Operating Instructions (Overall) AC Servo Motor & Driver
MINAS A5-series
* This product image is 200W type of 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.
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
2
1) Any part or whole of this document shall not be reproduced without written permission from us. 2) Contents of this document are subject to change without notice.
Organization of this manual
1 Before Using the Products
1. Before Using the Products Check of the Driver Model ... Installation
2. Preparation
2 Preparation
Describes how to identify and select the desired product and components, how to UHDGWKHVSHFLÀFDWLRQVDQGKRZWRLQVWDOOWKHHTXLSPHQW
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
3. Connection Wiring ... I/O settings Shows block diagrams for each control mode and connection diagrams to the host controllor, I/O settings.
Setup
4. Setup
4
Describes parameters ... JOG running Shows describes parameters and procedure of test operation.
5 Adjustment
5. Adjustment Gain adjustment ... Auto tuning Describes various adjusting method including auto tuning and manual gain tuning.
6
6. When in Trouble
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.
7 Supplement
3
Contents
page
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\VWHP&RQÀJXUDWLRQDQG:LULQJ ........................................................................... 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
4
1
4. Setup
........................................................................................................................ 4-1
1. Describes parameters ............................................................................................... 4-2 2. JOG running ............................................................................................................ 4-59
1. Gain Adjustment ........................................................................................................ 5-2
2 Preparation
5. Adjustment .......................................................................................................... 5-1
Before Using the Products
page
2. Real-Time Auto-Gain Tuning ..................................................................................... 5-4 3. Adaptive Filter ......................................................................................................... 5-10 4. Manual Auto-Gain Tuning (Basic) ............................................................................ 5-13
3
5. Manual Auto-Gain Tuning (Application) ................................................................... 5-24
6. When in Trouble
Connection
6. About Homing Operation ......................................................................................... 5-39
............................................................................................. 6-1
1. When in Trouble ........................................................................................................ 6-2
4
2. Setup of gain pre-adjustment protection ................................................................. 6-18
7. Supplement
Setup
3. Troubleshooting ...................................................................................................... 6-21
........................................................................................................ 7-1
1. Safety function ..........................................................................................................7-2 2. Absolute System ..................................................................................................... 7-10
5
3. Setup Support Software, PANATERM ..................................................................... 7-26
5. Motor Characteristics (S-T Characteristics) ............................................................ 7-55
Adjustment
4. Communication ....................................................................................................... 7-27
6. Dimensions ............................................................................................................. 7-73 7. Options .................................................................................................................... 7-92
6 Cautions for Proper Use ................................................................................................... 7-127 After-Sale Service .................................................................................................... Back cover
When in Trouble
Warranty ........................................................................................................................... 7-126
7 Supplement
5
Safety Precautions
Please observe safety precautions fully.
The following explanations are for things that must be observed in order to prevent harm to people and damage to property. 0LVXVHVWKDWFRXOGUHVXOWLQKDUPRUGDPDJHDUHVKRZQDVIROORZVFODVVLÀHGDFFRUGLQJWRWKH degree of potential harm or damage.
Danger
Indicates great possibility of death or serious injury.
Caution
Indicates the possibility of injury or property damage.
7KHIROORZLQJLQGLFDWLRQVVKRZWKLQJVWKDWPXVWEHREVHUYHG Indicates something that must not be done.
Indicates something that must be done.
Danger Do not subject the Product to water, corrosive or ÁDPPDEOHJDVHVDQGFRPEXVWLEOHV 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 excessive vibration or shock.
Failure to observe this instruction could result in electrical VKRFNLQMXU\RUÀUH
Don't use cables soaked in water or oil.
Failure to observe this instruction could result in electrical shocks, damages and breakdowns.
The installation area should be away from heat generating objects such as a heater and a large wire wound resistor. Never connect the motor directly to the commercial power supply.
6
Failure to observe this instrucWLRQFRXOGUHVXOWLQÀUHHOHFWULFDO shocks, damages and breakdowns.
Failure to observe this instrucWLRQFRXOGUHVXOWLQÀUHDQG breakdowns.
Don't attempt to carry out wiring or manual operation with wet hand.
Failure to observe this instruction could result in electrical VKRFNLQMXU\RUÀUH
Do not put your hands in the servo driver.
Failure to observe this instruction could result in burn and electrical shocks.
1
Installation area should be free from excessive dust, and from splashing water and oil. Mount the motor, driver and peripheral equipments on incombustible material such as metal.
Correctly run and arrange wiring.
3
4
5
)DLOXUHWRKHHGWKLVUHTXLUHPHQW will result in electric shock, perVRQDOLQMXU\ÀUHPDOIXQFWLRQRU damage.
)DLOXUHWRKHHGWKHVHUHTXLUHments will result in electric VKRFNSHUVRQDOLQMXU\RUÀUH
6 When in Trouble
7 Supplement
Ground the earth terminal of the motor and driver without fail. Install and mount the Product and machinery VHFXUHO\WRSUHYHQWDQ\SRVVLEOHÀUHRUDFFLGHQWV incurred by earthquake. 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 emergency stop apparatus without fail. &KHFNDQGFRQÀUPWKHVDIHW\RIWKHRSHUDWLRQ after the earthquake. Before transporting, wiring and inspecting the driver, turn off power and wait for a time longer WKDQWKDWVSHFLÀHGRQWKHQDPHSODWHRQWKHVLGH panel of the product; and make sure that there is no risk of electrical shock.
Failure to observe this instrucWLRQFRXOGUHVXOWLQÀUH Failure to observe this instruction could result in electrical shocks, damages and breakdowns. Failure to heed this precaution will result in electric shock, perVRQDOLQMXU\ÀUHPDOIXQFWLRQRU damage. ,QVWDOODWLRQRQDÁDPPDEOHPDWHULDOPD\FDXVHÀUH Allowing a person with no expertise to carry out wiring will result in electrical shocks. Incorrect wiring will result in short circuit, electric shock, personal injury, etc. Incorrect wiring will result short FLUFXLWHOHFWULFVKRFNÀUHRU malfunction. Floating ground circuit will cause electric shock.
Adjustment
After correctly connecting cables, insulate the live parts with insulator.
Failure to observe this instruction could result in burns.
Setup
:LULQJKDVWREHFDUULHGRXWE\WKHTXDOLÀHGDQG authorized specialist.
2
Connection
Do not subject the cables to excessive force, heavy object, or pinching force, nor damage the cables.
Failure to observe this instruction could result in personal injury.
Preparation
Do not drive the motor with external power.
Before Using the Products
In the case of the motor with shaft end keyway, do not touch the keyway with bare hands. 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.
Energized circuit will cause electric shock.
7
Safety Precautions
Please observe safety precautions fully.
Caution Do not hold the motor cable or motor shaft during the transportation.
Failure to observe this instruction could result in injuries.
Don't drop or cause topple over of something during transportation or installation.
Failure to observe this instruction could result in injuries and breakdowns.
Do not step on the Product nor place the heavy object on them.
Failure to observe this instruction could result in electrical shocks, injuries, breakdowns and damages.
Don't use the equipment under direct sunshine.
Failure to heed these instructions will cause personal injury RUÀUH
Do not block the heat dissipating holes or put the foreign particles into them.
Failure to observe this instruction could result in electrical VKRFNVDQGÀUH
Do not give strong impact shock to the Product.
Failure to observe this instruction could result in breakdowns.
Do not give strong impact shock to the motor shaft.
Failure to observe this instruction could result in a failure of the detector etc.
Do not turn on and off the main power of the driver repeatedly. Never run or stop the motor with the electro-magnetic contactor installed in the main power side.
8
Failure to observe this instruction could result in breakdowns.
Do not make an extreme gain adjustment or change of the drive. Do not keep the machine running/operating unstably.
Failure to observe this instruction could result in injuries.
Do not use the built-in brake as a "Braking" to stop the moving load.
Failure to observe this instruction could result in injuries and breakdowns.
Do not approach to the machine since it may suddenly restart after the power resumption. Design the machine to secure the safety for the operator even at a sudden restart.
Failure to observe this instruction could result in injuries.
1HYHUDWWHPSWWRSHUIRUPPRGLÀFDWLRQGLVPDQWOH or repair.
Failure to heed this instruction ZLOOUHVXOWLQÀUHHOHFWULFVKRFN personal injury or malfunction.
1
2EVHUYHWKHVSHFLÀHGPRXQWLQJPHWKRGDQGGLrection.
)DLOXUHWRKHHGWKHVHUHTXLUHments will result in personal injury or malfunction. 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 EXUQLQMXU\RUÀUH
3
)DLOXUHWRKHHGWKHVHUHTXLUHments will result in personal injury or malfunction.
Provide protection device against idling of electromagnetic brake or gear head, or grease leakage from gear head.
No protection will cause personal injury, damage, pollution RUÀUH
8VHWKHPRWRUDQGWKHGULYHULQWKHVSHFLÀHGFRPbination.
Not using the motor and the GULYHULQWKHVSHFLÀHGFRPELQDWLRQZLOOUHVXOWLQÀUH
7HVWUXQWKHVHFXUHO\À[HGPRWRUZLWKRXWORDGLQJ 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 injury.
If the driver fails, shut off the power on the power supply side of the driver.
Allowing a large current to conWLQXHWRSDVVZLOOUHVXOWLQÀUH
Maintenance must be performed by an experienced personnel.
Wrong wiring will cause personal injury or electric shock.
Always keep power disconnected when the power is not necessary for a long time.
Improper operation will cause personal injury.
5
6 When in Trouble
Missing of one of these devices will result in personal injury or malfunction.
Adjustment
Connect the brake control relay to the relay which is to shut off at emergency stop in series.
4 Setup
2EVHUYHWKHVSHFLÀHGYROWDJH
Operation from a voltage outside the rated voltage will cause electric shock, personal injury RUÀUH
Connection
&UHDWHWKHVSHFLÀHGFOHDUDQFHEHWZHHQWKHGULYHU and the control panel inner surface or other devices.
2 Preparation
Use the eye bolt of the motor for transportation of the motor only, and never use this for transportation of the machine.
Adjust the motor and driver ambient environmental condition to match the motor operating temperature and humidity.
Before Using the Products
Make an appropriate mounting of the Product matching to its wight and output rating.
7 Supplement
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.
9
Conformance to international standards
Conformed Standards Driver
EC Directives
EMC Directives
EN55011 EN61000-6-2 EN61800-3
Low-Voltage Directives
EN61800-5-1
Machinery Directives Functional safety (*1)
Motor – EN60034-1 EN60034-5
EN954-1 (Cat. 3) ISO13849-1 (PL c,d*2) (Cat. 3) EN61508 (SIL 2) EN62061 (SIL 2) EN61800-5-2 (STO) IEC61326-3-1
–
UL1004-1 to 750W (200V) ( E327868: from ) 6.0kW
UL Standards
UL508C (E164620)
UL1004
( CSA Standards
C22.2 No.14
)
E327868: 400W (400V) 600W (400V), 750W (400V) 0.9kW to 5.0kW
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. 2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWIXQFWLRQDOVDIHW\(*1) standards. *2 PL d: Provided that EDM is used.
Note
10
For details on compatibility with international standard, refer to P.2-2 Conformance to international standards.
Maintenance and Inspections
1 Before Using the Products
Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.
2
Notes on Maintenance and Inspection
Preparation
3 Connection
1) Turn on and turn off should be done by operators or inspectors themselves. When establishing 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.
4
Inspection Items and Cycles General and normal running condition
Setup
$PELHQWFRQGLWLRQV Ý& DQQXDODYHUDJH ORDGIDFWRURIRU lower, operating hours of 20 hours or less per day. Perform the daily and periodical inspection as per the items below. Type
6
/RRVHWLJKWHQLQJ 7UDFHRIRYHUKHDW 'DPDJHWRWKHWHUPLQDOEORFN /RRVHIDVWHQHUVRQWHUPLQDOEORFN
7 Supplement
Note
Annual
$PELHQWWHPSHUDWXUHKXPLGLW\VSHFNGXVWRUIRUHLJQREMHFW $EQRUPDOYLEUDWLRQDQGQRLVH 0DLQFLUFXLWYROWDJH 2GRU /LQWRURWKHUSDUWLFOHVDWDLUKROHV &OHDQQHVVDWIURQWSRUWLRQRIWKHGULYHUDQGFRQQHFWRU 'DPDJHRIWKHFDEOHV /RRVHFRQQHFWLRQRUPLVDOLJQPHQWEHWZHHQWKHPRWRUDQG PDFKLQHRUHTXLSPHQW 3LQFKLQJRIIRUHLJQREMHFWDWWKHORDG
When in Trouble
Motor with Gear Reducer
Daily
5
Items to be inspected
Adjustment
Daily inspection
Cycles
Inspection cycle may change when the running conditions of the above change.
11
Maintenance and Inspections
Guideline for Parts Replacement Use the table below for a reference. Parts replacement cycle varies depending on the actual operating conditions. Defective parts should be replaced or repaired when any error have occurred.
Prohibited
Product
Disassembling for inspection and repair should be carried out only by authorized dealers or service company.
Component
Standard replacement cycles (hour)
Smoothing condenser
Approx. 5 years
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)
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.
Driver
Motor
Related page
12
3´:DUUDQW\µ
Note
These hours or cycles are reference. When you experience any HUURUUHSODFHPHQWLVUHTXLUHG even before this standard replacement cycle.
1. Introduction
Before Using the Products
1. Before Using the Products
1
2
Outline .........................................................................................................1-2 On Opening the Product Package ...............................................................1-2
Preparation
2. Driver Check of the Model ......................................................................................1-3 Parts Description A to E-frame..............................................................................................1-4 F-frame .....................................................................................................1-5 G-frame.....................................................................................................1-6
3
H-frame .....................................................................................................1-7 D to F-frame (400 V) .................................................................................1-8
Connection
G-frame (400 V) ........................................................................................1-9 H-frame (400 V) ......................................................................................1-10 Specifications.............................................................................................1-11 Block Diagram ...........................................................................................1-15
3. Motor
4
Check of the Model ....................................................................................1-21 Parts Description .......................................................................................1-22
Setup
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
5. Installation Driver .........................................................................................................1-28
Adjustment
Motor..........................................................................................................1-32
6. Permissible Load at Output Shaft Motor..........................................................................................................1-35
6 When in Trouble
7 Supplement
1-1
1Before Using the Products
1. Introduction Outline
The AC Servo Motor & Driver, MINAS A5-series is the latest servo system that meets all GHPDQGVIURPDYDULHW\RIPDFKLQHVZKLFKUHTXLUHKLJKVSHHGKLJKSUHFLVLRQDQGKLJK SHUIRUPDQFHRUZKLFKUHTXLUHVLPSOLÀHGVHWWLQJV Compared with the preceding A4-series, product of A5-series offers superior performance ZKLOHUHTXLULQJVLPSOHVHWXSDQGDGMXVWPHQWE\WKHXVHU Newly designed motors have wide range of outputs from 50 W to 15.0 kW, associated ZLWKELWLQFUHPHQWDOHQFRGHUDQGUHGXFHGFRJJLQJWRUTXH (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.
1Before Using the Products
1. Introduction On Opening the Product Package
0DNHVXUHWKDWWKHPRGHOLVZKDW\RXKDYHRUGHUHG &KHFNLIWKHSURGXFWLVGDPDJHGRUQRWGXULQJWUDQVSRUWDWLRQ &KHFNLIWKH2SHUDWLQJ,QVWUXFWLRQV VDIHW\ DUHLQFOXGHGRUQRW &KHFN LI WKH SRZHU FRQQHFWRU PRWRU FRQQHFWRUV FRQQHFWRU IRU H[WHUQDO UHJHQHUDWLYH resistor connection (D-frame (400 V) and E-frame) and safety by-pass plug are included 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.)
&RQWDFWWRDGHDOHULI\RXÀQGDQ\IDLOXUHV
1-2
1 Before Using the Products
2. Driver
1Before Using
Check of the Model
the Products
Contents of Name Plate Model number
Serial Number e.g.) : P09 04 0001N
Input/output voltage
2
Lot number
Number of phase
Preparation
Month of production
Rated input/output current
Year of production (Lower 2 digits of AD year)
Input/output frequency Rated output of applicable motor
Manufacture date e.g.) : 2009 04 01 Manufacture year
3
Manufacture date
Manufacture month Connection
Model Designation Velocity, position, torque and full-closed FRQWUROW\SH
M A D H T 1 5 0 5 1 to 4
5 to 6
7
8 to 9
10 to 12
Special specifications (letters and numbers)
M A D H T 1 5 0 5 E 1 to 4
5 to 6
7
8 to 9
10
Setup
Only for position control type
4
11 to 12
Special specifications (letters and numbers)
Frame-size symbol
NOTE) Only for position control type is SURYLGHG$)UDPHWR)IUDPH
Symbol Current rating 10A T1 15A T2 30A T3 35A T4 50A T5 70A T7 100A TA 150A TB 300A TC
Specifications Single phase, 100V 3-phase, 200V 3-phase, 400V Single/3-phase, 200V
7 Supplement
Related page
6
Power supply Symbol 1 3 4 5
5
When in Trouble
Frame 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 detector rating Symbol Current rating 5A 05 7.5A 07 10A 10 12A 12 20A 20 30A 30 40A 40 64A 64 90A 90 120A A2 240A B4
Adjustment
Symbol MADH MBDH MCDH MDDH MEDH MFDH MGDH MHDH
Only for position control type
Max. current rating of power device
3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ
1-3
1Before Using the Products
2. Driver Parts Description
A to D-frame Front panel Connector XA: for main power connection
Connector X7: Monitor connector
05JFAT-SAXGF (JST)
Connector X1: USB connector Main power input terminals Control power input terminals Terminals for external regenerative resistor (Normally short-circuit B3 to B2)
L1 L2 L3 L1C L2C
Connector X2: for Serial bus Connector X3: Safety function connector
Connector X4: Parallel I/O connector
B1 B3 B2 U V W
Connector X5: for feedback scale connection
Terminals for motor connection Connector XB: for motor connection
Connector X6: for encoder connection Screws for earth (x2)
06JFAT-SAXGF (JST)
Charge lamp
LED cover Safety by-pass prug
E-frame
Front panel Connector XA: for main power connection
Connector X7: Monitor connector
05JFAT-SAXGSA-L (JST)
Main power input terminals Control power input terminals Terminals for external regenerative resistor (Normally short-circuit B3 to B2) Terminals for motor connection
Connector X1: USB connector
L1 L2 L3 L1C L2C
Connector X2: for Serial bus Connector X3: Safety function connector
B1 B3 B2 NC*
Connector X4: Parallel I/O connector Connector X5: for feedback scale connection
U V W
Connector X6: for encoder connection
Connector XB: for motor connection 03JFAT-SAXGSA-L (JST)
Connector XC: Connector for external regenerative resistor 04JFAT-SAXGSA-L (JST)
Note
1-4
Screws for earth (x2)
Charge lamp
LED cover
* NC is no connect.
Safety by-pass prug
&RQQHFWRU;$DQG;%DUHDWWDFKHGLQ$WR'IUDPHGULYHU &RQQHFWRU;$;%DQG;&DUHDWWDFKHGLQ(IUDPHGULYHU 7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU Only for position control type is not provided with X2, X3 and X5.
2. Driver
1 Before Using the Products
Parts Description
F-frame Details of terminal block
2
Front panel Connector X7: Monitor connector
Control power input terminals Terminals for external regenerative resistor
Terminals for motor connection * NC is no connect.
Screws for earth (x2)
Connector X1: USB connector Connector X2: for Serial bus Connector X3: Safety function connector Connector X4: Parallel I/O connector
3
Connector X5: for feedback scale connection
Connection
(Normally short-circuit B3 to B2)
Preparation
Main power input terminals
L1 L2 L3 L1C L2C B1 B3 B2 NC* U V W
Connector X6: for encoder connection
4
Charge lamp LED cover
Safety by-pass prug
Setup
Terminal cover
5 Adjustment
6 When in Trouble
7
Related page
Supplement
Note
7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU Only for position control type is not provided with X2, X3 and X5. 3´&KHFNRIWKH&RPELQDWLRQRIWKH'ULYHUDQGWKH0RWRUµ3´,QVWDOODWLRQµ 3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ3WR´'LPHQVLRQVµ 1-5
2. Driver Parts Description
G-frame
Front panel Terminal cover screw
Connector X7: Monitor connector ワヤ
L1
ヹヒ
ロヒヤ ヹビ
L2 ロ ビヤ ヹピ
Terminal cover
L3
B1
ワヤ
Connector X1: USB connector Connector X2: for Serial bus Connector X3: Safety function connector
ワヤ
ヹフ
ュャヒ
B2
Connector X4: Parallel I/O connector
ュャビ
NC ワヤ ヹブ
U ワヤ ヹプ
V
ュャピ
Connector X5: for feedback scale connection Connector X6: for encoder connection
ュャフ
W
Terminal cover screw
ワヤ ヤラモンヨユ
Charge lamp
Screws for earth (x2) Details of terminal block NC* L1C L2C NC* NC* DB1 DB2 NC* NC* DB3 DB4 NC*
L1
Main power input terminals Terminals for external regenerative resistor
L2 L3 B1 B2 NC* U
Terminals for motor connection
V W
Control power input terminals
Control terminal for dynamic brake resister
Control terminal for dynamic brake resister (Normally short-circuit DB3 to DB4.)
* NC is no connect.
LED cover Safety by-pass prug Terminal cover
Note Related page
1-6
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2. Driver
1 Before Using the Products
Parts Description
H-frame
2 Front panel Preparation
Connector X7: Monitor connector Connector X1: USB connector Connector X2: for Serial bus Connector X3: Safety function connector
ヹヒ
ヹビ
ヹピ
Connector X4: Parallel I/O connector
ヹフ
3
Connector X5: for feedback scale connection
ヹブ
ヹプ
Connection
Connector X6: for encoder connection ヤラモンヨユ
Charge lamp
4 L1C
L2C
DB1
DB2
Setup
L1
L2
L3
B1
B2
NC
U
V
W
5 Adjustment
Screws for earth (x2) Details of terminal block DB1 DB2
Control power input terminals
Control terminal for dynamic brake resister
L1C L2C
6 LED cover When in Trouble
Safety by-pass prug
L1 L2 L3
Main power input terminals
B1 B2
NC*
U
V
Terminals for motor connection
Terminals for external regenerative resistor
Related page
* NC is no connect.
7 Terminal cover
Terminal cover screw
Supplement
Note
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2. Driver Parts Description
D, E-frame (400 V) Connector XA: for main power connection
Front panel
03JFAT-SAYGSA-L (JST)
Connector XD: Control power input terminals
Connector X7: Monitor connector
02MJFAT-SAGF (JST)
Control power input terminals Main power input terminals
24V 0V L1 L2 L3
Terminals for external regenerative resistor (Normally short-circuit B3 to B2)
B1 B3 B2 NC*
Terminals for motor connection
Connector X1: USB connector Connector X2: for Serial bus Connector X3: Safety function connector Connector X4: Parallel I/O connector Connector X5: for feedback scale connection Connector X6: for encoder connection
U V W
Connector XB: for motor connection 03JFAT-SAXGSA-L (JST)
Connector XC: Connector for external regenerative resistor
Screws for earth (x2)
04JFAT-SAXGSA-L(JST)
Charge lamp LED cover
* NC is no connect.
Safety by-pass prug
F-frame (400 V)
Details of terminal block Control power input terminals Main power input terminals Terminals for external regenerative resistor (Normally short-circuit B3 to B2)
Terminals for motor connection
24V 0V L1 L2 L3 B1 B3 B2 NC* U V W
* NC is no connect.
Front panel Connector X7: Monitor connector Connector X1: USB connector Connector X2: for Serial bus Connector X3: Safety function connector Connector X4: Parallel I/O connector Connector X5: for feedback scale connection Connector X6: for encoder connection Charge lamp
Screws for earth (x2) LED cover
Safety by-pass prug Terminal cover
Note
1-8
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2. Driver
1 Before Using the Products
Parts Description
G-frame (400 V)
2
Front panel Terminal cover screw
Connector X7: Monitor connector ワヤ ヹヒ
ビフヷ ヹビ
パヷ ヹピ
Terminal cover
L3
B1
ワヤ
Connector X1: USB connector Connector X2: for Serial bus Connector X3: Safety function connector
Preparation
L1
L2
ワヤ
ヹフ
ュャヒ
B2
Connector X4: Parallel I/O connector
ュャビ
NC ワヤ ヹブ
U ワヤ ヹプ
V
ュャピ
ュャフ
W
Terminal cover screw
ワヤ ヤラモンヨユ
フパパヷ
Charge lamp
3 Connection
Connector X5: for feedback scale connection Connector X6: for encoder connection
4
Screws for earth (x2) Details of terminal block
L2 L3
Terminals for external regenerative resistor
B1 B2 NC* U V W
Control power input terminals
5
Control terminal for dynamic brake resister
Adjustment
Terminals for motor connection
Setup
NC* 24V 0V NC* NC* DB1 DB2 NC* NC* DB3 DB4 NC*
L1
Main power input terminals
Control terminal for dynamic brake resister (Normally short-circuit DB3 to DB4.)
* NC is no connect.
6 When in Trouble
LED cover Safety by-pass prug
7
Terminal cover
Related page
Supplement
Note
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2. Driver Parts Description
H-frame (400 V)
Front panel Connector X7: Monitor connector Connector X1: USB connector Connector X2: for Serial bus Connector X3: Safety function connector
ヹヒ
ヹビ
ヹピ
Connector X4: Parallel I/O connector
ヹフ
Connector X5: for feedback scale connection
ヹブ
ヹプ
Connector X6: for encoder connection ヤラモンヨユ
Charge lamp
24V
L1
L2
L3
0V
DB1
B1
DB2
B2
NC
U
V
W
Screws for earth (x2) Details of terminal block DB1 DB2
Control power input terminals
Control terminal for dynamic brake resister
24V 0V LED cover
Safety by-pass prug
L1 L2 L3
Main power input terminals
B1 B2
NC*
U
V
Terminals for motor connection
Terminals for external regenerative resistor
Note Related page
1-10
W
* NC is no connect.
Terminal cover
Terminal cover screw
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the Products
Specifications (Velocity, position, torque, full-closed control type)
Main circuit
Single phase, 100 to 120V
Control circuit
Single phase, 100 to 120V
100V
A to Control D-frame circuit E to H-frame Main circuit
400V *1
Control circuit
temperature Environment
humidity Altitude Vibration
Encoder feedback
Feedback scale feedback
Input Control signal
Analog signal
Input Output Input
Pulse signal Output
Safety function Front panel Regeneration Dynamic brake
50/60Hz 50/60Hz 50/60Hz
3
DC24V ± 15% 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. $PELHQWWHPSHUDWXUH Ý&WRÝ& IUHHIURPIUHH]LQJ 6WRUDJHWHPSHUDWXUH ²Ý&WRÝ& (Max. temperature guarantee: 80ÝC for 72 hours free from condensation*2) Both operating and storage : 20 to 85%RH or less (free from condensation*2) Lower than 1000m 5.88m/s2RUOHVVWR+] 1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\ IGBT PWM Sinusoidal wave drive 17-bit (131072 resolution) absolute encoder, 7-wire serial 20-bit (1048576 resolution) incremental encoder, 5-wire serial A/B phase, initialization signal defferential input. Manufacturers that support serial communication scale: Mitsutoyo Corp. Magnescale Co., Ltd. (old Sony Manufacturing Systems Corp.) General purpose 10 inputs The function of general-purpose input is selected by parameters. General purpose 6 outputs The function of general-purpose input is selected by parameters. 3 inputs (16Bit A/D : 1 input, 12Bit A/D : 2 inputs) 2 outputs (Analog monitor: 2 output) 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. 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. Connection with PC etc. 1 : 1 communication to a host. 1 : n communication to a host. Used for functional safety. (1) 5 keys (MODE, SET, UP, DOWN, SHIFT) (2) LED (6-digit) (3) Monitor connector (Analog monitor output (2ch), Digital monitor output (1ch)) 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.) A to G-frame: Built-in (external resistor is also available to G-frame) H-frame: External only Switching among the following 7 mode is enabled, 3RVLWLRQFRQWURO 9HORFLW\FRQWURO 7RTXHFRQWURO 3RVLWLRQ9HORFLW\FRQWURO 3RVLWLRQ7RUTXHFRQWURO 9HORFLW\7RUTXHFRQWURO )XOOFORVHGFRQWURO
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4
5
6
7 Supplement
Control mode
3-phase, 380 to 480V
50/60Hz
When in Trouble
Communication function
USB RS232 RS485
Single phase, 200 to 230V
2
50/60Hz
Adjustment
Parallel I/O connector
Output
Single phase, 200 to 240V
50/60Hz
Setup
%DVLF6SHFLÀFDWLRQV
Control method
3-phase, 200 to 230V
50/60Hz
Connection
Withstand voltage
Single/3-phase, 200 to 240V
+10% –15% +10% –15% +10% –15% +10% –15% +10% –15% +10% –15% +10% –15%
Preparation
Input power
200V
A to Main D-frame circuit E to H-frame
1
2. Driver
Before Using the Products
1Before Using
2. Driver Specifications (Velocity, position, torque, full-closed control type)
Control input
Control output
Control input
Position control
Control output Max. command SXOVHIUHTXHQF\ Input pulse signal Pulse format input Electronic gear (Division/Multiplication of command pulse)
6PRRWKLQJÀOWHU 7RUTXHOLPLW Analog command input input 7RUTXHIHHGIRUZDUGLQSXW Instantaneous Speed Observer Damping Control Control input
Function
Velocity control
Control output Velocity command input Analog 7RUTXHOLPLW input command input 7RUTXHIHHGIRUZDUGLQSXW Internal velocity command Soft-start/down function
7RUTXHFRQWURO
Zero-speed clamp Instantaneous Speed Observer Control input Control output Analog 7RUTXHFRPPDQG input input Speed limit function Control input
Full-closed control
Control output Max. command SXOVHIUHTXHQF\ Input pulse signal Pulse format input Electronic gear (Division/Multiplication of command pulse)
6PRRWKLQJÀOWHU 7RUTXHOLPLW Analog command input input 7RUTXHIHHGIRUZDUGLQSXW Setup range of division/ multiplication of feedback scale Auto tuning
Common
Division of encoder feedback pulse Protective function
Hard error
Soft error Traceability of alarm data
1-12
(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 (1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal 6SHHGDUULYDORXWSXW 7RUTXHLQOLPLWVLJQDORXWSXW (6) Zero-speed detection output signal (7) Alarm output (8) Alarm attribute output (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching 7RUTXHOLPLWVZLWFKLQJ &RQWUROPRGHVZLWFKLQJ (1) Positioning complete (In-position) (2)Positional command ON/OFF output Exclusive interface for Photo-coupler: 500kpps Exclusive interface for line driver : 4Mpps Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and B-phase, (3) Command and direction)
( 1 to 2 ) 30
3URFHVVFRPPDQGSXOVHIUHTXHQF\ðHOHFWURQLFJHDUUDWLR 1 to 230 as positional command input. Use electronic gear ratio in the range 1/1000 to 1000 times. 3ULPDU\GHOD\ÀOWHURU),5W\SHÀOWHULVDGDSWDEOHWRWKHFRPPDQGLQSXW ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG $QDORJYROWDJHFDQEHXVHGDVWRUTXHIHHGIRUZDUGLQSXW Available Available (1) Selection of internal velocity setup (2) Speed zero clamp (3) Speed command sign input (4)Control mode switching (1) Speed coincidence output (2)Speed command ON/OFF output 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) ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG $QDORJYROWDJHFDQEHXVHGDVWRUTXHIHHGIRUZDUGLQSXW Switching the internal 8speed is enabled by command input. Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sigmoid acceleration/deceleration is also enabled. 0-clamp of internal velocity command with speed zero clamp input is enabled. Available 6SHHG]HURFODPS 7RUTXHFRPPDQGVLJQLQSXW &RQWUROPRGHVZLWFKLQJ (1) Speed coincidence output (2) Speed in-limit output 7RUTXHFRPPDQGLQSXWFDQEHSURYLGHGE\PHDQVRIDQDORJYROWDJH 3DUDPHWHUVDUHXVHGIRUVFDOHVHWWLQJDQGFRPPDQGSRODULW\ 9UDWHGWRUTXH'HIDXOW Speed limit value with parameter t is enabled. (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching 7RUTXHOLPLWVZLWFKLQJ (1) Full-closed positioning complete (2) Positional command ON/OFF output Exclusive interface for Photo-coupler: 500kpps Exclusive interface for line driver : 4Mpps Differential input. Selectable with parameter. ((1) Positive and Negative direction, (2) A and B-phase, (3) Command and direction)
( 1 to 2 ) 30
3URFHVVFRPPDQGSXOVHIUHTXHQF\ðHOHFWURQLFJHDUUDWLR 1 to 230 as positional command input. Use electronic gear ratio in the range 1/1000 to 1000 times. 3ULPDU\GHOD\ÀOWHURU),5W\SHÀOWHULVDGDSWDEOHWRWKHFRPPDQGLQSXW ,QGLYLGXDOWRUTXHOLPLWIRUERWKSRVLWLYHDQGQHJDWLYHGLUHFWLRQLVHQDEOHG $QDORJYROWDJHFDQEHXVHGDVWRUTXHIHHGIRUZDUGLQSXW 1/40 to 160 times The ratio of encoder pulse (numerator) to external scale pulse (denominator) can be set to 1 to 220 (numerator) to 1 to 220 (denominator), but should be set to a ratio within the range shown above. The load inertia is identified in real time by the driving state of the motor operating according WRWKHFRPPDQGJLYHQE\WKHFRQWUROOLQJGHYLFHDQGVHWXSVXSSRUWVRIWZDUH´3$1$7(50µ The gain is set automatically in accordance with the rigidity setting. Set up of any value is enabled (encoder feedback pulses count is the max.). Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc. Excess position deviation, command pulse division error, EEPROM error etc. The alarm data history can be referred to.
Single phase, 100 to 120V
+10% 50/60Hz –15%
Control circuit
Single phase, 100 to 120V
+10% 50/60Hz –15%
A to D-frame
Single/3-phase, 200 to 240V
+10% 50/60Hz –15%
E to F-frame
3-phase, 200 to 230V
+10% 50/60Hz –15%
A to D-frame
Single phase, 200 to 240V
+10% 50/60Hz –15%
E to F-frame
Single phase, 200 to 230V
+10% 50/60Hz –15%
100V
Input power
200V Control circuit
D to F-frame
Control circuit
D to F-frame
Withstand voltage
Environment
Both operating and storage : 20 to 85%RH or less (free from condensation) Lower than 1000m
Vibration
5.88m/s2RUOHVVWR+] 1RFRQWLQXRXVXVHDWUHVRQDQFHIUHTXHQF\ IGBT PWM Sinusoidal wave drive 20-bit (1048576 resolution) incremental encoder, 5-wire serial
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.
Output
2 outputs (Analog monitor: 2 output)
Control signal
Pulse signal Output
USB
5
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. 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. Connection with PC etc. (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
6 When in Trouble
Front panel
4
Adjustment
Parallel I/O connector
Input
Communication function
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. $PELHQWWHPSHUDWXUH Ý&WRÝ& IUHHIURPIUHH]LQJ 6WRUDJH WHPSHUDWXUH ²Ý& WR Ý& (Max. temperature guarantee: 80ÝC for 72 hours free from condensation*2)
Altitude
Encoder feedback
Analog signal
DC 24V ± 15%
humidity
Control method
3
+10% 50/60Hz –15%
Setup
%DVLF6SHFLÀFDWLRQV
temperature
3-phase, 380 to 480V
Connection
Main circuit
2 Preparation
Main circuit
Main circuit
Before Using the Products
Specifications (Only for position control type)
the Products
400V
1
2. Driver
1Before Using
7
7KHVSHFLÀFDWLRQRXWRI-DSDQ *2 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
Related page
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Caution
Only for position control type is provided A-Frame to F-frame. 1-13
Supplement
Caution
2. Driver Specifications (Only for position control type)
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.
Position control
Pulse input
Max. command SXOVHIUHTXHQF\
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)
3URFHVV FRPPDQG SXOVH IUHTXHQF\ ð HOHFWURQLF JHDU UDWLR 1 to 230 as positional command input. Use electronic gear ratio in the range 1/1000 to 1000 times.
6PRRWKLQJÀOWHU
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30
Internal velocity control
Function
Common
Instantaneous Speed Observer
Available
Damping Control
Available
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
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 VRIWZDUH´3$1$7(50µ 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
1-14
( 1 to 2 )
The alarm data history can be referred to.
1 Before Using the Products
2. Driver
1Before Using
Block Diagram
the Products
A, B-frame (100/200 V) U
P L1 L2 L3
Fuse
+ Fuse
2
M
W
Voltage detection
N
RE
Fuse
+ DC/DC
L2C
(12V +5V PS for gate drive PS for RE
Preparation
L1C
V
Gate drive
B1 B3 B2 Front panel
Error detection
Sequence control Display operation control
X1
Parameter control
3
Protective curcuit
EEPROM
USB
X2 Serial
Connection
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command
Division/ + mulitiplication –
Position deviation amp.
Deviation counter
Position
16-bit
– Speed
Internal speed command Internal
Control input
Speed Velocity deviation amp.
+
External
A/D
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D
Control output
X6
Encoder signal processing limit
Pusle output
Division processing
4
X5 Feedback scale signal processing limit
Setup
Feedback scale unit
C, D-frame (100/200 V) U
P L1 L2 L3
+
V
Resistor
Fuse Voltage detection
W
+ DC/DC
L2C
Adjustment
Fuse
M
N Fan (D-frame only)
L1C
5
Fuse
RE
(12V +5V PS for gate drive PS for RE
Gate drive
B1 B3 B2
Front panel
X1
Error detection
Sequence control Display operation control
Parameter control
EEPROM
6
Protective curcuit
When in Trouble
USB
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command Control input
Division/ + mulitiplication – A/D 16-bit
Deviation counter
Position deviation amp.
Internal speed command Internal
Control output
Pusle output
Position
+
External
–
Speed Velocity deviation amp.
Speed
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D Encoder signal processing limit
Division processing
7
X6
X5
Supplement
Feedback scale signal processing limit
Feedback scale unit
Note
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2. Driver Block Diagram
E-frame (200 V) U
P L1 L2 L3
Fuse
+
V
Resistor
Fuse Voltage detection
N Fan
L1C
Fuse
+
M
W
RE
Gate drive
(12V +5V PS for gate drive PS for RE
DC/DC
L2C
B1 B3 B2
Front panel
Error detection
Sequence control Display operation control
X1
Parameter control
Protective curcuit
EEPROM
USB
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command
Division/ + mulitiplication –
Position deviation amp.
Deviation counter
Position
A/D 16-bit
– Speed
Internal speed command Internal
Control input
Speed Velocity deviation amp.
+
External
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D
Control output
X6
Encoder signal processing limit
Pusle output
Division processing
X5 Feedback scale signal processing limit
Feedback scale unit
F-frame (200 V) U
P L1 L2 L3
Fuse Resistor
Fuse
M
W
N
Voltage detection
L1C
V
+
Fan
Fuse
+
L2C
DC/DC
RE
Gate drive
(12V +5V PS for gate drive PS for RE
B1 B3 B2
Front panel Display operation control
X1
Sequence control
Error detection
Parameter control
Protective curcuit
EEPROM
USB
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command Control input
Division/ + mulitiplication – A/D 16-bit
Deviation counter
Position deviation amp.
Internal speed command Internal
Control output
Pusle output
Position
+
External
–
Speed Velocity deviation amp.
Speed
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D Encoder signal processing limit
Division processing
X6
X5 Feedback scale signal processing limit
Feedback scale unit
Note 1-16
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2. Driver
1 Before Using the Products
Block Diagram
G-frame (200 V) U
P L1 L2 L3
Fuse
2
M
W
N
Voltage detection
Fan
Fuse
+
Gate drive
DB1
(12V +5V PS for gate drive PS for RE
DC/DC
L2C
RE
Preparation
L1C
V
+ Fuse
DB2 DB3 DB4
B1 B3 B2
Front panel
Error detection
Sequence control Display operation control
X1
Parameter control
3
Protective curcuit
EEPROM
USB
X2 Serial
Connection
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command
Division/ + mulitiplication –
Position deviation amp.
Deviation counter
Position
+
External
A/D 16-bit
– Speed
Internal speed command Internal
Control input
Speed Velocity deviation amp.
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D
Control output
X6
Encoder signal processing limit
Pusle output
Division processing
4
X5 Feedback scale signal processing limit
Setup
Feedback scale unit
H-frame (200 V) U
P L1 L2 L3
Fuse
Fuse
5
M
W
N Fan
Fuse
+
L2C
DC/DC
Gate drive
DB1
(12V +5V PS for gate drive PS for RE
Adjustment
Voltage detection
L1C
V
+
RE
DB2
B1 B3 B2
Front panel
X1
Error detection
Sequence control Display operation control
Parameter control
6
Protective curcuit
EEPROM
USB
When in Trouble
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command Control input
Division/ + mulitiplication – A/D 16-bit
Deviation counter
Position deviation amp.
Internal speed command Internal
Control output
Pusle output
Position
+
External
–
Speed Velocity deviation amp.
Speed
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D Encoder signal processing limit
Division processing
7
X6
X5
Supplement
Feedback scale signal processing limit
Feedback scale unit
Note
7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU Only for position control type is not provided with X2, X3 and X5. 1-17
2. Driver Block Diagram
D-frame (400 V) U
P L1 L2 L3
Fuse
+
V
Fuse
W
Voltage detection
N
RE
Fan
24V
M
Resistor
Fuse
+
DC/DC
0V
±12V +5V PS for gate drive PS for RE
Gate drive
B1 B3 B2
Front panel
Error detection
Sequence control Display operation control
X1
Parameter control
Protective curcuit
EEPROM
USB
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command
Division/ + mulitiplication –
Position deviation amp.
Deviation counter
Position
+
External
A/D 16-bit
– Speed
Internal speed command Internal
Control input
Speed Velocity deviation amp.
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D
Control output
X6
Encoder signal processing limit
Pusle output
Division processing
X5 Feedback scale signal processing limit
Feedback scale unit
E-frame (400 V) U
P L1 L2 L3
Fuse
+
V
W
Voltage detection
N
RE
Fan
24V
M
Resistor
Fuse
Fuse
+
DC/DC
0V
±12V +5V PS for gate drive PS for RE
Gate drive
B1 B3 B2
Front panel
X1
Error detection
Sequence control Display operation control
Parameter control
Protective curcuit
EEPROM
USB
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command Control input
Division/ + mulitiplication – A/D 16-bit
Deviation counter
Position deviation amp.
Internal speed command Internal
Control output
Pusle output
Position
+
External
–
Speed Velocity deviation amp.
Speed
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D Encoder signal processing limit
Division processing
X6
X5 Feedback scale signal processing limit
Feedback scale unit
Note 1-18
7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU Only for position control type is not provided with X2, X3 and X5.
2. Driver
1 Before Using the Products
Block Diagram
F-frame (400 V) U
P L1 L2 L3
Fuse
+
V
Resistor
Fuse Voltage detection
N
Fuse
+
±12V +5V PS for gate drive PS for RE
DC/DC
0V
Preparation
RE
Fan
24V
2
M
W
Gate drive
B1 B3 B2
Front panel
Error detection
Sequence control Display operation control
X1
Parameter control
3
Protective curcuit
EEPROM
USB
X2 Serial
Connection
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command
Division/ + mulitiplication –
Position deviation amp.
Deviation counter
Position
+
External
A/D 16-bit
–
Torque limit
Speed
Internal speed command Internal
Control input
Speed Velocity deviation amp.
Speed detection
Current control
PWM circuit
Torque
A/D
Control output
X6
Encoder signal processing limit
Pusle output
4
Division processing
X5 Feedback scale signal processing limit
Setup
Feedback scale unit
G-frame (400 V) U
P L1 L2 L3
Fuse
5
M
W
N Fan
Fuse
+
0V
DC/DC
Gate drive
DB1
(12V +5V PS for gate drive PS for RE
RE
Adjustment
Voltage detection
24V
V
+ Fuse
DB2 DB3 DB4
B1 B3 B2
Front panel
X1
Error detection
Sequence control Display operation control
Parameter control
6
Protective curcuit
EEPROM
USB
When in Trouble
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command Control input
Division/ + mulitiplication – A/D 16-bit
Deviation counter
Position deviation amp.
Internal speed command Internal
Control output
Pusle output
Position
+
External
–
Speed Velocity deviation amp.
Speed
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D Encoder signal processing limit
Division processing
X6
7
X5
Supplement
Feedback scale signal processing limit
Feedback scale unit
Note
7KHÀJXUHDERYHVKRZVFRQQHFWLRQVRQYHORFLW\SRVLWLRQWRUTXHDQGIXOOFORVHGPRGHGULYHU Only for position control type is not provided with X2, X3 and X5. G-frame: Only for position control type is not provided. 1-19
2. Driver Block Diagram
H-frame (400 V) U
P L1 L2 L3
Fuse
M
W
N
Voltage detection
24V
V
+ Fuse
Fan
Fuse
+
0V
DC/DC
Gate drive
DB1
(12V +5V PS for gate drive PS for RE
RE
DB2
B1 B3 B2
Front panel
X1
Error detection
Sequence control Display operation control
Parameter control
Protective curcuit
EEPROM
USB
X2 Serial
X3 Safety function
X4 Alarm signal Pulse train command Analog velocity command Control input
Division/ + mulitiplication – A/D 16-bit
Deviation counter
Position deviation amp.
Internal speed command Internal
Control output
Pusle output
Position
+
External
–
Speed Velocity deviation amp.
Speed
Speed detection
Torque limit
Current control
PWM circuit
Torque
A/D Encoder signal processing limit
Division processing
X6
X5 Feedback scale signal processing limit
Feedback scale unit
Note
1-20
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1 Before Using the Products
3. Motor
1Before Using
Check of the Model
the Products
Contents of Name Plate Serial Number e.g.) : 09 04 0001N
Model Rated input voltage/current
2
Rated output Rated frequency Rated rotational speed
M S M E 5 A Z S 1 S 1 to 4
Type
5 to 6
7
Motor rated output
Symbol MSMD *1
*1
MSME *2
MDME *2
MFME *2
MGME *2
*2
*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.
10
11 to 12
Special specifications Motor structure Design order Symbol Specifications 1 Standard Voltage specifications Connector for encoder : N/MS3102A20-29P Symbol Specifications C IP65 motor 1 100 V 0.9 kW to 5.0 kW 2 200 V only selectable 4 400 V 100/200 V common Z (50W only)
(
4
)
5
Rotary encoder specifications Specifications Symbol Format Pulse count Resolution Wire count 20bit 1,048,576 G Incremental 5-wire 17bit 131,072 S *3 Absolute 7-wire
Adjustment
MHME
Symbol Output 50W 5A 100W 01 200W 02 400W 04 600W 06 750W 08 900W 09 1.0kW 10 1.5kW 15 2.0kW 20 2.5kW 25 3.0kW 30 4.0kW 40 4.5kW 45 5.0kW 50 6.0kW 60 7.5kW 75 C1 11.0kW C5 15.0kW
9
Setup
MHMD
Specifications 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)
8
3 Connection
Model Designation
Preparation
Lot number Month of production Year of production (Lower 2 digits of AD year) Manufacture date e.g.) : 2009 04 01 Manufacture year Manufacture date Manufacture month
*3 Only for position control type does not support the 17-bit absolute specification. It supports only 20-bit incremental specification.
6
Motor structure
Symbol
Shaft Holding brake Oil seal Round Key way Without With Without With*4
MSME (750W(400V), 1.0kW to 5.0kW), MDME, MFME, MGME, MHME Symbol
When in Trouble
MSME (50W to 750W)
Holding brake Oil seal Shaft Round Key way Without With Without With
A C B D *5 S G *5 T H *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.]
Related page
Supplement
Note
7
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1-21
3. Motor
1Before Using
Parts Description
the Products
060(
:WR: Connector for encoder Connector for motor
Flange Motor frame
Mounting holes (X4)
[with Brake] Connector for encoder Connector for brake Connector for motor
Flange Motor frame
Mounting holes (X4)
e.g.) : Low inertia type (MSME series, 50W) MSME MDME MFME MGMA MHME
750W(400V), 1.0kW to 5.0kW 400W to 15.0kW 1.5kW to 4.5kW 0.9kW to 6.0kW 1.0kW to 7.5kW Connector for encoder Connector for motor Oil seal
Flange
Motor frame
Mounting holes (X4)
e.g.) : Middle inertia type (MDME series, 1.0kW)
Note
1-22
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the Products
4. Check of the Combination of the Driver and the Motor Incremental Specifications, 20-bit
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Remarks
Type
Single phase, 100V MSMD
Single/ 3-phase, 200V
Low inertia
3000r/min
Single/ 3-phase, 200V
Low inertia
3000r/min
3-phase, 200V
3-phase, 400V
2000r/min
3-phase, 200V
MDME
Middle inertia 2000r/min
3-phase, 400V
Note
MADHT1505E
MADHT1507 MBDHT2510 MCDHT3520 MADHT1105 MADHT1107 MBDHT2110 MCDHT3120
MADHT1507E MBDHT2510E MCDHT3520E MADHT1105E MADHT1107E MBDHT2110E MCDHT3120E
MADHT1505
MADHT1505E
MADHT1507 MBDHT2510 MCDHT3520
MADHT1507E MBDHT2510E MCDHT3520E
B-frame C-frame
MDDHT5540
MDDHT5540E
D-frame
MEDHT7364 MFDHTA390
MEDHT7364E MFDHTA390E
E-frame
MFDHTB3A2
MFDHTB3A2E
MDDHT2412 MDDHT3420 MDDHT3420 MEDHT4430 MFDHT5440
MDDHT2412E MDDHT3420E MDDHT3420E MEDHT4430E MFDHT5440E
MFDHTA464
MFDHTA464E
MDDHT3530 MDDHT5540 MEDHT7364 MFDHTA390
MDDHT3530E MDDHT5540E MEDHT7364E MFDHTA390E
MFDHTB3A2
MFDHTB3A2E
MGDHTC3B4 MHDHTC3B4
A-frame B-frame C-frame A-frame B-frame C-frame A-frame
3
4
F-frame
D-frame
5
E-frame F-frame D-frame E-frame F-frame
6
G-frame −
MDDHT2407
MDDHT2407E
MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440
MDDHT2412E MDDHT3420E MEDHT4430E MFDHT5440E
MFDHTA464
MFDHTA464E
MGDHTB4A2 MHDHTB4A2
B-frame C-frame
H-frame
D-frame E-frame F-frame G-frame
−
H-frame
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1-23
7 Supplement
1500r/min
MADHT1505
A-frame
When in Trouble
1500r/min
50W 100W 200W 400W 50W 100W 200W 400W 750W 50W 100W 200W 400W 50W 100W 200W 400W 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW 11.0kW 15.0kW 400W 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW 11.0kW 15.0kW
Adjustment
Single/ 3-phase, 200V
MSMD5AZG1 * MSMD011G1 * MSMD021G1 * MSMD041G1 * MSMD5AZG1 * MSMD012G1 * MSMD022G1 * MSMD042G1 * MSMD082G1 * MSME5AZG1 * MSME011G1 * MSME021G1 * MSME041G1 * MSME5AZG1 * MSME012G1 * MSME022G1 * MSME042G1 * MSME082G1 * MSME102G□ * MSME152G□ * MSME202G□ * MSME302G□ * MSME402G□ * MSME502G□ * MSME084G1 * MSME104G□ * MSME154G□ * MSME204G□ * MSME304G□ * MSME404G□ * MSME504G□ * MDME102G□ * MDME152G□ * MDME202G□ * MDME302G□ * MDME402G□ * MDME502G□ * MDME752G1 * MDMEC12G1 * MDMEC52G1 * MDME044G1 * MDME064G1 * MDME104G□ * MDME154G□ * MDME204G□ * MDME304G□ * MDME404G□ * MDME504G□ * MDME754G1 * MDMEC14G1 * MDMEC54G1 *
Frame
Setup
MSME
Rated output
Driver Model of Only for position control type MADHT1105E MADHT1107E MBDHT2110E MCDHT3120E
Connection
Single phase, 100V
Model
Model of velocity, position, torque and full-closed control type MADHT1105 MADHT1107 MBDHT2110 MCDHT3120
Preparation
Power supply
2
Do not use in other combinations than those listed below. Motor Rated rotational speed
1 Before Using the Products
1Before Using
4. Check of the Combination of the Driver and the Motor Incremental Specifications, 20-bit
Motor Power supply
Type
Rated rotational speed
Single/ 3-phase, 200V MFME 3-phase, 2000r/min 200V Middle inertia 3-phase, 400V Single/ 3-phase, 200V 3-phase, 200V
MGME
Middle inertia
1000r/min
3-phase, 400V Single phase, 100V Single/ 3-phase, 200V Single/ 3-phase, 200V
MHMD
High inertia
3000r/min
2000r/min
3-phase, 200V MHME
High inertia
3-phase, 400V
1500r/min
2000r/min
1500r/min
Note
1-24
Driver Model
Rated output
Model of velocity, position, torque and full-closed control type
Model of Only for position control type
Frame
MFME152G1 *
1.5kW
MDDHT5540
MDDHT5540E
D-frame
MFME252G1 * MFME452G1 * MFME154G1 * MFME254G1 * MFME454G1 *
2.5kW 4.5kW 1.5kW 2.5kW 4.5kW
MEDHT7364 MFDHTB3A2 MDDHT3420 MEDHT4430 MFDHTA464
MEDHT7364E MFDHTB3A2E MDDHT3420E MEDHT4430E MFDHTA464E
E-frame F-frame D-frame E-frame F-frame
MGME092G□ *
0.9kW
MDDHT5540
MDDHT5540E
D-frame
MGME202G□ * MGME302G□ * MGME452G1 * MGME602G1 * MGME094G□ * MGME204G□ * MGME304G□ * MGME454G1 * MGME604G1 * MHMD021G1 *
2.0kW 3.0kW 4.5kW 6.0kW 0.9kW 2.0kW 3.0kW 4.5kW 6.0kW 200W
MFDHTA390
MFDHTA390E
MFDHTB3A2
MFDHTB3A2E
MGDHTC3B4 MDDHT3420 MFDHT5440
− MDDHT3420E MFDHT5440E
MFDHTA464
MFDHTA464E
MGDHTB4A2 MBDHT2110
− MBDHT2110E
G-frame B-frame
MHMD041G1 *
400W
MCDHT3120
MCDHT3120E
C-frame
MHMD022G1 * MHMD042G1 * MHMD082G1 * MHME102G□ *
200W 400W 750W 1.0kW
MADHT1507 MBDHT2510 MCDHT3520 MDDHT3530
MADHT1507E MBDHT2510E MCDHT3520E MDDHT3530E
A-frame B-frame C-frame
MHME152G□ *
1.5kW
MDDHT5540
MDDHT5540E
MHME202G□ * MHME302G□ * MHME402G□ * MHME502G□ * MHME752G1 * MHME104G□ * MHME154G□ * MHME204G□ * MHME304G□ * MHME404G□ * MHME504G□ * MHME754G1 *
2.0kW 3.0kW 4.0kW 5.0kW 7.5kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW
MEDHT7364 MFDHTA390
MEDHT7364E MFDHTA390E
MFDHTB3A2
MFDHTB3A2E
MGDHTC3B4 MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440
− MDDHT2412E MDDHT3420E MEDHT4430E MFDHT5440E
MFDHTA464
MFDHTA464E
MGDHTB4A2
−
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F-frame G-frame D-frame F-frame
D-frame E-frame F-frame G-frame D-frame E-frame F-frame G-frame
the Products
4. Check of the Combination of the Driver and the Motor Absolute Specifications, 17-bit
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Remarks
Type
Rated rotational speed
Single phase, 100V
MSME
Low inertia
3000r/min
3-phase, 200V
Single/3-phase, 200V 2000r/min
1500r/min MDME
Middle inertia 2000r/min
1500r/min
MADHT1505
A-frame B-frame C-frame
MADHT1507 MBDHT2510 MCDHT3520
B-frame C-frame
MDDHT5540
D-frame
MEDHT7364 MFDHTA390
E-frame
MFDHTB3A2 MDDHT2412 MDDHT3420 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 MDDHT3530 MDDHT5540 MEDHT7364 MFDHTA390 MFDHTB3A2
3
A-frame
F-frame
4
D-frame E-frame F-frame D-frame E-frame F-frame
MGDHTC3B4
G-frame
MHDHTC3B4
H-frame
5
MDDHT2407 MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464
D-frame E-frame F-frame
MGDHTB4A2
G-frame
MHDHTB4A2
H-frame
6 When in Trouble
3-phase, 400V
50W 100W 200W 400W 50W 100W 200W 400W 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW 11.0kW 15.0kW 400W 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW 11.0kW 15.0kW
Adjustment
3-phase, 200V
MSME5AZS1 * MSME011S1 * MSME021S1 * MSME041S1 * MSME5AZS1 * MSME012S1 * MSME022S1 * MSME042S1 * MSME082S1 * MSME102S□ * MSME152S□ * MSME202S□ * MSME302S□ * MSME402S□ * MSME502S□ * MSME084S1 * MSME104S□ * MSME154S□ * MSME204S□ * MSME304S□ * MSME404S□ * MSME504S□ * MDME102S□ * MDME152S□ * MDME202S□ * MDME302S□ * MDME402S□ * MDME502S□ * MDME752S1 * MDMEC12S1 * MDMEC52S1 * MDME044S1 * MDME064S1 * MDME104S□ * MDME154S□ * MDME204S□ * MDME304S□ * MDME404S□ * MDME504S□ * MDME754S1 * MDMEC14S1 * MDMEC54S1 *
Frame
Setup
3-phase, 400V
Rated output
Connection
Single/ 3-phase, 200V
Model
Driver Model of velocity, position, torque and full-closed control type MADHT1105 MADHT1107 MBDHT2110 MCDHT3120
Preparation
Power supply
Note
2
Do not use in other combinations than those listed below. Motor
1 Before Using the Products
1Before Using
7 Supplement
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4. Check of the Combination of the Driver and the Motor Absolute Specifications, 17-bit
Motor Power supply
Type
Single/3-phase, 200V 3-phase, 200V
MFME
Middle inertia
Rated rotational speed
2000r/min
3-phase, 400V Single/3-phase, 200V 3-phase, 200V
MGME
Middle inertia
1000r/min
3-phase, 400V Single/ 3-phase, 200V 2000r/min
3-phase, 200V MHME
High inertia
3-phase, 400V
1500r/min
2000r/min
1500r/min
Note
1-26
Driver Model of velocity, position, torque and Frame full-closed control type
Model
Rated output
MFME152S1 *
1.5kW
MDDHT5540
D-frame
MFME252S1 * MFME452S1 * MFME154S1 * MFME254S1 * MFME454S1 *
2.5kW 4.5kW 1.5kW 2.5kW 4.5kW
MEDHT7364 MFDHTB3A2 MDDHT3420 MEDHT4430 MFDHTA464
E-frame F-frame D-frame E-frame F-frame
MGME092S□ *
0.9kW
MDDHT5540
D-frame
MGME202S□ * MGME302S□ * MGME452S1 * MGME602S1 * MGME094S□ * MGME204S□ * MGME304S□ * MGME454S1 * MGME604S1 * MHME102S□ *
2.0kW 3.0kW 4.5kW 6.0kW 0.9kW 2.0kW 3.0kW 4.5kW 6.0kW 1.0kW
MFDHTA390
MHME152S□ *
1.5kW
MDDHT5540
MHME202S□ * MHME302S□ * MHME402S□ * MHME502S□ * MHME752S1 * MHME104S□ * MHME154S□ * MHME204S□ * MHME304S□ * MHME404S□ * MHME504S□ * MHME754S1 *
2.0kW 3.0kW 4.0kW 5.0kW 7.5kW 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW
MEDHT7364 MFDHTA390
MFDHTB3A2 MGDHTC3B4 MDDHT3420 MFDHT5440 MFDHTA464 MGDHTB4A2 MDDHT3530
MFDHTB3A2 MGDHTC3B4 MDDHT2412 MDDHT3420 MEDHT4430 MFDHT5440 MFDHTA464 MGDHTB4A2
6XIÀ[RI□LQWKHDSSOLFDEOHPRWRUPRGHOUHSUHVHQWVGHVLJQRUGHU 6XIÀ[RI*LQWKHDSSOLFDEOHPRWRUPRGHOUHSUHVHQWVWKHPRWRUVWUXFWXUH 'HIDXOWRIWKHGULYHULVVHWIRUWKHLQFUHPHQWDOHQFRGHUVSHFLÀFDWLRQV When you use in absolute, make the following operations. a) Install a battery for absolute encoder. b) 6ZLWFKWKHSDUDPHWHU3U $EVROXWHHQFRGHUVHWXS IURP GHIDXOW WR 2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWWKHELWDEVROXWHVSHFLÀFDWLRQ ,WVXSSRUWVRQO\ELWLQFUHPHQWDOVSHFLÀFDWLRQ
F-frame G-frame D-frame F-frame G-frame D-frame E-frame F-frame G-frame D-frame E-frame F-frame G-frame
the Products
4. Check of the Combination of the Driver and the Motor Junction cable for motor
Encoder cable Motor series
,QFUHPHQWDO6SHFLÀFDWLRQVELW Note)1
MSMD 50W to 750W
MSME
50W to 750W (200V)
7-98
MFECA0 ** 0EAM
—
MFECA0 ** 0MJD
MFECA0 ** 0MJE
(Highly bendable type, Direction of motor shaft)
(Highly bendable type, Direction of motor shaft)
MFECA0 ** 0MKD
MFECA0 ** 0MKE
(Highly bendable type, Opposite direction of motor shaft)
(Highly bendable type, Opposite direction of motor shaft)
7-98
MFECA0 ** 0TJD
MFECA0 ** 0TJE
7-99
(Standard bendable type, Direction of motor shaft)
(Standard bendable type, Direction of motor shaft)
MFECA0 ** 0TKD
MFECA0 ** 0TKE
(Standard bendable type, Opposite direction of motor shaft)
(Standard bendable type, Opposite direction of motor shaft)
note)2
750W (400V), 1.0kW to 5.0kW
MFECA0 ** 0ESE note)2 MFECA0 ** 0ETE note)3 MFECA0 ** 0ESEnote)2 MFECA0 ** 0ETE note)3 MFECA0 ** 0ETE MFECA0 ** 0ESE note)2 MFECA0 ** 0ETE note)3 — MFECA0 ** 0ESE note)2 MFECA0 ** 0ETE note)3
1.5kW to 4.5kW
MGME 0.9kW to 6.0kW MHMD 200W to 750W MHME 1.0kW to 7.5kW
2
3 7-99 to 7-100
Connection
MFECA0 ** 0ESD MFECA0 ** 0ETD note)3 MFECA0 ** 0ESD note)2 MFECA0 ** 0ETD note)3 MFECA0 ** 0ETD MFECA0 ** 0ESD note)2 MFECA0 ** 0ETD note)3 MFECA0 ** 0EAM MFECA0 ** 0ESD note)2 MFECA0 ** 0ETD note)3
MDME 400W to 15.0kW MFME
Detail page
Preparation
MSME
Absolute Specifications, 17-bit Note)1
1 Before Using the Products
1Before Using
1RWH ´
µUHSUHVHQWVWKHFDEOHOHQJWK1RWH 'HVLJQRUGHU & N:WRN: 0*0( WRN: 1RWH 'HVLJQRUGHU
4
Motor cable/ Brake cable
MSMD 50W to 750W
MFMCA0 ** 0EED
—
MFMCA0 ** 0NJD
MFMCA0 ** 0RJD
(
Standard bendable type, Direction of motor shaft
—
)
MFMCA0 ** 3FCT MFMCA0 ** 2FCD MFMCE0 ** 2FCD MFMCA0 ** 3FCT — MFMCA0 ** 2FCD
MFMCD0 ** 2ECD
MFMCE0 ** 2FCD
—
—
6 7-102 to 7-106
— MFMCB0 ** 0GET
7
—
MFMCA0 ** 3FCT
1RWH ´
µUHSUHVHQWVWKHFDEOHOHQJWK
Caution
0RWRUFDEOH IRU0+0(N:0*0(N:0'0(N:WRN: LVQRWSUHSDUHGLQ option.
Related page
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1-27
Supplement
MFMCE0 ** 2ECD MFMCA0 ** 3ECT
—
When in Trouble
MFMCD0 ** 3ECT
MFMCA0 ** 3ECT MFMCA0 ** 0EED
)
Adjustment
MFMCE0 ** 2FCD
MFMCD0 ** 2ECD
5
Standard bendable type, (Opposite direction of motor shaft)
MFMCF0 ** 2ECD
MFMCD0 ** 2ECD
7-106
(
MFMCA0 ** 3ECT MFMCA0 ** 2ECD
MFMCA0 ** 3ECT
7-101
MFMCB0 ** 0SJT MFMCB0 ** 0SKT
MFMCA0 ** 2FCD MFMCE0 ** 2FCD MFMCA0 ** 3FCT MFMCA0 ** 2FCD MFMCE0 ** 2FCD MFMCA0 ** 3FCT MFMCA0 ** 2FCD
MFMCD0 ** 2ECD
Highly bendable type, (Opposite direction of motor shaft) Standard bendable type, Direction of motor shaft
Standard bendable type, (Opposite direction of motor shaft)
1.0kW to 2.0kW（200V） 750W to 2.0kW（400V） 3.0kW to 5.0kW 1.0kW to 2.0kW（200V） 400W to 2.0kW（400V） 3.0kW to 5.0kW 1.5kW（200V） 1.5kW（400V） 2.5kW 4.5kW 0.9kW（200V） 0.9kW（400V） 2.0kW to 4.5kW 200W to 750W 1.0kW, 1.5kW（200V） 1.0kW, 1.5kW（400V） 2.0kW 3.0kW to 5.0kW
7-101 7-106
MFMCB0 ** 0PKT
MFMCA0 ** 0RKD
MSME MSME MSME MDME MDME MDME MFME MFME MFME MFME MGME MGME MGME MHMD MHME MHME MHME MHME
MFMCB0 ** 0GET Highly bendable type, (Direction of motor shaft)
MFMCA0 ** 0NKD
MSME 50W to 750W
Detail page
MFMCB0 ** 0PJT
Highly bendable type, (Direction of motor shaft)
Highly bendable type, (Opposite direction of motor shaft)
Brake cable Note)1
Setup
Motor cable Note)1 without Brake with Brake
Motor series
1Before 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 indoor 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 sulÀGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV 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 Ambient temperature Ambient humidity Storage temperature*1 Storage humidity Vibration Altitude
Conditions Ý&WRÝ& IUHHIURPIUHH]LQJ 20% to 85% RH (free from condensation) ²Ý&WRÝ&
(Max. temperature guarantee: 80ÝC for 72 hours free from condensation*2)
20% to 85% RH (free from condensation*2) Lower than 5.88m/s2 (0.6G), 10 to 60Hz (Do not continuously use the driver for along time at the resonance point.) 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 brackHW)RUFKRRVLQJWKHFRUUHFWRSWLRQDOPRXQWLQJEUDFNHWUHIHUWR3 ´0RXQWLQJ%UDFNHWµ 4) In consideration of strength of the screws and the material of the mounting base, seOHFWDSSURSULDWHIDVWHQLQJWRUTXHIRUWKHSURGXFWPRXQWLQJVFUHZVVRWKDWWKHVFUHZV 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 N·m, H-frame: M6 4.68 to 5.72 N·m H-frame 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)
Fastening torque of ground terminal (M4) to be 0.7 to 0.8 N m. 1-28
Rearmount [Basemount]
Mounting bracket (Attachment)
Fastening torque of ground terminal (M4) to be 0.7 to 0.8 N m. Fastening torque of ground terminal (M5) to be 1.4 to 1.6 N m.
Fastening torque of ground terminal (M6) to be 2.4 to 2.6 N m.
5. Installation
1
Mounting Direction and Spacing
Fan
Control panel
Fan
100mm or more
2 Preparation
5HVHUYHHQRXJKVXUURXQGLQJVSDFHIRUHIIHFWLYHFRROLQJ ,QVWDOOIDQVWRSURYLGHXQLIRUPGLVWULEXWLRQRIWHPSHUDWXUHLQWKHFRQWUROSDQHO 'WR+IUDPHLVSURYLGHGZLWKDFRROLQJIDQDWWKHERWWRP (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.
Before Using the Products
Driver
3 a
a
a
Direction of air flowing from the internal cooling fan (D to H-frame)
Note
40mm or more
100mm or more
Connection
40mm or more
a
A to F-frame
10mm or more
G, H-frame
50mm or more
It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after peeling off the paint on the machine for installing the products, in order to make noise countermeasure.
Setup
Caution on Installation Caution
1-29
6
7 Supplement
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5
When in Trouble
:KHQHYHU OLIWLQJ WKH SURGXFW GXULQJ WUDQVSRUWDWLRQLQVWDOODWLRQ RI + IUDPH VHUYR GULYHU WZR RU more persons should hold it by metallic member, not by plastic member. :HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\KRZHYHUDSSOLFDWLRQRIH[FHStionally 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. 7KHUHPLJKWEHDFKDQFHRIVPRNHJHQHUDWLRQGXHWRWKHIDLOXUHRIWKHVHSURGXFWV3D\DQH[WUD attention when you apply these products in a clean room environment. %H VXUH WR LQVWDOO D QRIXVH EUHDNHU LQ WKH SRZHU VXSSO\ ,Q DGGLWLRQ EH VXUH WR JURXQG WKH grounding terminal or grounding wire provided. (In order to prevent electric shock and malfuncWLRQV&ODVV'JURXQGLQJ JURXQGLQJUHVLVWDQFHRIїRUOHVV LVUHFRPPHQGHG ,IWKHSURGXFWLVJURXQGHGLQVXIÀFLHQWO\QRWRQO\WKHGULYHUPD\QRWGHOLYHULWVSHUIRUPDQFHVXIÀFLHQWO\EXWDOVRVDIHW\KD]DUGVVXFKDVDPDOIXQFWLRQGXHWRDHOHFWULÀFDWLRQRUDGLVWXUEDQFH may be caused. ,IHOHFWULFZLUHVDUHERXQGDQGUXQWKURXJKPHWDOGXFWWKH\FDQQRWFDUU\WKHUDWHGFXUUHQWGXHWR temperature rise. If they are forced to carry the rated current, they may burn. When determining size of the wire. 'RQRWXVHRUVWRUHWKHSURGXFWLQDSODFHVXEMHFWWRPV2 or more vibration or shock, forHLJQPDWHULDOVVXFKDVGXVWPHWDOOLFSRZGHUDQGRLOPLVWOLTXLGVVXFKDVZDWHURLODQGJULQGLQJ ÁXLG FORVH WR ÁDPPDEOH PDWHULDOV RU LQ DQ DWPRVSKHUH RI FRUURVLYH JDV +2S, SO2, NO2, Cl2, HWF RULQÁDPPDEOHJDVXQGHUDQ\FLUFXPVWDQFH
Adjustment
Related page
4
5. Installation Driver
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. 6HFXUHWKHVFUHZVDQGHDUWKVFUHZRQWKHWHUPLQDOEORFNZLWKWKHWRUTXHVSHFLÀHGLQWKHVSHFLÀcation. :KHQHVWDEOLVKLQJDV\VWHPXVLQJVDIHW\IXQFWLRQVFRPSOHWHO\XQGHUVWDQGWKHDSSOLFDEOHVDIHW\ standards and the operating instruction manual or technical documents for the product. 1HYHU PDNH DQ DSSURDFK WRWKH PRWRUDQG WKH PDFKLQH V GULYHQ E\ WKHPRWRU ZKLOH SRZHU LV applied because they may become failure or malfunction. 'RQRWXVHVHUYRRQVLJQDO 65921 DVWKHVWDUWVWRSVLJQDO'RLQJVRPD\GDPDJHWKHEXLOWLQ dynamic brake circuit in the driver. 3D\DWWHQWLRQWRWKHKHDWGLVVLSDWLRQ7KHGULYHUZLOOJHQHUDWHKHDWZKLOHWKHPRWRULVLQRSHUDtion. 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 PDWFKHVWKHVSHFLÀHGRSHUDWLQJWHPSHUDWXUHUDQJH 7KHUHLVDSRVVLELOLW\WKDWWKHPRWRUZLOOEHGDPDJHGE\KHDWRUHPLWVPRNHRUGXVWGXHWRDIDXOW in the motor itself or the driver coupled with it. A proper consideration should be given if the motor is used in a clean room or similar environment. 7KHXSSHUIDQRQWKH+IUDPHGULYHUVWRSVGXULQJVHUYR2))WRVDYHHQHUJ\7KLVLVQRUPDO ,I WKH G\QDPLF EUDNH LV DSSOLHG GXULQJ RSHUDWLRQ DW D KLJK VSHHG SURYLGH DSSUR[ PLQXWH dwell period. Restarting the motor earlier may cause a broken wire in the dynamic brake making the brake inoperable. 7KHFDSDFLWDQFHRIFDSDFLWRULQWKHSRZHUVXSSO\UHFWLÀHUFLUFXLWGHFUHDVHVLWVFDSDFLWDQFHZLWK 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. %HIRUHXVLQJWKHSURGXFWEHVXUHWRUHDGWKHLQVWUXFWLRQPDQXDO 6DIHW\SDUW
Recommended Electric Wires for Driver )RUWKHPDLQFLUFXLWXVHHOHFWULFZLUHWKDWZLWKVWDQGVDWOHDVW9$&ZLWKWHPSHUDWXUHUDWLQJʝRUKLJKHU :KHQ XVLQJ EXQGOHG ZLUHV UXQQLQJ WKURXJK PHWDOOLF FRQGXLW WKH DPRXQWV RI FXUUHQW determined according to the reduction rate must be subtracted from the nominal allowable current. (OHFWULFZLUHV Use heat resistant wire. Common polyvinyl chloride wires will deteriorate by heat at a higher rate. The surface of vinyl chloride insulation becomes hardened and brittle at low temperaWXUHDQGQHHGVVSHFLÀFSURWHFWLYHPHDVXUHZKHQXVHGLQFROGUHJLRQ %HQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU &DEOHVFDQQRWEHXVHGIRUFRQWLQXRXVUHJHQHUDWLRQEHFDXVHWKH\DUHQRWGHVLJQHGIRU such application.
Related page
1-30
3´-XQFWLRQFDEOHIRUPRWRUµ
5. Installation
1
Relationship between Wire Diameter and Permissible Current :KHQVHOHFWLQJDFDEOHUHIHUWRWKHIROORZLQJVHOHFWLRQJXLGHVKRZLQJUHODWLRQVKLSEHWZHHQFDEOHVSHFLÀFDWLRQDQGFXUUHQWFDUU\LQJFDSDFLW\ Example: Power supply 3-phase, 200 V, 35 A, ambient temperature 30°C
49 61 88 115 139 162 217 298 395
7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGXVLQJWKHIROORZLQJIRUPXOD
4
(Max. permissible temp. – ambient temp.) ÷ 30
Caution
7KHFXUUHQWFRUUHFWLRQFRHIÀFLHQWLVGHWHUPLQHGDFFRUGLQJWRWKHFDEOH&KHFNWKHVSHFLÀFDWLRQRIWKHFDEOH used. 7KH FXUUHQW UHGXFWLRQ FRHIILFLHQW LV SURYLGHG IRU WKH FDVH &XUUHQWUHGXFWLRQFRHIILFLHQW where the cable (4-conductor cable in the case of example), No. of wires in a tube Coefficient is housed in plastic race/sheath, plastic tube, metal race/ ◎ Up to 3 0.70 VKHDWKPHWDOWXEHRUÁH[LEOHFRQGXLW 4 0.63 Because the neutral conductor is not counted as a wire, the cur5 or 6 0.56 UHQWUHGXFWLRQFRHIÀFLHQWIRU´RUOHVVµLVDSSOLHGDVLQGLFDWHGE\ 7 to 15 0.49 ( ) in the table right. 16 to 40 0.43 41 to 60 61 or more
5HFRPPHQGHGHFRFDEOH
0.39 0.34
Conductor
14 22 38 60 100 150
Caution Note
Max. Sheath (Reference) conductor thickness Finish O.D. resistance (mm) (mm) (20°C) (W/km) 1.5 12.0 9.42 1.5 13.5 5.30 1.5 16.0 3.40 1.5 17.0 2.36
Outside diameter (mm)
7/0.6 7/0.8 7/1.0 7/1.2
1.8 2.4 3.0 3.6
0.8 0.8 1.0 1.0
Circular compression Circular compression Circular compression Circular compression Circular compression Circular compression Circular compression
4.4
1.0
1.5
19.0
5.5
1.2
1.6
7.3
1.2
9.3
Test voltage (V/1 min.)
Minimum (Reference) insulation Approx. resistance mass 0:NP (kg/km)
1500 1500 1500 1500
2500 2500 2500 2000
170 250 360 475
1.34
2000
1500
730
23
0.849
2000
1500
1100
1.8
28
0.491
2500
1500
1800
1.5
2.0
35
0.311
2500
1500
2790
12.0
2.0
2.4
44
0.187
2500
1500
4630
14.7
2.0
2.6
51
0.124
3000
1000
6710
17.0
2.5
2.9
60
0.0933
3000
1500
8990
6
7
6KLHOGZLOOLQFUHDVHÀQLVKRXWVLGHGLDPHWHUE\DSSUR[PP $SSURSULDWHFDEOHVKRXOGEHVHOHFWHGWRKDYHVXIÀFLHQWDOORZDQFHIRUSDUDPHWHUVVXFKDVRSHUDWLQJDPELent temperature and current. &XUUHQW UHGXFWLRQ FRHIILFLHQW IXQGDPHQWDO SHUPLVVLEOH FXUUHQW HWF VWDWHG RQ WKLV SDJH DUH VXEMHFW WR change due to e.g. standard revision. Consult cable manufacturers for the latest information. 1-31
Supplement
200
Insulation thickness (mm)
Structure or shape (wires/mm2)
When in Trouble
Nominal cross section (mm2) 2 3.5 5.5 8
5 Adjustment
Wire category: 4-conductor polyethylene-insulated power cable with heat-resistant polyethylene sheath (Standard: EM JIS C 3605) Maximum permissible temperature: 90°C
Setup
Caution
3 Connection
5.5 to 8 (excl.) 8 to 14 (excl.) 14 to 22 (excl.) 11 to 30 (excl.) 30 to 38 (excl.) 38 to 68 (excl.) 60 to 100 (excl.) 100 to 150 (excl.) 150 to 200 (excl.)
Applicable permissible current = IXQGDPHQWDOSHUPLVVLEOHFXUUHQW[FXUUHQWUHGXFWLRQFRHIÀFLHQW[FXUUHQW FRUUHFWLRQFRHIÀFLHQW = 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 mm2 is a polyethylene-insulated heat-resistant 4-conductor power FDEOHKDYLQJPPÀQLVK2' DSSUR[PPZLWKVKLHOG
2 Preparation
Determine the fundamental permissible current according to the )XQGDPHQWDOSHUPLVVLEOH cable conductor material (example: stranded copper wire). (For the current Copper purpose of this example, the ampere indicated by is selected from Stranded conductor wire the table right.) (nominal cross section: mm2) (unit: A) Next, determine the number of conductors. (In this example, the 2 to 3.5 (excl.) 27 cable contains 4 conductors (3 + ground).) Determine the applicable 3.5 to 5.5 (excl.) 37 ◇ permissible current using the following formula.
Before Using the Products
Driver
1Before Using the Products
5. Installation Motor
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 sulÀGHVXOIXURXVDFLGFKORULQHDPPRQLDVXOIXUFKORULFJDVVXOIXULFJDVDFLGDONDOLQH DQGVDOWDQGVRRQDQGDUHIUHHIURPVSODVKRILQÁDPPDEOHJDV 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 Ambient temperature*1 Ambient humidity Storage temperature*2 Storage humidity Vibration Motor only Impact Motor only Enclosure Motor only rating (Connector type) Altitude
Conditions Ý&WRÝ& IUHHIURPIUHH]LQJ 20% to 85% RH (free from condensation) ²Ý&WRÝ& (Max. temperature guarantee: 80ÝC for 72 hours free from condensation*5)
20% to 85% RH (free from condensation*5) Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall Lower than 98m/s2 (10G) IP67 (except rotating portion of output shaft and connecting pin part of the motor connector and the encoder connector)*3*4 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 7KHVHPRWRUVFRQIRUPWRWKHWHVWFRQGLWLRQVVSHFLÀHGLQ(1VWDQGDUGV (1 (1 'R QRWXVHWKHVHPRWRUVLQDSSOLFDWLRQZKHUHZDWHUSURRISHUIRUPDQFHLVUHTXLUHGVXFKDVFRQWLQXRXV wash-down operation. *4 This condition is applied when the connector mounting screw in case of motor 750W or less are WLJKWHQHG WR WKH UHFRPPHQGHG WLJKWHQLQJ WRUTXH 5HIHU WR 3 %H VXUH WR XVH PRXQWLQJ 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 0RXQWWKHPRWRUZLWKFDEOHRXWOHWIDFLQJGRZQZDUGIRUZDWHURLOFRXQWHUPHDVXUH 2) Vertical mounting 8VH WKH PRWRU ZLWK RLO VHDO PDNHWRRUGHU LQ FDVH RI PRWRU : RU OHVV ZKHQ mounting the motor with gear reducer to prevent the reducer oil/grease from entering to the motor. 1-32
5. Installation
1 Before Using the Products
Motor
Oil/Water Protection
2 Motor Preparation
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 subjectCable 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 Oil / Water motor through shaft.
Stress to Cables
4
Permissible Load to Output Shaft
5 Adjustment
)RUSHUPLVVLEOHORDGRIHDFKPRGHOUHIHUWR3´3HUPLVVLEOH/RDGDW2XWSXW6KDIWµ.
Setup
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 VSHFLÀHGWRHDFKPRGHO 2) Pay an extra attention when you use a rigid coupling. (Excess bending load may damage the shaft or deteriorate the bearing life.) 8VHDÁH[LEOHFRXSOLQJZLWKKLJKVWLIIQHVVGHVLJQHGH[FOXVLYHO\IRUVHUYRDSSOLFDWLRQLQ order to make a radial thrust caused by micro misalignment smaller than the permissible value.
Note
3 Connection
1) Avoid a stress application to the cable outlet and connecting portion by bending or selfweight. (VSHFLDOO\LQDQDSSOLFDWLRQZKHUHWKHPRWRULWVHOIWUDYHOVÀ[WKHMXQFWLRQFDEOHLQWRWKH 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)
Notes on Installation
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1-33
7 Supplement
Related page
6 When in Trouble
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the motor shaft. Motor (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 PD\UHVXOWLQWKHEHDULQJQRLVH&KHFNDQGYHULÀFDWLRQE\FXVWRPHULVUHTXLUHG
5. Installation Motor
Wiring Precautions on Movable Section When wiring cable bear, take the following precautions:
&DEOHEHDUZLULQJ 7KHEHQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVKRXWVLGHGLDPHWHU )RUÀQLVKRXWVLGHGLDPHWHUUHIHUWR3+RZWR,QVWDOO´5HODWLRQVKLSEHWZHHQ:LUH 'LDPHWHUDQG3HUPLVVLEOH&XUUHQWµDQGDVVRFLDWHGWDEOHV 'RQRWÀ[RUEXQGOHZLUHVLQWKHFDEOHEHDU :KHQVHFXULQJWKHFDEOHÀ[LWRQO\DWQRQPRYDEOHHQGVRIWKHFDEOHEHDUZKHUHWKH cable is free from any stress (e.g. tension). (Avoid tight lock.) [Recommended cable bear wiring] Cable bear
Cable
Caution
Cable end
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.
&DEOHGLVWRUWLRQ Keep the cable free from twists or kinks. Distorted cable will cause loose connection, lowering performance and reliability.
/DPLQDWLRQIDFWRURIFDEOHLQFDEOHEHDU 3ODFHFDEOHVRQDÁDWVXUIDFHLQSDUDOOHOZLWKRXWEULQJLQJWKHPLQWRFRQWDFWZLWKHDFK other and measure the dimension necessary to cover these cables. Then select a cable 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
Thick cable
1-34
Partition
Thin cable
Cable
Partition
the Products
6. Permissible Load at Output Shaft Motor
Radial load (P) direction L
Thrust load (A and B) direction
1 Before Using the Products
1Before Using
2
A M
P
Unit : N (1kgf=9.8N)
At assembly Motor series
MSME
During running
Thrust load Radial thrust
A-direction B-direction 88
117.6
68.6
58.8
200W, 400W
392
147
196
245
98
750W
686
294
392
392
147
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
784
343
490
196
784
343
588
686
1666
784
980
7.5kW
2058
980
1176
1176
490
11.0kW, 15.0kW
4508
1470
1764
2254
686
0.9kW
980
588
686
686
196
2.0kW
1666
784
980
1176
3.0kW 4.0kW 5.0kW
3.0kW 4.5kW
2058
980
1176
6.0kW
MHMD
MHME
1764
588
490
196
784
294
980
588
2.5kW, 4.0kW
1862
686
200W, 400W
392
147
196
245
98
750W
686
294
392
392
147
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
6
7
When the load point varies, calculate the permissible radial load, P (N) from the distance RIWKHORDGSRLQW/ PP IURPWKHPRXQWLQJÁDQJHEDVHGRQWKHIRUPXODRIWKHULJKWWDble, and make it smaller than the calculated result.
1-35
Supplement
Note
490
1.5kW
686
5
When in Trouble
MFME
1470
4
Adjustment
980
3
Setup
147
400W to 2.0kW
MGME
Thrust load A and B-direction
50W, 100W
4.0kW, 5.0kW
MDME
Radial thrust
Connection
MSMD
Motor output
Preparation
B L/2
6. Permissible Load at Output Shaft Motor
L P Motor series
MSMD
MSME
MDME
1-36
Motor output
Formula of Load and load point relation
Motor series
Motor output
Formula of Load and load point relation
50W
P＝
3533 L+39
0.9kW
P＝
33957 L+14.5
100W
P＝
4905 L+59
2.0kW
P＝
69384 L+19
200W
14945 P＝ L+46
3.0kW
P＝
86730 L+19
400W
P＝
19723 L+65.5
4.5kW 6.0kW
P＝
89964 L+20
750W
P＝
37044 L+77
1.5kW
P＝
25235 L+19
50W
P＝
3533 L+39
2.5kW
P＝
40376 L+19
100W
P＝
4905 L+59
4.0kW
P＝
42336 L+19
200W
P＝
14945 L+46
200W
P＝
14945 L+46
400W
P＝
19723 L+65.5
400W
P＝
19723 L+65.5
750W (200V)
P＝
37044 L+77
750W
P＝
37044 L＋77
750W (400V) 1.0kW to 3.0kW
P＝
20090 L+13.5
1.0kW 1.5kW
P＝
24255 L＋14.5
4.0kW 5.0kW
P＝
36848 L+14.5
2.0kW to 5.0kW
P＝
46256 L+19
400W 600W
P＝
20090 L＋13.5
7.5kW
P＝
89964 L+20
1.0kW to 2.0kW
P＝
20580 L＋14.5
3.0kW
P＝
36848 L+14.5
4.0kW 5.0kW
P＝
42336 L+19
7.5kW
P＝
89946 L+20
11.0kW 15.0kW
P＝
200606 L+31
MGME
MFME
MHMD
MHME
2. Preparation
1 Before Using the Products
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
2 Preparation
3 Connection
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
4
Connection to Host Controller ..................................................................2-54
7. Wiring to the connector, X5 Connect on to External Scale...................................................................2-55
Setup
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
5 Adjustment
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
6
13. Setup of Parameter and Mode
When in Trouble
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
7 Supplement
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 2-1
1. Conformance to international standards
2
Preparation
EC Directives
EC Directives 7KH(&'LUHFWLYHVDSSO\WRDOOVXFKHOHFWURQLFSURGXFWVDVWKRVHKDYLQJVSHFLÀFIXQFWLRQV and have been exported to EU and directly sold to general consumers. Those products DUHUHTXLUHGWRFRQIRUPWRWKH(8XQLÀHGVWDQGDUGVDQGWRIXUQLVKWKH&(PDUNLQJRQWKH 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 Directives, especially for noise emission and noise terminal voltage, it is necessary to examine the machine incorporating our servos.
Conformity to UL Standards 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 PDUNHG EHWZHHQWKHSRZHUVXSSO\DQGWKHQRLVHÀOWHU
Remarks Note
8VHDFRSSHUFDEOHZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU For rated current of circuit breaker and fuse, refer to P.2-10 “Driver and List of Applicable 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 SDJH &RQÀUPWKDWWKHHIIHFWLYHFXUUHQWRIWKHGULYHUGRHVQRWH[FHHGWKHUDWHGFXUrent. Set up the peak permissible current with Pr0.13 (Setup of 1st torque limit) and Pr5.22 (Setup 2nd torque limit). (4) Motor over-temperature protection is not provided. 0RWRURYHUORDGWHPSHUDWXUHSURWHFWLRQVKDOOEHSURYLGHGDWWKHÀQDOLQVWDOODWLRQXSRQ required by the NEC (National Electric Code).
Note
2-2
For Overload protection time characterstics, refer to P.6-14.
1. Conformance to international standards
1
SEMI F47 ,QFOXGHVDIXQFWLRQLQFRPSOLDQFHZLWKWKH6(0,)VWDQGDUGIRUYROWDJHVDJLPPXQLW\ under no load or light load. ,GHDOIRUWKHVHPLFRQGXFWRUDQG/&'LQGXVWULHV (1) Excluding the single-phase 100-V type. (2) Please verify the actual compliance of your machine with the F47 standard for voltage sag immunity.
2 Preparation
Caution
Before Using the Products
EC Directives
Conformed Standards Driver EN55011 EN61000-6-2 EN61800-3
Low-Voltage Directives
EN61800-5-1
Machinery Directives Functional safety
EN60034-1 EN60034-5
EN954-1 (Cat. 3) ISO13849-1 (PL c,d*2) (Cat. 3) EN61508 (SIL 2) EN62061 (SIL 2) EN61800-5-2 (STO) IEC61326-3-1
4
–
Setup
(*1)
–
Connection
EC Directives
EMC Directives
3
Motor
UL1004-1 to 750W (200V) ( E327868: from ) 6.0kW
UL Standards
UL508C (E164620)
UL1004
( C22.2 No.14
5
C22.2 No.100
Adjustment
CSA Standards
)
E327868: 400W (400V) 600W (400V), 750W (400V) 0.9kW to 5.0kW
IEC : International Electrotechnical Commission EN : Europaischen Normen EMC : Electromagnetic Compatibility UL : Underwriters Laboratories CSA : Canadian Standards Association
6 When in Trouble
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 2QO\IRUSRVLWLRQFRQWUROW\SHGRHVQRWVXSSRUWIXQFWLRQDOVDIHW\(*1) standards. *2 PL d: Provided that EDM is used.
7
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. 2-3
Supplement
Caution
1. Conformance to international standards EC Directives
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.) 100V/200V Power supply
Metallic control box Noise filter for signal lines *1
Residual current device (RCD)
Circuit breaker
①
Surge absorber
②
Noise filter
Driver XA L1 L2 L3
XB U V W
L1C L2C
⑥
③
X6
Noise filter for signal lines ⑦
Insulated power supply for interface
Noise filter for signal lines *2
X4 ⑧
Controller
④
Motor M RE
Noise filter for A to F-frame: signal lines Motor cable X3 without shield cable Noise filter for G, H-frame: signal lines ⑤ Safety *3 Motor cable with shield controller cable
Ground (PE) *1 A to D-frame: Noise filter for signal lines, E to H-frame: Noise filter for signal lines *2 A to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines *3 Only for position control type is not provided with X3 terminal.
400V Power supply
Metallic control box Noise filter for signal lines *1 Residual current device (RCD)
Circuit breaker
①
Surge absorber
②
Noise filter
⑥
Driver XA L1 L2 L3
Insulated DC24V
24V 0V
③
X6
Noise filter for signal lines ⑦
Insulated power supply for interface
XB U V W
Noise filter for signal lines *2
X4 ⑧
Controller
④
Motor M RE
Noise filter for D to F-frame: signal lines Motor cable X3 without shield cable Noise filter for G, H-frame: signal lines ⑤ Safety *3 Motor cable with shield controller cable
Ground (PE) *1 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines *2 D to F-frame: Noise filter for signal lines, G, H-frame: Noise filter for signal lines *3 Only for position control type is not provided with X3 terminal.
0DQGDWRU\UHTXLUHPHQWVWRFRQIRUPWR(0&GLUHFWLYH ･ Install the servo driver on the metallic casing (control board). ･,QVWDOOQRLVHÀOWHUDQGOLJKWQLQJVXUJHDEVRUEHULQWKHSRZHUVXSSO\OLQH ･ Use braided shield cable (tin plated annealed copper wire) for I/O signal cable and encoder cable. ･3URYLGH WKH QRLVH ÀOWHU DV VKRZQ LQ WKH ÀJXUH IRU HDFK FDEOH ,2 OLQH DQG SRZHU source line to be connected to the servo driver. ･6KLHOGRIFDEOHVQRWVKRZQRQWKHÀJXUHVKRXOGEHGLUHFWO\JURXQGHGWKURXJK3( Because these conditions for EMC directive are affected by status of connected devices, wiring, connection and location, compliance should be checked after completing installation.
2-4
1. Conformance to international standards
1 Before Using the Products
EC Directives
'HWDLOVRIFDEOH OHIWKDQGILJXUH From
To
Cable function
Length
Remarks
Shield
1RLVHÀOWHU for signal lines
①
Breaker
1RLVHÀOWHU
Power line
2m
Single phase or 3-phase
none
none
②
1RLVHÀOWHU
Servo driver
Power line
2m
ー
none
with
③
Servo driver
Servo motor
Junction cable for motor
20m
ー
*1
with
④
Servo driver
Servo motor
Junction cable for encoder
20m
ー
with
with
⑤
Switch box
Servo driver
I/O cable
3m
ー
with
with
⑥
Frame ground
1RLVHÀOWHU
FG line
1m
ー
none
none
⑦
Frame ground
1RLVHÀOWHU
FG line
1m
ー
none
none
⑧
AC power supply
Switch box
Power line
1m
ー
none
none
2 Preparation
Symbol
3 Connection
*1 Frame A to F: none, Frame G and H: with.
5HIHUWR3IRUDOHIWKDQGILJXUHDQGWKHOLVWRIWKH3HULSKHUDO(TXLSPHQWVDIWHU
4 Setup
5 Adjustment
6 When in Trouble
7
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. 2-5
Supplement
Caution
1. Conformance to international standards
2
Preparation
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Power Supply +10% 100V type : Single phase, 100V –15% (A to C-frame) +10% 200V type : Single/3-phase, 200V –15% (A to D-frame) +10% 200V type : 3-phase, 200V –15% (E to H-frame) +10% 400V type : Main power supply 3-phase, 380V –15% (D to H-frame) : Control power supply DC 24V ± 15%
to
120V
+10% –15%
50/60Hz
to
240V
+10% –15%
50/60Hz
to
230V
+10% –15%
50/60Hz
to
480V
+10% –15%
50/60Hz
(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.
Remarks
Use sheathed (jacketed) cable, twisted cable or closely bundled cable for power cable. 3RZHUFDEOHDQGVLJQDOZLUHVPXVWEHVXIÀFLHQWO\LVRODWHGIURPHDFKRWKHU Twisted
Servo driver
Closely bundled cable
Servo driver L1
L1C
L2
L2C
L3
United
Circuit Breaker Install a circuit breaker which complies with IEC Standards and UL recognized (Listed and PDUNHG EHWZHHQSRZHUVXSSO\DQGQRLVHÀOWHU 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.
Note
2-6
For driver and applicable peripheral equipments, refer to P.2-10 "Driver and List of Applicable Peripheral Equipments".
1. Conformance to international standards
1 Before Using the Products
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Noise Filter Option part No.
9ROWDJHVSHFLÀFDWLRQV for driver
Manufacturer’s part No.
Applicable driver (frame)
DV0P4170
Single phase 100V/200V
SUP-EK5-ER-6
A, B-frame
3-phase 200V
Manufacturer
2
A, B-frame
Single phase 100V/200V 3-phase 200V
3SUP-HU10-ER-6
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
C-frame
Okaya Electric Ind.
3
5HFRPPHQGHGFRPSRQHQWV Model No.
Remarks
3-phase 200V
3-phase 400V
Applicable driver (frame) A, B, C-frame D-frame E, F-frame G-frame H-frame D, E-frame F-frame
Manufacturer
TDK-Lambda Corp.
4
Schaffner
G, H-frame
Isolate the input and output AC input
Noise Filter
The effect of the noise filter is a little. AC output
AC input
Noise Filter
1
4
2
5
2
6
3
3
E
4
1
5 E
6
6
Ground
Ground
AC output
When in Trouble
Do not place the input and output lines in the same duct or do not tie both in a bundle.
Surge Absorber 9ROWDJHVSHFLÀFDWLRQV for driver
Manufacturer’s part No.
DV0P1450
3-phase 200V
R･A･V-781BXZ-4
DV0P4190
Single phase 100V/200V
R･A･V-781BWZ-4
DV0PM20050
3-phase 400V
R･A･V-801BXZ-4
Manufacturer
7
Okaya Electric Ind.
Remarks
When performing withstand voltage test of machine and equipment, be sure to remove the surge absorber; otherwise, it will be damaged.
Related page
3´'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWVµ3 ´2SWLRQµ 2-7
Supplement
Option part No.
5 Adjustment
6HOHFWDQRLVHÀOWHUZKRVHFDSDFLW\LVFRPPHQVXUDWHZLWKWKHSRZHUVRXUFHFDSDFLW\ LQ consideration of the load condition). )RUWKHGHWDLOHGVSHFLÀFDWLRQVRIHDFKQRLVHÀOWHUFRQWDFWWKHPDQXIDFWXUHU :KHQWZRRUPRUHVHUYRGULYHUVDUHXVHGZLWKDVLQJOHQRLVHÀOWHUDWWKHFRPPRQSRZHUVRXUFHFRQVXOWZLWKWKHQRLVHÀOWHUPDQXIDFWXUHU 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)
Setup
RTHN-5010 RTHN-5030 RTHN-5050 FS5559-60-34 FS5559-80-34 FN258L-16-07 FN258L-30-07 FN258-42-07 FN258-42-33
Rated current 10 30 50 60 80 16 30 42 42
Connection
9ROWDJHVSHFLÀFDWLRQV for driver
Preparation
DV0PM20042
1. Conformance to international standards &RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
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.
5HFRPPHQGHGFRPSRQHQWV Option part No.
Manufacturer’s part No.
Applicable driver (frame)
RJ8035
E-frame 200 V, F-frame 200 V
RJ8095
G, H-frame
T400-61D
G, H-frame
Power cable Motor cable
Manufacturer KK-CORP.CO.JP MICROMETALS
6LJQDOZLUH Power wire
0RWRUOLQH
(QFRGHUOLQH
:LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHÀOWHU If sheathed (jacketed): remove the sheath (jacket) to the length so that wires (L1, L2, / FDQEHZRXQGRQWKHVLJQDOQRLVHÀOWHU LQFOXGLQJSRZHUOLQHGHGLFDWHGÀOWHU )RU effective noise reduction capability, L1, L2 and L3 should be wound together. If not effective, increase the number of signal noise filters (including power line GHGLFDWHGÀOWHUV 6HHÀJXUHEHORZ :KHQ LQVWDOOLQJ WKH VLJQDO QRLVH ÀOWHU LQFOXGLQJ PRWRU OLQH GHGLFDWHG ÀOWHU WR RXU optional cable, remove the sheath (jacket) to the length so that wires can be wound RQ WKH VLJQDO QRLVH ÀOWHU LQFOXGLQJ SRZHU OLQH GHGLFDWHG ÀOWHU )RU HIIHFWLYH QRLVH reduction capability, U, V and W should be wound together. If not effective, increase the number of signal noise filters (including power line GHGLFDWHGÀOWHUV 6HHÀJXUHEHORZ :LQGFDEOHVWKHQXPEHURIWXUQVUHTXLUHGWRIRUPWKHVLJQDOQRLVHÀOWHU DV0P1460
Sheath (jacket)
Cover
Electric wire
* If not effective, increase the number of turns. FG line
Sheath (jacket)
Cover
Electric wire
* If not effective, increase the number of turns. FG line
DV0P1460 Sheath (jacket)
Cover
Electric wire
* If not effective, increase the number of filters. FG line
2-8
1. Conformance to international standards
1 Before Using the Products
&RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV
Residual current device Install a type B Residual current device (RCD) at primary side of the power supply.
2
Grounding
Preparation
(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 terminals are provided.
Structure of control board
3 Connection
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 conditions 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.
4
Increasing noise resistance of control I/O signal Setup
5 Adjustment
When noise is applied to the control input/output, it causes displacement and malfunctioning 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.
6 When in Trouble
7 For driver and applicable peripheral equipments, refer to P.2-10 “Driver and List of Applicable Peripheral Equipments”.
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. 2-9
Supplement
Note
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2
'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
Preparation
Driver
Applicable Voltage motor *1
Rated output
MSME 3-phase, 200V MHME MDME MFME MDDH MSME MSME MDME MHME MGME 3-phase, 400V MSME MDME MFME MHME MDME MSME 3-phase, MHME 200V MEDH
0.9kW 1.0kW
1.5kW
1.0kW
approx. 0.5kVA
approx. 1.3kVA
approx. 1.8kVA approx. 1.8kVA
)
(
)
approx. 2.3kVA
／
DV0P1450
DV0P4170
DV0P4190
DV0P4170
DV0P4190
／
／
DV0PM20042
DV0P1450
20A (3P+1a)
0.75mm2/ AWG18 600 VAC or more
15A DV0P1460 DV0P4190 ／
DV0P1450
DV0P4220
30A (3P+1a)
20A
2.0kW
approx. 3.3kVA
MFME
2.5kW
MGME
2.0kＷ
FN258L-16-07
20A (3P+1a)
Recommended DV0PM20050 component
)
DV0P1460 RJ8035 30A
DV0PM20043
DV0P1450
(
Recommended component
)
approx. 3.8kVA approx. 3.8kVA
FN258L-16-07
(
Recommended component
)
DV0PM20050
DV0P1460
4.5kＷ
approx. 6.8kVA
5.0kＷ
approx. 7.5kVA
2.0kW
approx. 3.8kVA
3.0kW
approx. 4.5kVA
4.0kW
approx. 6.0kVA
4.5kＷ
approx. 6.8kVA
5.0kW
approx. 7.5kVA
0.75mm2/ AWG18 600 VAC or more
30A (3P+1a)
0.52mm2/ AWG20 100 VAC or more 0.75mm2/ AWG18 100 VAC or more 11mm or smaller
DV0P1460 RJ8035 50A
DV0P3410
DV0P1450
(
Recommended component
ø5.3
)
Terminal block M5
*5 100A (3P+1a)
11mm or smaller
0.75mm2/ AWG18 600 VAC or more
ø5.3
Terminal block M5
3.5mm2/ AWG12 600 VAC or more
3.5mm2/ AWG12 600 VAC or more 7mm or smaller
10mm or smaller
30A
FN258L-30-07
(
Recommended component
)
DV0PM20050
DV0P1460
2.0mm2/ AWG14 600 VAC or more
0.52mm2/ AWG20 100 VAC or more
60A (3P+1a)
60A (3P+1a)
approx. 4.5kVA
approx. 6.0kVA
2.0mm2/ AWG14 600V VAC or more
*5
15A
Diameter and withstand voltage of brake cable
0.28mm2/ AWG22 to 0.75mm2/ AWG18 100VAC or more
0.75mm2/ AWG18 600 VAC or more
DV0P4190
(
Diameter Crimp Diameter and terminal and withstand for control withstand voltage power voltage of of control supply motor cable power terminal *4 supply cable block
DV0P4190
／
DV0PM20042
DV0PM20042
10A
1.5kW
Crimp terminal for main circuit terminal block
DV0P4190
approx. 1.8kVA
approx. 3.3kVA
MFME
／
3-phase
Rated Diameter operating and current of withstand magnetic voltage of contactor Contact FRQÀJXUDWLRQ main circuit cable *2
approx. 2.3kVA
2.0kW
MGME MSME MDME MHME
10A
Single phase
Noise ÀOWHUIRU signal
approx. 1.8kVA
MSME MDME 3-phase, MHME 400V
MSME MDME MGME MHME MSME 3-phase, MDME 400V MHME
)(
approx. 0.9kVA
approx. 3.8kVA
MGME
／
3-phase
DV0P4170
approx. 0.9kVA
2.5kW
MGME MDME MHME MSME
Single phase
DV0P4170
approx. 0.5kVA
MFME
MFME
(
approx. 0.4kVA
0.9kW
MDME MHME 3.0kＷ MSME MGME MDME 3-phase, 4.0kＷ MHME 200V MSME
MFDH
at the rated (rated load) (current)
Surge absorber
Connection to exclusive connector
MGME
Noise ÀOWHU
Circuit breaker
Connection to exclusive connector
Single 50W to MSME phase, 100W 100V MADH MSMD Single/ MHMD 3-phase, 50W to 200W 200V Single 200W MSME 100V MBDH MSMD Single/ MHMD 3-phase, 400W 200V Single 400W MSME 100V MCDH MSMD Single/ MHMD 3-phase, 750W 200V MDME 1.0kW MHME
5HTXLUHG Power
60A (3P+1a)
ø4.3
Terminal block M4
0.75mm2/ AWG18 100 VAC or more
ø3.2
Terminal block M3
*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 the 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.
Related page
2-10
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Driver
Applicable Voltage motor *1
Rated output
5HTXLUHG Power
6.0kW
approx. 9.0kVA
MHME
7.5kW
approx. 11kVA
MDME
7.5kW
approx. 11kVA
6.0kW
approx. 9.0kVA
7.5kW
approx. 11kVA
11kW
approx. 17kVA
3-phase, 200V
MGDH
MGME
3-phase, 400V
MHME
3-phase, 200V
15kW
MHDH MDME 11kW
approx. 22kVA
60A
30A
FS5559-60-34
(
Recommended component
)
FN258-42-07 or FN258-42-33 DV0PM20050
50A
60A
5.3mm2/ AWG10 600 VAC or more DV0P1460 RJ8095
60A （3P+1a）
(
Recommended component
)
Diameter Crimp Diameter and terminal and withstand for control withstand voltage power voltage of of control supply motor cable power terminal *4 supply cable block 0.75mm2/ AWG18 600 VAC or more
ø5.3
Terminal block M5
0.75mm / AWG18 100 VAC or more
2
10mm or smaller
ø5.3 2
DV0P1450
(Recommended component ) *5
FN258-42-07 or FN258-42-33 DV0PM20050
(Recommended component )
150A （3P+1a）
100A （3P+1a）
16mm or smaller
13.3mm2/ AWG6 600 VAC or more *3
0.75mm2/ AWG18 600 VAC or more
ø6.4
Terminal block M6
Terminal block M5
10mm or smaller
ø4.3
0.75mm2/ AWG18 100 VAC or more
Diameter and withstand voltage of brake cable
13.3 mm2/ AWG6 600 VAC or more
Terminal block M4
21.1 mm2/ AWG4 600 VAC or more
0.75mm2/ AWG18 100 VAC or more
3
13.3 mm2/ AWG6 600 VAC or more
Connection
approx. 22kVA
11mm or smaller
T400-61D FS5559-80-34
approx. 17kVA
)
Crimp terminal for main circuit terminal block
(Recommended component )
100A
125A
(
Rated Diameter operating and current of withstand magnetic voltage of contactor Contact FRQÀJXUDWLRQ main circuit cable *2
100A （3P+1a）
DV0P1450
(Recommended component )
3-phase, 400V 15kW
Surge absorber
Noise ÀOWHUIRU signal
Preparation
approx. 11kVA
MGME
Noise ÀOWHU
at the rated (rated load) (current)
7.5kW
MDME
Circuit breaker
Before Using the Products
'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV
21.1 mm2/ AWG4 600 VAC or more
$ERXWFLUFXLWEUHDNHUDQGPDJQHWLFFRQWDFWRU 7R FRPSO\ WR (& 'LUHFWLYHV LQVWDOO D FLUFXLW EUHDNHU EHWZHHQ WKH SRZHU DQG WKH QRLVH ÀOWHU without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked). Suitable for use on a circuit capable of delivering not more than 5,000Arms symmetrical amperes, below the maximum input voltage of the product.
6HOHFWDFLUFXLWEUHDNHUDQGQRLVHÀOWHUZKLFKPDWFKWRWKHFDSDFLW\RISRZHU supply (including a load condition).
Setup
Remarks
4
Terminal block and protective ground terminals 8VHDFRSSHUFRQGXFWRUFDEOHVZLWKWHPSHUDWXUHUDWLQJRIÝ&RUKLJKHU 8VHWKHDWWDFKHGH[FOXVLYHFRQQHFWRUIRU$WR(IUDPHDQGPDLQWDLQWKHSHHOHGRIIOHQJWKRIWR 9mm. (Refer to P.2-50)
)DVWHQLQJWRUTXHOLVW 7HUPLQDOEORFNVFUHZ7HUPLQDOFRYHUIDVWHQLQJVFUHZ
Terminal name
F200V
L1, L2, Ｌ３, L1C, L2C, B1, B2, B3, NC, U, V, W 24V、0V L1, L2, Ｌ３, B1, B2, B3, NC, U, V, W L1C, L2C, 24V, 0V, DB1, DB2, DB3, DB4, NC L1, L2, Ｌ３, B1, B2, NC, U, V, W L1C, L2C, 24V, 0V, DB1, DB2 L1, L2, Ｌ３, B1, B2, NC, U, V, W
F400V G H
)DVWHQLQJWRUTXHOLVW *URXQGWHUPLQDOVFUHZ&RQQHFWRUWRKRVWFRQWUROOHU ; Connector to host controller (X4) Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH size 1P *1 size 1P *1 M4 0.7 to 0.8 M5 1.4 to 1.6 M2.6 0.3 to 0.35 M6 2.4 to 2.6 Terminal block screw
Driver frame A to E F, G H
*1 Applying fastening torque larger than the maximum value may result in damage to the product.
Remarks
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. 2-11
7 Supplement
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Frame
Terminal cover fastening screw Nominal )DVWHQLQJWRUTXH Nominal )DVWHQLQJWRUTXH size 1P *1 size 1P *1 M5 1.0 to 1.7 M3 0.4 to 0.6 M3 0.19 to 0.21 M4 0.7 to 1.0 M5 1.0 to 1.7 M5 2.0 to 2.4 M3 0.3 to 0.5 M4 0.7 to 1.0 M5 2.0 to 2.5 M6 2.2 to 2.5 Terminal block screw
Adjustment
Driver
5
2
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Preparation
Overall Wiring (A to D-frame, 100/200 V type)
Connecting Example of A to D-frame $SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH IURPWKHSRZHUVRXUFH
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6\PPHWULFFXUUHQWVKRXOGEH$UPVRUEHORZ ,IWKHVKRUWFLUFXLWFXUUHQWRQWKHSRZHUVRXUFH H[FHHGVWKLVYDOXHXVHDFXUUHQWOLPLWLQJGHYLFH HJFXUUHQWOLPLWLQJIXVHFXUUHQWOLPLWLQJFLUFXLW EUHDNHURUWUDQVIRUPHU
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P.2-14
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P.2-14
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Remarks
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6 When in Trouble
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Overall Wiring (A to D-frame, 100/200 V type)
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Wiring of the Main Circuit (A to D-frame, 100/200 V type)
Preparation
A to D-frame, 100 V / 200 V type :LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG 1HYHUWRXFKWKHSRZHUFRQQHFWRU ;$DQG;% WRZKLFKKLJKYROWDJHLVDSSOLHG There is a risk of electric shock.
Tips on Wiring 1) Wire connector (XA and XB). 2) Connect the wired connector to the driver. Fully insert the connector to the bottom until it clicks.
Power supply
5&'
MCCB
NF
MC
L
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([WHUQDOUHJHQHUDWLYH resistor
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DC 24V
DC power supply IRUEUDNH
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Varistor Fuse (125 V 10 A)
Note Related page
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Motor
B1
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XB
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The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ3´:LULQJPHWKRGWRFRQQHFWRUµ 3´&RQQHFWRUNLWIRU;$µ3´&RQQHFWRUNLWIRU;%µ
Preparation
Wiring Diagram (A to D-frame, 100/200 V type)
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 Power supply Single phase, 100V –15% to 120V +10%
Single phase, 200V –15% to 240V +10%
Remarks ON
OFF
ALM
MC
Coil surge suppression units L
Noise filter
MCCB
L1 L2 L3 L1C L2C
MC
Remove the short wire when you connect the external regenerative resistor. (C, D-Frame)
Red White * These colors Black are used for Green or Green/Yellow optional cable.
Motor
Main power supply Control power supply
3
XB Connection
B1 B3 B2 U V W
External regenerative resistor
XA
Motor connection
4
ALM
37 36
X4
ALM+ Setup
Insulated + DC12 to 24V ï (±5%)
2 Preparation
When you use single phase, connect the main power between L1 and L3 terminals.
Built-in thermostat of an external regenerative resistor (light yellow)
1 Before Using the Products
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In Case of 3-Phase, A to D-frame, 200 V type Power supply 3-phase, 200V –15% to 240V +10% ON
OFF
ALM
MC
Built-in thermostat of an external regenerative resistor (light yellow)
Noise filter
MCCB
L
MC
External regenerative resistor Red White * These colors Black are used for Green or Green/Yellow optional cable.
Motor
Note Related page
Control power supply
6
XB
Motor connection
7
ALM
37 36
X4
ALM+
Supplement
Insulated + DC12 to 24V ï (±5%)
B1 B3 B2 U V W
XA
Main power supply
When in Trouble
Remove the short wire when you connect the external regenerative resistor. (C, D-Frame)
L1 L2 L3 L1C L2C
Adjustment
Coil surge suppression units
5
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The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ3´:LULQJPHWKRGWRFRQQHFWRUµ 2-15
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Preparation
Overall Wiring (E-frame, 200 V type)
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Overall Wiring (E-frame, 200 V type)
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DC Power supply for brake DC24V (to be supplied by customer)
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Wiring of the Main Circuit (E-frame, 200 V type)
Preparation E-frame, 200 V type
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Wiring Diagram (E-frame, 200 V type)
Compose the circuit so that the main circuit power will be shut off when an error occurs.
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2
Power supply 3-phase, 200V –15% to 230V +10%
OFF
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Built-in thermostat of an external regenerative resistor (light yellow) Preparation
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Noise filter
Coil surge suppression units MCCB
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3
Control power supply XC
XB
Motor connection
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Insulated + DC12 to 24V ï (±5%)
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XA
Main power supply
Connection
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Motor
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External regenerative resistor
1 Before Using the Products
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Junction cable for encoder
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6
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Wiring of the Main Circuit (F-frame, 200 V type)
Preparation F-frame, 200 V type
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Wiring Diagram (F-frame, 200 V type)
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
Power supply 3-phase, 200V –15% to 230V +10%
OFF
ALM
MC
Built-in thermostat of an external regenerative resistor (light yellow)
Preparation
ON
Noise filter
Coil surge suppression units
MCCB
L
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(Remove the short wire when you connect the external regenerative resistor.) Red White * These colors Black are used for optional cable. Green
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Main power supply
3
Control power supply
Motor connection
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Terminal block
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1 Before Using the Products
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P.2-26
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Note Related page 2-24
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Wiring of the Main Circuit (G-frame, 200 V type)
Preparation G-frame, 200 V type
:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring 7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU 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). $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV Tighten the screw securing the cover with the torque written on P.2-11.
NC L1C L2C 3RZHU 5&' MCCB VXSSO\
1)
MC
U V W E
L
L1
NC
L2
NC
L3
DB1
B1
DB2
B2
NC
NC
NC
U
DB3
V
DB4
W
NC
/HIW VLGH
5LJKW VLGH
Motor *URXQGUHVLVWDQFH їPD[ )RUDSSOLFDEOHZLUHUHIHUWR3 DC 24V
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Varistor )XVH 9$
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&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU VSHFLILFDWLRQV 3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV 3URYLGHDFLUFXLWEUHDNHU 0DNHVXUHWRSURYLGHDQRLVHILOWHU 3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHUNever start/stop the motor with this Magnetic Contactor. 3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU 7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH9$& RUEHORZRU9'&RUEHORZ 0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU´89:µ Avoid shorting and grounding. Don't connect the main power. )RUQRUPDORSHUDWLRQGRQRWGLVFRQQHFWWKHVKRUWLQJEDU IURP'%DQG'% UHPRYHWKHEDURQO\ZKHQWKHH[WHUQDO G\QDPLFEUDNHUHVLVWRULVXVHG Earth-ground this. 7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO JURXQG SODWH RIWKHFRQWUROSDQHO 7KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWKRWKHU HTXLSPHQW 7ZRJURXQGWHUPLQDOVDUHSURYLGHG Don't connect the earth cable to other inserting slot, nor make them touch. &RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKHEUDNH FDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWHVWRSVLJQDO 7KHKROGLQJEUDNHKDVQRSRODULWLHV )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ %UDNHµRQ3 3URYLGHDYDULVWRU &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU * Do not connect anything to NC.
The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
Wiring Diagram (G-frame, 200 V type)
Preparation
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
Power supply 3-phase, 200V –15% to 230V +10%
ALM
OFF
MC1
Built-in thermostat of an external regenerative resistor (light yellow)
Preparation
ON
Coil surge suppression units L
Noise filter
MCCB
Power supply (3-phase)
1 Before Using the Products
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2
MC1
External regenerative resistor
Main power supply
3
Control power supply
Connection
Note 1)
L1 L2 L3 L1C L2C B1 B2 NC DB1 DB2 DB3 DB4 U V W
Motor connection
4 Motor
37 36
ALM＋
Setup
Insulated + DC12 to 24V ï (±5%)
ALM
ALM−
Note 1) Normally, do not disconnect the shorting bar.
5 Adjustment
6 When in Trouble
7
Related page
Supplement
Note
The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
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Preparation
Overall Wiring (H-frame, 200 V type)
Connecting Example of H-frame $SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHplate from the power source.
Mains Residual current device
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).
:LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU 0&&% To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply.
Charge lamp (LED) Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
1RLVH)LOWHU 1) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver. 0DJQHWLF&RQWDFWRU 0& Turns on/off the main power of the servo driver. Use coil surge suppression units together with this. 1HYHUVWDUWQRUVWRSWKHVHUYRPRWRUZLWKWKLV 0DJQHWLF&RQWDFWRU L2C
5HDFWRU / (to be supplied by customer) Reduces harmonic current of the main power. 9'& SRZHUVXSSO\IRU UHJHQHUDWLYHUHVLVWRU to be supplied by customer
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L1 L2 L3
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P.2-30
P.2-30
B2 5HJHQHUDWLYHUHVLVWRU (optional)
:KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYH resistor, LQVWDOODQH[WHUQDOSURWHFWLYH DSSDUDWXVVXFKDVWKHUPDOIXVHZLWKRXW IDLO. 7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH regenerative resistor (Option). ,IWKHWKHUPDO IXVHLVDFWLYDWHGLWZLOOQRWUHVXPH 0RXQWWKHUHJHQHUDWLYHUHVLVWRURQ LQFRPEXVWLEOHPDWHULDOVXFKDVPHWDO. )RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ Diagram” on P.2-31.
Note
&RQQHFWLRQZLWKLQSXW SRZHUVXSSO\
B1
* Use a power supply with 5 A or larger capacity.
5HPDUNV
L1C
0DJQHWLF&RQWDFWRU 0& '\QDPLF%UDNH UHVLVWRU be supplied by (tocustomer )
Turns on/off the dynamic brake resistor. Use coil surge suppression units together with this.
5HPDUNV :KHQ\RXXVHDQH[WHUQDOG\QDPLFEUDNHUHVLVWRULQVWDOODQ H[WHUQDOSURWHFWLYHDSSDUDWXVVXFKDVWKHUPDOIXVH ZLWKRXWIDLO 0RXQWWKHG\QDPLFEUDNHUHVLVWRURQLQFRPEXVWLEOHPDWHULDO VXFKDVPHWDO )RUZLULQJRIWKHFLUFXLWUHIHUWR´:LULQJ'LDJUDPµRQ3 )RUDQH[DPSOHRIWKHUHFRPPHQGHGSURWHFWLYHFLUFXLWUHIHUWR “Dynamic Brake” on P.2-67.
7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF application. The wiring indicated with the broken line shall be provided only when required. 3 ´2SWLRQVµ
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P.2-60
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Before Using the Products
Overall Wiring (H-frame, 200 V type)
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L2
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Junction cable for encoder
Ground terminal
Motor cable (Shield wire) &RQQHFWLRQWRPRWRUGULYLQJ SKDVHDQGJURXQG
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5HPDUNV DC Power supply for brake DC24V (to be supplied by customer)
Related page
7
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Supplement
Note
7KHYROWDJHDSSOLHGDFURVV'%DQG '%PXVWEH9$&RUEHORZRU 9'&RUEHORZ
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Brake cable
5HPDUNV ;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW 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.
Adjustment
Ground (earth)
U-phase V-phase W-phase
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Wiring of the Main Circuit (H-frame, 200 V type)
Preparation H-frame, 200 V type
:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring 7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU 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). $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV Tighten the screw securing the cover with the torque written on P.2-11.
Upper VLGH
L1C L2C Power 5&' MCCB supply
1)
MC
L
L1
DB1
L2
DB2
L3 DC 24V
3RZHUVXSSO\IRU UHJHQHUDWLYHUHVLVWRU
B1 B2 NC
U V W E
U V W Lower VLGH
Motor *URXQGUHVLVWDQFH їPD[ )RUDSSOLFDEOHZLUHUHIHUWR3 DC 24V
DC power supply IRUEUDNH
Varistor )XVH 9$
Note Related page
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&KHFNWKHQDPHSODWHRIWKHGULYHUIRUSRZHU VSHFLILFDWLRQV 3URYLGHDUHVLGXDOFXUUHQWGHYLFH7KHUHVLGXDOFXUUHQW GHYLFHWREHWKHRQHGHVLJQHGIRU,QYHUWHUDQGLV HTXLSSHGZLWKFRXQWHUPHDVXUHVIRUKDUPRQLFV 3URYLGHDFLUFXLWEUHDNHU 0DNHVXUHWRSURYLGHDQRLVHILOWHU 3URYLGHFRLOVXUJHVXSSUHVVLRQXQLWVWRWKHFRLORIWKH 0DJQHWLF&RQWDFWRUUHFRPPHQGHGE\PDQXIDFWXUHU Never start/stop the motor with this Magnetic Contactor. 7KHYROWDJHDSSOLHGDFURVV'%DQG'%PXVWEH 9$&RUEHORZRU9'&RUEHORZ 3URYLGHDQ$&5HDFWRU WREHVXSSOLHGE\FXVWRPHU 'RQRWFRQQHFWDQ\WKLQJWR1& 0DWFKWKHFRQQHFWRURIWKHPRWRUDQGGULYHU“U, V, W” Avoid shorting and grounding. Don't connect the main power. Earth-ground this. 7RSUHYHQWHOHFWULFVKRFNEHVXUHWRFRQQHFWWKHJURXQG WHUPLQDO RIWKHGULYHUDQGWKHJURXQGWHUPLQDO JURXQGSODWH RIWKHFRQWUROSDQHO 7KHJURXQGWHUPLQDO PXVWQRWEHVKDUHGZLWKRWKHU HTXLSPHQW 7ZRJURXQGWHUPLQDOVDUHSURYLGHG Don't connect the earth cable to other inserting slot, nor make them touch. &RPSRVHDGXSOH[%UDNH&RQWURO&LUFXLWVRWKDWWKH EUDNHFDQDOVREHDFWLYDWHGE\DQH[WHUQDOLPPHGLDWH VWRSVLJQDO 7KHKROGLQJEUDNHKDVQRSRODULWLHV )RUWKHKROGLQJEUDNHSRZHUVXSSO\FDSDFLW\DQGKRZWR XVHWKHEUDNHUHIHUWR´6SHFLILFDWLRQVRI%XLOWLQ+ROGLQJ %UDNHµRQ3 3URYLGHDYDULVWRU &RQQHFWD$IXVHLQVHULHVZLWKWKHYDULVWRU
The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
Wiring Diagram (H-frame, 200 V type)
Preparation
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
Power supply 3-phase, 200V –15% to 230V +10%
OFF
ALM
MC1
Coil surge suppression units L
Noise filter
MCCB
Power supply (3-phase)
MC1
Insulated + DC24V ï
Note 1) MC2
External R1 regenerative resistor R2 Note 4)
Coil surge suppression units Note 2) Note 5) Note 5) Note 5)
Dynamic Brake resistor Note 3)
MC2
Motor
Note 4)
Main power supply
3
Control power supply
Connection
L1 L2 L3 L1C L2C B1 B2 NC DB1 DB2 U V W
Built-in thermostat of an external regenerative resistor (T1 and T2 terminals)
Preparation
ON
Motor connection
4
ALM 37 36
ALM＋ ALM−
Setup
Insulated + DC12 to 24V ï (±5%)
Note 1) Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.
5 Adjustment
Note 2) Servo may be turned on in the external sequence if the contact deposits: to protect the system, provide the auxiliary contact. Note 3) Use 1.2 ї, 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.
7 Supplement
Related page
6 When in Trouble
Note
1 Before Using the Products
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The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ
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Preparation
Overall Wiring (D, E-frame, 400 V type)
Connecting Example of D, E-frame $SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH from the power source. Symmetric current should be 5000 Arms or below. If the short-circuit current on the power source exceeds this value, use a current-limiting device (e.g. current-limiting fuse, current-limiting circuit breaker or transformer).
:LULQJRI0DLQ&RQQHFWRU ;$ &LUFXLW%UHDNHU 0&&% To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. 1RLVH)LOWHU 1) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver.
0DLQV Residual current device
* Use a power supply with 2 A or larger capacity.
9'&SRZHUVXSSO\ IRUFRQWURO (to be supplied by customer)
24V 0V
:LULQJWR&RQQHFWRU;' P.2-34 &RQQHFWLRQWRcontrol power :LULQJWR&RQQHFWRU;$
P.2-34
&RQQHFWLRQWRLQSXWSRZHU L1 (Pin-3) L2 (Pin-2) L3 (Pin-1)
0DJQHWLF&RQWDFWRU 0& Turns on/off the main power of the servo driver. Use coil surge suppression units together with this. 1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU ZLWKWKLV0DJQHWLF&RQWDFWRU 5HDFWRU / (to be supplied by customer) Reduces harmonic current of the main power.
:LULQJRI0RWRU&RQQHFWRU ;& 3LQ% SLQ % SLQ DQG% SLQ %DQG%WREHNHSWVKRUWHGIRUQRUPDO RSHUDWLRQ :KHQ\RXFRQQHFWDQH[WHUQDOUHJHQHUDWLYH 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.
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P.2-34
&RQQHFWLRQWRH[WHUQDOFRPSRQHQWV B1 (Pin-4) B2 (Pin-2)
5HJHQHUDWLYHUHVLVWRU(optional) :KHQ\RXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU LQVWDOODQH[WHUQDOSURWHFWLYHDSSDUDWXVVXFK DVWKHUPDOIXVHZLWKRXWIDLO 7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH regenerative resistor (Option). ,IWKHWKHUPDOIXVH LVDFWLYDWHGLWZLOOQRWUHVXPH 0RXQWWKHUHJHQHUDWLYHUHVLVWRURQLQFRPEXVWLEOH PDWHULDOVXFKDVPHWDO
7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF application. The wiring indicated with the broken line shall be provided only when required. 3 ´2SWLRQVµ
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Preparation
Handle lever Use this for connector connection. Store this after connection for other occasions. (Refer to P.2-50 for connection.)
Before Using the Products
Overall Wiring (D, E-frame, 400 V type)
P.2-51
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Short circuit wire (B2-B3)
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P.2-34
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Setup
U-phase(red) V-phase(white) :SKDVH EODFN
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5HPDUNV Ground terminal
Ground (earth)
Charge lamp (Red LED)*1
Brake cable
6 P.2-34
When in Trouble
0RWRUFDEOH 6KLHOGZLUH &RQQHFWLRQWRPRWRUGULYLQJ SKDVHDQGJURXQG
DC Power supply for brake DC24V (to be supplied by customer)
7
Related page
Supplement
*1 Do not make displacement, wiring or inspection while the LED is lit - cause of electric shock.
Note
5 Adjustment
Junction cable for encoder
;WR;DUHXVHGIRUWKHVHFRQGDU\ 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.
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Wiring of the Main Circuit (D, E-frame, 400 V type)
Preparation
D, E-frame, 400 V type :LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG 1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ ;% ;& DQG ;' WR ZKLFK KLJK YROWDJH LV DSplied. 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.
2 1
DC 24V
Power RCD MCCB supply
NF
MC
L
3 2 1 4 3 2 1
Yellow (X2)
W
Black *UHHQ or *UHHQ/ Yellow
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L1 L2 / XA B1 % B2 N
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Red
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DC 24V
Varistor Fuse (125 V 10 A)
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DC power supply IRUEUDNH
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The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ3´:LULQJPHWKRGWRFRQQHFWRUµ 3´&RQQHFWRUNLWIRU;$µ3´&RQQHFWRUNLWIRU;%;&µ3´&RQQHFWRUNLWIRU;'µ
Preparation
Wiring Diagram (D, E-frame, 400 V type)
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
Power supply 3-phase, 380V –15% to 480V +10%
OFF
ALM
MC
Built-in thermostat of an external regenerative resistor (light yellow)
Coil surge suppression units
Insulated +
XD
Note 1)
24V 0V
ï MCCB
L
Noise filter
DC24V
L1 L2 L3
(Remove the short wire when you connect the external regenerative resistor.)
U V W
XA
3
Main power supply XC
XB
Motor connection
4
ALM
37 36
ALM+
X4
Setup
Insulated + DC12 to 24V ï (±5%)
Control power supply
Connection
B1 B3 B2 N
External regenerative resistor
Motor
Preparation
ON
1 Before Using the Products
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Note 1) Shielding the circuit is recommended for the purpose of noise reduction.
5 Adjustment
6 When in Trouble
7
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Supplement
Note
The wiring indicated with the broken line shall be provided only when required. 3´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ3´:LULQJPHWKRGWRFRQQHFWRUµ
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Preparation
Overall Wiring (F-frame, 400 V type)
Connecting Example of F-frame $SSO\WKHYROWDJHGHVLJQDWHGRQWKHQDPHSODWH 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).
0DLQV Residual current device
* Use a power supply with 2 A or larger capacity.
9'&SRZHUVXSSO\ IRUFRQWURO (to be supplied by customer)
24V 0V
:LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU 0&&% To protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply. 1RLVH)LOWHU 1) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver.
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0DJQHWLF&RQWDFWRU 0& Turns on/off the main power of the servo driver. Use coil surge suppression units together with this. 1HYHUVWDUWQRUVWRSWKHVHUYRPRWRU ZLWKWKLV0DJQHWLF&RQWDFWRU 5HDFWRU / (to be supplied by customer) Reduces harmonic current of the main power. 3LQ%%DQG% %DQG%WREHNHSWVKRUWHGIRU normal operation. :KHQ\RXFRQQHFWDQH[WHUQDO regenerative resistor, disconnect a VKRUWEDUEHWZHHQ%DQG% then connect the external regenHUDWLYHUHVLVWRUEHWZHHQ%DQG %VHWXS3UWRRU 3LQ1& 'RQRWFRQQHFWDQ\WKLQJ
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7KLVRYHUDOOZLULQJGLDJUDPLVDW\SLFDORQH7KHSDJHVWKDWIROORZVKRZZLULQJIRUVSHFLÀF application. The wiring indicated with the broken line shall be provided only when required. 3 ´2SWLRQVµ
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: High voltage
Before Using the Products
Overall Wiring (F-frame, 400 V type)
PC (to be supplied by customer)
2 P.2-60
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Preparation
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Short bar %%
U-phase(red) V-phase(white) :SKDVH EODFN
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Setup
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4
P.2-57
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Charge lamp 5HG/('
Junction cable for motor &RQQHFWLRQWRPRWRUGULYLQJ SKDVHDQGJURXQG
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Junction cable for encoder
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Note
6 When in Trouble
Junction cable for brake
Ground (earth)
5 Adjustment
Ground terminal
;WR;DUHXVHGIRUWKHVHFRQGDU\FLUFXLW To connect these terminals to the primary SRZHUVXSSO\ SDUWLFXODUO\WKH9'&SRZHU VXSSO\IRUFRQWURODQGWKH9'&SRZHU supply for brake), insulation is required. 'RQRWFRQQHFWWKHVHWHUPLQDOVWRWKHVDPH power supply.
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Wiring of the Main Circuit (F-frame, 400 V type)
Preparation F-frame, 400 V type
:LULQJVKRXOGEHSHUIRUPHGE\DVSHFLDOLVWRUDQDXWKRUL]HGSHUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG Never touch the terminal to which high voltage is applied. There is a risk of electric shock.
Tips on Wiring 7DNHRIIWKHFRYHUÀ[LQJVFUHZVDQGGHWDFKWKHWHUPLQDOFRYHU 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. $WWDFKWKHWHUPLQDOFRYHUDQGÀ[ZLWKVFUHZV Tighten the screw securing the cover with a torque written on P.2-11.
24V
DC 24V
0V
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Composition and List of Parameters
Preparation
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Note
When in Trouble
OFF 21 OFF 21
6HOHFWHGFRPPDQGGLYLGLQJPXOWLSO\LQJSURFHVV Numerator Denominator Pr0.09 Pr0.10 Pr5.00 Pr0.10 Pr5.01 Pr0.10 Pr5.02 Pr0.10
Adjustment
DIV2
5
SI 3-30 SDJH
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Connection
Caution
Preparation
Title of VLJQDO
Before Using the Products
Input Signal and Pin No.
4. Inputs and outputs on connector X4 Input Signal and Pin No.
Title of VLJQDO
Gain switching input
Symbol
GAIN
Related control mode 'HIDXOWDVVLJQPHQW
27 (SI4)
P
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T
F
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6HOHFWVWRUQGJDLQ Title of VLJQDO
Torque limit switching input
Symbol
TL-SEL
Related control mode 'HIDXOWDVVLJQPHQW
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P
S
T
F
SI 3-30 SDJH
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Select 1st or 2nd torque limit. Pr5.21
Torque limit switching input (TL-SEL)
Torque limit switching setup (Pr5.23, Pr5.24)
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2
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Pr5.22
4
$QDORJLQSXW*1
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1HJDWLYHGLUHFWLRQ Torque limit
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Pr0.13
Pr5.22
Pr5.25
Pr5.26
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Torque limit selection input (TL-SEL) 1st torque limit (Pr0.13) 2nd torque limit (Pr5.22)
Caution
Torque limit selection setup 1 (Pr5.23)
Torque limit selection setup 2 (Pr 5.24)
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4. Inputs and outputs on connector X4
1
Selection 1 input of internal command speed
Symbol
INTSPD1
Title of VLJQDO
Selection 2 input of internal command speed
Symbol
INTSPD2
Title of VLJQDO
Selection 3 input of internal command speed
Symbol
INTSPD3
'HIDXOWDVVLJQPHQW
'HIDXOWDVVLJQPHQW
'HIDXOWDVVLJQPHQW
Related control mode
33 (SI10)
P
Related control mode
P
F
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28 (SI5)
T
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30 (SI7)
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2
Selection 2 of internal command speed (INTSPD2) OFF OFF 21 21 OFF OFF 21
21
21
Selection of speed command 1st speed 2nd speed 3rd speed WKVSHHG 1st speed 2nd speed 3rd speed $QDORJVSHHG command VWWRWKVSHHG WKVSHHG WKVSHHG WKVSHHG WKVSHHG
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1RHIIHFW
OFF 21 21 21 21
4
INTSPD2 Speed command [r/min]
open
COMï
open
COMï 4th
open
INTSPD2
open
INTSPD3
open
2nd 1st
Speed command [r/min]
Speed zero clamp input
Symbol
=(5263'
COMï COMï 8th
4th 1st
2nd
5th
6
1st
Example 2) When Pr3.00=3 Related control mode
'HIDXOWDVVLJQPHQW
6th
3rd
26 (SI3)
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P
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F
SI 3-30 SDJH
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Symbol
VC-SIGN
Related control mode 'HIDXOWDVVLJQPHQW
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7 F
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Title of VLJQDO
When in Trouble
Example 1) When Pr3.00=1 or 2 Title of VLJQDO
COMï
7th
3rd 1st
INTSPD1
5 Adjustment
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3
Setup
7KHVDPHDV3U OFF OFF 21 OFF OFF 21 21 21
3
Caution
Selection 3 of internal command speed (INTSPD3)
Connection
1
Selection 1 of internal command speed (INTSPD1) OFF 21 OFF 21 OFF 21 OFF
2 Preparation
Title of VLJQDO
Before Using the Products
Input Signal and Pin No.
4. Inputs and outputs on connector X4 Input Signal and Pin No.
Title of VLJQDO
Torque command sign input
Symbol
TC-SIGN
Related control mode 'HIDXOWDVVLJQPHQW
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P
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Forced alarm input
Symbol
E-STOP
Related control mode 'HIDXOWDVVLJQPHQW
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SI 3-30 SDJH
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Inertia ratio switching input
Symbol
J-SEL
Related control mode 'HIDXOWDVVLJQPHQW
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P
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F
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Applicable inertia ratio
OFF
1st Inertia ratio (Pr0.04)
21
2nd Inertia ratio (Pr6.12)
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Note
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4. Inputs and outputs on connector X4
1 Before Using the Products
Input Signal and Pin No.
Input Signals (Analog Command) 14
Pin 1R
16
Pin 1R
18
Title of VLJQDO
AI1 input
Symbol
AI1
Title of VLJQDO
AI2 input
Symbol
AI2
Title of VLJQDO
AI3 input
Symbol
AI3
Correspondence function
2
635754563/ Correspondence function
Preparation
Pin 1R
75453$7/ Correspondence function
N-ATL
3 Function allocatable to Input Signals (Analog Command) 3RVLWLYHGLUHFWLRQ7RUTXHOLPLWLQSXW
Symbol
P-ATL
Title of VLJQDO
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Symbol
N-ATL
Related control mode
P
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P
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Connection
Title of VLJQDO
4
6SHFLI\WKHWRUTXHOLPLWIRUHDFKGLUHFWLRQYDOXHE\WKHDQDORJYROWDJH 3RVLWLYHGLUHFWLRQ Torque limit input (P-ATL)
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3RVLWLYHGLUHFWLRQ Torque limit
1HJDWLYHGLUHFWLRQ Torque limit
0
0 to 10V
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Setup
Pr5.21
1 6HWXSWKURXJKSDUDPHWHU*1
—
2 3 4
0 to 10V
0 to 10V
5
0 to 10V
1RHIIHFW —
5
1$7/ 3$7/
Setup by parameter *1
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Adjustment
6
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4. Inputs and outputs on connector X4 Input Signal and Pin No.
Title of VLJQDO
Speed command input
Symbol
635
Related control mode ,)FLUFXLW
P
S
T
F
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Pr3.01
Pr3.03
Speed command input 635
Speed command sign selection (VC-SIGN)
9ROWDJH (0 to 10V)
1RHIIHFW
ï9ROWDJH ïWR9
1RHIIHFW
9ROWDJH (0 to 10V)
1RHIIHFW
ï9ROWDJH ïWR9
1RHIIHFW
0 0 1
0
1
Title of VLJQDO
Torque command input
Symbol
7545
1RHIIHFW
9ROWDJH (0 to 10V) ï9ROWDJH ïWR9 9ROWDJH (0 to 10V) ï9ROWDJH ïWR9
OFF
1HJDWLYH direction
21
Related control mode ,)FLUFXLW
Motor rotational direction 3RVLWLYH direction 1HJDWLYH direction 1HJDWLYH direction 3RVLWLYH direction 3RVLWLYH direction
P
S
T
F
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Pr3.18
Pr3.20
Torque command input 7545
Torque command sign selection (TC-SIGN)
9ROWDJH (0 to 10V)
1RHIIHFW
ï9ROWDJH ïWR9
1RHIIHFW
9ROWDJH (0 to 10V)
1RHIIHFW
ï9ROWDJH ïWR9
1RHIIHFW
0 0 1
0
1
Title of VLJQDO
Speed limit input
Symbol
SPL
1RHIIHFW
9ROWDJH (0 to 10V) ï9ROWDJH ïWR9 9ROWDJH (0 to 10V) ï9ROWDJH ïWR9
OFF
1HJDWLYH direction
21
Related control mode ,)FLUFXLW
Motor rotational direction 3RVLWLYH direction 1HJDWLYH direction 1HJDWLYH direction 3RVLWLYH direction 3RVLWLYH direction
P
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4. Inputs and outputs on connector X4
Connection
Output Signal and Pin No.
Output Signals (Common) and Their Functions
1 Before Using the Products
3
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Title of VLJQDO
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P.3-52
Adjustment
5HODWHGSDJH
Function allocatable to control input Title of VLJQDO
6HUYR$ODUPRXWSXW
Symbol
ALM
Related control mode 'HIDXOWDVVLJQPHQW
36, 37 (SO3)
,)FLUFXLW
P
S
T
F
SO 3-32 SDJH
6HUYR5HDG\RXWSXW
Symbol
65'
@
Pr0.06 * Pr0.07 *
Command pulse rotational direction setup Command pulse input mode setup
Range
Unit
Default
0 to 1
—
0
Related control mode
P
Range
Unit
Default
0 to 3
—
1
F
Related control mode
P
F
7KHWDEOHEHORZVKRZVFRPELQDWLRQVRI3U&RPPDQGSXOVHURWDWLRQDOGLUHFWLRQVHWXSDQG3U &RPPDQGSXOVHLQSXWPRGHVHWXS 3XOVHVDUHFRXQWHGDWHGJHVLQGLFDWHGE\WKHDUURZVDVVKRZQLQWKHWDEOH ,QSXWIRUPDWFRPPDQGSXOVH
(
(
0 or 2
[0]
[1]
&RPPDQG pulse format
ÝSKDVH difference 2-phase pulse (A + B-phase) Positive direction pulse train + Negative direction pulse train
pulse train + Signal
Signal title
3RVLWLYHGLUHFWLRQ FRPPDQG t1
t1
0 or 2
1
3
pulse train + Signal
t1
PULS B-phase
SIGN
t1
t1
t1
%SKDVHDGYDQFHVWR$E\ Ý
t1
%SKDVHGHOD\VIURP$E\ Ý
4
t3
PULS
t2
t2
t4
t5
SIGN PULS
t2
t2
t4
t5
SIGN
“L”
“H” t6 t6 t1
t6
t1
t1
t1
A-phase
PULS SIGN
5
B-phase t1
t1
t1
t1
%SKDVHGHOD\VIURP$E\ Ý %SKDVHDGYDQFHVWR$E\ Ý
Adjustment
1
Positive direction pulse train + Negative direction pulse train
t1
A-phase
t6
ÝSKDVH difference 2-phase pulse (A + B-phase)
1HJDWLYHGLUHFWLRQ FRPPDQG
Setup
3
3 Connection
Pr0.06 setup value Pr0.07 setup value &RPPDQGSXOVH &RPPDQGSXOVH rotational LQSXWPRGH GLUHFWLRQVHWXS setup
2 Preparation
@
Pr5.03 *
Denominator of pulse output division
Range
Unit
Default
Related control mode
0 to 262144
—
0
P S T F
)RUDQDSSOLFDWLRQZKHUHWKHQXPEHURIRXWSXWSXOVHVSHURQHPRWRUUHYROXWLRQLVQRWDQ LQWHJHUVHWWKLVSDUDPHWHUWRDYDOXHRWKHUWKDQ DQGWKHGLYLGLQJUDWLRFDQEHVHWE\XVLQJ Pr0.11 as the numerator and Pr5.03 as the denominator. 2XWSXWSXOVHFRXQWVSHURQHUHYROXWLRQ 1 3UVHWXSYDOXH/ Pr5.03 VHWXSYDOXH ð(QFRGHUUHVROXWLRQð 4 @
Pr0.16 *
([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS
Range
Unit
0 to 3
—
Related Default control mode $%*+IUDPH 3 P S T F &'()IUDPH 0
:LWK WKLV SDUDPHWHU \RX FDQ VHOHFW HLWKHU WR XVH WKH EXLOWLQ UHJHQHUDWLYH UHVLVWRU RI WKH GULYHURUWRVHSDUDWHWKLVEXLOWLQUHJHQHUDWLYHUHVLVWRUDQGH[WHUQDOO\LQVWDOOWKHUHJHQHUDWLYH UHVLVWRU EHWZHHQ%DQG%RI&RQQHFWRU;%LQFDVHRI$WR'IUDPHEHWZHHQ%DQG% RI &RQQHFWRU ;& LQ FDVH RI 'IUDPH 9 DQG (IUDPH EHWZHHQ % DQG % RI WHUPLQDO EORFNLQFDVHRI)WR+IUDPH $%*DQG+IUDPHGULYHULVQRWSURYLGHGZLWKEXLOWLQUHVLVWHU Setup value
[0] &WR)IUDPH
Regenerative resistor to be used
Function
5HJHQHUDWLYHSURFHVVLQJFLUFXLWZLOOEHDFWLYDWHGDQG Built-in resistor UHJHQHUDWLYHUHVLVWRURYHUORDGSURWHFWLRQZLOOEHWULJJHUHG DFFRUGLQJWRWKHEXLOWLQUHVLVWRU DSSUR[GXW\
1
([WHUQDO resistor
7KHGULYHUWULSVGXHWRUHJHQHUDWLYHRYHUORDGSURWHFWLRQ (UU ZKHQUHJHQHUDWLYHSURFHVVLQJFLUFXLWLVDFWLYDWHGDQG LWVDFWLYHUDWLRH[FHHGV
2
([WHUQDO resistor
5HJHQHUDWLYHSURFHVVLQJFLUFXLWLVDFWLYDWHGEXWQRUHJHQHUDWLYH RYHUORDGSURWHFWLRQLVWULJJHUHG
[3] $%*+IUDPH
1RUHVLVWRU
%RWKUHJHQHUDWLYHSURFHVVLQJFLUFXLWDQGUHJHQHUDWLYHSURWHFWLRQ DUHQRWDFWLYDWHGDQGEXLOWLQFDSDFLWRUKDQGOHVDOOUHJHQHUDWLYH SRZHU
Remarks
,QVWDOODQH[WHUQDOSURWHFWLRQVXFKDVWKHUPDOIXVHZKHQ\RXXVHWKHH[WHUQDOUHJHQHUDWLYH resistor. 2WKHUZLVHWKHUHJHQHUDWLYHUHVLVWRUPLJKWEHKHDWHGXSDEQRUPDOO\DQGUHVXOWLQEXUQRXW UHJDUGOHVVRIYDOLGDWLRQRULQYDOLGDWLRQRIUHJHQHUDWLYHRYHUORDGSURWHFWLRQ
Caution
:KHQ\RXXVHWKHEXLOWLQUHJHQHUDWLYHUHVLVWRUQHYHUWRVHWXSRWKHUYDOXHWKDQ'RQ W WRXFKWKHH[WHUQDOUHJHQHUDWLYHUHVLVWRU ([WHUQDOUHJHQHUDWLYHUHVLVWRUJHWVYHU\KRWDQGPLJKWFDXVHEXUQLQJ
Pr0.17 *
/RDGIDFWRURIH[WHUQDOUHJHQHUDWLYH resistor selection
Range
Unit
Default
Related control mode
0 to 4
—
0
P S T F
:KHQ VHOHFWLQJ WKH H[WHUQDO UHJHQHUDWLYH UHVLVWRU 3U VHOHFW WKH FRPSXWLQJ PHWKRGRIORDGIDFWRURIUHJHQHUDWLYHUHVLVWRU Setup value
Function
[0]
5HJHQHUDWLYHORDGIDFWRULVZKHQGXW\IDFWRURIH[WHUQDOUHJHQHUDWLYHUHVLVWRULV 10%.
1 to 4
Note Related page 4-12
)RUPDQXIDFWXUHU VXVH GRQRWVHWXS
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´6\VWHP&RQÀJXUDWLRQDQG:LULQJµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
Setup
[Class 1] Gain adjustment
Pr1.00
1st gain of position loop
Range
Unit
0 to 30000
0.1/s
1
Related Default control mode $%C-IUDPH 480 P F D to H-IUDPH 320
You can determine the response of the positional control system. +LJKHUWKHJDLQRISRVLWLRQORRS\RXVHWIDVWHUWKHSRVLWLRQLQJWLPH\RXFDQREWDLQ 1RWHWKDWWRRKLJKVHWXSPD\FDXVHRVFLOODWLRQ
1st gain of velocity loop
Range
Unit
1 to 32767
0.1Hz
2
Related Default control mode $%C-IUDPH 270 P S T F D to H-IUDPH 180
@
Pr1.12
7RUTXHIHHGIRUZDUGJDLQ
Range
Unit
Default
0 to 1000
0.1%
0
Related control mode
P S
F
Pr1.13
7RUTXHIHHGIRUZDUGILOWHU
Range
Unit
Default
0 to 6400
0.01ms
0
Related control mode
P S
F
Caution
2nd gain setup
Range
Unit
Default
Related control mode
0 to 1
—
1
P S T F
$UUDQJHWKLVSDUDPHWHUZKHQSHUIRUPLQJRSWLPXPDGMXVWPHQWE\XVLQJWKHJDLQVZLWFKLQJ function. *DLQVHOHFWLRQVZLWFKLQJ
0
VWJDLQLVÀ[HGDWDYDOXH%\XVLQJWKHJDLQVZLWFKLQJLQSXW *$,1 FKDQJH WKHYHORFLW\ORRSRSHUDWLRQIURP3,WR3 *$,1LQSXWSKRWRFRXSOHU2)) PI operation *$,1LQSXWSKRWRFRXSOHU21 P operation *7KHDERYHGHVFULSWLRQDSSOLHVZKHQWKHORJLFDOVHWWLQJRI*$,1LQSXWLV DFRQWDFW212))RISKRWRFRXSOHULVUHYHUVHGZKHQEFRQWDFW
[1]
(QDEOH JDLQ VZLWFKLQJ RI VW JDLQ 3U3U DQG QG JDLQ 3U 3U
4-15
7 Supplement
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6 When in Trouble
Related page
Setup value
5 Adjustment
Pr1.14
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4 Setup
8VDJHH[DPSOHRIWRUTXHIHHGIRUZDUG! 7RXVHWKHWRUTXHIHHGIRUZDUGFRUUHFWO\VHWWKHLQHUWLDUDWLR 8VHWKHYDOXHWKDWZDVGHWHUPLQHGDWWKHVWDUWRIWKHUHDOWLPHDXWRWXQLQJRUVHWWKHLQHUWLD UDWLRWKDWFDQEHFDOFXODWHGIURPWKHPDFKLQHVSHFLÀFDWLRQWR3U,QHUWLDUDWLR 7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\ LQFUHDVHGZLWKWKHWRUTXHIHHGIRUZDUGÀOWHULVVHWDWDSSUR[ PV 3RVLWLRQDOGHYLDWLRQDWDFRQVWDQWDFFHOHUDWLRQGHFHOHUDWLRQFDQEHPLQLPL]HGFORVHWRE\ LQFUHDVLQJWKHWRUTXHIRUZDUGJDLQ7KLVPHDQVWKDWSRVLWLRQDOGHYLDWLRQFDQEHPDLQWDLQHG DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH
3 Connection
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUZKLFKDIIHFWVWKHLQSXWRIWRUTXHIHHGIRUZDUG 7KHWRUTXHIHHGIRUZDUGZLOOEHFRPHHIIHFWLYHDVWKHWRUTXHIHHGIRUZDUGJDLQLVJUDGXDOO\ LQFUHDVHGZLWKWKHWRUTXHIHHGIRUZDUGÀOWHULVVHWDWDSSUR[ PV
2 Preparation
0XOWLSO\WKHWRUTXHFRPPDQGFDOFXODWHGDFFRUGLQJWRWKHYHORFLW\FRQWUROFRPPDQGE\WKH UDWLRRIWKLVSDUDPHWHUDQGDGGWKHUHVXOWWRWKHWRUTXHFRPPDQGUHVXOWLQJIURPWKHYHORFLW\ control process. 3RVLWLRQDOGHYLDWLRQDWDFRQVWDQWDFFHOHUDWLRQGHFHOHUDWLRQFDQEHPLQLPL]HGFORVHWRE\ LQFUHDVLQJWKHWRUTXHIRUZDUGJDLQ7KLVPHDQVWKDWSRVLWLRQDOGHYLDWLRQFDQEHPDLQWDLQHG DWQHDURYHUHQWLUHRSHUDWLRQUDQJHZKLOHGULYLQJLQWUDSH]RLGDOVSHHGSDWWHUQXQGHULGHDO FRQGLWLRQZKHUHGLVWXUEDQFHWRUTXHLVQRWDFWLYH
Before Using the Products
[Class 1] Gain adjustment
1. Details of parameter [Class 1] Gain adjustment
Pr1.15
0RGHRISRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10
—
0
Related control mode
P
F
6HWXSWKHWULJJHULQJFRQGLWLRQRIJDLQVZLWFKLQJIRUSRVLWLRQFRQWURO Setup value
6ZLWFKLQJ condition
[0]
)L[HGWRVWJDLQ
1
)L[HGWRQGJDLQ
)L[HGWRWKHQGJDLQ 3UWR3U
2
:LWKJDLQ VZLWFKLQJLQSXW
VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVRSHQ QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR&20 *,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1 WKHVWJDLQLVÀ[HG
3
Torque command is large
6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGH[FHHGHG OHYHO K\VWHUHVLV SUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXHFRPPDQGZDVNHSWEHORZ OHYHO K\VWHUHVLV SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
5
Speed command is large
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV 6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGH[FHHGHG OHYHO K\VWHUHVLV UPLQ SUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHGFRPPDQGZDVNHSWEHORZ OHYHO K\VWHUHVLV UPLQ SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
6
Position GHYLDWLRQLV large
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV 6KLIWWRWKHQGJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQH[FHHGHG OHYHO K\VWHUHVLV SXOVH SUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHSRVLWLRQDOGHYLDWLRQZDVNHSWEHORZ OHYHOK\VWHUHVLV SXOVH SUHYLRXVO\RYHUGHOD\WLPHZLWKWKHQGJDLQ *8QLWRIOHYHODQGK\VWHUHVLV SXOVH LVVHWDVWKHHQFRGHUUHVROXWLRQIRUSRVLWLRQDOFRQWURO DQGH[WHUQDOVFDOHUHVROXWLRQIRUIXOOFORVHGFRQWURO
7
Position command H[LVWV
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV 6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVNHSWSUHYLRXVO\GXULQJGHOD\ WLPHZLWKWKHQGJDLQ
8
1RWLQ positioning complete
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV 6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQLQJZDVQRWFRPSOHWHGSUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQWRWKHVWJDLQZKHQWKHSRVLWLRQLQJZDVNHSWLQFRPSOHWHGFRQGLWLRQSUHYLRXVO\ GXULQJGHOD\WLPHZLWKWKHQGJDLQ
9
$FWXDOVSHHGLV large
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV 6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH DFWXDO VSHHG H[FHHGHG OHYHO K\VWHUHVLV UPLQ SUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHDFWXDOVSHHGZDVNHSWEHORZ OHYHO K\VWHUHVLV UPLQ SUHYLRXVO\GXULQJGHOD\WLPHZLWKWKHQGJDLQ
10
Position command H[LVWV $FWXDOVSHHG
9DOLGIRUSRVLWLRQDQGIXOOFORVHGFRQWUROV 6KLIWWRWKHQGJDLQZKHQWKHSRVLWLRQDOFRPPDQGZDVQRWSUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQ WR WKH VW JDLQ ZKHQ WKH SRVLWLRQDO FRPPDQG ZDV NHSW DW GXULQJ WKH GHOD\ WLPHDQGWKHDEVROXWHYDOXHRIDFWXDOVSHHGZDVNHSWEHORZ OHYHOK\VWHUHVLV UPLQ SUHYLRXVO\ZLWKWKHQGJDLQ
Pr1.16
*DLQVZLWFKLQJFRQGLWLRQ )L[HGWRWKHVWJDLQ 3UWR3U
'HOD\WLPHRISRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10000
0.1ms
50
Related control mode
P
F
)RUSRVLWLRQFRQWUROOLQJ :KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U3RVLWLRQ FRQWURO VZLWFKLQJ PRGH VHW DW RU VHW XS WKH GHOD\ WLPH IURP WULJJHU GHWHFWLRQWRWKHVZLWFKLQJRSHUDWLRQ
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
1 'HIDXOW >@
Pr1.17
/HYHORISRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
50
Related control mode
P
F
)RUSRVLWLRQFRQWUROOLQJ 6HWXSWULJJHULQJOHYHOZKHQ3U3RVLWLRQFRQWUROJDLQVZLWFKLQJ PRGHLVVHWDW RU 8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
Pr1.18
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
+\VWHUHVLVDWSRVLWLRQFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
33
Related control mode
P
F
)RU SRVLWLRQ FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 3RVLWLRQ FRQWURO JDLQ VZLWFKLQJPRGHLVVHWDW RU 8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
Pr1.19
:KHQOHYHO K\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
3RVLWLRQJDLQVZLWFKLQJWLPH
Range
Unit
Default
0 to 10000
0.1ms
33
Related control mode
P
F
3RVLWLRQJDLQVZLWFKLQJWLPH! :KHQXVLQJSRVLWLRQFRQWURODQGIXOOFORVHGFRQWUROJDLQRISRVLWLRQORRSUDSLGO\FKDQJHV FDXVLQJ WRUTXH FKDQJH DQG YLEUDWLRQ %\ DGMXVWLQJ 3U 3RVLWLRQ JDLQ VZLWFKLQJ WLPH LQFUHDVLQJUDWHRIWKHSRLVRQORRSJDLQFDQEHGHFUHDVHGDQGYLEUDWLRQOHYHOFDQEHUHGXFHG 6HWWLQJRIWKLVSDUDPHWHUGRHVQRWDIIHFWWKHJDLQVZLWFKLQJWLPHZKHQWKHJDLQRISRVLWLRQ ORRSLVVZLWFKHGWRORZHUOHYHO JDLQLVVZLWFKHGLPPHGLDWHO\
2nd (Pr1.05) Position gain switching time (ms) (Pr1.19)
1st (Pr1.00) Result of switching
1st
5 Adjustment
([DPSOH VW 3U !QG 3U
4 Setup
)RUSRVLWLRQFRQWUROOLQJ ,IWKHGLIIHUHQFHEHWZHHQ3UVWJDLQRISRVLWLRQORRSDQG3U QGJDLQRISRLVRQORRSLVODUJHWKHLQFUHDVLQJUDWHRISRVLWLRQORRSJDLQFDQEHOLPLWHGE\ this parameter. 7KHSRVLWLRQORRSJDLQZLOOLQFUHDVHRYHUWKHWLPHVHW
Caution
3 Connection
Caution
2 Preparation
Caution
Before Using the Products
[Class 1] Gain adjustment
2nd
6
1st
When in Trouble
7
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-17
Supplement
Note
1. Details of parameter [Class 1] Gain adjustment
'HIDXOW >@
Pr1.20
0RGHRIYHORFLW\FRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 5
—
0
Related control mode
S
)RUYHORFLW\FRQWUROOLQJ 6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ Setup value
6ZLWFKLQJFRQGLWLRQ
[0]
)L[HGWRWKHVWJDLQ
)L[HGWRWKHVWJDLQ 3UWR3U
1
)L[HGWRWKHQGJDLQ
)L[HGWRWKHQGJDLQ 3UWR3U
2
3
4
Related page
Pr1.21
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VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVRSHQ QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR COM–. *,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1 WKHVWJDLQLVÀ[HG
Torque command
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH FRPPDQG H[FHHGHG OHYHO K\VWHUHVLV SUHYLRXVO\ ZLWK the 1st gain. 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH FRPPDQGZDVNHSWEHORZ OHYHOK\VWHUHVLV SUHYLRXVO\ GXULQJGHOD\WLPHZLWKWKHQGJDLQ
Speed command YDULDWLRQLVODUJHU
9DOLGRQO\GXULQJYHORFLW\FRQWURO 6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH VSHHG FRPPDQGYDULDWLRQVH[FHHGHG OHYHOK\VWHUHVLV UPLQV SUHYLRXVO\ZLWKWKHVWJDLQ 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHVSHHG FRPPDQGYDULDWLRQVZDVNHSWEHORZ OHYHOK\VWHUHVLV U PLQV GXULQJGHOD\WLPHSUHYLRXVO\ZLWKWKHQGJDLQ *7KHVWJDLQLVÀ[HGZKLOHWKHYHORFLW\FRQWUROLVQRWDSSOLHG
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'HOD\WLPHRIYHORFLW\FRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10000
0.1ms
0
Related control mode
S
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Pr1.22
/HYHORIYHORFLW\FRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
0
Related control mode
S
)RUYHORFLW\FRQWUROOLQJ 6HWXSWULJJHULQJOHYHOZKHQ3U9HORFLW\FRQWUROJDLQVZLWFKLQJ PRGHLVVHWDWRU
Caution
Pr1.23
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH 6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
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Range
Unit
Default
0 to 20000
Modedependent
0
Related control mode
S
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Caution
Note Related page 4-18
8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH :KHQOHYHO K\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO $SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
1 'HIDXOW >@
Pr1.24
0RGHRIWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 3
—
0
Related control mode
T
)RUWRUTXHFRQWUROOLQJ 6HWWKHFRQGLWLRQWRWULJJHUJDLQVZLWFKLQJ 6ZLWFKLQJFRQGLWLRQ
[0]
)L[HGWRWKHVWJDLQ
)L[HGWRWKHVWJDLQ 3UWR3U
1
)L[HGWRWKHQGJDLQ
)L[HGWRWKHQGJDLQ 3UWR3U
2
Pr1.25
*DLQVZLWFKLQJLQSXW
VWJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVRSHQ QGJDLQZKHQWKHJDLQVZLWFKLQJLQSXW *$,1 LVFRQQHFWHGWR COM–. *,IQRLQSXWVLJQDOLVDOORFDWHGWRWKHJDLQVZLWFKLQJLQSXW *$,1 WKHVWJDLQLVÀ[HG
Torque command
6KLIW WR WKH QG JDLQ ZKHQ WKH DEVROXWH YDOXH RI WKH WRUTXH FRPPDQG H[FHHGHG OHYHO K\VWHUHVLV SUHYLRXVO\ ZLWK the 1st gain. 5HWXUQWRWKHVWJDLQZKHQWKHDEVROXWHYDOXHRIWKHWRUTXH FRPPDQGZDVNHSWEHORZ OHYHOK\VWHUHVLV SUHYLRXVO\ GXULQJGHOD\WLPHZLWKWKHQGJDLQ
'HOD\WLPHRIWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 10000
0.1ms
0
Related control mode
T
/HYHORIWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
0
Related control mode
T
)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ OHYHO ZKHQ 3U7RUTXH FRQWURO JDLQ VZLWFKLQJ mode is set at 3. 8QLWYDULHVGHSHQGLQJRQWKHVHWXSRIPRGHRIFRQWUROVZLWFKLQJ
Pr1.27
6HWWKHOHYHOHTXDOWRRUKLJKHUWKDQWKHK\VWHUHVLV
+\VWHUHVLVDWWRUTXHFRQWUROVZLWFKLQJ
Range
Unit
Default
0 to 20000
Modedependent
0
Related control mode
T
:KHQOHYHO K\VWHUHVLVWKHK\VWHUHVLVLVLQWHUQDOO\DGMXVWHGVRWKDWLWLVHTXDOWROHYHO
6 When in Trouble
)RU WRUTXH FRQWUROOLQJ 6HW XS WULJJHULQJ K\VWHUHVLV ZKHQ 3U 7RUTXH FRQWURO JDLQ VZLWFKLQJPRGHLVVHWDW 8QLWRIVHWWLQJYDULHVZLWKVZLWFKLQJPRGH
Caution
5 Adjustment
Caution
4 Setup
)RUWRUTXHFRQWUROOLQJ :KHQVKLIWLQJIURPWKHQGJDLQWRWKHVWJDLQZLWK3U7RUTXH FRQWUROVZLWFKLQJPRGHVHWDWVHWXSWKHGHOD\WLPHIURPWULJJHUGHWHFWLRQWRWKHVZLWFKLQJ operation.
Pr1.26
3 Connection
3
2
*DLQVZLWFKLQJFRQGLWLRQ
Preparation
Setup value
Before Using the Products
[Class 1] Gain adjustment
7
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-19
Supplement
Note
4
1. Details of parameter
Setup
[Class 2] Damping control
Pr2.00
Adaptive filter mode setup
Range
Unit
Default
0 to 4
—
0
Related control mode
P S
F
6HW XS WKH UHVRQDQFH IUHTXHQF\ WR EH HVWLPDWHG E\ WKH DGDSWLYH ILOWHU DQG VSHFLI\ WKH operation after estimation. Setup value
Pr2.01
Content
[0]
$GDSWLYHÀOWHU LQYDOLG
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUKROGWKH FXUUHQWYDOXH
1
$GDSWLYHÀOWHU ÀOWHULVYDOLG
2QHDGDSWLYHÀOWHULVHQDEOHG3DUDPHWHUVUHODWHGWRWKHUG QRWFKÀOWHUZLOOEHXSGDWHGEDVHGRQDGDSWLYHSHUIRUPDQFH
2
$GDSWLYHÀOWHU ÀOWHUVDUHYDOLG
7ZRDGDSWLYHÀOWHUVDUHHQDEOHG3DUDPHWHUVUHODWHGWRWKH UGDQGWKQRWFKÀOWHUVZLOOEHXSGDWHGEDVHGRQDGDSWLYH performance.
3
Resonance frequency measurement mode
Measure the resonance frequency. Result of measurement FDQEHFKHFNHGZLWK3$1$7(503DUDPHWHUVUHODWHGWRWKH UGDQGWKQRWFKÀOWHUKROGWKHFXUUHQWYDOXH
4
Clear result of adaptation
3DUDPHWHUVUHODWHGWRWKHUGDQGWKQRWFKÀOWHUDUH GLVDEOHGDQGUHVXOWVRIDGDSWLYHRSHUDWLRQDUHFOHDUHG
1st notch frequency
Range
Unit
Default
Related control mode
50 to 5000
Hz
5000
P S T F
6HWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
Caution
Pr2.02
7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
VWQRWFKZLGWKVHOHFWLRQ
Range
Unit
Default
Related control mode
0 to 20
—
2
P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
Caution
Pr2.03
+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDO operation.
1st notch depth selection
Range
Unit
Default
Related control mode
0 to 99
—
0
P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHVWQRWFKÀOWHU
Caution
Pr2.04
+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
2nd notch frequency
Range
Unit
Default
Related control mode
50 to 5000
Hz
5000
P S T F
6HWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
Caution
Pr2.05
7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
QGQRWFKZLGWKVHOHFWLRQ
Range
Unit
Default
Related control mode
0 to 20
—
2
P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
Caution
4-20
+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ
1. Details of parameter
1 'HIDXOW >@
Pr2.06
2nd notch depth selection
Range
Unit
Default
Related control mode
0 to 99
—
0
P S T F
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHQGQRWFKÀOWHU
Caution
2
+LJKHUWKHVHWXSVKDOORZHUWKHQRWFKGHSWKDQGVPDOOHUWKHSKDVHGHOD\\RXFDQREWDLQ
3rd notch frequency
Range
Unit
Default
Related control mode
50 to 5000
Hz
5000
P S T F
1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHVWUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHÀOWHU
Caution
Pr2.08
,QQRUHVRQDQFHSRLQWLVIRXQGWKHIUHTXHQF\LVVHWWR
UGQRWFKZLGWKVHOHFWLRQ
Unit
Default
Related control mode
0 to 20
—
2
P S T F
Pr2.09
+LJKHUWKHVHWXSODUJHUWKHQRWFKZLGWK\RXFDQREWDLQ8VHZLWKGHIDXOWVHWXSLQQRUPDORSHUDWLRQ :KHQWKHDSSOLFDEOHÀOWHUIXQFWLRQLVXVHGSDUDPHWHUYDOXHLVDXWRPDWLFDOO\VHW
3rd notch depth selection
Range
Unit
Default
Related control mode
0 to 99
—
0
P S T F
3 Connection
Range
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKÀOWHU
Caution
Preparation
Pr2.07
Before Using the Products
[Class 2] Damping control
4
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHUGQRWFKÀOWHU
Pr2.10
Setup
Caution
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4th notch frequency
Range
Unit
Default
Related control mode
50 to 5000
Hz
5000
P S T F
5
1RWFKIUHTXHQF\LVDXWRPDWLFDOO\VHWWRWKHQGUHVRQDQFHIUHTXHQF\HVWLPDWHGE\WKHDGDSWLYHÀOWHU
Pr2.11
7KHQRWFKÀOWHUIXQFWLRQZLOOEHLQYDOLGDWHGE\VHWWLQJXSWKLVSDUDPHWHUWR
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Range
Unit
Default
Related control mode
0 to 20
—
2
P S T F
6HWWKHZLGWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKÀOWHU
Caution
4th notch depth selection
Range
Unit
Default
Related control mode
0 to 99
—
0
P S T F
6 When in Trouble
Pr2.12
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Adjustment
Caution
6HWWKHGHSWKRIQRWFKDWWKHFHQWHUIUHTXHQF\RIWKHWKQRWFKÀOWHU
Caution
Related page
7
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-21
Supplement
Note
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1. Details of parameter [Class 2] Damping control
'HIDXOW >@
Pr2.13
6HOHFWLRQRIGDPSLQJILOWHUVZLWFKLQJ
Range
Unit
Default
0 to 3
—
0
Related control mode
P
F
$PRQJÀOWHUVVHOHFWWKHÀOWHUVWREHXVHGIRUGDPSLQJFRQWURO :KHQVHWXSYDOXHLV 8SWRÀOWHUVFDQEHXVHGVLPXOWDQHRXVO\ :KHQVHWXSYDOXHLVRU 6HOHFWWKHÀOWHUZLWKH[WHUQDOLQSXW V 966(/DQGRU966(/ Setup value
VS-SEL2
VS-SEL1
[0]
—
—
1
1st damping 2nd damping 3rd damping 4th damping
— —
2
:LWKVHWXSYDOXH 6HOHFWWKHÀOWHUZLWKFRPPDQGGLUHFWLRQ Setup value 3
Caution
Pr2.14 Pr2.16
Position command direction
1st damping 2nd damping 3rd damping 4th damping
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6ZLWFKLQJ RI GDPSLQJ FRQWUROV ZLOO EH GRQH RQ WKH ULVLQJ HGJH RI WKH FRPPDQG ZKRVH QXPEHU RI SXOVHV PV KDV EHHQ FKDQJHG IURP ZKLOH WKH SRVLWLRQLQJ FRPSOHWH signal is being output. :KHQWKHGDPSLQJIUHTXHQF\LVLQFUHDVHGRUGLVDEOHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLV ODUJHDQGSXOVHVDUHVWRUHGLQWKHÀOWHUDWWKDWWLPH WKHDUHDUHSUHVHQWHGE\WKHYDOXHRI SRVLWLRQFRPPDQGEHIRUHÀOWHUVXEWUDFWHGE\WKHYDOXHRISRVLWLRQFRPPDQGDIWHUÀOWHUDQG LQWHJUDWHGZLWKWKHWLPH 1RWHWKDWVLQFHWKHVHSXOVHVZLOOEHGLVFKDUJHGDWDKLJKHUUDWH XSRQVZLWFKLQJWRUHWXUQEDFNWRWKHRULJLQDOSRVLWLRQWKHPRWRUPD\UXQDWDVSHHGKLJKHU than the command speed for a short time.
1st damping frequency 2nd damping frequency
Pr2.18
3rd damping frequency
Pr2.20
4th damping frequency
Range
Unit
Default
0 to 2000
0.1Hz
0
Range
Unit
Default
0 to 2000
0.1Hz
0
Range
Unit
Default
0 to 2000
0.1Hz
0
Range
Unit
Default
0 to 2000
0.1Hz
0
Related control mode
P
F
Related control mode
P
F
Related control mode
P
F
Related control mode
P
F
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Related page
Note Related page 4-22
7KHVHWXSIUHTXHQF\LVWR>+]@6HWXSRIWR EHFRPHVLQYDOLG5HIHUWR3 'DPSLQJFRQWURODVZHOOEHIRUHXVLQJWKLVSDUDPHWHU
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
1
Pr2.15 Pr2.17
Pr2.21
2nd damping filter setup 3rd damping filter setup 4th damping filter setup
Range
Unit
Default
0 to 1000
0.1Hz
0
Range
Unit
Default
0 to 1000
0.1Hz
0
Range
Unit
Default
0 to 1000
0.1Hz
0
Range
Unit
Default
0 to 1000
0.1Hz
0
Related control mode
P
F
Related control mode
P
F
P
F
Related control mode
P
F
,IWRUTXHVDWXUDWLRQRFFXUVZLWKGDPSLQJIUHTXHQF\ VWWK HQDEOHGGHFUHDVHWKHVHWXS YDOXHRULIWKHRSHUDWLRQLVVORZLQFUHDVHLW8VXDOO\VHWLWWR 7KHPD[LPXPVHWXSYDOXHLVLQWHUQDOO\OLPLWHGWRWKHFRUUHVSRQGLQJGDPSLQJIUHTXHQF\RU GDPSLQJIUHTXHQF\ZKLFKHYHULVVPDOOHU
Related page
5HIHUWR3'DPSLQJFRQWURODVZHOOEHIRUHXVLQJWKLVSDUDPHWHU
Positional command smoothing filter
Range
Unit
Default
0 to 10000
0.1ms
0
Related control mode
P
F
6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG :KHQDVTXDUHZDYHFRPPDQGIRUWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKHWLPHFRQVWDQW RIWKHVWGHOD\ÀOWHUDVVKRZQLQWKHÀJXUHEHORZ Positional command before filter Positional command after filter
4 Setup
Speed [r/min]
3 Connection
Caution
Pr2.22
2
Related control mode Preparation
Pr2.19
1st damping filter setup
Before Using the Products
[Class 2] Damping control
Filter switching waiting time *2
Vc Vc×0.632 *1
Positional command smoothing filter setup time [ms] (Pr2.22 × 0.1 ms)
5
Vc×0.368 *1
6 When in Trouble
* $FWXDOÀOWHUWLPHFRQVWDQW VHWXSYDOXHðPV KDVWKHPD[LPXPDEVROXWHHUURURIPVIRUDWLPH FRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH * 6ZLWFKLQJRI3U3RVLWLRQDOFRPPDQGVPRRWKLQJÀOWHULVSHUIRUPHGRQWKHULVLQJHGJHRIWKHFRPPDQG ZLWK WKH QXPEHU RI FRPPDQG SXOVHV PV LV FKDQJHG IURP WR D YDOXH RWKHU WKDQ ZKLOH WKH positioning complete is being output. ,IWKHÀOWHUWLPHFRQVWDQWLVGHFUHDVHGDQGSRVLWLRQLQJFRPSOHWHUDQJHLVLQFUHDVHGDQGDPDQ\QXPEHU RISOXVVHVDUHDFFXPXODWHGLQWKHÀOWHU WKHDUHDHTXLYDOHQWRI´YDOXHRISRVLWLRQDOFRPPDQGÀOWHUYDOXH RISRVLWLRQDOFRPPDQGDIWHUÀOWHUµLQWHJUDWHGRYHUWKHWLPH DWWKHWLPHRIVZLWFKLQJWKHVHSXOVHVDUH GLVFKDUJHGDWDKLJKHUUDWHFDXVLQJWKHPRWRUWRUHWXUQWRWKHSUHYLRXVSRVLWLRQWKHPRWRUUXQVDWD speed higher than the command speed for a short time. * (YHQ LI 3U 3RVLWLRQDO FRPPDQG VPRRWKLQJ ILOWHU LV FKDQJHG LW LV QRW DSSOLHG LPPHGLDWHO\ ,I WKH VZLWFKLQJDVGHVFULEHGLQ*RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG
Adjustment
Time
7
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-23
Supplement
Note
1. Details of parameter [Class 2] Damping control
'HIDXOW >@
Pr2.23
Positional command FIR filter
Range
Unit
Default
0 to 10000
0.1ms
0
Related control mode
P
F
6HWXSWKHWLPHFRQVWDQWRIWKHVWGHOD\ÀOWHULQUHVSRQVHWRWKHSRVLWLRQDOFRPPDQG :KHQDVTXDUHZDYHFRPPDQGRIWKHWDUJHWVSHHG9FLVDSSOLHGVHWXSWKH9&DUULYDO WLPHDVVKRZQLQWKHÀJXUHEHORZ Speed [r/min]
Positional command before filter Positional command after filter
Filter switching waiting time *2
Vc Positional command smoothing filter setup time [ms] (Pr2.23 × 0.1 ms)*1 Time * 7KHDFWXDODYHUDJHWUDYHOWLPH VHWXSYDOXHðPV KDVWKHPD[LPXPDEVROXWHHUURURIPVIRUD WLPHFRQVWDQWEHORZPVDQGWKHPD[LPXPUHODWLYHHUURURIIRUDWLPHFRQVWDQWPVRUPRUH * :KHQFKDQJLQJ3U3RVLWLRQDOFRPPDQG),5ÀOWHUVWRSWKHFRPPDQGSXOVHDQGZDLWXQWLOWKHÀOWHU VZLWFKLQJZDLWWLPHKDVHODSVHG7KHÀOWHUVZLWFKLQJZDLWWLPH LVWKHVHWXSYDOXHðPVPV ZKHQWKHVHWXSWLPHLVPVDQGVHWXSYDOXHðPVðZKHQWKHVHWXSWLPHLVPVRUPRUH,I 3ULVFKDQJHGZKLOHWKHFRPPDQGSXOVHLVEHLQJLQSXWWKHFKDQJHLVQRWUHÁHFWHGXQWLOWKHFRPPDQG SXOVHOHVVVWDWHKDVFRQWLQXHGIRUWKHÀOWHUVZLWFKLQJZDLWWLPH * (YHQLI3U3RVLWLRQDOFRPPDQG),5ÀOWHULVFKDQJHGLWLVQRWDSSOLHGLPPHGLDWHO\,IWKHVZLWFKLQJDV described in *RFFXUVGXULQJWKLVGHOD\WLPHWKHFKDQJHRI3UZLOOEHVXVSHQGHG
Note Related page 4-24
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
4
1. Details of parameter
Setup
[Class 3] Verocity/ Torque/ Full-closed control
1
Pr3.00
6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ
Unit
Default
0 to 3
—
0
Related control mode
S
7KLVGULYHULVHTXLSSHGZLWKLQWHUQDOVSHHGVHWXSIXQFWLRQVRWKDW\RXFDQFRQWUROWKHVSHHG ZLWKFRQWDFWLQSXWVRQO\ Setup value
Preparation
1
,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG 3UWR3U
2
,QWHUQDOVSHHGFRPPDQGVWWRUGVSHHG 3UWR3U $QDORJVSHHGFRPPDQG 635
3
,QWHUQDOVSHHGFRPPDQGVWWRWKVSHHG 3UWR3U
3
5HODWLRQVKLSEHWZHHQ3U,QWHUQDOH[WHUQDOVZLWFKLQJVSHHGVHWXSDQGWKH LQWHUQDOFRPPDQGVSHHGVHOHFWLRQDQGDQGVSHHGFRPPDQGWREHVHOHFWHG!
1
2
Selection 2 of internal command speed (INTSPD2) OFF OFF 21 21 OFF OFF 21
21
21
Selection 3 of internal command speed (INTSPD3)
1st speed 2nd speed 3rd speed 4th speed 1st speed 2nd speed 3rd speed $QDORJVSHHG command 1st to 4th speed 5th speed 6th speed 7th speed 8th speed
1RHIIHFW
1RHIIHFW
The same as Pr3.00=1 OFF OFF 21 OFF OFF 21 21 21
3
Selection of Speed command
OFF 21 21 21 21
4 Setup
Selection 1 of internal command speed (INTSPD1) OFF 21 OFF 21 OFF 21 OFF
Connection
Setup value
INTSPD2 Speed command [r/min]
open
COMï
open
COMï 4th
open
INTSPD2
open
INTSPD3
open
3rd 1st
Speed command [r/min]
COMï COMï 8th
4th 1st
2nd
6th
6
5th
3rd 1st
Example 2) When Pr3.00=3
Speed command rotational direction selection
Range
Unit
Default
0 to 1
—
0
Related control mode
S
6HOHFWWKH3RVLWLYH1HJDWLYHGLUHFWLRQVSHFLI\LQJPHWKRG Setup value
1
Speed command direction (VC-SIGN) 1RHIIHFW 1RHIIHFW OFF 21
7 Position command direction Supplement
[0]
Select speed command sign (1st to 8th speed) ï Sign has no effect. Sign has no effect.
When in Trouble
Example 1) When Pr3.00=1 or 2
Pr3.01
COMï
7th
2nd 1st
INTSPD1
5 Adjustment
,QWHUQDO FRPPDQG VSHHG VZLWFKLQJ SDWWHUQ VKRXOG EH VR DUUDQJHG DV VKRZQ EHORZ that single input signals are selected alternately. If 2 or more input signals are selected VLPXOWDQHRXVO\ XQVSHFLÀHG LQWHUQDOFRPPDQGVSHHGPD\EHDGYHUWHQWO\ VHOHFWHGZKRVH VHWWLQJYDOXHDQGDFFHOHUDWLRQGHFHOHUDWLRQVHWWLQJZLOOFDXVHXQH[SHFWHGRSHUDWLRQ INTSPD1
2
Speed setup method $QDORJVSHHGFRPPDQG 635
[0]
Before Using the Products
'HIDXOW >@
Range
3RVLWLYHGLUHFWLRQ 1HJDWLYHGLUHFWLRQ 3RVLWLYHGLUHFWLRQ 1HJDWLYHGLUHFWLRQ
4-25
1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control
'HIDXOW >@
Pr3.02
Input gain of speed command
Range
Unit
Default
Related control mode
10 to 2000
UPLQ 9
500
S T
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Pr3.04 Pr3.05
Pr3.07 Pr3.08 Pr3.09
2nd speed of speed setup 3rd speed of speed setup 4th speed of speed setup 5th speed of speed setup 6th speed of speed setup 7th speed of speed setup
Pr3.11
8th speed of speed setup
Default
ïWR
r/min
0
Range
Unit
Default
ïWR
r/min
0
Range
Unit
Default
ïWR
r/min
0
Range
Unit
Default
ïWR
r/min
0
Range
Unit
Default
ïWR
r/min
0
Range
Unit
Default
ïWR
r/min
0
Range
Unit
Default
ïWR
r/min
0
Range
Unit
Default
ïWR
r/min
0
Related control mode
S Related control mode
S
S Related control mode
S Related control mode
S Related control mode
S Related control mode
S
Deceleration time setup
4 Range
Unit
Default
0 to 10000
ms/ (1000r/min)
0
Range
Unit
Default
0 to 10000
ms/ (1000r/min)
0
Related control mode
S Related control mode
S
Stepwise input speed command
Speed command after acceleration/deceleration process
5 Adjustment
Set up acceleration/deceleration processing time in response to the speed command input. 6HWWKHWLPHUHTXLUHGIRUWKHVSHHGFRPPDQG VWHSZLVHLQSXW WRUHDFKUPLQWR3U $FFHOHUDWLRQWLPHVHWXS$OVRVHWWKHWLPHUHTXLUHGIRUWKHVSHHGFRPPDQGWRUHDFKIURP UPLQWRUPLQWR3U'HFHOHUDWLRQWLPHVHWXS $VVXPLQJWKDW WKH WDUJHW YDOXHRI WKH VSHHGFRPPDQGLV9F UPLQ WKH WLPH UHTXLUHGIRU DFFHOHUDWLRQGHFHOHUDWLRQFDQEHFRPSXWHGIURPWKHIRUPXODVKRZQEHORZ $FFHOHUDWLRQWLPH PV 9Fð3UðPV 'HFHOHUDWLRQWLPH PV 9Fð3UðPV Speed [r/min]
Setup
Pr3.13
Acceleration time setup
3
S Related control mode
6HWXSLQWHUQDOFRPPDQGVSHHGVVWWRWK
Pr3.12
2
Related control mode
Connection
Pr3.10
Unit
Preparation
Pr3.06
1st speed of speed setup
Range
Before Using the Products
[Class 3] Verocity/ Torque/ Full-closed control
6
1000r/min When in Trouble
Time Pr3.12×1ms
Caution
Related page
:KHQ WKH VSHHG GLIIHUHQFH EHWZHHQ WKH VSHHG FRPPDQG EHLQJ VHOHFWHG DQG WKH VSHHG command after acceleration/deceleration indicates the same direction as that of the speed FRPPDQGDSSOLHGDIWHUDFFHOHUDWLRQGHFHOHUDWLRQUHVXOWLV´DFFHOHUDWLRQµDQGLIWKHUHYHUVH GLUHFWLRQWKHUHVXOWLV´GHFHOHUDWLRQµ $SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-27
7 Supplement
Note
Pr3.13×1ms
1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control
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Pr3.14
Sigmoid acceleration/ deceleration time setup
Range
Unit
Default
0 to 1000
ms
0
Related control mode
S
6HW6FXUYHWLPHIRUDFFHOHUDWLRQGHFHOHUDWLRQSURFHVVZKHQWKHVSHHGFRPPDQGLVDSSOLHG $FFRUGLQJ WR 3U$FFHOHUDWLRQ WLPH VHWXS DQG 3U 'HFHOHUDWLRQ WLPH VHWXS VHW XS VLJPRLGWLPHZLWKWLPHZLGWKFHQWHULQJWKHLQÁHFWLRQSRLQWRIDFFHOHUDWLRQGHFHOHUDWLRQ ts
Speed [r/min]
Target speed (Vc)
ts
Speed command after acceleration/deceleration process
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
ts
ts
Time ta
Pr3.15
td
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 [0]
Function of ZEROSPD (Pin-26) ,QYDOLG 6SHHG]HURFODPSLQSXWLVLJQRUHG
1
6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDO LVWXUQHG21 *1.
2
6SHHGFRPPDQGLVIRUFHGWRZKHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDO LVWXUQHG21 *1$QGZKHQWKHDFWXDOPRWRUVSHHGGURSVWR3U6SHHG]HURFODPS OHYHORUEHORZWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFNLVDFWLYDWHGDWWKLVSRLQW 7KHIXQGDPHQWDORSHUDWLRQVH[FHSWIRUWKLVIXQFWLRQ VZLWFKLQJWRWKHSRVLWLRQFRQWURO DUHLGHQWLFDOWRWKRVHZKHQVHWXSYDOXHLV
3
:KHQWKHVSHHG]HURFODPS =(5263' LQSXWVLJQDOLV21 *1 and speed command is EHORZ3U 6SHHG]HURFODPSOHYHO²UPLQWKHQWKHSRVLWLRQFRQWUROLVVHOHFWHGDQGVHUYRORFN LVDFWLYDWHGDWWKDWSRLQW
7KH GHIDXOW ORJLF LV EFRQWDFW WKH IXQFWLRQ LV HQDEOHG ZKLOH WKH WHUPLQDO LV RSHQ LQSXW VLJQDO LV 21 5HIHUWR3&RQWUROLQSXW
Pr3.16
Speed zero clamp level
Range
Unit
Default
Related control mode
10 to 20000
r/min
30
S T
6HOHFWWKHWLPLQJDWZKLFKWKHSRVLWLRQFRQWUROLVDFWLYDWHGDVWKH3U6SHHG]HURFODPS function selection is set to 2 or 3. ,I3U WKHQK\VWHUHVLVRIUPLQLVSURYLGHGIRUGHWHFWLRQ
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
1 'HIDXOW >@
Pr3.17
Selection of torque command
Range
Unit
Default
0 to 2
—
0
Related control mode
T
You can select the input of the torque command and the speed limit.
2
Torque command input
Velocity limit input
[0]
$QDORJLQSXW *1 $,ELWUHVROXWLRQ
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1
$QDORJLQSXW $,ELWUHVROXWLRQ
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2
$QDORJLQSXW *1 $,ELWUHVROXWLRQ
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Preparation
Setup value
* )RU3U&RQWUROPRGHVHWXS YHORFLW\WRUTXHFRQWURO WKHWRUTXHFRPPDQGLQSXW LVWKHDQDORJLQSXW $,ELWUHVROXWLRQ
Torque command direction selection
Range
Unit
Default
0 to 1
—
0
Related control mode
T
6HOHFWWKHGLUHFWLRQSRVLWLYHQHJDWLYHGLUHFWLRQRIWRUTXHFRPPDQG Setup value [0] 1
3 Connection
Pr3.18
Before Using the Products
[Class 3] Verocity/ Torque/ Full-closed control
Designation 6SHFLI\WKHGLUHFWLRQZLWKWKHVLJQRIWRUTXHFRPPDQG ([DPSOH 7RUTXHFRPPDQGLQSXW IRUSRVLWLYHGLUHFWLRQ ² IRUQHJDWLYHGLUHFWLRQ
4
6SHFLI\WKHGLUHFWLRQZLWKWRUTXHFRPPDQGVLJQ 7&6,*1 2)) 3RVLWLYHGLUHFWLRQ21 1HJDWLYHGLUHFWLRQ Setup
Pr3.19
Input gain of torque command
Range
Unit
Default
10 to 100
0.1V/100%
30
Related control mode
T
%DVHG RQ WKH YROWDJH 9 DSSOLHG WR WKH DQDORJ WRUTXH FRPPDQG 7545 VHW XS WKH FRQYHUVLRQJDLQWRWRUTXHFRPPDQG
DQGVHWXSLQSXWYROWDJHQHFHVVDU\WR Default
produce the rated torque. 'HIDXOWVHWXSRIUHSUHVHQWV9
Positive direction
Adjustment
torque 300[%]
8QLWRIWKHVHWXSYDOXHLV>9@
Rated 200 torque
100 –10V –8 –6 –4 –2 2
4
100
6 8 10V command input v
300[%]
Negative direction
Input reversal of torque command
Range
Unit
Default
0 to 1
—
0
Related control mode
T
6HWXSWKHSRODULW\RIWKHYROWDJHDSSOLHGWRWKHDQDORJWRUTXHFRPPDQG 7545 Direction of motor output torque
[0]
1RQUHYHUVDO
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1
5HYHUVDO
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7 Supplement
Setup value
6 When in Trouble
200
Pr3.20
5
4-29
1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control
'HIDXOW >@
Pr3.21
Speed limit value 1
Range
Unit
Default
0 to 20000
r/min
0
Related control mode
T
Set up the speed limit used for torque controlling. 'XULQJWKHWRUTXHFRQWUROOLQJWKHVSHHGVHWE\WKHVSHHGOLPLWYDOXHFDQQRWEHH[FHHGHG :KHQ3U WKHVSHHGOLPLWLVDSSOLHGXSRQUHFHLYLQJSRVLWLYHGLUHFWLRQFRPPDQG
Pr3.22
Speed limit value 2
Range
Unit
Default
0 to 20000
r/min
0
Related control mode
T
6SHHGOLPLWYDOXHRIQHJDWLYHGLUHFWLRQFRPPDQGZKHQ3U Pr3.17
Pr3.21
Pr3.22
Pr3.15 0
0
0 to 20000
1RHIIHFW
1 to 3
0 to 20000 0 to 20000 2
Pr3.23 *
0
Speed zero clamp Analog torque (ZEROSPD) command direction 1RHIIHFW
3UVHWXSYDOXH
OFF
1RHIIHFW
3UVHWXSYDOXH
21
0
1RHIIHFW
0 to 20000 0 to 20000
1 to 3
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0 to 20000 0 to 20000
1 to 3
21
([WHUQDOVFDOHVHOHFWLRQ
Speed limit value
3RVLWLYHGLUHFWLRQ
3UVHWXSYDOXH
1HJDWLYHGLUHFWLRQ
3UVHWXSYDOXH
3RVLWLYHGLUHFWLRQ
3UVHWXSYDOXH
1HJDWLYHGLUHFWLRQ
3UVHWXSYDOXH
1RHIIHFW
0
Range
Unit
Default
0 to 2
—
0
Related control mode
F
6HOHFWWKHW\SHRIH[WHUQDOVFDOH Setup value
([WHUQDOVFDOHW\SH
Compatible scale
Compatible speed to 4Mpps DIWHUTXDGUXSOHG
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1
Serial communication type LQFUHPHQWDOYHUVLRQ *1
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to 400Mpps
2
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to 400Mpps
[0]
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Caution
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ3´3URWHFWLYH)XQFWLRQµ
1. Details of parameter
1
Pr3.24 *
1XPHUDWRURIH[WHUQDOVFDOHGLYLVLRQ
Range
Unit
Default
WR
—
0
Related control mode
F
6HWXSWKHQXPHUDWRURIWKHH[WHUQDOVFDOHGLYLGLQJVHWXS :KHQVHWXSYDOXH HQFRGHUUHVROXWLRQLVXVHGDVQXPHUDWRURIWKHGLYLVLRQ
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2
Range
Unit
Default
Related control mode
WR
—
10000
F
Pr3.24 1048576 Pr3.25 100000
Caution
Encoder resolution per one motor revolution [pulse] External scale resolution per one motor revolution [pulse]
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5HYHUVDORIGLUHFWLRQRIH[WHUQDOVFDOH
Range
Unit
Default
0 to 1
—
0
Related control mode
F
4 Setup
Pr3.26 *
=
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Preparation
Pr3.25 *
Before Using the Products
[Class 3] Verocity/ Torque/ Full-closed control
5HYHUVHWKHGLUHFWLRQRIH[WHUQDOVFDOHIHHGEDFNFRXQWHU Setup value [0] 1
Pr3.27 *
5
&RXQWYDOXHRIH[WHUQDOVFDOHFDQEHXVHGDVLWLV 6LJQ SRVLWLYHQHJDWLYH RIFRXQWYDOXHRIH[WHUQDOVFDOHVKRXOGEHLQYHUWHG
)RUVHWWLQJPHWKRGRIWKLVSDUDPHWHUUHIHUWR3)XOOFORVHGFRQWUROPRGH
([WHUQDOVFDOH=SKDVHGLVFRQQHFWLRQ detection disable
Range
Unit
Default
0 to 1
—
0
Related control mode
F
(QDEOHGLVDEOH=SKDVHGLVFRQQHFWLRQGHWHFWLRQZKHQ$%SKDVHRXWSXWW\SHH[WHUQDOVFDOH is used. Content
[0]
Valid
1
,QYDOLG
6 When in Trouble
Setup value
Adjustment
Note
Content
7
Related page
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-31
Supplement
Note
1. Details of parameter [Class 3] Verocity/ Torque/ Full-closed control
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Pr3.28 *
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Range
Unit
WR Command unit
Default
Related control mode
16000
F
@
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. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Pr4.17
Analog monitor 1 output gain
Range
Unit
Default
Related control mode
0 to 214748364
[Monitor unit in Pr4.16] / V
0
P S T F
Set up the output gain of analog monitor 1. )RU3U 0RWRUVSHHG9LVRXWSXWDWWKHPRWRUVSHHG>UPLQ@ 3UVHWXSYDOXH
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. *6HHWKHWDEOHVKRZQRQWKHQH[WSDJH
Pr4.19
Analog monitor 2 output gain
Range
Unit
Default
Related control mode
0 to 214748364
[Monitor unit in Pr4.16] / V
0
P S T F
Set up the output gain of analog monitor 2. )RU3U 7RUTXHFRPPDQG9LVRXWSXWDWWKHWRUTXHFRPPDQG>@ 3U VHWXSYDOXH
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.
Note
Related page 4-36
Digital signal output
Setup value
Type of monitor
L output
H output
[0]
Positioning complete condition
1RWFRPSOHWHG
Completed
1
Positional command
:LWKRXWFRPPDQG
:LWKFRPPDQG
2
$ODUP
1RWJHQHUDWHG
Generated
3
Gain selected
1st gain
2nd gain LQFOXGLQJUGJDLQ
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1. Details of parameter
1
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
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3000
5
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3000
7
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3000
8
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3000
9
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V
80
10
5HJHQHUDWLYHORDGIDFWRU
%
33
11
2YHUORDGIDFWRU
%
33
12
3RVLWLYHGLUHFWLRQWRUTXHOLPLW
%
33
13
1HJDWLYHGLUHFWLRQWRUTXHOLPLW
%
33
14
6SHHGOLPLWYDOXH
r/min
500
15
Inertia ratio
%
500
16
$QDORJLQSXW
*2
V
1
17
$QDORJLQSXW*2
V
1
18
*2
V
1
$QDORJLQSXW
*5
Encoder temperature
ʝ
10
20
'ULYHUWHPSHUDWXUH
ʝ
10
21
Encoder single-turn data *1
SXOVH (QFRGHUXQLW
110000
4
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Command division/ multiplication process
Command pulse input
Positional command filter
+
Position control
–
Encoder feedback/ external scale feedback
6
Command division/ multiplication
–
Command division/multiplication reverse conversion
+ –
Positional control
7
Encoder feedback/ external scale feedback
Supplement
+
Positional command filter
When in Trouble
* &RPPDQGSRVLWLRQDOGHYLDWLRQLVWKHGHYLDWLRQZLWKUHVSHFWWRWKHFRPPDQGSXOVHLQSXWDQGWKHHQFRGHUSRVLWLRQDO GHYLDWLRQIXOOFORVHGSRVLWLRQDOGHYLDWLRQLVWKHGHYLDWLRQDWWKHLQSXWVHFWLRQRIWKHSRVLWLRQDOFRQWURODVGHVFULEHGLQ WKHÀJXUHEHORZ Encoder positional deviation (encoder unit) / Full-closed deviation (external unit) Command pulse input
5 Adjustment
Positional command Internal position speed [r/min] command speed [r/min]
Setup
19
3 Connection
* * *
*4
2 Preparation
Type of monitor
Pr4.16/Pr4.18
Before Using the Products
[Class 4] I/F monitor setting
Positional command deviation (command unit) * 7HPSHUDWXUHLQIRUPDWLRQIURPWKHHQFRGHULQFOXGHVYDOXHRQO\ZKHQLWLVDELWLQFUHPHQWDOHQFRGHU2WKHUZLVH WKHYDOXHLVDOZD\V 4-37
1. Details of parameter [Class 4] I/F monitor setting
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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 Signed data output
–10 V to 10 V
1
$EVROXWHYDOXHGDWDRXWSXW
9WR9
2
'DWDRXWSXWZLWKRIIVHW
9WR9 9DWFHQWHU
[0]
Pr4.22
Output format
Analog input 1 (AI1) offset setup
Range
Unit
Default
Related control mode
ïWR
0.359mV
0
P S T F
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.23
Analog input 1 (AI1) filter
Range
Unit
Default
Related control mode
0 to 6400
0.01ms
0
P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH applied to the analog input 1.
Pr4.24
Analog input 1 (AI1) overvoltage setup
Range
Unit
Default
Related control mode
0 to 100
0.1V
0
P S T F
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Pr4.25
Analog input 2 (AI2) offset setup
Range
Unit
Default
Related control mode
ïWR
5.86mV
0
P S T F
6HWXSWKHRIIVHWFRUUHFWLRQYDOXHDSSOLHGWRWKHYROWDJHIHGWRWKHDQDORJLQSXW
Pr4.26
Analog input 2 (AI2) filter
Range
Unit
Default
Related control mode
0 to 6400
0.01ms
0
P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH applied to the analog input 2.
Pr4.27
Analog input 2 (AI2) overvoltage setup
Range
Unit
Default
Related control mode
0 to 100
0.1V
0
P S T F
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Pr4.28
Analog input 3 (AI3) offset setup
Range
Unit
Default
Related control mode
ïWR
5.86mV
0
P S T F
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
1
Pr4.29
Analog input 3 (AI3) filter
Range
Unit
Default
Related control mode
0 to 6400
0.01ms
0
P S T F
6HWXSWKHWLPHFRQVWDQWRIVWGHOD\ÀOWHUWKDWGHWHUPLQHVWKHODJWLPHEHKLQGWKHYROWDJH applied to the analog input 3.
Analog input 3 (AI3) overvoltage setup
Range
Unit
Default
Related control mode
0 to 100
0.1V
0
P S T F
6HW XS WKH H[FHVVLYH OHYHO RI WKH LQSXW YROWDJH RI DQDORJ LQSXW E\ XVLQJ WKH YROWDJH DVVRFLDWHGZLWKRIIVHW
Pr4.31
Positioning complete (In-position) range
Range
Unit
Default
0 to 262144
Command unit
10
Related control mode
P
Pr4.32
The command unit is used as the default unit but can be replaced by the encoder unit by XVLQJ 3U 3RVLWLRQLQJ XQLW VHOHFWLRQ 1RWH WKDW ZKHQ WKH HQFRGHU XQLW LV XVHG XQLW RI 3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG )RUGHVFULSWLRQRI´FRPPDQGXQLWµDQG´HQFRGHUXQLWµUHIHUWR3´3Uµ
4
Range
Unit
Default
0 to 3
—
0
Related control mode
P
F
6HOHFWWKHFRQGLWLRQWRRXWSXWWKHSRVLWLRQLQJFRPSOHWHVLJQDO ,13 Action of positioning complete signal
[0]
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1
7KH VLJQDO ZLOO WXUQ RQ ZKHQ WKHUH LV QR SRVLWLRQ FRPPDQG DQG WKH SRVLWLRQDO GHYLDWLRQLVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH
2
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3
7KHVLJQDOZLOOWXUQRQZKHQWKHUHLVQRSRVLWLRQFRPPDQGDQGWKHSRVLWLRQDOGHYLDtion LVVPDOOHUWKDQ3U 3RVLWLRQLQJFRPSOHWHUDQJH 7KHQKROGV21VWDWXVXQWLOWKH QH[WSRVLWLRQFRPPDQGLVHQWHUHG6XEVHTXHQWO\21VWDWHLVPDLQWDLQHGXQWLO3U ,13KROGWLPHKDVHODSVHG$IWHUWKHKROGWLPH,13RXWSXWZLOOEHWXUQHG212))DFFRUGLQJWRWKHFRPLQJSRVLWLRQDOFRPPDQGRUFRQGLWLRQRIWKHSRVLWLRQDOGHYLDWLRQ
Range
Unit
Default
0 to 30000
1ms
0
6
Related control mode
P
F
6HWXSWKHKROGWLPHZKHQ3U3RVLWLRQLQJFRPSOHWHRXWSXWVHWXS Setup value [0] 1 to 30000
Related page
State of positioning complete signal 7KHKROGWLPHLVPDLQWDLQHGGHÀQLWHO\NHHSLQJ21VWDWHXQWLOWKHQH[WSRVLWLRQDO FRPPDQGLVUHFHLYHG
7
21VWDWHLVPDLQWDLQHGIRUVHWXSWLPH PV EXWVZLWFKHGWR2))VWDWHDVWKHSRVLWLRQDO FRPPDQGLVUHFHLYHGGXULQJKROGWLPH
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-39
Supplement
Note
When in Trouble
INP hold time
5 Adjustment
Pr4.33
Setup value
Setup
Positioning complete (In-position) output setup
Connection
Note
3
F
6HWXSWKHWLPLQJRISRVLWLRQDOGHYLDWLRQDWZKLFKWKHSRVLWLRQLQJFRPSOHWHVLJQDO ,13 LVRXWSXW
Caution
2 Preparation
Pr4.30
Before Using the Products
[Class 4] I/F monitor setting
1. Details of parameter [Class 4] I/F monitor setting
'HIDXOW >@
Pr4.34
Zero-speed
Range
Unit
Default
Related control mode
10 to 20000
r/min
50
P S T F
UPLQ@
Positive direction speed (Pr4.34+10)r/min
(Pr4.34–10)r/min Negative direction ON
ZSP
Pr4.35
Speed coincidence range
Range
Unit
Default
Related control mode
10 to 20000
r/min
50
S T
6HWWKHVSHHGFRLQFLGHQFH 9&2,1 RXWSXWGHWHFWLRQWLPLQJ 2XWSXWWKHVSHHGFRLQFLGHQFH 9&2,1 ZKHQWKHGLIIHUHQFHEHWZHHQWKHVSHHGFRPPDQG DQGWKHPRWRUVSHHGLVHTXDOWRRUVPDOOHUWKDQWKHVSHHGVSHFLÀHGE\WKLVSDUDPHWHU
Speed [r/min]
Speed command
Speed command after acceleration/deceleration process
Pr4.35 *1 (Speed coincidence range)
Pr4.35 *1 (Speed coincidence range)
Motor speed Time Pr4.35 *1 (Speed coincidence range)
Speed coincidence output V-COIN
ON
OFF
ON
OFF
*1 %HFDXVHWKHVSHHGFRLQFLGHQFHGHWHFWLRQLVDVVRFLDWHGZLWKUPLQK\VWHUHVLVDFWXDO GHWHFWLRQUDQJHLVDVVKRZQEHORZ Speed coincidence output OFF 21WLPLQJ 3U² UPLQ 6SHHGFRLQFLGHQFHRXWSXW21 2))WLPLQJ 3U UPLQ
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
1 'HIDXOW >@
Pr4.36
At-speed (Speed arrival)
Range
Unit
Default
Related control mode
10 to 20000
r/min
1000
S T
Speed [r/min] Pr4.36+10 3Uï
Motor speed
Time
ï 3Uï ï 3U
Pr4.37
OFF
ON
OFF
Mechanical brake action at stalling setup
3
ON
Connection
the speed arrival output AT-SPEED
Range
Unit
Default
Related control mode
0 to 10000
1ms
0
P S T F
@
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
Pr4.41
Selection of alarm output 2
Range
Unit
Default
Related control mode
0 to 10
—
0
P S T F
Range
Unit
Default
Related control mode
0 to 10
—
0
P S T F
Select the type of alarm issued as the alarm output 1 or 2. Setup value
Alarm —
[0]
Content ORed output of all alarms.
1
2YHUORDGSURWHFWLRQ
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2
2YHUUHJHQHUDWLRQDODUP
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3
Battery alarm
%DWWHU\YROWDJHLV9RUORZHU
4
Fan alarm
Fan has stopped for 1 sec. *1
5
Encoder communication alarm
7KHQXPEHURIVXFFHVVLYHHQFRGHUFRPPXQLFDWLRQHUURUV H[FHHGVWKHVSHFLÀHGYDOXH
6
(QFRGHURYHUKHDWDODUP
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7
Oscillation detection alarm
2VFLOODWLRQRUYLEUDWLRQLVGHWHFWHG
8
Lifetime detection alarm
/LIHH[SHFWDQF\RIFDSDFLWRURUIDQEHFRPHVVKRUW
9
([WHUQDOVFDOHHUURUDODUP
7KHH[WHUQDOVFDOHGHWHFWVWKHDODUP
10
([WHUQDOVFDOH communication alarm
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Related page
Pr4.42
)RUGHWDLOHGGHVFULSWLRQRIDODUPW\SHVUHIHUWR3
2nd Positioning complete (In-position) range
Range
Unit
Default
0 to 262144
Command unit
10
Related control mode
P
F
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Caution
Note
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Note
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU
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The command unit is used as the default unit but can be replaced by the encoder unit by XVLQJ 3U 3RVLWLRQLQJ XQLW VHOHFWLRQ 1RWH WKDW ZKHQ WKH HQFRGHU XQLW LV XVHG XQLW RI 3U3RVLWLRQDOGHYLDWLRQH[FHVVVHWXSLVDOVRFKDQJHG
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1. Details of parameter
Setup
[Class 5] Enhancing setting
1 'HIDXOW >@
Pr5.00 Pr5.01
Unit
Default
0 to 230
—
0
Range
3rd numerator of electronic gear
30
0 to 2
Range
4th numerator of electronic gear
30
0 to 2
Related control mode
P
Unit
Default
—
0
P
Unit
Default
—
0
F
Related control mode
F
P
F
Denominator of pulse output division
Range
Unit
Default
Related control mode
0 to 262144
—
0
P S T F
)RUGHWDLOVUHIHUWR3
4
Over-travel inhibit input setup
Range
Unit
Default
Related control mode
0 to 2
—
1
P S T F
Setup
Pr5.04 *
3 Connection
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Pr5.03 *
2
Related control mode Preparation
Pr5.02
2nd numerator of electronic gear
Range
Before Using the Products
4
6HWXSWKHRSHUDWLRQRIWKHUXQLQKLELWLRQ 327127 LQSXWV Setup value 0
5
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[1]
327RU127LQSXWDFWLYDWHV(UU5XQLQKLELWLRQLQSXWSURWHFWLRQ
Sequence at over-travel inhibit
Range
Unit
Default
Related control mode
0 to 2
—
0
P S T F
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Pr5.04
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During deceleration
After stalling
Deviation counter content
[0]
Dynamic brake action
Torque command=0 WRZDUGVLQKLELWHGGLUHFWLRQ
Hold
1
Torque command=0 WRZDUGVLQKLELWHGGLUHFWLRQ
Torque command=0 WRZDUGVLQKLELWHGGLUHFWLRQ
Hold
2
Emergency stop
Command=0 WRZDUGVLQKLELWHGGLUHFWLRQ
Clears before/ after deceleration
7
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Supplement
Note
Pr5.05
6 When in Trouble
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Adjustment
2
Pr5.05 *
Operation POT ,QKLELWSRVLWLYHGLUHFWLRQWUDYHO 127 ,QKLELWQHJDWLYHGLUHFWLRQWUDYHO
1. Details of parameter [Class 5] Enhancing setting
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Pr5.06
Sequence at Servo-Off
Range
Unit
Default
Related control mode
0 to 9
—
0
P S T F
6SHFLI\WKHVWDWXVGXULQJGHFHOHUDWLRQDQGDIWHUVWRSDIWHUVHUYRRII Setup value
During deceleration *3
After stalling
Positional deviation/ H[WHUQDOVFDOH deviation
[0]
'\QDPLF%UDNH '% DFWLRQ
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Clear *4
1
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2
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3
)UHHUXQ '%2))
)UHHUXQ '%2))
Clear *4
4
'\QDPLF%UDNH '% DFWLRQ
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5
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6
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Hold *2
7
)UHHUXQ '%2))
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Hold *2
8
Emergency stop *1
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9
Emergency stop *1
)UHHUXQ '%2))
Clear *4
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Caution
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Pr5.07
6HTXHQFHDWPDLQSRZHU2))
Range
Unit
Default
Related control mode
0 to 9
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0
P S T F
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1. Details of parameter
1 'HIDXOW >@
Pr5.08
/9WULSVHOHFWLRQDWPDLQSRZHU2))
Range
Unit
Default
Related control mode
0 to 1
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1
P S T F
@
Pr5.16 *
Alarm clear input setup
Range
Unit
Default
Related control mode
0 to 1
—
0
P S T F
6HOHFWDODUPFOHDULQSXW $&/5 UHFRJQLWLRQWLPH
2
Setup value
Recognition time
[0]
120ms
1
7R3U,)UHDGLQJÀOWHU
Counter clear input mode
Range
Unit
Default
0 to 4
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3
Related control mode
P
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You can set up the clearing conditions of the counter clear input signal. 0
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1
&OHDUDWDOHYHO QRUHDGLQJÀOWHU
2
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4
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3
4
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Invalidation of command pulse inhibit input
Range
Unit
Default
0 to 1
—
1
Related control mode
P
F
Setup
Pr5.18
Clear condition
Connection
Note
Setup value
Preparation
Pr5.17
Before Using the Products
[Class 5] Enhancing setting
Select command pulse inhibit input enable/disable. Setup value 0
Valid
[1]
,QYDOLG
5
Command pulse inhibit input reading setup
Range
Unit
Default
0 to 4
—
0
Related control mode
P
F
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[0]
0.166ms
1
0.333ms
2
1ms
3
1.666ms
4
PV QRFKHFNIRUPXOWLSOHFRLQFLGHQFH
6
Longer reading period protects against operation error due to noise but decreases response to input signal.
$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ3´3URWHFWLYH)XQFWLRQµ 4-47
7 Supplement
Note
Signal reading period
When in Trouble
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Setup value
Adjustment
Pr5.19 *
INH input
1. Details of parameter [Class 5] Enhancing setting
Pr5.20 *
Position setup unit select
Range
Unit
Default
0 to 1
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0
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P
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6SHFLI\ WKH XQLW WR GHWHUPLQH WKH UDQJH RI SRVLWLRQLQJ FRPSOHWH DQG H[FHVVLYH SRVLWLRQDO GHYLDWLRQ
Note
Setup value
Unit
[0]
Command unit
1
Encoder unit
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220 220 WKHQFRPPDQGXQLW = encoder unit. 10000 10000
Selection of torque limit
Range
Unit
Default
0 to 6
—
1
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P S
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You can set up the torque limiting method. Setup value
Positive direction
0
3$7/ WR9
Negative direction 1$7/ ïWR9 VWWRUTXHOLPLW 3U
[1] 2
VWWRUTXHOLPLW 3U
QGWRUTXHOLPLW 3U
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3 4
3$7/ WR9
5
1$7/ WR9 3$7/ WR9
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Pr5.22
2nd torque limit
([WHUQDOLQSXWQHJDWLYHGLUHFWLRQWRUTXH OLPLW 3U
Range
Unit
Default
0 to 500
%
500
Related control mode
P S
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@
Pr5.28 *
LED initial status
Range
Unit
Default
Related control mode
0 to 35
—
1
P S T F
([WHUQDOVFDOHXQLW@
2
Positional command speed
14
5HJHQHUDWLYHORDGIDFWRU
26
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Velocity control command
15
2YHUORDGIDFWRU
27
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Torque command
16
Inertia ratio
28
6RIWZDUHYHUVLRQ
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Feedback pulse sum
17
Factor of no-motor running
29
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6
Command pulse sum
18
1RRIFKDQJHVLQ,2VLJQDOV
30
Motor serial number
8
([WHUQDOVFDOHIHHGEDFNSXOVHVXP 20
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31
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9
Control mode
21
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32
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33
Temperature information
35
Safety condition monitor
10
I/O signal status
22
1RRIHQFRGHUH[WHUQDOVFDOH communication errors monitor
11
$QDORJLQSXWYDOXH
23
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Baud rate setup of RS232 communication
Range
Unit
Default
Related control mode
0 to 6
—
2
P S T F
Range
Unit
Default
Related control mode
0 to 6
—
2
P S T F
You can set up the communication speed of RS232.
Note
Pr5.30 *
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You can set up the communication speed of RS485. Setup value 0 1 [2] 3
Baud rate 2400bps 4800bps 9600bps 19200bps
Setup value 4 5 6
Baud rate 38400bps 57600bps 115200bps
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4-50
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1
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$[LVDGGUHVV
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Unit
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0 to 127
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1
P S T F
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2
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Range
Unit
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250 to 4000
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4000
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F
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Pr5.32 setting range
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250 to 499
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100 ns 2-time reading
1000 or more
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0
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Unit
Default
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4
Range
Unit
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0 to 1
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0
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Pr5.34
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Pulse regenerative output limit setup
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Pr5.33 *
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Pr5.32 *
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[Class 5] Enhancing setting
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Pr5.35 *
Front panel lock setup
When in Trouble
Lock the operation on the front panel.
6
Setup value Content 1ROLPLWRQWKHIURQWSDQHORSHUDWLRQ [0] 1 Lock the operation on the front panel
7
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4
1. Details of parameter
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Pr6.00
$QDORJWRUTXHIHHGIRUZDUGFRQYHUVLRQ gain
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Unit
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0 to 100
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Pr6.02
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0 to 20000
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Pr6.04
JOG trial run command speed
Range
Unit
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0 to 500
r/min
300
P S T F
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Pr6.05
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Position 3rd gain valid time
Range
Unit
Default
0 to 10000
0.1ms
0
P
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Pr6.06
Position 3rd gain scale factor
Range
Unit
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50 to 1000
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100
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P
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ3´3URWHFWLYH)XQFWLRQµ
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Pr6.07
Torque command additional value
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Unit
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ïWR
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0
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P S
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Unit
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ïWR
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0
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Unit
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ïWR
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0
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Pr6.10
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Unit
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0 to 63
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Set up the function in unit of bit. Function
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Pr6.09
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Pr6.08
Before Using the Products
[Class 6] Special setting
Setup value [0]
1 Valid
bit 0
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bit 1
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bit 5
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bit 2
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Current response setup
Unit
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50 to 100
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100
P S T F
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6 When in Trouble
Pr6.11
Range
7
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1. Details of parameter [Class 6] Special setting
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Pr6.13
2nd Inertia ratio
Range
Unit
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0 to 10000
%
250
P S T F
Set 2nd inertia ratio. @
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Pr6.14
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Emergency stop time at alarm
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Unit
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0 to 1000
1ms
200
P S T F
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Pr6.15
2nd over-speed level setup
Range
Unit
Default
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0 to 20000
r/min
0
P S T F
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Pr6.17 *
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0 to 1
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0
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[0]
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Pr6.18 *
:ULWHWR((3520DWWKHVDPHWLPH
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Unit
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0 to 100
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0
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´((3520:ULWLQJ0RGHµ3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ
1. Details of parameter
1 'HIDXOW >@
Pr6.19 *
Encoder Z phase setup
Range
Unit
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0 to 32767
pulse
0
P S T F
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Unit
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0 to 400
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2
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F
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Range
Unit
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0 to 228
pulse
0
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4
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Range
Unit
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0 to 1
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0
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1 to 268435456
Pr6.22 *
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F
Setup value
1
Pr6.23
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Pr6.21 *
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Pr6.20 *
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[Class 6] Special setting
Regenerating method 'LUHFWO\RXWSXWWKHVLJQDOVIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV 2XWSXW$DQG%SKDVHVLJQDOVUHFRYHUHGIURP$%DQG=SDUDOOHOH[WHUQDOVFDOHV Z-phase is output directly.
Disturbance torque compensating gain
Unit
Default
ïWR
%
0
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P S
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6 When in Trouble
Range
7
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$SDUDPHWHULVGHVLJQDWHGDVIROORZV Class Pr0.00 Parameter No. )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ”FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ \RXWXUQRQWKHFRQWUROSRZHU 3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ 4-55
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Note
1. Details of parameter [Class 6] Special setting
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Pr6.24
Disturbance observer filter
Range
Unit
Default
0 to 2500
0.01ms
53
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P S
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Pr6.27 *
Alarm latch time selection
Range
Unit
Default
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0 to 10
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5
P S T F
Range
Unit
Default
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0 to 3
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1
P S T F
Set up the latch time. Setup value
Content
0
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1
1 [s]
2
2 [s]
3
3 [s]
4
4 [s]
[5] 6
Pr6.31
Latch time
5 [s] 6 [s]
7
7 [s]
8
8 [s]
9
9 [s]
10
10 [s]
Real time auto tuning estimation speed
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Mode
Description
0
1RFKDQJH
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Stop estimation of load characteristics. 5HVSRQVHWRFKDQJHVLQORDGFKDUDFWHULVWLFVLQHYHU\PLQXWH
2
6ORZHUFKDQJH
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3*
Faster change
Obtain best suitable estimation in response to changes in load characteristics.
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1. Details of parameter
1
Pr6.32
Real time auto tuning custom setup
Range
Unit
Default
Related control mode
ïWR
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0
P S T F
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Load characteristics estimation *
Setup value [0] 1
Function Disable Enable
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Inertia ratio update
Setup value [0] 1
Function Use the current setup. 8SGDWHE\WKHHVWLPDWHGYDOXH
6 to 4
Torque compensation
Compensation setup Pr6.07 Pr6.08 Pr6.09 0 clear 0 clear 0 clear Update 0 clear 0 clear /RZ
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Middle
Middle
Update
High
High
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Update
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Set up the update to be made according to the results of load FKDUDFWHULVWLFVHVWLPDWLRQRI3U7RUTXHFRPPDQGDGGLWLRQDOYDOXH 3U SRVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH DQG 3U QHJDWLYHGLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH Setup value Function Use current setup [0] 1 Disable torque compensation 2 9HUWLFDOD[LVPRGH Friction compensation 3 ORZ Friction compensation 4 PLGGOH Friction compensation 5 KLJK
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Set up update to be made based on result of the load characteristics estimation of Pr0.04 Inertia ratio. 3 to 2
2
Description Enable/disable the load characteristics estimation function.
1 to 0
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[Class 6] Special setting
Enable/disable the basic gain setup to be made according to Pr0.03 Real time auto tuning mechanical stiffness selection.
Stiffness setup
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Setup value [0] 1
6
Function Disable Enable
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Function Use the current setup. 6HWWRDÀ[HGYDOXH
7
6HOHFWWKHJDLQVZLWFKLQJUHODWHGSDUDPHWHUWREHXVHGZKHQWKHUHDO time auto tuning is enabled.
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Supplement
10 to 9
When in Trouble
7
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1. Details of parameter [Class 6] Special setting
'HIDXOW >@
Caution
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Pr6.34
Hybrid vibration suppression gain
Range
Unit
Default
0 to 30000
0.1/s
0
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F
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Pr6.35
Hybrid vibration suppression filter
Range
Unit
Default
0 to 6400
0.01ms
10
Related control mode
F
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Pr6.37
Oscillation detecting level
Range
Unit
Default
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0 to 1000
0.1%
0
P S T F
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Pr6.38 *
Alarm mask setup
Range
Unit
Default
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ïWR
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0
P S T F
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
—
—
0
Related control mode
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2.Trial Run (JOG run)
Setup
Inspection Before Trial Run
1 Before Using the Products
4
(1) Inspection on wiring
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2
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Adjustment
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otor
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.
6 When in Trouble
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Supplement
Note
4
2.Trial Run (JOG run)
Setup
Trial Run by Connecting the Connector X4
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5
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SIGN2
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47
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3DUDPHWHU Pr No.
Title
Setup value
0.01
Control mode setup
0
5.04
2YHUWUDYHOLQKLELWLQSXWVHWXS
1
0.05
Selection of command pulse input
0/1
0.07
Command pulse input mode setup
1
5.18
,QYDOLGDWLRQRIFRPPDQGSXOVHLQKLELWLQSXW
1
5.17
Counter clear input mode
2
,QSXWVLJQDOVWDWXV No. 0 4-60
Title of signal 6HUYR21
Monitor display $
2.Trial Run (JOG run)
1
Trial Run (JOG run) at Velocity Control Mode
DC 12V to 24V
26 41
15
COM+ SRV-ON ZEROSPD COMï
SPR/TRQR/SPL GND
Run with ZEROSPD switch close, and Stop with open
5
In case of bi-directional operation (Positive/Negative), provide a bipolar power supply, or use with Pr3.15 = 3. In case of one-directional operation
Adjustment
14 DC 10V
3DUDPHWHU Title Control mode setup 2YHUWUDYHOLQKLELWLQSXWVHWXS Speed zero-clamp function selection 6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ Speed command rotational direction selection Input gain of speed command 5HYHUVDORIVSHHGFRPPDQGLQSXW $QDORJLQSXW $, RIIVHWVHWXS $QDORJLQSXW $, ILOWHU
Setup value 1 1 1
6 When in Trouble
Pr No. 0.01 5.04 3.15 3.00 3.01 3.02 3.03 4.22 4.23
Set up as required
7
,QSXWVLJQDOVWDWXV
Note
Title of signal 6HUYR21 Speed zero clamp
Monitor display $ —
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No. 0 5
4 Setup
29
3 Connection
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Before Using the Products
Trial Run by Connecting the Connector X4
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4-61
2.Trial Run (JOG run) Trial Run by Connecting the Connector X4
Trial Run (JOG run) at Torque Control Mode &RQQHFWWKH&RQQHFWRU; (QWHUWKHSRZHU '&9 WRFRQWUROVLJQDO &20&20² (QWHUWKHSRZHUWRWKHGULYHU &RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV 6HWDORZHUYDOXHWR3U WKVSHHGRIVSHHGVHWXS (QHUJL]H WKH PRWRU E\ FRQQHFWLQJ WKH 6HUYR21 LQSXW 65921 &RQQHFWRU ; 3LQ DQG&20² 3LQRI&RQQHFWRU; WRWXUQWR6HUYR21VWDWXV &RQÀUPWKDWWKHPRWRUUXQVDVSHUWKHVHWXSRI3UE\DSSO\LQJ'&YROWDJH SRVLWLYHQHJDWLYH EHWZHHQWKHWRUTXHFRPPDQGLQSXW 3LQRI&RQQHFWRU; DQG*1' 3LQRI&RQQHFWRU; ,I\RXZDQWWRFKDQJHWKHWRUTXHPDJQLWXGHGLUHFWLRQDQGYHORFLW\OLPLWYDOXHDJDLQVW WKHFRPPDQGYROWDJHVHWXSWKHIROORZLQJSDUDPHWHUV 3U Input gain of torque command 5HIHUWR3 3DUDPHWHU6HWXS 3DUDPHWHUVIRU9HORFLW\7RUTXH&RQ 3U ,QSXWUHYersal of torque command WURO 3U 6SHHGOLPLWYDOXH ,IWKHPRWRUGRHVQRWUXQFRUUHFWO\UHIHUWR3'LVSOD\RIIDFWRUIRU1RPRWRUUXQQLQJRI3UHSDUDWLRQ
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3DUDPHWHU Pr No.
Title
Setup value
0.01
Control mode setup
2
5.04
2YHUWUDYHOLQKLELWLQSXWVHWXS
1
3.15
Speed zero-clamp function selection
0
3.17
Selection of torque command
0
3.19
Input gain of torque command
3.20
,QSXWUHYHUVDORIWRUTXHFRPPDQG
Set up as required
3.21
6SHHGOLPLWYDOXH
ORZHUYDOXH
,QSXWVLJQDOVWDWXV No.
Note
4-62
Title of signal
Monitor display
0
6HUYR21
$
5
Speed zero clamp
—
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4
2.Trial Run (JOG run)
Setup
Setup of Motor Rotational Speed and Input Pulse Frequency Motor rotational speed (r/min)
Pr0.08 17-bit
20-bit
17
2 40000
220 40000
500K
3000
217 10000
220 10000
250K
3000
217 5000
220 5000
100K
3000
217 2000
220 2000
500K
1500
217 20000
220 20000
2 Preparation
3000
2M
3
Caution
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ear
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Command pulse
determine parameter
Decimal figures
0
1
21
2
22
4
2
2
3
8
24
16
25
32
6
64
2 20-bit
27
128
5840
28
256
67500
To rotate the output shaft by HQWHUWKHFRPPDQGRI 13 SXOVHVIURPWKH host controller.
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365 ð17 × × 18 213 5840 ＝ 108
365 ð20 × × 18 10000 5840 ＝ 67500
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2
512
210
1024
211
2048
12
4096
2
213
8192
214
16384
215
32768
216
65536
217
131072
218
262144
219
524288
220
1048576
6
7 Supplement
+RZWR
108
2n
When in Trouble
Pr0.10
5840
5
t o rat o
Adjustment
Encoder
Pr0.09
0
ear rat o
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4 Setup
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Connection
Note
Relation between the motor rotational speed and input pulse counts
Before Using the Products
Input pulse frequency (pps)
1
4-63
MEMO
4-64
5. Adjustment
1 Before Using the Products
1. Gain Adjustment
2
Outline ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning Preparation
Basic ...........................................................................................................5-4
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3
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5. Manual Gain Tuning (Application)
4
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Setup
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5
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5
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Adjustment
Outline
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2. Real-Time Auto-Gain Tuning
1
How to Operate
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5 Adjustment
Caution
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3 Connection
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2 Preparation
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Before Using the Products
Basic
6 When in Trouble
7
Related page
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Supplement
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2. Real-Time Auto-Gain Tuning Basic
Parameters set/changed by real-time auto-gain tuning 3DUDPHWHUVZKLFKDUHXSGDWHG 7KH UHDOWLPH DXWRWXQLQJ IXQFWLRQ XSGDWHV WKH IROORZLQJ SDUDPHWHUV DFFRUGLQJ WR 3U 5HDOWLPH DXWRWXQLQJ VHWXS DQG 3U 5HDOWLPH DXWRWXQLQJ FXVWRP VHWXS DQGE\XVLQJWKHORDGFKDUDFWHULVWLFHVWLPDWHYDOXHV Class No.
Title
Function
0
04
,QHUWLDUDWLR
8SGDWHVWKLVSDUDPHWHUZKHQWKHUHDOWLPHDXWR WXQLQJLQHUWLDUDWLRXSGDWHLVHQDEOHG
6
07
7RUTXHFRPPDQG additional value
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6
08
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6
09
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Parameters which are updated to setup value corresponding to stiffness setup 7KHUHDOWLPHDXWRWXQLQJIXQFWLRQXSGDWHVWKHIROORZLQJEDVLFJDLQVHWXSSDUDPHWHUV DFFRUGLQJWR3U5HDOWLPHDXWRWXQLQJVWLIIQHVVVHWXS Class No.
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1
00
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1
01
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1
02
1
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1
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06
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1
09
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3DUDPHWHUVZKLFKDUHVHWWRIL[HGYDOXH 5HDOWLPHDXWRWXQLQJIXQFWLRQVHWVWKHIROORZLQJSDUDPHWHUVWRWKHÀ[HGYDOXH Class No.
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5-6
Title
Setup value when fixed parameter setup is valid.
1
03
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1
08
QGÀOWHURIVSHHGGHWHFWLRQ
1
10
9HORFLW\IHHGIRUZDUGJDLQ
1
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9HORFLW\IHHGIRUZDUGÀOWHU
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12
7RUTXHIHHGIRUZDUGJDLQ
1
13
7RUTXHIHHGIRUZDUGÀOWHU
3´3Uµ3´3Uµ3´3Uµ
0
0
2. Real-Time Auto-Gain Tuning
1
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Title
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Function
14
2nd gain setup
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1
15
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1
16
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1
17
/HYHORISRVLWLRQFRQWUROVZLWFKLQJ
1
18
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1
19
Position gain switching time
1
20
0RGHRIYHORFLW\FRQWUROVZLWFKLQJ
1
21
'HOD\WLPHRIYHORFLW\FRQWURO switching
1
22
/HYHORIYHORFLW\FRQWUROVZLWFKLQJ
1
23
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1
24
0RGHRIWRUTXHFRQWUROVZLWFKLQJ
1
25
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1
26
/HYHORIWRUTXHFRQWUROVZLWFKLQJ
1
27
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Preparation
1
6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW maintained.
3 Connection
6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW maintained.
4
6HWVWRLIWKHFXUUHQWVHWWLQJLVQRW maintained.
Setup
3DUDPHWHUVZKLFKDUHDOZD\VVHWWRLQYDOLG 7KH IROORZLQJ VHWWLQJV DUH DOZD\V VHW WR LQYDOLG ZKHQ 3U 5HDOWLPH DXWRWXQLQJ setup is not 0. Title
10
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13
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23
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24
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6 When in Trouble
6
Function
5 Adjustment
Class No.
Before Using the Products
Basic
7 Supplement
Related page
3´3Uµ3´3Uµ
5-7
2. Real-Time Auto-Gain Tuning Basic
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4. Manual Gain Tuning (Basic)
Adjustment
Outline
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Setup of gain switching condition Pr1.20 0
Switching condition to 2nd gain
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Setup of gain switching condition Pr1.24
Switching condition to 2nd gain
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Delay time *1
Level
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4. Manual Gain Tuning (Basic)
1
Fig.A
speed N
Fig. B
command speed S
2
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switching level
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level
switching level
delay 1st
1st gain
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3 Fig. C
motor speed or commanded speed S level
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delay 1st
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Connection
speed N
deviation pulse
1st
level
4
delay 1st
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Fig. F
Setup
Fig. E
1st
speed N
command speed S
5
delay 1st
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1st
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at stall 1st gain
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in action 2nd gain
| actual speed | < Pr1.17 level
at settling
proximity of stall
2nd gain
2nd gain for velocity integrating only and 1st gain for others
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command pulse exists.
| actual speed | < (Pr1.17 level - Pr1.18 hysteresis)
7
| actual speed | < (Pr1.17 level - Pr1.178 hysteresis)
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Supplement
Caution
5
4. Manual Gain Tuning (Basic)
Adjustment
Suppression of Machine Resonance
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Velocity feed forward gain 0[%]
Motor speed Command speed
Positional deviation within the constant speed range will reduce as the velocity forward gain is increased.
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5-26
5. Manual Gain Tuning (Application)
1
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Velocity feed forward gain = Fixed 100[%]
Torque feed forward gain 0[%]
Time
4
Positional deviation in the region where acceleration is constant can be reduced by torque feed forward.
Setup
50[%]
3 Connection
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Motor speed
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Adjustment
Usage example of analog torque feed forward
5
3´'HWDLOVRISDUDPHWHUµ
5-27
5
5. Manual Gain Tuning (Application)
Adjustment
Instantaneous Speed Observer
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5. Manual Gain Tuning (Application)
1 Before Using the Products
Instantaneous Speed Observer
Related Parameter Class No.
6
10
Title
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How to Use (1) Setup of inertia ratio (Pr0.04)
3
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5-29
5
5. Manual Gain Tuning (Application)
Adjustment
Disturbance observer
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Load model
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Filter
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Disturbance observer Estimated disturbance torque value
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5-30
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5. Manual Gain Tuning (Application)
1 Before Using the Products
Disturbance observer
Related Parameter Class No.
10
Function
Function H[SDQVLRQVHWXS
6HWVELWVUHODWHGWRGLVWXUEDQFHREVHUYHU ELW ,QYDOLG 9DOLG ELW $OZD\VYDOLG alid only when 1st gain is selected. *ELW /6% ([DPSOH 7RXVHWKHGLVWXUEDQFHREVHUYHULQWKHHQDEOHGPRGHRQO\ ZKHQVWJDLQLVVHOHFWHG 6HWXSYDOXH 7RXVHWKHGLVWXUEDQFHREVHUYHUDOZD\VLQWKHHQDEOHG PRGH 6HWXSYDOXH
23
6
24
'LVWXUEDQFH REVHUYHUÀOWHU
3 Connection
6
'LVWXUEDQFH WRUTXHFRPSHQsating gain
2 Preparation
6
Title
6HWXSFRPSHQVDWLQJJDLQDJDLQVWGLVWXUEDQFHWRUTXH 6HWXSWKHÀOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFH WRUTXHFRPSHQVDWLRQ
4
How to Use
Setup
:LWK3U)XQFWLRQHQKDQFHPHQWVHWXSVHWREVHUYHUHQDEOHGLVDEOHDQGRSHUDWLRQ PRGH DOZD\VHQDEOHHQDEOHRQO\ZKHQVWJDLQLVVHOHFWHG 2) Setup of Pr6.24 (Disturbance observer filter) )LUVW VHW XS 3U WR D ODUJHU YDOXH DQG FKHFN WKH RSHUDWLRQ ZLWK 3U 'LVWXUEDQFH
3) Setup of Pr6.23 (Disturbance torque compensating gain) $IWHUVHWWLQJXS3ULQFUHDVH3U 7KH GLVWXUEDQFH VXSSUHVVLQJ FDSDELOLW\ LQFUHDVHV E\ LQFUHDVLQJ WKH JDLQ EXW LW LV DVVRFLDWHGZLWKLQFUHDVLQJYROXPHRIRSHUDWLRQQRLVH 7KLVPHDQVWKDWZHOOEDODQFHGVHWXSFDQEHREWDLQHGE\DGMXVWLQJ3UDQG3U
5 Adjustment
WRUTXHFRPSHQVDWLQJJDLQVHWWRDORZYDOXHDQGWKHQJUDGXDOO\GHFUHDVHWKHVHWXSYDOXH RI3U$ORZÀOWHUVHWXSYDOXHDVVXUHVGLVWXUEDQFHWRUTXHHVWLPDWLRQZLWKVPDOOGHOD\ DQGHIIHFWLYHO\VXSSUHVVHVHIIHFWVRIGLVWXUEDQFH+RZHYHUWKLVUHVXOWVLQODUJHURSHUDWLRQ QRLVH:HOOEDODQFHGVHWXSLVUHTXLUHG
6 When in Trouble
7 Supplement
5-31
5
5. Manual Gain Tuning (Application)
Adjustment
3rd gain switching function
Outline ,QDGGLWLRQWRWKHQRUPDOJDLQVZLWFKLQJIXQFWLRQGHVFULEHGRQ3UGJDLQVZLWFKLQJ IXQFWLRQ FDQ EH VHW WR LQFUHDVH WKH JDLQ MXVW EHIRUH VWRSSLQJ7KH KLJKHU JDLQ VKRUWHQV positioning adjusting time.
Applicable Range 7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG Conditions under which the 3rd gain switching function is activated &RQWUROPRGHWREHHLWKHURUERWKSRVLWLRQFRQWURORUDQGIXOOFORVHG FRQWURO Control mode 3U 3RVLWLRQFRQWURO 3U )XOOFORVHGFRQWURO
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ ,QSXW VLJQDOV VXFK DV WKH GHYLDWLRQ FRXQWHU FOHDU DQG FRPPDQG LQSXW LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
Related Parameter Class No.
Related page
5-32
Title
Function
6
5
3RVLWLRQUGJDLQ valid time
6HWXSWKHWLPHDWZKLFKUGJDLQEHFRPHVYDOLG
6
6
3RVLWLRQUGJDLQ VFDOHIDFWRU
6HWXSWKHUGJDLQE\DPXOWLSO\LQJIDFWRURIWKHVWJDLQ UGJDLQ VWJDLQð3U
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5. Manual Gain Tuning (Application)
1
How to Use
:KHQWKHJDLQLVVZLWFKHGIURPQGWRVWE\WKHFKDQJHLQSDUDPHWHUWKHUGJDLQSHULRGDSSHDUV ([DPSOH 3U3RVLWLRQFRQWUROVZLWFKLQJPRGH VZLWFKLQJFRQGLWLRQ ZLWKSRVLWLRQDOFRPPDQG
3 Connection
Caution
2 Preparation
:KLOHLQWKHFRQGLWLRQXQGHUZKLFKWKHQRUPDOJDLQVZLWFKLQJIXQFWLRQVVHWWKHUGJDLQ DSSOLFDWLRQWLPHWR3U3RVLWLRQUGJDLQHQDEOHWLPHDQGVHWWKHUGJDLQ VFDOHIDFWRUZLWKUHIHUHQFHWRVWJDLQ WR3U3RVLWLRQUGJDLQPDJQLÀFDWLRQUDWLR ,IUGJDLQLVQRWXVHGVHW3UWRDQG3UWR 7KHUGJDLQLVHQDEOHGRQO\IRUSRVLWLRQFRQWURORUIXOOFORVHGFRQWURO 'XULQJWKHUGJDLQSHULRGRQO\SRVLWLRQORRSJDLQVSHHGSURSRUWLRQDOJDLQEHFRPHVUG JDLQGXULQJRWKHUSHULRGVVWJDLQVHWWLQJLVXVHG :KHQWKHQGJDLQVZLWFKLQJFRQGLWLRQLVHVWDEOLVKHGGXULQJUGJDLQSHULRGQGJDLQLV used. 'XULQJ WUDQVLWLRQ IURP QG JDLQ WR UG JDLQ 3U 3RVLWLRQ JDLQ VZLWFKLQJ WLPH LV DSplied.
Before Using the Products
3rd gain switching function
4
Position speed command [r/min] Setup
Pr6.05×0.1ms
2nd gain Pr1.05 to 1.09
3rd gain
5
1st gain Pr1.00 to 1.04
Adjustment
[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.
6 When in Trouble
7 Supplement
5-33
5
5. Manual Gain Tuning (Application)
Adjustment
Friction torque compensation
Outline 7RUHGXFHHIIHFWRIIULFWLRQUHSUHVHQWHGE\PHFKDQLFDOV\VWHPW\SHVRIIULFWLRQWRUTXH FRPSHQVDWLRQ FDQ EH DSSOLHG RIIVHW ORDG FRPSHQVDWLRQ WKDW FDQFHOV FRQVWDQW RIIVHW WRUTXHDQGWKHG\QDPLFIULFWLRQFRPSHQVDWLRQWKDWYDULHVGLUHFWLRQDVWKHRSHUDWLQJGLUHFWLRQYDULHV
Applicable Range 7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG Conditions under which the Friction torque compensation is activated Control mode
6SHFLILF WR LQGLYLGXDO IXQFWLRQV 5HIHU WR 5HODWHG SDUDPHWHUV VKRZQ below.
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ ,QSXW VLJQDOV VXFK DV WKH GHYLDWLRQ FRXQWHU FOHDU DQG FRPPDQG LQSXW LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\
Related Parameter &RPELQHWKHIROORZLQJSDUDPHWHUVWRVHWXSDSSURSULDWHIULFWLRQWRUTXHFRPSHQVDWLRQ Class No.
6
6
6
Related page
5-34
Title
Function
7
7RUTXH command additional value
6HWXSWKHRIIVHWORDGFRPSHQVDWLRQYDOXHXVXDOO\DGGHGWR WKHWRUTXHFRPPDQGLQDFRQWUROPRGHH[FHSWIRUWKHWRUTXH FRQWUROPRGH
8
Positive GLUHFWLRQWRUTXH compensation value
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG WRWKHWRUTXHFRPPDQGZKHQIRUZDUGSRVLWLRQDOFRPPDQG LVIHG
9
1HJDWLYH GLUHFWLRQWRUTXH compensation value
6HWXSWKHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHWREHDGGHG WRWKHWRUTXHFRPPDQGZKHQQHJDWLYHGLUHFWLRQSRVLWLRQDO FRPPDQGLVIHG
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5. Manual Gain Tuning (Application)
1
How to Use 7KH IULFWLRQ WRUTXH FRPSHQVDWLRQ ZLOO EH DGGHG LQ UHVSRQVH WR WKH HQWHUHG SRVLWLRQDO FRPPDQGGLUHFWLRQDVVKRZQEHORZ
Before Using the Products
Friction torque compensation
2
[Positive direction]
[
Pr6.07 Torque command additional value
]
Pr6.08 Positive direction torque compensation value Pr6.09 Negative direction torque compensation value
[
Preparation
Command speed
]
[
] 3
Time
Connection
[Negative direction] Motor de-energized
Motor energized
Motor de-energized
The friction compensation torque is the sum of the offset load compensation value which is set
4
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 Setup
value. The command speed direction is reset upon power-up or when the motor is de-energized.
Caution
7 Supplement
5-35
6 When in Trouble
7KHRIIVHWORDGFRPSHQVDWLRQDQGG\QDPLFIULFWLRQFRPSHQVDWLRQFDQEHXVHGLQGLYLGXDOO\RULQFRPELQDWLRQ+RZHYHUVRPHFRQWUROPRGHVLPSRVHOLPLWRQDSSOLFDWLRQ )RUWRUTXHFRQWURO 2IIVHWORDGFRPSHQVDWLRQDQGG\QDPLFIULFWLRQFRPSHQVDWLRQDUHVHW DWUHJDUGOHVVRISDUDPHWHUVHWWLQJ )RUYHORFLW\FRQWUROZLWKVHUYRRII 2IIVHWORDGFRPSHQVDWLRQSHU3ULVHQDEOHG'\QDPLFIULFWLRQFRPSHQVDWLRQLVVHWDWUHJDUGOHVVRISDUDPHWHUVHWWLQJ )RUSRVLWLRQFRQWURORUIXOOFORVHGFRQWUROZLWKVHUYRRQ 3UHYLRXVRIIVHWORDGFRPSHQVDWLRQ DQG G\QDPLF IULFWLRQ FRPSHQVDWLRQ YDOXHV DUH PDLQWDLQHG XQWLO WKH ÀUVW SRVLWLRQDO FRPPDQGLVDSSOLHGZKHUHWKHRIIVHWORDGFRPSHQVDWLRQYDOXHLVXSGDWHGDFFRUGLQJWR 3U7KHG\QDPLFIULFWLRQFRPSHQVDWLRQYDOXHLVXSGDWHGWRSDUDPHWHUV3UDQG 3U GHSHQGLQJRQFRPPDQGGLUHFWLRQ
5 Adjustment
3U >7RUTXH FRPPDQG DGGLWLRQDO YDOXH@ UHGXFHV YDULDWLRQV LQ SRVLWLRQLQJ RSHUDWLRQ SHUIRUPDQFHLVDIIHFWHGE\GLUHFWLRQRIPRYHPHQW 7KHVHYDULDWLRQVRFFXUZKHQFRQVWDQWRIIVHWWRUTXHUHVXOWLQJIURPZHLJKWRQYHUWLFDOD[LVLVDSSOLHGWRWKHPRWRU &HUWDLQ ORDGV VXFK DV EHOW GULYHQ VKDIW UHTXLUHV KLJK G\QDPLF IULFWLRQ WRUTXH ZKLFK OHQJWKHQV SRVLWLRQLQJ VHWWLQJ WLPH RU YDULHV SRVLWLRQLQJ DFFXUDF\7KHVH SUREOHPV FDQ EHPLQLPL]HGE\VHWWLQJWKHIULFWLRQWRUTXHRIHYHU\URWDWLQJGLUHFWLRQLQWRLQGLYLGXDOSDUDPHWHUV 3U >3RVLWLYH GLUHFWLRQ WRUTXH FRPSHQVDWLRQ YDOXH@ DQG 3U >1HJDWLYH GLUHFWLRQWRUTXHFRPSHQVDWLRQYDOXH@FDQEHXVHGIRUWKLVSXUSRVH
5
5. Manual Gain Tuning (Application)
Adjustment
Inertia ratio switching function
Outline ,QHUWLDUDWLRFDQEHVZLWFKHGEHWZHHQ1RDQG1RE\WKHVZLWFKLQJLQSXW -6(/ 7KLV IHDWXUHLVXVHIXOLQDSSOLFDWLRQZKHUHWKHORDGLQHUWLDFKDQJHVLQWZRVWHSV
Applicable Range 7KLVIXQFWLRQFDQEHDSSOLFDEOHRQO\ZKHQWKHIROORZLQJFRQGLWLRQVDUHVDWLVÀHG Conditions under which the Inertia ratio switching function is activated &DQEHXVHGLQDOOFRQWUROPRGHV 3U 3RVLWLRQFRQWURO 3U 9HORFLW\FRQWURO 3U 7RUTXHFRQWURO Control mode 3U 3RVLWLRQ9HORFLW\FRQWURO 3U 3RVLWLRQ7RUTXHFRQWURO 3U 9HORFLW\7RUTXHFRQWURO 3U )XOOFORVHGFRQWURO
Others
6KRXOGEHLQVHUYRRQFRQGLWLRQ ,QSXW VLJQDOV VXFK DV WKH GHYLDWLRQ FRXQWHU FOHDU DQG FRPPDQG LQSXW LQKLELWDQGSDUDPHWHUVH[FHSWIRUFRQWUROVVXFKDVWRUTXHOLPLWVHWXSDUH FRUUHFWO\VHWDVVXULQJWKDWWKHPRWRUFDQUXQVPRRWKO\ 5HDOWLPHDXWRWXQLQJVKRXOGEHGLVDEOHG 3U $GDSWLYHÀOWHUVKRXOGEHGLVDEOHG 3U ,QVWDQWDQHRXVVSHHGREVHUYHUVKRXOGEHGLVDEOHG 3UELW 'LVWXUEDQFHREVHUYHUVKRXOGEHGLVDEOHG 3U ELW
Caution %HVXUHWRFKDQJHWKHLQHUWLDUDWLRZKLOHWKHPRWRULVLQVWRSVWDWH2WKHUZLVHYLEUDWLRQ RURVFLOODWLRQZLOORFFXU ,IWKHGLIIHUHQFHEHWZHHQWKHVWLQHUWLDUDWLRDQGQGLQHUWLDUDWLRLVODUJHYLEUDWLRQHWF PD\RFFXUHYHQLQVWRSPRGH7KHVHSRWHQWLDOSUREOHPVVKRXOGEHLGHQWLÀHGRQWKHDFtual model.
Related page
5-36
3´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ33´'HWDLOVRISDUDPHWHUµ
5. Manual Gain Tuning (Application)
1
Related Parameter &RPELQHWKHIROORZLQJSDUDPHWHUVWRVHWXSDSSURSULDWHLQHUWLDUDWLRVZLWFKLQJIXQFWLRQ Class No.
Title
2
Function
04
,QHUWLDUDWLR
6
13
QG,QHUWLDUDWLR
6HWQGLQHUWLDUDWLR @ 'ULYLQJXQGHUIXOOFORVHGFRQWUROJUDGXDOO\LQFUHDVHWKHVHWXSYDOXHRI3U +\EULGYLEUDWLRQVXSSUHVVLRQILOWHUZKLOHFKHFNLQJUHVSRQVHFKDQJH :KHQWKHUHVSRQVHLVLPSURYHGDGMXVW3UDQG3UWRGHWHUPLQHWKHFRPELQDWLRQ WKDWSURYLGHVWKHEHVWUHVSRQVH
Related page
5-38
3´'HWDLOVRISDUDPHWHUµ
6. About Homing Operation
Adjustment
Caution on Homing Operation
1
([DPSOHRI+RPLQJ$FWLRQ 3UR[LPLW\GRJRQ'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\ RIWKHÀUVWRULJLQLQSXW =SKDVH proximity dog
speed
origin input
3 Connection
proximity input
2 Preparation
,Q KRPLQJ DFWLRQ E\ XVLQJ WKH KRVW FRQWUROOHU VWRS SRVLWLRQ PLJKW QRW EH VWDELOL]HG LI WKHRULJLQLQSXW =SKDVHRIWKHHQFRGHU LVHQWHUHGZKLOHWKHPRWRULVQRWGHFHOHUDWHG HQRXJKDIWHUWKHSUR[LPLW\LQSXWLVWXUQHGRQ6HWXSWKH21SRVLWLRQVRISUR[LPLW\LQSXW DQGWKHSRVLWLRQRIRULJLQSRLQWFRQVLGHULQJWKHQHFHVVDU\SXOVHFRXQWVIRUGHFHOHUDWLRQ7DNHWKHSRVLWLRQLQJDFWLRQDQGKRPLQJDFWLRQLQWRDFFRXQWZKHQ\RXVHWSXWDFFHOHUDWLRQGHFHOHUDWLRQWLPHZLWKSDUDPHWHUVLQFHWKLVDIIHFWWKHVHDFWLRQDVZHOO For the details of homing, observe the instruction manual of the host controller.
Before Using the Products
5
4
encoder Z-phase
Setup
3UR[LPLW\GRJRII'HFHOHUDWHVDWDQHQWU\RIWKHSUR[LPLW\LQSXWDQGVWRSVDWDQHQWU\ RIWKHÀUVWRULJLQLQSXW =SKDVH DIWHUWKHLQSXWLVWXQHGRII proximity dog proximity input
5 speed Adjustment
origin input encoder Z-phase
6 When in Trouble
7 Supplement
5-39
5
6. About Homing Operation
Adjustment
Homing with Hit & Stop
'LUHFWLRQRIPRWRUVKDIW@ >2SSRVLWHGLUHFWLRQRIPRWRUVKDIW@ *DVNHW
%UDNH
7
6HFXUHWKHJDVNHWLQSODFHZLWKRXWUHPRYLQJLWIURPWKHFRQQHFWRU2WKHUZLVHWKHGHJUHHRI SURWHFWLRQRI,3ZLOOQRWEHJXDUDQWHHG
:KHQ,3RU,3DUHQHFHVVDU\WKHFXVWRPHUPXVWJLYHDSSURULDWHSURFHVVLQJ
Remarks
)RUFULPSWRROHWFQHFHVVDU\WRSURGXFHDFDEOHDFFHVVWKHZHEVLWHRIWKHPDQXIDFWXUHU or consult with the manufacturer for details. For inquiries of manufacturer, refer to P.7-125 "List of Peripheral Equipments". 7-117
Supplement
Caution
7
7. Options
Supplement
Battery For Absolute Encoder
Battery For Absolute Encoder Part No.
'93
/LWKLXPEDWWHU\ 9P$K 84
Lead wire length 50mm
DV0P2990 00090001
ZHR-2 (J.S.T Mfg. Co., Ltd.)
14.5
1
2
BAT+ BAT– 18
Paper insulator
Caution
This battery is categorized as hazardous substance, and you may be required to present an application of hazardous substance when you transport by air (both passenger and cargo airlines).
Battery Box For Absolute Encoder Part No.
'93
&RPSRQHQWV (112) (110)
DV0P4430
(27)
P04090001*
(31)
R5
Related page
7-118
3´$EVROXWHV\VWHPµ
7
7. Options
Supplement
Mounting Bracket
15
40
3 B-frame
17
9.5
2-R 1
15
10
R1
ss le or 2.5
R2
5.2
2.5
R2
2 R
2 R
.2
5 18 ± 0.2
R1
ss le or
10
9.5
2.5
Connection
18 ± 0.2
Bottom side
Upper side
Dimensions
ø5
2-M4, Pan head
5 C 2-
5 C 2-
2-M4, Pan head
24
M4 × L6 Pan head 4pcs
Mounting screw
2.5
Frame symbol of applicable driver
'930
17
ss le or
33 40
15
2.5
R2
R1
7
Part No.
5.2
2-R 1
2.5
17
9.5
11 ± 0.2
10
10
R1
ss le or 2.5
17
9.5
R2
5
2 R
.2
2 Preparation
2.5
Bottom side
2 R
ø5
2-M4, Pan head
5 C 2-
5 C 2-
Upper side
Dimensions
11 ± 0.2
M4 × L6 Pan head 4pcs
Mounting screw
2-M4, Pan head
24
15
A-frame
Before Using the Products
Frame symbol of applicable driver
'930
Part No.
1
7
4
40 47
47
Setup
9.5
17 15
2.5
40
17 15
2.5
.2 ø5 2-
10
R1
ss le or
2 R
2 R
R2
19 5.2
36 ± 0.2 5.2
1 4-R
2.5
R2
R1 10
9.5
2.5
Bottom side
36 ± 0.2
2-M4, Pan head
9.5
2-M4, Pan head
40 ± 0.2 60
M4 × L6 Pan head 4pcs
10
6 When in Trouble
17
Mounting screw 5 C 2-
5 C 2-
Upper side
Dimensions
15
D-frame
ss le or 2.5
Frame symbol of applicable driver
'930
10
ss le or
20 40
5
2.5
R2
R1
20
Part No.
5.2
10
9.5 10
R1
ss le or
30 ± 0.2
2-R 1
Adjustment
R2
5 2 R
15
2-M4, Pan head
5 C 2-
2 R
.2
2.5
Bottom side
Upper side
Dimensions
30 ± 0.2
ø5
M4 × L6 Pan head 4pcs
Mounting screw
2-M4, Pan head
5 C 2-
17
C-frame
2.5
Frame symbol of applicable driver
'930
Part No.
7
40 ± 0.2 60
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).
Related page
3´'LPHQVLRQVRIGULYHUµ 7-119
Supplement
Caution
7
7. Options
Supplement
Reactor
Fig.1
X Y Z
NP
R S T
6-I
E
A
A
4-H
(Mounting pitch)
F
F: Center-to-center distance on outer circular arc
(Mounting pitch)
B
Fig.2
G
2-I
E
A
A
4-H
(Mounting pitch)
F
F: Center-to-center distance on slotted hole
(Mounting pitch)
G
B
Fig.2
Part No.
A
B
C
D
E (Max)
F
G
H
I
'93 '93 '93 '93 '93 '93 '93 '93 '930
65±1 60±1 60±1 60±1 60±1 60±1 55±0.7 55±0.7 55±0.7
125±1 150±1 150±1 150±1 150±1 150±1 80±1 80±1 80±1
(93) (113) (113) (113) (113) (113) 66.5±1 66.5±1 66.5±1
136Max 155Max 155Max 155Max 160Max 160Max 110Max 110Max 110Max
155 130 140 150 155 170 90 95 105
ï ï ï ï ï ï 41±2 46±2 56±2
85±2 75±2 85±2 95±2 100±2 115±2 55±2 60±2 70±2
Ѯð Ѯð Ѯð Ѯð Ѯð Ѯð Ѯð Ѯð Ѯð
M4 M4 M4 M4 M5 M5 M4 M4 M4
Motor series
Power supply
Rated output
Part No.
MSME
Single phase, 100V
50W to 100W
DV0P227
MSME
200W to 400W
DV0P228
MDME
MSME
Single phase, 200V
50W to 200W
DV0P227
MHME
400W to 750W
DV0P228
MGME
1.0kW
DV0P228
MSME
1.5kW
DV0PM20047
MDME
0.9kW
DV0P228
MHME
MSME MDME MHME
Single phase, 200V
MGME
Single phase, 200V
Motor series
MSME
50W to 750W
DV0P220
MGME
MGME
0.9kW
DV0P221
MSME
MSME
MDME
3-phase, 200V
MDME
1.0kW 1.5kW
DV0P222
1.5kW
DV0PM20047
1.5kW
DV0P222
2.5kW
DV0P224
MHME Single phase, 200V
MFME 3-phase, 200V
7-120
F
D
C
H
Fig.1
F
D
C
H
MHME
Power supply
3-phase, 200V
Inductance Rated current (mH) (A) 6.81 3 4.02 5 2 8 1.39 11 0.848 16 0.557 25 4.02 5 2 8 1.39 11
Rated output
Part No.
2.0kW
DV0P223
3.0kW
DV0P224
4.0kW
DV0P225
7. Options
1
Harmonic restraint
3 Connection
4 Setup
5 Adjustment
6 When in Trouble
$OOW\SHVRIWKHJHQHUDOSXUSRVHLQYHUWHUVDQGVHUYRGULYHUVXVHGE\VSHFLÀFXVHUVDUH XQGHUWKHFRQWURORIWKH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKHDY\FRQVXPHUVZKRUHFHLYHSRZHUWKURXJKKLJKYROWDJHV\VWHPRUH[WUDKLJKYROWDJHV\VWHPµ7KHXVHUVZKR are required to apply the guidelines must calculate the equivalent capacity and harmonic current according to the guidelines and must take appropriate countermeasures LIWKHKDUPRQLFFXUUHQWH[FHHGVDOLPLWYDOXHVSHFLÀHGLQDFRQWUDFWGHPDQG 5HIHUWR JEM-TR 210 and JEM-TR 225.) 7KH´*XLGHOLQHVIRUKDUPRQLFUHVWUDLQWRQKRXVHKROGHOHFWULFDODSSOLDQFHVDQGJHQHUDO SXUSRVH DUWLFOHVµ ZDV DEROLVKHG RQ 6HSWHPEHU +RZHYHU EDVHG RQ FRQYHQtional guidelines, JEMA applies the technical documents JEM-TR 226 and JEM-TR WR DQ\ XVHUV ZKR GR QRW ÀW LQWR WKH ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KHDY\ consumers who receive power through high voltage system or extra high voltage sysWHPµIURPDSHUVSHFWLYHRQHQOLJKWHQPHQWRQJHQHUDOKDUPRQLFUHVWUDLQW7KHSXUSRVH of these guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent.
2 Preparation
Harmonic restraint measures are not common to all countries. Therefore, prepare the measures that meet the requirements of the destination country. :LWK SURGXFWV IRU -DSDQ RQ 6HSWHPEHU ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ heavy consumers who receive power through high voltage system or extra high voltage V\VWHPµ DQG ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDOSXUSRVH DUWLFOHVµ HVWDEOLVKHG E\ WKH$JHQF\ IRU 1DWXUDO 5HVRXUFHV DQG (QHUJ\ 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 understand the restraint and to cooperate with us. On January, 2004, it has been decided to H[FOXGHWKHJHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUIURPWKH´*XLGHOLQHVIRUKDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDOSXUSRVH DUWLFOHVµ$IWHU WKDW WKH ´*XLGHOLQHV IRU KDUPRQLF UHVWUDLQW RQ KRXVHKROG HOHFWULFDO DSSOLDQFHV DQG JHQHUDO SXUSRVHDUWLFOHVµZDVDEROLVKHGRQ6HSWHPEHU We are pleased to inform you that the procedure to execute the harmonic restraint on JHQHUDOSXUSRVHLQYHUWHUDQGVHUYRGULYHUZDVPRGLÀHGDVIROORZV
Before Using the Products
Reactor
7 Supplement
7-121
7
7. Options
Supplement
External Regenerative Resistor Specifications
Manufacturer's Resistance part No.
Part No.
Mass
Free air
with fan
mm
kg
W
W
0.1
10
25
ї DV0P4280
Rated power (reference) *1
cable core outside diameter
RF70M
50
DV0P4281
RF70M
100
0.1
10
25
DV0P4282
RF180B
25
0.4
17
50
DV0P4283
RF180B
50
0.2
17
50
DV0P4284
RF240
30
DV0P4285
RH450F
20
DV0PM20048
RF240
120
DV0PM20049
RH450F
80
DV0PM20058
RH450F × 6
3.3
DV0PM20059
RH450F × 6
13.3
(
Ѯ AWG18 stranded wire
)
0.5
40
100
1.2
52
130
0.5
35
80
1.2
65
190
16
— *3
780
16
*3
— *2 —
*2
—
Activation temperature of built-in thermostat
Ý& B-contact Open/Close capacity (resistance load) 1A 125VAC 6000 times 0.5A 250VAC 10000 times
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 100°C. $WWDFKWKHUHJHQHUDWLYHUHVLVWRUWRDQRQÁDPPDEOHPDWHULDOVXFKDVPHWDO &RYHUWKHUHJHQHUDWLYHUHVLVWRUZLWKDQRQÁDPPDEOHPDWHULDOVRWKDWLWFDQQRWEHGLUHFWO\WRXFKHG Temperatures of parts that may be directly touched by people should be kept below 70°C. *2 Terminal block with screw tightening torque as shown below. T1, T2, 24V, 0V, E：M4：1.2 to 1.4N·m R1, R2 ：M5：2.0 to 2.4N·m 8VHWKHFDEOHZLWKWKHVDPHGLDPHWHUDVWKHPDLQFLUFXLWFDEOH 5HIHUWR3 *3 With built-in fan which should always be operated with the power supply connected across 24 V and 0 V.
DV0P4280, DV0P4281
17
8
60
13
30
7
thermostat (light yellow ×2)
DV0P4283
D
DV0P4284
DV0PM20048
E
DV0P4284 × 2 in parallel or DV0P4285
DV0PM20049
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
DV0P4282, DV0P4283 170±1
160
Ѯ
thermostat (light yellow ×2)
7
10
Drawing process (2mm MAX)
±1
300±30
24 23
—
21
13
—
DV0P4282
SKDVH9
28
C
Ѯ
DV0P4283
300
13
DV0P4280
DV0P4281 (50W, 100W) DV0P4283 (200W)
B
F
7-122
Single phase, 9 SKDVH9
10MAX
A
Single phase, 9
Frame
10MAX
Power supply
7. Options
1
DV0P4284, DV0PM20048
DV0P4285, DV0PM20049
300 290 280
300 278
（5）
Ѯ
thermostat (light yellow ×2)
300
450
100 50
15
20
10 288 18 11
9MAX
10MAX
Preparation
300 71
140 130
70
14
15
100 25 4.5
450
10
2
450
Ѯ
53
thermostat (light yellow ×2)
Before Using the Products
External Regenerative Resistor
DV0PM20058, DV0PM20059 R1 R2
3
T1 T2 24V 0V E
T.F R
T.F R
T.F R
T.F R
T.F R
ѡ
FAN
Connection
T.F R
The third from the top
FG
Ѯ 6-
7
5 ї（DV0PM20058） 5 ї（DV0PM20059）
4 240 228
Circuit diagram
Setup
20
215
215
20
470 380
193
Cover (Punching metal)
124 (38)
Adjustment
270 MAX
5
470
6
Regenerative resistor gets very hot.
7 Supplement
Caution
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. 0DNHLWVXUHWKDWWKHVXUIDFHWHPSHUDWXUHRIWKHUHVLVWRUPD\QRWH[FHHGÝ&DW 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.
When in Trouble
Remarks
Take preventive measures for fire and burns. Avoid the installation near inflammable objects, and easily accessible place by hand. 7-123
7
7. Options
Supplement
Recommended components
Surge absorber for motor brake Motor
Part No.
50W to 750W (200V) MSME
Manufacturer
Z15D271
750W (400V) 1.0kW to 5.0kW
Ishizuka Electronics Co. Z15D151
400W (400V) 600W (400V) MDME
1.0kW to 3.0kW
NVD07SCD082
KOA CORPORATION
4.0kW to 7.5kW
Z15D151
Ishizuka Electronics Co.
NVD07SCD082
KOA CORPORATION
0.9kW to 6.0kW
Z15D151
Ishizuka Electronics Co.
1.0kW, 1.5kW
NVD07SCD082
KOA CORPORATION
2.0kW to 7.5kW
Z15D151
Ishizuka Electronics Co.
11kW, 15kW 1.5kW MFME 2.5kW, 4.5kW MGME MHME
7-124
7. Options
Supplement
/LVWRI3HULSKHUDO(TXLSPHQWV
Manufacturer
Tel No. / Home Page
1
Peripheral components
81-6-6908-1131 http://panasonic-denko.co.jp/ac
Circuit breaker Surge absorber
Iwaki Musen Kenkyusho Co., Ltd.
81-44-833-4311 http://www.iwakimusen.co.jp/
Regenerative resistor
Ishizuka Electronics Corp.
81-3-3621-2703 http://www.semitec.co.jp/
KOA CORPORATION
81-42-336-5300 http://www.koanet.co.jp/
TDK Corp.
81-3-5201-7229 http://www.tdk.co.jp/
(Nisshin Electric Co., Ltd.)
81-4-2934-4151 http://www.nisshin-electric.com/
81-3-4544-7040 http://www.okayatec.co.jp/
Japan Aviation Electronics Industry, Ltd.
81-3-3780-2717 http://www.jae.co.jp
Sumitomo 3M
81-3-5716-7290 http://www.mmmco.jp
Tyco Electronics
81-44-844-8052 http://www.tycoelectronics.com/ japan/
Japan Molex Inc.
81-462-65-2313 http://www.molex.co.jp
J.S.T. Mfg. Co., Ltd.
81-45-543-1271 http://www.jst-mfg.com/index_i. html
Daiden Co., Ltd.
81-3-5805-5880 http://www.dyden.co.jp/
Mitutoyo Corp.
81-44-813-8236 http://www.mitutoyo.co.jp
Magnescale Co., Ltd.
81-463-92-7973 http://www.mgscale.com
Schaffner EMC, Inc.
81-3-5712-3650 http://www.schaffner.jp/
4
Surge absorber 1RLVHÀOWHU
5 Connector
6 When in Trouble
Okaya Electric Industries Co. Ltd.
1RLVHÀOWHUIRUVLJQDOOLQHV
Adjustment
81-184-53-2307 http://www.kk-corp.co.jp/
3
Setup
KK-CORP.CO.JP
Surge absorber for holding brake
Cable
External scale
7 1RLVHÀOWHU Supplement
Note
Connection
MICROMETALS
2 Preparation
Automation Controls Company Panasonic Electric Works, Co.,Ltd
Before Using the Products
7
Contact information shown above is as of Februaly 2011. This list is for reference only and subject to change without notice.
7-125
Warranty
Warranty period 7KH ZDUUDQW\ SHULRG LV RQH \HDU IURP WKH GDWH RI SXUFKDVH RU PRQWKV IURP WKH month of manufacture in our plant. For a motor with brake, the axis accelerated and decelerated more times than the VSHFLÀHGOLPLWLVQRWFRYHUHGE\ZDUUDQW\
Warranty information 6KRXOG DQ\ GHIHFW GHYHORS GXULQJ ZDUUDQW\ SHULRG XQGHU VWDQGDUG VHUYLFH FRQGLWLRQV 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 containing: [1] Failure or damage due to misuse, improper repair or alteration. [2] Failure or damage due to falling, or damage during transportation, after the original delivery >@ 'HIHFWVUHVXOWLQJIURPQHJOHFWRIWKHVSHFLÀFDWLRQLQXVHRIWKHSURGXFW >@ )DLOXUHRUGDPDJHGXHWRXQUHJXODWHGYROWDJHDQGÀUHDQGDFWRIQDWXUDOGLVDVWHUVVXFKDVHDUWKTXDNHOLJKWQLQJZLQGÁRRGDQGVDOWSROOXWLRQ [5] Defects resulting from invasion of foreign materials such as water, oil and metal pieces. 3DUWVH[FHHGLQJWKHLUVWDQGDUGOLIHWLPHVSHFLÀHGLQWKLVGRFXPHQWDUHH[FOXGHG 7KHFRPSDQ\VKDOOQRWEHOLDEOHIRUDQ\LQGLUHFWLQFLGHQWDORUFRQVHTXHQWLDOGDPDJHRU loss of any nature that may arise in connection with the product.
7-126
Cautions for Proper Use
3UDFWLFDOFRQVLGHUDWLRQVIRUH[SRUWLQJWKHSURGXFWRUDVVHPEO\FRQWDLQLQJWKHSURGXFW 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. 7KLVSURGXFWLVLQWHQGHGWREHXVHGZLWKDJHQHUDOLQGXVWULDOSURGXFWEXWQRWGHVLJQHG or manufactured to be used in a machine or system that may cause personal death when it is failed. ,QVWDOODWLRQ ZLULQJ RSHUDWLRQ PDLQWHQDQFH HWF RI WKH HTXLSPHQW VKRXOG EH GRQH E\ TXDOLÀHGDQGH[SHULHQFHGSHUVRQQHO $SSO\DGHTXDWHWLJKWHQLQJWRUTXHWRWKHSURGXFWPRXQWLQJVFUHZE\WDNLQJLQWRFRQVLGeration strength of the screw and the characteristics of material to which the product is LQVWDOOHG 2YHUWLJKWHQLQJ FDQ GDPDJH WKH VFUHZ DQGRU PDWHULDO XQGHUWLJKWHQLQJ FDQ result in loosening. Example) Steel screw into steel section: M4 1.35 to 1.65 N·m. M5 2.7 to 3.3 N·m. M6 4.68 to 5.72 N·m. M8 11.25 to 13.75 N·m. M10 22.05 to 26.95 N·m. M11 37.8 to 46.2 N·m. ,QVWDOODVDIHW\HTXLSPHQWVRUDSSDUDWXVLQ\RXUDSSOLFDWLRQZKHQDVHULRXVDFFLGHQWRU loss of property is expected due to the failure of this product. Consult us if the application of this product is under such special conditions and environments as nuclear energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which require a lesser air contamination. :HKDYHEHHQPDNLQJWKHEHVWHIIRUWWRHQVXUHWKHKLJKHVWTXDOLW\RIWKHSURGXFWVKRZever, application of exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range. ,IWKHPRWRUVKDIWLVQRWHOHFWULFDOO\JURXQGHGLWPD\FDXVHDQHOHFWURO\WLFFRUURVLRQWR the bearing, depending on the condition of the machine and its mounting environment, DQGPD\UHVXOWLQWKHEHDULQJQRLVH&KHFNLQJDQGYHULÀFDWLRQE\FXVWRPHULVUHTXLUHG )DLOXUH RI WKLV SURGXFW GHSHQGLQJ RQ LWV FRQWHQW PD\ JHQHUDWH VPRNH RI DERXW RQH cigarette. Take this into consideration when the application of the machine is clean room related. 3OHDVH EH FDUHIXO ZKHQ XVLQJ LQ DQ HQYLURQPHQW ZLWK KLJK FRQFHQWUDWLRQV RI VXOIXU RU sulfric gases, as sulfuration can lead to disconnection from the chip resistor or a poor contact connection. 7DNHFDUHWRDYRLGLQSXWWLQJDVXSSO\YROWDJHZKLFKVLJQLÀFDQWO\H[FHHGVWKHUDWHGUDQJH to the power supply of this product. Failure to heed this caution may result in damage to WKHLQWHUQDOSDUWVFDXVLQJVPRNLQJDQGRUDÀUHDQGRWKHUWURXEOH The user is responsible for matching between machine and components in terms of FRQÀJXUDWLRQGLPHQVLRQVOLIHH[SHFWDQF\FKDUDFWHULVWLFVZKHQLQVWDOOLQJWKHPDFKLQH RU FKDQJLQJ VSHFLÀFDWLRQ RI WKH PDFKLQH 7KH XVHU LV DOVR UHVSRQVLEOH IRU FRPSO\LQJ with applicable laws and regulations. 7KHSURGXFWZLOOQRWEHJXDUDQWHHGZKHQLWLVXVHGRXWVLGHLWVVSHFLÀFDWLRQOLPLWV Parts are subject to minor change to improve performance.
7-127
After-Sale Service (Repair)
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.
Technical information Technical information of this product (Operating Instructions, CAD data) can be downloaded from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
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 )$;
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 Name
Dealer
Address Phone
(
)
-
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Phone : +81-72-871-1212 © Panasonic Corporation 2009
IME10 A1009-3121
