control mode 0 to 2000 0.1hz 0 p f pr2.16 2nd damping frequency range unit default related control mode 0 to 2000 0.1hz 0 p f pr2.18 3rd damping frequency range unit default related control mode 0 to 2000 0.1hz 0 p f pr2.20 4th damping frequency range unit default related control mode 0 to 2000 0.1hz 0 p f related page < r x f d q v h w x s w k h v w w r w k g d p s l q j i u h t x h q f \ r i w k h g d p s l q j f r q w u r o z k l f k v x s s u h v v y l e u d w l r q d w w k h o r d g h g j h 7 k h g u l y h u p h d v x u h v y l e u d w l r q d w o r d g h g j h 6 h w x s x q l w l v > + ] @ 7 k h v h w x s i u h t x h q f \ l v w r > + ] @ 6 h w x s r i w r e h f r p h v l q y d o l g 5 h i h u w r 3 ' d p s l q j f r q w u r o d v z h o o e h i r u h x v l q j w k l v s d u d p h w h u 1. details of parameter [class 2] damping control phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-23 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; 1. details of parameter [class 2] damping control pr2.15 1st damping filter setup range unit default related control mode 0 to 1000 0.1hz 0 p f pr2.17 2nd damping filter setup range unit default related control mode 0 to 1000 0.1hz 0 p f pr2.19 3rd damping filter setup range unit default related control mode 0 to 1000 0.1hz 0 p f pr2.21 4th damping filter setup range unit default related control mode 0 to 1000 0.1hz 0 p f caution related page , i w r u t x h v d w x u d w l r q r f f x u v z l w k g d p s l q j i u h t x h q f \ v w w k h q d e o h g g h f u h d v h w k h v h w x s y d o x h r u l i w k h r s h u d w l r q l v v o r z l q f u h d v h l w 8 v x d o o \ v h w l w w r 7 k h p d [ l p x p v h w x s y d o x h l v l q w h u q d o o \ o l p l w h g w r w k h f r u u h v s r q g l q j g d p s l q j i u h t x h q f \ r u g d p s l q j i u h t x h q f \ z k l f k h y h u l v v p d o o h u 5 h i h u w r 3 ' d p s l q j f r q w u r o d v z h o o e h i r u h x v l q j w k l v s d u d p h w h u pr2.22 positional command smoothing filter range unit default related control mode 0 to 10000 0.1ms 0 p f ? 6 h w x s w k h w l p h f r q v w d q w r i w k h v w g h o d \ o w h u l q u h v s r q v h w r w k h s r v l w l r q d o f r p p d q g ? : k h q d v t x d u h z d y h f r p p d q g i r u w k h w d u j h w v s h h g 9 f l v d s s o l h g v h w x s w k h w l p h f r q v w d q w r i w k h v w g h o d \ o w h u d v v k r z q l q w k h j x u h e h o r z speed [r/min] vc vc0.632 *1 vc0.368 *1 positional command smoothing filter setup time [ms] (pr2.22 0.1 ms) time positional command before filter positional command after filter filter switching waiting time *2 * $ f w x d o o w h u w l p h f r q v w d q w v h w x s y d o x h e p v k d v w k h p d [ l p x p d e v r o x w h h u u r u r i p v i r u d w l p h f r q v w d q w e h o r z p v d q g w k h p d [ l p x p u h o d w l y h h u u r u r i i r u d w l p h f r q v w d q w p v r u p r u h * 6 z l w f k l q j r i 3 u 3 r v l w l r q d o f r p p d q g v p r r w k l q j o w h u l v s h u i r u p h g r q w k h u l v l q j h g j h r i w k h f r p p d q g z l w k w k h q x p e h u r i f r p p d q g s x o v h v p v l v f k d q j h g i u r p w r d y d o x h r w k h u w k d q z k l o h w k h positioning complete is being output. , i w k h o w h u w l p h f r q v w d q w l v g h f u h d v h g d q g s r v l w l r q l q j f r p s o h w h u d q j h l v l q f u h d v h g d q g d p d q \ q x p e h u r i s o x v v h v d u h d f f x p x o d w h g l q w k h o w h u w k h d u h d h t x l y d o h q w r i y d o x h r i s r v l w l r q d o f r p p d q g o w h u y d o x h r i s r v l w l r q d o f r p p d q g d i w h u o w h u l q w h j u d w h g r y h u w k h w l p h d w w k h w l p h r i v z l w f k l q j w k h v h s x o v h v d u h g l v f k d u j h g d w d k l j k h u u d w h f d x v l q j w k h p r w r u w r u h w x u q w r w k h s u h y l r x v s r v l w l r q w k h p r w r u u x q v d w d speed higher than the command speed for a short time. * ( y h q l i 3 u 3 r v l w l r q d o f r p p d q g v p r r w k l q j i l o w h u l v f k d q j h g l w l v q r w d s s o l h g l p p h g l d w h o \ , i w k h v z l w f k l q j d v g h v f u l e h g l q * r f f x u v g x u l q j w k l v g h o d \ w l p h w k h f k d q j h r i 3 u z l o o e h v x v s h q g h g phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-24 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr2.23 positional command fir filter range unit default related control mode 0 to 10000 0.1ms 0 p f ? 6 h w x s w k h w l p h f r q v w d q w r i w k h v w g h o d \ o w h u l q u h v s r q v h w r w k h s r v l w l r q d o f r p p d q g ? : k h q d v t x d u h z d y h f r p p d q g r i w k h w d u j h w v s h h g 9 f l v d s s o l h g v h w x s w k h 9 & d u u l y d o w l p h d v v k r z q l q w k h j x u h e h o r z speed [r/min] vc positional command smoothing filter setup time [ms] (pr2.23 0.1 ms) *1 time filter switching waiting time *2 positional command before filter positional command after filter * 7 k h d f w x d o d y h u d j h w u d y h o w l p h v h w x s y d o x h e p v k d v w k h p d [ l p x p d e v r o x w h h u u r u r i p v i r u d w l p h f r q v w d q w e h o r z p v d q g w k h p d [ l p x p u h o d w l y h h u u r u r i i r u d w l p h f r q v w d q w p v r u p r u h * : k h q f k d q j l q j 3 u 3 r v l w l r q d o f r p p d q g ) , 5 o w h u v w r s w k h f r p p d q g s x o v h d q g z d l w x q w l o w k h o w h u v z l w f k l q j z d l w w l p h k d v h o d s v h g 7 k h o w h u v z l w f k l q j z d l w w l p h l v w k h v h w x s y d o x h e p v p v z k h q w k h v h w x s w l p h l v p v d q g v h w x s y d o x h e p v e z k h q w k h v h w x s w l p h l v p v r u p r u h , i 3 u l v f k d q j h g z k l o h w k h f r p p d q g s x o v h l v e h l q j l q s x w w k h f k d q j h l v q r w u h h f w h g x q w l o w k h f r p p d q g s x o v h o h v v v w d w h k d v f r q w l q x h g i r u w k h o w h u v z l w f k l q j z d l w w l p h * ( y h q l i 3 u 3 r v l w l r q d o f r p p d q g ) , 5 o w h u l v f k d q j h g l w l v q r w d s s o l h g l p p h g l d w h o \ , i w k h v z l w f k l q j d v described in * r f f x u v g x u l q j w k l v g h o d \ w l p h w k h f k d q j h r i 3 u z l o o e h v x v s h q g h g 1. details of parameter [class 2] damping control phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-25 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ 4 1. details of parameter setup [class 3] verocity/ torque/ full-closed control pr3.00 6 s h h g v h w x s , q w h u q d o ( [ w h u q d o v z l w f k l q j range unit default related control mode 0 to 3 ? 0 s 7 k l v g u l y h u l v h t x l s s h g z l w k l q w h u q d o v s h h g v h w x s i x q f w l r q v r w k d w \ r x f d q f r q w u r o w k h v s h h g z l w k f r q w d f w l q s x w v r q o \ setup value speed setup method [0] $ q d o r j v s h h g f r p p d q g 6 3 5 1 , q w h u q d o v s h h g f r p p d q g v w w r w k v s h h g 3 u w r 3 u 2 , q w h u q d o v s h h g f r p p d q g v w w r u g v s h h g 3 u w r 3 u $ q d o r j v s h h g f r p p d q g 6 3 5 3 , q w h u q d o v s h h g f r p p d q g v w w r w k v s h h g 3 u w r 3 u 5 h o d w l r q v k l s e h w z h h q 3 u , q w h u q d o h [ w h u q d o v z l w f k l q j v s h h g v h w x s d q g w k h l q w h u q d o f r p p d q g v s h h g v h o h f w l r q d q g d q g v s h h g f r p p d q g w r e h v h o h f w h g ! setup value selection 1 of internal command speed (intspd1) selection 2 of internal command speed (intspd2) selection 3 of internal command speed (intspd3) selection of speed command 1 off off 1 r h i i h f w 1st speed 2 1 off 2nd speed off 2 1 3rd speed 2 1 2 1 4th speed 2 off off 1 r h i i h f w 1st speed 2 1 off 2nd speed off 2 1 3rd speed 2 1 2 1 $ q d o r j v s h h g command 3 the same as pr3.00=1 off 1st to 4th speed off off 2 1 5th speed 2 1 off 2 1 6th speed off 2 1 2 1 7th speed 2 1 2 1 2 1 8th speed , q w h u q d o f r p p d q g v s h h g v z l w f k l q j s d w w h u q v k r x o g e h v r d u u d q j h g d v v k r z q e h o r z that single input signals are selected alternately. if 2 or more input signals are selected v l p x o w d q h r x v o \ x q v s h f l h g l q w h u q d o f r p p d q g v s h h g p d \ e h d g y h u w h q w o \ v h o h f w h g z k r v h v h w w l q j y d o x h d q g d f f h o h u d w l r q g h f h o h u d w l r q v h w w l q j z l o o f d x v h x q h [ s h f w h g r s h u d w l r q 1st 2nd 4th 3rd open open com ? com ? 1st intspd1 open open com ? open com ? com ? 1st 1st 2nd 4th 3rd 7th 8th 6th 5th exam p le 1 ) when pr3.00=1 or 2 exam p le 2 ) when pr3.00=3 intspd1 intspd2 intspd3 intspd2 speed command [r/min] speed command [r/min] pr3.01 speed command rotational direction selection range unit default related control mode 0 to 1 ? 0 s 6 h o h f w w k h 3 r v l w l y h 1 h j d w l y h g l u h f w l r q v s h f l i \ l q j p h w k r g setup value select speed command sign (1st to 8th speed) speed command direction (vc-sign) position command direction [0] 1 r h i i h f w 3 r v l w l y h g l u h f w l r q ? 1 r h i i h f w 1 h j d w l y h g l u h f w l r q 1 sign has no effect. off 3 r v l w l y h g l u h f w l r q sign has no effect. 2 1 1 h j d w l y h g l u h f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-26 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr3.02 input gain of speed command range unit default related control mode 10 to 2000 u p l q 9 500 s t % d v h g r q w k h y r o w d j h d s s o l h g w r w k h d q d o r j v s h h g f r p p d q g 6 3 5 v h w x s w k h f r q y h u v l r q gain to motor command speed. ? < r x f d q v h w x s d v o r s h r i w k h u h o d w l r q e h w z h h q w k h f r p p d q g l q s x w y r o w d j h d q g w k h p r w r u v s h h g z l w k 3 u ? ' h i d x o w l v v h w w r 3 u > u p l q @ hence input of 6v becomes 3000r/min. caution ' r q r w d s s o \ p r u h w k d q ? 9 w r w k h v s h h g f r p p d q g l q s x w 6 3 5 : k h q \ r x f r p s r v h d s r v l w l r q o r r s r x w v l g h r i w k h g u l y h u z k l o h \ r x x v h w k h g u l y h u l q y h o r f l w \ f r q w u r o p r g h w k h v h w x s r i 3 u j l y h v o d u j h u y d u l d q f h w r w k h r y h u d o o v h u y r v \ v w h p 3 d \ d q h [ w u d d w w h q w l r q w r r v f l o o d w l r q f d x v h g e \ o d u j h u v h w x s r i 3 u 3000 speed (r/min) C3000 slope at ex-factory C10 C6 246810 positive direction negative direction command input voltage (v) pr3.03 reversal of speed command input range unit default related control mode 0 to 1 ? 1 s note caution 6 s h f l i \ w k h s r o d u l w \ r i w k h y r o w d j h d s s o l h g w r w k h d q d o r j v s h h g f r p p d q g 6 3 5 setup value motor rotating direction 0 1 r q u h y h u v d o 9 r o w d j h 3 r v l w l y h g l u h f w l r q 2 9 r o w d j h 1 h j d w l y h g l u h f w l r q [1] 5 h y h u v d o 9 r o w d j h 1 h j d w l y h g l u h f w l r q 2 9 r o w d j h 3 r v l w l y h g l u h f w l r q ' h i d x o w r i w k l v s d u d p h w h u l v d q g w k h p r w r u w x u q v w r & : z l w k v l j q d o w k l v k d v f r p s d w l e l o l w \ w r h [ l v w l q j 0 , 1 $ 6 v h u l h v g u l y h u : k h q \ r x f r p s r v h w k h v h u y r g u l y h v \ v w h p z l w k w k l v g u l y h u v h w w r y h o r f l w \ f r q w u r o p r g h d q g h [ w h u q d o s r v l w l r q l q j x q l w w k h p r w r u p l j k w s h u i r u p d q d e q r u p d o d f w l r q l i w k h s r o d u l w \ r i the speed command signal from the unit and the polarity of this parameter setup does not match. 1. details of parameter [class 3] verocity/ torque/ full-closed control phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-27 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ 1. details of parameter [class 3] verocity/ torque/ full-closed control pr3.04 1st speed of speed setup range unit default related control mode ? w r r/min 0 s pr3.05 2nd speed of speed setup range unit default related control mode ? w r r/min 0 s pr3.06 3rd speed of speed setup range unit default related control mode ? w r r/min 0 s pr3.07 4th speed of speed setup range unit default related control mode ? w r r/min 0 s pr3.08 5th speed of speed setup range unit default related control mode ? w r r/min 0 s pr3.09 6th speed of speed setup range unit default related control mode ? w r r/min 0 s pr3.10 7th speed of speed setup range unit default related control mode ? w r r/min 0 s pr3.11 8th speed of speed setup range unit default related control mode ? w r r/min 0 s 6 h w x s l q w h u q d o f r p p d q g v s h h g v v w w r w k pr3.12 acceleration time setup range unit default related control mode 0 to 10000 ms/ (1000r/min) 0s pr3.13 deceleration time setup range unit default related control mode 0 to 10000 ms/ (1000r/min) 0s caution set up acceleration/deceleration processing time in response to the speed command input. 6 h w w k h w l p h u h t x l u h g i r u w k h v s h h g f r p p d q g v w h s z l v h l q s x w w r u h d f k u p l q w r 3 u $ f f h o h u d w l r q w l p h v h w x s $ o v r v h w w k h w l p h u h t x l u h g i r u w k h v s h h g f r p p d q g w r u h d f k i u r p u p l q w r u p l q w r 3 u ' h f h o h u d w l r q w l p h v h w x s $ v v x p l q j w k d w w k h w d u j h w y d o x h r i w k h v s h h g f r p p d q g l v 9 f u p l q w k h w l p h u h t x l u h g i r u d f f h o h u d w l r q g h f h o h u d w l r q f d q e h f r p s x w h g i u r p w k h i r u p x o d v k r z q e h o r z $ f f h o h u d w l r q w l p h p v 9 f e 3 u e p v ' h f h o h u d w l r q w l p h p v 9 f e 3 u e p v speed [r/min] 1000r/min pr3.131ms pr3.121ms speed command after acceleration/deceleratio n process stepwise input speed command time : k h q w k h v s h h g g l i i h u h q f h e h w z h h q w k h v s h h g f r p p d q g e h l q j v h o h f w h g d q g w k h v s h h g command after acceleration/deceleration indicates the same direction as that of the speed f r p p d q g d s s o l h g d i w h u d f f h o h u d w l r q g h f h o h u d w l r q u h v x o w l v d f f h o h u d w l r q d q g l i w k h u h y h u v h g l u h f w l r q w k h u h v x o w l v g h f h o h u d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-28 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr3.14 sigmoid acceleration/ deceleration time setup range unit default related control mode 0 to 1000 ms 0 s 6 h w 6 f x u y h w l p h i r u d f f h o h u d w l r q g h f h o h u d w l r q s u r f h v v z k h q w k h v s h h g f r p p d q g l v d s s o l h g $ f f r u g l q j w r 3 u $ f f h o h u d w l r q w l p h v h w x s d q g 3 u ' h f h o h u d w l r q w l p h v h w x s v h w x s v l j p r l g w l p h z l w k w l p h z l g w k f h q w h u l q j w k h l q h f w l r q s r l q w r i d f f h o h u d w l r q g h f h o h u d w l r q speed [r/min] target speed (vc) ts ts ts ts ta td time ta = vc/1000 pr3.12 1ms td = vc/1000 pr3.13 1ms ts = pr3.14 1ms * use with the setup of ta/2 > ts, td/2 > ts speed command after acceleration/deceleration process pr3.15 speed zero-clamp function selection range unit default related control mode 0 to 3 ? 0 s t you can set up the function of the speed zero clamp input. setup value function of zerospd (pin-26) [0] , q y d o l g 6 s h h g ] h u r f o d p s l q s x w l v l j q r u h g 1 6 s h h g f r p p d q g l v i r u f h g w r z k h q w k h v s h h g ] h u r f o d p s = ( 5 2 6 3 ' l q s x w v l j q d o l v w x u q h g 2 1 *1 . 2 6 s h h g f r p p d q g l v i r u f h g w r z k h q w k h v s h h g ] h u r f o d p s = ( 5 2 6 3 ' l q s x w v l j q d o l v w x u q h g 2 1 *1 $ q g z k h q w k h d f w x d o p r w r u v s h h g g u r s v w r 3 u 6 s h h g ] h u r f o d p s o h y h o r u e h o r z w k h s r v l w l r q f r q w u r o l v v h o h f w h g d q g v h u y r o r f n l v d f w l y d w h g d w w k l v s r l q w 7 k h i x q g d p h q w d o r s h u d w l r q v h [ f h s w i r u w k l v i x q f w l r q v z l w f k l q j w r w k h s r v l w l r q f r q w u r o d u h l g h q w l f d o w r w k r v h z k h q v h w x s y d o x h l v 3 : k h q w k h v s h h g ] h u r f o d p s = ( 5 2 6 3 ' l q s x w v l j q d o l v 2 1 *1 and speed command is e h o r z 3 u 6 s h h g ] h u r f o d p s o h y h o 2 u p l q w k h q w k h s r v l w l r q f r q w u r o l v v h o h f w h g d q g v h u y r o r f n l v d f w l y d w h g d w w k d w s r l q w 7 k h g h i d x o w o r j l f l v e f r q w d f w w k h i x q f w l r q l v h q d e o h g z k l o h w k h w h u p l q d o l v r s h q l q s x w v l j q d o l v 2 1 5 h i h u w r 3 & r q w u r o l q s x w pr3.16 speed zero clamp level range unit default related control mode 10 to 20000 r/min 30 s t 6 h o h f w w k h w l p l q j d w z k l f k w k h s r v l w l r q f r q w u r o l v d f w l y d w h g d v w k h 3 u 6 s h h g ] h u r f o d p s function selection is set to 2 or 3. , i 3 u w k h q k \ v w h u h v l v r i u p l q l v s u r y l g h g i r u g h w h f w l r q 1. details of parameter [class 3] verocity/ torque/ full-closed control phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-29 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ 1. details of parameter [class 3] verocity/ torque/ full-closed control pr3.17 selection of torque command range unit default related control mode 0 to 2 ? 0 t you can select the input of the torque command and the speed limit. setup value torque command input velocity limit input [0] $ q d o r j l q s x w * 1 $ , e l w u h v r o x w l r q 3 d u d p h w h u y d o x h 3 u 1 $ q d o r j l q s x w $ , e l w u h v r o x w l r q $ q d o r j l q s x w $ , e l w u h v r o x w l r q 2 $ q d o r j l q s x w * 1 $ , e l w u h v r o x w l r q 3 d u d p h w h u y d o x h 3 u 3 u * ) r u 3 u & r q w u r o p r g h v h w x s y h o r f l w \ w r u t x h f r q w u r o w k h w r u t x h f r p p d q g l q s x w l v w k h d q d o r j l q s x w $ , e l w u h v r o x w l r q pr3.18 torque command direction selection range unit default related control mode 0 to 1 ? 0 t 6 h o h f w w k h g l u h f w l r q s r v l w l y h q h j d w l y h g l u h f w l r q r i w r u t x h f r p p d q g setup value designation [0] 6 s h f l i \ w k h g l u h f w l r q z l w k w k h v l j q r i w r u t x h f r p p d q g ( [ d p s o h 7 r u t x h f r p p d q g l q s x w i r u s r v l w l y h g l u h f w l r q 2 i r u q h j d w l y h g l u h f w l r q 1 6 s h f l i \ w k h g l u h f w l r q z l w k w r u t x h f r p p d q g v l j q 7 & 6 , * 1 2 ) ) 3 r v l w l y h g l u h f w l r q 2 1 1 h j d w l y h g l u h f w l r q pr3.19 input gain of torque command range unit default related control mode 10 to 100 0.1v/100% 30 t % d v h g r q w k h y r o w d j h 9 d s s o l h g w r w k h d q d o r j w r u t x h f r p p d q g 7 5 4 5 v h w x s w k h f r q y h u v l r q j d l q w r w r u t x h f r p p d q g ? 8 q l w r i w k h v h w x s y d o x h l v > 9 @ d q g v h w x s l q s x w y r o w d j h q h f h v v d u \ w r produce the rated torque. ? ' h i d x o w v h w x s r i u h s u h v h q w v 9 rated torque torque default command input v 2 C2 C4 C6 C8 C 10v 100 100 200 300[%] 200 300[%] 4 6 8 10v negative direction positive direction pr3.20 input reversal of torque command range unit default related control mode 0 to 1 ? 0 t 6 h w x s w k h s r o d u l w \ r i w k h y r o w d j h d s s o l h g w r w k h d q d o r j w r u t x h f r p p d q g 7 5 4 5 setup value direction of motor output torque [0] 1 r q u h y h u v d o 9 r o w d j h 3 r v l w l y h g l u h f w l r q 2 9 r o w d j h 1 h j d w l y h g l u h f w l r q 1 5 h y h u v d o 9 r o w d j h 1 h j d w l y h g l u h f w l r q 2 9 r o w d j h 3 r v l w l y h g l u h f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-30 ' h i d x o w > @ pr3.21 speed limit value 1 range unit default related control mode 0 to 20000 r/min 0 t set up the speed limit used for torque controlling. ' x u l q j w k h w r u t x h f r q w u r o o l q j w k h v s h h g v h w e \ w k h v s h h g o l p l w y d o x h f d q q r w e h h [ f h h g h g : k h q 3 u w k h v s h h g o l p l w l v d s s o l h g x s r q u h f h l y l q j s r v l w l y h g l u h f w l r q f r p p d q g pr3.22 speed limit value 2 range unit default related control mode 0 to 20000 r/min 0 t pr3.17 pr3.21 pr3.22 pr3.15 speed zero clamp (zerospd) analog torque command direction speed limit value 0 0 to 20000 1 r h i i h f w 0 1 r h i i h f w 1 r h i i h f w 3 u v h w x s y d o x h 1 to 3 off 3 u v h w x s y d o x h 2 1 0 2 0 to 20000 0 to 20000 0 1 r h i i h f w 3 r v l w l y h g l u h f w l r q 3 u v h w x s y d o x h 1 h j d w l y h g l u h f w l r q 3 u v h w x s y d o x h 0 to 20000 0 to 20000 1 to 3 off 3 r v l w l y h g l u h f w l r q 3 u v h w x s y d o x h 1 h j d w l y h g l u h f w l r q 3 u v h w x s y d o x h 0 to 20000 0 to 20000 1 to 3 2 1 1 r h i i h f w 0 6 s h h g o l p l w y d o x h r i q h j d w l y h g l u h f w l r q f r p p d q g z k h q 3 u pr3.23 * ( [ w h u q d o v f d o h v h o h f w l r q range unit default related control mode 0 to 2 ? 0 f caution 6 h o h f w w k h w \ s h r i h [ w h u q d o v f d o h setup value ( [ w h u q d o v f d o h w \ s h compatible scale compatible speed [0] $ % s k d v h r x w s x w w \ s h * 1 ( [ w h u q d o v f d o h r i $ % s k d v h r x w s x w w \ s h to 4mpps d i w h u t x d g u x s o h g 1 serial communication type l q f u h p h q w d o y h u v l r q * 1 0 d j q h v f d o h & r / w g 6 5 6 5 6 / 6 / to 400mpps 2 serial communication type d e v r o x w h y h u v l r q * 1 mitsutoyo corp. $ 7 6 7 $ 6 7 $ 0 d j q h v f d o h & r / w g 6 5 6 5 to 400mpps * & r q q h f w w k h h [ w h u q d o v f d o h v r w k d w l w l q f u h p h q w v w k h f r x q w d v w k h p r w r u v k d i w w x u q v s r v l w l y h g l u h f w l r q d q g g h f u h p h q w v d v w k h v k d i w w x u q v q h j d w l y h g l u h f w l r q , i w k l v f r q q h f w l r q d u u d q j h p h q w l v l p s r v v l e o h g x h w r l q v w d o o d w l r q f r q g l w l r q h w f x v h w k h f r x q w u h y h u v h i x q f w l r q r i 3 u 5 h y h u v d o r i g l u h f w l r q r i h [ w h u q d o v f d o h : k h q w k h v h w x s y d o x h l v r u z k l o h w k h $ % s k d v h r x w s x w w \ s h l v f r q q h f w h g ( u u ( [ w h u q d o v f d o h z l u l q j h u u r u s u r w h f w l r q r f f x u v d q g l i w k h v h w x s y d o x h l v z k l o h w k h v h u l d o f r p p x q l f d w l r q w \ s h l v f r q q h f w h g ( u u r u $ s k d v h % s k d v h r u = s k d v h z l u l q j h u u r u s u r w h f w l r q z l o o r f f x u 1. details of parameter [class 3] verocity/ torque/ full-closed control note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-31 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; pr3.24 * 1 x p h u d w r u r i h [ w h u q d o v f d o h g l y l v l r q range unit default related control mode w r ?0 f 6 h w x s w k h q x p h u d w r u r i w k h h [ w h u q d o v f d o h g l y l g l q j v h w x s : k h q v h w x s y d o x h h q f r g h u u h v r o x w l r q l v x v h g d v q x p h u d w r u r i w k h g l y l v l r q pr3.25 * ' h q r p l q d w r u r i h [ w h u q d o v f d o h g l y l v l r q range unit default related control mode w r ? 10000 f caution ? & k h f n w k h q x p e h u r i h q f r g h u i h h g e d f n s o x v h v s h u r q h p r w r u u h y r o x w l r q d q g w k h q x p e h u r i h [ w h u q d o v f d o h s x o v h v s h u r q h p r w r u u h y r o x w l r q d q g w k h q v h w x s w k h q x p h u d w r u r i h [ w h u q d o v f d o h g l y l v l r q 3 u d q g w k h g h q r p l q d w r u r i h [ w h u q d o v f d o h g l y l v l r q 3 u w r h v w d e o l v k w k h h [ s u h v v l r q v k r z q e h o r z ? : l w k 3 u v h w d w w k h h q f r g h u u h v r o x w l r q l v d x w r p d w l f d o o \ x v h g d v q x p h u d w r u ( [ d p s o h : k h q e d o o v f u h z s l w f k l v p p v f d o h b p s x o v h h q f r g h u u h v r o x w l r q e l w v s x o v h v encoder resolution per one motor revolution [pulse] external scale resolution per one motor revolution [pulse] = pr3.24 1048576 pr3.25 100000 , i w k l v u d w l r l v z u r q j w k h g l i i h u h q f h e h w z h h q w k h s r v l w l r q f d o f x o d w h g e d v h g r q w k h h q f r g h u s x o v h v d q g w k h s r v l w l r q f d o f x o d w h g e d v h g r q w k h h [ w h u q d o v f d o h s x o v h v e h f r p h v o d u j h r y h u d o r q j w u d y h o g l v w d q f h d q g z l o o d f w l y d w h w k h h [ f h v v k \ e u l g g h y l d w l r q h u u r u s u r w h f w l r q pr3.26 * 5 h y h u v d o r i g l u h f w l r q r i h [ w h u q d o v f d o h range unit default related control mode 0 to 1 ? 0 f note 5 h y h u v h w k h g l u h f w l r q r i h [ w h u q d o v f d o h i h h g e d f n f r x q w h u setup value content [0] & r x q w y d o x h r i h [ w h u q d o v f d o h f d q e h x v h g d v l w l v 1 6 l j q s r v l w l y h q h j d w l y h r i f r x q w y d o x h r i h [ w h u q d o v f d o h v k r x o g e h l q y h u w h g ) r u v h w w l q j p h w k r g r i w k l v s d u d p h w h u u h i h u w r 3 ) x o o f o r v h g f r q w u r o p r g h pr3.27 * ( [ w h u q d o v f d o h = s k d v h g l v f r q q h f w l r q detection disable range unit default related control mode 0 to 1 ? 0 f ( q d e o h g l v d e o h = s k d v h g l v f r q q h f w l r q g h w h f w l r q z k h q $ % s k d v h r x w s x w w \ s h h [ w h u q d o v f d o h is used. setup value content [0] valid 1 , q y d o l g 1. details of parameter [class 3] verocity/ torque/ full-closed control phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-32 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr3.28 * + \ e u l g g h y l d w l r q h [ f h v v v h w x s range unit default related control mode w r command unit 16000 f < r x f d q v h w x s w k h s h u p l v v l e o h j d s k \ e u l g g h y l d w l r q e h w z h h q w k h s u h v h q w p r w r u s r v l w l r q d q g w k h s u h v h q w h [ w h u q d o v f d o h s r v l w l r q pr3.29 * hybrid deviation clear setup range unit default related control mode 0 to 100 5 h y r o x w l r q 0f caution $ v w k h p r w r u w x u q v w k h q x p e h u r i u h y r o x w l r q v v h w e \ w k l v s d u d p h w h u w k h k \ e u l g g h y l d w l r q l v f o h d u h g w r 1 r f o h d u l q j l v p d g h z l w k v h w x s y d o x h + \ e u l g g h y l d w l r q f o h d u i h d w x u h ! $ v w k h p r w r u u h d f k h v w k h q x p e h u r i u h y r o x w l r q v v h w e \ 3 u + \ e u l g g h y l d w l r q f o h d u v h w x s f o h d u w k h k \ e u l g g h y l d w l r q w r 7 k l v i h d w x u h d o o r z v w k h p r w r u w r e h x v h g l q d q d s s o l f d w l r q z k h u h k \ e u l g g h y l d w l r q d f f x p x o d w h g x h w r v o l s s d j h h w f pr3.28 (hybrid deviation excess setup) pr3.29 (hybrid deviation clear setup) pr3.29 (hybrid deviation clear setup) excess hybrid deviation error hybrid deviation value (command unit) (absolute value) no. of motor revolutions [rev] note: revolution in the hybrid deviation clear setup is counted by using encoder feedback pulses. 7 r x v h w k h k \ e u l g g h y l d w l r q f o h d u e h v x u h w r v h w 3 u + \ e u l g g h y l d w l r q f o h d u v h w x s w r w k h d s s u r s u l d w h y d o x h , i w k h v h w x s y d o x h l v w r r v p d o o z l w k u h v s h f w w r w k h y d o x h r i 3 u + \ e u l g g h y l d w l r q h [ f h v v v h w x s d e q r u p d o r s h u d w l r q g x h w r h j h [ w h u q d o v f d o h f r q q h f w l r q h u u r u cannot be protected. limit sensor should be used to assure safety. 1. details of parameter [class 3] verocity/ torque/ full-closed control phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-33 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4 1. details of parameter setup [class 4] i/f monitor setting pr4.00 * si1 input selection range unit default related control mode 0 to 00ffffffh ? 00828282h pstf $ v v l j q i x q f w l r q v w r 6 , l q s x w v 7 k h v h s d u d p h w h u v d u h s u h v h q w h g l q k h [ d g h f l p d o v * 5 + h [ d g h f l p d o s u h v h q w d w l r q l v i r o o r z h g e \ d v s h f l f f r q w u r o p r g h g h v l j q d w l r q 00???? ** k s r v l w l r q i x o o f o r v h g f r q w u r o 00? ? ** 2 2 k y h o r f l w \ f r q w u r o 00 ** 2 2 2 2 k w r u t x h f r q w u r o replace ** z l w k w k h i x q f w l r q q x p e h u ) r u w k h i x q f w l r q q x p e h u v h h w k h w d e o h e h o r z / r j l f d o v h w x s l v d o v r d i x q f w l r q q x p e h u title symbol setup value a-contact b-contact , q y d o l g ? 00h do not setup. 3 r v l w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w pot 01h 81h 1 h j d w l y h g l u h f w l r q r y h u w u d y h o l q k l e l w l r q l q s x w 1 2 7 02h 82h 6 h u y r 2 1 l q s x w * 1 6 5 9 2 1 03h 83h $ o d u p f o h d u l q s x w $ & / 5 04h do not setup. & r q w u r o p r g h v z l w f k l q j l q s x w * 2 c-mode 05h 85h * d l q v z l w f k l q j l q s x w * $ , 1 06h 86h ' h y l d w l r q f r x q w h u f o h d u l q s x w * 3 cl 07h do not setup. command pulse inhibition input * 4 , 1 + 08h 88h 7 r u t x h o l p l w v z l w f k l q j l q s x w tl-sel 09h 89h ' d p s l q j f r q w u r o v z l w f k l q j l q s x w vs-sel1 $ k $ k ' d p s l q j f r q w u r o v z l w f k l q j l q s x w vs-sel2 0bh 8bh ( o h f w u r q l f j h d u v z l w f k l q j l q s x w div1 0ch 8ch ( o h f w u r q l f j h d u v z l w f k l q j l q s x w div2 0dh 8dh selection 1 input of internal command speed , 1 7 6 3 ' 0eh 8eh selection 2 input of internal command speed , 1 7 6 3 ' 0fh 8fh selection 3 input of internal command speed , 1 7 6 3 ' 10h 90h speed zero clamp input zerospd 11h 91h speed command sign input 9 & 6 , * 1 12h 92h torque command sign input 7 & 6 , * 1 13h 93h forced alarm input e-stop 14h 94h , q h u w l d u d w l r v z l w f k l q j l q s x w j-sel 15h 95h note caution ) r u l q s x w s l q d v v l j q p h q w z l w k g h i d x o w v h w w l q j u h i h u w r u h i h u w r 3 & r q w u r o l q s x w related page p.3-50 ( [ d p s o h r i f k d q j h ! 7 r f k d q j h w k h g h i d x o w v h w w l q j 1 h j d w l y h g l u h f w l r q r y h u w u d y h o l q k d e l w d w l r q l q s x w l q d o o p r g h v i r u e f r q w d f w w r i r u d f r q w d f w v h w w k h l q s x w w r k ) r u h d v l h u v h w w l q j x v h w k h v h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 ? ' r q r w v h w x s w r d y d o x h r w k h u w k d q w k d w v s h f l h g l q w k h w d e o h ? ' r q r w d v v l j q v s h f l i l f i x q f w l r q w r r u p r u h v l j q d o v ' x s o l f d w h g d v v l j q p h q w z l o o f d x v h err33.0 i/f input multiple assignment error 1 or err33.1 i/f input multiple assignment error 2. * 6 h u y r r q l q s x w v l j q d o 6 5 9 2 1 p x v w e h x v h g w r h q d e o h v h u y r r q * : k h q x v l q j f r q w u r o p r g h v z l w f k l q j l q s x w & 0 2 ' ( v h w w k h v l j q d o w r d o o f r q w u r o p r g h v , i w k h v l j q d o l v v h w w r r q o \ r u f r q w u r o p r g h v ( u u , ) l q s x w i x q f w l r q q x p e h u h u u r u r u ( u u , ) l q s x w i x q f w l r q q x p e h u h u u r u z l o o e h j h q h u d w h g ? 7 k h f r q w u r o l q s x w s l q v h w w r l q y d o l g v w d w h g r h v q r w d i i h f w d q \ r s h u d w l r q ? ) x q f w l r q v h u y r r q l q s x w d o d u p f o h d u h w f w r e h x v h g l q p x o w l s o h f r q w u r o p r g h v p x v w e h d v v l j q h g w r w k h v d p h s l q z l w k f r u u h f w o r j l f d o d u u d q j h p h q w , q f r u u h f w v h w w l q j z l o o f d x v h ( u u , ) l q s x w p x o w l s o h assignment error 1 or err33.1 i/f input multiple assignment error 2. * ' h y l d w l r q f r x q w h u f o h d u l q s x w & / f d q e h d v v l j q h g r q o \ w r 6 , l q s x w : u r q j d v v l j q p h q w z l o o f d x v h err33.6 counter clear assignment error. * & r p p d q g s x o v h l q k l e l w l q s x w , 1 + f d q e h d v v l j q h g r q o \ w r 6 , l q s x w : u r q j d v v l j q p h q w z l o o f d x v h err33.7 command pulse input inhibit input. * 1 r w h w k d w w k h i u r q w s d q h o l q g l f d w h v s d u d p h w h u y d o x h l q g h f l p d o q x p e h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-34 pr4.01 * si2 input selection range unit default related control mode 0 to 00ffffffh ? 00818181h pstf pr4.02 * si3 input selection range unit default related control mode 0 to 00ffffffh ? $ k pstf pr4.03 * si4 input selection range unit default related control mode 0 to 00ffffffh ? 00060606h pstf pr4.04 * si5 input selection range unit default related control mode 0 to 00ffffffh ? 0000100ch pstf pr4.05 * si6 input selection range unit default related control mode 0 to 00ffffffh ? 00030303h pstf pr4.06 * si7 input selection range unit default related control mode 0 to 00ffffffh ? 00000f07h pstf caution ' h y l d w l r q f r x q w h u f o h d u & / f d q e h v h w x s r q o \ z l w k w k l v s d u d p h w h u , i d q \ r w k h u s d u d p h w h u l v x v h g i r u w k l v s x u s r v h ( u u & r x q w h u f o h d u d v v l j q p h q w h u u r u z l o o e h l v v x h g pr4.07 * si8 input selection range unit default related control mode 0 to 00ffffffh ? 00040404h pstf pr4.08 * si9 input selection range unit default related control mode 0 to 00ffffffh ? 00050505h pstf pr4.09 * si10 input selection range unit default related control mode 0 to 00ffffffh ? 00000e88h pstf note caution $ v v l j q i x q f w l r q v w r 6 , w r 6 , l q s x w v 7 k h v h s d u d p h w h u v d u h s u h v h q w h g l q k h [ d g h f l p d o v setup procedure is the same as described for pr4.00. ) r u l q s x w s l q d v v l j q p h q w z l w k g h i d x o w v h w w l q j d o v r u h i h u w r 3 & r q w u r o l q s x w & r p p d q g s x o v h l q k l e l w l r q l q s x w , 1 + f d q e h v h w x s r q o \ z l w k w k l v s d u d p h w h u , i d q \ r w k h u s d u d p h w h u l v x v h g i r u w k l v s x u s r v h ( u u , 1 + d v v l j q p h q w h u u r u z l o o e h l v v x h g 1. details of parameter [class 4] i/f monitor setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-35 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ pr4.10 * so1 output selection range unit default related control mode 0 to 00ffffffh ? 00030303h pstf caution $ v v l j q i x q f w l r q v w r 6 2 r x w s x w v 7 k h v h s d u d p h w h u v d u h s u h v h q w h g l q k h [ d g h f l p d o v * 1 + h [ d g h f l p d o s u h v h q w d w l r q l v i r o o r z h g e \ d v s h f l f f r q w u r o p r g h g h v l j q d w l r q 00???? ** k s r v l w l r q i x o o f o r v h g f r q w u r o 00? ? ** 2 2 k y h o r f l w \ f r q w u r o 00 ** 2 2 2 2 k w r u t x h f r q w u r o replace ** z l w k w k h i x q f w l r q q x p e h u ) r u w k h i x q f w l r q q x p e h u v h h w k h w d e o h e h o r z / r j l f d o v h w x s l v d o v r d i x q f w l r q q x p e h u setup value title symbol note ) r u r x w s x w s l q d v v l j q p h q w z l w k g h i d x o w v h w w l q j d o v r u h i h u w r 3 2 x w s x w v l j q d o v f r p p r q and their functions. related page p.3-52 ( [ d p s o h r i f k d q j h ! to change the default setting ( [ w h u q d o e u d n h u h o h d v h v l j q d o l q d o o p r g h v w r $ o d u p r x w s x w v h w w k h l q s x w w r k ) r u h d v l h u v h w w l q j x v h w k h v h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 00h , q y d o l g ? 02h 6 h u y r 5 h d g \ r x w s x w s-rdy 03h ( [ w h u q d o e u d n h u h o h d v h signal brk-off 04h positioning complete output , 1 3 05h $ w v s h h g r x w s x w $ 7 6 3 3 ( ' 06h torque in-limit signal output tlc 07h zero-speed detection output signal zsp 08h speed coincidence output 9 & 2 , 1 09h $ o d u p r x w s x w : $ 5 1 $ k $ o d u p r x w s x w : $ 5 1 0bh 3 r v l w l r q d o f r p p d q g 2 1 2 ) ) r x w s x w p-cmd 0ch positioning complete 2 , 1 3 0dh speed in-limit output v-limit 0eh $ o d u p d w w u l e x w h r x w s x w $ / 0 $ 7 % 0fh 6 s h h g f r p p d q g 2 1 2 ) ) r x w s x w v-cmd ? same function can be assigned to 2 or more output signals. ? & r q w u r o r x w s x w s l q v h w w r l q y d o l g d o z d \ v k d v w k h r x w s x w w u d q v l v w r u w x u q h g 2 ) ) ? ' r q r w f k d q j h w k h v h w x s y d o x h v k r z q l q w k h w d e o h * 1 r w h w k d w w k h v h w x s y d o x h v d u h g l v s o d \ h g l q g h f l p d o r q w k h i u r q w s d q h o pr4.11 * so2 output selection range unit default related control mode 0 to 00ffffffh ? 00020202h pstf pr4.12 * so3 output selection range unit default related control mode 0 to 00ffffffh ? 00010101h pstf pr4.13 * so4 output selection range unit default related control mode 0 to 00ffffffh ? 00050504h pstf pr4.14 * so5 output selection range unit default related control mode 0 to 00ffffffh ? 00070707h pstf pr4.15 * so6 output selection range unit default related control mode 0 to 00ffffffh ? 00060606h pstf $ v v l j q i x q f w l r q v w r 6 2 w r 6 2 r x w s x w v 7 k h v h s d u d p h w h u v d u h s u h v h q w h g l q k h [ d g h f l p d o v setup procedure is the same as described for pr4.10. 1. details of parameter [class 4] i/f monitor setting phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-36 ' h i d x o w > @ pr4.16 type of analog monitor 1 range unit default related control mode 0 to 21 ? 0 p s t f select the type of monitor for analog monitor 1. * 6 h h w k h w d e o h v k r z q r q w k h q h [ w s d j h pr4.17 analog monitor 1 output gain range unit default related control mode 0 to 214748364 [monitor unit in pr4.16] / v 0pstf set up the output gain of analog monitor 1. ) r u 3 u 0 r w r u v s h h g 9 l v r x w s x w d w w k h p r w r u v s h h g > u p l q @ 3 u v h w x s y d o x h pr4.18 type of analog monitor 2 range unit default related control mode 0 to 21 ? 4 p s t f select the type of monitor for analog monitor 2. * 6 h h w k h w d e o h v k r z q r q w k h q h [ w s d j h pr4.19 analog monitor 2 output gain range unit default related control mode 0 to 214748364 [monitor unit in pr4.16] / v 0pstf set up the output gain of analog monitor 2. ) r u 3 u 7 r u t x h f r p p d q g 9 l v r x w s x w d w w k h w r u t x h f r p p d q g > @ 3 u v h w x s y d o x h pr4.20 type of digital monitor range unit default related control mode 0 to 3 ? 0 p s t f select type of the digital monitor. setup value type of monitor digital signal output l output h output [0] positioning complete condition 1 r w f r p s o h w h g completed 1 positional command : l w k r x w f r p p d q g : l w k f r p p d q g 2 $ o d u p 1 r w j h q h u d w h g generated 3 gain selected 1st gain 2nd gain l q f o x g l q j u g j d l q 1. details of parameter [class 4] i/f monitor setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k g l j l w d o p r q l w r u r x w s x w ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-37 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. details of parameter [class 4] i/f monitor setting pr4.16/pr4.18 type of monitor unit output gain for setting pr4.17/pr4.19 = 0 0 motor speed r/min 500 1 positional command speed * 3 r/min 500 2 internal positional command speed * 3 r/min 500 3 velocity control command r/min 500 4 torque command % 33 5 & r p p d q g s r v l w l r q d o g h y l d w l r q * 4 s x o v h & r p p d q g x q l w 3000 6 ( q f r g h u s r v l w l r q d o g h y l d w l r q * 4 s x o v h ( q f r g h u x q l w 3000 7 ) x o o f o r v h g g h y l d w l r q * 4 s x o v h ( [ w h u q d o v f d o h x q l w 3000 8 + \ e u l g g h y l d w l r q s x o v h & r p p d q g x q l w 3000 9 9 r o w d j h d f u r v v 3 1 v80 10 5 h j h q h u d w l y h o r d g i d f w r u %33 11 2 y h u o r d g i d f w r u %33 12 3 r v l w l y h g l u h f w l r q w r u t x h o l p l w %33 13 1 h j d w l y h g l u h f w l r q w r u t x h o l p l w %33 14 6 s h h g o l p l w y d o x h r/min 500 15 inertia ratio % 500 16 $ q d o r j l q s x w * 2 v1 17 $ q d o r j l q s x w * 2 v1 18 $ q d o r j l q s x w * 2 v1 19 encoder temperature * 5 ? 10 20 ' u l y h u w h p s h u d w x u h ? 10 21 encoder single-turn data * 1 s x o v h ( q f r g h u x q l w 110000 * 7 k h h q f r g h u u r w d w l r q g d w d & & : l v d o z d \ v s r v l w l y h y d o x h u h j d u g o h v v r i 3 u 5 r w d w l r q d o g l u h f w l r q v h w x s 7 k h g l u h f w l r q r i r w k h u p r q l w r u g d w d e d v l f d o o \ i r o o r z v 3 u 5 r w d w l r q d o g l u h f w l r q v h w x s * $ q d o r j l q s x w v d q g d o z d \ v r x w s x w w h u p l q d o y r o w d j h u h j d u g o h v v r i x v d j h r i d q d o r j l q s x w i x q f w l r q 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w v * ) r u w k h f r p p d q g s x o v h l q s x w w k h v s h h g e h i r u h w k h f r p p d q g o w h u v p r r w k l q j ) , 5 o w h u l v g h q h g d v s r v l w l r q d o f r p p d q g v s h h g d q g v s h h g d i w h u o w h u l v g h q h g d v l q w h u q d o f r p p d q g v s h h g command division/ multiplication process positional command filter position control positional command speed [r/min] command pulse input internal position command speed [r/min] + C encoder feedback/ external scale feedback * & r p p d q g s r v l w l r q d o g h y l d w l r q l v w k h g h y l d w l r q z l w k u h v s h f w w r w k h f r p p d q g s x o v h l q s x w d q g w k h h q f r g h u s r v l w l r q d o g h y l d w l r q i x o o f o r v h g s r v l w l r q d o g h y l d w l r q l v w k h g h y l d w l r q d w w k h l q s x w v h f w l r q r i w k h s r v l w l r q d o f r q w u r o d v g h v f u l e h g l q w k h j x u h e h o r z command division/ multiplication command pulse input + + C C encoder feedback/ external scale feedback positional command deviation (command unit) encoder positional deviation (encoder unit) / full-closed deviation (external unit) command division/multiplication reverse conversion positional command filter positional control * 7 h p s h u d w x u h l q i r u p d w l r q i u r p w k h h q f r g h u l q f o x g h v y d o x h r q o \ z k h q l w l v d e l w l q f u h p h q w d o h q f r g h u 2 w k h u z l v h w k h y d o x h l v d o z d \ v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-38 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr4.21 analog monitor output setup range unit default related control mode 0 to 2 ? 0 p s t f select output format of the analog monitor. setup value output format [0] signed data output ?10 v to 10 v 1 $ e v r o x w h y d o x h g d w d r x w s x w 9 w r 9 2 ' d w d r x w s x w z l w k r i i v h w 9 w r 9 9 d w f h q w h u pr4.22 analog input 1 (ai1) offset setup range unit default related control mode ? w r 0.359mv 0 p s t f 6 h w x s w k h r i i v h w f r u u h f w l r q y d o x h d s s o l h g w r w k h y r o w d j h i h g w r w k h d q d o r j l q s x w pr4.23 analog input 1 (ai1) filter range unit default related control mode 0 to 6400 0.01ms 0 p s t f 6 h w x s w k h w l p h f r q v w d q w r i v w g h o d \ o w h u w k d w g h w h u p l q h v w k h o d j w l p h e h k l q g w k h y r o w d j h applied to the analog input 1. pr4.24 analog input 1 (ai1) overvoltage setup range unit default related control mode 0 to 100 0.1v 0 p s t f 6 h w x s w k h h [ f h v v l y h o h y h o r i w k h l q s x w y r o w d j h r i d q d o r j l q s x w e \ x v l q j w k h y r o w d j h d v v r f l d w h g z l w k r i i v h w pr4.25 analog input 2 (ai2) offset setup range unit default related control mode ? w r 5.86mv 0 p s t f 6 h w x s w k h r i i v h w f r u u h f w l r q y d o x h d s s o l h g w r w k h y r o w d j h i h g w r w k h d q d o r j l q s x w pr4.26 analog input 2 (ai2) filter range unit default related control mode 0 to 6400 0.01ms 0 p s t f 6 h w x s w k h w l p h f r q v w d q w r i v w g h o d \ o w h u w k d w g h w h u p l q h v w k h o d j w l p h e h k l q g w k h y r o w d j h applied to the analog input 2. pr4.27 analog input 2 (ai2) overvoltage setup range unit default related control mode 0 to 100 0.1v 0 p s t f 6 h w x s w k h h [ f h v v l y h o h y h o r i w k h l q s x w y r o w d j h r i d q d o r j l q s x w e \ x v l q j w k h y r o w d j h d v v r f l d w h g z l w k r i i v h w pr4.28 analog input 3 (ai3) offset setup range unit default related control mode ? w r 5.86mv 0 p s t f 6 h w x s w k h r i i v h w f r u u h f w l r q y d o x h d s s o l h g w r w k h y r o w d j h i h g w r w k h d q d o r j l q s x w 1. details of parameter [class 4] i/f monitor setting phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-39 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; 1. details of parameter [class 4] i/f monitor setting pr4.29 analog input 3 (ai3) filter range unit default related control mode 0 to 6400 0.01ms 0 p s t f 6 h w x s w k h w l p h f r q v w d q w r i v w g h o d \ o w h u w k d w g h w h u p l q h v w k h o d j w l p h e h k l q g w k h y r o w d j h applied to the analog input 3. pr4.30 analog input 3 (ai3) overvoltage setup range unit default related control mode 0 to 100 0.1v 0 p s t f 6 h w x s w k h h [ f h v v l y h o h y h o r i w k h l q s x w y r o w d j h r i d q d o r j l q s x w e \ x v l q j w k h y r o w d j h d v v r f l d w h g z l w k r i i v h w pr4.31 positioning complete (in-position) range range unit default related control mode 0 to 262144 command unit 10 p f caution note 6 h w x s w k h w l p l q j r i s r v l w l r q d o g h y l d w l r q d w z k l f k w k h s r v l w l r q l q j f r p s o h w h v l j q d o , 1 3 l v r x w s x w the command unit is used as the default unit but can be replaced by the encoder unit by x v l q j 3 u 3 r v l w l r q l q j x q l w v h o h f w l r q 1 r w h w k d w z k h q w k h h q f r g h u x q l w l v x v h g x q l w r i 3 u 3 r v l w l r q d o g h y l d w l r q h [ f h v v v h w x s l v d o v r f k d q j h g ) r u g h v f u l s w l r q r i f r p p d q g x q l w d q g h q f r g h u x q l w u h i h u w r 3 3 u pr4.32 positioning complete (in-position) output setup range unit default related control mode 0 to 3 ? 0 p f 6 h o h f w w k h f r q g l w l r q w r r x w s x w w k h s r v l w l r q l q j f r p s o h w h v l j q d o , 1 3 setup value action of positioning complete signal [0] 7 k h v l j q d o z l o o w x u q r q z k h q w k h s r v l w l r q d o g h y l d w l r q l v v p d o o h u w k d q 3 u 3 r v l w l r q l q j f r p s o h w h u d q j h 1 7 k h v l j q d o z l o o w x u q r q z k h q w k h u h l v q r s r v l w l r q f r p p d q g d q g w k h s r v l w l r q d o g h y l d w l r q l v v p d o o h u w k d q 3 u 3 r v l w l r q l q j f r p s o h w h u d q j h 2 7 k h v l j q d o z l o o w x u q r q z k h q w k h u h l v q r s r v l w l r q f r p p d q g w k h ] h u r v s h h g g h w h f w l r q v l j q d o l v 2 1 d q g w k h s r v l w l r q d o g h y l d w l r q l v v p d o o h u w k d q 3 u 3 r v l w l r q l q j f r p s o h w h u d q j h 3 7 k h v l j q d o z l o o w x u q r q z k h q w k h u h l v q r s r v l w l r q f r p p d q g d q g w k h s r v l w l r q d o g h y l d tion l v v p d o o h u w k d q 3 u 3 r v l w l r q l q j f r p s o h w h u d q j h 7 k h q k r o g v 2 1 v w d w x v x q w l o w k h q h [ w s r v l w l r q f r p p d q g l v h q w h u h g 6 x e v h t x h q w o \ 2 1 v w d w h l v p d l q w d l q h g x q w l o 3 u , 1 3 k r o g w l p h k d v h o d s v h g $ i w h u w k h k r o g w l p h , 1 3 r x w s x w z l o o e h w x u q h g 2 1 2 ) ) d f - f r u g l q j w r w k h f r p l q j s r v l w l r q d o f r p p d q g r u f r q g l w l r q r i w k h s r v l w l r q d o g h y l d w l r q pr4.33 inp hold time range unit default related control mode 0 to 30000 1ms 0 p f 6 h w x s w k h k r o g w l p h z k h q 3 u 3 r v l w l r q l q j f r p s o h w h r x w s x w v h w x s setup value state of positioning complete signal [0] 7 k h k r o g w l p h l v p d l q w d l q h g g h q l w h o \ n h h s l q j 2 1 v w d w h x q w l o w k h q h [ w s r v l w l r q d o f r p p d q g l v u h f h l y h g 1 to 30000 2 1 v w d w h l v p d l q w d l q h g i r u v h w x s w l p h p v e x w v z l w f k h g w r 2 ) ) v w d w h d v w k h s r v l w l r q d o f r p p d q g l v u h f h l y h g g x u l q j k r o g w l p h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-40 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr4.34 zero-speed range unit default related control mode 10 to 20000 r/min 50 p s t f < r x f d q v h w x s w k h w l p l q j w r i h h g r x w w k h ] h u r v s h h g g h w h f w l r q r x w s x w v l j q d o = 6 3 r u 7 & / l q rotational speed [r/min]. 7 k h ] h u r v s h h g g h w h f w l r q v l j q d o = 6 3 z l o o e h i h g r x w z k h q w k h p r w r u v s h h g i d o o v e h o r z w k h v h w x s r i w k l v s d u d p h w h u 3 u ? 7 k h v h w x s r i 3 u l v y d o l g i r u e r w k 3 r v l w l y h d q g 1 h j d w l y h g l u h f w l r q regardless of the motor rotating direction. ? 7 k h u h l v k \ v w h u h v l v r i > u p l q @ speed zsp on (pr4.34+10)r/min (pr4.34?10)r/min positive direction negative direction pr4.35 speed coincidence range range unit default related control mode 10 to 20000 r/min 50 s t 6 h w w k h v s h h g f r l q f l g h q f h 9 & 2 , 1 r x w s x w g h w h f w l r q w l p l q j 2 x w s x w w k h v s h h g f r l q f l g h q f h 9 & 2 , 1 z k h q w k h g l i i h u h q f h e h w z h h q w k h v s h h g f r p p d q g d q g w k h p r w r u v s h h g l v h t x d o w r r u v p d o o h u w k d q w k h v s h h g v s h f l h g e \ w k l v s d u d p h w h u on on off off motor speed pr4.35 *1 ( speed coincidence range ) time speed command after acceleration/deceleration process speed command speed [r/min] pr4.35 *1 ( speed coincidence range ) speed coincidence output v-coin pr4.35 *1 ( speed coincidence range ) * 1 % h f d x v h w k h v s h h g f r l q f l g h q f h g h w h f w l r q l v d v v r f l d w h g z l w k u p l q k \ v w h u h v l v d f w x d o g h w h f w l r q u d q j h l v d v v k r z q e h o r z speed coincidence output off 2 1 w l p l q j 3 u 2 u p l q 6 s h h g f r l q f l g h q f h r x w s x w 2 1 2 ) ) w l p l q j 3 u u p l q 1. details of parameter [class 4] i/f monitor setting phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-41 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ 1. details of parameter [class 4] i/f monitor setting pr4.36 at-speed (speed arrival) range unit default related control mode 10 to 20000 r/min 1000 s t 6 h w w k h g h w h f w l r q w l p l q j r i w k h v s h h g d u u l y d o r x w s x w $ 7 6 3 ( ( ' : k h q w k h p r w r u v s h h g h [ f h h g v w k l v v h w x s y d o x h w k h v s h h g d u u l y d o r x w s x w $ 7 6 3 ( ( ' l v output. ' h w h f w l r q l v d v v r f l d w h g z l w k u p l q k \ v w h u h v l v on on off off time motor speed speed [r/min] pr4.36+10 3 u ? ? 3 u ? ? 3 u the speed arrival output at-speed pr4.37 mechanical brake action at stalling setup range unit default related control mode 0 to 10000 1ms 0 p s t f < r x f d q v h w x s w k h w l p h i u r p z k h q w k h e u d n h u h o h d v h v l j q d o % 5 . 2 ) ) w x u q v r i i w r z k h q w k h p r w r u l v g h h q h u j l ] h g 6 h u y r i u h h z k h q w k h p r w r u w x u q v w r 6 h u y r 2 ) ) z k l o h w k h p r w r u is at stall. ? 6 h w x s w r s u h y h q w d p l f u r w u d y h o g u r s r i w k h p r w r u z r u n g x h w r w k h d f w l r q g h o d \ w l p h w e r i w k h e u d n h ? $ i w h u v h w w l q j x s 3 u ? w e then compose the sequence so as the g u l y h u w x u q v w r 6 h u y r 2 ) ) d i w h u w k h e u d n h l v d f w x d o o \ d f w l y d w h g on srv-on brk-off actual brake motor energization release off hold release energized hold non- energized pr4.37 tb pr4.38 mechanical brake action at running setup range unit default related control mode 0 to 10000 1ms 0 p s t f < r x f d q v h w x s w l p h i u r p z k h q g h w h f w l q j w k h r i i r i 6 h u y r 2 1 l q s x w v l j q d o 6 5 9 2 1 l v w r z k h q h [ w h u q d o e u d n h u h o h d v h v l j q d o % 5 . 2 ) ) w x u q v r i i z k l o h w k h p r w r u w x u q v w r v h u y r r i i during the motor in motion. ? 6 h w x s w r s u h y h q w w k h e u d n h g h w h u l r u d w l r q due to the motor running. ? $ w 6 h u y r 2 ) ) g x u l q j w k h p r w r u l v u x q q l q j w e r i w k h u l j k w j z l o o e h d v k r u w h u r q h r i h l w k h u 3 u v h w x s w l p h or time lapse till the motor speed falls e h o r z 3 u v h w x s v s h h g tb on srv-on brk-off motor energization release off hold actual brake energized non- energized pr4.39 setup speed. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-42 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr4.39 brake release speed setup range unit default related control mode 30 to 3000 r/min 30 p s t f set up the speed timing of brake output checking during operation. pr4.40 selection of alarm output 1 range unit default related control mode 0 to 10 ? 0 p s t f pr4.41 selection of alarm output 2 range unit default related control mode 0 to 10 ? 0 p s t f related page select the type of alarm issued as the alarm output 1 or 2. setup value alarm content [0] ? ored output of all alarms. 1 2 y h u o r d g s u r w h f w l r q / r d g i d f w r u l v r u p r u h w k h s u r w h f w l r q o h y h o 2 2 y h u u h j h q h u d w l r q d o d u p 5 h j h q h u d w l y h o r d g i d f w r u l v r u p r u h w k h s u r w h f w l r q o h y h o 3 battery alarm % d w w h u \ y r o w d j h l v 9 r u o r z h u 4 fan alarm fan has stopped for 1 sec. *1 5 encoder communication alarm 7 k h q x p e h u r i v x f f h v v l y h h q f r g h u f r p p x q l f d w l r q h u u r u v h [ f h h g v w k h v s h f l h g y d o x h 6 ( q f r g h u r y h u k h d w d o d u p 7 k h h q f r g h u g h w h f w v r y h u k h d w d o d u p 7 oscillation detection alarm 2 v f l o o d w l r q r u y l e u d w l r q l v g h w h f w h g 8 lifetime detection alarm / l i h h [ s h f w d q f \ r i f d s d f l w r u r u i d q e h f r p h v v k r u w 9 ( [ w h u q d o v f d o h h u u r u d o d u p 7 k h h [ w h u q d o v f d o h g h w h f w v w k h d o d u p 10 ( [ w h u q d o v f d o h communication alarm 7 k h q x p e h u r i v x f f h v v l y h h [ w h u q d o v f d o h f r p p x q l f d w l r q h u u r u v h [ f h h g v w k h v s h f l h g y d o x h 7 k h x s s h u i d q r q w k h + i u d p h g u l y h u v w r s v g x u l q j v h u y r 2 ) ) w r v d y h h q h u j \ 7 k l v l v q r u p d o ) r u g h w d l o h g g h v f u l s w l r q r i d o d u p w \ s h v u h i h u w r 3 pr4.42 2nd positioning complete (in-position) range range unit default related control mode 0 to 262144 command unit 10 p f caution note 7 k h , 1 3 w x u q v 2 1 z k h q h y h u w k h s r v l w l r q d o g h y l d w l r q l v o r z h u w k d q w k h y d o x h v h w x s l q w k l v s d u d p h w h u z l w k r x w e h l q j d i i h f w h g e \ 3 u 3 r v l w l r q l q j f r p s o h w h r x w s x w v h w x s 3 u h v h q f h d e v h q f h r i s r v l w l r q d o f r p p d q g l v q r w u h o d w h g w r w k l v m x g j p h q w the command unit is used as the default unit but can be replaced by the encoder unit by x v l q j 3 u 3 r v l w l r q l q j x q l w v h o h f w l r q 1 r w h w k d w z k h q w k h h q f r g h u x q l w l v x v h g x q l w r i 3 u 3 r v l w l r q d o g h y l d w l r q h [ f h v v v h w x s l v d o v r f k d q j h g ) r u g h v f u l s w l r q r i f r p p d q g x q l w d q g h q f r g h u x q l w u h i h u w r 3 3 u 1. details of parameter [class 4] i/f monitor setting phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-43 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ pr5.00 2nd numerator of electronic gear range unit default related control mode 0 to 2 30 ?0pf pr5.01 3rd numerator of electronic gear range unit default related control mode 0 to 2 30 ?0pf pr5.02 4th numerator of electronic gear range unit default related control mode 0 to 2 30 ?0pf 6 h w w k h q g w r w k q x p h u d w r u r i g l y l v l r q p x o w l s o l f d w l r q r s h u d w l r q p d g h d f f r u g l q j w r w k h command pulse input. 7 k l v v h w x s l v h q d e o h g z k h q 3 u f r p p d q g s x o v h f r x q w v s h u r q h p r w r u u h y r o x w l r q r u full closed controlling. : k h q w k h v h w w l q j y d o x h l v i r u s r v l w l r q l q j f r q w u r o o l q j h q f r g h u u h v r o x w l r q l v v h w d v d numerator. : k h q w k h v h w w l q j y d o x h l v i r u i x o o f o r v h g f r q w u r o o l q j e r w k q x p h u d w r u d q g g h q r p l q d w r u d u h set to 1. pr5.03 * denominator of pulse output division range unit default related control mode 0 to 262144 ? 0 p s t f ) r u g h w d l o v u h i h u w r 3 pr5.04 * over-travel inhibit input setup range unit default related control mode 0 to 2 ? 1 p s t f 6 h w x s w k h r s h u d w l r q r i w k h u x q l q k l e l w l r q 3 2 7 1 2 7 l q s x w v setup value operation 0 pot , q k l e l w s r v l w l y h g l u h f w l r q w u d y h o 1 2 7 , q k l e l w q h j d w l y h g l u h f w l r q w u d y h o [1] ' l v d e o h 3 2 7 1 2 7 2 3 2 7 r u 1 2 7 l q s x w d f w l y d w h v ( u u 5 x q l q k l e l w l r q l q s x w s u r w h f w l r q pr5.05 * sequence at over-travel inhibit range unit default related control mode 0 to 2 ? 0 p s t f : k h q 3 u 2 y h u w u d y h o l q k l e l w l r q v s h f l i \ w k h v w d w x v g x u l q j g h f h o h u d w l r q d q g v w r s d i w h u d s s o l f d w l r q r i w k h r y h u w u d y h o l q k l e l w l r q 3 2 7 1 2 7 ' h w d l o v r i 3 u 6 h t x h q f h d w r y h u w u d y h o l q k l e l w ! pr5.04 pr5.05 during deceleration after stalling deviation counter content 0 [0] dynamic brake action torque command=0 w r z d u g v l q k l e l w h g g l u h f w l r q hold 1 torque command=0 w r z d u g v l q k l e l w h g g l u h f w l r q torque command=0 w r z d u g v l q k l e l w h g g l u h f w l r q hold 2 emergency stop command=0 w r z d u g v l q k l e l w h g g l u h f w l r q clears before/ after deceleration 4 1. details of parameter setup [class 5] enhancing setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-44 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr5.06 sequence at servo-off range unit default related control mode 0 to 9 ? 0 p s t f caution related page 6 s h f l i \ w k h v w d w x v g x u l q j g h f h o h u d w l r q d q g d i w h u v w r s d i w h u v h u y r r i i setup value during deceleration * 3 after stalling positional deviation/ h [ w h u q d o v f d o h deviation [0] ' \ q d p l f % u d n h ' % d f w l r q ' \ q d p l f % u d n h ' % d f w l r q clear * 4 1 ) u h h u x q ' % 2 ) ) ' \ q d p l f % u d n h ' % d f w l r q clear * 4 2 ' \ q d p l f % u d n h ' % d f w l r q ) u h h u x q ' % 2 ) ) clear * 4 3 ) u h h u x q ' % 2 ) ) ) u h h u x q ' % 2 ) ) clear * 4 4 ' \ q d p l f % u d n h ' % d f w l r q ' \ q d p l f % u d n h ' % d f w l r q hold * 2 5 ) u h h u x q ' % 2 ) ) ' \ q d p l f % u d n h ' % d f w l r q hold * 2 6 ' \ q d p l f % u d n h ' % d f w l r q ) u h h u x q ' % 2 ) ) hold * 2 7 ) u h h u x q ' % 2 ) ) ) u h h u x q ' % 2 ) ) hold * 2 8 emergency stop * 1 ' \ q d p l f % u d n h ' % d f w l r q clear * 4 9 emergency stop * 1 ) u h h u x q ' % 2 ) ) clear * 4 * ( p h u j h q f \ v w r s u h i h u v w r d f r q w u r o o h g l p p h g l d w h v w r s z l w k v h u y r r q 7 k h w r u t x h f r p p d q g y d o x h l v o l p l w h g g x u l q j w k l v s u r f h v v e \ 3 u ( p h u j h q f \ v w r s w r u t x h v h w x s * , i w k h s r v l w l r q d o f r p p d q g l v n h s w d s s o l h g r u w k h p r w r u l v n h s w u x q q l q j z l w k v h u y r r i i f r q g l w l r q s r v l w l r q d o g h y l d w l r q l v d f f x p x o d w h g f d x v l q j ( u u ( [ f h v v s r v l w l r q d o g h y l d w l r q s u r w h f w l r q w r e h l v v x h g , i w k h v h u y r l v w x u q h g 2 1 z k l o h w k h s r v l w l r q r u h [ w h u q d o v f d o h l v v l j q l f d q w o \ g h y l d w l q j w k h p r w r u p d \ u d s l g o \ r s h u d w h w r u h g x f h w k h g h y l d w l r q w r 5 h p h p e h u w k h v h u h t x l u h p h q w v l i \ r x z d q w w r p d l q w d l q w k h s r v l w l r q d o g h y l d w l r q h [ w h u q d o v f d o h g h y l d w l r q * ' h f h o h u d w l r q s h u l r g l v w k h w l p h u h t x l u h g i r u w k h u x q q l q j p r w r u w r v s h h g g r z q w r u p l q 2 q f h w k h p r w r u v s h h g g u r s v e h o r z u p l q l w l v w u h d w h g d v l q v w r s v w d w h u h j d u g o h v v r i l w v v s h h g * 3 r v l w l r q d o g h y l d w l r q h [ w h u q d o v f d o h g h y l d w l r q l v d o z d \ v f o h d u h g w r , i d q h u u r u r f f x u v g x u l q j v h u y r r i i i r o o r z 3 u 6 h t x h q f h d w d o d u p , i w k h p d l q s r z h u l v w x u q h g r i i g x u l q j v h u y r r i i i r o o r z 3 u 6 h t x h q f h g x u l q j p d l q s r z h u l q w h u u x s w l r q 5 h i h u w r 3 7 l p l q j & k d u w 6 h u y r 2 1 2 ) ) d f w l r q z k l o h w k h p r w r u l v d w v w d o o r i 3 u h s d u d w l r q d v z h o o pr5.07 6 h t x h q f h d w p d l q s r z h u 2 ) ) range unit default related control mode 0 to 9 ? 0 p s t f caution 6 s h f l i \ w k h v w d w x v g x u l q j g h f h o h u d w l r q d i w h u p d l q s r z h u l q w h u u x s w r u d i w h u v w r s s d j h 7 k h u h o d w l r q v k l s e h w z h h q w k h v h w x s y d o x h r i 3 u d q g w k h r s h u d w l r q d q g s u r f h v v d w g h y l d w l r q f r x q w h u v l v w k h v d p h d v w k d w i r u 3 u v h t x h q f h d w p d l q s r z h u 2 ) ) , i d q h u u r u r f f x u v z l w k w k h p d l q s r z h u v x s s o \ w x u q h g r i i 3 u 6 h t x h q f h d w d o d u p l v applied to the operation. : k h q w k h p d l q s r z h u v x s s o \ l v w x u q h g r i i z l w k v h u y r r q v w d w h ( u u 0 d l q s r z h u x q g h u y r o w d j h h u u r u r f f x u v l i 3 u / 9 w u l s v h o h f w l r q z l w k p d l q s r z h u r i i d q g w k h r s h u d w l r q i r o o r z v 3 u 6 h t x h q f h d w d o d u p 1. details of parameter [class 5] enhancing setting phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-45 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ 1. details of parameter [class 5] enhancing setting pr5.08 / 9 w u l s v h o h f w l r q d w p d l q s r z h u 2 ) ) range unit default related control mode 0 to 1 ? 1 p s t f caution < r x f d q v h o h f w z k h w k h u r u q r w w r d f w l y d w h ( u u 0 d l q s r z h u x q g h u y r o w d j h s u r w h f w l r q i x q f w l r q z k l o h w k h p d l q s r z h u v k x w r i i f r q w l q x h v i r u w k h v h w x s r i 3 u 0 d l q s r z h u 2 ) ) g h w h f w l r q w l p h setup value $ f w l r q r i p d l q s r z h u o r z y r o w d j h s u r w h f w l r q 0 : k h q w k h p d l q s r z h u l v v k x w r i i g x u l q j 6 h u y r 2 1 ( u u z l o o q r w e h w u l j j h u h g d q g w k h g u l y h u w x u q v w r 6 h u y r 2 ) ) 7 k h g u l y h u u h w x u q v w r 6 h u y r 2 1 d j d l q d i w h u w k h p d l q s r z h u u h v x p s w l r q [1] : k h q w k h p d l q s r z h u l v v k x w r i i g x u l q j 6 h u y r 2 1 w k h g u l y h u z l o o w u l s g x h w r ( u u 0 d l q s r z h u o r z y r o w d j h s u r w h f w l r q 7 k l v s d u d p h w h u l v l q y d o l g z k h q 3 u ' h w h f w l r q w l p h r i p d l q s r z h u 2 ) ) ( u u 0 d l q s r z h u x q g h u y r o w d j h s u r w h f w l r q l v w u l j j h u h g z k h q v h w x s r i 3 l v o r q j d q g 3 1 y r o w d j h r i w k h p d l q f r q y h u w h u i d o o v e h o r z w k h v s h f l i l h g y d o x h e h i r u h g h w h f w l q j w k h p d l q s r z h u v k x w r i i u h j d u g o h v v r i w k h 3 u v h w x s pr5.09 * ' h w h f w l r q w l p h r i p d l q s r z h u r i i range unit default related control mode 70 to 2000 1ms 70 p s t f < r x f d q v h w x s w k h w l p h w r g h w h f w w k h v k x w r i i z k l o h w k h p d l q s r z h u l v n h s w v k x w r i i f r q w l q x r x v o \ 7 k h p d l q s r z h u r i i g h w h f w l r q l v l q y d o l g z k h q \ r x v h w x s w k l v w r pr5.10 sequence at alarm range unit default related control mode 0 to 7 ? 0 p s t f 6 s h f l i \ w k h v w d w x v g x u l q j g h f h o h u d w l r q d q g d i w h u v w r s d i w h u r f f x u u h q f h r i d o d u p setup value during deceleration * 3 after stalling positional deviation/ h [ w h u q d o v f d o h deviation [0] ' \ q d p l f % u d n h ' % d f w l r q ' \ q d p l f % u d n h ' % d f w l r q hold * 1 1 ) u h h u x q ' % 2 ) ) ' \ q d p l f % u d n h ' % d f w l r q hold * 1 2 ' \ q d p l f % u d n h ' % d f w l r q ) u h h u x q ' % 2 ) ) hold * 1 3 ) u h h u x q ' % 2 ) ) ) u h h u x q ' % 2 ) ) hold * 1 4 $ f w l r q $ ( p h u j h q f \ v w r s $ f w l r q % ' % d f w l r q * 2 ' \ q d p l f % u d n h ' % d f w l r q hold * 1 5 $ f w l r q $ ( p h u j h q f \ v w r s $ f w l r q % ' % 2 ) ) * 2 ' \ q d p l f % u d n h ' % d f w l r q hold * 1 6 $ f w l r q $ ( p h u j h q f \ v w r s $ f w l r q % ' % d f w l r q * 2 ) u h h u x q ' % 2 ) ) hold * 1 7 $ f w l r q $ ( p h u j h q f \ v w r s $ f w l r q % ' % 2 ) ) * 2 ) u h h u x q ' % 2 ) ) hold * 1 * 3 r v l w l r q d o g h y l d w l r q h [ w h u q d o v f d o h g h y l d w l r q l v p d l q w d l q h g g x u l q j d o d u p f r q g l w l r q d q g z l o o e h f o h d u h g z k h q w k h d o d u p l v f d q f h o o h g * $ f w l r q r i $ % : k h q d q d o d u p u h t x l u l q j h p h u j h q f \ v w r s r f f x u v w k h d f w l r q $ l v v h o h f w h g z k h q w k h v h w x s y d o x h l q w k h w d e o h l v v h w z l w k l q w k h u d q j h w r f d x v l q j h p h u j h q f \ v w r s r i r s h u d w l r q : k h q d q d o d u p q r w u h t x l u l q j h p h u j h q f \ v w r s r f f x u v l w w u l j j h u v g \ q d p l f e u d n l q j ' % v s h f l h g e \ d f w l r q % r u i u h h u x q q l q j * ' h f h o h u d w l r q s h u l r g l v w k h w l p h u h t x l u h g i r u w k h u x q q l q j p r w r u w r v s h h g g r z q w r u p l q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-46 ' h i d x o w > @ pr5.11 torque setup for emergency stop range unit default related control mode 0 to 500 % 0 p s t f note set up the torque limit at emergency stop. : k h q v h w x s y d o x h l v w k h w r u t x h o l p l w i r u q r u p d o r s h u d w l r q l v d s s o l h g pr5.12 over-load level setup range unit default related control mode 0 to 500 % 0 p s t f ? < r x f d q v h w x s w k h r y h u o r d g o h y h o 7 k h r y h u o r d g o h y h o e h f r p h v > @ e \ v h w w l q j x s w k l v to 0. ? 8 v h w k l v z l w k v h w x s l q q r u p d o r s h u d w l r q 6 h w x s r w k h u y d o x h r q o \ z k h q \ r x q h h g w r o r z h u w k h r y h u o r d g o h y h o ? 7 k h v h w x s y d o x h r i w k l v s d u d p h w h u l v o l p l w h g e \ > @ r i w k h p r w r u u d w l q j pr5.13 over-speed level setup range unit default related control mode 0 to 20000 r/min 0 p s t f ? , i w k h p r w r u v s h h g h [ f h h g v w k l v v h w x s y d o x h ( u u 2 y h u v s h h g s u r w h f w l r q r f f x u v ? 7 k h r y h u v s h h g o h y h o e h f r p h v w l p h v r i w k h p r w r u p d [ v s h h g e \ v h w w l q j x s w k l v w r pr5.14 0 r w r u z r u n l q j u d q j h v h w x s range unit default related control mode 0 to 1000 u h y r o x w l r q 10 p s t f ? < r x f d q v h w x s w k h p r y d e o h u d q j h r i w k h p r w r u d j d l q v w w k h s r v l w l r q f r p p d q g l q s x w u d q j h ? : k h q w k h p r w r u p r y h p h q w h [ f h h g v w k h v h w x s y d o x h v r i w z d u h o l p l w s u r w h f w l r q r i ( u u z l o o e h w u l j j h u h g pr5.15 * i/f reading filter range unit default related control mode 0 to 3 ? 0 p s t f select reading period of the control input signal. setup value reading period of the signal. [0] 0.166ms 1 0.333ms 2 1ms 3 1.666ms ( [ f o x g h g h y l d w l r q f r x q w h u f o h d u l q s x w & / d q g f r p p d q g s x o v h l q k l e l w l q s x w , 1 + 1. details of parameter [class 5] enhancing setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-47 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ 1. details of parameter [class 5] enhancing setting pr5.16 * alarm clear input setup range unit default related control mode 0 to 1 ? 0 p s t f 6 h o h f w d o d u p f o h d u l q s x w $ & / 5 u h f r j q l w l r q w l p h setup value recognition time [0] 120ms 1 7 r 3 u , ) u h d g l q j o w h u pr5.17 counter clear input mode range unit default related control mode 0 to 4 ? 3 p f note you can set up the clearing conditions of the counter clear input signal. setup value clear condition 0 , q y d o l g 1 & o h d u d w d o h y h o q r u h d g l q j o w h u 2 & o h d u d w d o h y h o z l w k u h d g l q j o w h u [3] & o h d u d w d q h g j h q r u h d g l q j o w h u 4 & o h d u d w d q h g j h z l w k u h d g l q j o w h u ) r u v l j q d o z l g w k w l p l q j u h t x l u l q j w k h g h y l d w l r q f r x q w h u l q s x w u h i h u w r 3 pr5.18 invalidation of command pulse inhibit input range unit default related control mode 0 to 1 ? 1 p f select command pulse inhibit input enable/disable. setup value inh input 0 valid [1] , q y d o l g pr5.19 * command pulse inhibit input reading setup range unit default related control mode 0 to 4 ? 0 p f caution 6 h o h f w f r p p d q g s x o v h l q k l e l w l q s x w h q d e o h g l v d e o h v l j q d o u h d g l q j s h u l r g : k h q w k h v w d w x v r i v h y h u d o v l j q d o v u h d g g x u l q j w k h s u h g h w h u p l q h g u h d g l q j s h u l r g d u h v d p h x s g d w h w k h v l j q d o v w d w x v setup value signal reading period [0] 0.166ms 1 0.333ms 21 m s 3 1.666ms 4 p v q r f k h f n i r u p x o w l s o h f r l q f l g h q f h longer reading period protects against operation error due to noise but decreases response to input signal. note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-48 pr5.20 * position setup unit select range unit default related control mode 0 to 1 ? 0 p f note 6 s h f l i \ w k h x q l w w r g h w h u p l q h w k h u d q j h r i s r v l w l r q l q j f r p s o h w h d q g h [ f h v v l y h s r v l w l r q d o g h y l d w l r q setup value unit [0] command unit 1 encoder unit 7 k h f r p p d q g x q l w g h q h v f r p p d q g s x o v h i u r p w k h k l j k h u o h y h o g h y l f h d v v h w w l q j y d o x h z k l o h w k h h q f r g h u x q l w g h q h v h q f r g h u s x o v h d v v h w w l q j y d o x h : k h q w k h h o h f w u r q l f j h d u u d w l r v h w e \ x v l q j w k h f r p p d q g g l y l v l r q d q g p x o w l s o l f d w l r q i x q f w l r q h o h f w u r q l f j h d u l v 5 w k h i r o o r z l q j u h o d w l r q v k l s l v r e w d l q h g command unit r = encoder unit ) r u h [ d p s o h l i e l w h q f r g h u l v x v h g z l w k w k h g h i d x o w v h w w l q j r = 2 20 10000 w k h q f r p p d q g x q l w 2 20 10000 = encoder unit. pr5.21 selection of torque limit range unit default related control mode 0 to 6 ? 1 p s f you can set up the torque limiting method. setup value positive direction negative direction 0 3 $ 7 / w r 9 1 $ 7 / ? w r 9 [1] v w w r u t x h o l p l w 3 u 2 v w w r u t x h o l p l w 3 u q g w r u t x h o l p l w 3 u 3 tl-sel off v w w r u t x h o l p l w 3 u 7 / 6 ( / 2 1 q g w r u t x h o l p l w 3 u 4 3 $ 7 / w r 9 1 $ 7 / w r 9 5 3 $ 7 / w r 9 6 tl-sel off v w w r u t x h o l p l w 3 u q g w r u t x h o l p l w 3 u 7 / 6 ( / 2 1 ( [ w h u q d o l q s x w s r v l w l y h g l u h f w l r q w r u t x h o l p l w 3 u ( [ w h u q d o l q s x w q h j d w l y h g l u h f w l r q w r u t x h o l p l w 3 u pr5.22 2nd torque limit range unit default related control mode 0 to 500 % 500 p s f note < r x f d q v h w x s w k h q g o l p l w y d o x h r i w k h p r w r u r x w s x w w r u t x h 7 k h y d o x h r i s d u d p h w h u l v o l p l w h g w r w k h p d [ l p x p w r u t x h r i w k h d s s o l f d e o h p r w r u ) r u g h w d l o v r i w r u t x h o l p l w y d o x h u h i h u w r 3 1. details of parameter [class 5] enhancing setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 6 h w x s r i 7 r u t x h / l p l w ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-49 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ' h i d x o w > @ 1. details of parameter [class 5] enhancing setting pr5.23 7 r u t x h o l p l w v z l w f k l q j v h w x s range unit default related control mode 0 to 4000 ms/100% 0 p s f 6 s h f l i \ w k h u d w h r i f k d q j h v o r s h i u r p v w w r q g g x u l q j w r u t x h o l p l w v z l w f k l q j pr5.24 7 r u t x h o l p l w v z l w f k l q j v h w x s range unit default related control mode 0 to 4000 ms/100% 0 p s f 6 s h f l i \ w k h u d w h r i f k d q j h v o r s h i u r p q g w r v w g x u l q j w r u t x h o l p l w v z l w f k l q j pr5.25 ( [ w h u q d o l q s x w s r v l w l y h g l u h f w l r q torque limit range unit default related control mode 0 to 500 % 500 p s f note 6 h w x s s r v l w l y h g l u h f w l r q w r u t x h o l p l w x s r q u h f h l y l q j 7 / 6 ( / z l w k 3 u 6 h o h f w l r q r i w r u t x h limit set at 6. 7 k h y d o x h r i s d u d p h w h u l v o l p l w h g w r w k h p d [ l p x p w r u t x h r i w k h d s s o l f d e o h p r w r u ) r u g h w d l o v r i w r u t x h o l p l w y d o x h u h i h u w r 3 pr5.26 ( [ w h u q d o l q s x w q h j d w l y h g l u h f w l r q torque limit range unit default related control mode 0 to 500 % 500 p s f note 6 h w x s q h j d w l y h g l u h f w l r q w r u t x h o l p l w x s r q u h f h l y l q j 7 / 6 ( / z l w k 3 u 6 h o h f w l r q r i w r u t x h limit set at 6. 7 k h y d o x h r i s d u d p h w h u l v o l p l w h g w r w k h p d [ l p x p w r u t x h r i w k h d s s o l f d e o h p r w r u ) r u g h w d l o v r i w r u t x h o l p l w y d o x h u h i h u w r 3 pr5.27 input gain of analog torque limit range unit default related control mode 10 to 100 0.1v/100% 30 p s f ) u r p w k h y r o w d j h > 9 @ d s s o l h g w r w k h d q d o r j w r u t x h o l p l w l q s x w 3 $ 7 / 1 $ 7 / v h w f r q y h u v l r q gain to torque limit [%]. note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 6 h w x s r i 7 r u t x h / l p l w ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-50 ' h i d x o w > @ pr5.28 * led initial status range unit default related control mode 0 to 35 ? 1 p s t f power -on setup value of pr5.28 flashes (for approx. 2 sec) during initialization setup value content setup value content setup value content 0 3 r v l w l r q d o f r p p d q g g h y l d w l r q 12 error factor and reference of history 24 ( q f r g h u s r v l w l r q d o g h y l d w l r q > ( q f r g h u x q l w @ [1] motor speed 13 $ o d u p ' l v s o d \ 25 ( [ w h u q d o v f d o h g h y l d w l r q > ( [ w h u q d o v f d o h x q l w @ 2 positional command speed 14 5 h j h q h u d w l y h o r d g i d f w r u 26 + \ e u l g g h y l d w l r q > & r p p d q g x q l w @ 3 velocity control command 15 2 y h u o r d g i d f w r u 27 9 r o w d j h d f u r v v 3 1 > 9 @ 4 torque command 16 inertia ratio 28 6 r i w z d u h y h u v l r q 5 feedback pulse sum 17 factor of no-motor running 29 ' u l y h u v h u l d o q x p e h u 6 command pulse sum 18 1 r r i f k d q j h v l q , 2 v l j q d o v 30 motor serial number 8 ( [ w h u q d o v f d o h i h h g e d f n s x o v h v x p 20 $ e v r o x w h h q f r g h u g d w d 31 $ f f x p x o d w h g r s h u d w l r q w l p h 9 control mode 21 $ e v r o x w h h [ w h u q d o v f d o h s r v l w l r q 32 $ x w r p d w l f p r w r u u h f r j q l ] l q j i x q f w l r q 10 i/o signal status 22 1 r r i h q f r g h u h [ w h u q d o v f d o h communication errors monitor 33 temperature information 11 $ q d o r j l q s x w y d o x h 23 & r p p x q l f d w l r q d [ l v d g g u h v v 35 safety condition monitor related page < r x f d q v h o h f w w k h w \ s h r i g d w d w r e h g l v s o d \ h g r q w k h i u r q w s d q h o / ( ' v h j p h q w d w w k h l q l w l d o v w d w x v d i w h u s r z h u r q ) r u g h w d l o v r i g l v s o d \ u h i h u w r 3 + r z w r 8 v h w k h ) u r q w 3 d q h o r i 3 u h s d u d w l r q pr5.29 * baud rate setup of rs232 communication range unit default related control mode 0 to 6 ? 2 p s t f note you can set up the communication speed of rs232. ) r u e d x g u d w h v h w x s y d o x h u h i h u w r 5 6 v h w x s pr5.30 * baud rate setup of rs485 communication range unit default related control mode 0 to 6 ? 2 p s t f you can set up the communication speed of rs485. setup value baud rate setup value baud rate 0 2400bps 4 38400bps 1 4800bps 5 57600bps [2] 9600bps 6 115200bps 3 19200bps % d x g u d w h h u u r u l v ? i r u w r e s v d q g ? i r u w r e s v 1. details of parameter [class 5] enhancing setting note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-51 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; pr5.31 * $ [ l v d g g u h v v range unit default related control mode 0 to 127 ? 1 p s t f note ' x u l q j f r p p x q l f d w l r q z l w k w k h k r v w h j 3 & w r f r q w u r o p x o w l s o h v k d i w v w k h v k d i w e h l q j d f f h v v h g e \ w k h k r v w v k r x o g e h l g h q w l h g : k h q x v l q j 5 6 5 6 w k h p d [ l p x p y d o l g y d o x h l v pr5.32 * & r p p d q g s x o v h l q s x w p d [ l p x p v h w x s range unit default related control mode 250 to 4000 k pulse/s 4000 p f caution 6 h w w k h p d [ l p x p q x p e h u r i s x o v h v w r e h x v h g d v f r p p d q g s x o v h l q s x w , i w k h q x p e h u r i l q s x w s x o v h v h [ f h h g v w k h v h w x s y d o x h e ( u u & r p p d q g s x o v h l q s x w i u h t x h q f \ h u u r u protection occurs. 7 k h q x p e h u r i l q s x w s x o v h v u h f h l y h g e \ w k h g u l y h u l v d o z d \ v f k h f n h g , i w k h i u h t x h q f \ r i w k h u h f h l y h g s x o v h l v k l j k h u w k d q w k h x s s h u o l p l w r i w k h v h w w l q j l q s x w s x o v h v d u h q r w d f f x u d w h o \ detected. % \ v h o h f w l q j d y d o x h o r z h u w k d q d g l j l w d o i l o w h u r i w k h v s h f l i l f d w l r q v k r z q e h o r z l v enabled against the command pulse input. pr5.32 setting range ' l j l w d o o w h u 250 to 499 200 ns 2-time reading 500 to 999 100 ns 2-time reading 1000 or more 1 r u h d g l q j w k u x pr5.33 * pulse regenerative output limit setup range unit default related control mode 0 to 1 ? 0 p s t f enable/disable detection of err28.0 pulse u h j h q h u d w l y h o l p l w s u r w h f w l r q setup value content [0] , q y d o l g 1 valid pr5.34 for manufacturer's use range unit default related control mode ? ?4 ) l [ h g w r pr5.35 * front panel lock setup range unit default related control mode 0 to 1 ? 0 p s t f lock the operation on the front panel. setup value content [0] 1 r o l p l w r q w k h i u r q w s d q h o r s h u d w l r q 1 lock the operation on the front panel 1. details of parameter [class 5] enhancing setting phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-52 ' h i d x o w > @ pr6.00 $ q d o r j w r u t x h i h h g i r u z d u g f r q y h u v l r q gain range unit default related control mode 0 to 100 0.1v/100% 0psf ? 6 h w w k h l q s x w j d l q r i d q d o r j w r u t x h i h h g i r u z d u g w r d u h l q y d o l g 8 v d j h h [ d p s o h r i $ q d o r j w r u t x h i h h g i r u z d u g ! ? 6 h w w l q j e l w s o d f h r i 3 u ) x q f w l r q h [ s d q v l r q v h w x s w r h q d e o h v w k h d q d o r j w r u t x h i h h g i r u z d u g : k h q w k h d q d o r j l q s x w l v x v h g e \ d q r w k h u i x q f w l r q h j d q d o r j w r u t x h o l p l w w k h i x q f w l r q e h f r p h v l q y d o l g ? 7 k h y r o w d j h 9 d s s o l h g w r w k h d q d o r j l q s x w l v f r q y h u w h g w r w k h w r u t x h y l d 3 u $ q d o r j w r u t x h i h h g i r u z d u g f r q y h u v l r q j d l q v h w x s d q g d g g h g w r w k h w r u t x h f r p p d q g l q & & : g l u h f w l r q l i l w l v s r v l w l y h y r o w d j h r u l q & : g l u h f w l r q l i q h j d w l y h ? 7 k h f r q y h u v l r q r i d q d o r j l q s x w l q s x w y r o w d j h > 9 @ w r w k h w r u t x h f r p p d q g > @ w r w k h p r w r u p d \ e h h [ s u h v v h g p d w k h p d w l f d o o \ d v i r o o r z v 7 r u t x h f r p p d q g e l q s x w y r o w d j h 9 3 u v h w x s y d o x h e pr6.02 9 h o r f l w \ g h y l d w l r q h [ f h v v v h w x s range unit default related control mode 0 to 100 r/min 0 p : k h q w k h v s h h g g h y l d w l r q g l i i h u h q f h e h w z h h q l q w h u q d o s r v l w l r q d o f r p p d q g d q g d f w x d o v s h h g h [ f h h g v w k l v y d o x h ( u u 6 s h h g r y h u g h y l d w l r q s u r w h f w l r q r f f x u v 7 k l v s u r w h f w l r q l v q r w g h w h f w h g z k h q w k h v h w x s y d o x h l v pr6.04 jog trial run command speed range unit default related control mode 0 to 500 r/min 300 p s t f related page 6 h w x s w k h f r p p d q g v s h h g x v h g i r u - 2 * w u l d o u x q y h o r f l w \ f r q w u r o % h i r u h x v l q j u h i h u w r 3 3 u h s d u d w l r q 7 u l d o 5 x q pr6.05 position 3rd gain valid time range unit default related control mode 0 to 10000 0.1ms 0 p f ? 6 h w x s w k h w l p h d w z k l f k u g j d l q e h f r p h v y d o l g ? : k h q q r w x v l q j w k l v s d u d p h w h u v h w 3 u w r d q g 3 u w r ? 7 k l v l v y d o l g i r u r q o \ s r v l w l r q f r q w u r o i x o o f o r v h g f r q w u r o pr6.06 position 3rd gain scale factor range unit default related control mode 50 to 1000 % 100 p f ? 6 h w x s w k h u g j d l q e \ d p x o w l s o \ l q j i d f w r u r i w k h v w j d l q ? u g j d l q v w j d l q e pr6.06/100 4 1. details of parameter setup [class 6] special setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-53 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ pr6.07 torque command additional value range unit default related control mode ? w r %0psf ? 6 h w x s w k h r i i v h w o r d g f r p s h q v d w l r q y d o x h x v x d o o \ d g g h g w r w k h w r u t x h f r p p d q g l q d f r q w u r o p r g h h [ f h s w i r u w k h w r u t x h f r q w u r o p r g h ? 8 s g d w h w k l v s d u d p h w h u z k h q w k h y h u w l f d o d [ l v p r g h i r u u h d o w l p h d x w r w x q l q j l v y d o l g pr6.08 positive direction torque compensation value range unit default related control mode ? w r %0pf ? 6 h w x s w k h g \ q d p l f i u l f w l r q f r p s h q v d w l r q y d o x h w r e h d g g h g w r w k h w r u t x h f r p p d q g z k h q i r u z d u g s r v l w l r q d o f r p p d q g l v i h g ? 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0 p s t f 6 s h f l i \ w k h ( ( 3 5 2 0 z u l w l q j s u r f h g x u h z k h q s d u d p h w h u l v h g l w h g i r u p w k h i u r q w s d q h o setup value writing [0] ' r q r w z u l w h w r ( ( 3 5 2 0 d w w k h v d p h w l p h 1 : u l w h w r ( ( 3 5 2 0 d w w k h v d p h w l p h pr6.18 * 3 r z h u x s z d l w w l p h range unit default related control mode 0 to 100 0.1s 0 p s t f 6 h w x s w k h v w d q g d u g l q l w l d o l ] d w l r q w l p h v z d i w h u s r z h u x s 1. details of parameter [class 6] special setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 ( ( 3 5 2 0 : u l w l q j 0 r g h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-55 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ 1. details of parameter [class 6] special setting pr6.19 * encoder z phase setup range unit default related control mode 0 to 32767 pulse 0 p s t f , i w k h q x p e h u r i r x w s x w s x o v h v s h u r q h p r w r u u h y r o x w l r q d i w h u g l y l v l r q r i s x o v h r x w s x w l v q r w d q l q w h j h u q h d g m x v w w k h z l g w k r i h q f r g h u = s k d v h pr6.20 * = s k d v h v h w x s r i h [ w h u q d o v f d o h range unit default related control mode 0 to 400 e v 0f 6 h w x s w k h = s k d v h u h j h q h u d w l y h z l g w k r i h [ w h u q d o v f d o h l q x q l w r i w l p h ( y h q l i w k h z l g w k r i = s k d v h v l j q d o f d q q r w e h g h w h f w h g e h f d x v h w k h z l g w k h t x l y d o h q w r i w k h w u d y h o g l v w d q f h i u r p w k h h [ w h u q d o v f d o h l v w r r v k r u w w k h = s k d v h v l j q d o z l o o e h r x w s x w i r u d w o h d v w w k h s h u l r g v h w w r this parameter. pr6.21 * 6 h u l d o d e v r o x w h h [ w h u q d o v f d o h = s k d v h setup range unit default related control mode 0 to 2 28 pulse 0 f ) x o o f o r v h g f r q w u r o x v l q j v h u l d o d e v r o x w h h [ w h u q d o v f d o h : k h q r x w s x w w l q j s x o v h v e \ x v l q j w k h h [ w h u q d o v f d o h d v w k h v r x u f h r i w k h r x w s x w v h w w k h = s k d v h r x w s x w l q w h u y d o l q x q l w v r i $ s k d v h r x w s x w s x o v h v r i w k h h [ w h u q d o v f d o h e h i r u h p x o w l s o l h g e \ setup value content [0] 2 x w s x w = s k d v h r q o \ d w d e v r o x w h s r v l w l r q r i h [ w h u q d o v f d o h 1 to 268435456 $ i w h u w k h s r z h u l v i h g w r w k h g u l y h u w k h = s k d v h d v l w f u r v v h v w k h ] h u r d w w k h d e v r o x w h s r v l w l r q r i h [ w h u q d o v f d o h l v r x w s x w l q v \ q f k u r q r x v z l w k w k h $ s k d v h 6 x e v h t x h q w o \ w k h = s k d v h l v r x w s x w d w w k h $ s k d v h r x w s x w s x o v h l q w h u y d o v v h w w r w k l v s d u d p h w h u pr6.22 * $ % s k d v h h [ w h u q d o v f d o h s x o v h r x w s x w method selection range unit default related control mode 0 to 1 ? 0 f 6 h o h f w w k h s x o v h u h j h q h u d w l r q p h w k r g r i $ % d q g = s d u d o o h o h [ w h u q d o v f d o h setup value regenerating method [0] ' l u h f w o \ r x w s x w w k h v l j q d o v i u r p $ % d q g = s d u d o o h o h [ w h u q d o v f d o h v 1 2 x w s x w $ d q g % s k d v h v l j q d o v u h f r y h u h g i u r p $ % d q g = s d u d o o h o h [ w h u q d o v f d o h v z-phase is output directly. pr6.23 disturbance torque compensating gain range unit default related control mode ? w r %0ps ? 6 h w x s w r f r p s h q v d w l q j j d l q d j d l q v w g l v w x u e d q f h w r u t x h ? $ i w h u v h w w l q j x s 3 u l q f u h d v h 3 u 7 k h g l v w x u e d q f h v x s s u h v v l q j f d s d e l o l w \ l q f u h d v h v e \ l q f u h d v l q j w k h j d l q e x w l w l v d v v r f l d w h g z l w k l q f u h d v l q j y r o x p h r i r s h u d w l r q q r l v h 7 k l v p h d q v w k d w z h o o e d o d q f h g v h w x s f d q e h r e w d l q h g e \ d g m x v w l q j 3 u d q g 3 u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-56 ' h i d x o w > @ pr6.24 disturbance observer filter range unit default related control mode 0 to 2500 0.01ms 53 p s ? 6 h w x s w k h o w h u w l p h f r q v w d q w d f f r u g l q j w r w k h g l v w x u e d q f h w r u t x h f r p s h q v d w l r q ? ) l u v w v h w x s 3 u w r d o d u j h u y d o x h d q g f k h f n w k h r s h u d w l r q z l w k 3 u ' l v w x u e d q f h w r u t x h f r p s h q v d w l q j j d l q v h w w r d o r z y d o x h d q g w k h q j u d g x d o o \ g h f u h d v h w k h v h w x s y d o x h r i 3 u $ o r z o w h u v h w x s y d o x h d v v x u h v g l v w x u e d q f h w r u t x h h v w l p d w l r q z l w k v p d o o g h o d \ d q g h i i h f w l y h o \ v x s s u h v v h v h i i h f w v r i g l v w x u e d q f h + r z h y h u w k l v u h v x o w v l q o d u j h u r s h u d w l r q q r l v h : h o o e d o d q f h g v h w x s l v u h t x l u h g pr6.27 * alarm latch time selection range unit default related control mode 0 to 10 ? 5 p s t f set up the latch time. setup value content 0 / d w f k w l p h l q q l w h 1 latch time 1 [s] 2 2 [s] 3 3 [s] 4 4 [s] [5] 5 [s] 6 6 [s] 7 7 [s] 8 8 [s] 9 9 [s] 10 10 [s] pr6.31 real time auto tuning estimation speed range unit default related control mode 0 to 3 ? 1 p s t f 6 h w x s w k h o r d g f k d u d f w h u l v w l f v h v w l p d w l r q v s h h g z l w k w k h u h d o w l p h d x w r w x q l q j e h l q j y d o l g $ k l j k h u v h w x s y d o x h d v v x u h v i d v w h u u h v s r q v h w r d f k d q j h l q o r d g f k d u d f w h u l v w l f v e x w l q f u h d v h v y d u l d w l r q v l q g l v w x u e d q f h h v w l p d w l r q 5 h v x o w r i h v w l p d w l r q l v v d y h g w r ( ( 3 5 2 0 h y h u \ minutes. setup value mode description 0 1 r f k d q j h stop estimation of load characteristics. [1] $ o p r v w f r q v w d q w 5 h v s r q v h w r f k d q j h v l q o r d g f k d u d f w h u l v w l f v l q h y h u \ p l q x w h 2 6 o r z h u f k d q j h 5 h v s r q v h w r f k d q j h v l q o r d g f k d u d f w h u l v w l f v l q h y h u \ v h f r q g 3 * faster change obtain best suitable estimation in response to changes in load characteristics. * , i w k h d x w r p d w l f r v f l o o d w l r q g h w h f w l r q l v h q d e o h g e \ w k h v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 w k h v h w x s y d o x h l v x v h g 1. details of parameter [class 6] special setting note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 7 k h v h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 f d q e h g r z q o r d g h g i u r p r x u z h e v l w h ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-57 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. details of parameter [class 6] special setting pr6.32 real time auto tuning custom setup range unit default related control mode ? w r ?0pstf : k h q w k h r s h u d w l r q p r g h r i u h d o w l p h d x w r w x q l q j l v v h w w r w k h f x v w r p l ] h 3 u v h w w k h d x w r p d w l f d g m x v w l q j i x q f w l r q d v v k r z q e h o r z bit content description 1 to 0 load char- acteristics estimation * enable/disable the load characteristics estimation function. setup value function [0] disable 1 enable * , i w k h o r d g f k d u d f w h u l v w l f v h v w l p d w l r q l v g l v d e o h g w k h f x u u h q w v h w x s f d q q r w e h f k d q j h g h y h q l i w k h l q h u w l d u d w l r l v x s g d w h g d f f r u g l q j w r w k h h v w l p d w h g y d o x h : k h q w k h w r u t x h f r p s h q v d w l r q l v x s g d w h g e \ w k h h v w l p d w h g y d o x h l w l v f o h d u h g w r l q y d o l g 3 to 2 inertia ratio update set up update to be made based on result of the load characteristics estimation of pr0.04 inertia ratio. setup value function [0] use the current setup. 1 8 s g d w h e \ w k h h v w l p d w h g y d o x h 6 to 4 torque compensation set up the update to be made according to the results of load f k d u d f w h u l v w l f v h v w l p d w l r q r i 3 u 7 r u t x h f r p p d q g d g g l w l r q d o y d o x h 3 u s r v l w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h d q g 3 u q h j d w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h setup value function compensation setup [0] use current setup pr6.07 pr6.08 pr6.09 1 disable torque compensation 0 clear 0 clear 0 clear 2 9 h u w l f d o d [ l v p r g h update 0 clear 0 clear 3 friction compensation o r z update / r z / r z 4 friction compensation p l g g o h update middle middle 5 friction compensation k l j k update high high 7 stiffness setup enable/disable the basic gain setup to be made according to pr0.03 real time auto tuning mechanical stiffness selection. setup value function [0] disable 1 enable 8 ) l [ h g parameter setup ( q d e o h g l v d e o h w k h f k d q j h r i s d u d p h w h u w k d w l v q r u p d o o \ v h w d w d [ h g y d o x h setup value function [0] use the current setup. 1 6 h w w r d [ h g y d o x h 10 to 9 gain v z l w f k l q j setup 6 h o h f w w k h j d l q v z l w f k l q j u h o d w h g s d u d p h w h u w r e h x v h g z k h q w k h u h d o time auto tuning is enabled. setup value function [0] use the current setup. 1 ' l v d e o h j d l q v z l w f k l q j 2 ( q d e o h j d l q v z l w f k l q j f r q w l q x h g phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-58 note related page ? $ s d u d p h w h u l v g h v l j q d w h g d v i r o o r z v pr0.00 parameter no. class ? ) r u s d u d p h w h u v z k l f k 1 r k d y h d v x i i l [ r i * ? f k d q j h g f r q w h q w v z l o o e h y d o l g d w h g z k h q \ r x w x u q r q w k h f r q w u r o s r z h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ' h i d x o w > @ 1. details of parameter [class 6] special setting caution 7 k l v s d u d p h w h u v k r x o g e h v h w x s e l w e \ e l w 7 r s u h y h q w v h w w l q j h u u r u x v h r i w k h v h w x s v x s s r u w v r i w z d u h l v u h f r p p h q g h g z k h q h g l w l q j s d u d p h w h u 6 h w x s s u r f h g x u h r i e l w z l v h s d u d p h w h u ! : k h q v h w w l q j s d u d p h w h u w r d y d o x h r w k h u w k d q f d o f x o d w h w k h v h w x s y d o x h r i 3 u l q w k h i r o o r z l q j s u r f h g x u h , g h q w l i \ w k h / 6 % r i w k h v h w x s ( [ d p s o h / 6 % r i w k h w r u t x h f r p s h q v d w l r q i x q f w l r q l v 0 x o w l s o \ w k h v h w x s y d o x h e \ s r z h u r i / 6 % ( [ d p s o h 7 r v h w w k h w r u t x h f r p s h q v d w l r q i x q f w l r q w r i u l f w l r q f r p s h q v d w l r q p l g g o h 2 4 e 3 h u i r u p v w h s v d q g i r u h y h u \ v h w x s v v x p x s w k h y d o x h v z k l f k d u h w r e h 3 u v h w x s y d o x h ( [ d p s o h / r d g f k d u d f w h u l v w l f v p h d v x u h p h q w h q d e o h l q h u w l d u d w l r x s g d w h h q d e o h w r u t x h f r p s h q v d w l r q i u l f w l r q f r p s h q v d w l r q p l g g o h v w l i i q h v v v h w x s h q d e o h [ h g s d u d p h w h u v h w w r d [ h g y d o x h j d l q v z l w f k l q j v h w x s h q d e o h w k h q 2 0 e 2 e 4 e 7 e 8 e 9 e pr6.34 hybrid vibration suppression gain range unit default related control mode 0 to 30000 0.1/s 0 f 6 h w x s w k h k \ e u l g y l e u d w l r q v x s s u h v v l r q j d l q i r u i x o o f o r v h g f r q w u r o o l q j ) l u v w v h w l w w r w k h y d o x h l g h q w l f d o w r w k d w r i s r l v r q o r r s j d l q d q g w k h q q h w x q h d v q h f h v v d u \ pr6.35 hybrid vibration suppression filter range unit default related control mode 0 to 6400 0.01ms 10 f 6 h w x s w k h w l p h f r q v w d q w r i w k h k \ e u l g y l e u d w l r q v x s s u h v v l r q o w h u i r u i x o o f o r v h g f r q w u r o o l q j : k l o h g u l y l q j x q g h u i x o o f o r v h g f r q w u r o j u d g x d o o \ l q f u h d v h w k h v h w x s y d o x h d q g f k h f n changes in the response. pr6.37 oscillation detecting level range unit default related control mode 0 to 1000 0.1% 0 p s t f 6 h w x s w k h r v f l o o d w l r q g h w h f w l q j o h y h o 8 s r q g h w h f w l r q r i d w r u t x h y l e u d w l r q z k r v h o h y h o l v k l j k h u w k d q w k l v v h w x s y d o x h w k h r v f l o o d w l r q g h w h f w l r q d o d u p z l o o e h l v v x h g pr6.38 * alarm mask setup range unit default related control mode ? w r ?0pstf set up the alarm detection mask. placing 1 to the corresponding bit position disables detection of the alarm condition. pr6.39 for manufacturer's use range unit default related control mode ??0 ) l [ h g w r phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-59 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4 2.trial run (jog run) setup inspection before trial run display led connector x6 ground power supply motor machine (1) inspection on wiring ? 0 l v z l u l q j " ( v s h f l d o o \ s r z h u l q s x w d q g p r w r u r x w s x w ? 6 k r u w r u j u r x q g h g " ? / r r v h f r q q h f w l r q " (2) confirmation of power supply and voltage ? 5 d w h g y r o w d j h " (3) fixing of the servo motor ? 8 q v w d e o h p r x q w l q j " (4) separation from the p h f k d q l f d o v \ v w h p (5) release of the brake (6) turn to servo-off after finishing the trial run by pressing . (1) inspection on wiring ? 0 l v z l u l q j " ( v s h f l d o o \ s r z h u l q s x w d q g p r w r u r x w s x w ? 6 k r u w r u j u r x q g h g " ? / r r v h f r q q h f w l r q " (2) confirmation of power supply and voltage ? 5 d w h g y r o w d j h " (3) fixing of the servo motor ? 8 q v w d e o h p r x q w l q j " (4) separation from the p h f k d q l f d o v \ v w h p (5) release of the brake (6) turn to servo-off after finishing the trial run by pressing . note ? ' h w d l o v r i z l u l q j u h i h u w r 3 2 y h u d o o : l u l q j ? 7 k h j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h g u l y h u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ; 6 d i h w \ i x q f w l r q f r q q h f w r u ; ( [ w h u q d o v f d o h f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-60 4 2.trial run (jog run) setup trial run by connecting the connector x4 trial run (jog run) at position control mode & r q q h f w w k h & r q q h f w r u ; ( q w h u w k h s r z h u ' & w r 9 w r f r q w u r o v l j q d o & 2 0 & 2 0 2 ( q w h u w k h s r z h u w r w k h g u l y h u & r q u p w k h g h i d x o w y d o x h v r i s d u d p h w h u v 0 d w f k w r w k h r x w s x w i r u p d w r i w k h k r v w f r q w u r o o h u z l w k 3 u & r p p d q g s x o v h l q s x w p r g h v h w x s : u l w h w r ( ( 3 5 2 0 d q g w x u q r i i r q w k h s r z h u r i w k h g u l y h u & r q q h f w w k h 6 h u y r 2 1 l q s x w 6 5 9 2 1 d q g & 2 0 2 & r q q h f w r u ; 3 l q w r e u l q j w k h g u l y h u w r 6 h u y r 2 1 v w d w x v d q g h q h u j l ] h w k h p r w r u ( q w h u o r z i u h t x h q f \ i u r p w k h k r v w f r q w u r o o h u w r u x q w k h p r w r u d w o r z v s h h g & k h f n w k h p r w r u u r w d w l r q d o v s h h g d w p r q l w r u p r g h z k h w k h u u r w d w l r q d o v s h h g l v d v s h u w k h v h w x s r u q r w d q g w k h p r w r u v w r s v e \ v w r s s l q j w k h f r p p d q g s x o v h r u q r w , i w k h p r w r u g r h v q r w u x q f r u u h f w o \ u h i h u w r 3 ' l v s o d \ r i ) d f w r u i r u 1 r 0 r w r u 5 x q q l q j r i 3 u h s d u d w l r q ? : l u l q j ' l d j u d p ? 3 d u d p h w h u pr no. title setup value 0.01 control mode setup 0 5.04 2 y h u w u d y h o l q k l e l w l q s x w v h w x s 1 0.05 selection of command pulse input 0/1 0.07 command pulse input mode setup 1 5.18 , q y d o l g d w l r q r i f r p p d q g s x o v h l q k l e l w l q s x w 1 5.17 counter clear input mode 2 ? , q s x w v l j q d o v w d w x v no. title of signal monitor display 0 6 h u y r 2 1 $ com+ 7 29 41 3 4 5 6 com - srv-on puls1 puls2 sign1 sign2 1k w 1k w in case of open collector input connector x4 in case of line receiver input dc 12v to 24v dc 12v 20k w 2kw 2kw 20k w 120 w signh1 signh2 gnd pulsh1 puls h/l pulsh2 44 45 sign 46 47 13 20k w 2kw 2kw 20k w 120 w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-61 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement trial run (jog run) at velocity control mode & r q q h f w w k h & r q q h f w r u ; ( q w h u w k h s r z h u ' & w r 9 w r f r q w u r o v l j q d o & 2 0 & 2 0 2 ( q w h u w k h s r z h u w r w k h g u l y h u & r q u p w k h g h i d x o w y d o x h v r i s d u d p h w h u v & r q q h f w w k h 6 h u y r 2 1 l q s x w 6 5 9 2 1 & r q q h f w r u ; 3 l q d q g & 2 0 2 & r q q h f w r u ; 3 l q w r w x u q w r 6 h u y r 2 1 d q g h q h u j l ] h w k h p r w r u & o r v h w k h v s h h g ] h u r f o d p s l q s x w = ( 5 2 6 3 ' d q g d s s o \ ' & y r o w d j h e h w z h h q y h o r f l w \ f r p p d q g l q s x w 6 3 5 & r q q h f w r u ; 3 l q d q g * 1 ' & r q q h f w r u ; 3 l q d q g j u d g x d o o \ l q f u h d v h i u r p 9 w r f r q u p w k h p r w r u u x q v & r q u p w k h p r w r u u r w d w l r q d o v s h h g l q p r q l w r u p r g h ? : k h w k h u w k h u r w d w l r q d o v s h h g l v s h u w k h v h w x s r u q r w ? : k h w k h u w k h p r w r u v w r s v z l w k ] h u r f r p p d q g r u q r w , i w k h p r w r u g r h v u r w d w h d w d p l f u r v s h h g z l w k f r p p d q g y r o w d j h r i : k h q \ r x z d q w w r f k d q j h w k h u r w d w l r q d o v s h h g d q g g l u h f w l r q v h w x s w k h i r o o r z l q j s d - rameters again. 3 u 6 s h h g v h w x s , q w h u q d o ( [ w h u q d o v z l w f k l q j 3 u 6 s h h g f r p p d q g u r w d w l r q d o g l u h f w l r q v h o h f w l r q 3 u 5 h y h u v d o r i v s h h g f r p p d q g l q s x w , i w k h p r w r u g r h v q r w u x q f r u u h f w o \ u h i h u w r 3 ' l v s o d \ r i ) d f w r u i r u 1 r 0 r w r u 5 x q q l q j r i 3 u h s d u d w l r q ? : l u l q j ' l d j u d p ? 3 d u d p h w h u pr no. title setup value 0.01 control mode setup 1 5.04 2 y h u w u d y h o l q k l e l w l q s x w v h w x s 1 3.15 speed zero-clamp function selection 1 3.00 6 s h h g v h w x s , q w h u q d o ( [ w h u q d o v z l w f k l q j set up as required 3.01 speed command rotational direction selection 3.02 input gain of speed command 3.03 5 h y h u v d o r i v s h h g f r p p d q g l q s x w 4.22 $ q d o r j l q s x w $ , r i i v h w v h w x s 4.23 $ q d o r j l q s x w $ , i l o w h u ? , q s x w v l j q d o v w d w x v no. title of signal monitor display 0 6 h u y r 2 1 $ 5 speed zero clamp ? com+ srv-on spr/trqr/spl gnd zerospd com ? 7 29 14 15 26 41 dc 12v to 24v run with zerospd switch close, and stop with open in case of one-directional operation dc 10v in case of bi-directional operation (positive/negative), provide a bipolar power supply, or use with pr3.15 = 3. 5 h i h u w r 3 3 d u d p - h w h u 6 h w x s 3 d u d p h w h u v i r u 9 h o r f l w \ 7 r u t x h & r q w u r o 2.trial run (jog run) trial run by connecting the connector x4 note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-62 trial run (jog run) at torque control mode & r q q h f w w k h & r q q h f w r u ; ( q w h u w k h s r z h u ' & 9 w r f r q w u r o v l j q d o & 2 0 & 2 0 2 ( q w h u w k h s r z h u w r w k h g u l y h u & r q u p w k h g h i d x o w y d o x h v r i s d u d p h w h u v 6 h w d o r z h u y d o x h w r 3 u w k v s h h g r i v s h h g v h w x s ( q h u j l ] h w k h p r w r u e \ f r q q h f w l q j w k h 6 h u y r 2 1 l q s x w 6 5 9 2 1 & r q q h f w r u ; 3 l q d q g & 2 0 2 3 l q r i & r q q h f w r u ; w r w x u q w r 6 h u y r 2 1 v w d w x v & r q u p w k d w w k h p r w r u u x q v d v s h u w k h v h w x s r i 3 u e \ d s s o \ l q j ' & y r o w d j h s r v l - w l y h q h j d w l y h e h w z h h q w k h w r u t x h f r p p d q g l q s x w 3 l q r i & r q q h f w r u ; d q g * 1 ' 3 l q r i & r q q h f w r u ; , i \ r x z d q w w r f k d q j h w k h w r u t x h p d j q l w x g h g l u h f w l r q d q g y h o r f l w \ o l p l w y d o x h d j d l q v w w k h f r p p d q g y r o w d j h v h w x s w k h i r o o r z l q j s d u d p h w h u v 3 u input gain of torque command 3 u , q s x w u h y ersal of torque command 3 u 6 s h h g o l p l w y d o x h , i w k h p r w r u g r h v q r w u x q f r u u h f w o \ u h i h u w r 3 ' l v s o d \ r i i d f w r u i r u 1 r p r w r u u x q- q l q j r i 3 u h s d u d w l r q ? : l u l q j ' l d j u d p ? 3 d u d p h w h u pr no. title setup value 0.01 control mode setup 2 5.04 2 y h u w u d y h o l q k l e l w l q s x w v h w x s 1 3.15 speed zero-clamp function selection 0 3.17 selection of torque command 0 3.19 input gain of torque command set up as required 3.20 , q s x w u h y h u v d o r i w r u t x h f r p p d q g 3.21 6 s h h g o l p l w y d o x h o r z h u y d o x h ? , q s x w v l j q d o v w d w x v no. title of signal monitor display 0 6 h u y r 2 1 $ 5 speed zero clamp ? com+ srv-on spr/trqr gnd comC 7 29 14 15 41 dc 12v to 24v in case of one way running dc 10v for bi-directional running (positive/negative), provide a bipolar power supply. 2.trial run (jog run) trial run by connecting the connector x4 5 h i h u w r 3 3 d u d p h w h u 6 h w x s 3 d u d p h w h u v i r u 9 h o r f l w \ 7 r u t x h & r q - w u r o note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-63 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement input pulse frequency (pps) motor rotational speed (r/min) pr0.08 17-bit 20-bit 2m 3000 2 17 40000 2 20 40000 500k 3000 2 17 10000 2 20 10000 250k 3000 2 17 5000 2 20 5000 100k 3000 2 17 2000 2 20 2000 500k 1500 2 17 20000 2 20 20000 note caution : k h q v h w w l q j 3 u d q g h q f r g h u u h v r o x w l r q l v d x w r p d w l f d o o \ v h w x s d v q x p h u d w r u v ) r u i x o o f o r v h g f r q w u r o o l q j v h w w l q j r i 3 u l v l j q r u h g d q g v h w w l q j v r i 3 u d q g 3 u d u h d o z d \ v d s s o l h g ? 0 d [ l q s x w s x o v h i u h t x h q f \ y d u l h v g h s h q g l q j r q l q s x w w h u p l q d o v ? 7 k h g h v l u h g v h w w l q j f d q e h g h w h u p l q h g e \ v h o h f w l q j y d o x h r i q x p h u d w r u d q g g h q r p l q d - w r u r i h o h f w u r q l f j h d u + r z h y h u d q h [ f h v v l y h o \ k l j k g l y l v l r q r u p x o w l s o l f d w l r q u d w l r f d q - q r w j x d u d q w h h w k h r s h u d w l r q 7 k h u d w l r v k r x o g e h l q d u d q j h e h w z h h q d q g ( [ f h v v l y h o \ k l j k p x o w l s o l f d w l r q u d w l r z l o o f d x v h ( u u f r p p d q g s x o v h p x o w l s o l f d w l r q h u u r u s u r w h f w l r q g x h w r y d u \ l q j f r p p d q g s x o v h l q s x w r u q r l v h v h y h q l i w k h r w k h u v h w - w l q j v d u h z l w k l q w k h v s h f l h g u d q j h relation between the motor rotational speed and input pulse counts 60 pulley ratio : gear ratio : total reduction ratio : gear 18 60 12 73 18 365 : k h q v h w w l q j w k h f r p p d q g g l y l v l r q d q g p x o w l s o l f d w l r q u d w l r d v q x p h u d w r u g h q r p l q d w r u h [ s u h v v l w d v 3 u 3 u z l w k pr0.08 = 0. ) r u i x o o f o r v h g f r q w u r o o l q j v h w w l q j r i 3 u l v l j - q r u h g d q g v h w w l q j v r i 3 u d q g 3 u d u h d o z d \ v d s s o l h g h j : k h q \ r x z d q w w r u r w d w h w k h p r w r u e \ ? z l w k w k h o r d g of total reduction ratio of 18/365. encoder 17-bit 20-bit pr0.09 pr0.10 5840 108 5840 67500 command pulse to rotate the output shaft by ? h q w h u w k h f r p p d q g r i 13 s x o v h v i u r p w k h host controller. to rotate the output shaft by ? h q w h u w k h f r p p d q g r i 10000 pulses from the host controller. + r z w r determine parameter 365 18 e 17 2 13 ? ? 1 5840 108 365 18 e 20 10000 ? ? 1 5840 67500 5 h i h u w r 3 6 h w x s r i f r p p d q g g l y l v l r q d q g p x o w l s o l f d w l r q u d w l r h o h f w u r q l f j h d u u d w l r r i 6 x s s o h p h q w 4 2.trial run (jog run) setup setup of motor rotational speed and input pulse frequency 2 n decimal figures 2 0 1 2 1 2 2 2 4 2 3 8 2 4 16 2 5 32 2 6 64 2 7 128 2 8 256 2 9 512 2 10 1024 2 11 2048 2 12 4096 2 13 8192 2 14 16384 2 15 32768 2 16 65536 2 17 131072 2 18 262144 2 19 524288 2 20 1048576 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 4-64 memo phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-1 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5 . adjustment 1. gain adjustment outline ........................................................................................................5-2 2. real-time auto-gain tuning basic ...........................................................................................................5-4 3. adaptive filter $ g d s w l y h o w h u ............................................................................................5-10 4. manual gain tuning (basic) outline ......................................................................................................5-13 $ g m x v w p h q w l q 3 r v l w l r q & r q w u r o 0 r g h ........................................................5-14 $ g m x v w p h q w l q 9 h o r f l w \ & r q w u r o 0 r g h ........................................................5-15 $ g m x v w p h q w l q 7 r u t x h & r q w u r o 0 r g h .........................................................5-15 $ g m x v w p h q w l q ) x o o & o r v h g & r q w u r o 0 r g h ..................................................5-16 gain switching function ...........................................................................5-17 6 x s s u h v v l r q r i 0 d f k l q h 5 h v r q d q f h ........................................................5-20 5. manual gain tuning (application) ' d p s l q j & r q w u r o .......................................................................................5-24 ) h h g i r u z d u g i x q f w l r q ...............................................................................5-26 , q v w d q w d q h r x v 6 s h h g 2 e v h u y h u ................................................................5-28 ' l v w x u e d q f h r e v h u y h u ................................................................................5-30 u g j d l q v z l w f k l q j i x q f w l r q .......................................................................5-32 ) u l f w l r q w r u t x h f r p s h q v d w l r q ...................................................................5-34 , q h u w l d u d w l r v z l w f k l q j i x q f w l r q ..................................................................5-36 + \ e u l g y l e u d w l r q g d p s l q j i x q f w l r q ............................................................5-38 6. about homing operation & d x w l r q r q + r p l q j 2 s h u d w l r q ..................................................................5-39 homing with hit & stop .............................................................................5-40 3 u h v v + r o g & r q w u r o ................................................................................5-41 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-2 5 1. gain adjustment adjustment outline purpose , w l v u h t x l u h g i r u w k h v h u y r g u l y h u w r u x q w k h p r w r u l q o h d v w w l p h g h o d \ d q g d v i d l w k i x o d v s r v v l e o h d j d l q v w w k h f r p p d q g v i u r p w k h k r v w f r q w u r o o h u < r x f d q p d n h d j d l q d g m x v w p h q w v r w k d w \ r x f d q u x q w k h p r w r u d v f o r v h o \ d v s r v v l e o h w r w k h f r p p d q g v d q g r e w d l q w k h r s - w l p x p s h u i r u p d q f h r i w k h p d f k l q h 5-3 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement remarks ? 3 d \ h [ w u d d w w h q w l r q w r v d i h w \ z k h q r v f l o o d w l r q d e q r u p d o q r l v h d q g y l e u d w l r q r f f x u v v k x w r i i w k h p d l q s r z h u r u w x u q w r 6 h u y r 2 ) ) type function explanation pages to refer automatic adjustment 5 h d o w l p h d x w r j d l q w x q l q j ( v w l p d w h v w k h o r d g l q h u w l d r i w k h p d f k l q h l q u h d o w l p h d q g d x w r - p d w l f d o o \ v h w v x s w k h r s w l p x p j d l q f r u u h v s r q g l q j w r w k l v u h v x o w p. 5 - 4 $ g d s w l y h o w h u 5 h g x f h v w k h u h v r q d q f h y l e u d w l r q s r l q w e \ d x w r p d w l f d o o \ v h w w l q j x s w k h q r w f k o w h u f r h i f l h q w z k l f k u h p r y h v w k h u h v r q d q f h f r p s r - q h q w i u r p w k h w r u t x h f r p p d q g z k l o h h v w l p d w l q j w k h u h v r q d q f h i u h t x h q f \ i u r p w k h y l e u d w l q j f r p s r q h q w z k l f k d s s h d u v l q w k h p r - w r u v s h h g l q d f w x d o r s h u d w l q j f r q g l w l r q p.5-10 0 d q x d o d g m x v w p h q w 0 d q x d o j d l q w x q l q j e d v l f ( [ h f x w h w k h p d q x d o d g m x v w p h q w r u q h w x q l q j z k h q u h d o w l p h d x w r j d l q w x q l q j f d q q r w e h d f w l y d w h g g x h w r w k h o l p l w d w l r q r i r s h u d- w l r q r u o r d g f r q g l w l r q r u z k h q \ r x z d q w w r r e w d l q d q r s w l p x p u h v s r q v h d q g v w d e l o l w \ x q g h u w k h v h f r q g l w l r q v p.5-13 % d v l f s u r f h g x u h $ g m x v w p h q w r i s r v l w l r q f r q w u r o p r g h p.5-14 $ g m x v w p h q w r i y h o r f l w \ f r q w u r o p r g h p.5-15 $ g m x v w p h q w r i w r u t x h f r q w u r o p r g h p.5-15 $ g m x v w p h q w r i i x o o f o r v h g f r q w u r o p r g h p.5-16 * d l q v z l w f k l q j i x q f w l r q < r x f d q h [ s h f w w r u h g x f h y l e u d w l r q d w v w r s s l q j d q g v h w w o l q j w l p h d q g w r l p s u r y h f r p p d q g f r p s o l d q f h e \ v z l w f k l q j w k h j d l q v e \ l q w h u q d o g d w d r u h [ w h u q d o v l j q d o v p. 5 - 1 7 6 x s s u h v v l r q r i p d f k l q h u h v r q d q f h : k h q w k h p d f k l q h v w l i i q h v v l v o r z y l e u d w l r q r u q r l v h p d \ e h j h q - h u d w h g g x h w r w k h g l v w r u w h g d [ l v k h q f h \ r x f d q q r w v h w w k h k l j k h u j d l q < r x f d q v x s s u h v v w k h u h v r q d q f h z l w k w z r n l q g v r i o w h u p. 5 - 2 0 0 d q x d o j d l q w x q l q j d s s o l f d w l r q < r x f d q r e w d l q w k h k l j k h u s h u i r u p d q f h z k l o h \ r x d u h q r w v d w l v h g z l w k w k h s h u i r u p d q f h r e w d l q h g z l w k w k h e d v l f d g m x v w p h q w x v l q j w k h i r o o r z l q j d s s o l f d w l r q i x q f w l r q v ' d p s l q j f r q w u r o ) x q f w l r q z k l f k u h g x f h v y l e u d w l r q e \ u h p r y l q j w k h y l e u d w l r q i u h - t x h q f \ f r p s r q h q w z k l o h w k h i u r q w h q g r i w k h p d f k l q h y l e u d w h v p. 5 - 2 4 ) h h g i r u z d u g i x q f w l r q 9 h o r f l w \ i h h g i r u z d u g i x q f w l r q l p s u r y h v u h v s r q v l y h q h v v g x u l q j s r v l w l r q f r q w u r o d q g i x o o f o r v h g f r q w u r o 7 r u t x h i h h g i r u z d u g l p s u r y h v w k h u h v s r q v h r i y h o r f l w \ f r q w u r o v \ v w h p p.5-26 instantaneous speed r e v h u y h u ) x q f w l r q z k l f k r e w d l q v e r w k k l j k u h v s r q v h d q g u h g x f w l r q r i y l e u d w l r q d w v w r s s l q j e \ h v w l p d w l q j w k h p r w r u v s h h g z l w k w k h o r d g p r g h o d q g k h q f h l p s u r y h v w k h d f f x u d f \ r i v s h h g g h w h f w l r q p. 5 - 2 8 ' l v w x u e d q f h r e v h u y h u ) x q f w l r q z k l f k x v h v h v w l p d w h g g l v w x u e d q f h w r u t x h w r u h g x f h h i i h f w v r i w k h g l v w x u e d q f h w r u t x h d q g w r u h g x f h y l e u d w l r q p.5-30 u g j d l q v z l w f k l q j i x q f w l r q % \ x v l q j w k l v i x q f w l r q l q d g g l w l r q w r w k h q r u p d o j d l q v z l w f k l q j i x q f w l r q w k h j d l q f d q e h f k d q j h g d w w k h p r p h q w r i v w r s w r i x u w k h u v k r u w h q w k h s r v l w l r q l q j w l p h p.5-32 ) u l f w l r q w r u t x h compensation 2 i i v h w o r d g f r p s h q v d w l r q d q g g \ q d p l f i u l f w l r q f r p s h q v d w l r q d u h x v h g w r u h g x f h h i i h f w v r i p h f k d q l f d o i u l f w l r q p. 5 - 3 4 , q h u w l d u d w l r v z l w f k l q j i x q f w l r q 7 k l v i x q f w l r q f d q e h x v h g z k h q v h o h f w d e o h l q h u w l d u d w l r v d u h s u r y l g h g p.5-36 + \ e u l g y l e u d w l r q g d p s l q j i x q f w l r q 7 k l v i x q f w l r q z k h q x v h g l q i x o o f o r v h g f r q w u r o p r g h s u h y h q w v y l e u d w l r q u h v x o w l q j i u r p w r u v l r q r q p r w r u d q g o r d g p. 5 - 3 8 1. gain adjustment outline phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-4 5 2. real-time auto-gain tuning adjustment basic outline 7 k h v \ v w h p h v w l p d w h v w k h o r d g f k d u d f w h u l v w l f v l q u h d o w l p h d q g d x w r p d w l f d o o \ s h u i r u p v e d v l f j d l q v h w w l q j d q g i u l f w l r q f r p s h q v d w l r q e \ u h i h u u l q j w r v w l i i q h v v s d u d p h w h u applicable range 5 h d o w l p h d x w r j d l q w x q l q j l v d s s o l f d e o h w r d o o f r q w u r o p r g h v real-time auto-tuning condition control mode 6 s h f l f u h d o w l p h d x w r w x q l q j p r g h l v v h o h f w h g d f f r u g l q j w r w k h f x u u h q w o \ d f w l y h f r q w u r o p r g h ) r u g h w d l o v u h i h u w r w k h g h v f u l s w l r q r i 3 u 5 h d o time auto-tuning setup. others ? 6 k r x o g e h l q v h u y r r q f r q g l w l r q ? , q s x w v l j q d o v v x f k d v w k h g h y l d w l r q f r x q w h u f o h d u d q g f r p p d q g l q s x w l q k l e l w d q g s d u d p h w h u v h [ f h s w i r u f r q w u r o v v x f k d v w r u t x h o l p l w v h w x s d u h f r u u h f w o \ v h w d v v x u l q j w k d w w k h p r w r u f d q u x q v p r r w k o \ caution 5 h d o w l p h d x w r j d l q w x q l q j p d \ q r w e h h [ h f x w h g s u r s h u o \ x q g h u w k h f r q g l w l r q v g h v f u l e h g in the table below. 8 q g h u w k h v h f r q g l w l r q v f k d q j h w k h o r d g f r q g l w l r q r u r s h u d w l r q s d w - w h u q r u v w d u w p d q x d o j d l q w x q l q j v h h 3 conditions which obstruct real-time auto-gain tuning action load inertia ? 7 k h o r d g l v w r r v p d o o r u o d u j h f r p s d u h g w r w k h u r w r u l q h u w l d o h v v w k d q w l p h v r u p r u h w k d q w l p h v ? 7 k h o r d g l q h u w l d f k d q j h v w r r t x l f n o \ load ? 7 k h p d f k l q h v w l i i q h v v l v h [ w u h p h o \ o r z ? 1 r q o l q h d u f k d u d f w h u l v w l f v v x f k d v e d f n o d v k h [ l v w action pattern ? 7 k h p r w r u l v u x q q l q j f r q w l q x r x v o \ d w o r z v s h h g r i > u p l q @ r u o r z h u ? $ f f h o h u d w l r q g h f h o h u d w l r q l v v o r z > u p l q @ s h u > v @ r u o r z ? $ f f h o h u d w l r q g h f h o h u d w l r q w r u t x h l v v p d o o h u w k d q x q e d o d q f h g z h l j k w h g y l v f r x v i u l f w l r q w r u t x h ? : k h q w k h v s h h g f r q g l w l r q r i > u p l q @ r u p r u h d q g d f f h o h u d w l r q g h f h o h u d w l r q f r q g l w l r q r i > u p l q @ s h u > v @ d u h q r w p d l q w d l q h g i r u > p v @ position/ velocity command position/ velocity control servo driver load characteristic estimation resonant frequency measurement torque command generation notch filter current control basic gain automatic setting friction torque compensation adaptive process torque command motor current motor speed motor encoder phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-5 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement how to operate caution % u l q j w k h p r w r u w r v w d o o 6 h u y r 2 ) ) 6 h w x s 3 u 6 h w x s r i u h d o w l p h d x w r j d l q w x q l q j p r g h w r ' h i d x o w l v v h w w r setup value real-time auto-gain tuning * 9 h o r f l w \ d q g w r u t x h f r q w u r o v d u h w k h v d p h d v l q w k h v w d q g d u g p r g h * 7 r u t x h f r q w u r o l v w k h v d p h d v l q w k h v w d q g d u g p r g h * 9 h o r f l w \ f r q w u r o l v w k h v d p h d v l q w k h y h u w l f d o d [ l v p r g h 7 r u t x h f r q w u r o l v w k h v d p h d v l q w k h v w d q g d u g p r g h * & h u w d l q i x q f w l r q v l v q r w d y d l o d e o h l q d v s h f l f f r q w u r o p r g h 5 h i h u w r g h v f u l s w l r q l q 3 u 0 invalid 1 6 w d q g d u g 2 positioning * 1 3 9 h u w l f d o d [ l v * 2 4 ) u l f w l r q f r p s h q v d w l r q * 3 5 / r d g f k d u d f w h u l v w l f p h d v x u h p h q w 6 customize * 4 & r q w u r o s d u d p h w h u l v d x w r p d w l f d o o \ v h w d f f r u g l q j w r 3 u 5 h d o w l p h d x w r w x q l q j v w l i i - q h v v v h w x s ) r u g h w d l o v v h h 3 d q g 7 x u q r q v h u y r d q g v w d u w w k h p d f k l q h ( v w l p d w l r q r i o r d g f k d u d f w h u l v w l f v v w d u w v : k h q w k h o r d g f k d u d f w h u l v w l f v d u h g h w h u p l q h g 3 u , q h u w l d u d w l r l v x s g d w h g , q d v s h f l f p r g h w k h i r o o r z l q j s d u d p h w h u v d u h f k d q j h g 3 u 7 r u t x h f r p p d q g d g g l w l r q d o y d o x h 3 u 3 r v l w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h 3 u 1 h j d w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h : k h q y d o x h r i 3 u 5 h d o w l p h d x w r w x q l q j v w l i i q h v v v h w x s l v l q f u h d v h g w k h p r w r u u h - v s r q v l y h q h v v z l o o e h l p s u r y h g ' h w h u p l q h w k h p r v w d s s u r s u l d w h v w l i i q h v v l q u h o d w l r q w r w k h s r v l w l r q l q j v h w x s w l p h d q g y l e u d w l r q f r q g l w l r q 7 r v d y h w k h u h v x o w w r p h p r u \ z u l w h w k h g d w d w r ( ( 3 5 2 0 , i s r z h u l v w x u q h g r i i z l w k l q p l q x w h v d i w h u w k h h q g r i w x q l q j s u r f h v v w k h u h v x o w r i w k h u h d o w l p h d x w r w x q l q j l v q r w v d y h g , i w k h u h v x o w l v q r w v d y h g p d q x d o o \ z u l w h s d u d p h w h u v w r ( ( 3 5 2 0 d q g w k h q w x u q r i i s r z h u 2. real-time auto-gain tuning basic note related page ? : k l o h w k h d x w r w x q l q j l v y d o l g s d u d p h w h u v w k d w d u h w r e h d x w r p d w l f d o o \ d g m x v w h g f d q q r w e h changed. ? 3 ( ( 3 5 2 0 : u l w l q j 0 r g h ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-6 parameters set/changed by real-time auto-gain tuning ? 3 d u d p h w h u v z k l f k d u h x s g d w h g 7 k h u h d o w l p h d x w r w x q l q j i x q f w l r q x s g d w h v w k h i r o o r z l q j s d u d p h w h u v d f f r u g l q j w r 3 u 5 h d o w l p h d x w r w x q l q j v h w x s d q g 3 u 5 h d o w l p h d x w r w x q l q j f x v w r p v h w x s d q g e \ x v l q j w k h o r d g f k d u d f w h u l v w l f h v w l p d w h y d o x h v class no. title function 004 , q h u w l d u d w l r 8 s g d w h v w k l v s d u d p h w h u z k h q w k h u h d o w l p h d x w r w x q l q j l q h u w l d u d w l r x s g d w h l v h q d e o h g 607 7 r u t x h f r p p d q g additional value 8 s g d w h w k l v s d u d p h w h u z k h q w k h y h u w l f d o d [ l v p r g h i r u u h d o w l p h d x w r w x q l q j l v y d o l g 608 3 r v l w l y h g l u h f w l r q w r u t x h compensation value 8 s g d w h w k l v s d u d p h w h u z k h q w k h i u l f w l r q f r p s h q v d w l r q p r g h i r u u h d o w l p h d x w r w x q l q j l v y d o l g 609 1 h j d w l y h g l u h f w l r q w r u t x h compensation value 8 s g d w h w k l v s d u d p h w h u z k h q w k h i u l f w l r q f r p s h q v d w l r q p r g h i r u u h d o w l p h d x w r w x q l q j l v y d o l g ? parameters which are updated to setup value corresponding to stiffness setup 7 k h u h d o w l p h d x w r w x q l q j i x q f w l r q x s g d w h v w k h i r o o r z l q j e d v l f j d l q v h w x s s d u d p h w h u v d f f r u g l q j w r 3 u 5 h d o w l p h d x w r w x q l q j v w l i i q h v v v h w x s class no. title function 100 v w j d l q r i s r v l w l r q o r r s : k h q v w l i i q h v v v h w x s l v y d o l g x s g d w h v w k h s d u d p h w h u e d v h g r q w k h v h w x s y d o x h 5 h i h u w r 3 % d v l f j d l q s d u d p h w h u v h w x s table. 101 v w j d l q r i y h o r f l w \ o r r s 102 v w w l p h f r q v w d q w r i y h o r f l w \ o r r s l q w h j u d w l r q 104 v w w l p h f r q v w d q w r i w r u t x h o w h u 105 q g j d l q r i s r v l w l r q o r r s 106 q g j d l q r i y h o r f l w \ o r r s 107 q g w l p h f r q v w d q w r i y h o r f l w \ o r r s l q w h j u d w l r q 109 q g w l p h f r q v w d q w r i w r u t x h o w h u ? 3 d u d p h w h u v z k l f k d u h v h w w r i l [ h g y d o x h 5 h d o w l p h d x w r w x q l q j i x q f w l r q v h w v w k h i r o o r z l q j s d u d p h w h u v w r w k h [ h g y d o x h class no. title setup value when fixed parameter setup is valid. 103 v w o w h u r i v s h h g g h w h f w l r q 0 108 q g o w h u r i v s h h g g h w h f w l r q 110 9 h o r f l w \ i h h g i r u z d u g j d l q 111 9 h o r f l w \ i h h g i r u z d u g o w h u p v 112 7 r u t x h i h h g i r u z d u g j d l q 0 113 7 r u t x h i h h g i r u z d u g o w h u related page ? 3 3 u ? 3 3 u ? 3 3 u 2. real-time auto-gain tuning basic phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-7 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? 3 d u d p h w h u v z k l f k d u h v h w l q u h v s r q v h w r j d l q v z l w f k l q j v h w x s 7 k h u h d o w l p h d x w r w x q l q j i x q f w l r q v h w v w k h i r o o r z l q j s d u d p h w h u v d v w k h j d l q l v switched. class no. title function 114 2nd gain setup 6 h w v w r l i w k h f x u u h q w v h w w l q j l v q r w maintained. 115 0 r g h r i s r v l w l r q f r q w u r o v z l w f k l q j sets to 10 to enable the gain switching. sets to 0 to disable the gain switching. 116 ' h o d \ w l p h r i s r v l w l r q f r q w u r o switching 6 h w v w r l i w k h f x u u h q w v h w w l q j l v q r w maintained. 117 / h y h o r i s r v l w l r q f r q w u r o v z l w f k l q j 118 + \ v w h u h v l v d w s r v l w l r q f r q w u r o switching 6 h w v w r l i w k h f x u u h q w v h w w l q j l v q r w maintained. 119 position gain switching time 120 0 r g h r i y h o r f l w \ f r q w u r o v z l w f k l q j 6 h w v w r l i w k h f x u u h q w v h w w l q j l v q r w maintained. 121 ' h o d \ w l p h r i y h o r f l w \ f r q w u r o switching 122 / h y h o r i y h o r f l w \ f r q w u r o v z l w f k l q j 123 + \ v w h u h v l v d w y h o r f l w \ f r q w u r o switching 124 0 r g h r i w r u t x h f r q w u r o v z l w f k l q j 125 ' h o d \ w l p h r i w r u t x h f r q w u r o v z l w f k l q j 126 / h y h o r i w r u t x h f r q w u r o v z l w f k l q j 127 + \ v w h u h v l v d w w r u t x h f r q w u r o v z l w f k l q j ? 3 d u d p h w h u v z k l f k d u h d o z d \ v v h w w r l q y d o l g 7 k h i r o o r z l q j v h w w l q j v d u h d o z d \ v v h w w r l q y d o l g z k h q 3 u 5 h d o w l p h d x w r w x q l q j setup is not 0. class no. title function 610 ) x q f w l r q h [ s d q v l r q v h w x s , q v w d q w d q h r x v v s h h g r e v h u y h u i x q f w l r q h q d e o h e l w e l w g l v w x u e d q f h r e v h u y h u i x q f w l r q h q d e o h e l w e l w d q g l q h u w l d u d w l r v z l w f k l q j i x q f w l r q h q d e o h e l w e l w d u h l q w h u q d o o \ g l v d e o h g 613 q g , q h u w l d u d w l r 3 d u d p h w h u v h w x s f d q e h f k d q j h g e x w g l v w x u e d q f h r e v h u y h u l v g l v d e o h g 623 ' l v w x u e d q f h w r u t x h compensating gain 624 ' l v w x u e d q f h r e v h u y h u o w h u 2. real-time auto-gain tuning basic related page ? 3 3 u ? 3 3 u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-8 caution , p p h g l d w h o \ d i w h u w k h u v w v h u y r r q x s r q v w d u w x s r u d i w h u l q f u h d v l q j 3 u 5 h d o w l p h d x w r w x q l q j v w l i i q h v v v h w x s d e q r u p d o v r x q g r u r v f l o o d w l r q p d \ e h j h q h u - d w h g x q w l o w k h o r d g f k d u d f w h u l v w l f v h v w l p d w l r q l v v w d e l o l ] h g , i v x f k d e q r u p d o l w \ o d v w v r u u h s h d w v i r u r u p r u h u h f l s u r f d w l q j r s h u d w l r q v w d n h w k h i r o o r z l q j f r x q w h u p h d v x u h v / r z h u w k h v h w x s r i 3 u 6 h o h f w l r q r i p d f k l q h v w l i i q h v v d w u h d o w l p h d x w r j d l q w x q l q j 6 h w 3 u 5 h d o w l p h d x w r w x q l q j v h w x s w r w r g l v d e o h w k h u h d o w l p h d x w r w x q l q j 6 h w 3 u , q h u w l d o u d w l r w r w k h f d o f x o d w l r q d o y d o x h r i w k h h t x l s p h q w d q g v h w 3 u 7 r u t x h f r p p d q g d g g l w l r q y d o x h 3 u 3 r v l w l y h g l u h f w l r q f r p s h q v d w l r q y d o x h d q g 3 u 1 h j d w l y h g l u h f w l r q f r p s h q v d w l r q y d o x h w r : k h q d e q r u p d o q r l v h d q g r v f l o o d w l r q r f f x u 3 u , q h u w l d u d w l r r u 3 u 7 r u t x h f r p p d q g d g g l w l r q d o y d o x h 3 u 3 r v l w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h 3 u 1 h j d w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h p l j k w k d y h f k d q j h g w r h [ - w u h p h y d o x h v 7 d n h w k h v d p h p h d v x u h v d v w k h d e r y h l q w k h v h f d v h v $ p r q j w k h u h v x o w v r i u h d o w l p h d x w r j d l q w x q l q j 3 u , q h u w l d u d w l r d q g 3 u 7 r u t x h f r p p d q g d g g l w l r q d o y d o x h 3 u 3 r v l w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h 3 u 1 h j d w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h z l o o e h z u l w w h q w r ( ( - 3 5 2 0 h y h u \ p l q x w h v : k h q \ r x w x u q r q w k h s r z h u d j d l q w k h d x w r j d l q w x q l q j z l o o e h h [ h f x w h g x v l q j w k h o d w h v w g d w d d v l q l w l d o y d o x h v % h f d x v h w k h f r q w u r o j d l q l v x s g d w h g z k l o h w k h p r w r u v w r s v f k d q j h g v h w w l q j y d o x h r i 3 u 5 h d o w l p h d x w r w x q l q j v w l i i q h v v v h w x s p d \ q r w e h u h h f w h g l i w k h p r w r u f d q q r w v w r s g x h w r h [ f h v v l y h o \ o r z j d l q r u d s s o l f d w l r q r i d f r p p d q g w k d w g l u h f w v w k h p r w r u w r w x u q l q w k h v d p h g l u h f w l r q f r q w l q x r x v o \ , i w k h f k d q j h g v w l i i q h v v v h w w l q j y d o x h l v u h h f w h g d i w h u p r w r u v w r s v l w p d \ j h q h u d w h d e q r u p d o v r x q g r u r v f l o o d w h $ i w h u f k d q j l q j v w l i i q h v v v w r s w k h p r w r u d q g f k h f n w r v h h w k d w w k h q h z v w l i i q h v v v h w w l q j l v p d g h h i i h f w l y h invalidation of real-time auto-gain tuning caution < r x f d q v w r s w k h d x w r p d w l f f d o f x o d w l r q r i 3 u , q h u w l d o u d w l r d q g l q y d o l g d w h w k h u h d o w l p h d x w r j d l q w x q l q j e \ v h w w l q j x s 3 u 5 h d o w l p h d x w r j d l q w x q l q j v h w x s w r 1 r w h w k d w w k h f d o f x o d w l r q u h v x o w r i 3 u , q h u w l d u d w l r z l o o e h k h o g d q g l i w k l v s d u d p h w h u e h f r p h v d e q r u p d o y d o x h x v h w k h q r u p d o p r g h d x w r j d l q w x q l q j r u v h w x s s u r s h u y d o x h p d q x d o o \ r e w d l q h g i u r p i r u p x o d r u f d o f x o d w l r q , i s r z h u l v w x u q h g r i i z l w k l q p l q x w h v d i w h u w k h h q g r i w x q l q j s u r f h v v w k h u h v x o w r i w k h u h d o w l p h d x w r w x q l q j l v q r w v d y h g , i w k h u h v x o w l v q r w v d y h g p d q x d o o \ z u l w h s d u d p h w h u v w r ( ( 3 5 2 0 d q g w k h q w x u q r i i s r z h u 2. real-time auto-gain tuning basic phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-9 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note basic gain parameter setup table stiffness 1st gain 2nd gain a4 series stiffness setup (reference) * 1 pr1.00 pr1.01 pr1.02 pr1.04 * 2 pr1.05 pr1.06 pr1.07 pr1.09 * 2 gain of position loop [0.1/s] gain of velocity loop [0.1hz] time constant of velocity loop integration [0.1ms] time constant of torque filter [0.01ms] gain of position loop [0.1/s] gain of velocity loop [0.1hz] time constant of velocity loop integration [0.1ms] time constant of torque filter [0.01ms] 0 20 15 3700 1500 25 15 10000 1500 ? 1 25 20 2800 1100 30 20 10000 1100 ? 2 30 25 2200 900 40 25 10000 900 ? 3 40 30 1900 800 45 30 10000 800 ? 4 45 35 1600 600 55 35 10000 600 ? 5 55 45 1200 500 70 45 10000 500 ? 6 75 60 900 400 95 60 10000 400 ? 7 95 75 700 300 120 75 10000 300 ? 8 115 90 600 300 140 90 10000 300 0 9 140 110 500 200 175 110 10000 200 ? 10 175 140 400 200 220 140 10000 200 ? 11 * 3 320 180 310 126 380 180 10000 126 1 12 390 220 250 103 460 220 10000 103 2 13 * 3 480 270 210 84 570 270 10000 84 3 14 630 350 160 65 730 350 10000 65 4 15 720 400 140 57 840 400 10000 57 5 16 900 500 120 45 1050 500 10000 45 6 17 1080 600 110 38 1260 600 10000 38 7 18 1350 750 90 30 1570 750 10000 30 8 19 1620 900 80 25 1880 900 10000 25 9 20 2060 1150 70 20 2410 1150 10000 20 10 21 2510 1400 60 16 2930 1400 10000 16 11 22 3050 1700 50 13 3560 1700 10000 13 12 23 3770 2100 40 11 4400 2100 10000 11 13 24 4490 2500 40 9 5240 2500 10000 9 14 25 5000 2800 35 8 5900 2800 10000 8 ? 26 5600 3100 30 7 6500 3100 10000 7 15 27 6100 3400 30 7 7100 3400 10000 7 ? 28 6600 3700 25 6 7700 3700 10000 6 ? 29 7200 4000 25 6 8400 4000 10000 6 ? 30 8100 4500 20 5 9400 4500 10000 5 ? 31 9000 5000 20 5 10500 5000 10000 5 ? * 6 w l i i q h v v v h w w l q j r i $ v h u l h v u h i h u v w r w k h v h w x s y d o x h r i $ v h u l h v s d u d p h w h u 3 u 5 h d o w l p h d x w r w x q l q j p d f k l q h v w l i i q h v v v h o h f w l r q * : k h q e l w d e v r o x w h h q f r g h u o l p l w h g e \ w k h p l q l p x p y d o x h * ' h i d x o w v w l i i q h v v v h w w l q j i r u i u d p h v $ % d q g & i r u i u d p h v ' ( ) * d q g + 2. real-time auto-gain tuning basic phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-10 5 $ g d s w l y h o w h u adjustment adaptive filter outline ( v w l p d w h v w k h u h v r q d q f h i u h t x h q f \ r x w r i y l e u d w l r q f r p s r q h q w s u h v h q w h g l q w k h p r w r u v s h h g l q p r w l r q w k h q u h p r y h v w k h u h v r q d q f h f r p s r q h q w i u r p w k h w r u t x h f r p p d q g e \ v h w w l q j x s w k h q r w f k o w h u f r h i f l h q w d x w r p d w l f d o o \ k h q f h u h g x f h v w k h u h v r q d q f h y l e u d - tion. applicable range 7 k l v i x q f w l r q z r u n v x q g h u w k h i r o o r z l q j f r q g l w l r q conditions under which the adaptive filter is activated control mode ? $ s s o l h v w r r w k h u f r q w u r o p r g h v w k d q w r u t x h f r q w u r o others ? 6 k r x o g e h v h u y r r q v w d w x v ? ( o h p h q w v r w k h u w k d q f r q w u r o s d u d p h w h u v v x f k d v g h y l d w l r q f r x q w h u f o h d u f r p p d q g l q k l e l w d q g w r u t x h o l p l w d u h d s s u r s u l d w h o \ v h w h q d e o l q j w k h p r w r u w r u x q q r u p d o o \ caution , q w k h i r o o r z l q j f r q g l w l r q q r u p d o r s h u d w l r q p d \ q r w e h h [ s h f w h g p d q x d o o \ v h w w k h q r w f k o w h u w r s u h y h q w u h v r q d q f h conditions which obstruct adaptive filter action resonance point ? 5 h v r q d q f h i u h t x h q f \ l v o r z h u w k d q w l p h v ? 5 h v r q d q f h s h d n l v o r z r u f r q w u r o j d l q l v o r z z k h u h w k h p r w r u v s h h g l v q r w d i i h f w h g e \ w k l v ? 0 x o w l s o h u h v r q d q f h r i r u p r u h s r l q w v h [ l v w load ? 0 r w r u v s h h g y d u l d w l r q z l w k k l j k k d u p r q l f f r p s r q h q w l v j h q h u d w h g g x h w r q r q o l q h d u i d f w r u v v x f k d v e d f n o d v k command pattern ? $ f f h o h u d w l r q g h f h o h u d w l r q l v u d s l g v x f k d v > u p l q @ s h u > v @ action command under actual condition position/velocity command position/ velocity control servo driver real time auto-gain tuning resonance frequency estimation load inertia estimation adaptive filter current control gain auto-setup filter auto-adjustment torque command motor current motor speed motor encoder phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-11 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement how to operate ( q w h u w k h d f w l r q f r p p d q g z l w k 3 u $ g d s w l y h o w h u p r g h v h w w r d y d o x h r w k h u w k d q , i w k h u h v r q d q f h s r l q w d i i h f w v w k h p r w r u v s h h g s d u d p h w h u v r i u g q r w f k o w h u d q g r u w k q r w f k o w h u v d u h d x w r p d w l f d o o \ v h w d f f r u g l q j w r w k h q x p e h u r i d g d s w l y h o w h u v 6 h w w k h r s h u d w l r q r i w k h d g d s w l y h o w h u w r w k h i r o o r z l q j s d u d p h w h u class no. title setup value function 200 $ g d s w l y h o w h u mode setup 0 > $ g d s w l y h o w h u l q y d o l g @ 7 k h d g d s w l y h o w h u l v g l v d e o h g 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u k r o g w k h f x u u h q w y d o x h 1 > $ g d s w l y h o w h u o w h u l v y d o l g @ 2 q h d g d s w l y h o w h u l v h q d e o h g 3 d u d p h w h u v u h o d w h g w r w k h u g q r w f k o w h u z l o o e h x s g d w h g e d v h g r q d g d s w l y h s h u i r u p d q f h 2 > $ g d s w l y h o w h u o w h u v d u h y d o l g @ 7 z r d g d s w l y h o w h u v d u h h q d e o h g 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u v z l o o e h x s g d w h g e d v h g r q d g d s w l y h s h u i r u p d q f h 3 > 5 h v r q d q f h i u h t x h q f \ p h d v x u h p h q w p r g h @ 0 h d v x u h w k h u h v r q d q f h i u h t x h q f \ 5 h v x o w r i p h d v x u h p h q w f d q e h f k h f n h g z l w k 3 $ 1 $ 7 ( 5 0 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u k r o g w k h f x u u h q w y d o x h 4 > & o h d u u h v x o w r i d g d s w d w l r q @ 3 d u d p h w h u v u h o d w h g w r w k h u g d q g w k q r w f k o w h u d u h g l v d e o h g d q g u h v x o w v r i d g d s w l y h r s h u d w l r q d u h f o h d u h g $ w w k h v d p h w l p h w k h i r o o r z l q j s d u d p h w h u v d u h d x w r p d w l f d o o \ v h w class no. title function 207 u g q r w f k i u h t x h q f \ , q q r u h v r q d q f h s r l q w l v i r x q g w k h i u h t x h q f \ l v v h w to 5000. 208 u g q r w f k z l g w k v h o h f w l r q $ x w r p d w l f d o o \ v h w z k h q w k h d g d s w l y h i l o w h u l v d f w l y h 209 u g q r w f k g h s w k v h o h f w l r q 210 w k q r w f k i u h t x h q f \ 1 r w f k i u h t x h q f \ l v d x w r p d w l f d o o \ v h w w r w k h q g u h v r q d q f h i u h t x h q f \ h v w l p d w h g e \ w k h d g d s w l y h o w h u , q q r u h v r q d q f h s r l q w l v i r x q g w k h i u h t x h q f \ l v v h w to 5000. 2 11 4th notch width selection $ x w r p d w l f d o o \ v h w z k h q d g d s w l y h i l o w h u v d u h d f w l y h 2 12 4th notch depth selection $ g d s w l y h o w h u adaptive filter related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-12 $ g d s w l y h o w h u adaptive filter caution , p p h g l d w h o \ d i w h u w k h u v w v h u y r r q d w v w d u w x s r u d i w h u l q f u h d v l q j v w l i i q h v v v h w w l q j z l w k w k h u h d o w l p h d x w r w x q l q j h q d e o h g d e q r u p d o v r x q g r u r v f l o o d w l r q p d \ e h j h q h u d w h g x q w l o w k h d g d s w l y h o w h u v w d e l o l ] h v , i v x f k d e q r u p d o l w \ o d v w v r u u h s h d w v i r u r u p r u h u h - f l s u r f d w l q j r s h u d w l r q v w d n h w k h i r o o r z l q j f r x q w h u p h d v x u h v : u l w h w k h s d u d p h w h u v z k l f k k d y h j l y h q w k h q r u p d o r s h u d w l r q l q w r ( ( 3 5 2 0 / r z h u w k h v h w x s r i 3 u 6 h o h f w l r q r i p d f k l q h v w l i i q h v v d w u h d o w l p h d x w r j d l q w x q l q j , q y d o l g d w h w k h d g d s w l y h o w h u e \ v h w w l q j x s 3 u 6 h w x s r i d g d s w l y h o w h u p r g h w r 5 h v h w r i l q h u w l d f d o f x o d w l r q d q g d g d s w l y h d f w l r q 6 h w x s w k h q r w f k o w h u p d q x d o o \ $ e q r u p d o v r x q g r u r v f l o o d w l r q p d \ h [ f h v v l y h o \ f k d q j h w k h v h w x s y d o x h r i u g d q g w k q r w f k o w h u v , i v x f k f k d q j h r f f x u v g l v d e o h w k h d g d s w l y h o w h u d v g h v f u l e h g l q v w h s d e r y h f k d q j h v h w x s y d o x h r i 3 u u g q r w f k i u h t x h q f \ d q g 3 u w k q r w f k i u h - t x h q f \ w r g l v d e o h d q g w k h q h q d e o h w k h d g d s w l y h o w h u d j d l q 7 k h u g o w h u v 3 u 3 u d q g w k q r w f k o w h u v 3 u 3 u d u h z u l w w h q w r ( ( - 3 5 2 0 h y h u \ p l q x w h v 8 s r q s r z h u x s w k h v h g d w d d u h x v h g d v g h i d x o w y d o x h v g x u - l q j d g d s w l y h s u r f h v v related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-13 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement $ v h [ s o d l q h g s u h y l r x v o \ 0 , 1 $ 6 $ v h u l h v i h d w x u h v w k h d x w r p d w l f j d l q w x q l q j i x q f w l r q k r z h y h u w k h u h p l j k w e h v r p h f d v h v z k h u h w k l v d x w r p d w l f j d l q w x q l q j f d q q r w e h d g m x v w - h g s u r s h u o \ g h s h q g l q j r q w k h o l p l w d w l r q r q o r d g f r q g l w l r q v 2 u \ r x p l j k w q h h g w r u h d g m x v w w k h w x q l q j w r r e w d l q w k h r s w l p x p u h v s r q v h r u v w d e l o l w \ f r u u h v s r q g l q j w r h d f k o r d g + h u h z h h [ s o d l q w k l v p d q x d o j d l q w x q l q j p h w k r g e \ h d f k f r q w u r o p r g h d q g i x q f w l r q before making a manual adjustment % \ p r q l w r u l q j z d y h i r u p v x v l q j w k h z d y h i r u p j u d s k l f i x q f w l r q r i w k h v h w x s v x s s r u w v r i w - z d u h 3 $ 1 $ 7 ( 5 0 l q v w d o o h g r q w k h 3 & r u e \ p h d v x u l q j w k h d q d o r j y r o w d j h z d y h i r u p z l w k w k h k h o s r i w k h p r q l w r u i x q f w l r q d f f x u d w h d g m x v w p h q w f d q e h s r v l w l y h o \ t x l f n o \ d q g h d v l o \ g r q h z k h q f r p s d u h g z l w k w k d w s h u i r u p h g r q w k h i u r q w s d q h o 1. analog monitor output < r x f d q p h d v x u h w k h d f w x d o p r w r u v s h h g f r p p d q g h g v s h h g w r u t x h d q g g h y l d w l r q s x o v h v e \ d q d o r j y r o w d j h o h y h o e \ x v l q j d q r v f l o o r v f r s h 6 h w x s w k h w \ s h v r i w k h v l j q d o v r u w k h r x w s x w y r o w d j h o h y h o z l w k 3 u 6 h o h f w l r q r i v s h h g p r q l w r u d q g 3 u 6 h o h f - w l r q r i w r u t x h p r q l w r u 2. waveform graphic function of the panaterm < r x f d q g l v s o d \ w k h f r p p d q g w r w k h p r w r u p r w r u p r y h p h q w v s h h g w r u t x h f r p p d q g d q g g h y l d w l r q s x o v h v d v d z d y h i r u p j u d s k l f r q 3 & g l v s o d \ 5 h i h u w r 3 2 x w o l q h r i w k h 6 h w x s 6 x s s r u w 6 r i w z d u h 3 $ 1 $ 7 ( 5 0 r i 6 x s s o h p h q w 5 4. manual gain tuning (basic) adjustment outline front panel connector kit for analog monitor signal dv0pm20031 61 x7 usb mini-b connection cable * caution connect to x1 caution related page 3 o h d v h g r z q o r d g w k h 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 i u r p r x u z h e v l w h d q g x v h d i w h u install to the pc. ? 3 ' h w d l o v r i s d u d p h w h u ? 3 2 x w o l q h r i 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-14 3 r v l w l r q f r q w u r o r i 0 , 1 $ 6 $ v h u l h v l v g h v f u l e h g l q % o r f n g l d j u d p r i 3 0 d n h d g m x v w p h q w l q s r v l w l r q f r q w u r o s h u w k h i r o o r z l q j s u r f h g x u h v 6 h w x s w k h i r o o r z l q j s d u d p h w h u v w r w k h y d o x h v r i w k h w d e o h e h o r z parameter no. (pr ) parameter no. (pr ) 1.00 1.01 1.02 1.03 1.04 1.10 1.11 1.05 1.06 1.07 1.08 1.09 2.01 2.02 standard value title of parameter 1st gain of position loop 1st gain of velocity loop 1st time constant of velocity loop integration 1st filter of velocity detection 1st time constant of torque filter time velocity feed forward time constant of feed forward filter 2nd gain of position loop 2nd gain of velocity loop 2nd time constant of velocity loop integration 2nd filter of speed detection 2nd time constant of torque filter 1st notch frequency 1st notch width selection 0.04 0.02 2.00 2.14 2.15 2.16 2.17 1.14 1.15 1.16 1.17 1.18 1.19 2.22 2.23 standard value 100 0 0 0 0 0 0 0 0 0 0 0 0 1 0 title of parameter inertia ratio setup of real time auto-gain tuning mode adaptive filter setup mode 1st damping frequency setup of 1st damping filter 2nd damping frequency setup of 2nd damping filter 2nd gain setup mode of position control switching delay time of position control switching delay level of position control switching hysteresis at position control switching position gain switching time positional command smoothing filter positional command fir filter 270 150 370 0 152 0 0 270 150 370 0 152 5000 2 ( q w h u w k h l q h u w l d u d w l r r i 3 u 0 h d v x u h w k h u d w l r r u v h w x s w k h f d o f x o d w h g y d o x h 0 d n h d g m x v w p h q w x v l q j w k h v w d q g d u g y d o x h v e h o r z order 1 2 3 4 5 standard value 300 50 500 250 300 title parameter no. (pr ) pr1.01 pr1.04 pr1.00 pr1.02 pr1.10 1st gain of velocity loop 1st time constant of torque filter 1st gain of position loop 1st time constant of velocity loop integration velocity feed forward gain how to adjust increase the value within the range where no abnormal noise and no vibration occur. if they occur, lower the value. when vibration occurs by changing pr1.01, change this value. setup so as to make pr1.01 x pr1.04 becomes smaller than 10000. if you want to suppress vibration at stopping, setup larger value to pr1.04 and smaller value to pr1.01. if you experience too large vibration right before stopping, lower than value of pr1.04. adjust this observing the positioning time. larger the setup, faster the positioning time you can obtain, but too large setup may cause oscillation. setup this value within the range where no problem occurs. if you setup smaller value, you can obtain a shorter positioning time, but too small value may cause oscillation. if you setup too large value, deviation pulses do not converge and will be remained. increase the value within the range where no abnormal noise occurs. too large setup may result in overshoot or chattering of position complete signal, hence does not shorten the settling time. if the command pulse is not even,you can improve by setting up pr1.11 (feed forward filter) to larger value. 5 4. manual gain tuning (basic) adjustment adjustment in position control mode related page ? 3 ' h w d l o v r i s d u d p h w h u ? 3 & r q w u r o % o r f n ' l d j u d p phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-15 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5 4. manual gain tuning (basic) adjustment adjustment in velocity control mode 9 h o r f l w \ f r q w u r o r i 0 , 1 $ 6 $ v h u l h v l v g h v f u l e h g l q % o r f n ' l d j u d p r i 3 r i 9 h o r f l w \ & r q w u r o 0 r g h $ g m x v w p h q w l q y h o r f l w \ f r q w u r o l v d o p r v w v d p h d v w k d w l q s r v l w l r q f r q w u r o g h v f u l e h g l q $ g - m x v w p h q w l q 3 r v l w l r q & r q w u r o 0 r g h d q g p d n h d g m x v w p h q w v r i s d u d p h w h u v s h u w k h s u r f h - g x u h v h [ f h s w w k h j d l q v h w x s r i s r v l w l r q o r r s j d l q 3 u 3 u d q g w k h v h w x s r i y h o r f - l w \ i h h g i r u z d u g j d l q 3 u 7 r u t x h f r q w u r o r i 0 , 1 $ 6 $ v h u l h v l v g h v f u l e h g l q 3 % o r f n ' l d j u d p r i 7 r u t x h & r q w u r o 0 r g h 7 k l v w r u t x h f r q w u r o l v e d v h g r q y h o r f l w \ f r q w u r o z k l o h p d n l q j 3 u > 6 s h h g o l p l w y d o x h @ 3 u > 6 s h h g o l p l w y d o x h @ r u 6 3 / l q s x w d v d v s h h g o l p l w + h u h z h h [ s o d l q w k h v h w x s r i speed limiting value. ? 6 h w x s r i v s h h g o l p l w l q j y d o x h the torque command selection (pr3.17) specifies the setup method. pr3.17 = 0 set up by using speed limit value 1 (pr3.21) pr3.17 = 1 set up by using analog input (spl) pr3.17 = 2 for positive direction, set up by using the speed limit value 1 (pr3.21) for negative direction, set up by using the speed limit value 2 (pr3.22) ? : k h q w k h p r w r u v s h h g d s s u r d f k h v w r w k h v s h h g o l p l w l q j y d o x h w r u t x h f r q w u r o i r o o r z - l q j w k h d q d o r j w r u t x h f r p p d q g v k l i w v w r y h o r f l w \ f r q w u r o e d v h g r q w k h v s h h g o l p l w l q j value. ? , q r u g h u w r v w d e l o l ] h w k h p r y h p h q w x q g h u w k h v s h h g o l p l w l q j \ r x d u h u h t x l u h g w r v h w x s w k h s d u d p h w h u v d f f r u g l q j w r w k h d e r y h p h q w l r q h g $ g m x v w p h q w l q 9 h o r f l w \ & r q w u r o 0 r g h ? : k h q w k h v s h h g o l p l w l q j y d o x h l v w r r o r z r u w k h y h o r f l w \ o r r s j d l q l v w r r o r z r u z k h q w k h w l p h f r q v w d q w r i w k h y h o r f l w \ o r r s l q w h j u d w l r q l v l q y d o l g w k h l q s x w w r w k h w r u t x h o l p l w l q j s r u w l r q r i w k h d e r y h j e h f r p h v v p d o o d q g w k h r x w s x w w r u t x h p d \ q r w e h j h q h u d w h g d v w k h d q d o r j w r u t x h f r p p d q g 5 4. manual gain tuning (basic) adjustment adjustment in torque control mode note related page 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-16 ) x o o f o r v h g f r q w u r o r i 0 , 1 $ 6 $ v h u l h v l v g h v f u l e h g l q % o r f n g l d j u d p r i 3 r i ) x o o & o r v h g & r q w u r o $ g m x v w p h q w l q i x o o f o r v h g f r q w u r o l v d o p r v w v d p h d v w k d w l q s r v l w l r q f r q w u r o g h v f u l e h g l q 3 $ g m x v w p h q w l q 3 r v l w l r q & r q w u r o 0 r g h d q g p d n h d g m x v w p h q w v r i s d u d p h w h u v s h u w k h s u r f h g x u h v h [ f h s w f d x w l r q v r i 3 2 x w o l q h r i ) x o o & o r v h g & r q w u r o g l i i h u h q f h r i f r p p d q g x q l w d q g g l i i h u h q f h r i h o h f w u r q l f j h d u + h u h z h h [ s o d l q w k h v h w x s r i i h h g e d f n v f d o h u d w l r d q g k \ e u l g g h y l d w l r q h [ f h v v r i i x o o f o r v h g f r q w u r o 1) setup of external scale ratio setup the external scale ratio using the numerator of external scale division (pr3.24) and denominator of external scale division (pr3.25). ? & k h f n w k h h q f r g h u i h h g e d f n s x o v h f r x q w v s h u r q h p r w r u u h y r o x w l r q d q g w k h h [ w h u q d o v f d o h s x o v h f r x q w v s h u r q h p r w r u u h y r o x w l r q w k h q v h w x s w k h q x p h u d w r u r i h [ w h u q d o v f d o h g l y l v l r q 3 u d q g g h q r p l q d w r u r i h [ w h u q d o v f d o h g l y l v l r q 3 u v r w k d w w k h i r o o r z l q j i r u p x o d f d q e h h v w d e o l v k h g ? , i w k l v u d w l r l v l q f r u u h f w d j d s e h w z h h q w k h s r v l w l r q f d o f x o d w h g i u r p w k h h q f r g h u i h h g - e d f n s x o v h f r x q w v d q g w k d w r i f d o f x o d w h g i u r p w k h h [ w h u q d o v f d o h s x o v h f r x q w v z l o o e h h q o d u j h g d q g k \ e u l g g h y l d w l r q h [ f h v v ( u u z l o o e h w u l j j h u h g z k h q w k h z r u n r u o r d g w u d y h o v d o r q j g l v w d q f h ? : k h q \ r x v h w x s 3 u w r w k h h q f r g h u i h h g e d f n s x o v h f r x q w v z l o o e h d x w r p d w l - cally set up. 2) setup of hybrid deviation excess set up the minimum value of hybrid deviation excess (pr3.28) within the range where the gap between the motor (encoder) position and the load (feedback scale) position will be considered to be an excess. ? 1 r w h w k d w w k h k \ e u l g g h y l d w l r q h [ f h v v ( u u p d \ e h j h q h u d w h g x q g h u r w k h u f r q g l - w l r q v w k d q w k h d e r y h v x f k d v u h y h u v h g f r q q h f w l r q r i w k h h [ w h u q d o v f d o h r u o r r v h f r q q h f w l r q r i w k h p r w r u d q g w k h o r d g caution ( q w h u w k h f r p p d q g s x o v h v e d v h g r q w k h i h h g e d f n v f d o h u h i h u h q f h 7 k h i h h g e d f n v f d o h v w r x v h g i r u i x o o f o r v h g f r q w u r o d u h d v i r o o r z v : k h q $ d q g % s k d v h s d u d o o h o r u v h u l d o v f d o h ? $ % 6 6 7 $ 6 7 $ / $ 7 $ v h u l h v e \ 0 l w v x w r \ r & r u s ? 6 5 6 5 6 / 6 / e \ 0 d j q h v f d o h & r / w g 7 r s u h y h q w w k h u x q d z d \ d q g g d p d j h r i w k h p d f k l q h g x h w r w k h v h w x s r i w k h i h h g e d f n v f d o h v h w x s w k h k \ e u l g g h y l d w l r q h [ f h v v 3 u w r w k h d s s u r s u l d w h y d o x h l q w k h x q l w r i i h h g e d f n v f d o h u h v r o x w l r q we recommend the external scale as 1/40 ? external scale ratio ? 160. ( y h q z l w k l q w k l v u d q j h l i \ r x v h w x s w k h h [ w h u q d o v f d o h u d w l r w r v p d o o h u y d o x h w k d q s r- v l w l r q o r r s j d l q 3 u d q g \ r x p d \ q r w e h d e o h w r f r q w u r o e \ r q h s x o v h x q l w , i \ r x v h w x s w r r o d u j h h [ w h u q d o v f d o h u d w l r \ r x p d \ h [ s h f w o d u j h u q r l v h l q p r y h p h q w 5 4. manual gain tuning (basic) adjustment adjustment in full-closed control mode pr3.24 = pr3.25 number of encoder feedback pulses per motor rotation number of external scale pulses per motor rotation note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; ) r u h [ w h u q d o v f d o h f r q q h f w r u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 u r w h f w l y h ) x q f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-17 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5 4. manual gain tuning (basic) adjustment gain switching function % \ v h o h f w l q j d s s u r s u l d w h j d l q e d v h g r q l q w h u q d o g d w d r u h [ w h u q d o v l j q d o w k h i r o o r z l q j h i - i h f w v f d q e h r e w d l q h g ? ' h f u h d v h w k h j d l q d w w k h w l p h r i v w r s s d j h v h u y r o r f n w r u h g x f h y l e u d w l r q ? , q f u h d v h w k h j d l q d w w k h w l p h r i v w r s s d j h v h w w l q j w r v k r u w h q w k h v h w w o l q j w l p h ? , q f u h d v h w k h j d l q g x u l q j r s h u d w l r q w r l p s u r y h f r p p d q g f r p s o l d q f h ? % d v h g r q f r q g l w l r q r i w k h h t x l s p h q w f k d q j h w k h j d l q z l w k h [ w h u q d o v l j q d o 5-18 setup of gain switching condition ? 3 r v l w l q j f r q w u r o p r g h ) x o o f o r v h g f r q w u r o p r g h : corresponding parameter is valid, ? : invalid) setup of gain switching condition setup parameters at position control, full-closed control delay time * 1 level hysteresis * 2 pr1.15 switching condition to 2nd gain fig. pr1.16 pr1.17 pr1.18 0 ) l [ h g w r v w j d l q ??? 1 ) l [ h g w r q g j d l q ??? 2 gain switching input ? ? ? 3 7 r u t x h f r p p d q g a > @ > @ 4 invalid ) l [ h g w r v w j d l q ??? 5 speed command c > u p l q @ > u p l q @ 6 position deviation d *3 > s x o v h @ *3 > s x o v h @ 7 3 r v l w l r q f r p p d q g h [ l v w v e ?? 8 1 r w l q s r v l w l r q l q j f r p s o h w h f ?? 9 speed c > u p l q @ > u p l q @ 10 & r p p d q g h [ l v w v y h o r f l w \ g > u p l q @ * 5 > u p l q @ * 5 ? 9 h o r f l w \ f r q w u r o p r g h setup of gain switching condition setup parameters at velocity control mode delay time * 1 level hysteresis * 2 pr1.20 switching condition to 2nd gain fig. pr1.16, 1.21 pr1.17, 1.22 pr1.18, 1.23 0 ) l [ h g w r v w j d l q ??? 1 ) l [ h g w r q g j d l q ??? 2 gain switching input ? ? ? 3 7 r u t x h f r p p d q g a > @ > @ 4 9 d u l d w l r q r i v s h h g f r p p d q g l v o d u j h b? * 4 > u p l q v @ * 4 > u p l q v @ 5 speed command c > u p l q @ > u p l q @ ? 7 r u t x h f r q w u r o p r g h setup of gain switching condition setup parameters at torque control mode delay time * 1 level hysteresis * 2 pr1.24 switching condition to 2nd gain fig. pr1.16, 1.25 pr1.17, 1.26 pr1.18, 1.27 0 ) l [ h g w r v w j d l q ??? 1 ) l [ h g w r q g j d l q ??? 2 * d l q v z l w f k l q j l q s x w * $ , 1 2 1 ??? 3 9 d u l d w l r q r i w r u t x h f r p p d q g l v o d u j h a > @ > @ 4. manual gain tuning (basic) gain switching function hysteresis (pr1.18, 1.23, 1.27) level pr1.17 pr1.22 ( pr1.26 ) 0 h l * ' h o d \ w l p h 3 u d q g z l o o e h y d o l g r q o \ z k h q u h w x u q l q j i u r p q g w r v w gain. * + \ v w h u h v l v 3 u d q g l v g h q h g d v w k h j e h o r z v k r z v * ' h v l j q d w h z l w k h l w k h u w k h h q f r g h u u h v r o x w l r q r u w k h h [ w h u q d o v f d o h u h v r o x w l r q g h s h q g - l q j r q w k h f r q w u r o p r g h * : k h q \ r x p d n h l w d f r q g l w l r q w k d w w k h u h l v v s h h g y d u l d w l r q r i u p l q l q v v h w up the value to 1. * : k h q 3 u w k h p h d q l q j v r i g h - o d \ w l p h o h y h o d q g k \ v w h u h v l v d u h g l i i h u - h q w i u r p w k h q r u p d o u h i h u w r ) l j * phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-19 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement fig.a fig. b fig. c fig. d fig. e fig. g fig. f motor speed or commanded speed s level delay 2nd gain 1st 1st speed n delay 2nd gain 1st coin 1st c s command speed s level delay 1st gain 2nd 1st 2nd 1st speed n deviation pulse level delay 2nd gain 1st 1st at stall no command pulse pr1.16,delay time | actual speed | < pr1.17 level | actual speed | < (pr1.17 level - pr1.18 hysteresis) | actual speed | < (pr1.17 level - pr1.178 hysteresis) 1st gain in action 2nd gain at settling 2nd gain proximity of stall 2nd gain for velocity integrating only and 1st gain for others delay 2nd gain 1st 1st command speed s command pulse exists. speed n level 1st gain 2nd 1st 2nd 1st switching level switching level caution $ e r y h ) l j g r h v q r w u h h f w d w l p l q j o d j r i j d l q v z l w f k l q j g x h w r k \ v w h u h v l v 3 u d q g 4. manual gain tuning (basic) gain switching function phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-20 , q f d v h r i d o r z p d f k l q h v w l i i q h v v \ r x f d q q r w v h w x s d k l j k h u j d l q e h f d x v h y l e u d w l r q d q g q r l v h r f f x u g x h w r r v f l o o d w l r q f d x v h g e \ d [ l v g l v w r u w l r q r u r w k h u f d x v h v % \ v x s s u h v v l q j w k h u h v r q d q f h s h d n d w w k h q r w f k o w h u k l j k h u j d l q f d q e h r e w d l q h g r u w k h o h y h o r i y l e u d - w l r q f d q e h o r z h u h g 7 r u t x h f r p p d q g o w h u 3 u d q g 3 u 6 h w v x s w k h o w h u w l p h f r q v w d q w v r d v w r g d p s w k h i u h t x h q f \ d w y l f l q l w \ r i u h v r q d q f h i u h t x h q f \ < r x f d q r e w d l q w k h f x w r i i i u h t x h q f \ r i w k h w r u t x h f r p p d q g o w h u l q w k h i r o o r z l q j i r u p x o d & x w r i i i u h t x h q f \ + ] i f ? [ s d u d p h w h u v h w x s y d o x h [ 1 r w f k o w h u 3 u w r 3 u ? $ g d s w l y h o w h u 0 , 1 $ 6 $ v h u l h v i h d w x u h w k h d g d s w l y h o w h u : l w k w k l v o w h u \ r x f d q f r q w u r o y l e u d - w l r q r i w k h o r d g z k l f k u h v r q d q f h s r l q w v y d u \ e \ p d f k l q h e \ p d f k l q h d q g q r u p d o q r w f k o w h u r u w r u t x h o w h u f d q q r w u h v s r q g ( q w h u w k h d f w l r q f r p p d q g z l w k 3 u $ g d s w l y h o w h u p r g h v h w w r d y d o x h r w k h u w k d q , i w k h u h v r q d q f h s r l q w d i i h f w v w k h p r w r u v s h h g s d u d p h w h u v r i u g q r w f k o w h u d q g r u w k q r w f k o w h u v d u h d x w r p d w l f d o o \ v h w d f f r u g l q j w r w k h q x p e h u r i d g d s w l y h o w h u v pr2.00 $ g d s w l y h o w h u p r g h $ g d s w l y h o w h u l v y d o l g d g d s w l y h i l o w h u v d u h y d o l g pr2.07 u g q r w f k i u h t x h q f \ , q q r u h v r q d q f h s r l q w l v i r x q g w k h i u h t x h q f \ l v v h w w r 5000. pr2.08 u g q r w f k z l g w k v h o h f w l r q $ x w r p d w l f d o o \ v h w z k h q w k h d g d s w l y h i l o w h u l v d f w l y h pr2.09 u g q r w f k g h s w k v h o h f w l r q pr2.10 w k q r w f k i u h t x h q f \ 1 r w f k i u h t x h q f \ l v d x w r p d w l f d o o \ v h w w r w k h q g u h v r q d q f h i u h t x h q f \ h v w l p d w h g e \ w k h d g d s w l y h o w h u , q q r u h v r q d q f h s r l q w l v i r x q g w k h i u h t x h q f \ l v v h w w r 5000. pr2.11 4th notch width selection $ x w r p d w l f d o o \ v h w z k h q d g d s w l y h i l o w h u v d u h d f w l y h pr2.12 4th notch depth selection ? 1 r w f k o w h u 3 u w r 0 , 1 $ 6 $ v h u l h v i h d w x u h q r u p d o q r w f k i l o w h u v < r x f d q d g m x v w i u h t x h q f \ d q g width and depth. pr2.01 v w q r w f k i u h t x h q f \ 6 h w w k h f h q w h u i u h t x h q f \ r i w k h v w q r w f k o w h u * 1 pr2.02 1st notch width selection 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h v w q r w f k o w h u pr2.03 1st notch depth selection 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h v w q r w f k o w h u pr2.04 q g q r w f k i u h t x h q f \ 6 h w w k h f h q w h u i u h t x h q f \ r i w k h q g q r w f k o w h u * 1 pr2.05 2nd notch width selection 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h q g q r w f k o w h u pr2.06 2nd notch depth selection 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h q g q r w f k o w h u pr2.07 u g q r w f k i u h t x h q f \ 6 h w w k h f h q w h u i u h t x h q f \ r i w k h u g q r w f k o w h u * 1 pr2.08 u g q r w f k z l g w k v h o h f w l r q 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h u g q r w f k o w h u pr2.09 u g q r w f k g h s w k v h o h f w l r q 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h u g q r w f k o w h u pr2.10 w k q r w f k i u h t x h q f \ 6 h w w k h f h q w h u i u h t x h q f \ r i w k h w k q r w f k o w h u * 1 pr2.11 4th notch width selection 6 h w w k h z l g w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h w k q r w f k o w h u pr2.12 4th notch depth selection 6 h w w k h g h s w k r i q r w f k d w w k h f h q w h u i u h t x h q f \ r i w k h w k q r w f k o w h u * 1 7 k h q r w f k o w h u i x q f w l r q z l o o e h l q y d o l g d w h g e \ v h w w l q j x s w k l v s d u d p h w h u w r 5 4. manual gain tuning (basic) adjustment suppression of machine resonance phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-21 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement torque command adaptive filter daptive filter enabled adaptive filter and notch filter enabled depth adjustment enabled frequency automatic following frequency frequency depth width 1st notch filter 2nd to 4th notch filter torque command after filtering width copying of the setup from the adaptive filter to 1st notch filter is enabled. adjustment of frequency, width and depth is enabled. (refer to p.5-22) suppress resonance point instantaneously. gain frequency velocity response machine which resonance point varies by each machine or by aging gain frequency gain frequency machine which has small peak nearby velocity response machine which has multiple resonance points example of application machine 4. manual gain tuning (basic) suppression of machine resonance notch notch filter characteristics machine characteristics at resonance gain gain frequency frequency resonance anti-resonance related page ? 3 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-22 4. manual gain tuning (basic) suppression of machine resonance notch width and depth 7 k h z l g w k r i w k h q r w f k o w h u l v w k h u d w l r r i w k h z l g w k r i 2 g % d w w h q x d w l r q i u h t x h q f \ e d q g z l w k u h v s h f w w r w k h q r w f k i u h t x h q f \ d w l w v f h q w h u z k h q g h s w k l v d q g w k h y d o x h l v d v shown in the table below. 7 k h q r w f k o w h u g h s w k l q g l f d w h v , 2 u d w l r z k h u h w k h l q s x w d w w k h f h q w h u i u h t x h q f \ l v f r p - s o h w h o \ v k x w z l w k v h w x s y d o x h e x w i x o o \ u h f h l y h g z l w k v h w x s y d o x h 7 k h w d e o h e h o r z v k r z v w k l v y d o x h l q g % r q w k h u l j k w notch width band width/center frequency notch depth i/o ratio [db] a4 series (reference) a5 series 0 0.41 0.5 0 0 ? ? 1 0.56 0.59 1 0.01 ? 2 0.71 0.71 2 0.02 ? 3 0.86 0.84 3 0.03 ? 41.011 40.04 ? 5 ? 1.19 5 0.05 ? 6 ? 1.41 6 0.06 ? 7 ? 1.68 7 0.07 ? 8 ? 2 8 0.08 ? 9 ? 2.38 9 0.09 ? 10 ? 2.83 10 0.1 ? 11 ? 3.36 15 0.15 ? 12 ? 4 20 0.2 ? 13 ? 4.76 25 0.25 ? 14 ? 5.66 30 0.3 ? 15 ? 6.73 35 0.35 ? 16 ? 8 40 0.4 ? 17 ? 9.51 45 0.45 ? 18 ? 11.31 50 0.5 ? 19 ? 13.45 60 0.6 ? 20 ? 16 70 0.7 ? 80 0.8 ? 90 0.9 ? 100 1 0 notch filter frequency characteristics ?30 ?25 ?20 ?15 ?10 ?5 0 5 10 gain [db] 10 100 1000 frequency [hz] depth 0, width 4 depth 50, width 4 depth 0, width 8 ? > g % @ phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-23 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note related page how to check the resonance frequency of the machine remarks note 6 w d u w x s w k h 6 h w x s 6 x s s r u w 6 r i w z d u h 3 $ 1 $ 7 ( 5 0 d q g e u l q j w k h i u h t x h q f \ f k d u d f - w h u l v w l f v p h d v x u h p h q w v f u h h q 6 h w x s w k h s d u d p h w h u v d q g p h d v x u h p h q w f r q g l w l r q v ) r o o r z l q j y d o x h v d u h v w d q g d u g ? 6 h w x s 3 u v w j d l q r i y h o r f l w \ o r r s w r r u v r w r o r z h u w k h j d l q d q g p d n h l w h d v \ w r l g h q w l i \ w k h u h v r q d q f h i u h t x h q f \ ? 6 h w x s w k h d p s o l w x g h w r u p l q r u v r q r w w r v d w x u d w h w k h w r u t x h ? 0 d n h w k h r i i v h w w r u p l q r u v r w r l q f u h d v h w k h v s h h g g h w h f w l q j g d w d d q g w r d y r l g w k h p h d v x u h p h q w h u u r u l q w k h y l f l q l w \ r i v s h h g ] h u r ? 3 r o d u l w \ l v p d g h s r v l w l y h g l u h f w l r q z l w k d q g q h j d w l y h g l u h f w l r q z l w k 2 ? 6 h w x s w k h v d p s o l q j u d w h w r v h w x s u d q j h w r e h w r ( [ h f x w h w k h i u h t x h q f \ f k d u d f w h u l v w l f d q d o \ v l v ? 0 d n h v x u h w k d w w k h u h y r o x w l r q g r h v q r w h [ f h h g w k h w u d y h o o l p l w e h i r u h w k h p h d v x u h p h q w 6 w d q g d u g u h y r o x w l r q v d u h 2 i i v h w u p l q e e v d p s o l q j u d w h / d u j h u w k h r i i v h w e h w w h u p h d v x u h p h q w u h v x o w \ r x f d q r e w d l q k r z h y h u u h y r o x w l r q v p d \ e h l q f u h d v h g ? 6 h w x s 3 u 6 h w x s r i d g d s w l y h o w h u p r g h w r z k l o h \ r x p d n h p h d v x u h p h q w ? : k h q \ r x v h w d o d u j h u y d o x h r i r i i v h w w k d q w k h d p s o l w x g h v h w x s d q g p d n h w k h p r w r u u x q w r w k h r q h g l u h f w l r q d w d o o w l p h \ r x f d q r e w d l q d e h w w h u p h d v x u h p h q w u h v x o w ? 6 h w x s d v p d o o h u v d p s o l q j u d w h z k h q \ r x p h d v x u h d k l j k i u h t x h q f \ e d q g d q g d o d u j h u v d p s o l q j u d w h z k h q \ r x p h d v x u h d o r z i u h t x h q f \ e d q g l q r u g h u w r r e w d l q d e h w w h u p h d - v x u h p h q w u h v x o w ? : k h q \ r x v h w d o d u j h u d p s o l w x g h \ r x f d q r e w d l q d e h w w h u p h d v x u h p h q w u h v x o w e x w q r l v h z l o o e h o d u j h u 6 w d u w d p h d v x u h p h q w i u r p > u p l q @ d q g j u d g x d o o \ l q f u h d v h l w relation of gain adjustment and machine stiffness , q r u g h u w r h q k d q f h w k h p d f k l q h v w l i i q h v v , q v w d o o w k h e d v h r i w k h p d f k l q h u p o \ d q g d v v h p e o h w k h p z l w k r x w o r r v h q h v v 8 v h d f r x s o l q j g h v l j q h g h [ f o x v l y h o \ i r u v h u y r d s s o l f d w l r q z l w k k l j k v w l i i q h v v 8 v h d z l g h u w l p l q j e h o w % h o w w h q v l r q w r e h z l w k l q w k h s h u p l v v l e o h o r d g w r w k h p r w r u v k d i w 8 v h d j h d u u h g x f h u z l w k v p d o o e d f n o d v k ? , q k h u h q w y l e u d w l r q u h v r q d q f h i u h t x h q f \ r i w k h p d f k l q h v \ v w h p k d v d o d u j h h i i h f w w r w k h j d l q d g m x v w p h q w r i w k h v h u y r < r x f d q q r w v h w x s d k l j k h u u h v s r q v h r i w k h v h u y r v \ v w h p w r w k h p d f k l q h z l w k d o r z u h v r q d q f h i u h t x h q f \ p d f k l q h v w l i i q h v v l v o r z 4. manual gain tuning (basic) suppression of machine resonance phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-24 5 5. manual gain tuning (application) adjustment damping control outline 7 k l v i x q f w l r q u h g x f h v w k h y l e u d w l r q d w w k h w r s r u r q z k r o h r i w k h h t x l s p h q w e \ u h p r y l q j w k h y l e u d w l r q i u h t x h q f \ f r p s r q h q w v v s h f l h g e \ w k h s r v l w l r q d o f r p p d q g 8 s w r d p r q j i u h t x h q f \ v h w w l q j v f d q e h x v h g d w w k h v d p h w l p h applicable range 7 k l v i x q f w l r q f d q r q o \ e h d s s o l f d e o h z k h q w k h i r o o r z l q j f r q g l w l r q v d u h v d w l v h g conditions under which the damping control is activated control mode ? & r q w u r o p r g h w r e h h l w k h u r u e r w k s r v l w l r q f r q w u r o r u d q g i x o o f o r v h g f r q w u r o 3 u 3 r v l w l r q f r q w u r o 3 u v w f r q w u r o p r g h r i s r v l w l r q d q g y h o r f l w \ f r q w u r o 3 u v w f r q w u r o p r g h r i s r v l w l r q f r q w u r o d q g w r u t x h f r q w u r o 3 u ) x o o f o r v h g f r q w u r o caution 7 k l v i x q f w l r q g r h v q r w z r u n s u r s h u o \ r u q r h i i h f w l v r e w d l q h g x q g h u w k h i r o o r z l q j f r q g l - tions. conditions which obstruct the damping control effect load ? 9 l e u d w l r q l v w u l j j h u h g e \ r w k h u i d f w r u v w k d q f r p p d q g v x f k d v g l v w x u e d q f h ? 5 d w l r r i u h v r q d q f h i u h t x h q f \ d q g d q w l u h v r q d q f h i u h t x h q f \ l v o d u j h ? 9 l e u d w l r q i u h t x h q f \ l v r x w r i w k h u d q j h r i > + ] @ servo driver motor position motor coupling ball screw work travel driver plc setup of front edge vibration frequency motor encoder load position command damping filter position/velocity control torque command current control machine base front edge vibrates. vibration measurement with displacement sensor motor current related page ? 3 3 ' h w d l o v r i s d u d p h w h u ? 3 2 x w o l q h r i 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-25 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement how to use caution (1) setup of damping frequency (1st: pr2.14, 2nd: pr2.16, 3rd: pr2.18, 4th: pr2.20)) 0 h d v x u h w k h y l e u d w l r q i u h t x h q f \ r i w k h i u r q w h g j h r i w k h p d f k l q h : k h q \ r x x v h v x f k l q - v w u x p h q w d v o d v h u g l v s o d f h p h q w p h w h u d q g f d q g l u h f w o \ p h d v x u h w k h o r d g h q g y l e u d w l r q u h d g r x w w k h y l e u d w l r q i u h t x h q f \ i u r p w k h p h d v x u h g z d y h i r u p d q g h q w h u w k h f r u u h f w y d o x h w r w k h g d p s l q j i u h t x h q f \ s d u d p h w h u , i q r v x l w d e o h p h d v x u l q j l q v w u x p h q w l v d y d l o d e o h x v h r x u v h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 w k d w f d q j u d s k l f d o o \ g l v s o d \ w k h s r v l w l r q g h y l d w h g z d y h i r u p d v v k r z q l q w k h j x u h e h o r z ' h w h u p l q h w k h i u h t x h q f \ + ] r i w k h u h v l g x d o y l e u d w l r q d q g v h w w k h g d p s l q j i u h t x h q f \ (2) setup of damping filter (1st: pr2.15, 2nd: pr2.17, 3rd: pr2.19, 4th: pr2.21)) ) l u v w v h w x s < r x f d q u h g x f h w k h v h w w o l q j w l p h e \ v h w w l q j x s o d u j h u y d o x h k r z h y h u w k h w r u t x h u l s s o h l q f u h d v h v d w w k h f r p - p d q g f k d q j l q j s r l q w d v w k h u l j k w i l j v k r z v 6 h w x s z l w k l q w k h u d q j h z k h u h q r w r u t x h v d w x u d w l r q r f f x u v x q g h u w k h d f w x d o f r q g l w l r q , i w r u t x h v d w x u d w l r q r f f x u v g d p s l q j f r q w u r o h i i h f w z l o o e h o r v w 6 h w w l q j u d q j h r i w k h g d p s l q j o w h u v k r x o g e h o l p l w h g d v i r o o r z v + ] 2 g d p s l q j i u h t x h q f \ ? g d p s l q j o w h u v h w w l q j ? g d p s l q j i u h t x h q f \ (3) setup of damping filter switching selection (pr2.13) < r x f d q v z l w f k w k h v w r u w k h q g g d p s l q j o w h u g h s h q g l q j r q w k h y l e u d w l r q f r q g l w l r q r i w k h p d f k l q h pr2.13 vs-sel2 vs-sel1 1st damping 2nd damping 3rd damping 4th damping 0 ?? 1 ? off ? 2 1 2 off off off 2 1 2 1 off 2 1 2 1 pr2.13 position command direction 1st damping 2nd damping 3rd damping 4th damping 3 3 r v l w l y h g l u h f w l r q 1 h j d w l y h g l u h f w l r q ' d p s l q j f r q w u r o l v v z l w f k h g r y h u r q w k h u l v l q j h g j h r i w k h f r p p d q g z k l o h w k h s r v l w l r q l q j f r p s o h w h l v e h l q j r x w s x w d q g w k h q x p e h u r i f r p p d q g s x o v h v p v f k d q j h v i u r p w r q r q v w d w h , i k l j k h u g d p s l q j i u h t x h q f \ l v v h o h f w h g r u g d p s l q j l v g l v d e o h g d q g s r v l w l r q l q j f r p s o h w h u d q j h l v z l g h d q g l i w k h s x o v h w k h d u h d r i w k h s x o v h y d o x h r i s r v l w l r q f r p p d q g e h i r u h o w h u p l q x v y d o x h r i s r v l w l r q f r p p d q g d i w h u o w h u l q w h j u d w h g z l w k u h v s h f w w r w l p h u h p d l q v l q w k h o w h u d w w k h u l v l q j h g j h r i w k h f r p p d q g w k h s x o v h l v u d s l g o \ g l v f k d u j h g l p p h g l d w h o \ d i w h u g d p s l q j f k d q j h 7 k l v f d x v h v w k h p r w r u w r u x q d w d u d w h k l j k h u w k d q w k h f r p p d q g h g v s h h g i r u d z k l o h w r u h w x u q w r w k h s u h g h w h u p l q h g s r v l w l r q command speed position deviation calculation of vibration frequency 5. manual gain tuning (application) damping control torque command torque saturation damping filter setup is too large. damping filter setup is appropriate. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-26 5 5. manual gain tuning (application) adjustment feed forward function outline : k h q s r v l w l r q f r q w u r o r u i x o o f o r v h g f r q w u r o l v x v h g s r v l w l r q d o g h y l d w l r q f d q e h i x u w k h u u h g x f h g z k h q f r p s d u h g z l w k g h y l d w l r q z k h u h f r q w u r o l v p d g h r q o \ e \ i h h g e d f n d q g u h v s r q v h l v d o v r l p s u r y h g e \ f d o f x o d w l q j w k h y h o r f l w \ f r q w u r o f r p p d q g q h f h v v d u \ i r u r s h u d w l r q e d v h g r q w k h l q w h u q d o s r v l w l r q d o f r p p d q g d q g e \ d g g l q j y h o r f l w \ i h h g i r u z d u g w r w k h v s h h g f r p p d q g f d o f x o d w h g e \ f r p s d u l v r q z l w k s r v l w l r q i h h g e d f n 7 k h u h v s r q v h w l p h r i w k h y h o r f l w \ f r q w u r o v \ v w h p l v d o v r l p s u r y h g e \ f d o f x o d w l q j w r u t x h f r p p d q g q h f h v v d u \ i r u r s h u d w l r q e d v h g r q w k h y h o r f l w \ f r q w u r o f r p p d q g d q g e \ d g g l q j w r u t x h i h h g i r u z d u g f d o f x o d w h g e \ f r p s d u l v r q z l w k y h o r f l w \ i h h g e d f n w r w k h w r u t x h command. related parameter ) r u $ v h u l h v w k h y h o r f l w \ i h h g i r u z d u g d q g w r u t x h i h h g i r u z d u g f d q e h x v h g class no. title function 110 9 h o r f l w \ i h h g i r u z d u g gain 0 x o w l s o \ w k h y h o r f l w \ f r q w u r o f r p p d q g f d o f x o d w h g d f f r u g l q j w r w k h l q w h u q d o s r v l w l r q d o f r p p d q g e \ w k h u d w l r r i w k l v s d u d p h w h u d q g d g g w k h u h v x o w w r w k h v s h h g f r p p d q g u h v x o w l q j i u r p w k h s r v l w l r q d o f r q w u r o s u r f h v v 111 9 h o r f l w \ i h h g i r u z d u g o w h u 6 h w w k h w l p h f r q v w d q w r i v w g h o d \ o w h u z k l f k d i i h f w v w k h l q s x w r i y h o r f l w \ i h h g i r u z d u g 112 7 r u t x h i h h g i r u z d u g gain 0 x o w l s o \ w k h w r u t x h f r p p d q g f d o f x o d w h g d f f r u g l q j w r w k h y h o r f l w \ f r q w u r o f r p p d q g e \ w k h u d w l r r i w k l v s d u d p h w h u d q g d g g w k h u h v x o w w r w k h w r u t x h f r p p d q g u h v x o w l q j i u r p w k h y h o r f l w \ f r q w u r o s u r f h v v 113 7 r u t x h i h h g i r u z d u g o w h u 6 h w x s w k h w l p h f r q v w d q w r i v w g h o d \ o w h u z k l f k d i i h f w v w k h l q s x w r i w r u t x h i h h g i r u z d u g 60 $ q d o r j w r u t x h i h h g i r u z d u g f r q y h u v l r q gain 6 h w w k h l q s x w j d l q r i d q d o r j w r u t x h i h h g i r u z d u g w r d u h l q y d o l g 610 ) x q f w l r q h [ s d q v l r q setup 6 h w x s w k h i x q f w l r q l q x q l w r i e l w e l w $ q d o r j w r u t x h i h h g i r u z d u g l v l q y d o l g $ q d o r j w r u t x h i h h g i r u z d u g l v 9 d o l g e l w / 6 % usage example of velocity feed forward 7 k h y h o r f l w \ i h h g i r u z d u g z l o o e h f r p h h i i h f w l y h d v w k h y h o r f l w \ i h h g i r u z d u g j d l q l v j u d g x d o o \ l q f u h d v h g z l w k w k h y h o r f l w \ i h h g i r u z d u g o w h u v h w d w d s s u r [ p v 7 k h s r v l w l r q d o g h y l d w l r q g x u l q j r s h u d w l r q d w d f r q v w d q w y h o r f l w \ l v u h g x f h g d v v k r z q l q w k h h t x d w l r q e h o r z l q s u r s r u w l r q w r w k h y d o x h r i y h o r f l w \ i h h g i r u z d u g j d l q 3 r v l w l r q d o g h y l d w l r q > x q l w r i f r p p d q g @ f r p p d q g v s h h g > x q l w r i f r p p d q g v @ s r v l w l r q d o o r r s j d l q > v @ e y h o r f l w \ i h h g i r u z d u g j d l q > @ command speed motor speed positional deviation velocity feed forward gain 0[%] 50[%] 80[%] time positional deviation within the constant speed range will reduce as the velocity forward gain is increased. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-27 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5. manual gain tuning (application) feed forward function : l w k w k h j d l q v h w d w f d o f x o d w r u \ s r v l w l r q d o g h y l d w l r q l v e x w v l j q l f d q w r y h u v k r r w r f f x u v g x u l q j d f f h o h u d w l r q g h f h o h u d w l r q , i w k h x s g d w l q j f \ f o h r i w k h s r v l w l r q d o f r p p d q g l q s x w l v o r q j h u w k d q w k h g u l y h u f r q w u r o f \ f o h r u w k h s x o v h i u h t x h q f \ y d u l h v w k h r s h u d w l q j q r l v h p d \ l q f u h d v h z k l o h w k h y h o r f l w \ i h h g i r u z d u g l v d f w l y h , i w k l v l v w k h f d v h x v h s r v l w l r q d o f r p p d q g o w h u v w g h o d \ r u ) , 5 v p r r w k l q j r u l q f u h d v h w k h y h o r f l w \ i r u z d u g o w h u v h w x s y d o x h usage example of torque feed forward ? 7 r x v h w k h w r u t x h i h h g i r u z d u g f r u u h f w o \ v h w w k h l q h u w l d u d w l r 8 v h w k h y d o x h w k d w z d v g h w h u p l q h g d w w k h v w d u w r i w k h u h d o w l p h d x w r w x q l q j r u v h w w k h l q h u w l d u d w l r w k d w f d q e h f d o f x o d w h g i u r p w k h p d f k l q h v s h f l f d w l r q w r 3 u , q h u w l d u d w l r ? 7 k h w r u t x h i h h g i r u z d u g z l o o e h f r p h h i i h f w l y h d v w k h w r u t x h i h h g i r u z d u g j d l q l v j u d g x d o o \ l q f u h d v h g z l w k w k h w r u t x h i h h g i r u z d u g o w h u l v v h w d w d s s u r [ p v ? 3 r v l w l r q d o g h y l d w l r q d w d f r q v w d q w d f f h o h u d w l r q g h f h o h u d w l r q f d q e h p l q l p l ] h g f o r v h w r e \ l q f u h d v l q j w k h w r u t x h i r u z d u g j d l q 7 k l v p h d q v w k d w s r v l w l r q d o g h y l d w l r q f d q e h p d l q w d l q h g d w q h d u r y h u h q w l u h r s h u d w l r q u d q j h z k l o h g u l y l q j l q w u d s h ] r l g d o v s h h g s d w w h u q x q g h u l g h d o f r q g l w l r q z k h u h g l v w x u e d q f h w r u t x h l v q r w d f w l y h command speed positional deviation 0[%] 50[%] 100[%] time motor speed torque feed forward gain velocity feed forward gain = fixed 100[%] positional deviation in the region where acceleration is constant can be reduced by torque feed forward. = h u r s r v l w l r q d o g h y l d w l r q l v l p s r v v l e o h l q d f w x d o v l w x d w l r q e h f d x v h r i g l v w x u e d q f h w r u t x h $ v z l w k w k h y h o r f l w \ i h h g i r u z d u g o d u j h w r u t x h i h h g i r u z d u g o w h u w l p h f r q v w d q w g h f u h d v h v w k h r s h u d w l q j q r l v h e x w l q f u h d v h v s r v l w l r q d o g h y l d w l r q d w d f f h o h u d w l r q f k d q j h s r l q w usage example of analog torque feed forward 6 h w w l q j e l w s o d f h r i 3 u ) x q f w l r q h [ s d q v l r q v h w x s w r h q d e o h v w k h d q d o r j w r u t x h i h h g i r u z d u g : k h q w k h d q d o r j l q s x w l v x v h g e \ d q r w k h u i x q f w l r q h j d q d o r j w r u t x h o l p l w w k h i x q f w l r q e h f r p h v l q y d o l g 7 k h y r o w d j h 9 d s s o l h g w r w k h d q d o r j l q s x w l v f r q y h u w h g w r w k h w r u t x h y l d 3 u $ q d o r j w r u t x h i h h g i r u z d u g f r q y h u v l r q j d l q v h w x s d q g d g g h g w r w k h w r u t x h f r p p d q g l q & & : g l u h f w l r q l i l w l v s r v l w l y h y r o w d j h r u l q & : g l u h f w l r q l i q h j d w l y h 7 k h y r o w d j h 9 d s s o l h g w r w k h d q d o r j l q s x w l v f r q y h u w h g w r w k h p r w r u w r u t x h f r p p d q g w k u r x j k w k h s u r f h v v d v v k r z q l q w k h j u d s k e h o r z 7 k h v o r s h u h s u h v h q w v z k h q 3 u 7 k h v o r s h f k d q j h v d v w k h v h w x s y d o x h f k d q j h v 7 r u t x h f r p p d q g e l q s x w y r o w d j h 9 3 u v h w x s y d o x h e torque command [%] 333 200 610 ? 6 ? 10 ? 200 ? 333 input voltage [v] related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-28 5 5. manual gain tuning (application) adjustment instantaneous speed observer outline 7 k l v i x q f w l r q h q d e o h v e r w k u h d o l ] d w l r q r i k l j k u h v s r q v h d q g u h g x f w l r q r i y l e u d w l r q d w v w r s - s l q j e \ h v w l p d w l q j w k h p r w r u v s h h g x v l q j d o r d g p r g h o k h q f h l p s u r y l q j w k h d f f x u d f \ r i w k h v s h h g g h w h f w l r q applicable range 7 k l v i x q f w l r q f d q e h d s s o l f d e o h r q o \ z k h q w k h i r o o r z l q j f r q g l w l r q v d u h v d w l v h g conditions under which the instantaneous speed observer is activated control mode ? & r q w u r o p r g h w r e h h l w k h u r u e r w k s r v l w l r q f r q w u r o r u d q g y h o r f l w \ f r q w u r o 3 u 3 r v l w l r q f r q w u r o 3 u 9 h o r f l w \ f r q w u r o others ? 6 k r x o g e h l q v h u y r r q f r q g l w l r q ? , q s x w v l j q d o v v x f k d v w k h g h y l d w l r q f r x q w h u f o h d u d q g f r p p d q g l q s x w l q k l e l w d q g s d u d p h w h u v h [ f h s w i r u f r q w u r o v v x f k d v w r u t x h o l p l w v h w x s d u h f r u u h f w o \ v h w d v v x u l q j w k d w w k h p r w r u f d q u x q v p r r w k o \ ? 5 h d o w l p h d x w r w x q l q j v k r x o g e h g l v d e o h g 3 u caution 7 k l v i x q f w l r q g r h v q r w z r u n s u r s h u o \ r u q r h i i h f w l v r e w d l q h g x q g h u w k h i r o o r z l q j f r q g l - tions. conditions which obstruct instantaneous speed observer action load ? * d s e h w z h h q w k h h v w l p d w h g w r w d o o r d g l q h u w l d p r w r u o r d g d q g d f w x d o p d f k l q h l v o d u j h h j / d u j h u h v r q d q f h s r l q w h [ l v w v l q i u h t x h q f \ e d q g r i > + ] @ r u e h o r z 1 r q o l q h d u i d f w r u v x f k d v o d u j h e d f n o d v k h [ l v w v ? / r d g l q h u w l d y d u l h v ? 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' l v w x u e d q f h w r u t x h f r q w d l q v p d q \ k l j k i u h t x h q f \ f r p s r q h q w v disturbance observer estimated disturbance torque value motor speed added in the direction to cancel the disturbance motor + load load model + + + + C C disturbance torque torque command torque command gain filter set in pr6.23 set in pr6.24 related page ? 3 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-31 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement related parameter class no. title function 610 function h [ s d q v l r q v h w x s 6 h w v e l w v u h o d w h g w r g l v w x u e d q f h r e v h u y h u e l w , q y d o l g 9 d o l g e l w $ o z d \ v y d o l g alid only when 1st gain is selected. * e l w / 6 % ( [ d p s o h 7 r x v h w k h g l v w x u e d q f h r e v h u y h u l q w k h h q d e o h g p r g h r q o \ z k h q v w j d l q l v v h o h f w h g 6 h w x s y d o x h 7 r x v h w k h g l v w x u e d q f h r e v h u y h u d o z d \ v l q w k h h q d e o h g p r g h 6 h w x s y d o x h 623 ' l v w x u e d q f h w r u t x h f r p s h q - sating gain 6 h w x s f r p s h q v d w l q j j d l q d j d l q v w g l v w x u e d q f h w r u t x h 624 ' l v w x u e d q f h r e v h u y h u o w h u 6 h w x s w k h o w h u w l p h f r q v w d q w d f f r u g l q j w r w k h g l v w x u e d q f h w r u t x h f r p s h q v d w l r q how to use : l w k 3 u ) x q f w l r q h q k d q f h p h q w v h w x s v h w r e v h u y h u h q d e o h g l v d e o h d q g r s h u d w l r q p r g h d o z d \ v h q d e o h h q d e o h r q o \ z k h q v w j d l q l v v h o h f w h g 2) setup of pr6.24 (disturbance observer filter) ) l u v w v h w x s 3 u w r d o d u j h u y d o x h d q g f k h f n w k h r s h u d w l r q z l w k 3 u ' l v w x u e d q f h w r u t x h f r p s h q v d w l q j j d l q v h w w r d o r z y d o x h d q g w k h q j u d g x d o o \ g h f u h d v h w k h v h w x s y d o x h r i 3 u $ o r z o w h u v h w x s y d o x h d v v x u h v g l v w x u e d q f h w r u t x h h v w l p d w l r q z l w k v p d o o g h o d \ d q g h i i h f w l y h o \ v x s s u h v v h v h i i h f w v r i g l v w x u e d q f h + r z h y h u w k l v u h v x o w v l q o d u j h u r s h u d w l r q q r l v h : h o o e d o d q f h g v h w x s l v u h t x l u h g 3) setup of pr6.23 (disturbance torque compensating gain) $ i w h u v h w w l q j x s 3 u l q f u h d v h 3 u 7 k h g l v w x u e d q f h v x s s u h v v l q j f d s d e l o l w \ l q f u h d v h v e \ l q f u h d v l q j w k h j d l q e x w l w l v d v v r f l d w h g z l w k l q f u h d v l q j y r o x p h r i r s h u d w l r q q r l v h 7 k l v p h d q v w k d w z h o o e d o d q f h g v h w x s f d q e h r e w d l q h g e \ d g m x v w l q j 3 u d q g 3 u 5. manual gain tuning (application) disturbance observer phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-32 5 5. manual gain tuning (application) adjustment 3rd gain switching function outline , q d g g l w l r q w r w k h q r u p d o j d l q v z l w f k l q j i x q f w l r q g h v f u l e h g r q 3 u g j d l q v z l w f k l q j i x q f w l r q f d q e h v h w w r l q f u h d v h w k h j d l q m x v w e h i r u h v w r s s l q j 7 k h k l j k h u j d l q v k r u w h q v positioning adjusting time. applicable range 7 k l v i x q f w l r q f d q e h d s s o l f d e o h r q o \ z k h q w k h i r o o r z l q j f r q g l w l r q v d u h v d w l v h g conditions under which the 3rd gain switching function is activated control mode ? & r q w u r o p r g h w r e h h l w k h u r u e r w k s r v l w l r q f r q w u r o r u d q g i x o o f o r v h g f r q w u r o 3 u 3 r v l w l r q f r q w u r o 3 u ) x o o f o r v h g f r q w u r o others ? 6 k r x o g e h l q v h u y r r q f r q g l w l r q ? , q s x w v l j q d o v v x f k d v w k h g h y l d w l r q f r x q w h u f o h d u d q g f r p p d q g l q s x w l q k l e l w d q g s d u d p h w h u v h [ f h s w i r u f r q w u r o v v x f k d v w r u t x h o l p l w v h w x s d u h f r u u h f w o \ v h w d v v x u l q j w k d w w k h p r w r u f d q u x q v p r r w k o \ related parameter class no. title function 65 3 r v l w l r q u g j d l q valid time 6 h w x s w k h w l p h d w z k l f k u g j d l q e h f r p h v y d o l g 66 3 r v l w l r q u g j d l q v f d o h i d f w r u 6 h w x s w k h u g j d l q e \ d p x o w l s o \ l q j i d f w r u r i w k h v w j d l q u g j d l q v w j d l q e 3 u related page ? 3 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-33 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement position speed command [r/min] pr6.050.1ms 2nd gain 3rd gain 1st gain pr1.05 to 1.09 pr1.00 to 1.04 [3rd gain period] position loop gain = pr1.00 pr6.06/100 speed proportional gain = pr1.01 pr6.06/100 time constant of velocity integration, speed detection filter and torque filter directly use the 1st gain value. 5. manual gain tuning (application) 3rd gain switching function how to use caution : k l o h l q w k h f r q g l w l r q x q g h u z k l f k w k h q r u p d o j d l q v z l w f k l q j i x q f w l r q v v h w w k h u g j d l q d s s o l f d w l r q w l p h w r 3 u 3 r v l w l r q u g j d l q h q d e o h w l p h d q g v h w w k h u g j d l q v f d o h i d f - w r u z l w k u h i h u h q f h w r v w j d l q w r 3 u 3 r v l w l r q u g j d l q p d j q l f d w l r q u d w l r ? , i u g j d l q l v q r w x v h g v h w 3 u w r d q g 3 u w r ? 7 k h u g j d l q l v h q d e o h g r q o \ i r u s r v l w l r q f r q w u r o r u i x o o f o r v h g f r q w u r o ? ' x u l q j w k h u g j d l q s h u l r g r q o \ s r v l w l r q o r r s j d l q v s h h g s u r s r u w l r q d o j d l q e h f r p h v u g j d l q g x u l q j r w k h u s h u l r g v v w j d l q v h w w l q j l v x v h g ? : k h q w k h q g j d l q v z l w f k l q j f r q g l w l r q l v h v w d e o l v k h g g x u l q j u g j d l q s h u l r g q g j d l q l v used. ? ' x u l q j w u d q v l w l r q i u r p q g j d l q w r u g j d l q 3 u 3 r v l w l r q j d l q v z l w f k l q j w l p h l v d s - plied. : k h q w k h j d l q l v v z l w f k h g i u r p q g w r v w e \ w k h f k d q j h l q s d u d p h w h u w k h u g j d l q s h - u l r g d s s h d u v ( [ d p s o h 3 u 3 r v l w l r q f r q w u r o v z l w f k l q j p r g h v z l w f k l q j f r q g l w l r q z l w k s r v l w l r q d o f r p p d q g phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-34 5 5. manual gain tuning (application) adjustment friction torque compensation outline 7 r u h g x f h h i i h f w r i i u l f w l r q u h s u h v h q w h g e \ p h f k d q l f d o v \ v w h p w \ s h v r i i u l f w l r q w r u t x h f r p s h q v d w l r q f d q e h d s s o l h g r i i v h w o r d g f r p s h q v d w l r q w k d w f d q f h o v f r q v w d q w r i i v h w w r u t x h d q g w k h g \ q d p l f i u l f w l r q f r p s h q v d w l r q w k d w y d u l h v g l u h f w l r q d v w k h r s h u d w l q j g l u h f - w l r q y d u l h v applicable range 7 k l v i x q f w l r q f d q e h d s s o l f d e o h r q o \ z k h q w k h i r o o r z l q j f r q g l w l r q v d u h v d w l v h g conditions under which the friction torque compensation is activated control mode ? 6 s h f l i l f w r l q g l y l g x d o i x q f w l r q v 5 h i h u w r 5 h o d w h g s d u d p h w h u v v k r z q below. others ? 6 k r x o g e h l q v h u y r r q f r q g l w l r q ? , q s x w v l j q d o v v x f k d v w k h g h y l d w l r q f r x q w h u f o h d u d q g f r p p d q g l q s x w l q k l e l w d q g s d u d p h w h u v h [ f h s w i r u f r q w u r o v v x f k d v w r u t x h o l p l w v h w x s d u h f r u u h f w o \ v h w d v v x u l q j w k d w w k h p r w r u f d q u x q v p r r w k o \ related parameter & r p e l q h w k h i r o o r z l q j s d u d p h w h u v w r v h w x s d s s u r s u l d w h i u l f w l r q w r u t x h f r p s h q v d w l r q class no. title function 67 7 r u t x h command additional value 6 h w x s w k h r i i v h w o r d g f r p s h q v d w l r q y d o x h x v x d o o \ d g g h g w r w k h w r u t x h f r p p d q g l q d f r q w u r o p r g h h [ f h s w i r u w k h w r u t x h f r q w u r o p r g h 68 positive g l u h f w l r q w r u t x h compensation value 6 h w x s w k h g \ q d p l f i u l f w l r q f r p s h q v d w l r q y d o x h w r e h d g g h g w r w k h w r u t x h f r p p d q g z k h q i r u z d u g s r v l w l r q d o f r p p d q g l v i h g 69 1 h j d w l y h g l u h f w l r q w r u t x h compensation value 6 h w x s w k h g \ q d p l f i u l f w l r q f r p s h q v d w l r q y d o x h w r e h d g g h g w r w k h w r u t x h f r p p d q g z k h q q h j d w l y h g l u h f w l r q s r v l w l r q d o f r p p d q g l v i h g related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-35 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement command speed time [positive direction] [negative direction] pr6.08 positive direction torque [ compensation value ] pr6.09 negative direction torque [ compensation value ] pr6.07 torque command [ additional value ] motor de-energized motor de-energized motor energized the friction compensation torque is the sum of the offset load compensation value which is set according to the torque command additional value (always constant) and the dynamic friction compensation torque which is set according to positive/negative direction torque compensation value. the command speed direction is reset upon power-up or when the motor is de-energized. 5. manual gain tuning (application) friction torque compensation how to use 7 k h i u l f w l r q w r u t x h f r p s h q v d w l r q z l o o e h d g g h g l q u h v s r q v h w r w k h h q w h u h g s r v l w l r q d o f r p p d q g g l u h f w l r q d v v k r z q e h o r z caution ? 3 u > 7 r u t x h f r p p d q g d g g l w l r q d o y d o x h @ u h g x f h v y d u l d w l r q v l q s r v l w l r q l q j r s h u d w l r q s h u i r u p d q f h l v d i i h f w h g e \ g l u h f w l r q r i p r y h p h q w 7 k h v h y d u l d w l r q v r f f x u z k h q f r q - v w d q w r i i v h w w r u t x h u h v x o w l q j i u r p z h l j k w r q y h u w l f d o d [ l v l v d s s o l h g w r w k h p r w r u ? & h u w d l q o r d g v v x f k d v e h o w g u l y h q v k d i w u h t x l u h v k l j k g \ q d p l f i u l f w l r q w r u t x h z k l f k o h q j w k h q v s r v l w l r q l q j v h w w l q j w l p h r u y d u l h v s r v l w l r q l q j d f f x u d f \ 7 k h v h s u r e o h p v f d q e h p l q l p l ] h g e \ v h w w l q j w k h i u l f w l r q w r u t x h r i h y h u \ u r w d w l q j g l u h f w l r q l q w r l q g l y l g x d o s d - u d p h w h u v 3 u > 3 r v l w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h @ d q g 3 u > 1 h j d w l y h g l u h f w l r q w r u t x h f r p s h q v d w l r q y d o x h @ f d q e h x v h g i r u w k l v s x u s r v h 7 k h r i i v h w o r d g f r p s h q v d w l r q d q g g \ q d p l f i u l f w l r q f r p s h q v d w l r q f d q e h x v h g l q g l y l g x - d o o \ r u l q f r p e l q d w l r q + r z h y h u v r p h f r q w u r o p r g h v l p s r v h o l p l w r q d s s o l f d w l r q ? ) r u w r u t x h f r q w u r o 2 i i v h w o r d g f r p s h q v d w l r q d q g g \ q d p l f i u l f w l r q f r p s h q v d w l r q d u h v h w d w u h j d u g o h v v r i s d u d p h w h u v h w w l q j ? ) r u y h o r f l w \ f r q w u r o z l w k v h u y r r i i 2 i i v h w o r d g f r p s h q v d w l r q s h u 3 u l v h q d e o h g ' \ - q d p l f i u l f w l r q f r p s h q v d w l r q l v v h w d w u h j d u g o h v v r i s d u d p h w h u v h w w l q j ? ) r u s r v l w l r q f r q w u r o r u i x o o f o r v h g f r q w u r o z l w k v h u y r r q 3 u h y l r x v r i i v h w o r d g f r p s h q v d - w l r q d q g g \ q d p l f i u l f w l r q f r p s h q v d w l r q y d o x h v d u h p d l q w d l q h g x q w l o w k h u v w s r v l w l r q d o f r p p d q g l v d s s o l h g z k h u h w k h r i i v h w o r d g f r p s h q v d w l r q y d o x h l v x s g d w h g d f f r u g l q j w r 3 u 7 k h g \ q d p l f i u l f w l r q f r p s h q v d w l r q y d o x h l v x s g d w h g w r s d u d p h w h u v 3 u d q g 3 u g h s h q g l q j r q f r p p d q g g l u h f w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-36 5 5. manual gain tuning (application) adjustment inertia ratio switching function outline , q h u w l d u d w l r f d q e h v z l w f k h g e h w z h h q 1 r d q g 1 r e \ w k h v z l w f k l q j l q s x w - 6 ( / 7 k l v i h d w x u h l v x v h i x o l q d s s o l f d w l r q z k h u h w k h o r d g l q h u w l d f k d q j h v l q w z r v w h s v applicable range 7 k l v i x q f w l r q f d q e h d s s o l f d e o h r q o \ z k h q w k h i r o o r z l q j f r q g l w l r q v d u h v d w l v h g conditions under which the inertia ratio switching function is activated control mode ? & d q e h x v h g l q d o o f r q w u r o p r g h v 3 u 3 r v l w l r q f r q w u r o 3 u 9 h o r f l w \ f r q w u r o 3 u 7 r u t x h f r q w u r o 3 u 3 r v l w l r q 9 h o r f l w \ f r q w u r o 3 u 3 r v l w l r q 7 r u t x h f r q w u r o 3 u 9 h o r f l w \ 7 r u t x h f r q w u r o 3 u ) x o o f o r v h g f r q w u r o others ? 6 k r x o g e h l q v h u y r r q f r q g l w l r q ? , q s x w v l j q d o v v x f k d v w k h g h y l d w l r q f r x q w h u f o h d u d q g f r p p d q g l q s x w l q k l e l w d q g s d u d p h w h u v h [ f h s w i r u f r q w u r o v v x f k d v w r u t x h o l p l w v h w x s d u h f r u u h f w o \ v h w d v v x u l q j w k d w w k h p r w r u f d q u x q v p r r w k o \ ? 5 h d o w l p h d x w r w x q l q j v k r x o g e h g l v d e o h g 3 u ? $ g d s w l y h o w h u v k r x o g e h g l v d e o h g 3 u ? , q v w d q w d q h r x v v s h h g r e v h u y h u v k r x o g e h g l v d e o h g 3 u e l w ? ' l v w x u e d q f h r e v h u y h u v k r x o g e h g l v d e o h g 3 u e l w caution ? % h v x u h w r f k d q j h w k h l q h u w l d u d w l r z k l o h w k h p r w r u l v l q v w r s v w d w h 2 w k h u z l v h y l e u d w l r q r u r v f l o o d w l r q z l o o r f f x u ? , i w k h g l i i h u h q f h e h w z h h q w k h v w l q h u w l d o u d w l r d q g q g l q h u w l d u d w l r l v o d u j h y l e u d w l r q h w f p d \ r f f x u h y h q l q v w r s p r g h 7 k h v h s r w h q w l d o s u r e o h p v v k r x o g e h l g h q w l h g r q w k h actual model. related page ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-37 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5. manual gain tuning (application) inertia ratio switching function related parameter & r p e l q h w k h i r o o r z l q j s d u d p h w h u v w r v h w x s d s s u r s u l d w h l q h u w l d u d w l r v z l w f k l q j i x q f w l r q class no. title function 610 function h [ s d q v l r q v h w x s 6 h w v e l w v u h o d w h g w r l q h u w l d u d w l r v z l w f k l q j i x q f w l r q e l w , q y d o l g 9 d o l g e l w $ o z d \ v y d o l g alid only when 1st gain is selected. * e l w / 6 % ( [ d p s o h 7 r h q d e o h l q h u w l d o u d w l r v z l w f k l q j 6 h w x s y d o x h 004 , q h u w l d u d w l r 6 h w v w l q h u w l d u d w l r < r x f d q v h w x s w k h u d w l r r i w k h o r d g l q h u w l d d j d l q v w w k h u r w r u r i w k h p r w r u l q h u w l d 613 q g , q h u w l d u d w l r 6 h w v w l q h u w l d u d w l r < r x f d q v h w x s w k h u d w l r r i w k h o r d g l q h u w l d d j d l q v w w k h u r w r u r i w k h p r w r u l q h u w l d how to use ? 6 h o h f w v v w l q h u w l d u d w l r r u q g l q h u w l d u d w l r d f f r u g l q j w r w k h l q h u w l d u d w l r v h o h f w l q s x w - 6 ( / inertia ratio switching input (j-sel) applicable inertia ratio off v w , q h u w l d u d w l r 3 u 2 1 q g , q h u w l d u d w l r 3 u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-38 5 5. manual gain tuning (application) adjustment hybrid vibration damping function outline 7 k l v i x q f w l r q v x s s u h v v h v y l e u d w l r q g x h w r d p r x q w r i w z l v w e h w z h h q w k h p r w r u d q g o r d g l q w k h i x o o f o r v h g f r q w u r o p r g h 7 k l v i x q f w l r q h q d e o h v k l j k j d l q v h w w l q j applicable range 7 k l v i x q f w l r q f d q e h d s s o l f d e o h r q o \ z k h q w k h i r o o r z l q j f r q g l w l r q v d u h v d w l v h g conditions under which the hybrid vibration damping function is activated control mode ? ) x o o f o r v h g f r q w u r o p r g h others ? 6 k r x o g e h l q v h u y r r q f r q g l w l r q ? , q s x w v l j q d o v v x f k d v w k h g h y l d w l r q f r x q w h u f o h d u d q g f r p p d q g l q s x w l q k l e l w d q g s d u d p h w h u v h [ f h s w i r u f r q w u r o v v x f k d v w r u t x h o l p l w v h w x s d u h f r u u h f w o \ v h w d v v x u l q j w k d w w k h p r w r u f d q u x q v p r r w k o \ caution 7 k h h i i h f w r i w k l v i x q f w l r q z l o o e h s u r s r u w l r q d o w r w k h d p r x q w r i w z l v w e h w z h h q w k h p r w r u and load. related parameter class no. title function 634 + \ e u l g y l e u d w l r q v x s s u h v v l r q j d l q 6 h w x s w k h k \ e u l g y l e u d w l r q v x s s u h v v l r q j d l q i r u i x o o f o r v h g f r q w u r o o l q j ) l u v w v h w l w w r w k h y d o x h l g h q w l f d o w r w k d w r i s r l v r q o r r s j d l q d q g w k h q q h w x q h d v q h f h v v d u \ 635 + \ e u l g y l e u d w l r q v x s s u h v v l r q o w h u 6 h w x s w k h w l p h f r q v w d q w r i w k h k \ e u l g y l e u d w l r q v x s s u h v v l r q o w h u i r u i x o o f o r v h g f r q w u r o o l q j how to use > @ 6 h w 3 u + \ e u l g y l e u d w l r q v x s s u h v v l r q j d l q w r w k h y d o x h h t x d o w r w k d w r i s r v l w l r q d o o r r s gain. > @ ' u l y l q j x q g h u i x o o f o r v h g f r q w u r o j u d g x d o o \ l q f u h d v h w k h v h w x s y d o x h r i 3 u + \ e u l g y l e u d w l r q v x s s u h v v l r q i l o w h u z k l o h f k h f n l q j u h v s r q v h f k d q j h : k h q w k h u h v s r q v h l v l p s u r y h g d g m x v w 3 u d q g 3 u w r g h w h u p l q h w k h f r p e l q d w l r q w k d w s u r y l g h v w k h e h v w u h v s r q v h related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-39 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5 6. about homing operation adjustment caution on homing operation ? , q k r p l q j d f w l r q e \ x v l q j w k h k r v w f r q w u r o o h u v w r s s r v l w l r q p l j k w q r w e h v w d e l o l ] h g l i w k h r u l j l q l q s x w = s k d v h r i w k h h q f r g h u l v h q w h u h g z k l o h w k h p r w r u l v q r w g h f h o h u d w h g h q r x j k d i w h u w k h s u r [ l p l w \ l q s x w l v w x u q h g r q 6 h w x s w k h 2 1 s r v l w l r q v r i s u r [ l p l w \ l q s x w d q g w k h s r v l w l r q r i r u l j l q s r l q w f r q v l g h u l q j w k h q h f h v v d u \ s x o v h f r x q w v i r u g h f h o h u d - w l r q 7 d n h w k h s r v l w l r q l q j d f w l r q d q g k r p l q j d f w l r q l q w r d f f r x q w z k h q \ r x v h w s x w d f - f h o h u d w l r q g h f h o h u d w l r q w l p h z l w k s d u d p h w h u v l q f h w k l v d i i h f w w k h v h d f w l r q d v z h o o for the details of homing, observe the instruction manual of the host controller. ? ( [ d p s o h r i + r p l q j $ f w l r q 3 u r [ l p l w \ g r j r q ' h f h o h u d w h v d w d q h q w u \ r i w k h s u r [ l p l w \ l q s x w d q g v w r s v d w d q h q w u \ r i w k h u v w r u l j l q l q s x w = s k d v h 3 u r [ l p l w \ g r j r i i ' h f h o h u d w h v d w d q h q w u \ r i w k h s u r [ l p l w \ l q s x w d q g v w r s v d w d q h q w u \ r i w k h u v w r u l j l q l q s x w = s k d v h d i w h u w k h l q s x w l v w x q h g r i i proximity input origin input proximity dog encoder z-phase speed proximity input origin input proximity dog speed encoder z-phase phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-40 5 6. about homing operation adjustment homing with hit & stop < r x f d q v h w x s w k h k r p l q j s r v l w l r q z l w k + l w 6 w r s z k h u h l w l v q r w h d v \ w r l q v w d o o d v h q - v r u g x h w r h q y l u r q p h q w remarks assign tl-sel to the input signal. 8 s r q f r p s o h w l r q r i w k h k r p l q j z l w k k l w d q g v w r s w x u q r i i 7 / 6 ( / r s h q l i o r j l f d o v h w w l q j l v d f r q w d f w f o r v h l i e f r q w d f w 1st origin origin 2nd torque limit 2nd torque limit 1st tlc factory setting: ( 40-pin ) tl-sel *1 factory setting: ( no allocation ) torque counter clear command 50% motor speed tlc factory setting: ( 40-pin ) tl-sel *1 factory setting: ( no allocation ) torque counter clear command motor speed z-phase on on on on on on parameter no. 5.22 0.14 5.13 5.21 hits hits (1) (2) (1) (1) (1) (2) (2) (2) (3) (3) title setup of 2nd torque limit excess setup of position deviation setup of over-speed level selection of torque limit setup example 50 (set up to less than 100%) 25000 0 (6000r/min) 3 (1) when you make a point where the work (load) hits as an origin (2) when you stop the work (load) using z-phase after making a hitting point as a starting point, then make that stopping point as an origin. related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-41 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 5 6. about homing operation adjustment press & hold control remarks assign tl-sel to the input signal. (1) (2) (3) (4) (5) holds the non-traveled portion with deviation counter c=a+b search speed (low speed) b a setup value of 2nd torque limit factory setting: *1 tl-sel ( no allocation ) : torque limit switching input factory setting: tlc ( 40-pin ) : torque in-limit output torque command motor speed (1) (2) (3) (4) (5) press fit machine application example on on (+) (+) (+) (?) (?) (?) 5.21 0.13 5.22 0.14 5.13 selection of torque limit setup of 1st torque limit setup of 2nd torque limit excess setup of position deviation setup of over-speed level 3 200 50 25000 0 parameter no. title setup example phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 5-42 memo phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-1 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6 . when in trouble 1. when in trouble what to check ? .........................................................................................6-2 protective function (what is error code ?) ................................................6-2 protective function (detail of error code) ....................................................6-4 2. setup of gain pre-adjustment protection ................................6-18 3. troubleshooting motor does not run .................................................................................6-21 unstable rotation (not smooth) , motor runs slowly even with speed zero at velocity control mode .......6-23 positioning accuracy is poor ....................................................................6-24 origin point slips ......................................................................................6-25 abnormal motor noise or vibration ...........................................................6-25 overshoot/undershoot, overheating of the motor (motor burn-out) ..............................................6-26 motor speed does not reach to the setup, motor revolutions (travel) is too large or small .....................................6-26 parameter returns to previous setup ......................................................6-27 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-2 6 1. when in trouble when in trouble what to check ? ? various protective functions are equipped in the driver. when these are triggered, the motor will stall due to error, the driver will turn the servo-alarm output (alm) to off (open). ? ( u u r u v w d w x v d q g w k h l u p h d v x u h v ? ' x u l q j w k h h u u r u v w d w x v w k h h u u r u f r g h 1 r z l o o e h g l v s o d \ h g r q w k h i u r q w s d q h o / ( ' and you cannot turn servo-on. ? < r x f d q f o h d u w k h h u u r u v w d w x v e \ $ o d u p f o h d u l q s x w $ & / 5 l q p v r u o r q j h u ? : k h q r y h u o r d g s u r w h f w l r q l v w u l j j h u h g \ r x f d q f o h d u l w e \ $ o d u p f o h d u l q s x w $ & / 5 l q v h f r u o r q j h u d i w h u w k h h u u r u r f f x u v < r x f d q f o h d u w k h 2 y h u o r d g s u r w h f w l r q w l p h characteristics (refer to p.6-14) by turning off the control power supply between l1c d q g / & 9 9 9 d q g 9 9 r i w k h g u l y h u ? < r x f d q f o h d u w k h d e r y h h u u r u e \ r s h u d w l q j w k h i u r q w s d q h o n h \ v d q g v h w x s v x s s r u w v r i w z h d u 3 $ 1 $ 7 ( 5 0 5 h i h u w r 3 ?alarm clear screen? of preparation. ? % h v x u h w r f o h d u w k h d o d u p g x u l q j v w r s d i w h u u h p r y l q j w k h f d x v h r i w k h h u u r u d q g v h - curing safety. 6 1. when in trouble when in trouble protective function (what is error code ?) host controller aren't the parameter setups wrong ? motor does not run. check the cause by referring to p.2-98, ?display of factor of no motor running? of preparation, and then take necessary measure. is the wiring to connector x4 correct ? or aren't any wires pulled off ? is the wiring to connector x5 in case of full-closed control correct ? or aren't any wires pulled off ? is the wiring to connector x6 correct ? or aren't any wires pulled off ? isn't error code no. is displayed ? ground motor external scale machine is the connecting portion disconnected ? (broke wire, contact) is the wiring correct ? isn't the connector pulled off ? isn't the short wire pulled off ? doesn't the power voltage vary ? is the power turned on ? any loose connection ? is abnormal noise generated from the motor ? isn't the holding brake engaged ? isn't the connection loose ? note related page ? 7 k h i l j x u h d e r y h v k r z v f r q q h f w l r q v r q y h o r f l w \ s r v l w l r q w r u t x h d q g i x o o f o r v h g p r g h driver. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; ; d q g ; ? 3 + r z w r 8 v h w k h ) u r q w 3 d q h o ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 2 x w o l q h r i 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-3 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement note + l v w r u \ 7 k h h u u r u z l o o e h v w r u h g l q w k h h u u r u k l v w r u \ can be cleared...to cancel the error, use the alarm clear input (a-clr). if the alarm clear input is not effective, turn off power, remove the cause of the error and then turn on power again. immediate stop...instantaneous controlled stop upon occurrence of an error. 6 h w w l q j r i 3 u 6 h t x h q f h d w d o d u p l v d o v r u h t x l u h g
protective function error code no. causes measures main sub 6-4 control power supply under- voltage protection 11 0 voltage between p and n of the converter portion of the control power supply has i d o o h q e h o r z w k h v s h f l h g y d o x h 9 y h u v l r q approx. 9 ' & approx. 9 $ & 9 y h u v l r q approx. 145 vdc ( approx. 9 $ & 9 y h u v l r q approx. 15 vdc 1) power supply voltage is low. instantaneous power failure has occurred 2) lack of power capacity...power supply voltage has fallen down due to inrush current at the main power-on. 3) failure of servo driver (failure of the circuit) measure the voltage between lines of connector and terminal block. 9 9 g u l y h u / & / & 9 g u l y h u 9 9 1) increase the power capacity. change the power supply. 2) increase the power capacity. 3) replace the driver with a new one. over-voltage protection 12 0 voltage between p and n of the converter portion of the control power v x s s o \ k d v h [ f h h g h g w k h v s h f l h g y d o x h 9 y h u v l r q approx. 9 ' & approx. 9 $ & 9 y h u v l r q approx. 9 ' & approx. 9 $ & 9 y h u v l r q approx. 9 ' & approx. 9 $ & 1) power supply voltage has exceeded the permissible input voltage. voltage surge due to the phase-advancing capacitor or ups (uninterruptible power supply) have occurred. 2) disconnection of the regeneration discharge resistor 3) external regeneration discharge resistor is not appropriate and could not absorb the regeneration energy. 4) failure of servo driver (failure of the circuit) measure the voltage between lines of connector (l1, l2 and l3). 1) enter correct voltage. remove a phase- advancing capacitor. 2) measure the resistance of the external resistor connected between terminal b1 - b2 of the driver. replace the external u h v l v w r u l i w k h y d o x h l v ? & k d q j h w r w k h r q h z l w k v s h f l h g resistance and wattage. 4) replace the driver with a new one. main power supply under- voltage protection (pn) 13 0 instantaneous power failure has occurred between l1 and l3 for longer period than w k h s u h v h w w l p h z l w k 3 u 0 d l q s r z h u r i i g h w h f w l q j w l p h z k l o h 3 u / 9 w u l s selection at the main power-off) is set to 1. or the voltage between p and n of the converter portion of the main power v x s s o \ k d v i d o o h q e h o r z w k h v s h f l h g value during servo-on. 9 y h u v l r q approx. 9 ' & approx. 55 vac) 9 y h u v l r q approx. 9 ' & approx. 75 vac) 9 y h u v l r q approx. 9 ' & approx. 125 vac) 1) power supply voltage is low. instantaneous power failure has occurred 2) instantaneous power failure has occurred. 3) lack of power capacity...power supply voltage has fallen down due to inrush current at the main power-on. 4) phase lack...3-phase input driver has been operated with single phase input. 5) failure of servo driver (failure of the circuit) measure the voltage between lines of connector (l1, l2 and l3). 1) increase the power capacity. change the power supply. remove the causes of the shutdown of the magnetic contactor or the main power supply, then re-enter the power. 6 h w x s w k h o r q j h u w l p h w r 3 u 0 d l q power off detecting time). set up each phase of the power correctly. 3) increase the power capacity. for the capacity, u h i h u w r 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h peripheral equipments" of preparation. 4) connect each phase of the power supply (l1, l2 and l3) correctly. for single phase, 9 d q g 9 g u l y h u x v h / d q g / 5) replace the driver with a new one. main power supply under- voltage protection (ac) 1 6 1. when in trouble when in trouble protective function (detail of error code) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 6-5 1. when in trouble protective function (detail of error code) 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement * over-current protection 14 0 current through the converter portion has h [ f h h g h g w k h v s h f l h g y d o x h 1) failure of servo driver (failure of the circuit, igbt or other components) 2) short of the motor wire (u, v and w) 3) earth fault of the motor wire 4) burnout of the motor 5) poor contact of the motor wire. 6) welding of contact of dynamic braking relay due to frequent servo on/off operations. 7) timing of pulse input is same as or earlier than servo-on. 8) blowout of thermal fuse due to overheating dynamic brake circuit. (only f and g frames) 1) turn to servo-on, while disconnecting the motor. if error occurs immediately, replace with a new driver. 2) check that the motor wire (u, v and w) is not shorted, and check the branched out wire out of the connector. make a correct wiring connection. 3) measure the insulation resistance between motor wires, u, v and w and earth wire. in case of poor insulation, replace the motor. 4) check the balance of resister between each motor line, and if unbalance is found, replace the motor. 5) check the loose connectors. if they are, or s x o o h g r x w [ w k h p v h f x u h o \ 6) replace the servo driver. do not use servo-on/servo-off as a means of staring/stopping the operation. ( q w h u w k h s x o v h v p v r u o r q j h u d i w h u servo-on. 8) replace the driver. * ipm error protection , 3 0 intelligent power module 1 * over-heat protection 15 0 temperature of the heat sink or power g h y l f h k d v e h h q u l v h q r y h u w k h v s h f l h g temperature. 1) ambient temperature has risen over w k h v s h f l h g w h p s h u d w x u h 2) over-load 1) improve the ambient temperature and cooling condition. 2) increase the capacity of the driver and motor. set up longer acceleration/ deceleration time. lower the load. note related page ? : k h q s u r w h f w l y h i x q f w l r q p d u n h g z l w k * in the protective function table is activated, it can- not be disabled by the alarm clear input (a-clr). to return to the normal operation, turn off power, remove the cause, and then turn on power again. ? 3 6 \ v w h p & r q j x u d w l r q d q g : l u l q j ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 6-6 1. when in trouble protective function (detail of error code) over-load protection 16 0 torque command value has exceeded the over-load level set with pr5.12 (setup of over-load level) and resulted in overload protection according to the time characteristics (described later) 1) load was heavy and actual torque has exceeded the rated torque and kept running for a long time. 2) oscillation and hunching action due to poor adjustment. motor vibration, abnormal noise. , q h u w l d u d w l r 3 u v h w x s h u u r u 3) miswiring, disconnection of the motor. 4) machine has collided or the load has gotten heavy. machine has been distorted. 5) electromagnetic brake has been kept engaged. 6) while wiring multiple axes, miswiring has occurred by connecting the motor cable to other axis. ? 7 k h r y h u o r d g s u r w h f w l r q w l p h f k d u d f w h u l v w l f v d u h g h v f u l e h g r q 3 caution 2 q f h w k l v h u u r u r f f x u v l w f d q q r w e h f o h d u h g d w o h d v w i r u v h f check that the torque (current) does not r v f l o o d w h v q r u x f w x d w h x s d q g r z q y h u \ much on the analog outoput and via communication. check the over-load alarm display and load factor with the analog outoput and via communication.. 1) increase the capacity of the driver and motor. set up longer acceleration/ deceleration time. lower the load. 2) make a re-adjustment. 3) make a wiring as per the wiring diagram. replace the cables. 4) remove the cause of distortion. lower the load. 5) measure the voltage between brake terminals. release the brake 6) make a correct wiring by matching the correct motor and encoder wires. * over- regeneration load protection 18 0 regenerative energy has exceeded the capacity of regenerative resistor. 1) due to the regenerative energy during deceleration caused by a large load inertia, converter voltage has risen, and the voltage is risen further due to the lack of capacity of absorbing this energy of the regeneration discharge resistor. 2) regenerative energy has not been d e v r u e h g l q w k h v s h f l h g w l p h g x h w r d high motor rotational speed. 3) active limit of the external regenerative u h v l v w r u k d v e h h q o l p l w h g w r g x w \ caution install an external protection such as thermal fuse without fail when \ r x v h w x s 3 u w r 2 w k h u z l v h u h j h q h u d w l y h u h v l v w r u o r v h v w k h protection and it may be heated up extremely and may burn out. check the load factor of the regenerative resistor from the front panel or via communi- cation. do not use in the continuous regenerative brake application. 1) check the running pattern (velocity monitor). check the load factor of the regenerative resistor and over-regeneration warning display. increase the capacity of the driver and the motor, and loosen the deceleration time. use the external regenerative resistor. 2) check the running pattern (speed monitor). check the load factor of the regenerative resistor. increase the capacity of the driver and the motor, and loosen the deceleration time. lower the motor rotational speed. use an external regenerative resistor. 6 h w x s 3 u w r note related page ? : k h q s u r w h f w l y h i x q f w l r q p d u n h g z l w k * in the protective function table is activated, it can- not be disabled by the alarm clear input (a-clr). to return to the normal operation, turn off power, remove the cause, and then turn on power again. ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 6-7 1. when in trouble protective function (detail of error code) 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement * regenerative transistor error protection 18 1 regenerative driver transistor on the servo driver is defective. replace the driver. * encoder communica- tion discon- nection error protection 21 0 communication between the encoder and the driver has been interrupted in certain times, and disconnection detecting function has been triggered. make a wiring connection of the encoder as per the wiring diagram. correct the miswiring of the connector pins. * encoder communica- tion error protection 1 communication error has occurred in data from the encoder. mainly data error due to noise. encoder cables are connected, but communication data has some errors. ? 6 h f x u h w k h s r z h u v x s s o \ i r u w k h h q f r g h u r i ' & 9 w r 9 s d \ d q d w w h q w l r q especially when the encoder cables are long. ? 6 h s d u d w h w k h h q f r g h u f d e o h d q g w k h p r w r u cable if they are bound together. ? & r q q h f w w k h v k l h o g w r ) * * encoder communi- cation data error protection 23 0 data communication between the encoder is normal, but contents of data are not correct. mainly data error due to noise. encoder cables are connected, but communication data has some errors. position deviation excess protection 24 0 deviation pulses have exceeded the v h w x s r i 3 u 1) the motor movement has not followed the command. 6 h w x s y d o x h r i 3 u 3 r v l w l r q deviation excess setup) is small. 1) check that the motor follows to the position command pulses. check that the output toque has not saturated in torque monitor. make a gain adjustment. set up maximum y d o x h w r 3 u d q g 3 u 0 d n h d encoder wiring as per the wiring diagram. set up the longer acceleration/deceleration time. lower the load and speed. 6 h w x s d o d u j h u y d o x h w r 3 u velocity deviation excess protection 1 the difference between the internal positional command speed and actual speed (speed deviation) exceeds the v h w x s y d o h r i 3 u note) if the internal positional command v s h h g l v i r u f l e o \ v h w w r g x h w r instantaneous stop caused by the f r p p d q g s x o v h l q k l e l w l q s x w , 1 + r u cw/ccw over-travel inhibit input, the speed deviation rapidly increases at this p r p h q w 3 u v h w x s y d o x h v k r x o g k d y h v x i f l h q w p d u j l q e h f d x v h w k h v s h h g deviation also largely increases on the rising edge of the internal positional command speed. ? , q f u h d v h w k h v h w x s y d o x h r i 3 u ? / h q j w k h q w k h d f f h o h u d w l r q g h f h o h u d w l r q time of internal positional command speed, or improve the follow-up characteristic by adjusting the gain. ? ' l v d e o h w k h h [ f h v v v s h h g g h y l d w l r q g h w h f w l r q 3 u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 6-8 1. when in trouble protective function (detail of error code) * hybrid deviation excess error protection 25 0 ? 3 r v l w l r q r i o r d g e \ w k h h [ w h u q d o v f d o h and position of the motor by the encoder slips larger than the setup pulses with pr3.28 (setup of hybrid deviation excess) at full-closed control. ? ' x u l q j i x o o f o r v h g f r q w u r o q x p h u d w r u of command division/multiplication is changed or switched over. ? & k h f n w k h f r q q h f w l r q e h w z h h q w k h p r w r u and the load. ? & k h f n w k h f r q q h f w l r q e h w z h h q w k h h [ w h u q d o scale and the driver. ? & k h f n w k d w w k h y d u l d w l r q r i w k h p r w r u position (encoder feedback value) and the load position (external scale feedback value) is the same sign when you move the load. check that the numerator and denominator of the external scale division (pr3.24 and 3.25) and reversal of external scale direction (pr3.26) are correctly set. ? ' r q r w f k d q j h f r p p d q g g l y l v l r q multiplication during full closed control. over-speed protection 26 0 the motor rotational speed has exceeded the setup value of pr5.13. ? ' r q r w j l y h d q h [ f h v v l y h v s h h g f r p p d q g ? & k h f n w k h f r p p d q g s x o v h l q s x w i u h t x h q f \ and division/multiplication ratio. ? 0 d n h d j d l q d g m x v w p h q w z k h q d q r y h u v k r r w has occurred due to a poor gain adjustment. ? 0 d n h d z l u l q j f r q q h f w l r q r i w k h h q f r g h u d v per the wiring diagram. 2nd over- speed protection 1 the motor rotational speed has exceeded the setup value of pr6.15. command pulse input frequency error protection 27 0 the frequency of command pulse input is more than 1.2 times the setting in pr5.32. check the command pulse input for frequency. electronic gear error protection 2 division and multiplication ratio which are set up with the command pulse counts per single turn and the1st and the 4th numerator/denominator of the electronic gear are not appropriate. 7 k h f r p p d q g s x o v h v s h u p v multiplied by the command division and p x o w l s o l f d w l r q u d w l r h [ f h h g v 0 s s v 7 k h f r p p d q g s x o v h l q s x w x f w x d w h v noises mixed with the command pulse input cause counting error. ? 6 h w w k h f r p p d q g g l y l v l r q d q g p x o w l s o l f d w l r q ratio to a value as small as possible e.g. e h w z h h q d q g ? & k h f n w k h v h w x s y d o x h r i h o h f w u r q l f j h d u ? , i s r v v l e o h x v h w k h o l q h g u l y h u , ) ? 6 h w 3 u v h w w l q j r i p d [ f r p p d q g s x o v h l q s x w w r d y d o x h o h v v w k d q d q g h q d e o h g l j l w d o o w h u pulse regeneration limit protection 28 0 the output frequency of pulse regeneration has exceeded the limit. ? & k h f n w k h v h w x s y d o x h v r i 3 u d q g ? 7 r g l v d e o h w k h g h w h f w l r q v h w 3 u w r phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 1. when in trouble protective function (detail of error code) 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement deviation counter r y h u r z protection 29 0 positional deviation of encoder pulse reference has exceeded 2 ? & k h f n w k d w w k h p r w r u u x q v d v s h u w k h position command pulses. ? & k h f n w k d w w k h r x w s x w w r t x h k d v q r w saturated in torque monitor. ? 0 d n h d j d l q d g m x v w p h q w ? 6 h w x s p d [ l p x p y d o x h w r 3 u d q g pr5.22. ? 0 d n h d z l u l q j f r q q h f w l r q r i w k h h q f r g h u d v per the wiring diagram. safety input protection 30 0 input photocoupler of both or one of safety input 1 and 2 is off. check wiring of safety input 1 and 2. * i/f input duplicated allocation error 1 protection 33 0 input signals (si1, si2, si3, si4, si5) are assigned with two functions. allocate correct function to each connector pin. * i/f input duplicated allocation error 2 protection 1 , q s x w v l j q d o v 6 , 6 , 6 , 6 , 6 , are assigned with two functions. * i/f input function number error 1 protection 2 input signals (si1, si2, si3, si4, si5) are d v v l j q h g z l w k x q g h q h g q x p e h u * i/f input function number error 2 protection 3 , q s x w v l j q d o v 6 , 6 , 6 , 6 , 6 , d u h d v v l j q h g z l w k x q g h q h g q x p e h u * i/f output function number error 1 protection 4 output signals (so1, so2, so3) are d v v l j q h g z l w k x q g h q h g q x p e h u * i/f output function number error 2 protection 5 output signals (so4, so5, so6) are d v v l j q h g z l w k x q g h q h g q x p e h u note ? : k h q s u r w h f w l y h i x q f w l r q p d u n h g z l w k * in the protective function table is activated, it can- not be disabled by the alarm clear input (a-clr). to return to the normal operation, turn off power, remove the cause, and then turn on power again. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; d q g d q o d r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 1. when in trouble protective function (detail of error code) * cl assignment error 33 6 counter clear function is assigned to a signal number other than si7. allocate correct function to each connector pin. * inh assignment error 7 command pulse inhibit input function is assigned to a signal number other than 6 , software limit protection 34 0 when a position command within the v s h f l h g l q s x w u d q j h l v j l y h q w k h p r w r u operates outside its working range v s h f l h g l q 3 u 1) gain is not appropriate. 2) pr5.14 setup value is low. 1) check the gain (balance between position loop gain and speed loop gain) and inertia ratio. 2) increase the setup value of pr5.14. or, 6 h w 3 u w r w r g l v d e o h w k h s u r w h f w l y h function. * eeprom parameter error protection 36 0 data in parameter storage area has been damaged when reading the data from eeprom at power-on. ? 6 h w x s d o o s d u d p h w h u v d j d l q ? , i w k h h u u r u s h u v l v w v u h s o d f h w k h g u l y h u l w may be a failure.) return the product to the dealer or manufacturer. 1 2 * eeprom check code error protection 37 0 ' d w d i r u z u l w l q j f r q u p d w l r q w r ( ( 3 5 2 0 has been damaged when reading the data from eeprom at power-on. replace the driver. (it may be a failure). return the product to a dealer or manufacturer. 1 2 * over-travel inhibit input protection 38 0 : l w k 3 u r y h u w u d y h o l q k l e l w l q s x w v h w x s e r w k s r v l w l y h d q g q h j d w l y h over-travel inhibit inputs (pot/not) have been on. : l w k 3 u s r v l w l y h r u q h j d w l y h over-travel inhibit input has turned on. check that there are not any errors in switches, wires or power supply which are connected to positive direction/ negative direction over-travel inhibit input. check that the rising time of the control power supply (dc12 to 24v) is not slow. analog input 1 (ai1) excess protection 39 0 + l j k h u y r o w d j h k d v e h h q d s s o l h g w r w k h analog input 1 than the value that has been set by pr4.24. ? 6 h w x s 3 u f r u u h f w o \ & k h f n w k h f r q q h f w l q j f r q g l w l r q r i w k h f r q q h f w r u ; ? 6 h w x s 3 u w r d q g l q y d o l g d w h w k h protective function. analog input 2 (ai2) excess protection 1 + l j k h u y r o w d j h k d v e h h q d s s o l h g w r w k h analog input 2 than the value that has been set by pr4.27. ? 6 h w x s 3 u f r u u h f w o \ & k h f n w k h f r q q h f w l q j f r q g l w l r q r i w k h f r q q h f w r u ; ? 6 h w x s 3 u w r d q g l q y d o l g d w h w k h protective function. analog input 3 (ai3) excess protection 2 + l j k h u y r o w d j h k d v e h h q d s s o l h g w r w k h analog input 3 than the value that has e h h q v h w e \ 3 u ? 6 h w x s 3 u f r u u h f w o \ & k h f n w k h f r q q h f w l q j f r q g l w l r q r i w k h f r q q h f w r u ; ? 6 h w x s 3 u w r d q g l q y d o l g d w h w k h protective function. note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k d q d o r j l q s x w phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 6-11 1. when in trouble protective function (detail of error code) 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement absolute system down error protection 40 0 voltage of the built-in capacitor has fallen e h o r z w k h v s h f l h g y d o x h e h f d x v h w k h power supply or battery for the absolute encoder has been down. caution once this error occurs, the alarm cannot be cleared until the absolute encoder is reset. after connecting the power supply for the battery, clear the absolute encoder. * absolute counter over error protection 41 0 multi-turn counter of the absolute h q f r g h u k d v h [ f h h g h g w k h v s h f l h g value. ? 6 h w 3 u w r w r l j q r u h w k h p x o w l w x u q counter over. ? / l p l w w k h w u d y h o i u r p w k h p d f k l q h r u l j l q within 32767 revolutions. absolute over- speed error protection 42 0 the motor speed has exceeded the v s h f l h g y d o x h z k h q r q o \ w k h v x s s o \ from the battery has been supplied to 17-bit encoder during the power failure. caution once this error occurs, the alarm cannot be cleared until the absolute encoder is reset. ? & k h f n w k h v x s s o \ y r o w d j h d w w k h h q f r g h u v l g h 9 ? ? & k h f n w k h f r q q h f w l q j f r q g l w l r q r i w k h f r q q h f w r u ; * encoder initialization error protection *1 43 0 encoder initialization error was detected. replace the motor. * absolute single turn counter error protection *1 44 0 single turn counter error of encoder has been detected. replace the motor. * absolute multi-turn counter error protection *1 45 0 multi turn counter error of encoder has been detected. replace the motor. * absolute status error protection *1 47 0 encoder has been running at faster v s h h g w k d q w k h v s h f l h g y d o x h d w s r z h u on. arrange so as the motor does not run at power-on. * encoder z-phase error protection*1 48 0 missing pulse of z-phase of serial incremental encoder has been detected. the encoder might be a failure. replace the motor. note ? : k h q s u r w h f w l y h i x q f w l r q p d u n h g z l w k * in the protective function table is activated, it can- not be disabled by the alarm clear input (a-clr). to return to the normal operation, turn off power, remove the cause, and then turn on power again. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 6-12 1. when in trouble protective function (detail of error code) * encoder cs signal error protection*1 49 0 cs signal logic error of serial incremental encoder has been detected. the encoder might be a failure. replace the motor. * feedback scale wiring error protection 50 0 communication between the external scale and the driver has been interrupted in certain times, and disconnection detecting function has been triggered. ? 0 d n h d z l u l q j f r q q h f w l r q r i w k h h [ w h u q d o scale as per the wiring diagram. ? & r u u h f w w k h p l v z l u l q j r i w k h f r q q h f w r u s l q v * external communi- cation data error protection 1 communication error has occurred in data from the external scale. mainly data error due to noise. external scale cables are connected, but communication date has some error. ? 6 h f x u h w k h s r z h u v x s s o \ i r u w k h h [ w h u q d o v f d o h r i ' & ? w r 9 s d \ attention especially when the external scale cables are long. ? 6 h s d u d w h w k h h [ w h u q d o v f d o h f d e o h d q g w k h motor cable if they are bound together. ? & r q q h f w w k h v k l h o g w r ) * u h i h u w r z l u l q j diagram. * external scale status 0 error protection *1 51 0 % l w r i w k h h [ w h u q d o v f d o h h u u r u f r g h (almc) has been turned to 1. & k h f n w k h v s h f l f d w l r q v r i w k h h [ w h u q d o scale. remove the causes of the error, then clear the external scale error from the front panel. and then, shut off the power to reset. * external scale status 1 error protection *1 1 bit 1 of the external scale error code (almc) has been turned to 1. & k h f n w k h v s h f l f d w l r q v r i w k h h [ w h u q d o scale. * external scale status 2 error protection *1 2 bit 2 of the external scale error code (almc) has been turned to 1. & k h f n w k h v s h f l f d w l r q v r i w k h h [ w h u q d o scale. * external scale status 3 error protection *1 3 bit 3 of the external scale error code (almc) has been turned to 1. & k h f n w k h v s h f l f d w l r q v r i w k h h [ w h u q d o scale. * external scale status 4 error protection *1 4 bit 4 of the external scale error code (almc) has been turned to 1. & k h f n w k h v s h f l f d w l r q v r i w k h h [ w h u q d o scale. * external scale status 5 error protection *1 5 bit 5 of the external scale error code (almc) has been turned to 1. & k h f n w k h v s h f l f d w l r q v r i w k h h [ w h u q d o scale. note ? : k h q s u r w h f w l y h i x q f w l r q p d u n h g z l w k * in the protective function table is activated, it can- not be disabled by the alarm clear input (a-clr). to return to the normal operation, turn off power, remove the cause, and then turn on power again. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ protective function error code no. causes measures main sub 6-13 1. when in trouble protective function (detail of error code) 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement * a-phase wiring error protection 55 0 a-phase wiring in the external scale is defective, e.g. discontinued. check the a-phase wiring connection. * b-phase wiring error protection 1 b-phase wiring in the external scale is defective, e.g. discontinued. check the b-phase wiring connection. * z-phase wiring error protection 2 z-phase wiring in the external scale is defective, e.g. discontinued. check the z-phase wiring connection. forced alarm input protection 87 0 forced alarm input (e-stop) is applied. check the wiring of forced alarm input (e-stop). * motor automatic recognition error protection 95 0 to 4 the motor and the driver has not been matched. replace the motor which matches to the driver. * other error 99 0 excessive noise or the like is detected as an abnormal signal. this type of error will occur if the alarm clear is attempted while the safety input 1/safety input 2 is not in normal state (input photocoupler is on). ? 7 x u q r i i w k h s r z h u r q f h w k h q u h h q w h u ? , i h u u r u u h s h d w v w k l v p l j k w e h d i d l o x u h stop using the products, and replace the motor and the driver. return the products to the dealer or manufacturer. ? $ g m x v w w k h f r q g l w l r q r i w k h v d i h w \ l q s x w safety input 2 and then start the alarm clear. other no. control circuit has malfunctioned due to excess noise or other causes. some error has occurred inside of the driver while triggering self-diagnosis function of the driver. ? 7 x u q r i i w k h s r z h u r q f h w k h q u h h q w h u ? , i h u u r u u h s h d w v w k l v p l j k w e h d i d l o x u h stop using the products, and replace the motor and the driver. return the products to the dealer or manufacturer. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-14 1. when in trouble protective function (detail of error code) time characteristics of err16.0 (overload protection) overload protection time characteristics time [s] msme 50w msme 100w 100v msme 100w 200v msme 200w msme 400w msme 750w 200v msme 750w(400v), 1.0kw to 5.0kw mdme 400w(400v), 600w(400v), 1.0kw to 15.0kw mfme 1.5kw to 4.5kw mhme 1.0kw to 7.5kw mgme 0.9kw to 6.0kw * mdme 7.5kw to 15.0kw, mhme 7.5kw and mgme 6.0kw is less than 300%. * only for position control type is not provided with msme 50w to 750w(200v), 750w(400v), mdme 400w(400v), 600w(400v), 7.5kw to 15.0kw, mfme, mhme 7.5kw and mgme 4.5kw, 6.0kw. 100 115 0.1 1 10 100 200 300 400 500 torque [%] time [s] 100 115 0.1 1 10 100 200 300 400 500 torque [%] motor type: m * md motor type: m * me msmd 50w msmd 100w 100v msmd 100w 200v msmd 200w mhmd 200w msmd 400w mhmd 400w msmd 750w mhmd 750w * only for position control type. caution use the motor so that actual torque stays in the continuous running range shown in ?s-t characteristic? of the motor. for the s-t characteristics, see p.7-55 motor characteristics (s-t characteristics). phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-15 1. when in trouble protective function (detail of error code) 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement software limit function (err34.0) 1) outline < r x f d q p d n h d q d o d u p v w r s r i w k h p r w r u z l w k v r i w z d u h o l p l w s u r w h f w l r q ( u u z k h q the motor travels exceeding the movable range which is set up with pr5.14 (motor working range setup) against the position command input range. < r x f d q s u h y h q w w k h z r u n i u r p f r o o l g l q j w r w k h p d f k l q h h q g f d x v h g e \ p r w r u r v f l o o d - tion. 2) applicable range this function works under the following conditions. conditions under which the software limit works control mode ? 3 r v l w l r q f r q w u r o ) x o o f o r v h g f r q w u r o others ? 6 k r x o g e h l q v h u y r r q f r q g l w l r q ? , q s x w v l j q d o v v x f k d v w k h g h y l d w l r q f r x q w h u f o h d u d q g f r p p d q g l q s x w inhibit, and parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run smoothly. 3) cautions ? 7 k l v i x q f w l r q l v q r w d s u r w h f w l r q d j d l q v w w k h d e q r u p d o s r v l w l r q f r p p d q g ? : k h q w k l v v r i w z d u h o l p l w s u r w h f w l r q l v d f w l y d w h g w k h p r w r u g h f h o h u d w h v d q g v w r s v d f- f r u g l q j w r 3 u v h t x h q f h d w d o d u p the work (load) may collide to the machine end and be damaged depending on the load during this deceleration, hence set up the range of pr5.14 including the decel- eration movement. ? 7 k l v v r i w z d u h o l p l w s u r w h f w l r q z l o o e h l q y d o l g d w h g g x u l q j w k h w u l d o u x q d q g i u h t x h q f \ characteristics functioning of the panaterm. note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-16 1. when in trouble protective function (detail of error code) 4) example of movement (1) when no position command is entered (servo-on status), the motor movable range will be the travel range which is set at both sides of the motor with pr5.14 since no position command is entered. when the load enters to w k h ( u u r f f x u u h q f h u d q j h r e o l t x h o l q h u d q j h v r i w z d u h o l p l w s u r w h f w l r q z l o o e h activated. (2) when the load moves to the right (at servo-on), when the position command to the right direction is entered, the motor movable range will be expanded by entered position command, and the movable range will be the position command input range + pr5.14 setups in both sides. (3) when the load moves to the left (at servo-on), when the position command to the left direction, the motor movable range will be expanded further. 5) condition under which the position command input range is cleared 7 k h s r v l w l r q f r p p d q g l q s x w u d q j h z l o o e h f o h d u h g x q g h u w k h i r o o r z l q j f r q g l w l r q v ? z k h q w k h s r z h u l v w x u q h g r q ? z k l o h w k h s r v l w l r q g h y l d w l r q l v e h l q j f o h d u h g ' h y l d w l r q f r x q w h u f o h d u l v y d o l g 3 u (sequence at over-travel inhibition) is 2 and over-travel inhibition input is valid.) ? $ w w k h e h j l q q l q j d q g h q g l q j r i w u l d o u x q y l d f r p p x q l f d w l r q motor load motor movable range position command input range pr5.14 pr5.14 error occurrence range error occurrence range motor load motor movable range position command input range error occurrence range error occurrence range pr5.14 pr5.14 motor load motor movable range error occurrence range error occurrence range pr5.14 pr5.14 related page ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-17 1. when in trouble protective function (detail of error code) 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement warning function when an error condition e.g. overloading occurs, the alarm code is issued to indicate that the corresponding protective function will be triggered if suitable corrective action is not taken. 7 k h d o d u p z l o o e h f o h d u h g d v w k h f d x v h r i w k h h u u r u l v u h p r y h g + r z h y h u f h u w d l q d o d u p z l o o remain latched for predetermined period as shown in the table below. to forcibly clear the alarm, take the normal alarm clear procedure. alarm alarm no. pr6.27 * 1 content overload protection $ / r d g i d f w r u l v r u p r u h w k h s u r w h f w l r q o h y h o over-regeneration alarm a1 5 h j h q h u d w l y h o r d g i d f w r u l v r u p r u h w k h protection level. battery alarm a2 fixed at no time limit. battery voltage is 3.2 v or lower. fan alarm a3 fan has stopped for 1 sec. * 2 encoder communication alarm a4 the number of successive encoder communication h u u r u v h [ f h h g v w k h v s h f l h g y d o x h encoder overheat alarm a5 the encoder detects overheat alarm. oscillation detection alarm a6 oscillation or vibration is detected. lifetime detection alarm a7 fixed at no time limit. the life expectancy of capacity or fan becomes v k r u w h u w k d q w k h v s h f l h g w l p h external scale error alarm a8 the feedback scale detects the alarm. external scale communication alarm $ the number of successive feedback scale f r p p x q l f d w l r q h u u r u v h [ f h h g v w k h v s h f l h g y d o x h * 7 k h f l u f o h p h d q v w k d w d w l p h l q w k h u d q j h w r v r u q r w l p h o l p l w f d q e h v h o h f w h g through pr6.27 ?warning latching time?. note that the battery warning and the end of life warning have no time limit. * 2 7 k h x s s h u i d q r q w k h + i u d p h g u l y h u v w r s v g x u l q j v h u y r 2 ) ) w r v d y h h q h u j \ 7 k l v l v q r u p d o d q g no fan alarm is displayed. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-18 6 2. setup of gain pre-adjustment protection when in trouble related page related page related page before starting gain adjustment, set the following parameters based on the conditions of use, to assure safe operation. 1) setup of over-travel inhibit input by inputting the limit sensor signal to the driver, the bumping against mechanical end can be prevented. refer to interface specification, positive/negative direction over- travel inhibit input (pot/not). set the following parameters which are related to over- travel inhibit input. 3 u 6 h w x s r i r y h u w u d y h o l q k l e l w l q s x w 3 u 6 h t x h q f h d w r y h u w u d y h o l q k l e l w 3 3 2 7 1 2 7 3 3 u 3 u 2) setup of torque limit by limiting motor maximum torque, damage caused by failure or disturbance such as bite of the machine and collision will be minimized. to apply standardized limit through s d u d p h w h u v v h w 3 u 7 k h v w w r u t x h o l p l w if the torque limit setup is lower than the value required during the actual application, w k h i r o o r z l q j w z r s u r w h f w l y h i h d w x u h v z l o o e h w u l j j h u h g r y h u v s h h g s u r w h f w l r q z k h q overshoot occurs, and excess positional deviation protection when response to the command delays. % \ d o o r f d w l q j w k h w r u t x h l q o l p l w r x w s x w 7 / & r i l q w h u i d f h v s h f l f d w l r q w r w k h r x w s x w v l j - nal, torque limit condition can be detected externally. 3 7 / & 3 3 u 3 3 u 3) setup of over-speed protection * h q h u d w h v ( u u 2 y h u v s h h g s u r w h f w l r q z k h q w k h p r w r u v s h h g l v h [ f h v v l y h o \ k l j k default setting is the applicable motor maximum speed [r/min] 1.2. if your application operates below the motor maximum speed, set pr5.13 setup of over-speed level by using the formula below. 3 u 6 h w x s r i r y h u v s h h g o h y h o 9 p d [ e to 1.5) 9 p d [ p r w r u p d [ l p x p v s h h g > u p l q @ l q r s h u d w l q j f r q g l w l r q factor in ( ) is margin to prevent frequent activation of over-speed protection. when running the motor at a low speed during initial adjustment stage, setup the over- speed protection by multiplying the adjusting speed by a certain margin to protect the mo- tor against possible oscillation. p.4-46 (pr5.13) (continued ...) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement related page 4) setup of the excess positional deviation protection during the position control or full-closed control, this function detects potential exces- v l y h g l i i h u h q f h e h w z h h q w k h s r v l w l r q d o f r p p d q g d q g p r w r u s r v l w l r q d q g l v v x h v ( u u excess positional deviation protection. ( [ f h v v s r v l w l r q d o g h y l d w l r q o h y h o f d q e h v h w w r 3 u 6 h w x s r i s r v l w l r q d o g h y l d w l r q excess. the deviation can be detected through command positional deviation [pulse (command unit)] and encoder positional deviation [pulse (encoder unit)], and one of z k l f k f d q e h v h o h f w h g e \ 3 u 3 r v l w l r q v h w x s x q l w v h o h f w 6 h h w k h f r q w u r o e o r f n g l d - gram.) ' h i d x o w v h w w l q j l v > s x o v h f r p p d q g x q l w @ because the positional deviation during normal operation depends on the operating v s h h g d q g j d l q v h w w l q j o o w k h h t x d w l r q e h o r z e d v h g r q \ r x u r s h u d w l q j f r q g l w l r q d q g l q s x w w k h u h v x o w l q j y d o x h w r 3 u ? : k h q 3 u g h w h f w l r q w k u r x j k f r p p d q g s r v l w l r q d o g h y l d w l r q 3 u 6 h w x s r i s r v l w l r q d o g h y l d w l r q h [ f h v v 9 f n s e w r 9 f p d [ l p x p i u h t x h q f \ r i s r v l w l r q d o f r p p d q g s x o v h > s x o v h f r p p d q g x q l w v @ . s s r v l w l r q o r r s j d l q > v @ factor in ( ) is margin to prevent frequent activation of excess positional deviation protection. note 1) when switching position loop gain kp, select the smallest value for calculation. note 2) when using the positional command filter and damping control, add the following values. 3 r v l w l r q d o f r p p d q g v p r r w k l q j i l o w h u 9 f filter time constant [s] 3 r v l w l r q d o f r p p d q g ) , 5 i l o w h u 9 f filter time constant [s]/2 ' d p s l q j f r q w u r o 9 f ? g d p s l q j i u h t x h q f \ > + ] @ ? : k h q 3 u g h w h f w l r q w k u r x j k h q f r g h u s r v l w l r q d o g h y l d w l r q full-closed positional deviation) 3 u 6 h w x s r i s r v l w l r q d o g h y l d w l r q h [ f h v v 9 h . s w r 9 h p d [ l p x p r s h u d w l r q i u h t x h q f \ > s x o v h v @ l q h q f r g h u x q l w r u i x o o f o r v h g x q l w . s s r v l w l r q o r r s j d l q > v @ note 3) when switching position loop gain kp, select the smallest value for calculation. 1 r w h : k h q 3 u v h w x s v r i s r v l w l r q d o f r p p d q g i l o w h u d q g g d p s l q j f r q w u r o k d y h no effect. 3 3 u 3 3 u related page 5) setup of motor working range during the position control or full-closed control, this function detects the motor posi- tion which exceeds the revolutions set to pr5.14 motor working range setup, and is- v x h v ( u u software limit protection. p.4-46 (pr5.14) 2. setup of gain pre-adjustment protection phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ related page 6) setup of hybrid deviation excess error protection at the initial operation with full-closed control, operation failure may occur due to re- verse connection of external scale or wrong external scale division ratio. 7 r l q g l f d w h w k l v w \ s h r i g h i h f w ( u u + \ e u l g g h y l d w l r q h [ f h v v h u u r u s u r w h f w l r q l v l v - sued when the deviation of motor position (encoder unit) and load position (external scale unit) exceed pr3.28 setup of hybrid deviation excess. ' h i d x o w v h w w l q j l v s x o v h f r p p d q g x q l w % h f d x v h w k h g h y l d w l r q l q q r u p d o r s h u d- tion varies with the operation speed and gain setup. add a margin to this setting ac- cording to your operating condition. p.4-32 (pr3.28) 2. setup of gain pre-adjustment protection phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-21 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6 3. troubleshooting when in trouble motor does not run : k h q w k h p r w r u g r h v q r w u x q u h i h u w r 3 ' l v s o d \ r i ) d f w r u r i 1 r 0 r w r u 5 x q q l q j r i 3 u h s d u d w l r q as well. & o d v v l f d w l r q causes measures parameter setup of the control mode is not correct check that the present control mode is correct with monitor mode of the front panel. 6 h w x s 3 u d j d l q 2) check that the input to control mode switching & 0 2 ' ( r i w k h & q q h f w r u ; l v f r u u h f w z k h q 3 u l v v h w w r w r selection of torque limit is not correct check that the external analog input (n-atl/ p-atl) is not used for the torque limit. 6 h w x s 3 u w r d q g d s s o \ > 9 @ w r 1 $ 7 / d q g > 9 @ w r 3 $ 7 / z k h q \ r x x v h w k h h [ w h u q d o l q s x w 6 h w x s 3 u w r d q g v h w x s w k h p d [ y d o x h w r 3 u z k h q \ r x x v h w k h s d u d p h w h u y d o x h setup of electronic gear is not correct. (position/full- closed) check that the motor moves by expected revolution against the command pulses. & k h f n w k h v h w x s v r i 3 u 3 u d q g 3 u w r 3 u d j d l q 2) connect the electronic gear switching input (div) of & r q q h f w r u ; w r & 2 0 2 r u l q y d o l g d w h w k h g l y l v l r q multiplication switching by setting up the same y d o x h w r 3 u d q g 3 u wiring servo-on input of connector ; 6 5 9 2 1 l v open. in the front panel monitor mode, is the pin no. corresponding to srv- on in ? - ? state? check and make a wiring so as to connect the srv- 2 1 l q s x w w r & 2 0 2 positive/negative direction over- travel inhibit input r i & r q q h f w r u ; (not/pot) is open. in the front panel monitor mode, is the pin no. corresponding to not/ pot in ? a ? state? 1) check and make a wiring so as to connect both 1 2 7 3 2 7 l q s x w v w r & 2 0 2 6 h w x s 3 u w r l q y d o l g d q g u h v h w w k h s r z h u command pulse input setup is incorrect. (position/full- closed) check that the input pulse counts and variation of command pulse sum does not slips, with monitor mode of the front panel. 1) check that the command pulses are entered f r u u h f w o \ w r w k h g l u h f w l r q v h o h f w h g z l w k 3 u 2) check that the command pulses are entered f r u u h f w o \ l q w k h i r u p d w v h o h f w h g z l w k 3 u command pulse input l q k l e l w l r q , 1 + r i & r q q h f w r u ; l v open. (position/ full-closed) in the front panel monitor mode, is the pin no. f r u u h v s r q g l q j w r , 1 + l q ? a ? state? & k h f n d q g p d n h d z l u l q j v r d v w r f r q q h f w w k h , 1 + l q s x w w r & 2 0 2 2) set up pr5.18 to 1 (invalid). counter clear input (cl) of & r q q h f w r u ; is connected to & 2 0 2 3 r v l w l r q full-closed) in the front panel monitor mode, is the pin no. corresponding to cl in ? a ? state? 1) check and make wiring so as to open the cl input 6 h w x s 3 u w r l q y d o l g related page ? 3 + r z w r 8 v h w k h ) u r q w 3 d q h o ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-22 : k h q w k h p r w r u g r h v q r w u x q u h i h u w r 3 ' l v s o d \ r i ) d f w r u r i 1 r 0 r w r u 5 x q q l q j r i 3 u h s d u d w l r q as well. & o d v v l f d w l r q causes measures wiring speed command is invalid (velocity) check that the velocity command input method (external analog command/internal velocity command) is correct. & k h f n w k h v h w x s v r i 3 u w r 3 u d j d l q e \ v h w w l q j x s 3 u w r z k h q \ r x x v h w k h h [ w h u q d o analog command. 6 h w x s 3 u w r 3 u d q g 3 u w r 3 u e \ v h w w l q j x s 3 u w r h l w k h u r q h r i r u z k h q you use the internal speed command. speed zero clamp input (zerospd) of & r q q h f w h u ; l v open. (velocity/torque) in the front panel monitor mode, is the pin no. corresponding to zerospd in ? a ? state? 1) check and make wiring so as to connect speed ] h u r f o d p s l q s x w w r & 2 0 2 2) set up pr3.15. torque command is invalid (torque) check that the torque command input method (spr/trqr input, p-atl/trqr input) is correct. 1) check that the input voltage is applied correctly by v h w w l q j x s 3 u w r z k h q \ r x x v h 6 3 5 7 5 4 5 input. 2) check that the input voltage is applied correctly by setting up pr3.17 to 1, when you use the p-atl/ trqr input. velocity control is invalid (torque) check that the velocity limit input method (parameter velocity, spr/ trqr/spl input) is correct. 1) set up the desired value to pr3.21 by setting up 3 u w r z k h q \ r x x v h w k h s d u d p h w h u v s h h g 2) check that the input voltage is applied correctly by setting up pr3.17 to 1, when you use the spr/ trqr/spl input. installation main power is shut off. in the front panel monitor mode, is the pin no. f r u u h v s r q g l q j w r 6 5 ' < in ? - ? state? check the wiring/voltage of main power of the driver (l1, l2 and l3). the motor shaft drags, the motor does not run. 1)check that you can turn the motor shaft, after turning off the power and separate it from the machine. 2)check that you can turn the motor shaft while applying dc24v to the brake in case of the motor with electromagnetic brake. if you cannot turn the motor shaft, consult with the dealer for repair. 3. troubleshooting motor does not run related page ? 3 ' h w d l o v r i s d u d p h w h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-23 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement & o d v v l f d w l r q causes measures parameter setup of the control mode is not correct. , i \ r x v h w x s 3 u w r 9 h o r f l w \ f r q w u r o p r g h e \ p l v w d n h d w position control mode, the motor runs slowly at servo-on due to v s h h g f r p p d q g r i i v h w & k d q j h w k h v h w x s r i 3 u w r adjustment gain adjustment is not proper. , q f u h d v h w k h v h w x s r i 3 u v w y h o r f l w \ o r r s j d l q ( q w h u w r u t x h o w h u r i 3 u d q g l q f u h d v h w k h v h w x s r i 3 u d j d l q velocity and position command are not stable. & k h f n w k h p r w r u p r y h p h q w z l w k f r q q h f w r u ; r i w k h i u r q w s d q h o or the waveform graphic function of the panaterm. review the wiring, connector contact failure and controller. wiring each input signal of connector ; l v f k d w w h u l q j 1) servo-on signal 2) positive/negative direction torque limit input signal 3) deviation counter input signal 4) speed zero clamp signal 5) command pulse inhibition input & k h f n w k h z l u l q j d q g f r q q h f w l r q e h w z h h q 3 l q d q g r i w k h & r q q h f w r u ; x v l q j w k h g l v s o d \ i x q f w l r q r i , 2 v l j q d o v w d w x v correct the wiring and connection so that the servo-on signal can be turned on normally. review the controller. 2) check the wiring and connection between pin-18 and 17, 16 and r i w k h & r q q h f w r u ; x v l q j w h v w h u r u r v f l o o r v f r s h & r u u h f w w k h wiring and connection so that positive/negative direction torque limit input can be entered normally. & k h f n w k h z l u l q j d q g f r q q h f w l r q e h w z h h q 3 l q d q g r i w k h & r q q h f w r u ; x v l q j g l v s o d \ i x q f w l r q r i , 2 v l j q d o v w d w x v & r u u h f w the wiring and connection so that the deviation counter input can be turned on normally. review the controller. 4) check the wiring and connection between pin-26 and 41of the & r q q h f w r u ; x v l q j ' l v s o d \ i x q f w l r q r i , 2 v l j q d o v w d w x v & r u u h f w the wiring and connection so that the speed zero clamp input can be entered normally. review the controller. 5) check the wiring and connection between pin-33 and 41of the & r q q h f w r u ; x v l q j g l v s o d \ i x q f w l r q r i , 2 v l j q d o v w d w x v & r u u h f w the wiring and connection so that the command pulse inhibition input can be entered normally. review the controller. noise is on the velocity command. 8 v h d v k l h o g f d e o h i r u f r q q h f w l q j f d e o h w r w k h & r q q h f w r u ; 6 h s d u d w h w k h s r z h u o l q h d q g v l j q d o o l q h f p r u o r q j h u l q w k h separate duct. slip of offset check the voltage between pin-14 and 15 (speed command input) using a tester or an oscilloscope. noise is on the position command. 8 v h d v k l h o g f d e o h i r u f r q q h f w l q j f d e o h w r w k h & r q q h f w r u ; 6 h s d u d w h w k h s r z h u o l q h d q g v l j q d o o l q h f p r u o r q j h u l q w k h separate duct. 6 3. troubleshooting when in trouble unstable rotation (not smooth), motor runs slowly even with speed zero at velocity control mode related page ? 3 ' h w d l o v r i s d u d p h w h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 2 x w o l q h r i 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-24 6 3. troubleshooting when in trouble positioning accuracy is poor & o d v v l f d w l r q causes measures system position command is not correct. (amount of command pulse) count the feedback pulses with a monitor function of the panaterm or feedback pulse monitor mode of the console while repeating the movement of the same distance. if the value does not return to the same value, review the controller. make a noise measure to command pulse. captures the positioning complete signal at the edge. monitor the deviation at positioning complete signal reception z l w k w k h & r q q h f w r u ; r u w k h z d y h i r u p j u d s k l f i x q f w l r q r i w k h panaterm. make the controller capture the signal not at the edge but with some time allowance. shape or width of the command pulse is not per the v s h f l f d w l r q v if the shape of the command pulse is broken or narrowed, review the pulse generating circuit. make a noise measure. noise is superposed on deviation counter clear input cl & r q q h f w r u ; 3 l q make a noise measure to external dc power supply and make no wiring of the unused signal lines. adjustment position loop gain is small. check the position deviation with the monitor function of the panaterm or at the monitor mode of the console. , q f u h d v h w k h v h w x s r i 3 u z l w k l q w k h u d q j h z k h u h q r r v f l o o d w l r q occurs. parameter setup of the positioning complete range is large. lower the setup of pr4.31 within the range where no chattering of complete signal occurs. command pulse frequency have h [ f h h g h g n s s v r u 0 s s v lower the command pulse frequency. change the division/ multiplication ratio of 1st and 2nd numerator of command division/ p x o w l s o l f d w l r q 3 u d q g 3 u 8 v h d s x o v h o l q h l q w h u i d f h exclusive to line driver when pulse line interface is used. setup of the division/ multiplication is not correct. check if the repetition accuracy is same or not. if it does not change, use a larger capacity motor and driver. velocity loop gain is proportion action at motor in stall. ? 6 h w x s 3 u d q g 3 u r i w l p h f r q v w d q w r i y h o r f l w \ o r r s l q w h j u d w l r q w r r u v p d o o h u ? 5 h y l h z w k h z l u l q j d q g f r q q h f w l r q v r w k d w w k h f r q q h f w l r q e h w z h h q pin-27 and 41 of the gain switching input connector, connector ; e h f r p h v r i i z k l o h \ r x v h w x s 3 u r i q g j d l q v h w x s w r wiring each input signal of connector ; l v f k d w w h u l q j 1) servo-on signal 2) deviation counter clear input signal 3) positive/negative direction torque limit input signal 4) command pulse inhibition input & k h f n w k h z l u l q j d q g f r q q h f w l r q e h w z h h q 3 l q d q g r i w k h f r q q h f w r u & r q q h f w r u ; x v l q j w k h g l v s o d \ i x q f w l r q r i , 2 v l j q d o status. correct the wiring and connection so that the servo-on signal can be turned on normally. review the controller. & k h f n w k h z l u l q j d q g f r q q h f w l r q e h w z h h q 3 l q d q g r i w k h f r q q h f w r u & r q q h f w r u ; x v l q j g l v s o d \ i x q f w l r q r i , 2 v l j q d o status. correct the wiring and connection so that the deviation counter clear input can be turned on normally. review the controller. 3 check the wiring and connection between pin-18 and 17, 16 and r i w k h f r q q h f w r u & r q q h f w r u ; x v l q j w h v w h u r u r v f l o o r v f r s h correct the wiring and connection so that positive/negative direction torque limit input can be entered normally. 4) check the wiring and connection between pin-33 and 41of the f r q q h f w r u & r q q h f w r u ; x v l q j g l v s o d \ i x q f w l r q r i , 2 v l j q d o status. correct the wiring and connection so that the command pulse inhibition input can be entered normally. review the controller. installation load inertia is large. check the overshoot at stopping with graphic function of the panaterm. if no improvement is obtained, increase the driver and motor capacity. related page ? 3 ' h w d l o v r i s d u d p h w h u ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 2 x w o l q h r i 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-25 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6 3. troubleshooting when in trouble origin point slips & o d v v l f d w l r q causes measures system z-phase is not detected. check that the z-phase matches to the center of proximity dog. execute the homing matching to the controller correctly. + r p l q j f u h h s v s h h g l v i d v w lower the homing speed at origin proximity. or widen the origin sensor. wiring chattering of proximity sensor (proximity dog sensor) output . check the dog sensor input signal of the controller with oscilloscope. review the wiring near to proximity dog and make a noise measure or reduce noise. noise is on the encoder line. 5 h g x f h q r l v h l q v w d o o d w l r q r i q r l v h o w h u r u i h u u l w h f r u h v k l h o g treatment of i/f cables, use of a twisted pair or separation of power and signal lines. no z-phase signal output. check the z-phase signal with oscilloscope. check that the pin- r i w k h f r q q h f w r u f r q q h f w r u ; l v f r q q h f w h g w r w k h h d u w k r i w k h controller. connect the earth of the controller because the open collector interface is not insulated. replace the motor and driver. request for repair. miswiring of z-phase output. check the wiring to see only one side of the line driver is connected or not. use a cz output (open collector if the controller is not differential input. 6 3. troubleshooting when in trouble abnormal motor noise or vibration & o d v v l f d w l r q causes measures wiring noise is on the speed command. measure the speed command inputs of pin-14 and 15 of the connector, & r q q h f w r u ; with an oscilloscope. reduce noise l q v w d o o d w l r q r i q r l v h o w h u r u i h u u l w h f r u h v k l h o g w u h d w p h q w r i , ) cables, use of a twisted pair, separation of power and signal lines. adjustment gain setup is large. / r z h u w k h j d l q e \ v h w w l q j x s o r z h u y d o x h v w r 3 u d q g r i y h o r f l w \ o r r s j d l q d q g 3 u d q g 3 u r i s r v l w l r q o r r s j d l q installation resonance of the machine and the motor. 5 h d g m x v w 3 u d q g check if the machine resonance exists or not with frequency characteristics analyzing function of the panaterm. set up the q r w f k i u h t x h q f \ w r 3 u 3 u 3 u r u 3 u l i u h v r q d q f h exists. motor bearing check the noise and vibration near the bearing of the motor while running the motor with no load. replace the motor to check. request for repair. electro-magnetic sound, gear noise, rubbing noise at brake engagement, hub noise or rubbing noise of encoder. check the noise of the motor while running the motor with no load. replace the motor to check. request for repair. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-26 6 3. troubleshooting when in trouble overshoot/undershoot, overheating of the motor (motor burn-out) & o d v v l f d w l r q causes measures adjustment gain adjustment is not proper. check with graphic function of panaterm or monitor (connector ; 0 d n h d f r u u h f w j d l q d g m x v w p h q w 5 h i h u w r $ g m x v w p h q w installation load inertia is large. check with graphic function of panaterm or monitor (connector ; 0 d n h d q d s s u r s u l d w h d g m x v w p h q w , q f u h d v h w k h p r w r u d q g driver capacity and lower the inertia ratio. use a gear reducer. looseness or slip of the machine. review the mounting to the machine. ambient temperature, environment. lower the temperature with cooling fan if the ambient temperature exceeds the predications. stall of cooling fan, dirt of fan ventilation duct. check the cooling fans of the driver and the machine. replace the g u l y h u i d q r u u h t x h v w i r u u h s d l u 7 k h x s s h u i d q r q w k h + i u d p h g u l y h u stops during servo off to save energy. this is normal.) mismatching of the driver and the motor. check the name plates of the driver and the motor. select a correct combination of them referring to the instruction manual or catalogue. failure of motor bearing. check that the motor does not generate rumbling noise while turning it by hand after shutting off the power. replace the motor and request for repair if the noise is heard. electromagnetic brake is kept engaged (left un-released). check the voltage at brake terminals. apply the power (dc24v) to release the brake. motor failure (oil, water or others) avoid the installation place where the motor is subject to high temperature, humidity, oil, dust or iron particles. motor has been turned by external force while dynamic brake has been engaged. check the running pattern, working condition and operating status, and inhibit the operation under the condition of the left. 6 3. troubleshooting when in trouble motor speed does not reach to the setup, motor revolutions (travel) is too large or small & o d v v l f d w l r q causes measures parameter velocity command input gain is not correct. & k h f n w k d w w k h v h w x s r i 3 u v s h h g f r p p d q g l q s x w j d l q l v p d g h v r d v w r p d n h w k h v h w x s r i p d n h v u p l q 9 adjustment position loop gain is low. 6 h w x s 3 u d q g 3 u s r v l w l r q o r r s j d l q w r d s s u r [ division/multiplication is not proper. 6 h w x s f r u u h f w y d o x h v w r 3 u v w q x p h u d w r u r i h o h f w u r q l f j h d u 3 u q x p h u d w r u p x o w l s o l h u r i h o h f w u r q l f j h d u d q g 3 u denominator of electronic gear. refer to parameter setup at each mode. related page ? 3 ' h w d l o v r i s d u d p h w h u ? 3 2 x w o l q h r i 6 h w x s v x s s r u w v r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-27 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6 3. troubleshooting when in trouble parameter returns to previous setup & o d v v l f d w l r q causes measures parameter no writing to eeprom has been carried out before turning off the power. 5 h i h u w r 3 ( ( 3 5 2 0 : u l w l q j 0 r g h r i 3 u h s d u d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 6-28 memo phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-1 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 . supplement 1. safety function outline ........................................................................................................7-2 input & output signals .................................................................................7-3 safety circuit block diagram ......................................................................7-5 timing chart ...............................................................................................7-6 example of connection ...............................................................................7-8 2. absolute system outline ......................................................................................................7-10 & r q j x u d w l r q ............................................................................................7-11 battery (for backup) installation ................................................................7-12 setup (initialization) of absolute encoder .................................................7-16 transferring absolute data ........................................................................7-16 transferring external scale absolute data .................................................7-21 display of battery alarm ...........................................................................7-25 3.outline of setup support software, ?panaterm? setup on the pc .......................................................................................7-26 4. communication outline ......................................................................................................7-27 6 s h f l f d w l r q v ............................................................................................7-28 list of communication command .............................................................7-39 details of communication command .......................................................7-40 5. motor characteristics (s-t characteristics) motor .........................................................................................................7-55 6. dimensions driver a-frame, b-frame .........................................................................7-73 c-frame, d-frame (200 v) ............................................................7-74 d-frame (400 v), e-frame (200 v) ................................................7-75 e-frame (400 v), f-frame .............................................................7-76 g-frame ........................................................................................7-77 h-frame ........................................................................................7-78 motor .........................................................................................................7-79 7. options noise filter ................................................................................................ 7-94 surge absorber .........................................................................................7-98 noise filter for signal lines ......................................................................7-99 junction cable for encoder ....................................................................7-100 junction cable for motor (without brake) ...............................................7-103 junction cable for motor (with brake) ....................................................7-106 junction cable for brake ........................................................................7-108 connector kit ..........................................................................................7-109 battery for absolute encoder .................................................................7-118 mounting bracket ....................................................................................7-119 reactor ...................................................................................................7-120 external regenerative resistor ..............................................................7-122 recommended components(surge absorber for motor brake) ..............7-124 list of peripheral equipments .................................................................7-125 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-2 7 1. safety function supplement outline outline description of safe torque off (sto) the safe torque off (sto) function is a safety function that shuts the motor current and turns off motor output torque by forcibly turning off the driving signal of the servo driver internal power transistor. for this purpose, the sto uses safety input signal and hardware (circuit). when sto function operates, the servo driver turns off the servo ready output signal (s-rdy) and enters safety state. this is an alarm condition and the 7-seg led on the front panel displays the error code number. safety precautions ? when using the sto function, be sure to perform equipment risk assessment to ensure that the system conforms to the safety requirements. ? even while the sto function is working, the following potential safety hazards exist. check safety in risk assessment. ? the motor may move when eternal force (e.g. gravity force on vertical axis) is exerted on it. provide an external brake, etc., as necessary to secure the motor. note that the purpose of motor with brake is holding and it cannot be used for braking application. ? when parameter pr5.10 sequence at alarm is set to free run (disable dynamic brake), the motor is free run state and requires longer stop distance even if no external force is applied. make sure that this does not cause any problem. ? when power transistor, etc., becomes defective, the motor will move to the extent equivalent of 180 electrical angle (max.). make sure that this does not cause any problem. ? the sto turns off the current to the motor but does not turn off power to the servo driver and does not isolate it. when starting maintenance service on the servo driver, turn off the driver by using a different disconnecting device. ? external device monitor (hereafter edm) output signal is not a safety signal. do not use it for an application other than failure monitoring. ? dynamic brake and external brake release signal output are not related to safety function. when designing the system, make sure that the failure of external brake release during sto condition does not result in danger condition. ? when using sto function, connect equipment conforming to the safety standards. note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; 6 d i h w \ i x q f w l r q f r q q h f w r u ? 3 & r q i r u p d q f h w r l q w h u q d w l r q d o v w d q g d u g v ? 3 + r z w r 8 v h w k h ) u r q w 3 d q h o ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-3 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement safety input signal caution for list of connector pin numbers, refer to p.2-53, signal symbol pin no. contents control mode safety input 1 sf1+ 4 ? input 1 that triggers sto function. this input turns off the upper arm drive signal of power transistor. ? when using the function, connect this pin in a way so that the photocoupler of this input circuit turns off to activate sto function. compatible all control mode 6 ) ? 3 safety input 2 sf2+ 6 ? input 2 that triggers sto function. this input turns off the lower arm drive signal of power transistor. ? when using the function, connect this pin in a way so that the photocoupler of this input circuit turns off to activate sto function. 6 ) ? 5 7-4 external device monitor (edm) output signal the monitor output signal is used by the external device to monitor the state of the safety input signal. connect the monitor output to the external device monitor terminal of the safety devices such as safety controller and safety sensor. signal symbol pin no. contents control mode edm output edm+ 8 outputs monitor signal that is used to check the safety function. caution this output signal is not a safety output. compatible all control mode ( ' 0 ? 7 / r j l f d o u h o d w l r q v k l s e h w z h h q v d i h w \ l q s x w v l j q d o d q g ( ' 0 r x w s x w v l j q d o note when both safety input 1 and 2 are off, i.e. when sto function of 2 safety input channels are active, the photocoupler in edm output circuit turns on. signal symbol photocoupler logic safety input sf1 on on off off sf2 on off on off edm output edm off off off on by monitoring the logics (all 4 states) of photocoupler shown in the table above, the external device can determine the status (normal or abnormal) of safety input circuit and edm output circuit. maximum delay time from input of safety 1 and 2 signals to output of edm signal is 6 ms. 1. safety function input & output signals note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; 6 d i h w \ i x q f w l r q f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-5 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 1. safety function supplement safety circuit block diagram power lpf 3ms control circuit motor m asic pc pc i_sf1 il_emg i_sf2 o_edm ( ' 0 ? edm+ 6 ) ? sf2+ sf1+ 6 ) ? x3 power section interface 4 3 6 5 8 7 +5v +5v +5v +5v +5v +5v in +5v out +5v +5v 5v 5v 3.3v level shifter n c analog input c analog input c port +5v ps voltage monitor il_err1 note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; 6 d i h w \ i x q f w l r q f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-6 7 1. safety function supplement timing chart operating timing for safety status * 1 t1 is the value set to pr4.38 setup of mechanical brake action at running or the time at which the motor revolution speed drops below the time set to pr4.39 brake release speed setup, whichever comes first. * 2 dynamic brake operates to the setting of pr5.10 sequence at alarm. * 3 when safety input 1 or 2 turns off, the state changes to sto condition. input coupler off (servo-off command) input coupler on (servo-on command) output coupler off (not ready) output coupler on (ready) output coupler off (alarm) output coupler on (not alarm) output coupler off (break engage) output coupler on (break release) output coupler off (break engage) output coupler on (break release) input coupler on output coupler off energized not-energized released engaged servo-on input (srv-on) motor energization dynamic brake *2 servo-ready output (s-rdy) servo-alarm output (alm) external brake release output (brk-off) when time to fall below value of pr4.39 is shorter, when setup value of pr4.38 is shorter, t1 *1 t1 *1 input coupler off (sto) output coupler on safety input 1 safety input 2 *3 edm output max 5ms max 6ms 0.5 to 5ms setup value of pr4.38 setup value of pr4.38 motor speed setup value of pr4.39 motor speed setup value of pr4.39 note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; 6 d i h w \ i x q f w l r q f r q q h f w r u ? 3 3 u 3 u ? 3 3 u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-7 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. safety function timing chart return timing from safety state * 1 photocouplers for safety input 1 and 2 should be turned on again with servo-on input turned off. otherwise, alarm occurs, and should be cleared. alarm clear should be performed after the safety input 1 and 2 have been turned back to on. otherwise, alarm occurs. * 2 this is an alarm condition and the dynamic brake operates according to pr5.10 se- quence at alarm. * 3 this is normal servo-off condition and the dynamic brake operates according to pr5.06 sequence at servo-off. input coupler off (servo-off command) input coupler on (servo-on command) output coupler off (not ready) output coupler on (ready) output coupler off (alarm) output coupler on (not alarm) input coupler off input coupler on output coupler off (break engage) input coupler on input coupler off output coupler on generated alarm servo-off output coupler off not-energized servo-on input (sev-on) *1 safety input 1 safety input 2 motor energization edm output dynamic brake servo-ready output (s-rdy) servo-clear intput (alm) *1 servo-alarm output (alm) external brake release output (brk-off) max 6ms released/engaged *2 released/engaged *3 once the servo on command is input, the operation proceeds in synchronous with normal servo on/off timing. (refer to p.2-61 timing chart) note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; 6 d i h w \ i x q f w l r q f r q q h f w r u ? 3 3 u ? 3 3 u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-8 example of connection to safety switch 7 1. safety function supplement example of connection example of connection to safety controller example of connection to safety sensor servo driver . servo driver . . 0v safety input edm output safety input safety switch 24v sefety output (source) sefety output (source) safety sensor safety controller contact output sf1+ 6 ) ? sf2+ 6 ) ? edm+ edm ? safety input edm output edm output safety input sf1+ control output 1 control output 2 0v 24v edm input 6 ) ? sf2+ 6 ) ? edm+ edm ? safety input contact output servo driver sf1+ 6 ) ? sf2+ 6 ) ? 0v a2 t33 t31 s24 s14 edm+ edm ? note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; 6 d i h w \ i x q f w l r q f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-9 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 1. safety function example of connection example of connection when using multiple axes . . . sefety output (source) edm output edm output servo driver sf1+ control output 1 control output 2 0v 24v edm input 6 ) ? sf2+ 6 ) ? edm+ edm ? servo driver sf1+ 6 ) ? sf2+ 6 ) ? edm+ edm ? edm output servo driver sf1+ 6 ) ? sf2+ 6 ) ? edm+ edm ? safety sensor ? capacity requirement per safety output (source) channel: 50 no. of connected axes (ma) ? 24 vdc supply allowable voltage: 24 v15% ? maximum no. of connectable axes: 8 note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; 6 d i h w \ i x q f w l r q f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-10 7 2. absolute system supplement outline outline of absolute system when you compose an absolute system using an absolute encoder, you are not required to carry out homing operation at the power-on, and this function suits very well to such an application as a robot. & r q q h f w w k h k r v w f r q w u r o o h u z l w k w k h 0 , 1 $ 6 $ z l w k d e v r o x w h v s h f l f d w l r q v p r w r u z l w k absolute encoder and driver with absolute spec) and set up the parameter, pr0.15 to 0 or 2, then connect the battery for absolute encoder to compose an absolute system with which you can capture the exact present position information after the power-on. shift the system to origin once after installing the battery and clear the multi-turn data by clearing the absolute encoder, then you can detect the absolute position without carrying out homing operation. via rs232 or rs485 communication, the host controller can connect up to 32 minas-a5 and capture the present position information as serial data to obtain the absolute position of each axis by processing. each data. applicable mode < r x f d q x v h d o o r i 0 , 1 $ 6 $ v h u l h v g u l y h u l q d e v r o x w h v s h f l f d w l r q v e \ v h w w l q j x s s d u d p - h w h u 8 v h w k h p r w r u z k l f k w k s o d f h g h v l j q d w h g i r u u r w d u \ h q f r g h u v s h f l f d w l r q v l v 6 (7-wire type). $ e v r o x w h 6 s h f l f d w l r q v there are 3 connecting methods of the host controller and minas-a5 driver as described below, and select a method depending on the interface of the host controller specs or number of axis to be connected. designate a module id to pr5.31 of each minas-a5 driver when you connect multiple minas-a5 in communication to one host controller as shown below. [parameter pr5.31] ? : k h q \ r x f r q q h f w h d f k 0 , 1 $ 6 $ w r w k h k r v w v h s d u d w h o \ z l w k 5 6 d q g v z l w f k w k h communication individually, designate 0 to 31 to each minas-a5. ? : k h q \ r x f r q q h f w r q h 0 , 1 $ 6 $ w r w k h k r v w z l w k 5 6 d q g f r q q h f w h d f k 0 , 1 $ 6 $ with rs485, designate 0 to the minas-a5 connected with the host, and designate 1 to 31 to other minas-a5. (max 32 axis are connectable.) ? : k h q \ r x f r q q h f w 0 , 1 $ 6 $ w r w k h k r v w z l w k 5 6 w k h k r v w l v j l y h q p r g x o h , ' r i and designate 1 to 31 to minas-a5. (max 31 axis are connectable.) m m s 8th place rotary encoder specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-11 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 2. absolute system supplement configuration * no connection to x5 when no external scale is used. host controller rs232 interface sn751701 or equivalent motor relay connector positioning controller txd rxd gnd 4 3 1 servo driver rxd txd gnd 6 rs485+ 5 8 7 rs485 ? rs485+ rs485 ? x2 rs485 can be connecter to either terminal pair. x4 x6 detection head external scale unit relay connector x5 sn751701 or equivalent motor relay connector 4 3 1 rxd txd gnd 6 rs485+ 5 rs485 ? 8 rs485+ 7 rs485 ? x2 x4 x6 detection head external scale unit relay connector x5 rs485 can be connecter to either terminal pair. when longer wirings are used and/or drivers are connected to different power sources, interconnect gnd terminals of these drivers to prevent potential generation. & r q j x u d w l r q r i d e v r o x w h v \ v w h p r i v f d o h x v l q j 5 6 l q w h u i d f h & r q j x u d w l r q r i d e v r o x w h v \ v w h p r i v f d o h x v l q j 5 6 l q w h u i d f h related page 3 & r q q h f w l r q r i & r p p x q l f d w l r q / l q h related page 3 & r q q h f w l r q r i & r p p x q l f d w l r q / l q h * no connection to x5 when no external scale is used. motor relay connector x4 x6 detection head external scale unit relay connector x5 rs485 interface adm485 or equivalent rs485+ rs485C gnd 8 7 servo driver x2 rs485+ 6 5 1 rs485C gnd rs485+ rs485C host controller positioning controller note * battery for absolute encoder is required to store the multi-turn data into the encoder. connect the battery between bat+ and batC of the motor. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-12 7 2. absolute system supplement battery (for backup) installation first installation of the battery after installing and connecting the back-up battery to the motor, execute an absolute en- coder setup. refer to p.7-16, "setup (initialization) of absolute encoder ". it is recommended to perform on/off action once a day after installing the battery for refreshing the battery. a battery error might occur due to voltage delay of the battery if you fail to carry out the battery refreshment. caution 8 v h w k h i r o o r z l q j e d w w h u \ i r u d e v r o x w h h q f r g h u battery .............part no. : dv0p2990 (3.6v 2000mah) battery box ......part no. : dv0p4430 replacement of the battery caution it is necessary to replace the battery for absolute encoder when battery alarm occurs. replace while turning on the control power. data stored in the encoder might be lost when you replace the battery while the control power of the driver is off. after replacing the battery, clear the battery alarm. refer to p.7-25, "how to clear the battery alarm". when you execute the absolute encoder with the front panel (refer to p.2-113 of prepara- tion), or via communication (refer to p.7-54), all of error and multi-turn data will be cleared w r j h w k h u z l w k d o d u p d q g \ r x d u h u h t x l u h g w r h [ h f x w h 6 h w x s , q l w l d o l ] d w l r q r i d e v r o x w h h q f r g h u u h i h u w r 3 how to replace the battery cn601 pull out after 5 min. connection raise the latch and take off the cover. 1) refresh the new battery. connector with lead wire of the battery to cn601 and leave of 5 min. pull out the connector from cn601 5 min after. 2) take off the cover of the battery box. note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q ? 3 % d w w h u \ ) r u $ e v r o x w h ( q f r g h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-13 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement caution caution ? % h d e v r o x w h o \ v x u h w r i r o o r z w k h s u h f d x w l r q v e h o r z v l q f h l p s u r s h u x v h r i w k h e d w w h u \ f d q cause electrolyte to leak from the battery, giving rise to trouble where the product may be- come corroded, and/or the battery itself may rupture. , q v h u w w k h e d w w h u \ z l w k l w v d q g 2 h o h f w u r g h v r u l h q w h g f r u u h f w o \ 2) leaving a battery which has been used for a long period of time or a battery which is no longer usable sitting inside the product can cause electrolyte leakage and other trouble. for this reason, ensure that such a battery is replaced at an early date. (as a general guideline, it is recommended that the battery be replaced every two years.) ? 7 k h h o h f w u r o \ w h l q v l g h w k h e d w w h u \ l v k l j k o \ f r u u r v l y h d q g l i l w v k r x o g o h d n r x w l w z l o o q r w only corrode the surrounding parts but also give rise to the danger of short-circuiting since it is electrically conductive. for this reason, ensure that the battery is replaced periodically. ' r q r w g l v d v v h p e o h w k h e d w w h u \ r u w k u r z l w l q w r d u h ? ' r q r w g l v d v v h p e o h w k h e d w w h u \ v l q f h i u d j p h q w v r i w k h l q w h u l r u s d u w v p d \ \ l q w r \ r x u h \ h v z k l f k l v h [ w u h p h o \ g d q j h u r x v , w l v d o v r g d q j h u r x v w r w k u r z d e d w w h u \ l q w r d u h or apply heat to it as doing to may cause it to rupture. ' r q r w f d x v h w k h e d w w h u \ w r e h v k r u w f l u f x l w h g 8 q g h u q r f l u f x p v w d q f h v p x v w w k h e d w w h u \ tube be peeled off. ? , w l v g d q j h u r x v i r u p h w d o l w h p v w r p d n h f r q w d f w z l w k w k h d q g 2 h o h f w u r g h v r i w k h e d w w h u \ v l q f h v x f k r e m h f w v p d \ f d x v h d k l j k f x u u h q w w r r z d o o d w r q f h z k l f k z l o o q r w only reduce the battery performance but also generate considerable heat, possibly leading to the rupture of the battery. 7 k l v e d w w h u \ l v q r w u h f k d u j h d e o h 8 q g h u q r f l u f x p v w d q f h v p x v w d q \ d w w h p s w e h p d g h w r recharge it. the disposal of used batteries after they have been replaced may be subject to restrictions imposed by local governing authorities. in such cases, ensure that their disposal is in accordance with these restrictions. connect the connector. place the battery with + facing downward. close the cover not to pinch the connector cable. 3) install the battery to the battery box. 4) close the cover of the battery box. 2. absolute system battery (for backup) installation phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-14 / l i h r i w k h e d w w h u \ caution following example shows the life calculation of the back-up battery used in assumed ro- bot operation. 2000[mah] of battery capacity is used for calculation. note that the following value is not a guaranteed value, but only represents a calculated value. the values below were calculated with only the current consumption factored in. the cal- culations do not factor in electrolyte leakage and other forms of battery deterioration. life time may be shortened depending on ambient condition. 1) 2 cycles/day annual consumption capacity = (10h a + 0.0014h b + 2h c) 2 313 days + 24h c 52 days = 297.8[mah] ) battery life = 2000[mah]/297.8[mah] = 6.7 (6.7159) [year] 2) 1 cycle/day (2nd cycle of the above 1) is for rest. annual consumption capacity = (10h a + 0.0014h b + 14h c) 313 days + 24h c 52 days = 640.6[mah] ) battery life = 2000[mah]/630.6[mah] = 3.1 (3.1715) [year] a : current consumption in normal mode 3.6[ ea] b : current consumption at power failure timer mode 280[ ea] * power failure timer mode...action mode in time period when the motor can respond to max. speed even the power is off (5sec). c : current consumption at power failure mode 110[ ea] mon. to sat. 313 days/365 day sun. 52 days/365 days 24h 10h 2h 10h 2h on off power supply 24h acb cb ac 2. absolute system battery (for backup) installation phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-15 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6 junction connector for encoder cable (optional connector kit) pin number when a connector (small motor) is used pin number when a connector (large motor) is used connector x6 (optional connector kit) 3 5 2 1 2 5 6 1 connector, zhr-2 (by j.s.t.) connector for absolute encoder connection (to be provided by customer) * 1 battery for absolute encoder (option): dv0p2990 battery box for absolute encoder: dv0p4430 2 1 2 7 4 1 (4) (1) (6) (5) (3) (7) (9) e5v e0v bat+ batC bat+ bat C ps batC bat+ fg ps e5v e0v ps ps fg (case) twisted pair title connector connector pin clamping jig part no. zmr-2 smm-003t-p0.5 yrs-800 manufacturer j.s.t. j.s.t. j.s.t. battery *1 ? wiring diagram 2. absolute system battery (for backup) installation when you make your own cable for 17-bit absolute encoder caution when you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute encoder, dv0p2990 as per the wiring diagram below. connector of the bat - tery for absolute encoder shall be provided by customer as well. install and fx the battery securely. if the installation and fxing of the battery is not appro - priate, it may cause the wire breakdown or damage of the battery. refer to the instruction manual of the battery for handling the battery. ? installation place 1) indoors, where the products are not subjected to rain or direct sun beam. 2) where the products are not subjected to corrosive atmospheres such as hydrogen sulfde, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of infammable gas, grinding oil, oil mist, iron powder or chips and etc. 3) well-ventilated and humid and dust-free place. 4) vibration-free place note related page ? only for position control type does not support the 17-bit absolute specifcation. it supports only 20-bit incremental specifcation. ? p.7-118 battery for absolute encoder phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-16 7 2. absolute system supplement setup (initialization) of absolute encoder absolute multi-turn data will be maintained by the absolute encoder battery. : k h q r s h u d w l q j w k h p d f k l q h i r u w k h u v w w l p h d i w h u l q v w d o o l q j w k h e d w w h u \ w r w k h d e v r o x w h h q - coder, clear the encoder data (multi-turn data) to 0 at the origin by following the procedure described below. clear the absolute encoder from the front panel (see p.2-113) or panaterm. turn off power and then on again. 7 2. absolute system supplement transferring absolute data transfer the absolute data (absolute data of external scale) from the servo driver to the host controller: turn on power and wait until the servo ready output (s-rdy) is turned on, and then start transfer. setup of serial communication interface on host controller ? 5 6 baud rate 2400, 4800, 9600, 19200, 38400, 57600, 115200bps data 8 bit parity none start bit 1 bit stop bit 1 bit the baud rate is set according to pr5.29 baud rate setup of rs232 communication. ? 5 6 baud rate 2400, 4800, 9600, 19200, 38400, 57600, 115200bps data 8 bit parity none start bit 1 bit stop bit 1 bit the baud rate is set according to pr5.30 baud rate setup of rs485 communication. note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 ' h w d l o v r i s d u d p h w h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-17 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement rs232 communication protocol refer to the instruction manual of the host for the transmission/reception method of com- mand. transmission starts n n n n y y y y transmission finishes 05h transmission host requests for absolute data to driver host receives absolute data from driver 04h transmission 06h transmission 15h transmission reception of absolute data (15 characters) 04h reception 06h reception 05h reception check sum ok'ed reception 01h transmission 00h transmission 2dh transmission * 1 * 2 d2h transmission enter the pr5.31 value of the driver to which you want to communicate from the host to axis ( * 1 data) of the command block, and transmit the command according to the rs232 communication protocol. for details of communication, refer to p.7-27, "communication". caution ? $ o o r z p v r u o r q j h u l q w h u y d o i r u d [ l v v z l w f k l q j z k h q \ r x z d q w w r capture multiple axes data. ? , w l v u h f r p p h q g h g i r u \ r x w r u h s h d w w k h d e r y h f r p p x q l f d w l r q p r u h than 2 times to confirm the absolute data coincide, in order to avoid mis-operation due to unexpected noise. 2. absolute system transferring absolute data data of * 1 and * 2 are determined by the setup r i 3 u $ [ l v d g g u h v v axis address (example) data of * 1 data of * 2 0 00h 2eh 1 01h 2dh 2 02h 2ch 3 03h 2bh 4 04h 2ah 5 05h 29h 6 06h 28h 7 07h 27h 80 8 h2 6 h 9 09h 25h 10 0ah 24h 11 0bh 23h 12 0ch 22h 13 0dh 21h 14 0eh 20h 15 0fh 1fh 16 10h 1eh 17 11h 1dh 18 12h 1ch 19 13h 1bh 20 14h 1ah 21 15h 19h 22 16h 18h 23 17h 17h 24 18h 16h 25 19h 15h 26 1ah 14h 27 1bh 13h 28 1ch 12h 29 1dh 11h 30 1eh 10h 31 1fh 0fh check sum becomes ok'ed when the lower 8-bit of the sum of the received absolute data (15 characters) is 0. note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-18 5 6 & r p p x q l f d w l r q 3 u r w r f r o refer to the instruction manual of the host for the transmission/reception method of com- p d q g ) r o o r z l q j v k r z v w k h f r p p x q l f d w l r q h [ d p s o h r i w k h g u l y h u w r 3 u $ [ l v d g g u h v v reception of absolute data (15 characters) n n n n y y y y host requests for absolute data to driver host receives absolute data from driver transmission starts transmission finishes 06h transmission 15h transmission check sum ok'ed reception 01h transmission 00h transmission 81h transmission 05h transmission 2dh transmission * 2 * 1 * 1 * 3 d2h transmission 80h reception 05h reception 80h transmission 04h transmission 81h reception 04h reception 06h reception command from the host will be transmitted to the desired driver based on rs485 trans- mission protocol. for details of communication, refer to p.7-27, "communication". caution ? $ o o r z p v r u o r q j h u l q w h u y d o i r u d [ l v v z l w f k l q j z k h q \ r x z d q w w r f d s - ture multiple axes data. ? , w l v u h f r p p h q g h g i r u \ r x w r u h s h d w w k h d e r y h f r p p x q l f d w l r q p r u h w k d q w l p h v w r f r q u p w k h d e v r o x w h g d w d f r l q f l g h l q r u g h u w r d y r l g mis-operation due to unexpected noise. 2. absolute system transferring absolute data data of * 1, * 2 and * 3 are determined by the setup of 3 u $ [ l v d g g u h v v axis address (example) data of * 1 data of * 2 data of * 3 0 not usable with rs485 communication 1 81h 01h 2dh 2 82h 02h 2ch 3 83h 03h 2bh 4 84h 04h 2ah 5 85h 05h 29h 6 86h 06h 28h 7 87h 07h 27h 8 88h 08h 26h 9 89h 09h 25h 10 8ah 0ah 24h 11 8bh 0bh 23h 12 8ch 0ch 22h 13 8dh 0dh 21h 14 8eh 0eh 20h 15 8fh 0fh 1fh 16 90h 10h 1eh 17 91h 11h 1dh 18 92h 12h 1ch 19 93h 13h 1bh 20 94h 14h 1ah 21 95h 15h 19h 22 96h 16h 18h 23 97h 17h 17h 24 98h 18h 16h 25 99h 19h 15h 26 9ah 1ah 14h 27 9bh 1bh 13h 28 9ch 1ch 12h 29 9dh 1dh 11h 30 9eh 1eh 10h 31 9fh 1fh 0fh check sum becomes ok'ed when the lower 8-bit of the sum of the received absolute data (15 characters) is 0. note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-19 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement composition of absolute data absolute data consists of singe-turn data which shows the absolute position per one revolution and multi-turn data which counts the number of revolution of the motor after clearing the encoder. single-turn data and multi-turn data are composed by using 15-character data (hexadeci- mal binary code) which are received via rs232 or rs485. single-turn data cw ccw C1 0 0 1 1 2 131071 0,1,2 13107 1 0,1,2 131071 0,1, multi-turn data motor rotational direction ? ' h w d l o v r i p x o w l w x u q g d w d 65535 cw 0 ccw error absolute counter over error protection normal error multi-turn data 0bh axis address d2h 03h 11h encoder status (l) setup value of pr5.31 axis address. 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 becomes to 0 when the communication is carried out normally. if not 0, capture the absolute data from the driver again received absolute data (15 characters) remarks note , i w k h p x o w l w x u q g d w d r i w k h d e r y h j l v e h w z h h q w r f r q y h u w l w w r v l j q h g date after deducting 65536. ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q 2. absolute system transferring absolute data single-turn data single-turn data (h)10000h+single-turn data (m)100h+single-turn data (l) multi-turn data multi-turn data (h) 100h+multi-turn data (l) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-20 remarks ) r u g h w d l o r i w k h ( q f r g h u v w d w x v u h i h u w r w k h ( q f r g h u v s h f l f d w l r q remarks ? 7 u d q v p l w w k h d e v r o x w h g d w d z k l o h i l [ l q j w k h p r w r u z l w k e u d n h e \ w x u q - ing to servo-off. (1) over-speed err42.0 (absolute over-speed error protection) (5) multi-turn error (6) battery error (7) battery alarm (2) full absolute status err47.0 (absolute status error protection) err44.0 (absolute single-turn counter error protection) err41.0 (absolute counter over error protection) (3) counter error (4) counter overflow err45.0 (absolute multi-turn counter error protection) err40.0 (absolute system down error protection) alarm no.a2 battery alarm ? ( q f r g h u v w d w x v / u h s u h v h q w v h u u r u r f f x u u h q f h ? ( q f r g h u v w d w x v / u h s u h v h q w v h u u r u r f f x u u h q f h encoder status (l) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 (1) (2) (3) (4) (5) (6) (7) encoder status (h) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 0 0000 battery error one of the following has occurred. battery alarm, multi-turn error, counter overflow, counter error, full absolute status, counter overflow multi-turn error, battery error or battery alarm 2. absolute system transferring absolute data note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q ? 3 3 u r w h f w l y h ) x q f w l r q ? 3 ' l v s o d \ r i % d w w h u \ $ o d u p phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-21 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement external scale rs232 communication procedure refer to the instruction manual of the host for the transmission/reception method of com- p d q g ) r o o r z l q j v k r z v w k h f r p p x q l f d w l r q h [ d p s o h r i w k h g u l y h u w r 3 u $ [ l v d g g u h v v transmission starts n n n n y y y y transmission finishes 05h transmission host requests for absolute data to driver host receives absolute data from driver 04h transmission 06h transmission 15h transmission reception of absolute data (15 characters) 04h reception 06h reception 05h reception check sum ok'ed reception 01h transmission 00h transmission 3dh transmission * 1 * 2 c2h transmission enter the pr5.31 value of the driver to which you want to communicate from the host to axis ( * 1 data) of the command block, and transmit the command according to the rs232 communication protocol. for details of communication, refer to p.7-27, "communication". caution ? $ o o r z p v r u o r q j h u l q w h u y d o i r u d [ l v v z l w f k l q j z k h q \ r x z d q w w r capture multiple axes data. ? , w l v u h f r p p h q g h g i r u \ r x w r u h s h d w w k h d e r y h f r p p x q l f d w l r q p r u h than 2 times to confirm the absolute data coincide, in order to avoid mis-operation due to unexpected noise. data of * 1 and * 2 are determined by the setup r i 3 u $ [ l v d g g u h v v axis address (example) data of * 1 data of * 2 k 3eh 1 k 3dh 2 k 3ch 3 k 3bh 4 k 3ah 5 k 39h 6 k k 7 k 37h k 36h 9 k 35h $ k 34h 11 % k 33h 12 & k 32h 13 ' k 31h 14 ( k k 15 ) k 2fh 16 k 2eh 17 11h 2dh 12h 2ch 19 13h 2bh 14h 2ah 21 15h 29h 22 16h k 23 17h 27h 24 k 26h 25 19h 25h 26 1ah 24h 27 1bh 23h 1ch 22h 29 1dh 21h 1eh k 31 1fh 1fh check sum becomes ok'ed when the lower 8-bit of the sum of the received absolute data (15 characters) is 0. 7 2. absolute system supplement transferring external scale absolute data note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-22 ( [ w h u q d o v f d o h 5 6 f r p p x q l f d w l r q s u r f h g x u h refer to the instruction manual of the host for the transmission/reception method of com- p d q g ) r o o r z l q j v k r z v w k h f r p p x q l f d w l r q h [ d p s o h r i w k h g u l y h u w r 3 u $ [ l v d g g u h v v reception of absolute data (15 characters) n n n n y y y y host requests for absolute data to driver host receives absolute data from driver transmission starts transmission finishes 06h transmission 15h transmission check sum ok'ed reception 01h transmission 00h transmission 81h transmission 05h transmission 3dh transmission * 2 * 1 * 1 * 3 c2h transmission 80h reception 05h reception 80h transmission 04h transmission 81h reception 04h reception 06h reception 2. absolute system transferring external scale absolute data data of * 1, * 2 and * 3 are determined by the setup of 3 u $ [ l v d g g u h v v axis address (example) data of * 1 data of * 2 data of * 3 1 r w x v d e o h z l w k 5 6 f r p p x q l f d w l r q 1 k k 3dh 2 k k 3ch 3 k k 3bh 4 k k 3ah 5 k k 39h 6 k k k 7 k k 37h k k 36h 9 k k 35h $ k $ k 34h 11 % k % k 33h 12 & k & k 32h 13 ' k ' k 31h 14 ( k ( k k 15 ) k ) k 2fh 16 k k 2eh 17 91h 11h 2dh 92h 12h 2ch 19 93h 13h 2bh 94h 14h 2ah 21 95h 15h 29h 22 96h 16h k 23 97h 17h 27h 24 k k 26h 25 99h 19h 25h 26 9ah 1ah 24h 27 9bh 1bh 23h 9ch 1ch 22h 29 9dh 1dh 21h 9eh 1eh k 31 9fh 1fh 1fh check sum becomes ok'ed when the lower 8-bit of the sum of the received absolute data (15 characters) is 0. command from the host will be transmitted to the desired driver based on rs485 trans- mission protocol. for details of communication, refer to p.7-27, "communication". caution ? $ o o r z p v r u o r q j h u l q w h u y d o i r u d [ l v v z l w f k l q j z k h q \ r x z d q w w r f d s - ture multiple axes data. ? , w l v u h f r p p h q g h g i r u \ r x w r u h s h d w w k h d e r y h f r p p x q l f d w l r q p r u h w k d q w l p h v w r f r q u p w k h d e v r o x w h g d w d f r l q f l g h l q r u g h u w r d y r l g mis-operation due to unexpected noise. note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-23 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement composition of external scale absolute data 8 v l q j f k d u d f w h u g d w d u h f h l y h g w k u r x j k 5 6 5 6 r u j d q l ] h w x u q g d w d d q g p x o w l turn data. 2. absolute system transferring external scale absolute data 0bh axis address c2h ffh *1 31h *2 external scale status (l) setup value of pr5.31 axis address. *1 undefined *2 depends on external scale. 31h: mitsutoyo made at573 32h: mitsutoyo made st771a, st773a 41h: magnescale made sr77, sr87 external scale status (h) absolute data (1) absolute data (2) absolute data (3) absolute data (4) absolute data (5) absolute data (6) error code checksum becomes to 0 when the communication is carried out normally. if not 0, capture the absolute data from the driver again received absolute data (15 characters) external scale absolute data absolute data (6)10000000000h +absolute data (5)100000000h +absolute data (4)1000000h +absolute data (3)10000h +absolute data (2)100h +absolute data (1) absolute data of external scale is represented as 48 bit number (negative value is repre- sented as two's complement). remarks , i w k h p x o w l w x u q g d w d r i w k h d e r y h j l v e h w z h h q w r f r q y h u w l w w r v l j q h g date after deducting 65536. note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-24 2. absolute system transferring external scale absolute data (1) alarm no. a8 external scale error alarm (5) err51.3 external scale status 3 error protection (6) err51.2 external scale status 2 error protection (7) err51.1 external scale status 1 error protection (8) err51.0 external scale status 0 error protection (2) alarm no. a8 external scale error alarm (3) err51.5 external scale status 5 error protection (4) err51.4 external scale status 4 error protection (1) (2) (3) (4) (5) (6) (7) (8) logical sum of bit6 and bit 7 of external scale status (l) logical sum of bit0 to bit 5 of external scale status (l) ? ( [ w h u q d o v f d o h v w d w x v / u h s u h v h q w v h u u r u r f f x u u h q f h ? ( [ w h u q d o v f d o h v w d w x v + u h s u h v h q w v h u u r u r f f x u u h q f h external scale status (l) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 external scale status (h) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 00000 remarks ) r u g h w d l o r i w k h h [ w h u q d o v f d o h v w d w x v u h i h u w r w k h h [ w h u q d o v f d o h v s h f l f d w l r q remarks ? 7 u d q v p l w w k h ( [ w h u q d o v f d o h d e v r o x w h g d w d z k l o h i l [ l q j w k h p r w r u z l w k brake by turning to servo-off. note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q ? 3 3 u r w h f w l y h ) x q f w l r q ? 1 h [ w s d j h ' l v s o d \ r i % d w w h u \ $ o d u p phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-25 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement following alarm will be displayed when making the front panel to alarm execution mode of monitor mode. 7 2. absolute system supplement display of battery alarm how to clear the battery alarm replace the battery for absolute encoder when battery alarm occurs according to p.7-12, "how to replace the battery". after replacement, clear the battery alarm in the following 3 methods. d & r q q h f w r u ; & r q q h f w l q j $ o d u p f o h d u l q s x w $ & / 5 w r & 2 0 2 i r u p r u h w k d q p v (b) executing the alarm clear function in auxiliary function mode by using the front panel. (c) click the "battery warning" clear button, after select the "absolute encoder" tab in the monitor display window by using the panaterm (option). ....... no alarm condition ...... highest priority alarm alarm number ? 3 u h v v w r v f u r o o d o d u p f r q g l w l r q v ? . l q g v r i d o d u p alarm no. alarm content / d w f k h g time * 1 a0 overload protection load factor is 85% or more the protection level. w r v r u ? a1 over-regeneration alarm regenerative load factor is 85% or more the protection level. v r u ? a2 battery alarm battery voltage is 3.2 v or lower. ) l [ h g d w ? a3 fan alarm fan has stopped for 1 sec. w r v r u ? a4 encoder communication alarm the number of successive encoder communication h u u r u v h [ f h h g v w k h v s h f l h g y d o x h w r v r u ? a5 encoder overheat alarm the encoder detects overheat alarm. w r v r u ? a6 oscillation detection alarm oscillation or vibration is detected. w r v r u ? a7 lifetime detection alarm the life expectancy of capacity or fan becomes v k r u w h u w k d q w k h v s h f l h g w l p h ) l [ h g d w ? a8 external scale error alarm the external scale detects the alarm. w r v r u ? a9 external scale communication alarm the number of successive external scale f r p p x q l f d w l r q h u u r u v h [ f h h g v w k h v s h f l h g y d o x h w r v r u ? * 1 alarms can be cleared by using the alarm clear. because the all existing alarms are kept cleared while the alarm clear input (a-clr) is kept on, be sure to turn it off during normal operation. either 1-10s or ? can be selected by using user parameter. ( [ f h s w l r q % d w w h u \ d o d u p l v [ h g d w ? e h f d x v h l w l v o d w f k h g e \ w k h h q f r g h u % h f d x v h w k h h q g r i o l i h d o d u p p h d q v w k d w w k h o l i h h [ s h f w d q f \ f d q q r w e h h [ w h q g h g w k h d o d u p l v v h w d w ? note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q ? 3 $ o d u p & o h d u 6 f u h h q ? 3 , q s x w v d q g r x w s x w v r q f r q q h f w r u ; ? 3 2 x w o l q h r i 6 h w x s 6 x s s r u w 6 r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-26 7 3. outline of setup support software, ?panaterm? supplement setup on the pc & r q q h f w r u ; r i 0 , 1 $ 6 $ f d q e h f r q q h f w h g w r \ r x u 3 & w k u r x j k 8 6 % f d e o h i r u f r p s x w h u once you download the setup support software panaterm from our web site and install it to your pc, the following tasks can be easily performed. outline of panaterm note with the panaterm, you can execute the followings. (1) setup and storage of parameters, and writing to the memory (eeprom). (2) monitoring of i/o and pulse input and load factor. (3) display of the present alarm and reference of the error history. (4) data measurement of the wave-form graphic and bringing of the stored data. (5) normal auto-gain tuning (6) frequency characteristic measurement of the machine system. distribution media such as cd-rom for this software are not prepared. download the software from our web site and install it to your pc. how to connect connect to connector x1. (usb mini-b) download setup support software panaterm from our web site and install it to your pc. ? 8 6 % f d e o h 7 k h f r q q h f w l r q f d e o h v k r x o g e h s u r y l g h g z l w k 8 6 % p l q l % f r q q h f w r u d w w k h g u l y h u v l g h and the pc compatible connector on the other end. , i w k h f d e o h k d v q r q r l v h o w h u l q v w d o o d v l j q d o q r l v h o w h u ' 9 p1460) to both ends of the cable. system required for panaterm to use panaterm, the following system components are required. ? 3 & os windows ? ; 3 6 3 e l w 9 h u windows ? vista sp1 (32-bit ver.) windows ? 7 (32-bit ver., 64-bit ver.) (japanese, english, chinese or korean version) cpu pentium iii 512 mhz or better memory 256 mb or more (512 mb recommended) hard disk 512 mb or more free space serial communication 8 6 % s r u w ? ' l v s o d \ resolution 1024 768 pixel or more no. of colors 24-bit color (true color) or better 3 o h d v h f r q u p w k h o d w h v w v \ v w h p u h t x l u h p h q w v r q w k h k r p h s d j h phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-27 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement you can connect up to 32 minas-a5 series with your computer or nc via serial commu- nication based on rs232 and rs484, and can execute the following functions. (1) change over of the parameters (2) referring and clearing of alarm data status and history (3) monitoring of control conditions such as status and i/o. (4) referring of the absolute data (5) saving and loading of the parameter data ? 0 h u l w v ? < r x f d q z u l w h s d u d p h w h u v i u r p w k h k r v w w r w k h g u l y h u l q e d w f k z k h q \ r x v w d u w x s w k h machine. ? < r x f d q g l v s o d \ w k h u x q q l q j f r q g l w l r q r i p d f k l q h w r l p s u r y h v h u y l f h d e l o l w \ ? < r x f d q f r p s r v h p x o w l d [ l v d e v r o x w h v \ v w h p z l w k v l p s o h z l u l q j 7 4. communication supplement outline note related page ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q ? 3 : l u l q j w r w k h & r q q h f w r u ; ? 3 $ e v r o x w h v \ v w h p ? 3 2 x w o l q h r i 6 h w x s 6 x s s r u w 6 r i w z d u h 3 $ 1 $ 7 ( 5 0 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-28 & r q q h f w l r q r i & r p p x q l f d w l r q / l q h minas-a5 series provide 2 types of communications ports of rs232 and rs485, and support the following 3 types of connection with the host. ? 5 6 f r p p x q l f d w l r q connect the host and the driver in one to one with rs232, and communicate accord- ing to rs232 transmission protocol. ? 6 h w x s w k h p r g x o h , ' r i 0 , 1 $ 6 $ , q w k h d e r y h f d v h \ r x f d q v h w d q \ y d o x h r i w r < r x f d q v h w w k h v d p h p r g x o h , ' d v o r q j d v w k h k r v w k d v q r g l i f x o w \ l q f r q w u r o ? 5 6 d q g 5 6 f r p p x q l f d w l r q when you connect one host to multiple minas-a5s, connect the host to connec- w r u ; r i r q h g u l y h u z l w k 5 6 f r p p x q l f d w l r q d q g f r q q h f w h d f k 0 , 1 $ 6 $ z l w k rs485 communication. set up the pr5.31 of the driver to 0 which is connected to the host, and set up 1 to 31 to other drivers each. 7 4. communication supplement specifications rs232 host pr5.31=1 pr5.31=1 pr5.31=1 pr5.31=1 x2 x2 x2 x2 selector etc. rs232 x2 rs485 ... max. 32 axis x2 rs485 x2 x2 rs485 host pr5.31=0 pr5.31=1 pr5.31=2 pr5.31=3 note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-29 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. communication specifications ? 5 6 f r p p x q l f d w l r q connect the host to multiple minas-a5s with rs485 communication, set up the pr5.31 of each front panel of minas-a5 to 1 to 31. $ o o r z p v r u o r q j h u l q w h u y d o i r u v z l w f k l q j w k h d [ h v z k l o h f d s w x u l q j g d w d r i p x o - tiple axes. x2 rs485 x2 rs485 x2 x2 rs485 rs485 pr5.31=1 pr5.31=2 pr5.31=3 pr5.31=4 ... max. 31 axis module id=0 host note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-30 interface of communication connector ? & r q q h f w l r q w r w k h k r v w z l w k 5 6 ? & r q q h f w l r q w r w k h k r v w z l w k 5 6 4. communication specifications * no connection to x5 when no external scale is used. host controller rs232 interface sn751701 or equivalent motor relay connector positioning controller txd rxd gnd 4 3 1 servo driver rxd txd gnd 6 rs485+ 5 8 7 rs485 ? rs485+ rs485 ? x2 rs485 can be connecter to either terminal pair. x4 x6 detection head external scale unit relay connector x5 sn751701 or equivalent motor relay connector 4 3 1 rxd txd gnd 6 rs485+ 5 rs485 ? 8 rs485+ 7 rs485 ? x2 x4 x6 detection head external scale unit relay connector x5 rs485 can be connecter to either terminal pair. when longer wirings are used and/or drivers are connected to different power sources, interconnect gnd terminals of these drivers to prevent potential generation. * no connection to x5 when no external scale is used. motor relay connector x4 x6 detection head external scale unit relay connector x5 rs485 interface adm485 or equivalent rs485+ rs485C gnd 8 7 servo driver x2 rs485+ 6 5 1 rs485C gnd rs485+ rs485C host controller positioning controller communication method rs232 5 6 full duplex, asynchronous half duplex, asynchronous communication baud rate 2400, 4800, 9600, 19200, 38400, 57600, 115200bps 2400, 4800, 9600, 19200, 38400, 57600, 115200bps data 8 bit 8 bit parity none none start bit 1 bit 1 bit stop bit 1 bit 1 bit ? set up the rs232 communication baud rate with pr5.29, and rs485 communication baud rate with pr5.30. the change of these parameters will be validated after the control power entry. for details, refer to the following list of parameters related to communication. note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-31 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. communication specifications / l v w r i 8 v h u 3 d u d p h w h u v i r u & r p p x q l f d w l r q class no. title setup value function 5 31 axis address 0 to 127 set the axis number for serial communication to 0 to 31. this parameter setup value has no effect on servo operation. 529 baud rate setup of rs232 communication 0 to 6 set up the communication speed of rs232 communication. 0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps] 8 s g d w h g v h w x s r i l v y d o l g d w h g x s r q w x u q l q j r q r i f r q w u r o s r z h u 530 baud rate setup of rs485 communication 0 to 6 set up the communication speed of rs485 communication. 0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps] 8 s g d w h g v h w x s r i l v y d o l g d w h g x s r q w x u q l q j r q r i f r q w u r o s r z h u ? 5 h t x l u h g w l p h i r u g d w d w u d q v p l v v l r q s h u e \ w h l v f d o f x o d w h g l q w k h i r o o r z l q j i r u p x o d l q case of 9600[bps]. 1000 / 9600 (1 + 8 + 1 ) = 1.04 [ms/byte] start bit stop bit data note that the time for processing the received command and time for switching the line and transmission/reception control will added to the actual communication time. caution ? + d q g v k d n h f r g h following codes are used for line control. title code function enq 05h (module recognition byte of the transmitted) enquire for transmission eot 04h (module recognition byte of the transmitted) ready for receiving ack 06h acknowledgement nak 15h negative acknowledgement enq ..... the module (host or driver) sends out enq when it has a block to send. eot ..... the m odule (host or driver) sends out eot when it is ready to receive a block. the line enters to a transmission mode when enq is transmitted and eot is received. ack ..... when the received block is judged normal, the module (host or driver) will send out ack. nak ..... when the received block is judged abnormal, nak will be sent. a judgment is based on checksum and timeout. 1 byte of module recognition is added to enq and eot at rs485 communication. module recognition byte... make the pr5.31 value of the front panel as a module id, and data which makes its bit7 as 1, becomes a module recognition byte. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 1000 m odule id module id : the module id of the host side will be 0 in case of rs485 communica- tion, therefore set up pr5.31 of minas-a5 to 1 to 31. note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-32 transmission sequence ? 7 u d q v p l v v l r q s u r w r f r o ? , q f d v h r i 5 6 host minas-a5 receiving data transmitting data 1) enq(05h) 2) eot(04h) 3) data block 4) ack(06h) (or nak (15h)) 5) enq(05h) 6) eot(04h) 7) data block 8) ack(06h) (or nak (15h)) ? , q f d v h r i 5 6 receiving data transmitting data host module id : 0 module id : 1 1) 81h, enq (05h) 2) 81h, eot (04h) 3) data block 4) ack (06h) (or nak (15h)) 5) 80h, enq (05h) 6) 80h, eot (04h) 7) data block 8) ack (06h) (or nak (15h)) minas-a5 ? / l q h f r q w u r o decides the direction of transmission and solves the contention. reception mode... from when the module (host or driver) returns eot after receiving enq. transmission mode... from when the module (host or driver) receives eot after trans- mitting enq. at contention of transmission and reception... slave side will enter to reception mode when it receives enq while waiting for eot after transmitting enq, by giving priority to enq (of master side). ? 7 u d q v p l v v l r q f r q w u r o on entering to transmission mode, the module transmits the command block continu- ously and then waits for ack reception. transmission completes at reception of ack.. ack may not be returned at transmission failure of command byte counts. if no ack is received within t2 period, or other code than nak or ack is received, sequence will be retried. retry will start from enq. ? 5 h f h s w l r q f r q w u r o on entering to reception mode, the module receives the transmitted block continuously. it z l o o u h f h l y h w k h f r p p d q g e \ w h f r x q w v i u r p w k h u v w e \ w h d q g f r q w l q x r x v o \ u h f h l y h h [ w u d bytes. it will return ack when the received data sum becomes 0, by taking this status as normal. in case of a check sum error or a timeout between characters, it will return nak. 4. communication specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-33 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? ' d w d % o r f n & r p s r v l w l r q below shows the composition of data block which is transmitted in physical phase. n : command byte counts (0 to 240) shows the number of parameters which are required by command. axis : sets up the value of pr5.31.(0 to 127) command : control command (0 to 15) mode : command execution mode (0 to 15) contents vary depending on the mode. check sum : 2's complement of the total number of bytes, ranging from the top to the end of the block ? 3 u r w r f r o 3 d u d p h w h u following parameters are used to control the block transmission. you can set any value with the init command (described later). title function initial value setup range unit t1 time out between characters rs232 5 (0.5 sec) 1 to 255 0.1 sec rs485 1 (0.1 sec) t2 protocol time out rs232 5 (0.5 sec) 1 to 255 1 sec rs485 1 (0.1 sec) t6 driver response time rs232 0 (0ms) 0 to 255 1 ms rs485 6 (6ms) 2 to 255 rty retry limit 1 (once) 1C8 once m/s master/slave 0 (slave) 0, 1 (master) 7 ? 3 h u p l v v l e o h w l p h l q w h u y d o i r u w k l v g u l y h u w r u h f h l y h w k h f r q v h f x w l y h f k d u d f w h u f r g v z k l f k h [ l v w v between the module recognition bytes and enq/eot, or in the transmission/reception data block. time out error occurs and the driver returns nak to the transmitter when the actual recep- tion time has exceed ed this setup time. 7 ? 3 h u p l v v l e o h w l p h l q w h u y d o i r u w k h g u l y h u w r w u d q v p l w ( 1 4 d q g w r u h f h l y h ( 2 7 , i w k h d f w x d o u h f h s - tion time exceeds this setup, this represents that the receiver is not ready to receive, or it has failed to receive enq code in some reason, and the driver will re-transmit enq code to the re- ceiver. (retry times) ? 3 h u p l v v l e o h w l p h l q w h u y d o i r u w k h g u l y h u w r w u d q v p l w ( 2 7 d q g w r u h f h l y h w k h u h f h s w l r q r i w k h v w f k d u d f w h u f r g h 7 k h g u l y h u z l o o u h w x u q 1 $ . d q g q l v k h v w k h u h f h s w l r q p r g h l i w k h d f w x d o u h f h s w l r q has exceeded this setup time. ? 3 h u p l v v l e o h w l p h l q w h u y d o i r u w k h p r g x o h w r w u d q v p l w w k h f k h f n v x p e \ w h v d q g w r u h f h l y h $ & . the module will re-transmit enq code to the receiver in the same way as the nak reception, if the actual reception time exceeds this setup time. 7 ? 3 h u p l v v l e o h w l p h l q w h u y d o i r u w k h g u l y h u w r u h f h l y h ( 1 4 d q g w r w u d q v p l w ( 2 7 3 h u p l v v l e o h w l p h l q w h u y d o i r u w k h g u l y h u w r u h f h l y h w k h f k h f n v x p e \ w h v d q g w r w u d q v p l w $ & . d q g 3 h u p l v v l e o h w l p h interval for the driver to receive eot and to transmit the 1st character. rty: maximum value of retry times. transmission error occurs if the actual retry has exceeds this setup value. m/s: switching of master and slave. when contention of enq has occurred, the module decides which is to be given priority. priority is given to the transmitter which is set up as a master. (0: slave mode, 1 : master mode) n axis parameter (n byte) check sum (1 byte) command mode 4. communication specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-34 example of data communication ? h j 5 h i h u h q f h r i $ e v r o x w h ' d w d when you connect the host to one driver with rs232 communication, and connect p x o w l s o h 0 , 1 $ 6 $ v z l w k 5 6 f r p p x q l f d w l r q ) r o o r z l q j r z f k d u w g h v f u l e h v w k h d f w x d o r z r i w k h f r p p x q l f d w l r q g d w d z k h q \ r x z d q w w r f d s w x u h w k h d e v r o x w h g d w d r i the module id=1. e.g. of system composition e.g. of capturing the absolute data following shows the communication data in time series when you want to capture the absolute data. data is presented in hexadecimals. caution see the below for the captured data. refer to p.7-48, "read out of absolute encoder " of details of communication command, for the data composition. multi-turn data : 0000h = 0 single turn data : 01ffd8h = 131032 $ o o r z p v r u o r q j h u l q w h u y d o i r u v z l w f k l q j w k h d [ l v z k l o h f d s w x u l q j g d w d r i p x o w l s o h d [ h v x2 rs485 x2 rs485 x2 x2 rs485 rs232 pr5.31=0 pr5.31=1 pr5.31=2 pr5.31=3 host 04 06 05 0b 01 d2 (eot) (ack) (enq) 05 (enq) 00 01 d2 2d 04 (eot) 03 11 00 00 d8 ff 01 00 00 00 00 36 06 (ack) minas-a5 (0) 81 04 06 80 05 (ack) (enq) (eot) 81 05 00 01 d2 2d 80 04 (enq) (eot) minas-a5 (1) minas-a5 (0) 0b 01 d2 03 11 00 00 d8 ff 01 00 00 minas-a5 (1) minas-a5 (0) 00 00 36 06 (ack) minas-a5 (1) host minas-a5 (0) host minas-a5 (0) rs232 communication rs485 communication * obtain data with rs485 (see the below) 4. communication specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-35 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? ( [ d p s o h r i 3 d u d p h w h u & k d q j h following shows the communication data in time series when you change parameters. communication in general will be carried out in sequence of (1) request for captur- ing of execution right, (2) writing of individual parameter, and (3) writing to eeprom when saving of data is required, and (4) release of execution right. here the hard- ware connection shows the case that the driver (user id=1) is directly connected to the host with rs232. date is presented in hexadecimals. caution for details of command, refer to p.7-40, "details of communication command". host 04 06 05 01 01 71 (eot) (ack) (enq) 05 1) capture of execution right (enq) 01 01 71 01 8c 04 (eot) minas-a5(1) 2) writing of individual parameter 3) writing of parameter to eeprom 4) release of execution right host 00 8d 04 06 (eot) (ack) 06 05 06 01 17 00 02 00 e0 (ack) (enq) (ack) (enq) 00 00 00 minas-a5(1) host 05 01 01 17 00 e6 04 (enq) (eot) 04 06 05 00 01 27 (eot) (ack) (enq) minas-a5(1) host 06 05 01 01 27 00 d7 d8 04 06 (eot) (ack) minas-a5(1) host 04 06 05 01 01 71 (eot) (ack) (enq) 05 (enq) 01 01 71 00 8d 04 (eot) minas-a5(1) host 00 8d 06 (ack) minas-a5(1) 4. communication specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-36 status transition chart ? 5 6 & r p p x q l f d w l r q receiver transmitter ready for eot block transmission ready for ack/nak reception of remained block ready for finish of receiving data ready for command byte counts idling = it waits for the reception of enq, and or it is dealing with reception. reception of eot size command bytes+3 t2 stop enquiry for transmission, and retry times are within setup transmission of enq, t2 start enquiry for transmission, but retry times are over. reset of retry times clear of transmission enquiry t2 time out one count of retry times t2 stop clear of transmission buffer size becomes 0 trransmission of check sum t2 start reception of other than ack ort2 time out count once of retry times t2 stop clearance of transmission buffer reception of ack reset of retry times t2 stop clear of transmission enquiry transmission of one character size command bytesC1 reception of enq and at slave return enq to reception buffer clear of transmission enquiry (reception processing) enq transmission of eot t2 start t2 time out transmission of nak, t2 stop reception of command byte counts size command byte counts + 3 sum command byte counts t1 start, t2 stop t1 time out transmission of nak, t1 stop success of reception (check sum ok'ed when size becomes o.) transmission of ack, t1 stop failure of reception. (check sum ok'ed when size becomes o.) t1 start reception of one character size size C1 sum sum + received character t1 start reception of one character t1 start t1 time out transmission of nak, t1 stop 4. communication specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-37 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? 5 6 & r p p x q l f d w l r q idling = it waits for the reception of module id, and or it is dealing with reception. receiver transmitter block transmission ready for ack/nak module identification byte of transmitter is the module id | 80h of the counterpart. ready for id ready for eot ready for enq or eot ready for command byte counts ready for finish of receiving data reception of remained block enquiry for transmission, and retry times are within setup module recognition byte, transmission of enq, t2 start module id of opponent t1 start id reception of other than opponent and at slave return enq to reception buffer (receipt processing) clear of transmission enquiry enquiry for transmission, butretry times are over. reset of retry times clear of transmission enquiry reception of eot size command bytes +3 t2 stop t2 time out one count of retry times t2 stop clearance of transmission buffering t1 time out one count of retry times t1 stop clearance of transmission buffering reception of ack or t2 time out count once of retry times t2 stop clearance of transmission buffer reception of ack reset of retry times t2 stop clearance of transmission enquiry size becomes 0 trransmission of check sum t2 start transmission of one character sizesize - 1 reception of module recognition bytes t1 start reception of of eot t2 start t1 time out t1 stop module identification byte isnot module id and enq reception or t1 timeout t1 stop success of reception (check sum ok'ed and module recognition byte is module id, when size becomes o.) transmission of ack, t1 stop t2 time out transmission of nak and t2 stop when module recognition byte is module id. t2 stop in other case than the above. module recognition byte is module id and reception of enq module recognition byte, transmission of eot, t2 start reception of command byte counts sizecommand byte counts + 3 sumcommand byte counts t1 start, t2 stop reception of one character size size - 1 sum sum + received character t1 start reception of one character t1 start failure of reception. (check sum error when size becomes o.) t1 start transmission to other axis (module recognition byte is not module id when size becomes 0) t1 stop t1 time out transmission of nak and t1 stop when module recognition byte is module id. t1 stop in other case than the above. t1 time out transmission of nak, t1 stop 4. communication specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-38 timing of data communication ? , q f d v h r i 5 6 5 6 w r i r o o r z caution above time represents a period from the rising edge of the stop bit. t3 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms t3 t4 enquiry for transmission permission for transmission ack/ nak data block enquiry for transmission permission for transmission ack/nak data block t5 t4 t3 t3 t5 t4 t5 host to driver driver to host rs485 bus occupation host to driver driver to host rs485 bus occupation symbol t3 t4 t5 title continuous inter-character time response time of driver response time of host minimum stop bit length protocol parameter t6 2ms maximum protocol parameter t1 protocol parameter t2 protocol parameter t2 4. communication specifications note ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h l v q r w s u r y l g h g z l w k ; & r p p x q l f d w l r q f r q q h f w r u d q g ; & r q - nector for external scale). ? 2 q o \ i r u s r v l w l r q f r q w u r o w \ s h g r h v q r w v x s s r u w w k h e l w d e v r o x w h v s h f l f d w l r q , w v x s s r u w v r q o \ e l w l q f u h p h q w d o v s h f l f d w l r q phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-39 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 4. communication supplement / l v w r i & r p p x q l f d w l r q & r p p d q g ? 8 v h w k h d e r y h f r p p d q g v r q o \ , i \ r x x v h r w k h u f r p p d q g v d f w l r q r i w k h g u l y h u f d q q r w be guaranteed. ? : k h q w k h u h f h s w l r q g d w d f r x q w v d u h q r w f r u u h f w l q w k h d e r y h f r p p d q g w u d q v p l v v l r q byte1 (error code only) will be returned regardless of communication command. command 0 1 2 7 9 mode 1 5 6 7 8 9 0 1 2 4 5 6 7 8 9 a c d e 0 1 2 6 7 8 0 2 3 4 b content nop read out of cpu version read out of driver model read out of motor model init capture and release of execution right setup of rs232 protocol parameter setup of rs485 protocol parameter pos, status, i/o read out of status read out of command pulse counter read out of feedback pulse counter read out of present speed read out of present torque output read out of present deviation counter read out of input signal read out of output signal read out of present speed, torque and deviation counter read out of status, input signal and output signal read out of external scale read out of absolute encoder read out of external scale deviation and sum of pulses parameter individual read out of parameter individual writing of parameter writing of parameter to eeprom individual read out of user parameter read out of two or more user parameter writing of two or more user parameter alarm read out of present alarm data batch read out of alarm history clear of user alarm history alarm clear absolute clear phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-40 7 4. communication supplement details of communication command 0dh axis model of ,motor (upper) model of motor (lower) error code checksum command 0 mode 1 ? 5 h d g r x w r i & 3 8 y h u v l r q 5 h f h s w l r q g d w d 0 axis checksum 0 1 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 9 h u v l r q l q i r u p d w l r q z l o o e h u h w x u q h g l q x s s h u g d w d d q g o r z h u g d w d ' h f l p d o s r l q w z l o o e h u h w x u q h g e \ p d n l q j w k h o r z h u e l w r i w k h x s s h u g d w d d v ? 9 h u v l r q z l o o e h g l v s o d \ h g l q i l j x u h v i u r p w r h j 9 h u v l r q z l o o e h x s s h u g d w d k o r z h u g d w d k e l w 0 : normal 1 : error 65 command error 5 6 h u u r u 210 axis 9 h u v l r q x s s h u 9 h u v l r q o r z h u error code checksum 0 1 command 0 mode 5 ? 5 h d g r x w r i g u l y h u p r g h 5 h f h s w l r q g d w d 0 axis checksum 0 5 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? ' u l y h u p r g h o f r q v l v w r i f k d u d f w h u v d q g z l o o e h w u d q v p l w w h g l q $ 6 & , , f r g h h j 0 $ ' + 7 e l w 0 : normal 1 : error 65 command error 5 6 h u u r u 210 0dh axis 0 r g h o r i g u l y h u x s s h u 0 r g h o r i g u l y h u o r z h u error code checksum 0 5 command 0 mode 6 ? 5 h d g r x w r i 0 r w r u 0 r g h o 0 axis checksum 0 6 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 0 r w r u p r g h o f r q v l v w r i f k d u d f w h u v d q g z l o o e h w u d q v p l w w h g l q $ 6 & , , f r g h h j 0 6 0 ( 6 e l w 0 : normal 1 : error 65 command error 5 6 h u u r u 210 0dh axis model of motor (upper) model of motor (lower) error code checksum 0 6 5 h f h s w l r q g d w d phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-41 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement command 1 mode 8 ? 6 h w x s r i 5 6 s u r w r f r o s d u d p h w h u 5 h f h s w l r q g d w d 4 axis t1 t2 t6 checksum 1 8 rty 0 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 8 q w l o w k l v f r p p d q g f r p s o h w h v s u h y l r x v v h w x s s u r w r f r o s d u d p h w h u z l o o e h s u r f h v v h g $ i w h u w k l v f r p p d q g k d v e h h q h [ h f x w h g w k l v s d u d p h w h u v h w x s z l o o e h y d o l g i u r p w k h q h [ w f r p p d q g ? 5 7 < l v e l w ? 8 q l w 7 v 7 v 7 p v e l w 1 r u p d o ( u u r u 65 7 h u u r u 4 5 6 h u u r u 3 5 7 < h u u r u 2 7 h u u r u 1 7 h u u r u 0 1 axis ( u u r u f r g h checksum 1 8 command 1 mode ? & d s w x u h d q g u h o h d v h r i h [ h f x w l r q u l j k w 5 h f h s w l r q g d w d 1 axis mode checksum 1 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? & d s w x u h w k h h [ h f x w l r q u l j k w w r s u h y h q w w k h f r q i o l f w r i w k h r s h u d w l r q y l d f r p p x q l f d w l r q d q g w k d w z l w k w k h i u r q w s d q h o ? ( q t x l u h v i r u w k h f d s w x u h r i w k h h [ h f x w l r q u l j k w d w s d u d p h w h u z u l w l q j d q g ( ( 3 5 2 0 z u l w l q j d q g u h o h d v h w k h h [ h f x w l r q u l j k w d i w h u w k h d f w l r q i l q l v k h v ? p r g h ( q t x l u h v i r u w k h f d s w x u h r i w k h h [ h f x w l r q u l j k w p r g h ( q t x l u h v i r u w k h u h o h d v h r i w k h h [ h f x w l r q u l j k w ? < r x f d q q r w r s h u d w h z l w k w k h i u r q w s d q h o d w r w k h u w k d q p r q l w r u p r g h z k l o h w k h h [ h f x w l r q u l j k w l v f d s w x u h g y l d f r p p x q l f d w l r q ? : k h q w k h p r g x o h i d l o v w r f d s w x u h w k h h [ h f x w l r q u l j k w l w z l o o w u d q v p l w w k h h u u r u f r g h r i l q x v h e l w 1 r u p d o ( u u r u 6543 p r g h h u u r u 210 l q x v h 1 axis ( u u r u f r g h checksum 1 & r p p d q g h u u r u 5 6 h u u r u command 1 mode 9 ? 6 h w x s r i 5 6 s u r w r f r o s d u d p h w h u 5 h f h s w l r q g d w d 4 axis t1 t2 t6 checksum 1 9 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 8 q w l o w k l v f r p p d q g f r p s o h w h v s u h y l r x v o \ v h w x s s u r w r f r o s d u d p h w h u z l o o e h s u r f h v v h g $ i w h u w k l v f r p p d q g k d v e h h q h [ h f x w h g w k l v s d u d p h w h u v h w x s z l o o e h y d o l g i u r p w k h q h [ w f r p p d q g ? 5 7 < l v e l w ? 8 q l w 7 v 7 v 7 p v e l w 1 r u p d o ( u u r u 6543210 rty 0 1 axis ( u u r u f r g h checksum 1 9 7 h u u r u 5 6 h u u r u 5 7 < h u u r u 7 h u u r u 7 h u u r u 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-42 ? 5 h d g r x w r i f r p p d q g s x o v h f r x q w h u ? & r q w u r o p r g h v d u h g h i l q h g d v i r o o r z v 3 r v l w l r q f r q w u r o p r g h 9 h o r f l w \ f r q w u r o p r g h 7 r u t x h f r q w u r o p r g h ) x o o f o r v h g f r q w u r o p r g h f r p p d q g 2 p r g h 1 5 h f h s w l r q g d w d 0 d [ l v f k h f n v x p 2 1 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 0 r g x o h u h w x u q v w k h s u h v h q w s r v l w l r q l q d e v r o x w h f r r u g l q d w h v i u r p w k h v w d u w l q j s r l q w 7 r w d o v x p r i d f f x p x o d w h g f r p p d q g s x o v h v ? & r x q w h u y d o x h l q e l w ? & r x q w h u y d o x h z l o o e h 2 i r u q h j d w l y h g l u h f w l r q d q g i r u s r v l w l y h g l u h f w l r q e l w 1 r u p d o ( u u r u 65 & r p p d q g h u u r u 4 5 6 h u u r u 210 5 d [ l v f r x q w h u y d o x h / + h u u r u f r g h f k h f n v x p 2 1 f r p p d q g 2 p r g h 0 ? 5 h d g r x w r i v w d w x v 5 h f h s w l r q g d w d 0 d [ l v f k h f n v x p 2 0 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? s r v l w l y h g l u h f w l r q q h j d w l y h g l u h f w l r q u x q q l q j 7 k l v e h f r p h v z k h q p r w r u v s h h g d i w h u f r q y h u w h g w r u p l q l v s r v l w l y h s r v l w l y h g l u h f w l r q r u q h j d w l y h q h j d w l y h g l u h f w l r q ? 6 o r z h u w k d q ' % s h u p l v v l r q 7 k l v e h f r p h v z k h q p r w r u v s h h g d i w h u f r q y h u w h g w r u p l q l v e h o r z u p l q ? 7 r u t x h l q o l p l w 7 k l v e h f r p h v z k h q w r u t x h f r p p d q g l v o l p l w h g e \ d q d o r j l q s x w r u s d u d p h w h u e l w 1 r u p d o ( u u r u 65 & r p p d q g h u u r u 4 5 6 h u u r u 210 v w d w x v e l w 654 3 r v l w l y h g l u h f w l r q u x q q l q j 2 1 h j d w l y h g l u h f w l r q u x q q l q j 1 6 o r z h u w k d q ' % s h u p l v v l r q 0 7 r u t x h l q o l p l w d [ l v f r q w u r o p r g h v w d w x v h u u r u f r g h f k h f n v x p 2 0 0 1 2 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-43 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement command 2 mode 4 ? 5 h d g r x w r i s u h v h q w v s h h g 5 h f h s w l r q g d w d 0 axis checksum 2 4 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 5 h d g v r x w w k h s u h v h q w v s h h g 8 q l w > u p l q @ ? 2 x w s x w y d o x h l q e l w ? 6 s h h g z l o o e h 2 i r u q h j d w l y h g l u h f w l r q d q g i r u s r v l w l y h g l u h f w l r q e l w 1 r u p d o ( u u r u 5432 0 3 axis ' d w d s u h v h q w v s h h g / + h u u r u f r g h checksum 2 4 command 2 mode 5 ? 5 h d g r x w r i s u h v h q w w r u t x h r x w s x w 5 h f h s w l r q g d w d 0 axis checksum 2 5 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 5 h d g v r x w w k h s u h v h q w w r u t x h r x w s x w 8 q l w & r q y h u w h g z l w k 5 d w h g p r w r u w r u t x h ? 2 x w s x w y d o x h l q e l w ? 7 r u t x h f r p p d q g z l o o e h 2 y d o x h i r u q h j d w l y h g l u h f w l r q d q g y d o x h i r u s r v l w l y h g l u h f w l r q e l w 1 r u p d o ( u u r u 5432 0 3 axis ' d w d s u h v h q w w r u t x h / + h u u r u f r g h checksum 2 5 command 2 mode 2 ? 5 h d g r x w r i i h h g e d f n s x o v h f r x q w h u 5 h f h s w l r q g d w d 0 axis checksum 2 2 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 0 r g x o h u h w x u q v w k h s u h v h q w s r v l w l r q r i i h h g e d f n s x o v h f r x q w h u l q d e v r o x w h f r r u g l q d w h v i u r p w k h v w d u l q j s r l q w ? & r x q w h u y d o x h z l o o e h 2 i r u q h j d w l y h g l u h f w l r q d q g i r u s r v l w l y h g l u h f w l r q ? ) h h g e d f n s x o v h f r x q w h u l v w k h w r w d o s x o v h f r x q w v r i w k h h q f r g h u d q g u h s u h v h q w v w k h d f w x d o p r w r u s r v l w l r q w u d y h o h g e l w 1 r u p d o ( u u r u 5 & r p p d q g h u u r u 4 5 6 h u u r u & r p p d q g h u u r u 5 6 h u u r u & r p p d q g h u u r u 5 6 h u u r u 32 0 5 axis f r x q w h u y d o x h / + h u u r u f r g h checksum 2 2 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-44 ? 5 h d g r x w r i l q s x w v l j q d o ? 5 h d g r x w r i s u h v h q w s r v l w l r q d o f r p p d q g g h y l d w l r q internal speed command selection 1 gain switching command pulse input inhibition damping control switching 1 command 2 mode 7 5 h f h s w l r q g d w d 0 axis checksum 2 7 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? logic of input signal is based on assignment set in the parameter. ? because of the internal logical data after conversion of input, it does not directly correspond to the input signal from the connector x5. ? cw over-travel inhibit input and ccw over-travel inhibit input will change according to the input logic, even if they have been disabled by the parameter, bit7 0 : normal 1 : error 6543210 5 axis data l data h error code checksum 2 7 command 2 mode 6 5 h f h s w l r q g d w d 0 axis checksum 2 6 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? 5 h d g v r x w w k h s u h v h q w s r v l w l r q d o f r p p d q g g h y l d w l r q 8 q l w > f r p p d q g x q l w @ ? 2 x w s x w y d o x h l q e l w ? % h f r p h v z k h q w k h h q f r g h u l v o r f d w h g d w q h j d w l y h g l u h f w l r q d j d l q v w s r v l w l r q f r p p d q g d q g 2 z k h q l w l v o r f d w h g at positive direction. bit7 0 : normal 1 : error 65 command error 4 5 6 h u u r u command error 5 6 h u u r u ' d w d 3210 5 axis g d w d g h y l d w l r q / h error code checksum 2 6 bit7 for manufacturer's use 6 6 z l w f k l q j r i electronic gear 1 5 6 s h h g ] h u r clamp 4 control mode switching 3 ccw over-travel inhibit cw over-travel inhibit 21 alarm clear 0 6 h u y r 2 1 bit15 for manufacturer's use 14 for manufacturer's use 13 internal speed command selection 2 12 11 for manufacturer's use 10 counter clear 9 6 z l w f k l q j r i electronic gear 2 22 damping control switching 2 21 torque limit switching 20 internal speed command selection 3 19 for manufacturer's use 17 for manufacturer's use 16 for manufacturer's use bit23 bit31 for manufacturer's use 31 for manufacturer's use 29 for manufacturer's use 6 d i h w \ l q s x w 27 6 d i h w \ l q s x w 26 for manufacturer's use 25 torque command sign 24 6 s h h g command sign 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-45 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? 5 h d g r x w r i r x w s x w v l j q d o in-speed torque in-limit mechanical brake released positioning complete (in-position) servo-alarm servo-ready full-closed positioning complete speed command on/off 2nd positioning complete (in-position) positional command on/off encoder communication alarm external scale communication alarm command 2 mode 8 5 h f h s w l r q g d w d 0 axis checksum 2 8 7 u d q v p l v v l r q g d w d ? 7 k h w d e o h e h o r z v k r z v w k h u h o d w l r q r i w k h v l j q d o v d q g d f w l r q v 2 8 h u u r u f r g h bit7 0 : normal 1 : error 6543210 command error rs485 error ' d w d d o d u p g d w d bit7 for p d q x i d f w x u h u v x v h 654 zero speed detection 3210 bit15 excite motor 14 & r q w u r o s r z h u latch 13 dynamic brake engagement 12 control inrush suppression relay 11 control regeneration brake 10 9 at-speed 8 for p d q x i d f w x u h u v x v h 6 d i h w \ ( ' 0 22 21 alarm attribute output 20 speed in-limit output 19 18 17 alarm output 2 16 alarm output 1 bit23 bit31 for p d q x i d f w x u h u v x v h 31 for p d q x i d f w x u h u v x v h 29 for p d q x i d f w x u h u v x v h 28 for p d q x i d f w x u h u v x v h 27 for p d q x i d f w x u h u v x v h 26 for p d q x i d f w x u h u v x v h 25 for p d q x i d f w x u h u v x v h 24 for p d q x i d f w x u h u v x v h overload protection 6 fan alarm 5 over-regeneration alarm 43 encoder overheat alarm 2 / l i h w l p h detection alarm 1 for p d q x i d f w x u h u v x v h 0 battery alarm bit7 bit15 for p d q x i d f w x u h u v x v h 14 for p d q x i d f w x u h u v x v h 13 for p d q x i d f w x u h u v x v h 12 11 10 9 oscillation detection alarm 8 external scale error alarm 7 axis data l data h alarm data l h error code checksum signal title servo-ready servo-alarm positioning completed mechanical brake released zero speed detection torque in-limit at-speed (speed arrival) in-speed (speed coincidence) full-closed positioning complete control regeneration brake control inrush suppression relay dynamic brake engagement & r q w u r o s r z h u o d w f k excite motor 0 servo-not ready normal positioning not completed mechanical brake engaged zero speed not detected torque not in-limit not at-speed(speed not arrived) not in-speed(speed not coincided) full-closed positioning not completed 7 x u q r i i u h j h q h u d w l r q 7 u release inrush suppression relay dynamic brake released 5 h o h d v h s r z h u o d w f k energize motor 1 at servo-ready at servo-alarm positioning in-complete mechanical brake released zero speed detected torque in-limit speed arriving in-speed (speed coincided) full-closed positioning completed turn on regeneration tr operate inrush suppression relay dynamic brake engaged 3 r z h u d e q r u p d o o d w f k l q j 6 h u y r i u h h ? % h f d x v h r i w k h l q w h u q d o o r j l f d o g d w d e h i r u h r x w s x w f r q y h u v l r q l w g r h v q r w g l u h f w o \ f r u u h v s r q g w r w k h r x w s x w v l j q d o w r w k h f r q q h f w r u ; ? 1 d p h v d q g i x q f w l r q v v k r z q d e r y h d u h i r u 0 , 1 $ 6 $ j h q h u d o s x u s r v h p r g h o 6 r p h r i l q s x w v l j q d o v z l o o k d y h g l i i h u h q w p h d q l q j i r u g l i i h u h q w v h u l h v 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-46 command 2 mode a ? 5 h d g r x w r i v w d w x v l q s x w v l j q d o d q g r x w s x w v l j q d o 5 h f h s w l r q g d w d 0 axis checksum 2 a ( u u r u f r g 7 u d q v p l v v l r q g d w d ? 0 h d q l q j r i h d f k e l w r i f r q w u r o p r g h v w d w x v l q s x w v l j q d o r x w s x w v l j q d o d q g d o d u p g d w d l v d v v d p h d v w k d w r i f r p p d q g 1 r f r p p d q g p r g h p r g h d q g p r g h e l w 1 r u p d o ( u u r u 65 & r p p d q g h u u r u 4 5 6 h u u r u 3210 ' k axis f r q w u r o p r g h v w d w x v l q s x w v l j q d o / l q s x w v l j q d o + r x w s x w v l j q d o / r x w s x w v l j q d o + d o d u p g d w d / d o d u p g d w d + h u u r u f r g h checksum 2 a command 2 mode 9 ? 5 h d g r x w r i s u h v h q w v s h h g w r u t x h d q g s r v l w l r q d o f r p p d q g g h y l d w l r q 5 h f h s w l r q g d w d 2 9 ( u u r u f r g 7 u d q v p l v v l r q g d w d ? 2 x w s x w y d o x h r i v s h h g d q g w r u t x h d u h l q e l w d q g g h y l d w l r q l q e l w ? 8 q l w d q g v l j q r i w k h r x w s x w g d w d l v d v v d p h d v w k d w r i f r p p d q g 1 r f r p p d q g p r g h p r g h d q g p r g h e l w 1 r u p d o ( u u r u 65 & r p p d q g h u u r u 4 5 6 h u u r u 3210 0 axis checksum 2 9 9 axis g d w d / v s h h g + g d w d / w r u t x h + g d w d / g h y l d w l r q + h u u r u f r g h checksum 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-47 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement command 2 mode c ? 5 h d g r x w r i i h h g e d f n v f d o h 5 h f h s w l r q g d w d 0 axis checksum 2 c 6 w d w x v / ? $ 7 v h u l h v 6 w d w x v + *3 bit5 : logical sum of bit0 to bit 5 of status (l) *4 bit4 : logical sum of bit6 and bit 7 of status (l) 7 u d q v p l v v l r q g d w d ? $ e v r o x w h s r v l w l r q g d w d e l w w r ) ) ) ) ) ) ) ) ) ) ) k bit7 thermal alarm 6 0 5 communication error 4 cpu, memory error 3 & d s d f l w \ d q g s k r w r h o h f w u l f error 2 encoder non-matching error 1 initialization error 0 2 y h u v s h h g bit7 0 6 0 5 encoder error *3 4 encoder alarm *4 3 0 2 0 1 0 0 0 6 w d w x v / ( q f r g h u , ' ? 6 7 6 w d w x v + *1 bit5 : logical sum of bit0 to bit 5 of status (l) *2 bit4 : logical sum of bit6 and bit 7 of status (l) bit7 thermal alarm 6 signal intensity alarm 5 signal intensity error 4 transducer error 3 $ % 6 g h w h f w l r q error 2 hardware error 1 initialization error 0 2 y h u v s h h g bit7 0 6 0 5 encoder error *1 4 encoder error *2 3 0 2 0 1 0 0 0 ( u u r u f r g h bit7 0 : normal 1 : error 65 command error 4 5 6 h u u r u 3210 ? & r p p d q g h u u r u r f f x u v d w r w k h u f r q w u r o p r g h v w k d q i x o o f o r v h g f r q w u r o 2 c st771 $ g g u h v v g d w d r i ( ( 3 5 2 0 32h encoder id (l) encoder id (h) $ 7 v h u l h v $ g g u h v v g d w d r i ( ( 3 5 2 0 31h % k axis encoder id (l) (h) status (l) (h) (l) d e v r o x w h s r v l w l r q g d w d e l w (h) error code checksum 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-48 command 2 mode d ? 5 h d g r x w r i d e v r o x w h h q f r g h u 5 h f h s w l r q g d w d 0 axis checksum 2 d 6 w d w x v / 6 w d w x v + 7 u d q v p l v v l r q g d w d ? e l w 6 \ v w h p g r z q ? e l w % d w w h u \ d o d u p p x o w l w x u q h u u r u f r x q w h u r y h u i o r z f r x q w h u u r u i x o o d e v r o x w h v w d w x v d q g o r j l f d o v x p r i r y h u v s h h g ? & r p p d q g h u u r u z l o o r f f x u z k h q \ r x x v h w k h d e r y h h q f r g h u r u d e v r o x w h h q f r g h u d v d q l q f u h p h q w d o h q f r g h u ? 6 l q j o h w x u q g d w d e l w k w r ) ) ) ) k ? 0 x o w l w x u q g d w d e l w k w r ) ) ) ) k e l w % d w w h u \ d o d u p 6 \ v w h p g r z q 0 x o w l w x u q h u u r u 0 3 & r x q w h u r y h u i o r z 2 & r x q w h u u r u ) x o o d e v r o x w h v w d w x v 0 2 y h u v s h h g ( u u r u f r g h e l w 1 r u p d o ( u u r u & r p p d q g h u u r u 5 6 h u u r u 32 0 % k axis h q f r g h u , ' / + v w d w x v / + / v l q j o h w x u q g d w d + p x o w l w x u q g d w d / + 0 ( u u r u f r g h checksum 2 d e l w d e v r o x w h 3 k ( q f r g h u , ' / ( q f r g h u , ' + command 2 mode ( ? 5 h d g r x w r i h [ w h u q d o v f d o h g h y l d w l r q d q g v x p r i s x o v h v 5 h f h s w l r q g d w d 2 ( ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? ( [ w h u q d o v f d o h ) % s x o v h v x p z l o o u h w x u q w k h s u h v h q w s r v l w l r q r i w k h h [ w h u q d o v f d o h f r x q w h u l q d e v r o x w h f r r u g l q d w h v i u r p w k h v w d u w l q j s r l q w ? ( [ w h u q d o v f d o h ) % s x o v h v x p z l o o e h i r u q h j d w l y h g l u h f w l r q d q g i r u s r v l w l y h g l u h f w l r q ? ( [ w h u q d o v f d o h g h y l d w l r q e h f r p h v z k h q w k h h [ w h u q d o v f d o h l v s r v l w l r q h g d w q h j d w l y h g l u h f w l r q d j d l q v w s r v l w l r q f r p p d q g d q g 2 z k h q l w l v s r v l w l r q h g d w s r v l w l y h g l u h f w l r q e l w 1 r u p d o ( u u r u 5 6 h u u r u & r p p d q g h u u r u 32 0 0 axis checksum 2 ( 9 axis / h [ w h u q d o v f d o h ) % s x o v h v x p + / h [ w h u q d o v f d o h g h y l d w l r q + h u u r u f r g h checksum 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-49 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement ? , q g l y l g x d o z u l w l q j r i s d u d p h w h u ? : u l w l q j r i s d u d p h w h u w r ( ( 3 5 2 0 control lv ? , q g l y l g x d o u h d g r x w r i s d u d p h w h u command 7 mode 1 5 h f h s w l r q g d w d ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? , i w k h s d u d p h w h u w \ s h r u w k h s d u d p h w h u 1 r l v r x w v l g h w k h u d q j h u h w x u q v 1 r h u u r u ? 7 k l v f r p p d q g f k d q j h s d u d p h w h u v r q o \ w h p s r u d u l o \ , i \ r x z d q w w r z u l w h l q w r ( ( 3 5 2 0 h [ h f x w h w k h s d u d p h w h u z u l w l q j w r ( ( 3 5 2 0 p r g h ? 6 h w x s s d u d p h w h u v q r w l q x v h w r z l w k r x w i d l o r u l w o h d g v w r g d w d h u u r u ' d w d h u u r u d o v r r f f x u v z k h q w k h s d u d p h w h u y d o x h h [ f h h g v w k h v h w x s u d q j h ? 3 d u d p h w h u y d o x h v k r x o g e h v l j q h [ w h q g h g w r e l w v e h i r u h e h l q j w u d q v p l w w h g ? , i w k h s d u d p h w h u w \ s h r u w k h s d u d p h w h u 1 r l v r x w v l g h w k h u d q j h u h w x u q v 1 r h u u r u ? 3 d u d p h w h u y d o x h l v v l j q h [ w h q g h g w r e l w v d q g u h w x u q h g e l w 1 r u p d o ( u u r u 6 ' d w d ( u u r u 5 command error 4 5 6 h u u r u ' d w d ( u u r u command error 5 6 h u u r u 1 r ( u u r u 1 command 7 mode 5 h f h s w l r q g d w d d [ l v f k h f n v x p 7 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? : u l w h v w k h s u h v h w s d u d p h w h u v w r ( ( 3 5 2 0 ? 7 u d q v p l v v l r q g d w d z l o o e h u h w x u q h g d i w h u ( ( 3 5 2 0 z u l w l q j f r p s o h w h v , w p d \ w d n h p d [ v h f i r u ( ( 3 5 2 0 z u l w l q j z k h q d o o s d u d p h w h u v k d y h e h h q f k d q j h g ? ' d w d h u u r u z l o o r f f x u z k h q z u l w l q j i d l o v ? : k h q x q g h u y r o w d j h r f f x u v h u u r u f r g h r i f r q w u r o / 9 z l o o e h u h w x u q h g l q v w h d g r i h [ h f x w l q j z u l w l q j e l w 1 r u p d o ( u u r u 654 1 1 d [ l v error code f k h f n v x p 7 command 7 mode 5 h f h s w l r q g d w d ( u u r u f r g h 7 u d q v p l v v l r q g d w d e l w 1 r u p d o ( u u r u 65 command error 4 5 6 h u u r u 1 r ( u u r u 1 d [ l v s d u d p h w h u w \ s h s d u d p h w h u 1 r f k h f n v x p 7 5 d [ l v l s d u d p h w h u y d o x h h error code f k h f n v x p 7 6 d [ l v s d u d p h w h u w \ s h s d u d p h w h u 1 r l s d u d p h w h u y d o x h h f k h f n v x p 7 1 1 d [ l v error code f k h f n v x p 7 1 4. communication details of communication command phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-50 4. communication details of communication command command 7 mode 6 ? , q g l y l g x d o u h d g r x w r i x v h u s d u d p h w h u 5 h f h s w l r q g d w d 3 u r s h u w \ 7 u d q v p l v v l r q g d w d bit7 parameter not in use 6 display inhibited 54 change at initialization 3210 bit15 14 13 12 11 10 9 8 read only ( u u r u f r g h bit7 0 : normal 1 : error 6543210 command error no.error rs485 error ? , i w k h s d u d p h w h u w \ s h r u w k h s d u d p h w h u 1 r l v r x w v l g h w k h u d q j h u h w x u q v 1 r h u u r u ? 3 d u d p h w h u y d o x h 0 , 1 y d o x h d q g 0 $ ; y d o x h v k r x o g e h v l j q h [ w h q g h g w r e l w v e h i r u h e h l q j w u d q v p l w w h g 2 d [ l v parameter type parameter no. checksum 7 6 17 (11h) d [ l v parameter type parameter no. (l) parameter value (h) (l) 0 , 1 value (h) (l) 0 $ ; value (h) property l h error code checksum 7 6 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-51 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. communication details of communication command command 7 mode 7 ? 5 h d g r x w r i w z r r u p r u h x v h u s d u d p h w h u 5 h f h s w l r q g d w d 7 u d q v p l v v l r q g d w d ? , i w k h s d u d p h w h u w \ s h r u w k h s d u d p h w h u 1 r l v r x w v l g h w k h u d q j h u h w x u q v 1 r h u u r u ? 3 d u d p h w h u y d o x h 0 , 1 y d o x h d q g 0 $ ; y d o x h v k r x o g e h v l j q h [ w h q g h g w r e l w v e h i r u h e h l q j w u d q v p l w w h g 3 u r s h u w \ e l w 3 d u d p h w h u q r w l q x v h 6 ' l v s o d \ l q k l e l w h g 54 & k d q j h d w l q l w l d o l ] d w l r q 10 e l w 14 11 10 9 8 5 h d g r q o \ ( u u r u f r g h e l w 1 r u p d o ( u u r u 654 10 & r p p d q g h u u r u 1 r ( u u r u 5 6 h u u r u k (16) d [ l v s d u d p h w h u w \ s h s d u d p h w h u 1 r s d u d p h w h u w \ s h s d u d p h w h u 1 r s d u d p h w h u w \ s h s d u d p h w h u 1 r f k h f n v x p 7 7 k) d [ l v s d u d p h w h u w \ s h s d u d p h w h u 1 r / s d u d p h w h u y d o x h + / 0 , 1 y d o x h + / 0 $ ; y d o x h + 3 u r s h u w \ /) + ) s d u d p h w h u w \ s h s d u d p h w h u 1 r 3 u r s h u w \ /) + ) h u u r u f r g h f k h f n v x p 7 7 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-52 4. communication details of communication command command 7 mode 8 ? : u l w l q j r i w z r r u p r u h x v h u s d u d p h w h u 5 h f h s w l r q g d w d 7 u d q v p l v v l r q g d w d 17(11h) axis (1) parameter type (1) parameter no. (2) parameter type (2) parameter no. (8) parameter type (8) parameter no. error code checksum 7 8 30h(48) axis (1) parameter type (1) parameter no. (l) (1) parameter value (h) (8) parameter type (8) parameter no. (l) (8) parameter value (h) checksum 7 8 command 9 mode 0 ? 5 h d g r x w r i s u h v h q w d o d u p g d w d 5 h f h s w l r q g d w d 0 axis checksum 9 0 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? , i q r d o d u p r f f x u v d o d u p 1 r e h f r p h v ) r u d o d u p 1 r u h i h u w r 3 3 u r w h f w l y h i x q f w l r q : k d w l v d o d u p f r g h " r i : k h q l q 7 u r x e o h e l w 0 : normal 1 : error 543210 3 axis alarm no. (main) d o d u p 1 r 6 x e error code checksum 9 0 command error rs485 error ( u u r u f r g h ? 6 h w w r x q x v h g s d u d p h w h u 2 w k h u z l v h g d w d h u u r u r f f x u v : k h q g d w d r x w v l g h w k h v s h f l i l h g v h w w l q j u d q j h l v v h q w g d w d error occurs. ? , i w k h s d u d p h w h u w \ s h r u w k h s d u d p h w h u 1 r l v r x w v l g h w k h u d q j h u h w x u q v 1 r h u u r u e l w 0 : normal 1 : error 543210 data error command error no.error rs485 error phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-53 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 4. communication details of communication command command 9 mode 4 ? $ o d u p f o h d u 5 h f h s w l r q g d w d 0 axis checksum 9 4 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? & o h d u v w k h s u h v h q w d o d u p r q o \ w k r v h \ r x f d q f o h d u e l w 1 r u p d o ( u u r u 6543210 1 axis ( u u r u f r g h checksum 9 4 command 9 mode 3 ? & o h d u r i x v h u d o d u p k l v w r u \ 5 h f h s w l r q g d w d 0 axis checksum 9 3 ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? & o h d u v w k h d o d u p g d w d k l v w r u \ ? ' d w d h u u r u z l o o r f f x u z k h q \ r x i d l o w r f o h d u ? : k h q x q g h u y r o w d j h r i f r q w u r o s r z h u v x s s o \ r f f x u v h u u r u f r g h r i f r q w u r o / 9 z l o o e h u h w x u q h g l q v w h d g r i h [ h f x w l q j z u l w l q j e l w 1 r u p d o ( u u r u 6543210 1 axis ( u u r u f r g h checksum 9 3 ' d w d ( u u r u & r p p d q g h u u r u 5 6 h u u r u & r p p d q g h u u r u 5 6 h u u r u & r q w u r o / 9 command 9 mode 2 ? % d w f k u h d g r x w r i d o d u p k l v w r u \ 5 h f h s w l r q g d w d ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? < r x f d q u h d g r x w o d v w h u u r u h y h q w v e l w 1 r u p d o ( u u r u 6543210 & r p p d q g h u u r u & r p p d q g h u u r u v w o d w h v w q g o d w h v w w k o d w h v w 0 axis checksum 9 2 ' k axis d o d u p 1 r 0 d l q d o d u p 1 r 6 x e d o d u p 1 r 0 d l q d o d u p 1 r 6 x e d o d u p 1 r 0 d l q d o d u p 1 r 6 x e h u u r u f r g h checksum 9 2 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-54 4. communication details of communication command command 9 mode b ? $ e v r o x w h f o h d u 5 h f h s w l r q g d w d 0 axis checksum 9 b ( u u r u f r g h 7 u d q v p l v v l r q g d w d ? & o h d u v d e v r o x w h h q f r g h u h u u r u d q g p x o w l w x u q g d w d ? & r p p d q g h u u r u z l o o e h u h w x u q h g z k h q \ r x x v h r w k h u h q f r g h u w k d q e l w d e v r o x w h h q f r g h u e l w 1 r u p d o ( u u r u 65432 0 axis ( u u r u f r g h checksum 9 b & r p p d q g h u u r u 5 6 h u u r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-55 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement msmd series : w r : msmd series ( 50w to 100w ) * these are subject to change. contact us when you use these values for your machine design. * 5 d w l r w r w k h u d w h g w r u t x h d w d p e l h q w w h p s h u d w x u h r i y & l v l q f d v h r i z l w k r x w r l o v h d o z l w k r x w e u d n h 50 95 0 203040 0.25 0 2000 3000 4000 5000 0.5 (0.4) 3 h d n u x q q l q j u d q j h continuous running range (3600) 50 70 60 0203040 0.25 0 2000 3000 4000 5000 3 h d n u x q q l q j u d q j h continuous running range z l w k e u d n h without e u d n h 0.5 (0.4) (3600) 50 95 0 203040 0.5 0 2000 3000 4000 5000 (0.8) (0.6) 3 h d n u x q q l q j u d q j h continuous running range 50 75 70 0203040 0.5 0 2000 3000 4000 5000 continuous running range z l w k e u d n h without e u d n h (0.8) (0.6) 3 h d n u x q q l q j u d q j h 50 95 0203040 0.5 0 2000 3000 4000 5000 3 h d n u x q q l q j u d q j h continuous running range 50 75 70 0203040 0.5 0 2000 3000 4000 5000 3 h d n u x q q l q j u d q j h continuous running range z l w k e u d n h without e u d n h without oil seal with oil seal ? msmd5az * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msmd5az * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msmd011 * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msmd011 * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msmd012 * 1 * input voltage to driver: ac200 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msmd012 * 1 * input voltage to driver: ac200 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. ? 1 r w h w k d w w k h p r w r u f k d u d f w h u l v w l f v p d \ y d u \ g x h w r w k h h [ l v w h q f h r i r l o v h d o r u e u d n h ? & r q w l q x r x v w r u t x h y v d p e l h q w w h p s h u d w x u h f k d u d f w h u l v w l f v k d y h e h h q p h d v x u h g z l w k d q aluminum flange attached to the motor (approx. twice as large as the motor flange). ratio vs. rated torque > @ ambient temp. > ? & @ ratio vs. rated torque > @ ambient temp. > ? & @ torque > 1 ? p @ torque > 1 ? p @ ratio vs. rated torque > @ v s h h g > u p l q @ ambient temp. > ? & @ v s h h g > u p l q @ ratio vs. rated torque > @ ambient temp. > ? & @ torque > 1 ? p @ ratio vs. rated torque > @ v s h h g > u p l q @ ambient temp. > ? & @ v s h h g > u p l q @ ratio vs. rated torque > @ ambient temp. > ? & @ torque > 1 ? p @ v s h h g > u p l q @ torque > 1 ? p @ v s h h g > u p l q @ ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range 5 x q q l q j u d q j h 7 r u t x h o l p l w v h w x s 5 x q q l q j u d q j h 7 r u t x h o l p l w v h w x s 5 x q q l q j u d q j h 7 r u t x h o l p l w v h w x s phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-56 7 5. motor characteristics ( s-t characteristics ) supplement msmd series : * these are subject to change. contact us when you use these values for your machine design. 50 100 10 0 203040 1.0 0 1000 2000 3000 4000 5000 2.0 (0.5) (0.9) peak running range continuous running range (3600) 50 100 80 70 10 0203040 with brake without brake 1.0 0 1000 2000 3000 4000 5000 2.0 (0.9) (0.5) peak running range continuous running range (3600) 50 100 10 0 203040 1.0 0 1000 2000 3000 4000 5000 2.0 (1.5) (1.2) peak running range continuous running range (4500) 50 100 80 70 10 0 203040 with brake without brake 1.0 0 1000 2000 3000 4000 5000 2.0 (1.5) (1.2) peak running range continuous running range (4500) msmd series ( 200w ) without oil seal with oil seal ? msmd021 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? msmd021 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? msmd022 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? msmd022 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. torque [nm] torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-57 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement msmd series : w r : msmd series ( 400w to 750w ) without oil seal with oil seal * these are subject to change. contact us when you use these values for your machine design. ? msmd041 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) 50 90 100 10 0 203040 ratio vs. rated torque [%] *?9 s [c] torque [nm] s 8 s [r/min] 2.0 0 1000 2000 3000 4000 5000 4.0 (1.3) (0.6) peak running range continuous running range (3200) (2800) 50 100 75 10 0203040 ratio vs. rated torque [%] *?9 s [c] torque [nm] s 8 s [r/min] 2.0 0 1000 2000 3000 4000 5000 4.0 (1.3) (0.6) peak running range continuous running range (3200) (2800) 50 90 100 10 0203040 2.0 0 1000 2000 3000 4000 5000 4.0 (1.3) (1.7) ratio vs. rated torque [%] ambient temp. [c] torque [nm] peak running range continuous running range speed [r/min] (3800) (3400) 50 100 75 10 0203040 ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] 2.0 0 1000 2000 3000 4000 5000 4.0 (1.3) (1.7) peak running range continuous running range (3800) (3400) 50 100 10 0 203040 4.0 0 1000 2000 3000 4000 5000 8.0 (3.0) ratio vs. rated torque [%] ambient temp. [c] torque [nm] peak running range continuous running range speed [r/min] (3600) (3200) 50 100 10 0203040 ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] 4.0 0 1000 2000 3000 4000 5000 8.0 (3.0) peak running range continuous running range (3600) (3200) ? msmd042 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. ? msmd042 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. ? msmd082 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. ? msmd082 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. ? msmd041 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-58 7 5. motor characteristics ( s-t characteristics ) supplement msme series : w r : * these are subject to change. contact us when you use these values for your machine design. * 5 d w l r w r w k h u d w h g w r u t x h d w d p e l h q w w h p s h u d w x u h r i y & l v l q f d v h r i z l w k r x w r l o v h d o z l w k r x w e u d n h msme series ( 50w to 100w ) without oil seal with oil seal ? msme5az * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msme5az * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msme011 * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msme011 * 1 * , q s x w y r o w d j h w r g u l y h u $ & 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msme012 * 1 * input voltage to driver: ac200 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h ? msme012 * 1 * input voltage to driver: ac200 9 ' r w w h g o l q h u h s u h v h q w v w r u t x h d w o h v v y r o w d j h * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. z l w k e u d n h without e u d n h z l w k e u d n h z l w k e u d n h without e u d n h without e u d n h 3 h d n u x q q l q j u d q j h 3 h d n u x q q l q j u d q j h 3 h d n u x q q l q j u d q j h 3 h d n u x q q l q j u d q j h 3 h d n u x q q l q j u d q j h ratio vs. rated torque > @ ambient temp. > ? & @ 50 0203040 ratio vs. rated torque > @ ambient temp. > ? & @ 50 60 70 0203040 torque > 1 ? p @ torque > 1 ? p @ ratio vs. rated torque > @ v s h h g > u p l q @ ambient temp. > ? & @ 50 0 203040 v s h h g > u p l q @ ratio vs. rated torque > @ ambient temp. > ? & @ 50 70 75 0 203040 torque > 1 ? p @ ratio vs. rated torque > @ v s h h g > u p l q @ ambient temp. > ? & @ 50 0203040 torque > 1 ? p @ v s h h g > u p l q @ ratio vs. rated torque > @ ambient temp. > ? & @ 50 70 75 0 203040 torque > 1 ? p @ v s h h g > u p l q @ torque > 1 ? p @ v s h h g > u p l q @ continuous running range 0.5 0 2000 3000 4000 5000 6000 continuous running range 0.5 0 2000 3000 4000 5000 6000 3 h d n u x q q l q j u d q j h continuous running range 0.5 0 2000 3000 4000 5000 6000 continuous running range 0.5 0 2000 3000 4000 5000 6000 continuous running range 0.5 0.25 0 2000 3000 4000 5000 6000 continuous running range 0.5 0.25 0 2000 3000 4000 5000 6000 ? msme5az * 1 * input voltage to driver: ac200 9 ? msme5az * 1 * input voltage to driver: ac200 9 * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. z l w k e u d n h without e u d n h 3 h d n u x q q l q j u d q j h 3 h d n u x q q l q j u d q j h ratio vs. rated torque > @ ambient temp. > ? & @ 50 0203040 ratio vs. rated torque > @ ambient temp. > ? & @ 50 60 70 0203040 torque > 1 ? p @ v s h h g > u p l q @ torque > 1 ? p @ v s h h g > u p l q @ continuous running range 0.5 0.25 0 2000 3000 4000 5000 6000 continuous running range 0.5 0.25 0 2000 3000 4000 5000 6000 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-59 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement msme series : without brake without brake * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. msme series ( 200w ) * these are subject to change. contact us when you use these values for your machine design. ? msme021 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? msme022 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? msme022 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? msme021 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) without oil seal with oil seal torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] 50 100 torque [nm] speed [r/min] 10 0203040 ratio vs. rated torque [%] with brake ambient temp. [c] 50 70 100 80 10 0203040 torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] 50 100 torque [nm] speed [r/min] 10 0203040 ratio vs. rated torque [%] with brake ambient temp. [c] 50 70 100 80 10 0203040 peak running range continuous running range 2.0 (0.8) (0.32) (2600) (3100) 1.0 0 1000 2000 3000 4000 5000 6000 peak running range continuous running range 2.0 (0.8) (0.32) (2600) (3100) 1.0 0 1000 2000 3000 4000 5000 6000 (0.32) peak running range continuous running range 2.0 (1.3) (1.1) (4600) 1.0 0 1000 2000 3000 4000 5000 6000 (0.32) peak running range continuous running range 2.0 (1.3) (1.1) (4600) 1.0 0 1000 2000 3000 4000 5000 6000 ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-60 7 5. motor characteristics ( s-t characteristics ) supplement msme series : w r : 50 100 10 0203040 peak running range continuous running range 8.0 (2.6) (1.6) (3500) (3800) 4.0 0 1000 2000 3000 4000 5000 6000 * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. msme series ( 400w to 750w ) * these are subject to change. contact us when you use these values for your machine design. ? msme041 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? msme041 * 1 * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? msme042 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? msme042 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? msme082 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? msme082 * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) without oil seal with oil seal torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] 50 100 90 torque [nm] speed [r/min] 10 0 203040 ratio vs. rated torque [%] ambient temp. [c] 50 75 100 10 0203040 ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 75 torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] 50 100 torque [nm] speed [r/min] 10 0 203040 ratio vs. rated torque [%] ambient temp. [c] * continuous torque vs. ambient temp. ? msme084 * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 peak running range continuous running range 4.0 (1.7) (0.32) (2600) (3100) 2.0 0 1000 2000 3000 4000 5000 6000 peak running range continuous running range 4.0 (1.7) (0.32) (2600) (3100) 2.0 0 1000 2000 3000 4000 5000 6000 peak running range continuous running range 4.0 (1.7) (0.64) (3100) (3600) 2.0 0 1000 2000 3000 4000 5000 6000 peak running range continuous running range 4.0 (1.7) (0.64) (3100) (3600) 2.0 0 1000 2000 3000 4000 5000 6000 peak running range continuous running range 8.0 (3.4) (3.0) (0.6) (3200) (3600) 4.0 0 1000 2000 3000 4000 5000 6000 peak running range continuous running range 8.0 (3.4) (3.0) (0.6) (3200) (3600) 4.0 0 1000 2000 3000 4000 5000 6000 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-61 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement msme series n : w r n : with oil seal * these are subject to change. contact us when you use these values for your machine design. msme series ( 1.0kw to 2.0kw ) ? 0 6 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 6 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. with brake without brake torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] 50 100 10 0203040 ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] 85 peak running range continuous running range 10 5 0 1000 2000 3000 4000 5000 (4.0) (1.9) (6.0) (4200) (3800) peak running range continuous running range (3600) (3200) 0 1000 2000 3000 4000 5000 15 7.5 (4.0) ? 0 6 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. without brake with brake ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] 85 70 peak running range continuous running range 0 1000 2000 3000 4000 5000 20 10 (7.0) (2.0) (3700) (3300) ? 0 6 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 6 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. with brake without brake torque [nm] ratio vs. rated torque [%] speed [r/min] ambient temp. [c] 50 100 10 0203040 ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] 85 peak running range continuous running range 10 5 0 1000 2000 3000 4000 5000 (4.0) (1.9) (6.0) (4200) (3800) peak running range continuous running range (3600) (3200) 0 1000 2000 3000 4000 5000 15 7.5 (4.0) ? 0 6 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. without brake with brake ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] 85 70 peak running range continuous running range 0 1000 2000 3000 4000 5000 20 10 (7.0) (2.0) (3700) (3300) ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-62 7 5. motor characteristics ( s-t characteristics ) supplement msme series n : w r n : with oil seal * these are subject to change. contact us when you use these values for your machine design. msme series ( 3.0kw to 5.0kw ) ? 0 6 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 6 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 6 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. without brake without brake with brake with brake ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] 90 85 ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] 90 85 ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] 70 peak running range continuous running range 0 1000 2000 3000 4000 5000 30 15 (12) (8.0) (5.7) (3400) (3100) peak running range continuous running range 0 1000 2000 3000 4000 5000 40 20 (10) (3100) (2800) peak running range continuous running range 0 1000 2000 3000 4000 5000 50 25 (15) (3200) (2800) ? 0 6 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 6 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 6 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. without brake without brake with brake with brake ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] 90 85 ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] 90 85 ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] 70 peak running range continuous running range 0 1000 2000 3000 4000 5000 30 15 (12) (8.0) (5.7) (3400) (3100) peak running range continuous running range 0 1000 2000 3000 4000 5000 40 20 (10) (3100) (2800) peak running range continuous running range 0 1000 2000 3000 4000 5000 50 25 (15) (3200) (2800) ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-63 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement mdme series : w r n : * these are subject to change. contact us when you use these values for your machine design. mdme series ( 400w to 2.0kw ) with oil seal peak running range ? 0 ' 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. peak running range peak running range ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] continuous running range 0 1000 2000 3000 15 10 5 (2200) (6.0) (4.0) (3.2) (2300) continuous running range 0 1000 2000 3000 20 10 (6.0) (4.8) continuous running range 0 1000 2000 3000 30 15 (2200) (11) (6.4) peak running range ? 0 ' 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. peak running range peak running range ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] ? 0 ' 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ? 0 ' 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] continuous running range 0 1000 2000 3000 15 10 5 (2200) (6.0) (4.0) (3.2) (2300) continuous running range 0 1000 2000 3000 20 10 (6.0) (4.8) continuous running range 0 1000 2000 3000 30 15 (2200) (11) (6.4) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 6 4 2 (2400) (2700) (3.5) (1.3) 50 100 10 0 203040 ??? [nm] peak running range continuous running range 0 1000 2000 3000 10 5 (2100)(2400) (4.5) (1.9) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-64 7 5. motor characteristics ( s-t characteristics ) supplement mdme series n : w r n : * these are subject to change. contact us when you use these values for your machine design. mdme series ( 3.0kw to 5.0kw ) with oil seal without brake peak running range peak running range continuous running range peak running range continuous running range ? 0 ' 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. with brake ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 90 85 10 0203040 torque [nm] speed [r/min] continuous running range 0 1000 2000 3000 50 25 (28) (20) (9.5) (2200)(2400) 0 1000 2000 3000 50 25 (13) (1900)(2100) 0 1000 2000 3000 70 35 (20) (3) (1900)(2100) without brake peak running range peak running range continuous running range peak running range continuous running range ? 0 ' 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. with brake ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 10 0203040 torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] 50 100 90 85 10 0 203040 torque [nm] speed [r/min] continuous running range 0 1000 2000 3000 50 25 (28) (20) (9.5) (2200)(2400) 0 1000 2000 3000 50 25 (13) (1900)(2100) 0 1000 2000 3000 70 35 (20) (3) (1900)(2100) ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-65 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement mdme series n : w r n : * these are subject to change. contact us when you use these values for your machine design. ? 0 ' 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( & * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( & * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 0 ' 0 ( series ( n : w r n : ) : l w k r l o v h d o ? 0 ' 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( & * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ' 0 ( & * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] * continuous torque vs. ambient temp. ambient temp. [c] 50 100 10 0203040 torque [nm] peak running range continuous running range speed [r/min] 0 1000 2000 3000 150 75 (1500)(1700) * continuous torque vs. ambient temp. ambient temp. [c] speed [r/min] 90 (47.8) (175) (70) (52.5) (130) ratio vs. rated torque [%] ratio vs. rated torque [%] ratio vs. rated torque [%] * continuous torque vs. ambient temp. ambient temp. [c] 50 100 10 0 203040 torque [nm] peak running range continuous running range speed [r/min] 0 1000 2000 3000 150 75 (1500)(1700) (175) (70) (52.5) (130) torque [nm] peak running range continuous running range 0 1000 2000 3000 200 100 (1500)(1700) (224) (95.5) (57) (60) (12) ratio vs. rated torque [%] * continuous torque vs. ambient temp. ambient temp. [c] 50 100 10 0203040 90 50 100 10 0203040 * continuous torque vs. ambient temp. ambient temp. [c] speed [r/min] torque [nm] peak running range continuous running range 0 1000 2000 3000 200 100 (1500)(1700) (224) (95.5) (57) 90 50 100 10 0 203040 torque [nm] speed [r/min] 0 1000 2000 3000 (2500) (2200) 50 100 peak running range continuous running range 119 (1500) 90 (47.8) (60) (12) ratio vs. rated torque [%] * continuous torque vs. ambient temp. ambient temp. [c] 50 100 10 0 203040 torque [nm] speed [r/min] 0 1000 2000 3000 (2500) (2200) 50 100 peak running range continuous running range 119 (1500) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-66 7 5. motor characteristics ( s-t characteristics ) supplement mfme series (1.5kw to 4.5kw) 50 100 10 0203040 0 1000 2000 3000 10 20 peak running range continuous running range 21.5 7.16 4.8 14 50 100 10 0203040 0 1000 2000 3000 15 30 peak running range continuous running range 30.4 11.9 5 50 100 10 0203040 0 1000 2000 3000 25 50 peak running range continuous running range 54.9 21.5 10 (2200) (1800) 50 100 10 0203040 0 1000 2000 3000 15 30 peak running range continuous running range 30.4 11.9 5 (1800) (1800) 50 100 10 0203040 0 1000 2000 3000 25 50 peak running range continuous running range 54.9 21.5 10 (1800) (2600) 50 100 10 0203040 0 1000 2000 3000 10 20 peak running range continuous running range 21.5 7.16 4.8 14 (2200) (2600) * these are subject to change. contact us when you use these values for your machine design. mfme series ( 1.5kw to 4.5kw ) with oil seal ? 0 ) 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ) 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 ) 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ? 0 ) 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ) 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 ) 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-67 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement mgme series n : w r n : * these are subject to change. contact us when you use these values for your machine design. ? 0 * 0 $ * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) : l w k r l o v h d o 0 * 0 ( v h u l h v ( n : w r n : ) ? 0 * 0 $ * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 50 100 10 0 203040 0 1000 2000 3000 50 25 (18) (9.6) (28) (1400)(1600) ? 0 * 0 $ * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 * 0 $ * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 * 0 $ * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 * 0 $ * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) 50 100 10 0 203040 0 1000 2000 3000 70 35 (20) (14) (40) (1400)(1600) 50 100 10 0 203040 0 1000 2000 3000 20 10 (8) (4.3) (14) (1600)(1800) 50 100 10 0203040 0 1000 2000 3000 20 10 (8) (4.3) (14) (1600)(1800) 50 100 10 0203040 0 1000 2000 3000 50 25 (18) (9.6) (28) (1400)(1600) 50 100 10 0203040 0 1000 2000 3000 70 35 (20) (14) (40) (1400)(1600) * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] peak running range continuous running range peak running range continuous running range peak running range continuous running range peak running range continuous running range peak running range continuous running range peak running range continuous running range phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-68 7 5. motor characteristics ( s-t characteristics ) supplement mgme series n : w r n : * these are subject to change. contact us when you use these values for your machine design. with oil seal ? 0 * 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 * 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 * 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 * 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) (70) (107) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 100 50 (43) (22) (1500)(1700) (143) (57.3) (28) (100) 50 100 10 0203040 peak running range 0 1000 2000 3000 150 75 (1500)(1700) (143) (57.3) (28) (100) 50 100 10 0203040 peak running range 0 1000 2000 3000 150 75 (1500)(1700) 0 ' 0 ( series ( n : w r n : ) (70) (107) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 100 50 (43) (22) (1500)(1700) ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] continuous running range continuous running range phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-69 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement mhmd series : mhmd series ( 200w ) ? 0 + 0 ' * * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) without oil seal with oil seal * these are subject to change. contact us when you use these values for your machine design. 50 100 10 0 203040 2.0 (0.9) (0.5) (3600) 1.0 0 1000 2000 3000 4000 5000 peak running range continuous running range 50 70 100 80 10 0203040 2.0 (0.9) (0.5) (3600) 1.0 0 1000 2000 3000 4000 5000 peak running range continuous running range with brake without brake 50 100 10 0 203040 2.0 (1.5) (1.2) (4500) 1.0 0 1000 2000 3000 4000 5000 peak running range continuous running range 50 70 100 80 10 0 203040 2.0 (1.5) (1.2) (4500) 1.0 0 1000 2000 3000 4000 5000 peak running range continuous running range with brake without brake * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-70 7 5. motor characteristics ( s-t characteristics ) supplement mhmd series : w r : mhme series ( 400w to 750w ) without oil seal with oil seal * these are subject to change. contact us when you use these values for your machine design. ? 0 + 0 ' * * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac100v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ' * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 50 100 90 10 0 203040 4.0 (0.6) (1.3) (2800) (3200) 2.0 0 1000 2000 3000 4000 5000 peak running range continuous running range 50 75 100 10 0203040 4.0 (0.6) (1.3) (2800) (3200) 2.0 0 1000 2000 3000 4000 5000 peak running range continuous running range 50 100 90 10 0 203040 4.0 (1.7) (1.3) (3400) (3800) 2.0 0 1000 2000 3000 4000 5000 peak running range continuous running range 50 75 100 10 0203040 4.0 (1.7) (1.3) (3400) (3800) 2.0 0 1000 2000 3000 4000 5000 peak running range continuous running range 50 100 10 0 203040 8.0 (3.0) (3200) (3600) 4.0 0 1000 2000 3000 4000 5000 peak running range continuous running range 50 100 10 0 203040 8.0 (3.0) (3200) (3600) 4.0 0 1000 2000 3000 4000 5000 peak running range continuous running range ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-71 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 5. motor characteristics ( s-t characteristics ) supplement mhme series n : w r n : 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 15 10 5 (2200) (3.2) (4.0) (6.0) with oil seal ? 0 + 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 15 10 5 (2200) (3.2) (4.0) (6.0) ? 0 + 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 50 100 10 0 203040 peak running range continuous running range 0 1000 2000 3000 20 10 (6.0) (4.8) (2300) ? 0 + 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 30 15 (2200) (6.4) ? 0 + 0 ( * * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ( * * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 50 25 (9.5) (20) (2400) * these are subject to change. contact us when you use these values for your machine design. 0 + 0 ( series ( n : w r n : ) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 20 10 (6.0) (4.8) (2300) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 30 15 (2200) (6.4) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 50 25 (9.5) (20) (2400) * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-72 7 5. motor characteristics ( s-t characteristics ) supplement mhme series n : w r n : with oil seal ? 0 + 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 50 100 10 0 203040 peak running range continuous running range 0 1000 2000 3000 50 25 (13) (2100) (1900) (47.8) (12) (60) ? 0 + 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) 50 100 90 85 10 0203040 peak running range continuous running range 0 1000 2000 3000 70 35 (20) (3) without brake (2100) (1900) * these are subject to change. contact us when you use these values for your machine design. ? 0 + 0 ( * 1 * input voltage to driver: ac200v (dotted line represents torque at 10% less voltage.) ? 0 + 0 ( * 1 * input voltage to driver: ac400v (dotted line represents torque at 10% less voltage.) 50 100 10 0203040 0 1000 2000 3000 (2500) (2200) 50 100 peak running range continuous running range 119 (1500) 0 + 0 ( series ( n : w r n : ) 50 100 10 0203040 peak running range continuous running range 0 1000 2000 3000 50 25 (13) (2100) (1900) 50 100 90 85 10 0203040 with brake with brake without brake peak running range continuous running range 0 1000 2000 3000 70 35 (20) (3) (2100) (1900) (47.8) (12) (60) 50 100 10 0 203040 0 1000 2000 3000 (2500) (2200) 50 100 peak running range continuous running range 119 (1500) ? : k h q \ r x o r z h u w k h w r u t x h o l p l w v h w x s 3 d q g running range at high speed might be lowered as well. torque speed continuous running range running range (torque limit setup : 300%) running range (torque limit setup : 200%) running range (torque limit setup : 100%) * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] * continuous torque vs. ambient temp. ratio vs. rated torque [%] ambient temp. [c] torque [nm] speed [r/min] phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-73 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement a-frame 7 6. dimensions supplement driver 40 5.2 28 6 5 7 7 5.2 5 180 170 150 ?5.2 ?5.2 40 150 140 rack mount type option : ( front-end mounting ) base mount type standard: ( back-end mounting ) (18) (22.4) 24 20.4 (20) (27) 125 ? 2.5 3.5 2.5 4.5 130 (70) mounting bracket (option) mounting bracket (option) name plate b-frame 55 47 5.2 43 6 5 7 7 5.2 180 170 150 ?5.2 ?5.2 55 150 140 name plate (18) (22.4) 24 20.4 (20) (27) 125 ? 2.5 3.5 2.5 4.5 130 (70) mounting bracket (option) mounting bracket (option) rack mount type option : ( front-end mounting ) base mount type standard: ( back-end mounting ) related page ? 3 ' u l y h u ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v mass: 0.8kg mass: 1.0kg phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-74 85 (86) 60 5.2 70 8.5 5 40 10 40 60 10 5.2 5.2 180 170 150 ?5.2 r2.6 (86) 150 140 rack mount type option : ( front-end mounting ) direction of air flowing from the internal cooling fan base mount type standard: ( back-end mounting ) 2-?5.2 name plate (15) (22.4) 24 20.4 (22) (27) 120 ? 2.5 4 2.5 4.5 170 (70) (18) mounting bracket (option) mounting bracket (option) 65 40 5.2 50 7.5 5 20 20 40 5.2 5 180 170 150 ?5.2 ?5.2 140 65 150 name plate (15) (22.4) 24 20.4 (22) (27) 120 ? 2.5 4 2.5 4.5 170 (70) (18) mounting bracket (option) mounting bracket (option) rack mount type option : ( front-end mounting ) base mount type standard: ( back-end mounting ) 6. dimensions driver c-frame ' i u d p h 9 mass: 1.6kg mass: 1.8kg related page ? 3 ' u l y h u ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-75 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 85 (92) 60 5.2 70 7.5 5 4010 4010 5.2 5.2 180 170 150 ?5.2 (92) 150 140 2-?5.2 direction of air flowing from the internal cooling fan rack mount type option : ( front-end mounting ) base mount type standard: ( back-end mounting ) 4 name plate (15) (22.4) 24 20.4 (22) (27) 120 ? 2.5 4 2.5 4.5 170 (70) (18) mounting bracket(option) mounting bracket (option) 85 50 17.5 42.5 5.2 (86) 198 188 168 (86) 168 ?5.2 ?5.2 5.2 5.2 42.5 50 85 17.5 direction of air flowing from the internal cooling fan 2.5 (3.5) mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) name plate (29) (33.1) 31.7 (22) (32) 24 130 ? 2.5 193 (18) mass: 2.7kg ' i u d p h 9 ( i u d p h 9 6. dimensions driver mass: 1.9kg phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-76 85 50 17.5 42.5 5.2 5.2 94 198 188 168 94 168 ?5.2 ?5.2 5.2 5.2 42.5 50 17.5 direction of air flowing from the internal cooling fan 2.5 (3.5) mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) name plate (29) (33.1) 31.7 (22) (32) 24 130 ? 2.5 193 (18) mass: 2.7kg 100 15 65 5.2 5.2 130 250 240 220 130 220 ?5.2 ?5.2 5.2 5.2 65 100 130 15 name plate direction of air flowing from the internal cooling fan 42.7 214 2.5 (3.5) mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) 2.5 24 (23) (22) (32) 125 ? mass: 4.8kg [200v] 4.7kg [400v] 6. dimensions driver ( i u d p h 9 ) i u d p h 9 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-77 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement nc nc nc l2c l1c nc nc nc db3 db2 db1 db4 l1 l2 l3 b1 b2 nc u v w x1 x2 x3 x4 x5 x6 charge nc nc nc l2c l1c nc nc nc db3 db2 db1 db4 x1 x2 x3 x4 x5 x6 charge l1 l2 l3 b1 b2 nc u v w name plate direction of air flowing from the internal cooling fan mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) mounting bracket (to shipping specification) mounting bracket (deviation from shipping specification) handle 233 334 52 2.5 2.5 3.5 210 210 90 90 90 90 90 90 27 27 12 12 72 72 5.2 5.2 5.2 5.2 5.2 5.2 ?5.2 ?5.2 220 235 250 24 (23) (22) (32) 125 ? ?5.2 ?5.2 mass: 13.5kg * i u d p h 9 6. dimensions driver related page ? 3 ' u l y h u ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-78 6. dimensions driver + i u d p h 9 name plate name plate mount mount (32) 125 ? 450 261 4 435 200 30.5 30.5 200 7 7.5 7 270 base mount type (back-end mounting) direction of air flowing from the internal cooling fan 21 ?7 ?7 266 4 mass: 21.0kg related page ? 3 ' u l y h u ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-79 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement * dimensions are subject to change without notice. contact us or a dealer for the latest information. 0 6 0 ' v h u l h v / r z l q h u w l d motor output 50w 100w motor model msmd 5a * * 1 ? * 01 * * 1 * ll without brake 72 92 with brake 102 122 lr 25 s8 la 45 lb 30 lc 38 le 3 lf 6 lh 32 ln 26.3 46.5 lz 3.4 % y? go lw 25 lk 20 rh 7.5 key way dimensions lw 14 lk 12.5 kw 3h9 kh 3 rh 6.2 tp m3 depth 6 mass (kg) without brake 0.32 0.47 with brake 0.53 0.68 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v 4-nlz 230 200 (7) (7) motor connector encoder connector brake connector nsh6 nlbh7 nla lw kw tp kh rh lk (key way with center tap shaft) shaft end spec. (d-cut shaft) lk lw rh 901 rh lelf ll lr ln lh ?lc 0 6 0 ' : w r : 7 6. dimensions supplement motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-80 shaft end spec. (d-cut shaft) motor connector encoder connector brake connector 220 200 le lf ll lr nsh6 nlbh7 (7) (7) lh ?lc nla 4-nlz (key way with center tap shaft) lw lk lw rh 901 rh kw tp kh rh lk * dimensions are subject to change without notice. contact us or a dealer for the latest information. 0 6 0 ' v h u l h v / r z l q h u w l d motor output 200w 400w 750w motor model msmd 02 * * 1 ? * 04 * * 1 ? * 08 * * 1 ? * ll without brake 79.5 99 112.2 with brake 116 135.5 149.2 - 3 30 35 4 11 14 19 - " 70 90 - # 50 70 - $ 60 80 - & 3 - ' 6.5 8 - ) 43 53 - ; 4.5 6 % y? go - 8 30 35 - , 22 25 3 ) 10 12.5 17.5 key way dimensions - 8 20 25 25 - , 18 22.5 22 , 8 4h9 5h9 6h9 , ) 456 3 ) 8.5 11 15.5 5 1 m4 depth 8 m5 depth 10 mass (kg) without brake 0.82 1.2 2.3 with brake 1.3 1.7 3.1 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v 6. dimensions motor 0 6 0 ' : w r : phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-81 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 0 6 0 ( : w r : * dimensions are subject to change without notice. contact us or a dealer for the latest information. 0 6 0 ( v h u l h v / r z l q h u w l d motor output 50w 100w 200w 400w 750w motor model msme 5a * * 1 * op 01 * * 1 * op 02 * * 1 * op 04 * * 1 * op 08 * * 1 * op ll without brake 72 92 79.5 99 112 with brake 102 122 116 135.5 148.2 lr 25 30 35 s 8 11 14 19 la 45 70 90 lb 30 50 70 lc 38 60 80 le 3 lf 6.5 8 lh 46.6 52.5 61.6 lm without brake 48 68 56.5 76 86.2 with brake 78 98 93 112.5 122.2 ln 23 43 lt 24 23 26 lz 3.4 4.5 6 key way dimensions lw 14 20 25 25 lk 12.5 18 22.5 22 kw 3h9 4h9 5h9 6h9 kh 3 4 5 6 rh 6.2 8.5 11 15.5 tp m3 depth 6 m4 depth 8 m5 depth 10 mass (kg) without brake 0.32 0.47 0.82 1.2 2.3 with brake 0.53 0.68 1.3 1.7 3.1 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 w r 6 7 & k d u d f w h u l v w l f v lr le lf nsh6 nlbh7 nla lw kw tp kh rh lk shaft end spec. (key way with center tap shaft) shaft end spec. (key way with center tap shaft) [with brake] 4-nlz nla 4-nlz lw kw tp kh rh lk encoder connector encoder connector brake connector motor connector motor connector ln ll lm lt lr lelf nsh6 nlbh7 ln ll lm lt lc lc 6. dimensions motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-82 6. dimensions motor 0 6 0 ( : 9 n : w r n : ' h v l j q 2 u g h u * dimensions are subject to change without notice. contact us or a dealer for the latest information. 0 6 0 ( v h u l h v / r z l q h u w l d motor output 750w 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw motor model msme 084 * 1 * 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 * ll without brake 131.5 141 159.5 178.5 190 208 243 with brake 158.5 168 186.5 205.5 215 233 268 lr 55 65 s1 92 2 2 4 la 115 145 lb 95 110 lc 100 120 130 ld 135 162 165 le 3 6 lf 10 12 lg 60 lh 101 113 118 lm without brake 87.5 97 115.5 134.5 146 164 199 with brake 114.5 124 142.5 161.5 171 189 224 lz 9 key way dimensions lw 45 55 lk 42 41 51 kw 6h9 8h9 kh 6 7 rh 15.5 18 20 mass (kg) without brake 3.1 3.5 4.4 5.3 8.3 11.0 14.0 with brake 4.1 4.5 5.4 6.3 9.4 12.6 16.0 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v nla nld shaft end spec. (key way shaft) 7-83 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6. dimensions motor 0 6 0 ( n : w r n : ' h v l j q 2 u g h u & * dimensions are subject to change without notice. contact us or a dealer for the latest information. 0 6 0 ( v h u l h v / r z l q h u w l d motor output 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw motor model msme 10 * * c * 15 * * c * 20 * * c * 30 * * c * 40 * * c * 50 * * c * ll without brake 143 161.5 180.5 192 210 245 with brake 170 188.5 207.5 217 235 270 lr 55 65 s1 92 2 2 4 la 115 145 lb 95 110 lc 100 120 130 ld 135 162 165 le 3 6 lf 10 12 lg 84 lh 101 113 118 lm without brake 97 115.5 134.5 146 164 199 with brake 124 142.5 161.5 171 189 224 lz 9 key way dimensions lw 45 55 lk 42 41 51 kw 6h9 8h9 kh 6 7 rh 15.5 18 20 mass (kg) without brake 3.5 4.4 5.3 8.3 11.0 14.0 with brake 4.5 5.4 6.3 9.4 12.6 16.0 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v shaft end spec. (key way shaft) m3 through nla nld 7-84 0 ' 0 ( : w r n : ' h v l j q 2 u g h u 6. dimensions motor * dimensions are subject to change without notice. contact us or a dealer for the latest information. mdme series (middle inertia) motor output 400w 600w 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw motor model mdme 044 * 1 * 064 * 1 * 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 * ll without brake 131.5 141 138 155.5 173 208 177 196 with brake 158.5 168 163 180.5 198 233 202 221 lr 55 65 70 s19 22 35 la 115 145 200 lb 95 110 114.3 lc 100 130 176 ld 135 165 233 le 3 6 3.2 lf 10 12 18 lg 60 lh 101 116 118 140 lm without brake 87.5 97 94 111.5 129 164 133 152 with brake 114.5 124 119 136.5 155 189 158 177 lz 9 13.5 key way dimensions lw 45 55 lk 42 41 51 50 kw 6h9 8h9 10h9 k h 678 rh 15.5 18 20 30 mass (kg) without brake 3.1 3.5 5.2 6.7 8.0 11.0 15.5 18.6 with brake 4.1 4.5 6.7 8.2 9.5 12.6 18.7 21.8 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v ll lr lf le lg nsh6 encoder connector motor/brake connector nlbh7 nla nld lw lk kw kh rh lh 4-nlz lm 44 m3 through lc shaft end spec. (key way shaft) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-85 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 0 ' 0 ( : w r n : ' h v l j q 2 u g h u & 6. dimensions motor * dimensions are subject to change without notice. contact us or a dealer for the latest information. mdme series (middle inertia) motor output 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw motor model mdme 10 * * c * 15 * * c * 20 * * c * 30 * * c * 40 * * c * 50 * * c * ll without brake 140 157.5 175 210 179 198 with brake 165 182.5 200 235 204 223 lr 55 65 70 s2 2 3 5 la 145 200 lb 110 114.3 lc 130 176 ld 165 233 le 6 3.2 lf 12 18 lg 84 lh 116 118 140 lm without brake 94 111.5 129 164 133 152 with brake 119 136.5 155 189 158 177 lz 9 13.5 key way dimensions lw 45 55 lk 41 51 50 kw 8h9 10h9 kh 7 8 rh 18 20 30 mass (kg) without brake 5.2 6.7 8.0 11.0 15.5 18.6 with brake 6.7 8.2 9.5 12.6 18.7 21.8 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v ?lc 4-nlz m3 through ll lr lf le lg nsh6 nlbh7 nld nla shaft end spec. (key way shaft) lw lk kw kh rh lh lm 46 encoder connector motor/brake connector phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-86 0 ' 0 ( n : w r n : * dimensions are subject to change without notice. contact us or a dealer for the latest information. mdme series (middle inertia) motor output 7.5kw 11.0kw 15.0kw motor model mdme 75 * * 1 * c1 * * 1 * c5 * * 1 * ll without brake 312 316 348 with brake 337 364 432 lr 113 116 s4 2 5 5 la 200 235 lb 114.3 200 lc 176 220 ld 233 268 le 3.2 4 lf 24 32 lg 60 lh 184 205 lm without brake 268 272 340 with brake 293 320 388 lz 13.5 key way dimensions lw 96 98 lk 90 90 kw 12h9 16h9 kh 8 10 rh 37 y 0 ? 49 y 0 ? mass (kg) without brake 36.4 52.7 70.2 with brake 40.4 58.9 76.3 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v motor connector encoder connector brake connector m4 through 4-nlz ?lc 43.543.5 eye bolt (thread 10) m5 through 4-nlz ?lc 5757 lh lw lk kw kh rh nla nld lg 44 ll lr lf le lm 48 nlbh7 nsh6 7-87 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement mfme 1.5kw to 4.5kw * dimensions are subject to change without notice. contact us or a dealer for the latest information. mfme series (middle inertia) motor output 1.5kw 2.5kw 4.5kw motor model mfme 15 * * 1 * 25 * * 1 * 45 * * 1 * ll without brake 142 136 156 with brake 167 169 189 lr 70 s3 5 la 200 235 lb 114.3 200 lc 176 220 ld 233 266 le 3.2 4 lf 18 16 lg 60 lh 140 162 lm without brake 98 91 111 with brake 123 124 144 lz 176 key way dimensions lw 55 lk 50 kw 10h9 kh 8 rh 30 mass (kg) without brake 9.5 13.1 18.2 with brake 12.5 17.2 23.1 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v m3 through 4-nlz ?lc lg lh lw lk kw kh rh nla nld 44 ll lr lf le lm nlbh7 nsh6 encoder connector motor/brake connector shaft end spec. (key way shaft) 6. dimensions motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-88 0 * 0 ( : w r n : ' h v l j q 2 u g h u * dimensions are subject to change without notice. contact us or a dealer for the latest information. mgme series (middle inertia) motor output 900w 2.0kw 3.0kw motor model mgme 09 * * 1 * 20 * * 1 * 30 * * 1 * ll without brake 155.5 163.5 209.5 with brake 180.5 188.5 234.5 lr 70 80 s22 35 la 145 200 lb 110 114.3 lc 130 176 ld 165 233 le 6 3.2 lf 12 18 lg 60 lh 116 140 lm without brake 111.5 119.5 165.5 with brake 136.5 144.5 190.5 lz 9 13.5 key way dimensions lw 45 55 lk 41 50 kw 8h9 10h9 kh 7 8 rh 18 30 mass (kg) without brake 6.7 14.0 20.0 with brake 8.2 17.5 23.5 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v ll lr lf le lg nsh6 encoder connector motor/brake connector nlbh7 nla nld lw lk kw kh rh lh 4-nlz lm 44 m3 through lc shaft end spec. (key way shaft) 6. dimensions motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-89 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 0 * 0 ( : w r n : ' h v l j q 2 u g h u & * dimensions are subject to change without notice. contact us or a dealer for the latest information. mgme series (middle inertia) motor output 900w 2.0kw 3.0kw motor model mgme 09 * * c * 20 * * c * 30 * * c * ll without brake 157.5 165.5 211.5 with brake 182.5 190.5 236.5 lr 70 80 s22 35 la 145 200 lb 110 114.3 lc 130 176 ld 165 233 le 6 3.2 lf 12 18 lg 84 lh 116 140 lm without brake 111.5 119.5 165.5 with brake 136.5 144.5 190.5 lz 9 13.5 key way dimensions lw 45 55 lk 41 50 kw 8h9 10h9 kh 7 8 rh 18 30 mass (kg) without brake 6.7 14.0 20.0 with brake 8.2 17.5 23.5 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v encoder connector motor/brake connector m3 throu g lw lk kh rh shaft end spec. (key way shaft) 46 ll lr lf le nlbh7 lm nsh6 lg nld nla lh ?lc 4-nlz 6. dimensions motor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-90 6. dimensions motor 0 * 0 ( n : n : * dimensions are subject to change without notice. contact us or a dealer for the latest information. mgme series (middle inertia) motor output 4.5kw 6.0kw motor model mgme * * 1 * * * 1 * ll without brake 266 312 with brake 291 337 lr 113 s4 2 la 200 lb 114.3 lc 176 ld 233 le 3.2 lf 24 lg 60 lh 140 184 lm without brake 222 268 with brake 247 293 lz 13.5 key way dimensions lw 96 lk 90 kw 12h9 kh 8 rh 37 0 ? mass (kg) without brake 29.4 36.4 with brake 33.0 40.4 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v motor connector encoder connector encoder connector brake connector m4 through eye bolt (thread 10) lw lk kw kh rh lg 44 ll lr lf le lm 48 nlbh7 nsh6 m4 through 4-nlz ?lc 43.543.5 lh lw lk kw kh rh nla nld 4-nlz ?lc 43.543.5 lh nla nld 7-91 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6. dimensions motor 0 + 0 ' : w r : * dimensions are subject to change without notice. contact us or a dealer for the latest information. mhmd series (high inertia) motor output 200w 400w 750w motor model mhmd 02 * * 1 * 04 * * 1 * 08 * * 1 * ll without brake 99 118.5 164.2 with brake 135.5 155 127.2 lr 30 35 s1 1 1 4 1 9 la 70 900.2 lb 50 70 lc 60 80 le 3 lf 6.5 8 lh 43 53 lz 4.5 6 % y? go lw 30 35 lk 22 25 rh 10 12.5 17.5 key way dimensions lw 20 25 25 lk 18 22.5 22 kw 4h9 5h9 6h9 kh 4 5 6 rh 8.5 11 15.5 tp m4 depth 8 m5 depth 10 mass (kg) without brake 0.96 1.4 2.5 with brake 1.4 1.8 3.3 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v 220 200 ll lf le lr nsh6 lh nlbh7 4-nlz nla ?lc lw lk lw rh 901 rh kw tp kh rh lk (7) (7) motor connector encoder connector brake connector shaft end spec. (d-cut shaft) (key way with center tap shaft) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-92 0 + 0 ( n : w r n : ' h v l j q 2 u g h u 6. dimensions motor * dimensions are subject to change without notice. contact us or a dealer for the latest information. mhme series (high inertia) motor output 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw 7.5kw motor model mhme 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40 * * 1 * 50 * * 1 * 75 * * 1 * ll without brake 173 190.5 177 196 209.5 238.5 357 with brake 198 215.5 202 221 234.5 263.5 382 lr 70 80 113 s2 2 3 5 4 2 la 145 200 lb 110 114.3 lc 130 176 ld 165 233 le 6 3.2 lf 12 18 24 lg 60 lh 116 140 184 lm without brake 129 146.5 133 152 165.5 194.5 313 with brake 154 171.5 158 177 190.5 219.5 338 lz 9 13.5 key way dimensions lw 45 55 96 lk 41 50 90 kw 8h9 10h9 12h9 kh 7 8 rh 18 30 37 0 ? mass (kg) without brake 6.7 8.6 12.2 16.0 18.6 23.0 42.3 with brake 8.1 10.1 15.5 19.2 21.8 26.2 46.2 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v ll lr lf le lg nsh6 motor/brake connector nlbh7 nld nla lw lk kw kh rh lh ?lc 4-nlz m3 through lm 44 encoder connector encoder connector shaft end spec. (key way shaft) 7-93 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 6. dimensions motor 0 + 0 ( n : w r n : ' h v l j q 2 u g h u & * dimensions are subject to change without notice. contact us or a dealer for the latest information. mhme series (high inertia) motor output 1.0kw 1.5kw 2.0kw 3.0kw 4.0kw 5.0kw motor model mhme 10 * * c * 15 * * c * 20 * * c * 30 * * c * 40 * * c * 50 * * c * ll without brake 175 192.5 179 198 211.5 240.5 with brake 200 217.5 204 223 236.5 265.5 lr 70 80 s2 2 3 5 la 145 200 lb 110 114.3 lc 130 176 ld 165 233 le 6 3.2 lf 12 18 lg 84 lh 116 140 lm without brake 129 146.5 133 152 165.5 194.5 with brake 154 171.5 158 177 190.5 219.5 lz 9 13.5 key way dimensions lw 45 55 lk 41 50 kw 8h9 10h9 kh 7 8 rh 18 30 mass (kg) without brake 6.7 8.6 12.2 16.0 18.6 23.0 with brake 8.1 10.1 15.5 19.2 21.8 26.2 & r q q h f w r u v s h f l f d w l r q v 5 h i h u w r 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u caution related page reduce the moment of inertia ratio if high speed response operation is required. ? 3 & k h f n r i w k h 0 r g h o ? 3 & k h f n r i w k h & r p e l q d w l r q r i w k h ' u l y h u d q g w k h 0 r w r u ? 3 6 7 & k d u d f w h u l v w l f v motor/brake connector m3 through lh 4-nlz ?lc lw lk kw kh rh shaft end spec. (key way shaft) 46 ll lr lf le nlbh7 lm nsh6 lg nla nld encoder connector phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-94 7 7. options supplement noise filter : k h q \ r x l q v w d o o r q h q r l v h o w h u d w w k h s r z h u v x s s o \ i r u p x o w l d [ h v d s s o l f d w l r q f r q w d f w w r d p d q x i d f w x u h r i w k h q r l v h o w h u , i q r l v h p d u j l q l v u h t x l u h g f r q q h f w o w h u v l q v h u l h v w r emphasize effectiveness. ? 2 s w l r q v option part no. 9 r o w d j h specifications for driver manufacturer's part no. applicable driver (frame) manufacturer dv0p4170 single phase 100v, 200v 6 8 3 ( . ( 5 a and b-frame okaya electric ind. option part no. 9 r o w d j h specifications for driver manufacturer's part no. applicable driver (frame) manufacturer dv0pm20042 3-phase 200v 6 8 3 + 8 ( 5 a and b-frame okaya electric ind. single phase 100v, 200v 3-phase 200v c-frame dv0p4220 single/3-phase 200v 6 8 3 + 8 ( 5 d-frame dv0pm20043 3-phase 200v 6 8 3 + 8 ( 5 e-frame [unit: mm] label terminal cover (transparent) 2 C ?4.5 r cx cx cy ll cy 2 C ?4.5 x 6.75 53.11.0 100.0 2.0 88.0 75.0 5.0 12.0 10.0 50.0 60.0 7.0 2.0 (11.6) (13.0 ) 6 C m4 2 1 3 4 circuit diagram in out abcdefgh 115 dv0pm20042 [dv0pm20042, dv0p4220] [dv0pm20043] 105 95 70 43 10 52 5.5 145 dv0p4220 135 125 70 50 10 52 5.5 165 dv0pm20043 136 165 90 80 40 54 5.5 label a b c h 10 f e d g earth terminal m4 m4 screw for cover m3 cover body 4 5 1 2 6 3 circuit diagram l1 cx1 in out rc x 1 cy1 [size] for single phase application, use 2 terminals among 3 terminals, leaving the remaining terminal unconnected. [unit: mm] label a c b h m5 e f d earth terminal m4 screw for cover m3 g cover body related page ? 3 & r q i r u p d q f h w r l q w h u q d w l r q d o v w d q g d u g v ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-95 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement caution use options correctly after reading operation manuals of the options to better un- derstand the precautions. take care not to apply excessive stress to each optional part. [unit: mm] circuit diagram in out 2863.0 150 2-?5.5 x 7 2-?5.5 6-6m 270 2551.0 240 120 901.0 (18) (13) label 1 2 3 4 5 6 option part no. 9 r o w d j h specifications for driver manufacturer's part no. applicable driver (frame) manufacturer dv0p3410 3-phase 200v 6 8 3 + / ( 5 % f-frame okaya electric ind. 7. options noise filter ? 5 h f r p p h q g h g f r p s r q h q w v part no. 9 r o w d j h specifications for driver current rating (a) applicable driver (frame) manufacturer rthn-5010 3-phase 200v 10 a, b, c-frame tdk-lambda corp. rthn-5030 30 d-frame rthn-5050 50 e, f-frame [rthn-5010] 1951 2102 502 6-m4 m4 4.5 101 18.51 781 4.51 952 18.51 [rthn-5030] 2251 2402 552 6-m4 m4 4.5 101 18.51 851 4.51 1052 18.51 [rthn-5050] 2801 3002 682 6-m5 m4 5.5 12.51 211 1021 5.51 1282 211 remarks ? 6 h o h f w d q r l v h o w h u r i f d s d f l w \ w k d w h [ f h h g v w k h f d s d f l w \ r i w k h s r z h u v r x u f h d o v r check for load condition). ? ) r u g h w d l o h g v s h f l f d w l r q r i w k h o w h u f r q w d f w w k h p d q x i d f w x u h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-96 [unit: mm] [unit: mm] [unit: mm] [size] pe line l1 l3 l2 l1' l3' l2' load c 50 50 140 6.5 d a 95 25 1.5 m8 25 b circuit diagram circuit diagram circuit diagram abcd 410 fs5559-60-34 170 370 388 460 fs5559-80-34 180 420 438 [fs5559-60-34, fs5559-80-34] [fn258l-16-07] [fn258l-30-07] litze awg14 m5 275 55 290 305 142 150 30 6.5 6.5 300`10 305 320 335 344.5 400`10 9 9 47nf(y2) 3x1,5mohm 3x2,2f(x2) 3x1,5f(x2) 3x1mh 3x2mh 3x2,2f(x2) e l3' l2' l1' e l3 l2 l1 load line litze awg10 m5 35 60 47nf(y2)sh 3x1,5mohm 3x2,2f(x2)sh 3x2,2f(x2)sh 3x0,65mh 3x1,35mh 3x2,2f(x2)sh e l1' l2' l3' e l1 l2 l3 load line part no. 9 r o w d j h specifications for driver current rating (a) applicable driver (frame) manufacturer fs5559-60-34 3-phase 200v 60 g-frame schaffner fs5559-80-34 80 h-frame fn258l-16-07 3-phase 400v 16 d, e-frame fn258l-30-07 30 f-frame fn258-42-07 42 g, h-frame fn258-42-33 42 7. options noise filter phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-97 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement line load circuit diagram [fn258-42-07] [fn258-42-33] e e l3 l2 l1 l3' l2' l1' 314 300 329 1.5 70 50010 45 6.5 12 185 350 70 314 329 45 6.5 300 185 1.5 [unit: mm] [unit: mm] 7. options noise filter caution use options correctly after reading operation manuals of the options to better un- derstand the precautions. take care not to apply excessive stress to each optional part. remarks ? 6 h o h f w d q r l v h o w h u r i f d s d f l w \ w k d w h [ f h h g v w k h f d s d f l w \ r i w k h s r z h u v r x u f h d o v r check for load condition). ? ) r u g h w d l o h g v s h f l f d w l r q r i w k h o w h u f r q w d f w w k h p d q x i d f w x u h u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-98 circuit diagram circuit diagram 1 n4.20.2 411 ul-1015 awg16 281 5.51 11 1 28.51 4.50.5 200 +30 - 0 2 3 n4.20.2 411 ul-1015 awg16 281 5.51 11 1 28.51 4.50.5 200 +30 -0 1 2 (1) (1) (3) (1) (2) [unit: mm] [unit: mm] 7 7. options supplement surge absorber 3 u r y l g h d v x u j h d e v r u e h u i r u w k h s u l p d u \ v l g h r i q r l v h o w h u option part no. 9 r o w d j h specifications for driver manufacturer's part no. manufacturer dv0p1450 3-phase 200v r k a k 9 % ; = okaya electric ind. dv0pm20050 3-phase 400v r k a k 9 % ; = option part no. 9 r o w d j h specifications for driver manufacturer's part no. manufacturer dv0p4190 single phase 100v, 200v r k a k v-781bwz-4 okaya electric ind. remarks take off the surge absorber when you execute a dielectric test to the machine or equip- ment, or it may damage the surge absorber. related page ? 3 & r q i r u p d q f h w r l q w h u q d w l r q d o v w d q g d u g v ? 3 ' u l y h u d q g / l v w r i $ s s o l f d e o h 3 h u l s k h u d o ( t x l s p h q w v phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-99 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 7. options supplement 1 r l v h ) l o w h u i r u 6 l j q d o / l q h v i q v w d o o q r l v h o w h u v i r u v l j q d o o l q h v w r d o o f d e o h v s r z h u f d e o h p r w r u f d e o h h q f r g h u f d e o h and interface cable) ? 2 s w l r q v <24 v 3 r z h u f d e o h 0 r w r u f d e o h ( q f r g h u f d e o h , q w h u i d f h f d e o h 8 6 % f d e o h > option part no. manufacturer's part no. manufacturer dv0p1460 zcat3035-1330 tdk corp. yyy [unit: mm] 391 341 301 13 1 mass: 62.8g to connect the noise filter to the connector xb connection cable, adjust the sheath length at the tip of the cable, as required. remarks ? 5 h f r p p h q g h g f r p s r q h q w v 7-100 7 7. options supplement junction cable for encoder part no. 0 ) ( & $ ** ( $ 0 compatible motor output msmd 50w to 750w, mhmd 200w to 750w specifications for 20-bit incremental encoder (without battery box) yy yy l (?6.5) (14) (11.8) (4) (4) y title part no. manufacturer / p part no. connector (driver side) 3e206-0100 kv sumitomo 3m *1 3 mfeca0030eam shell kit 3e306-3200-008 5 mfeca0050eam connector (motor side) 172160-1 tyco electronics 10 mfeca0100eam connector pin 170365-1 20 mfeca0200eam cable 0.20mm 2 3p (6-wire type) oki electric cable co., ltd. *1 old model number: 55100-0670 (japan molex inc.) part no. 0 ) ( & $ ** 0 - ' (highly bendable type, direction of motor shaft) compatible motor output 50w to 750w (200v) 0 ) ( & $ ** 0 . ' (highly bendable type, opposite direction of motor shaft) 0 ) ( & $ ** 7 - ' (standard bendable type, direction of motor shaft) 0 ) ( & $ ** 7 . ' (standard bendable type, opposite direction of motor shaft) specifications for 20-bit incremental encoder (without battery box) * also for 17-bit version. l ( ? 5.5) direction of motor shaft opposite direction of motor shaft identification label title part no. manufacturer / p part no. connector (driver side) 3e206-0100 kv sumitomo 3m *1 3 mfeca0030mjd shell kit 3e306-3200-008 5 mfeca0050mjd connector jn6fr07sm1 japan aviation electronics ind. 10 mfeca0100mjd connector pin ly10-c1-a1-10000 20 mfeca0200mjd cable awg244p, awg222p hitachi cable, ltd. *1 old model number: 55100-0670 (japan molex inc.) caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-101 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u 7. options junction cable for encoder part no. 0 ) ( & $ ** 0 - ( (highly bendable type, direction of motor shaft) compatible motor output 50w to 750w (200v) 0 ) ( & $ ** 0 . ( (highly bendable type, opposite direction of motor shaft) 0 ) ( & $ ** 7 - ( (standard bendable type, direction of motor shaft) 0 ) ( & $ ** 7 . ( (standard bendable type, opposite direction of motor shaft) specifications for 17-bit absolute encoder (with battery box) l 110 300 (?5.5) direction of motor shaft opposite direction of motor shaft identification label title part no. manufacturer / p part no. connector (driver side) 3e206-0100 kv sumitomo 3m *1 3 mfeca0030mje shell kit 3e306-3200-008 5 mfeca0050mje connector zmr-02 j.s.t mfg. co., ltd. 10 mfeca0100mje connector pin smm-003t-p0.5 20 mfeca0200mje connector jn6fr07sm1 japan aviation electronics ind. connector pin ly10-c1-a1-10000 cable awg24 4p, awg222p hitachi cable, ltd. *1 old model number: 55100-0670 (japan molex inc.) part no. 0 ) ( & $ ** ( 7 ' compatible motor output 400w (400v), 600w (400v), 750w (400v), 0.9kw to 15.0kw specifications for 20-bit incremental encoder (without battery box), design order: 1 l ( ? 6) ?20 title part no. manufacturer / p part no. connector (driver side) 3e206-0100 kv sumitomo 3m *1 3 mfeca0030etd shell kit 3e306-3200-008 5 mfeca0050etd connector jn2ds10sl1-r japan aviation electronics ind. 10 mfeca0100etd connector pin jn1-22-22s-pkg100 20 mfeca0200etd cable 0.2mm 2 3p oki electric cable co., ltd. *1 old model number: 55100-0670 (japan molex inc.) phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-102 part no. 0 ) ( & $ ** ( 6 ' compatible motor output 0.9kw to 5.0kw (ip65 motor) specifications for 20-bit incremental encoder (without battery box), design order: c yyy l (?6.5) ?37.3 title part no. manufacturer / p part no. connector (driver side) 3e206-0100 kv sumitomo 3m *1 3 mfeca0030esd shell kit 3e306-3200-008 5 mfeca0050esd connector (motor side) n/ms3106b20-29s japan aviation electronics ind. 10 mfeca0100esd cable clamp n/ms3057-12a 20 mfeca0200esd cable 0.2mm 2 3p (6-wire type) oki electric cable co., ltd. *1 old model number: 55100-0670 (japan molex inc.) part no. 0 ) ( & $ ** ( 7 ( compatible motor output 400w (400v), 600w (400v), 750w (400v), 0.9kw to 15.0kw specifications for 17-bit absolute encoder (with battery box), design order: 1 l 110 300 ( ? 6) ?20 title part no. manufacturer / p part no. connector (driver side) 3e206-0100 kv sumitomo 3m *1 3 mfeca0030ete shell kit 3e306-3200-008 5 mfeca0050ete connector zmr-02 j.s.t mfg. co., ltd. 10 mfeca0100ete connector pin smm-003t-p0.5 20 mfeca0200ete connector jn2ds10sl1-r japan aviation electronics ind. connector pin jn1-22-22s-pkg100 cable 0.2mm 2 3p oki electric cable co., ltd. *1 old model number: 55100-0670 (japan molex inc.) part no. 0 ) ( & $ ** ( 6 ( compatible motor output 0.9kw to 5.0kw (ip65 motor) specifications for 17-bit absolute encoder (with battery box), design order: c yy (?8) ?37.3 l 110 300 title part no. manufacturer / p part no. connector (driver side) 3e206-0100 kv sumitomo 3m *1 3 mfeca0030ese shell kit 3e306-3200-008 5 mfeca0050ese connector (motor side) n/ms3106b20-29s japan aviation electronics ind. 10 mfeca0100ese cable clamp n/ms3057-12a 20 mfeca0200ese cable 0.2mm 2 4p (8-wire type) oki electric cable co., ltd. *1 old model number: 55100-0670 (japan molex inc.) 7. options junction cable for encoder caution option cable does not conform to ip65 and ip67. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-103 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u 7 7. options supplement junction cable for motor (without brake) part no. 0 ) 0 & $ ** ( ( ' applicable model msmd 50w to 750w, mhmd 200w to 750w yyyy (50) (50) l n (4) (4) y title part no. manufacturer / p part no. connector 172159-1 tyco electronics 3 mfmca0030eed connector pin 170366-1 5 mfmca0050eed rod terminal ai0.75-8gy phoenix contact 10 mfmca0100eed nylon insulated round terminal n1.25-m4 j.s.t mfg. co., ltd. 20 mfmca0200eed cable robo-top 600v 0.75mm 2 4-wire type daiden co.,ltd. part no. 0 ) 0 & $ ** 1 - ' (highly bendable type, direction of motor shaft) applicable model msme 50w to 750w 0 ) 0 & $ ** 1 . ' (highly bendable type, opposite direction of motor shaft) 0 ) 0 & $ ** 5 - ' (standard bendable type, direction of motor shaft) 0 ) 0 & $ ** 5 . ' (standard bendable type, opposite direction of motor shaft) l (50) (28.8) ( ? 6) direction of motor shaft opposite direction of motor shaft motor cable for opposite direction of motor shaft cannot be used with a motor 50w and 100w. caution identification label title part no. manufacturer / p part no. connector jn8ft04sj1 japan aviation electronics ind. 3 mfmca0030njd connector pin st-tmh-s-c1b-3500 5 mfmca0050njd rod terminal ai0.75-8gy phoenix contact 10 mfmca0100njd nylon insulated round terminal n1.25-m4 j.s.t mfg. co., ltd. 20 mfmca0200njd cable awg184p hitachi cable, ltd. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-104 part no. 0 ) 0 & ' ** 2ecd applicable model msme 750w (400v), 1.0kw to 2.0kw, mdme 1.0kw to 2.0kw, mhme 1.0kw to 1.5kw, mgme 0.9kw (50) l ?37.3 (n12.5) title part no. manufacturer / p part no. connector jl04v-6a20-4se-eb-r japan aviation electronics ind. 3 mfmcd0032ecd cable clamp jl04-2022ck(14)-r 5 mfmcd0052ecd rod terminal 1 7 8 % j.s.t mfg. co., ltd. 10 mfmcd0102ecd nylon insulated round terminal n2-m4 j.s.t mfg. co., ltd. 20 mfmcd0202ecd cable robo-top 600v 2.0mm 2 daiden co.,ltd. part no. 0 ) 0 & ( ** 2ecd applicable model mhme 2.0kw (50) l ?40.5 title part no. manufacturer / p part no. connector jl04v-6a22-22se-eb-r japan aviation electronics ind. 3 mfmce0032ecd cable clamp jl04-2022ck(14)-r 5 mfmce0052ecd rod terminal 1 7 8 % j.s.t mfg. co., ltd. 10 mfmce0102ecd nylon insulated round terminal n2-m4 j.s.t mfg. co., ltd. 20 mfmce0202ecd cable robo-top 600v 2.0mm 2 daiden co.,ltd. part no. 0 ) 0 & $ ** 3ect applicable model msme 3.0kw to 5.0kw, mdme 3.0kw to 5.0kw mhme 3.0kw to 5.0kw, mgme 2.0kw to 3.0kw (50) l ?40.5 (n14) title part no. manufacturer / p part no. connector jl04v-6a22-22se-eb-r japan aviation electronics ind. 3 mfmca0033ect cable clamp jl04-2022ck(14)-r 5 mfmca0053ect nylon insulated round terminal n5.5-5 j.s.t mfg. co., ltd. 10 mfmca0103ect 20 mfmca0203ect cable robo-top 600v 3.5mm 2 daiden co.,ltd. 7. options junction cable for motor (without brake) caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-105 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement part no. 0 ) 0 & $ ** 2ecd applicable model mfme 1.5kw (200v) (50) l ?37.3 (n12.5) title part no. manufacturer / p part no. connector jl04v-6a20-18se-eb-r japan aviation electronics ind. 3 mfmca0032ecd cable clamp jl04-2022ck(14)-r 5 mfmca0052ecd rod terminal $ , % 8 phoenix contact 10 mfmca0102ecd nylon insulated round terminal n2-m4 j.s.t mfg. co., ltd. 20 mfmca0202ecd cable robo-top 600v 2.0mm 2 daiden co.,ltd. part no. 0 ) 0 & ) ** 2ecd applicable model mfme 1.5kw (400v), 2.5kw (50) l ?43.7 title part no. manufacturer / p part no. connector jl04v-6a24-11se-eb-r japan aviation electronics ind. 3 mfmcf0032ecd cable clamp jl04-2428ck(14)-r 5 mfmcf0052ecd rod terminal 1 7 8 % phoenix contact 10 mfmcf0102ecd nylon insulated round terminal n2-m4 j.s.t mfg. co., ltd. 20 mfmcf0202ecd cable robo-top 600v 2.0mm 2 daiden co.,ltd. part no. 0 ) 0 & ' ** 3ect applicable model mfme 4.5kw (50) l ?43.7 (n14) title part no. manufacturer / p part no. connector jl04v-6a24-11se-eb-r japan aviation electronics ind. 3 mfmca0033ect cable clamp jl04-2428ck(17)-r 5 mfmca0053ect nylon insulated round terminal n5.5-5 j.s.t mfg. co., ltd. 10 mfmca0103ect 20 mfmca0203ect cable robo-top 600v 3.5mm 2 daiden co.,ltd. 7. options junction cable for motor (without brake) caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-106 7 7. options supplement junction cable for motor (with brake) part no. 0 ) 0 & $ ** 2fcd applicable model msme 1.0kw to 2.0kw (200v) mdme 1.0kw to 2.0kw (200v) mfme 1.5kw (200v) mhme 1.0kw to 1.5kw (200v) mgme 0.9kw (200v) l (50) l (50) (?12.5) (? 9.8 ) ?37.3 title part no. manufacturer / p part no. connector jl04v-6a20-18se-eb-r japan aviation electronics ind. 3 mfmca0032fcd cable clamp jl04-2022ck(14)-r 5 mfmca0052fcd rod terminal 1 7 8 % j.s.t mfg. co., ltd. 10 mfmca0102fcd nylon insulated round terminal earth n2-m4 j.s.t mfg. co., ltd. 20 mfmca0202fcd brake n1.25-m4 cable robo-top 600v 0.75mm 2 and robo-top 600v 2.0mm 2 daiden co.,ltd. part no. 0 ) 0 & ( ** 2fcd applicable model msme 750w to 2.0kw (400v) mdme 400w to 2.0kw (400v) mfme 1.5kw (400v), 2.5kw mgme 0.9kw (400v) mhme 1.0kw (400v), 1.5kw (400v), 2.0kw (50) l (50) l ?43.7 title part no. manufacturer / p part no. connector jl04v-6a24-11se-eb-r japan aviation electronics ind. 3 mfmce0032fcd cable clamp jl04-2428ck(17)-r 5 mfmce0052fcd rod terminal 1 7 8 % j.s.t mfg. co., ltd. 10 mfmce0102fcd nylon insulated round terminal earth n2-m4 j.s.t mfg. co., ltd. 20 mfmce0202fcd brake n1.25-m4 cable robo-top 600v 0.75mm 2 and robo-top 600v 2.0mm 2 daiden co.,ltd. caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-107 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7. options junction cable for motor (with brake) part no. 0 ) 0 & $ ** 3fct applicable model msme 3.0kw to 5.0kw, mdme 3.0kw to 5.0kw mfme 4.5kw, mhme 3.0kw to 5.0kw mgme 2.0kw to 4.5kw l (50) l (50) ?43.7 (?14) (? 9.8 ) title part no. manufacturer / p part no. connector jl04v-6a24-11se-eb-r japan aviation electronics ind. 3 mfmca0033fct cable clamp jl04-2428ck(17)-r 5 mfmca0053fct nylon insulated round terminal earth n5.5-5 j.s.t mfg. co., ltd. 10 mfmca0103fct brake n1.25-m4 20 mfmca0203fct cable robo-top 600v 0.75mm 2 and robo-top 600v 3.5mm 2 daiden co.,ltd. caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-108 7 7. options supplement junction cable for brake part no. 0 ) 0 & % ** * ( 7 applicable model msmd 50w to 750w, mhmd 200w to 750w yyyyy n l title part no. manufacturer / p part no. connector 172157-1 tyco electronics . ' . $ # ( & 5 connector pin 170366-1, 170362-1 . ' . $ # ( & 5 nylon insulated round terminal n1.25-m4 j.s.t mfg. co., ltd. . ' . $ # ( & 5 . ' . $ # ( & 5 cable robo-top 600v 0.75mm 2 2-wire type daiden co.,ltd. part no. 0 ) 0 & % ** 3 - 7 (highly bendable type, direction of motor shaft) applicable model msme 50w to 750w 0 ) 0 & % ** 3 . 7 (highly bendable type, opposite direction of motor shaft) 0 ) 0 & % ** 6 - 7 (standard bendable type, direction of motor shaft) 0 ) 0 & % ** 6 . 7 (standard bendable type, opposite direction of motor shaft) l( 5 0 ) (26.6) direction of motor shaft opposite direction of motor shaft ( ? 4.3) identification label title part no. manufacturer / p part no. connector jn4ft02sjmr japan aviation electronics ind. 3 mfmcb0030pjt connector pin st-tmh-s-c1b-3500 5 mfmcb0050pjt nylon insulated round terminal n1.25-m4 j.s.t mfg. co., ltd. 10 mfmcb0100pjt 20 mfmcb0200pjt cable awg22 hitachi cable, ltd. caution related page option cable does not conform to ip65 and ip67. ? 3 - x q f w l r q f d e o h i r u p r w r u ? 3 6 s h f l f d w l r q v r i 0 r w r u f r q q h f w r u phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-109 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 7. options supplement & r q q h f w r u . l w & r q q h f w r u . l w i r u , q w h u i d f h part no. ' 9 3 ? & r p s r q h q w v title part no. number manufacturer note connector 10150-3000pe equivalent 1 sumitomo 3m *1 ) r u & r q q h f w r u ; (50-pins) connector cover 10350-52a0-008 equivalent 1 *1 old model number: connector 54306-5019, connector cover 54331-0501 (japan molex inc.) ? pin disposition (50 pins) (viewed from the soldering side) 1) check the stamped pin-no. on the connector body while making a wiring. 2) for the function of each signal title or its symbol, refer to the wiring example of the connector x4. 3) do not connect anything to nc pins in the above table. 26 si3 28 si5 30 si7 32 si9 34 so2C 36 so3C 38 so4C 40 so6 42 im 44 pulsh1 46 signh1 48 ob 27 si4 29 si6 31 si8 33 si10 35 so2+ 37 so3+ 39 so4+ 41 com 43 sp 45 pulsh2 47 signh2 49 ob 1 opc1 3 puls1 5 sign1 7 com 9 si2 11 so1+ 13 gnd 15 gnd 17 gnd 19 cz 21 oa 23 oz 2 opc2 4 puls2 6 sign2 8 si1 10 so1C 12 so5 14 spr/ spl /trqr 16 p-atl 18 n-atl 20 nc 22 oa 24 oz 50 fg 25 gnd interface cable part no. ' 9 3 this 2 m connector cable contains awg28 conductors. 25 50 52.4 2000 +200 0 50 +10 0 39 connector cover: 10350-52a0-008 sumitomo 3m or equivalent connector: 10150-3000pe sumitomo 3m or equivalent 12.7 18 1 26 ? 7 d e o h i r u z l u l q j pin no. color pin no. color pin no. color pin no. color pin no. color 1 orange (red1) 11 orange (black2) 21 orange (red3) 31 orange (red4) 41 orange (red5) 2 orange (black1) 12 yellow (black1) 22 orange (black3) 32 orange (black4) 42 orange (black5) 3 gray (red1) 13 gray (red2) 23 gray (red3) 33 gray (red4) 43 gray (red5) 4 gray (black1) 14 gray (black2) 24 gray (black3) 34 white (red4) 44 white (red5) 5 white (red1) 15 white (red2) 25 white (red3) 35 white (black4) 45 white (black5) 6 white (black1) 16 yellow (red2) 26 white (black3) 36 yellow (red4) 46 yellow (red5) 7 yellow (red1) 17 yel (blk2)/pink (blk2) 27 yellow (red3) 37 yellow (black4) 47 yellow (black5) 8 pink (red1) 18 pink (red2) 28 yellow (black3) 38 pink (red4) 48 pink (red5) 9 pink (black1) 19 white (black2) 29 pink (red3) 39 pink (black4) 49 pink (black5) 10 orange (red2) 20 C 30 pink (black3) 40 gray (black4) 50 gray (black5) 7-110 & r q q h f w r u . l w i r u & r p p x q l f d w l r q & d e o h i r u 5 6 5 6 part no. ' 9 3 0 ? & r p s r q h q w v title part no. manufacturer note connector 2040008-1 tyco electronics ) r u & r q q h f w r u ; s l q v ? 3 l q g l v s r v l w l r q r i f r q q h f w r u f r q q h f w r u ; ? ' l p h q v l r q v (viewed from cable) shell: fg gnd txd nc rxd ? 485+ ? 485+ 8642 7531 (33) (11) 5.2 7.3 (?6.7) 11 10.7 8 (1.5) & r q q h f w r u . l w i r u 6 d i h w \ part no. ' 9 3 0 ? & r p s r q h q w v title part no. manufacturer note connector 2013595-1 tyco electronics ) r u & r q q h f w r u ; s l q v ? 3 l q g l v s r v l w l r q r i f r q q h f w r u f r q q h f w r u ; ? ' l p h q v l r q v 8642 7531 nc 6 ) ? nc sf1+ 6 ) ? sf2+ ( ' 0 ? edm+ (viewed from cable) shell: fg (33) (11) 5.2 7.3 (?6.7) 11 10.7 8(1.5) & r q q h f w r u . l w i r u ( [ w h u q d o 6 f d o h part no. ' 9 3 0 ? & r p s r q h q w v title part no. manufacturer note connector 0 8 ) 3 . . ; j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; ? 3 l q g l v s r v l w l r q r i f r q q h f w r u f r q q h f w r u ; ? ' l p h q v l r q v (10.5) (32) 18.5 13.6 10.4 11.9 7.1 1357 2468 9 10 ps exa exa e0v exz exz exb exb ps e5v (viewed from cable) 7. options & r q q h f w r u . l w remarks ? & r q q h f w r u ; x v h z l w k f r p p h u f l d o o \ d y d l o d e o h f d e o h ? & r q j x u d w l r q r i f r q q h f w r u ; 8 6 % p l q l % ? ) r u f u l p s w r r o h w f q h f h v v d u \ w r s u r g x f h d f d e o h d f f h v v w k h z h e v l w h r i w k h p d q x i d f w x u h u or consult with the manufacturer for details. for inquiries of manufacturer, refer to p.7-125 "list of peripheral equipments". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-111 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7. options & r q q h f w r u . l w & r q q h f w r u . l w i r u ( q f r g h u part no. ' 9 3 0 ? & r p s r q h q w v title part no. manufacturer note connector (driver side) 3e206-0100 kv sumitomo 3m *1 ) r u & r q q h f w r u ; shell kit 3e306-3200-008 *1 old model number: 55100-0670 (japan molex inc.) ? 3 l q g l v s r v l w l r q r i f r q q h f w r u f r q q h f w r u ; ? ' l p h q v l r q v (viewed from cable) 7-112 7. options & r q q h f w r u . l w part no. ' 9 3 0 (for a to d-frame: double row type) ? & r p s r q h q w v title part no. number manufacturer note connector - ) $ 7 6 $ ; * 6 $ & 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; $ handle lever j-fat-ot 2 ? ' l p h q v l r q v 39.3 27.6 26 123 54 a b 5 4 2 1 5 4 2 1 3 3 part no. ' 9 3 0 (for e-frame 200 v) ? & r p s r q h q w v title part no. number manufacturer note connector - ) $ 7 6 $ ; * 6 $ / 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; $ handle lever j-fat-ot-l 2 part no. ' 9 3 0 (for d-frame 400 v, e-frame 400 v and 24 v input power) ? & r p s r q h q w v title part no. number manufacturer note connector 02mjfat-sagf 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; ' handle lever mjfat-ot 2 part no. ' 9 3 0 (for d-frame 400 v) ? & r p s r q h q w v title part no. number manufacturer note connector 03jfat-saygsa-m 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; $ handle lever j-fat-ot-l 2 part no. ' 9 3 0 (for e-frame 400 v) ? & r p s r q h q w v title part no. number manufacturer note connector 03jfat-saygsa-l 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; $ handle lever j-fat-ot-l 2 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-113 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7. options & r q q h f w r u . l w & r q q h f w r u . l w i r u 5 h j h q h u d w l y h 5 h v l v w r u & r q q h f w l r q (e-frame) part no. ' 9 3 0 (for e-frame) ? & r p s r q h q w v title part no. number manufacturer note connector - ) $ 7 6 $ ; * 6 $ / 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; & handle lever j-fat-ot-l 2 part no. ' 9 3 0 (for d-frame 400 v) ? & r p s r q h q w v title part no. number manufacturer note connector - ) $ 7 6 $ ; * 6 $ 0 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; & handle lever j-fat-ot-l 2 & r q q h f w r u . l w i r u 0 r w r u & r q q h f w l r q part no. ' 9 3 0 (for a to d-frame) ? & r p s r q h q w v title part no. number manufacturer note connector - ) $ 7 6 $ ; * ) 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; % handle lever j-fat-ot 2 part no. ' 9 3 0 (for e-frame) ? & r p s r q h q w v title part no. number manufacturer note connector - ) $ 7 6 $ ; * 6 $ / 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; % handle lever j-fat-ot-l 2 part no. ' 9 3 0 (for d-frame 400 v) ? & r p s r q h q w v title part no. number manufacturer note connector - ) $ 7 6 $ ; * 6 $ 0 1 j.s.t mfg. co., ltd. ) r u & r q q h f w r u ; % handle lever j-fat-ot-l 2 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-114 7. options & r q q h f w r u . l w & r q q h f w r u . l w i r u 0 r w r u ( q f r g h u & r q q h f w l r q part no. ' 9 3 applicable model msmd 50w to 750w, mhmd 200w to 750w (incremental encoder type) ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 connector 172160-1 1 tyco electronics for encoder cable (6-pins) connector pin 170365-1 6 connector 172159-1 1 tyco electronics for motor cable (4-pins) connector pin 170366-1 4 *1 old model number: 55100-0670 (japan molex inc.) ? 3 l q g l v s r v l w l r q r i f r q q h f w r u ? 3 l q g l v s r v l w l r q r i f r q q h f w r u ? 3 l q g l v s r v l w l r q r i f r q q h f w r u f r q q h f w r u ; for encoder cable for motor cable 1 nc 2 ps 3 ps 4 e5v 5 e0v 6 fg 1 u 2 v 3 w 4 e 6 ps 5 ps 2 e0v 1 e5v 4 nc * 3 nc * *nc: none connect ( case ) fg part no. ' 9 3 0 applicable model msme 50w to 750w ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder plug connector jn6fr07sm1 1 japan aviation electronics ind. for encoder cable (7-pins) socket contact ly10-c1-a1-10000 7 motor plug connector jn8ft04sj1 1 japan aviation electronics ind. for motor cable (4-pins) socket contact st-tmh-s-c1b-3500 4 *1 old model number: 55100-0670 (japan molex inc.) ? 3 l q g l v s r v l w l r q r i f r q q h f w r u ? 3 l q g l v s r v l w l r q r i f r q q h f w r u ? 3 l q g l v s r v l w l r q r i f r q q h f w r u f r q q h f w r u ; for encoder cable for motor cable 6 ps 5 ps 2 e0v 1 e5v 4 nc *1 *1 nc: none connect 3 nc *1 ( case ) fg 4 ps 1 fg 2 batC 3 e0v 5 bat+ 6 e5v 7 ps 1 fg 4 ps 2 batC 3 e0v 7 ps 6 e5v 5 bat+ pe e 3 w 2 v 1 u 1 u 2 v 3 w pe e [direction of motor shaft] [opposite direction of motor shaft] * pins 2 and 5 are left unused (nc) with an incremental encoder. gasket gasket gasket gasket secure the gasket in place without removing it from the connector. otherwise, the degree of protection of ip67 will not be guaranteed. remarks caution remarks ? : k h q , 3 r u , 3 d u h q h f h v v d u \ w k h f x v w r p h u p x v w j l y h d s s u r u l d w h s u r f h v v l q j ? ) r u f u l p s w r r o h w f q h f h v v d u \ w r s u r g x f h d f d e o h d f f h v v w k h z h e v l w h r i w k h p d q x i d f w x u h u or consult with the manufacturer for details. for inquiries of manufacturer, refer to p.7-125 "list of peripheral equipments". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-115 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement part no. ' 9 3 0 applicable model msme 750w (400v), 1.0kw to 2.0kw, mdme 400w (400v), 600w (400v), 1.0kw to 2.0kw mhme 1.0kw to 1.5kw, mgme 0.9kw without brake specifications design order: 1 ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector jn2ds10sl1-r 1 japan aviation electronics ind. for encoder cable connector pin jn1-22-22s-pkg100 5 motor connector jl04v-6a-20-4se-eb-r 1 japan aviation electronics ind. for motor cable cable clamp jl04-2022ck(14)-r 1 *1 old model number: 55100-0670 (japan molex inc.) part no. ' 9 3 applicable model msme 1.0kw to 2.0kw, mdme 1.0kw to 2.0kw mhme 1.0kw to 1.5kw, mgme 0.9kw without brake specifications design order: c ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector n/ms3106b20-29s 1 japan aviation electronics ind. for encoder cable cable clamp n/ms3057-12a 1 motor connector n/ms3106b20-4s 1 japan aviation electronics ind. for motor cable cable clamp n/ms3057-12a 1 *1 old model number: 55100-0670 (japan molex inc.) part no. ' 9 3 0 applicable model msme 3.0kw to 5.0kw, mdme 3.0kw to 5.0kw mhme 2.0kw to 5.0kw, mgme 2.0kw to 3.0kw without brake specifications design order: 1 ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector jn2ds10sl1-r 1 japan aviation electronics ind. for encoder cable connector pin jn1-22-22s-pkg100 5 motor connector jl04v-6a22-22se-eb-r 1 japan aviation electronics ind. for motor cable cable clamp jl04-2022ck(14)-r 1 *1 old model number: 55100-0670 (japan molex inc.) part no. ' 9 3 applicable model msme 3.0kw to 5.0kw, mdme 3.0kw to 5.0kw mhme 2.0kw to 5.0kw, mgme 2.0kw to 3.0kw without brake specifications design order: c ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector n/ms3106b20-29s 1 japan aviation electronics ind. for encoder cable cable clamp n/ms3057-12a 1 motor connector n/ms3106b22-22s 1 japan aviation electronics ind. for motor cable cable clamp n/ms3057-12a 1 *1 old model number: 55100-0670 (japan molex inc.) 7. options & r q q h f w r u . l w caution remarks ? : k h q , 3 r u , 3 d u h q h f h v v d u \ w k h f x v w r p h u p x v w j l y h d s s u r u l d w h s u r f h v v l q j ? ) r u f u l p s w r r o h w f q h f h v v d u \ w r s u r g x f h d f d e o h d f f h v v w k h z h e v l w h r i w k h p d q x i d f w x u h u or consult with the manufacturer for details. for inquiries of manufacturer, refer to p.7-125 "list of peripheral equipments". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-116 7. options & r q q h f w r u . l w part no. ' 9 3 0 applicable model msme 1.0kw to 2.0kw (200v), mdme 1.0kw to 2.0kw (200v), mfme 1.5kw (common to with/without brake) (200v), mhme 1.0kw to 1.5kw (200v), mgme 0.9kw (200v) with brake specifications design order: 1 ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector jn2ds10sl1-r 1 japan aviation electronics ind. for encoder cable connector pin jn1-22-22s-pkg100 5 motor connector jl04v-6a20-18se-eb-r 1 japan aviation electronics ind. for motor cable cable clamp jl04-2022ck(14)-r 1 *1 old model number: 55100-0670 (japan molex inc.) part no. ' 9 3 applicable model msme 1.0kw to 2.0kw, mdme 1.0kw to 2.0kw mhme 1.0kw to 1.5kw, mgme 0.9kw with brake specifications design order: c ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector n/ms3106b20-29s 1 japan aviation electronics ind. for encoder cable cable clamp n/ms3057-12a 1 motor connector n/ms3106b20-18s 1 japan aviation electronics ind. for motor cable cable clamp n/ms3057-12a 1 *1 old model number: 55100-0670 (japan molex inc.) part no. ' 9 3 0 applicable model msme 750w to 2.0kw (400v), 3.0kw to 5.0kw mdme 400w to 2.0kw (400v), 3.0kw to 5.0kw mfme 1.5kw (400v), 2.5kw to 4.5kw (common to with/without brake) mhme 1.0kw to 1.5kw (400v), 2.0kw to 5.0kw mgme 0.9kw (400v), 2.0kw to 4.5kw with brake specifications design order: 1 ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector jn2ds10sl1-r 1 japan aviation electronics ind. for encoder cable connector pin jn1-22-22s-pkg100 5 motor connector jl04v-6a24-11se-eb-r 1 japan aviation electronics ind. for motor cable cable clamp jl04-2428ck(17)-r 1 *1 old model number: 55100-0670 (japan molex inc.) part no. ' 9 3 applicable model msme 3.0kw to 5.0kw, mdme 3.0kw to 5.0kw mhme 2.0kw to 5.0kw, mgme 2.0kw to 3.0kw with brake specifications design order: c ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector n/ms3106b20-29s 1 japan aviation electronics ind. for encoder cable cable clamp n/ms3057-12a 1 motor connector n/ms3106b24-11s 1 japan aviation electronics ind. for motor cable cable clamp n/ms3057-16a 1 *1 old model number: 55100-0670 (japan molex inc.) caution remarks ? : k h q , 3 r u , 3 d u h q h f h v v d u \ w k h f x v w r p h u p x v w j l y h d s s u r u l d w h s u r f h v v l q j ? ) r u f u l p s w r r o h w f q h f h v v d u \ w r s u r g x f h d f d e o h d f f h v v w k h z h e v l w h r i w k h p d q x i d f w x u h u or consult with the manufacturer for details. for inquiries of manufacturer, refer to p.7-125 "list of peripheral equipments". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-117 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7. options & r q q h f w r u . l w part no. ' 9 3 0 applicable model mdme 7.5kw to 15.0kw mgme 6.0kw, mhme 7.5kw without brake specifications design order: 1 ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector jn2ds10sl1-r 1 japan aviation electronics ind. for encoder cable connector pin jn1-22-22s-pkg100 5 motor connector jl04v-6a32-17se-eb-r 1 japan aviation electronics ind. for motor cable cable clamp jl04-32ck(24)-r *2 1 *1 old model number: 55100-0670 (japan molex inc.) *2 & d e o h f r y h u v l ] h t w r t & d e o h f r u h p d w h u l d o l v q r w v s h f l i l h g 7 k h x v h u f d q v h o h f w w k h f d e o h f r p s d w l e o h z l w k w k h f r q q h f w r u w r e h x v h g part no. ' 9 3 0 applicable model mdme 7.5kw to 15.0kw mgme 6.0kw, mhme 7.5kw with brake specifications design order: 1 ? & r p s r q h q w v title part no. number manufacturer note connector (driver side) 3e206-0100 kv 1 sumitomo 3m *1 ) r u & r q q h f w r u ; s l q v shell kit 3e306-3200-008 1 encoder connector jn2ds10sl1-r 1 japan aviation electronics ind. for encoder cable connector pin jn1-22-22s-pkg100 5 motor connector jl04v-6a32-17se-eb-r 1 japan aviation electronics ind. for motor cable cable clamp jl04-32ck(24)-r *2 1 brake connector n/ms3106b14s-2s 1 japan aviation electronics ind. for brake cable cable clamp n/ms3057-6a 1 *1 old model number: 55100-0670 (japan molex inc.) *2 & d e o h f r y h u v l ] h t w r t & d e o h f r u h p d w h u l d o l v q r w v s h f l i l h g 7 k h x v h u f d q v h o h f w w k h f d e o h f r p s d w l e o h z l w k w k h f r q q h f w r u w r e h x v h g & r q q h f w r u . l w i r u 0 r w r u % u d n h & r q q h f w l r q part no. ' 9 3 0 ? & r p s r q h q w v title part no. number manufacturer note connector jn4ft02sjm-r 1 japan aviation electronics ind. socket contact st-tmh-s-c1b-3500 2 ? 3 l q g l v s r v l w l r q r i f r q q h f w r u i r u e u d n h f d e o h % u d n h % u d n h % u d n h % u d n h * d v n h w * d v n h w 6 h f x u h w k h j d v n h w l q s o d f h z l w k r x w u h p r y l q j l w i u r p w k h f r q q h f w r u 2 w k h u z l v h w k h g h j u h h r i s u r w h f w l r q r i , 3 z l o o q r w e h j x d u d q w h h g > ' l u h f w l r q r i p r w r u v k d i w @ > 2 s s r v l w h g l u h f w l r q r i p r w r u v k d i w @ remarks caution remarks ? : k h q , 3 r u , 3 d u h q h f h v v d u \ w k h f x v w r p h u p x v w j l y h d s s u r u l d w h s u r f h v v l q j ? ) r u f u l p s w r r o h w f q h f h v v d u \ w r s u r g x f h d f d e o h d f f h v v w k h z h e v l w h r i w k h p d q x i d f w x u h u or consult with the manufacturer for details. for inquiries of manufacturer, refer to p.7-125 "list of peripheral equipments". phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-118 7 7. options supplement battery for absolute encoder battery for absolute encoder part no. ' 9 3 ? / l w k l x p e d w w h u \ 9 p $ k dv0p2990 00090001 84 18 paper insulator lead wire length 50mm zhr-2 (j.s.t mfg. co., ltd.) 1 bat+ 14.5 2 batC caution this battery is categorized as hazardous substance, and you may be required to present an application of hazardous substance when you transport by air (both passenger and cargo airlines). battery box for absolute encoder part no. ' 9 3 ? & r p s r q h q w v dv0p4430 p04090001* r5 (112) (110) (31) (27) related page ? 3 $ e v r o x w h v \ v w h p phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-119 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement 7 7. options supplement mounting bracket caution related page for e, f and g-frame, you con make a front end and back end mounting by changing the mounting direction of l-shape bracket (attachment). ? 3 ' l p h q v l r q v r i g u l y h u part no. ' 9 3 0 frame symbol of applicable driver a-frame mounting screw m4 l6 pan head 4pcs dimensions upper side 2-m4, pan head 17 9.5 15 10 24 40 7 2-c5 r2 r2 11 0.2 2.5 2.5 ?5.2 r1 or less bottom side 2-m4, pan head 11 0.2 5.2 5 40 33 17 9.5 r2 2-r1 15 10 r2 2.5 2.5 2-c5 r1 or less part no. ' 9 3 0 frame symbol of applicable driver b-frame mounting screw m4 l6 pan head 4pcs dimensions upper side 47 7 15 10 r2 2.5 2.5 2-m4, pan head 24 18 0.2 ?5.2 2-c5 17 9.5 r2 r1 or less bottom side 47 40 17 9.5 2.5 2.5 15 10 r2 5 18 0.2 2-m4, pan head 2-c5 5.2 r2 2-r1 r1 or less part no. ' 9 3 0 frame symbol of applicable driver c-frame mounting screw m4 l6 pan head 4pcs dimensions upper side 30 0.2 15 10 r2 2.5 2.5 2-m4, pan head 2-c5 17 9.5 40 20 ?5.2 r2 r1 or less bottom side 17 9.5 2.5 2.5 15 10 r2 30 0.2 2-m4, pan head 2-c5 40 20 5.2 r2 2-r1 r1 or less part no. ' 9 3 0 frame symbol of applicable driver d-frame mounting screw m4 l6 pan head 4pcs dimensions upper side 36 0.2 5 15 10 r2 2.5 10 40 0.2 60 2.5 2-m4, pan head 2-c5 17 9.5 2-?5.2 r2 r1 or less bottom side 17 9.5 2.5 r1 or less 2.5 10 40 0.2 60 36 0.2 19 15 10 r2 2-m4, pan head 2-c5 4-r1 5.2 r2 5.2 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-120 7 7. options supplement reactor c b a (mounting pitch) a a d 6-i rst np xyz b c d 2-i g 4-h h e h g 4-h e fig.1 fig.2 f (mounting pitch) f f: center-to-center distanc e on outer circular arc f: center-to-center distance on slotted hole f (mounting pitch) f a (mounting pitch) part no. a b c d e (max) fghi inductance (mh) rated current (a) fig.1 ' 9 3 651 1251 (93) 136 max 155 ? 852 n e m4 6.81 3 ' 9 3 601 1501 (113) 155 max 130 ? 752 n e m4 4.02 5 ' 9 3 601 1501 (113) 155 max 140 ? 852 n e m4 2 8 ' 9 3 601 1501 (113) 155 max 150 ? 952 n e m4 1.39 11 ' 9 3 601 1501 (113) 160 max 155 ? 1002 n e m5 0.848 16 ' 9 3 601 1501 (113) 160 max 170 ? 1152 n e m5 0.557 25 fig.2 ' 9 3 550.7 801 66.51 110 max 90 412 552 n e m4 4.02 5 ' 9 3 550.7 801 66.51 110 max 95 462 602 n e m4 2 8 ' 9 3 0 550.7 801 66.51 110 max 105 562 702 n e m4 1.39 11 motor series power supply rated output part no. motor series power supply rated output part no. msme single phase, 100v 50w to 100w dv0p227 msme 3-phase, 200v 2.0kw dv0p223 200w to 400w dv0p228 mdme msme single phase, 200v 50w to 200w dv0p227 mhme 400w to 750w dv0p228 mgme msme mdme mhme single phase, 200v 1.0kw dv0p228 msme 3.0kw dv0p224 1.5kw dv0pm20047 mdme mgme single phase, 200v 0.9kw dv0p228 mhme msme 3-phase, 200v 50w to 750w dv0p220 mgme mgme 0.9kw dv0p221 msme 4.0kw dv0p225 msme 1.0kw 1.5kw dv0p222 mdme mdme mhme mhme mfme single phase, 200v 1.5kw dv0pm20047 3-phase, 200v 1.5kw dv0p222 2.5kw dv0p224 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-121 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement harmonic restraint harmonic restraint measures are not common to all countries. therefore, prepare the measures that meet the requirements of the destination country. : l w k s u r g x f w v i r u - d s d q r q 6 h s w h p e h u * x l g h o l q h v i r u k d u p r q l f u h v w u d l q w r q heavy consumers who receive power through high voltage system or extra high voltage v \ v w h p d q g * x l g h o l q h v i r u k d u p r q l f u h v w u d l q w r q k r x v h k r o g h o h f w u l f d o d s s o l d q f h v d q g j h q h u d o s x u s r v h d u w l f o h v h v w d e o l v k h g e \ w k h $ j h q f \ i r u 1 d w x u d o 5 h v r x u f h v d q g ( q h u j \ of the ministry of economy, trade and industry (the ex-ministry of international trade and industry). according to those guidelines, the japan electrical manufacturers association (jema) have prepared technical documents (procedure to execute harmonic restraint: jem-tr 198, jem-tr 199 and jem-tr 201) and have been requesting the users to un- derstand the restraint and to cooperate with us. on january, 2004, it has been decided to h [ f o x g h w k h j h q h u d o s x u s r v h l q y h u w h u d q g v h u y r g u l y h u i u r p w k h * x l g h o l q h v i r u k d u p r q l f u h v w u d l q w r q k r x v h k r o g h o h f w u l f d o d s s o l d q f h v d q g j h q h u d o s x u s r v h d u w l f o h v $ i w h u w k d w w k h * x l g h o l q h v i r u k d u p r q l f u h v w u d l q w r q k r x v h k r o g h o h f w u l f d o d s s o l d q f h v d q g j h q h u d o s x u s r v h d u w l f o h v z d v d e r o l v k h g r q 6 h s w h p e h u we are pleased to inform you that the procedure to execute the harmonic restraint on j h q h u d o s x u s r v h l q y h u w h u d q g v h u y r g u l y h u z d v p r g l h g d v i r o o r z v $ o o w \ s h v r i w k h j h q h u d o s x u s r v h l q y h u w h u v d q g v h u y r g u l y h u v x v h g e \ v s h f l f x v h u v d u h x q g h u w k h f r q w u r o r i w k h * x l g h o l q h v i r u k d u p r q l f u h v w u d l q w r q k h d y \ f r q v x p h u v z k r u h - f h l y h s r z h u w k u r x j k k l j k y r o w d j h v \ v w h p r u h [ w u d k l j k y r o w d j h v \ v w h p 7 k h x v h u v z k r are required to apply the guidelines must calculate the equivalent capacity and har- monic current according to the guidelines and must take appropriate countermeasures l i w k h k d u p r q l f f x u u h q w h [ f h h g v d o l p l w y d o x h v s h f l h g l q d f r q w u d f w g h p d q g 5 h i h u w r jem-tr 210 and jem-tr 225.) 7 k h * x l g h o l q h v i r u k d u p r q l f u h v w u d l q w r q k r x v h k r o g h o h f w u l f d o d s s o l d q f h v d q g j h q h u d o s x u s r v h d u w l f o h v z d v d e r o l v k h g r q 6 h s w h p e h u + r z h y h u e d v h g r q f r q y h q - tional guidelines, jema applies the technical documents jem-tr 226 and jem-tr w r d q \ x v h u v z k r g r q r w w l q w r w k h * x l g h o l q h v i r u k d u p r q l f u h v w u d l q w r q k h d y \ consumers who receive power through high voltage system or extra high voltage sys- w h p i u r p d s h u v s h f w l y h r q h q o l j k w h q p h q w r q j h q h u d o k d u p r q l f u h v w u d l q w 7 k h s x u s r v h of these guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent. 7. options reactor phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-122 7 7. options supplement external regenerative resistor dv0p4280, dv0p4281 dv0p4282, dv0p4283 n 60 30 17 21 8 13 13 13 7 10max 300 drawing process thermostat (light yellow 2) (2mm max) 10max 7 10 23 1701 160 ? 28 ? ? 24 1 30030 n thermostat (light yellow 2) part no. manufacturer's part no. specifications activation temperature of built-in thermostat resistance cable core outside diameter mass rated power (reference) *1 free air with fan w mm kg w w dv0p4280 rf70m 50 n awg18 stranded ( wire ) 0.1 10 25 ? y & b-contact open/close capacity (resistance load) 1a 125vac 6000 times 0.5a 250vac 10000 times dv0p4281 rf70m 100 0.1 10 25 dv0p4282 rf180b 25 0.4 17 50 dv0p4283 rf180b 50 0.2 17 50 dv0p4284 rf240 30 0.5 40 100 dv0p4285 rh450f 20 1.2 52 130 dv0pm20048 rf240 120 0.5 35 80 dv0pm20049 rh450f 80 1.2 65 190 dv0pm20058 rh450f 6 3.3 *2 16 *3 780 dv0pm20059 rh450f 6 13.3 *2 16 * 3 1140 manufacturer : iwaki musen kenkyusho *1 power with which the driver can be used without activating the built-in thermostat. a built-in thermal fuse and a thermal protector are provided for safety. the circuit should be so designed that the power supply will be turned off as the thermal protector operates. the built-in thermal fuse blows depending on changes in heat dissipation condition, operating temperature limit, power supply voltage or load. mount the regenerative resistor on a machine operating under aggressive regenerating condition (high power supply voltage, large load inertia, shorter deceleration time, etc.) and make sure that the surface temperature will not exceed 100c. $ w w d f k w k h u h j h q h u d w l y h u h v l v w r u w r d q r q d p p d e o h p d w h u l d o v x f k d v p h w d o & r y h u w k h u h j h q h u d w l y h u h v l v w r u z l w k d q r q d p p d e o h p d w h u l d o v r w k d w l w f d q q r w e h g l u h f w o \ w r x f k h g temperatures of parts that may be directly touched by people should be kept below 70c. *2 terminal block with screw tightening torque as shown below. yyyy t1, t2, 24v, 0v, e m4 1.2 to 1.4nm yyyy r1, r2 m5 2.0 to 2.4nm 8 v h w k h f d e o h z l w k w k h v d p h g l d p h w h u d v w k h p d l q f l u f x l w f d e o h 5 h i h u w r 3 *3 with built-in fan which should always be operated with the power supply connected across 24 v and 0 v. frame power supply single phase, 9 single phase, 9 s k d v h 9 s k d v h 9 a dv0p4280 dv0p4281 (50w, 100w) dv0p4283 (200w) b dv0p4283 dv0p4283 c dv0p4282 d dv0p4284 dv0pm20048 e dv0p4284 2 in parallel or dv0p4285 dv0pm20049 f dv0p4285 2 in parallel dv0pm20049 2 in parallel g dv0p4285 3 in parallel dv0pm20049 3 in parallel h dv0p4285 6 in parallel or dv0pm20058 dv0pm20049 6 in parallel or dv0pm20059 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-123 1 before using the products 2 preparation 3 connection 4 setup 5 adjustment 6 when in trouble 7 supplement remarks thermal fuse is installed for safety. compose the circuit so that the power will be turned off when the thermostat is activated. the thermal fuse may blow due to heat dissipating condition, working temperature, supply voltage or load fluctuation. 0 d n h l w v x u h w k d w w k h v x u i d f h w h p s h u d w x u h r i w k h u h v l v w r u p d \ q r w h [ f h h g y & d w the worst running conditions with the machine, which brings large regeneration (such case as high supply voltage, load inertia is large or deceleration time is short) install a fan for a forced cooling if necessary. caution regenerative resistor gets very hot. take preventive measures for fire and burns. avoid the installation near inflammable objects, and easily accessible place by hand. 7. options external regenerative resistor dv0p4284, dv0pm20048 dv0p4285, dv0pm20049 300 10max 9max 15 15 300 100 25 10 71 10 14 53 70 5 4.5 290 280 450 300 n n 450 450 300 50 20 100 11 18 140 278 130 288 thermostat (light yellow 2) thermostat (light yellow 2) dv0pm20058, dv0pm20059 5 w dv0pm20058 5 w dv0pm20059 cover (punching metal) 270 max 470 215 20 215 20 470 240 228 380 193 (38) circuit diagram 124 6- n 7 r r r r r r fa n fg r1 r2 t1 t2 24v 0v e t. f t. f t. f t. f t. f t. f a the third from the top phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-124 7 7. options supplement recommended components surge absorber for motor brake motor part no. manufacturer msme 50w to 750w (200v) z15d271 ishizuka electronics co. 750w (400v) 1.0kw to 5.0kw z15d151 mdme 400w (400v) 600w (400v) 1.0kw to 3.0kw nvd07scd082 koa corporation 4.0kw to 7.5kw z15d151 ishizuka electronics co. 11kw, 15kw nvd07scd082 koa corporation mfme 1.5kw 2.5kw, 4.5kw mgme 0.9kw to 6.0kw z15d151 ishizuka electronics co. mhme 1.0kw, 1.5kw nvd07scd082 koa corporation 2.0kw to 7.5kw z15d151 ishizuka electronics co. phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-126 warranty period ? 7 k h z d u u d q w \ s h u l r g l v r q h \ h d u i u r p w k h g d w h r i s x u f k d v h r u p r q w k v i u r p w k h month of manufacture in our plant. for a motor with brake, the axis accelerated and decelerated more times than the v s h f l h g o l p l w l v q r w f r y h u h g e \ z d u u d q w \ warranty information ? 6 k r x o g d q \ g h i h f w g h y h o r s g x u l q j z d u u d q w \ s h u l r g x q g h u v w d q g d u g v h u y l f h f r q g l w l r q v as described in the manual, the company agrees to make repairs free of charge. even during warranty period, the company makes fee-based repair on product contain- ing: [1] failure or damage due to misuse, improper repair or alteration. [2] failure or damage due to falling, or damage during transportation, after the origi- nal delivery > @ ' h i h f w v u h v x o w l q j i u r p q h j o h f w r i w k h v s h f l f d w l r q l q x v h r i w k h s u r g x f w > @ ) d l o x u h r u g d p d j h g x h w r x q u h j x o d w h g y r o w d j h d q g u h d q g d f w r i q d w x u d o g l v d v - w h u v v x f k d v h d u w k t x d n h o l j k w q l q j z l q g r r g d q g v d o w s r o o x w l r q [5] defects resulting from invasion of foreign materials such as water, oil and metal pieces. 3 d u w v h [ f h h g l q j w k h l u v w d q g d u g o l i h w l p h v s h f l h g l q w k l v g r f x p h q w d u h h [ f o x g h g ? 7 k h f r p s d q \ v k d o o q r w e h o l d e o h i r u d q \ l q g l u h f w l q f l g h q w d o r u f r q v h t x h q w l d o g d p d j h r u loss of any nature that may arise in connection with the product. warranty phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ 7-127 ? 3 u d f w l f d o f r q v l g h u d w l r q v i r u h [ s r u w l q j w k h s u r g x f w r u d v v h p e o \ f r q w d l q l q j w k h s u r g x f w when the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the foreign exchange and foreign trade control law. complete review of the product to be exported and export formalities should be practiced. ? 7 k l v s u r g x f w l v l q w h q g h g w r e h x v h g z l w k d j h q h u d o l q g x v w u l d o s u r g x f w e x w q r w g h v l j q h g or manufactured to be used in a machine or system that may cause personal death when it is failed. ? , q v w d o o d w l r q z l u l q j r s h u d w l r q p d l q w h q d q f h h w f r i w k h h t x l s p h q w v k r x o g e h g r q h e \ t x d o l h g d q g h [ s h u l h q f h g s h u v r q q h o ? $ s s o \ d g h t x d w h w l j k w h q l q j w r u t x h w r w k h s u r g x f w p r x q w l q j v f u h z e \ w d n l q j l q w r f r q v l g - eration strength of the screw and the characteristics of material to which the product is l q v w d o o h g 2 y h u w l j k w h q l q j f d q g d p d j h w k h v f u h z d q g r u p d w h u l d o x q g h u w l j k w h q l q j f d q result in loosening. example) steel screw into steel section: m4 1.35 to 1.65 nm. m5 2.7 to 3.3 nm. m6 4.68 to 5.72 nm. m8 11.25 to 13.75 nm. m10 22.05 to 26.95 nm. m11 37.8 to 46.2 nm. ? , q v w d o o d v d i h w \ h t x l s p h q w v r u d s s d u d w x v l q \ r x u d s s o l f d w l r q z k h q d v h u l r x v d f f l g h q w r u loss of property is expected due to the failure of this product. ? consult us if the application of this product is under such special conditions and environ- ments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination. ? : h k d y h e h h q p d n l q j w k h e h v w h i i r u w w r h q v x u h w k h k l j k h v w t x d o l w \ r i w k h s u r g x f w v k r z - ever, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. it is highly recommended that you make a fail-safe design and secure the safety in the op- erative range. ? , i w k h p r w r u v k d i w l v q r w h o h f w u l f d o o \ j u r x q g h g l w p d \ f d x v h d q h o h f w u r o \ w l f f r u u r v l r q w r the bearing, depending on the condition of the machine and its mounting environment, d q g p d \ u h v x o w l q w k h e h d u l q j q r l v h & k h f n l q j d q g y h u l f d w l r q e \ f x v w r p h u l v u h t x l u h g ? ) d l o x u h r i w k l v s u r g x f w g h s h q g l q j r q l w v f r q w h q w p d \ j h q h u d w h v p r n h r i d e r x w r q h cigarette. take this into consideration when the application of the machine is clean room related. ? 3 o h d v h e h f d u h i x o z k h q x v l q j l q d q h q y l u r q p h q w z l w k k l j k f r q f h q w u d w l r q v r i v x o i x u r u sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a poor contact connection. ? 7 d n h f d u h w r d y r l g l q s x w w l q j d v x s s o \ y r o w d j h z k l f k v l j q l f d q w o \ h [ f h h g v w k h u d w h g u d q j h to the power supply of this product. failure to heed this caution may result in damage to w k h l q w h u q d o s d u w v f d x v l q j v p r n l q j d q g r u d u h d q g r w k h u w u r x e o h ? the user is responsible for matching between machine and components in terms of f r q j x u d w l r q g l p h q v l r q v o l i h h [ s h f w d q f \ f k d u d f w h u l v w l f v z k h q l q v w d o o l q j w k h p d f k l q h r u f k d q j l q j v s h f l f d w l r q r i w k h p d f k l q h 7 k h x v h u l v d o v r u h v s r q v l e o h i r u f r p s o \ l q j with applicable laws and regulations. ? 7 k h s u r g x f w z l o o q r w e h j x d u d q w h h g z k h q l w l v x v h g r x w v l g h l w v v s h f l f d w l r q o l p l w v ? parts are subject to minor change to improve performance. cautions for proper use phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ repair consult to a dealer from whom you have purchased the product for details of repair. when the product is incorporated to the machine or equipment you have purchased, consult to the manufacturer or the dealer of the machine or equipment. panasonic corporation, motor business unit, industrial sales group tokyo: kyobashi mid bldg, 2-13-10 kyobashi, chuo-ku, tokyo 104-0031 tel +81-3-3538-2961 ) $ ; osaka: 1-1, morofuku 7-chome, daito, osaka 574-0044 tel +81-72-870-3065 ) $ ; ime10 a1009-2021 after-sale service (repair) for your records: the model number and serial number of this product can be found on either the back or the bottom of the unit. please note them in the space provided and keep for future reference. model no. m dh m me serial no. date of purchase dealer name address phone ( ) - 7-1-1 morofuku, daito, osaka, 574-0044, japan phone : +81-72-871-1212 ? panasonic corporation 2009 phone: 800.894.0412 - fax: 888.723.4773 - web: www.ctiautomation.net - email: info@ctiautomation.net http://www..net/ datasheet pdf - http://www..net/ |
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