Instruction Manual
AC Servo Motor and Driver
MINAS A4P Series
•Thank you for buying and using Panasonic AC Servo Motor and Driver, MINAS A4P Series.
•Read through this Instruction Manual for proper use, especially read "Precautions for Safety" ( P.8
to 11) without fail for safety purpose.
•Keep this Manual at an easily accessible place so as to be referred anytime as necessary.
DV0P4490
Download from Www.Somanuals.com. All Manuals Search And Download.
List of Servo Parameter ................................................................................................................................ 58
List of 16-bit Positioning Parameters ........................................................................................................... 73
List of 32-bit Positioning Parameters ........................................................................................................... 77
List of Step Parameters ................................................................................................................................ 77
Setup of Torque Limit.................................................................................................................................... 78
How to Use the Console.......................................................... 80
Setup with the Console ................................................................................................................................ 80
Initial Status of the Console Display (7 Segment LED)................................................................................ 80
Mode Change ............................................................................................................................................... 81
Monitor Mode................................................................................................................................................ 82
Teaching Mode ............................................................................................................................................. 87
Parameter setup mode ................................................................................................................................. 91
EEPROM Writing Mode ................................................................................................................................ 96
Auto-Gain Tuning Mode ............................................................................................................................... 97
Auxiliary Function Mode ............................................................................................................................... 98
Copying Function (Console Only) .............................................................................................................. 101
Outline of Setup Support Software, "PANATERM®" ........... 103
Outline of PANATERM® .............................................................................................................................. 103
How to Connect .......................................................................................................................................... 103
[Operation Setting]
page
Overview of Operation Setting.............................................. 106
Step Operation ....................................................................... 107
Step Operation ........................................................................................................................................... 107
Example of Incremental Operation Setting ................................................................................................ 108
Example of Absolute Operation Setting ..................................................................................................... 109
Example of Rotary Axis Operation Setting ................................................................................................. 110
Example of Dwell Timer Operation Setting ................................................................................................ 111
Jog Operation ........................................................................ 112
Jog Operation ............................................................................................................................................. 112
Homing ................................................................................... 114
Homing Operation ...................................................................................................................................... 114
Home Sensor + Z Phase (based on the front end) .................................................................................... 116
Home Sensor (based on the front end) ...................................................................................................... 117
Home sensor + Z phase (based on the rear end) ...................................................................................... 118
Limit Sensor + Z phase .............................................................................................................................. 120
Limit Sensor................................................................................................................................................ 121
Z Phase Homing ......................................................................................................................................... 122
Bumping Homing ........................................................................................................................................ 122
Data Set...................................................................................................................................................... 123
Homing Offset Operation............................................................................................................................ 124
Emergency Stop Operation/Deceleration-and-Stop Operation .....125
Temporary Stop Operation.................................................... 126
Block Operation ..................................................................... 127
Overview of Block Operation ...................................................................................................................... 127
Continuous Block Operation....................................................................................................................... 127
Combined Block Operation ........................................................................................................................ 128
Sequential Operation............................................................. 130
S-shaped Acceleration/Deceleration Function .................... 131
3
Download from Www.Somanuals.com. All Manuals Search And Download.
Timing Chart .......................................................................... 132
Operation Timing after Power-ON .............................................................................................................. 132
When an Error (Alarm) Has Occurred (at Servo-ON Command) .............................................................. 133
When an Alarm Has Been Cleared (at Servo-ON Command) ................................................................... 134
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ................................................................ 135
Servo-ON/OFF Action While the Motor Is in Motion .................................................................................. 135
Absolute System ................................................................... 136
Overview of Absolute System..................................................................................................................... 136
Configuration of Absolute System .............................................................................................................. 136
Battery (for Backup) Installation ................................................................................................................. 136
Setup (Initialization) of Absolute Encoder .................................................................................................. 136
Outline of Full-Closed Control .............................................. 140
What Is Full-Closed Control ? .................................................................................................................... 140
[Adjustment]
page
Gain Adjustment .................................................................... 142
Real-Time Auto-Gain Tuning Mode....................................... 144
Adaptive Filter............................................................................................................................................. 147
Normal Mode Auto-Gain Tuning ........................................... 148
Release of Automatic Gain Adjusting Function .................. 151
Manual Gain Tuning (Basic) .................................................. 152
Adjustment in Position Control Mode ......................................................................................................... 153
Adjustment in Full-Closed Control Mode.................................................................................................... 154
Gain Switching Function............................................................................................................................. 155
Suppression of Machine Resonance ......................................................................................................... 158
Manual Gain Tuning (Application) ........................................ 160
Instantaneous Speed Observer.................................................................................................................. 160
Damping Control......................................................................................................................................... 161
[When in Trouble]
page
When in Trouble..................................................................... 164
What to Check ? ......................................................................................................................................... 164
Protective Function (What is Error Code ?) ............................................................................................... 164
Protective Function (Detail of Error Code) ................................................................................................. 165
Troubleshooting .................................................................... 172
Motor Does Not Run / Motor Stops During an Operation .......................................................................... 172
Point Deviates / Positioning Accuracy is Poor ........................................................................................... 173
Home position Slips.................................................................................................................................... 173
Abnormal Motor Noise or Vibration ............................................................................................................ 173
Overshoot/Undershoot / Overheating of the Motor (Motor Burn-Out)........................................................ 174
Parameter Returns to Previous Setup ....................................................................................................... 174
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the
PANATERM®............................................................................................................................................... 174
4
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
page
Conformity to EC Directives and UL Standards .................. 176
Options ................................................................................... 180
Recommended components................................................. 191
Dimensions (Driver)............................................................... 192
Dimensions (Motor) ............................................................... 195
Permissible Load at Output Shaft ........................................ 210
Motor Characteristics (S-T Characteristics) ........................ 211
Motor with Gear Reducer ...................................................... 217
Dimensions/Motor with Gear Reducer ................................. 218
Permissible Load at Output Shaft/Motor with Gear Reducer ........220
Characteristics of Motor with Gear Reducer ....................... 221
Block Diagram of Driver ....................................................... 222
Block Diagram by Control Mode........................................... 224
Specifications (Driver)........................................................... 226
Default Parameters (for all the models of A4P Series) .... 228
5
Download from Www.Somanuals.com. All Manuals Search And Download.
6
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
page
Safety Precautions ....................................................8
Maintenance and Inspection ..................................12
Introduction .............................................................14
Outline ......................................................................................... 14
On Opening the Package ............................................................ 14
Check of the Driver Model........................................................... 14
Check of the Motor Model ........................................................... 15
Check of the Combination of the Driver and the Motor ............... 16
Parts Description ....................................................18
Driver ........................................................................................... 18
Motor ........................................................................................... 20
Console ....................................................................................... 21
Installation ...............................................................22
Driver ........................................................................................... 22
Motor ........................................................................................... 24
Console ....................................................................................... 26
7
Download from Www.Somanuals.com. All Manuals Search And Download.
Observe the Following Instructions Without Fail
Safety Precautions
Observe the following precautions in order to avoid damages on the machinery
and injuries to the operators and other personnel during the operation.
• In this document, the following symbols are used to indicate the level of damages or
injuries which might be incurred by the misoperation ignoring the precautions.
Indicates a potentially hazardous situation which, if not
avoided, will result in death or serious injury.
DANGER
Indicates a potentially hazardous situation which, if not
avoided, will result in minor injury or property damage.
CAUTION
•
The following symbols represent "MUST NOT" or "MUST" operations which you have to
observe. (Note that there are other symbols as well.)
Represents "MUST NOT" operation which is inhibited.
Represents "MUST" operation which has to be executed.
DANGER
Do not subject the Product to wa-
ter, corrosive or flammable gases,
and combustibles.
Do not subject the cables to exces-
sive force, heavy object, or pinch-
ing force, nor damage the cables.
Failure to observe this in-
struction could result in
electrical shocks, damages
and breakdowns.
Failure to observe this in-
struction could result in fire.
Do not put your hands in the ser-
vo driver.
Do not touch the rotat-
ing portion of the mo-
tor while it is running.
Rotating portion
Failure to observe this in-
struction could result in
burn and electrical shocks.
Failure to observe this instruc-
tion could result in injuries.
Do not touch the motor, servo driver
and external regenerative resistor of
the driver, since they become very hot.
Do not drive the motor with exter-
nal power.
Failure to observe this in-
struction could result in
burns.
Failure to observe this in-
struction could result in fire.
8
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
DANGER
Do not place combustibles near
by the motor, driver and regenera-
tive resistor.
Do not place the console close to
a heating unit such as a heater or
a large wire wound resistor.
Failure to observe this in-
struction could result in fire
and breakdowns.
Failure to observe this in-
struction could result in fire.
Install an overcurrent protection,
earth leakage breaker, over-tem-
perature protection and emergen-
cy stop apparatus without fail.
Ground the earth terminal of the
motor and driver without fail.
Failure to observe this in-
struction could result in
electrical shocks.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Install an emergency stop circuit
externally so that you can stop
the operation and shut off the
power immediately.
Turn off the power and wait for a
longer time than the specified
time, before transporting, wiring
and inspecting the driver.
Failure to observe this instruction could
result in injuries, electrical shocks, fire,
breakdowns and damages.
Failure to observe this in-
struction could result in
electrical shocks.
Install and mount the Product and
machinery securely to prevent
any possible fire or accidents in-
curred by earthquake.
Turn off the power and make it
sure that there is no risk of elec-
trical shocks before transporting,
wiring and inspecting the motor.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Failure to observe this in-
struction could result in
electrical shocks.
Check and confirm the safety of
the operation after the earthquake.
Wiring has to be carried out by the
qualified and authorized specialist.
Failure to observe this in-
struction could result in
electrical shocks.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Mount the motor, driver and re-
generative resistor on incombust-
ible material such as metal.
Make the correct phase sequence
of the motor and correct wiring of
the encoder.
Failure to observe this instruction
could result in injuries breakdowns
and damages.
Failure to observe this in-
struction could result in fire.
9
Download from Www.Somanuals.com. All Manuals Search And Download.
Observe the Following Instructions Without Fail
Safety Precautions
CAUTION
Do not hold the motor cable or
motor shaft during the transporta-
tion.
Do not block the heat dissipating
holes or put the foreign particles
into them.
Failure to observe this
instruction could result in
injuries.
Failure to observe this in-
struction could result in
electrical shocks and fire.
Never run or stop the motor with
the electro-magnetic contactor
installed in the main power side.
Failure to observe this
instruction could result in
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.
Do not give strong
impact shock to
the motor shaft.
Do not turn on and off the main
power of the driver repeatedly.
Failure to observe this
instruction could result
in breakdowns.
Failure to observe this
instruction could result in
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.
Do not make an extreme gain ad-
justment or change of the drive.
Do not keep the machine run-
ning/operating unstably.
Failure to observe this
instruction could result in
injuries.
Failure to observe this
instruction could result in
injuries.
Do not use the built-in brake as a
"Braking" to stop the moving
load.
Do not give strong impact shock
to the Product.
Failure to observe this
instruction could result in
injuries and breakdowns.
Failure to observe this
instruction could result in
breakdowns.
Do not modify, disassemble nor
repair the Product.
Do not pull the cables with exces-
sive force.
Failure to observe this in-
struction could result in fire,
electrical shocks and injuries.
Failure to observe this
instruction could result in
breakdowns.
10
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
CAUTION
Use the motor and the driver in
the specified combination.
Failure to observe this
Make a wiring correctly and
securely.
Failure to observe this
instruction could result in
fire.
instruction could result in
fire and electrical shocks.
Use the eye bolt of the motor for
transportation of the motor only,
and never use this for transporta-
tion of the machine.
Observe the specified mounting
method and direction.
Failure to observe this
instruction could result in
injuries and breakdowns.
Failure to observe this
instruction could result in
breakdowns.
Make an appropriate mounting of
the Product matching to its wight
and output rating.
Observe the specified voltage.
Failure to observe this in-
struction could result in
electrical shocks, injuries
and fire.
Failure to observe this
instruction could result in
injuries and breakdowns.
Execute the trial run without connecting
the motor to the machine system and fix
the motor. After checking the operation,
connect to the machine system again.
Keep the ambient temperature be-
low the permissible temperature
for the motor and driver.
Failure to observe this
instruction could result in
breakdowns.
Failure to observe this
instruction could result in
injuries.
When any error occurs, remove
the cause and release the error
after securing the safety, then
restart.
Connect the brake control relay to
the relay which is to shut off at
emergency stop in series.
Failure to observe this
instruction could result in
injuries and breakdowns.
Failure to observe this
instruction could result in
injuries.
When you dispose the batter-
ies, observe any applicable reg-
ulations or laws after insulating
them with tape.
This Product shall be treated as
Industrial Waste when you
dispose.
11
Download from Www.Somanuals.com. All Manuals Search And Download.
Maintenance and Inspection
• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves.
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 mea-
surement) to the driver, otherwise it could result in breakdown of the driver.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating
hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
Type
Cycles
Items to be inspected
• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
Daily
inspection
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connecter
• Damage of the cables
Daily
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
• Loose tightening
• Trace of overheat
• Damage of the terminals
Periodical
inspection
Annual
<Note> Inspection cycle may change when the running conditions of the above change.
12
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
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.
Disassembling for inspection and repair should be carried
out only by authorized dealers or service company.
Prohibited
Standard replacement
Product
Component
Smoothing capacitor
Cooling fan
Note
cycles (hour)
Approx. 5 years
2 to 3 years
(10,000 to 30,000 hours)
Aluminum electrolytic
capacitor (on PCB)
Approx. 5 years
Driver
Approx. 100,000 times
(depending on working
condition)
Rush current
preventive relay
Approx. 20,000 times
(depending on working
condition)
3 to 5 years
(20,000 to 30,000 hours)
5000 hours
These hours or cycles are
reference.
When you experience any
error, replacement is required
even before this standard
replacement cycle.
Rush current preventive
resistor
Bearing
Oil seal
Encoder
3 to 5 years
(20,000 to 30,000 hours)
Life time varies depending
on working conditions.
Refer to the instruction
manual attached to the
battery for absolute
encoder.
Motor
Battery
for absolute encoder
Motor with
gear reducer
10,000 hours
Gear reducer
13
Download from Www.Somanuals.com. All Manuals Search And Download.
Introduction
Outline
MINAS-A4P Series is a servo motor and driver of I/O command type. A4P Series is based on the high-
performance servo driver MINAS-A4 Series, which achieved response frequency of 1kHz, real-time auto-
gain tuning function and damping control, and contains the NC function which can perform positioning more
easily.
A maximum of 60 setting points can be set for (1) moving distance, (2) maximum rotation speed in a moving
section, (3) acceleration time and (4) deceleration time in each moving section and positioning can be
performed by an external contact input. Moreover, in combination with a motor equipped with a 17-bit abso-
lute encoder, positioning can be performed at an absolute position and a homing operation is not required.
A4P Series have also improved the user-friendliness by offering some optional components, e.g., a console
which enables you to monitor the rotation speed display, set up parameters, perform teaching (setup of
target position) and copy parameters, and a waveform graphic display to show a operating waveform and
the communication software “PANATERM®” available for frequency measurement to measure machine reso-
nance point.
Read this document with care and exploit the versatile functions of A4P Series to full extent.
Cautions
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.
On Opening the Product Package
• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the instruction manual is attached or not.
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) are attached or not (A
to D-frame).
Contact to a dealer if you find any failures.
Check of the Driver Model
Contents of Name Plate
AC SERVO
Model number
Model No. MADDT1205P Serial No.P05110001Z
Serial Number
e.g.) : P0511 0001Z
INPUT
200-240V
1ø
1.3A
50/60Hz
OUTPUT
69V
3ø
1.2A
0~333.3Hz
100W
Voltage
Rated input/output voltage
Rated input/output current
Phase
F.L.C
Freq.
Power
Lot number
Month of production
Rated output of applicable motor
Year of production
(Lower 2 digits of AD year)
Model Designation
M A D D T 1 2 0 5 P
1 to 4
5 to 6
7
8 to 9
10
11, 12
Special specifications
(letters and numbers)
Interface specification
I/O command type
Current detector rating
Max. current rating of
power device
Frame-size symbol
Frame
Symbol Current rating
Symbol
Power supply
Current
rating
Current
rating
MADD A4-series, A-frame
MBDD A4-series, B-frame
MCDD A4-series, C-frame
MDDD A4-series, D-frame
MEDD A4-series, E-frame
MFDD A4-series, F-frame
T1
T2
T3
T5
T7
TA
TB
10A
15A
30A
50A
70A
Symbol
Symbol
Symbol Specifications
1
2
3
Single phase, 100V
Single phase, 200V
3-phase, 200V
05
07
10
15
20
5A
7.5A
10A
15A
20A
30
40
64
90
A2
30A
40A
64A
90A
Single/3-phase,
200V
5
100A
150A
120A
14
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
Check of the Motor Model
Contents of Name Plate
CONT. TORQUE 0.64 Nm
Model
AC SERVO MOTOR
RATING
S1
Serial Number
e.g.) : 0511 0001
MODELNo. MSMD5AZS1S
INS. CLASS
IP65
B
(TÜV)
A
(UL)
INPUT 3ØAC
92
1.6
0.2 kW
V
A
Rated input voltage/current
CONNECTION
SER No. 05110001
RATED OUTPUT
RATED FREQ. 200
Hz
Lot number
Month of production
RATED REV. 3000 r/min
Rated output
Rated rotational speed
Year of production
(Lower 2 digits of AD year)
Model Designation
M S M D 5 A Z S 1 S
11 to 12
1 to 4
5 to 6
7
8
9
10
Special specifications
(letters and numbers)
Motor structure
Symbol
Type
Design order
1: Standard
Ultra low inertia
(100W to 750W)
MAMA
Low inertia
(100W to 400W)
Low inertia
(50W to 750W)
Low inertia
(1.0kW to 5.0kW)
Middle inertia
(1.0kW to 5.0kW)
High inertia
(500W to 5.0kW)
Middle inertia
(400W to 4.5kW)
Middle inertia
(900W to 4.5kW)
MQMA
MSMD
MSMA
MDMA
MHMA
MFMA
MGMA
Voltage specifications
Symbol
Specifications
100 V
Motor rated output
Symbol Output
Symbol Output
1
2
5A
01
02
04
05
08
09
50W
100W
200W
400W
500W
750W
900W
15 1.5kW
20 2.0kW
25 2.5kW
30 3.0kW
40 4.0kW
45 4.5kW
50 5.0kW
200 V
100/200 common
(50W only)
Z
10 1.0kW
Rotary encoder specifications
Specifications
Pulse count Resolution Wire count
Symbol
Format
P
S
Incremental
Absolute/Incremental common
2500P/r
17bit
10,000
131,072
5-wire
7-wire
Motor structure
MSMD, MQMA
MAMA
Shaft
Holding brake
Oil seal
Shaft
Holding brake
Oil seal
Symbol Round
Symbol Round
1
*
Key way Without With Without With
Key way Without With Without With
A
B
S
T
A
B
E
F
2
*
*
2
*1 The product with oil seal is a special order product.
*2 Key way with center tap.
MSMA, MDMA, MFMA, MGMA, MHMA
Shaft
Holding brake
Oil seal
Symbol Round
Products are standard stock items or build to order
items. For details, inquire of the dealer.
Key way Without With Without With
C
D
G
H
15
Download from Www.Somanuals.com. All Manuals Search And Download.
Introduction
Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us.
Check the series name of the motor, rated output torque, voltage specifications and encoder specifications.
Incremental Specifications, 2500P/r
<Remarks> Do not use in other combinations than those listed below.
Applicable motor
Applicable driver
Power
supply
Motor
series
Rated
Rated
output
Model
Model
Frame
rotational speed
Single phase,
200V
3-phase,
200V
MAMA012P1*
MAMA022P1*
MAMA042P1*
MAMA082P1*
MQMA011P1*
MQMA021P1*
MQMA041P1*
MQMA012P1*
MQMA022P1*
MQMA042P1*
MSMD5AZP1*
MSMD011P1*
MSMD021P1*
MSMD041P1*
MSMD5AZP1*
MSMD012P1*
MSMD022P1*
MSMD042P1*
MSMD082P1*
MSMA102P1*
MSMA152P1*
MSMA202P1*
MSMA302P1*
MSMA402P1*
MSMA502P1*
MDMA102P1*
MDMA152P1*
MDMA202P1*
MDMA302P1*
MDMA402P1*
MDMA502P1*
MHMA052P1*
MHMA102P1*
MHMA152P1*
MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
MFMA042P1*
MFMA152P1*
MFMA252P1*
MFMA452P1*
MGMA092P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*
100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
MADDT1207P
MBDDT2210P
MCDDT3520P
MDDDT5540P
MADDT1107P
MBDDT2110P
MCDDT3120P
MADDT1205P
MADDT1207P
MBDDT2210P
MADDT1105P
MADDT1107P
MBDDT2110P
MCDDT3120P
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
MAMA
Ultra low
inertia
5000r/min
Single phase,
100V
MAMA
Low
inertia
3000r/min
3000r/min
Single phase,
200V
A-frame
Single phase,
100V
100W
200W
400W
50W
B-frame
C-frame
MSMD
Low
inertia
MADDT1205P
Single phase,
200V
100W
200W
400W
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
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
A-frame
MADDT1207P
MBDDT2210P
MCDDT3520P
B-frame
C-frame
Single/3-phase,
200V
MDDDT5540P
D-frame
E-frame
MSMA
Low
inertia
MEDDT7364P
MFDDTA390P
3000r/min
2000r/min
3-phase,
200V
F-frame
MFDDTB3A2P
Single/3-phase,
200V
MDDDT3530P
MDDDT5540P
MEDDT7364P
MFDDTA390P
D-frame
E-frame
MDMA
Middle
inertia
3-phase,
200V
F-frame
MFDDTB3A2P
MCDDT3520P
MDDDT3530P
MDDDT5540P
MEDDT7364P
MFDDTA390P
C-frame
D-frame
E-frame
Single/3-phase,
200V
MHMA
High
inertia
2000r/min
3-phase,
200V
F-frame
MFDDTB3A2P
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
MCDDT3520P
MDDDT5540P
MEDDT7364P
MFDDTB3A2P
MDDDT5540P
MFDDTA390P
C-frame
D-frame
E-frame
F-frame
D-frame
MFMA
Middle
inertia
2000r/min
1000r/min
MGMA
Middle
inertia
3-phase, 200V
F-frame
MFDDTB3A2P
<Note>
Suffix of " * " in the applicable motor model represents the motor structure.
16
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
Absolute/Incremental Specifications, 17-bit
<Remarks> Do not use in other combinations than those listed below.
Applicable motor
Power
Applicable driver
Rated
output
Motor
series
Rated
supply
Model
Model
Frame
rotational speed
Single phase,
200V
3-phase,
200V
MAMA012S1*
MAMA022S1*
MAMA042S1*
MAMA082S1*
MQMA011S1*
MQMA021S1*
MQMA041S1*
MQMA012S1*
MQMA022S1*
MQMA042S1*
MSMD5AZS1*
MSMD011S1*
MSMD021S1*
MSMD041S1*
MSMD5AZS1*
MSMD012S1*
MSMD022S1*
MSMD042S1*
MSMD082S1*
MSMA102S1*
MSMA152S1*
MSMA202S1*
MSMA302S1*
MSMA402S1*
MSMA502S1*
MDMA102S1*
MDMA152S1*
MDMA202S1*
MDMA302S1*
MDMA402S1*
MDMA502S1*
MHMA052S1*
MHMA102S1*
MHMA152S1*
MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA152S1*
MFMA252S1*
MFMA452S1*
MGMA092S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*
100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
MADDT1207P
MBDDT2210P
MCDDT3520P
MDDDT5540P
MADDT1107P
MBDDT2110P
MCDDT3120P
MADDT1205P
MADDT1207P
MBDDT2210P
MADDT1105P
MADDT1107P
MBDDT2110P
MCDDT3120P
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
MAMA
Ultra low
inertia
5000r/min
3000r/min
Single phase,
100V
MAMA
Low
inertia
Single phase,
200V
A-frame
Single phase,
100V
100W
200W
400W
50W
B-frame
C-frame
MSMD
Low
inertia
3000r/min
MADDT1205P
Single phase,
200V
100W
200W
400W
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
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
A-frame
MADDT1207P
MBDDT2210P
MCDDT3520P
B-frame
C-frame
Single/3-phase,
200V
MDDDT5540P
D-frame
E-frame
MSMA
Low
inertia
MEDDT7364P
MFDDTA390P
3000r/min
2000r/min
3-phase,
200V
F-frame
MFDDTB3A2P
Single/3-phase,
200V
MDDDT3530P
MDDDT5540P
MEDDT7364P
MFDDTA390P
D-frame
E-frame
MDMA
Middle
inertia
3-phase,
200V
F-frame
MFDDTB3A2P
MCDDT3520P
MDDDT3530P
MDDDT5540P
MEDDT7364P
MFDDTA390P
C-frame
D-frame
E-frame
Single/3-phase,
200V
MHMA
High
inertia
2000r/min
3-phase,
200V
F-frame
MFDDTB3A2P
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
MCDDT3520P
MDDDT5540P
MEDDT7364P
MFDDTB3A2P
MDDDT5540P
MFDDTA390P
C-frame
D-frame
E-frame
F-frame
D-frame
MFMA
Middle
inertia
2000r/min
1000r/min
MGMA
Middle
inertia
3-phase, 200V
F-frame
MFDDTB3A2P
<Notes>
1) Suffix of " * " in the applicable motor model represents the motor structure.
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder. (refer to P.190, "Options" of Supplement.)
b) Switch the parameter SV.Pr0B (Absolute encoder setup) from "1 (default)" to "0".
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in incremental.
17
Download from Www.Somanuals.com. All Manuals Search And Download.
Parts Description
Driver
• A and B-frame
ID address setup
rotary switch (MSD, LSD)
Display LED (2-digit)
Velocity monitor check pin (SP)
Torque monitor check pin (IM)
Check pin (G : GND)
Communication
connector, CN X4
SP
IM
Connector
X4
G
Connector, CN X4A
(For manufacturers' use only:
Not for individual use)
Main power
input terminals
(L1,L2)
A
Connector, CN X1
for power input
connection
04JFAT-SAXGF
(JST)
X3
Connector, CN X4B
B
(For manufacturers' use only:
Not for individual use)
Control power
input terminals
(L1C, L2C)
X3
Connector, CN X5
for host connection
Terminals
X5
for external
regenerative resistor
(RB1,RB2,RB3)
Connector, CN X2
for motor
connection
06JFAT-SAXGF
(JST)
Connector, CN X6
for encoder connection
Terminals
for motor connection
(U,V,W)
X6
X7
Connector, CN X7
Screws for earth (x2)
for external scale connection
e.g.) : MADDT1207P (Single phase, 200V, 200W : A-frame)
ID address setup
rotary switch (MSD, LSD)
Display LED (2-digit)
• C and D-frame
Velocity monitor check pin (SP)
Torque monitor check pin (IM)
Check pin (G : GND)
Communication
connector, CN X4
Connector
SP
IM
X4
G
Connector, CN X4A
(For manufacturers' use only:
A
Not for individual use)
Main power
X3
input terminals
(L1,L2)
Connector, CN X1
for power input
connection
04JFAT-SAXGF
(JST)
Connector, CN X4B
(For manufacturers' use only:
Not for individual use)
B
X3
Control power
input terminals
(L1C, L2C)
Connector, CN X5
for host connection
X5
Terminals
for external
regenerative resistor
(RB1,RB2,RB3)
Connector, CN X2
for motor
connection
06JFAT-SAXGF
(JST)
Connector, CN X6
for encoder connection
Terminals
for motor connection
(U,V,W)
X6
X7
Connector, CN X7
Screws for earth (x2)
for external scale connection
e.g.) : MCDDT3520P (Single/3-phase, 200V, 750W : C-frame)
<Note>
X1 and X2 are attached in A to D-frame driver.
18
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
Velocity monitor check pin (SP)
Torque monitor check pin (IM)
• E and F-frame
Check pin (G : GND)
Display LED (2-digit)
ID address setup
rotary switch (MSD, LSD)
Main power
input terminals
(L1,L2,L3)
Communication
connector, CN X4
SP
IM
X4
Control power
input terminals
(r, t)
G
Screw for cover M3
A
X3
Connector, CN X4A
(For manufacturers' use only:
Not for individual use)
B
X3
Terminals
for external
regenerative
resistor
Connector, CN X4B
(For manufacturers' use only:
Not for individual use)
(P, B1, B2)
X5
Connector, CN X5
for host connection
Terminals
for motor
connection
(U,V,W)
Connector, CN X6
for encoder connection
X6
X7
Connector, CN X7
for external scale connection
Screws for earth (x2)
Terminal cover
Screw for cover M3
e.g.) : MEDDT7364P (3-phase, 200V, 2.0kW : E-frame)
Velocity monitor check pin (SP)
Check pin (G : GND)
Torque monitor check pin (IM)
Display LED (2-digit)
Main power
input terminals
(L1,L2,L3)
ID address setup
rotary switch (MSD, LSD)
Communication
connector, CN X4
Control power
input terminals
(r, t)
SP
IM
X
4
G
Screw for cover M3
A
X
3
Connector, CN X4A
(For manufacturers' use only:
Not for individual use)
Terminals
for external
regenerative
resistor
B
X
3
Connector, CN X4B
(For manufacturers' use only:
Not for individual use)
(P, B1, B2)
X
5
Connector, CN X5
for host connection
Terminals
for motor
connection
(U,V,W)
X6
X7
Connector, CN X6
for encoder connection
Connector, CN X7
for external scale connection
Terminal cover
Screw for cover M3
Screws for earth (x2)
e.g.) : MFDDTB3A2P (3-phase, 200V, 5.0kW : F-frame)
<Note>
For details of each model, refer to "Dimensions " (P.192 to 194) of Supplement.
19
Download from Www.Somanuals.com. All Manuals Search And Download.
Parts Description
Motor
• MSMD 50W to 750W
• MAMA 100W to 750W
• MQMA 100W to 400W
Encoder cable
Motor cable
Rotary encoder
Connector for brake cable
(Only applicable to the motor
with electromagnetic brake)
Motor frame
Flange
Mounting holes (X4)
e.g.) : Low inertia type (MSMD series, 50W)
• MSMA 1.0kW to 5.0kW
• MDMA 1.0kW to 5.0kW
• MHMA 500W to 5.0kW
• MFMA 400W to 4.5kW
• MGMA 900W to 4.5kW
Connector for motor and brake
Connector for encoder
Oil seal
Flange
Flange
Mounting holes (X4)
e.g.) : Middle inertia type (MDMA series, 1.0kW)
<Note>
For details of each model, refer to "Dimensions " (P.195 to P.209) of Supplement.
20
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
Console
Main Body
Connector
Console body
Display
(7-segment LED)
Cable
Touch panel
<Note>
Console is an option (Part No.: DV0P4420).
Display/Touch panel
Display LED (6-digit)
All of LED will flash when error occurs, and switch to error display
screen.
Display LED (in 2 digits)
Parameter No. is displayed at parameter setup mode. Point No. is
displayed at teaching mode.
SHIFT Button
Press this to shift the digit for data change.
Button
Press these to change data or execute selected action of parameter.
Numerical value increases by pressing ,
,
decreases by pressing
.
SET Button
Press this to shift each mode which is selected by mode switching
button to EXECUTION display.
Mode Switching Button Press this to switch 7 kinds of mode.
1) Monitor mode
2) Teaching mode
5) Normal auto-gain tuning mode
6) Auxiliary function mode
• Target position settings established
by teaching
• Alarm clear
• Absolute encoder clear
• Test operation
7) Copy mode
3) Parameter setup mode
4) EEPROM write mode
• Copying of parameters from the driver to the console.
• Copying of parameters from the console to the driver.
The data for the parameters is set after the mode has been switched to the parameter setup mode. For
details on operation, refer to the instruction manual provided with the console.
21
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Install
Install the driver and the motor properly to avoid a breakdown or an accident.
Driver
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The products are not water-
proof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of
inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Vibration-free place
Environmental Conditions
Item
Condition
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/S2 (0.6G), 10 to 60Hz
Lower than 1000m
Altitude
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the servo driver for ventilation.
Base mount type (rear mount) is standard (A to D-frame)
2) Use the optional mounting bracket when you want to change the mounting face.
A to D-frame
e.g.) In case of C-frame
MADD
MBDD
MCDD
MDDD
Mounting bracket
(optional parts)
•
Fastening torque of earth screws (M4) to be 0.39 to 0.59N m.
E and F-frame
Mounting bracket
22
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
Mounting Direction and Spacing
• Reserve enough surrounding space for effective cooling.
• Install fans to provide uniform distribution of temperature in the control panel.
• Observe the environmental conditions of the control panel described in the next page.
100mm
or more
Fan
Fan
40mm
or more
10mm
10mm
or
10mm
40mm
or more
or
or
more
more
more
100mm
or more
<Note>
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.
Caution on Installation
We have been making the best effort to ensure the highest quality, however, application of exceptionally
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.
There might be a chance of smoke generation due to the failure of these products. Pay an extra attention
when you apply these products in a clean room environment.
23
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Install
Motor
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 water-
proof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of
inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
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
Condition
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
0˚C to 40˚C (free from freezing) *1
Less than 85% RH (free from condensation)
–20˚C to 80˚C (free from freezing) *2
Less than 85% RH (free from condensation)
Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall
Lower than 98m/s2 (10G)
Vibration
Motor only
Impact
Motor only
IP65 (except rotating portion of output shaft and lead wire end)
These motors conform to the test conditions specified in EN
standards (EN60529, EN60034-5). Do not use these motors in
application where water proof performance is required such as
continuous wash-down operation.
•
Enclosure rating
Motor only
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
How to Install
You can mount the motor either horizontally or vertically as long as you observe the followings.
1) Horizontal mounting
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
• Use the motor with oil seal (non-standard) when mounting the motor with gear reducer to prevent the
reducer oil/grease from entering to the motor.
3) For mounting dimensions, refer to P.195 to 209 "Dimensions".
Oil/Water Protection
Motor
Cable
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 subjected to oil or water.
4) Use the motor with an oil seal when used with the gear reducer, so that
the oil may not enter to the motor through shaft.
Oil, water
24
Download from Www.Somanuals.com. All Manuals Search And Download.
[Before Using the Products]
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension
junction cable into the bearer so that the stress by bending can be minimized.
3) Take the cable bending radius as large as possible. (Minimum R20mm)
Permissible Load to Output Shaft
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 specified to each model.
Motor
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.
3) Use a flexible coupling with high stiffness designed exclusively for servo application
in order to make a radial thrust caused by micro misalignment smaller than the
permissible value.
4) For permissible load of each model, refer to P.210, "List of Permissible Load to Output Shaft" of Supple-
ment.
Notes on Installation
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the
motor shaft.
(Or it may damage the encoder mounted on the other side of the shaft.)
2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.)
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending
on the condition of the machine and its mounting environment, and may result in the bearing noise. Check
and verification by customer is required.
25
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Install
Console
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not water-
proof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of
inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Condition
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Conform to JISC0044 (Free fall test, 1m for 2 directions, 2 cycles)
Lower than 1000m
Impact
Altitude
<Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.
How to Connect
Connect to
MODE
SHIFT
SET
CN X4.
<Remarks>
• Connect the console connector securely to CN X4 connector of the driver
• Never pull the cable to plug in or plug out.
26
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
page
System Configuration and Wiring .........................28
Overall Wiring (Connecting Example of C-frame, 3-phase)........ 28
Overall Wiring (Connecting Example of E-frame) ....................... 30
Driver and List of Applicable Peripheral Equipments .................. 32
Wiring of the Main Circuit (A to D-frame) .................................... 34
Wiring of the Main Circuit (E and F-frame).................................. 35
Wiring to the Connector, CN X6 (Connection to Encoder).......... 38
Wiring to the Connector, CN X3 and 4
Wiring to the Connector, CN X7 (Connection to External Scale) ..... 40
Wiring to the Connector, CN X5 (Connection to Host Controller)..... 41
Wiring for Connector CN X5........................................................ 42
Interface Circuit ........................................................................... 43
List of Signal for Connector CN X5 ............................................. 44
Setup with the Front Panel .....................................48
Composition of Touch Panel and Display.................................... 48
Initial Status of the Front Panel Display (7-Segment LED) ......... 48
Output Signals (Analog) and Their Functions ............................. 49
Built-in Holding Brake ............................................50
Dynamic Brake ........................................................52
27
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Overall Wiring (Connecting Example of C-frame, 3-phase)
• Wiring of the Main Circuit (see P.34, 35.)
(see P.32, 33 and 177.)
Circuit Breaker (NFB)
Use the circuit breaker matching capacity
of the power source to protect the power
lines.
(see P.177 , 178.)
Noise Filter (NF)
Prevents external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
• Connection to
the Connector, CN X1
(connection to input power)
<Remarks>
Before turning the power
supply on, check whether
the input voltage is correct.
(see P.32, 33.)
Magnetic Contactor (MC)
Turns on/off the main power of the servo
driver.
Use a surge absorber together with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
L1 (Pin-5)
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
(see P.189.)
Reactor (L)
Reduces harmonic current of the main
power.
Pin RB1 (6-pin), RB2 (4-pin), and
RB3 (5-pin)
RB2 and RB3 to be kept shorted for
normal operation.
• Connection to the Connector, CN X2
(connection to external components)
RB1 (Pin-6)
RB2 (Pin-4)
• When the capacity shortage of
the regenerative resister is found,
disconnect a shorting bar be-
tween RB2 and RB3, then connect
the external regenerative resister
between RB1 and RB2.
Handle lever
Use this for connector
connection. Store this after
connection for other occasions.
(see page for connection.)
(Note that no regenerative resister
is equipped in Frame A and B type.
Install an external regenerative
resister on incombustible materi-
al, such as metal. Follow the same
wiring connection as the above.)
Regenerative resistor (optional)
<Remarks>
• When you use an external regenerative resister, install
an external protective apparatus, such as thermal fuse
without fail.
• Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal fuse is
activated, it will not resume.
• When you connect an external re-
generative resister, set up SV.Pr6C
to 1 or 2.
28
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
PC (to be supplied by customer)
Setup support software
"PANATERM®"
DV0P4460
Console (option)
DV0P4420
• Wiring to Connector, CN X4 (option)
(Connection to PC or host controller)
SP
IM
X4
G
A
X3
X1
• For manufacturers' use only, CN X3A and X3B
B
X3
(Not for individual use)
• Wiring to Connector, CN X5
(Connection to host controller)
X5
X2
• Wiring to Connector, CN X6
(Connection to encoder)
X6
X7
Short bar
Junction cable for encoder
• Wiring to
Connector, CN X7
(Connection to
Ground (earth)
external scale)
U-phase (red)
V-phase (white)
W-phase (black)
Junction cable for motor
• Wiring to Connector, CN X2
(Connection to motor driving
phase and ground)
DC Power supply for brake
DC24V
(to be supplied by customer)
Junction cable
for brake
: High voltage
29
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Overall Wiring (Connecting Example of E-frame)
• Wiring of the Main Circuit (see P.36, 37.)
(see P.32, 33 and 177.)
Circuit Breaker (NFB)
Use the circuit breaker matching capacity
of the power source to protect the power
lines.
(see P.177 , 178.)
Noise Filter (NF)
Prevents external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
• Connection with input
power supply
<Remarks>
Before turning the power
supply on, check whether
the input voltage is correct.
(see P.32, 33.)
Magnetic Contactor (MC)
Turns on/off the main power of the servo
driver.
L1
L2
L3
r
Use a surge absorber together with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
(see P.189.)
Reactor (L)
Reduces harmonic current of the main
power.
t
Pin P, B1 and B2...
B1 and B2 to be kept shorted for nor-
mal operation.
• Connection to external components
P
B2
• When the capacity shortage of the
regenerative resister is found, dis-
connect a short bar between B1
and B2, then connect the external
regenerative resister between P
and B2.
Ground (earth)
Install an external regenerative re-
sister on incombustible material,
such as metal. Follow the same wir-
ing connection as the above.
Regenerative resistor (optional)
<Remarks>
When you use an external regenerative resister,
install an external protective apparatus, such as
thermal fuse without fail.
• When you connect an external re-
generative resister, set up SV.Pr6C
to 1 or 2.
Thermal fuse and thermostat are built in to the
regenerative resistor (Option). If the thermal
fuse is activated, it will not resume.
30
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
PC (to be supplied by customer)
Setup support software
"PANATERM®"
DV0P4460
Console (option)
DV0P4420
• Wiring to Connector, CN X4 (option)
(Connection to PC or host controller)
SP
IM
X4
G
A
X3
• For manufacturers' use
only, CN X3A and X3B
(Not for individual use)
B
X3
• Wiring to Connector, CN X5
X5
(Connection to host controller)
• Wiring to Connector, CN X6
(Connection to encoder)
X6
X7
Junction cable
for encoder
• Wiring to Connector, CN X7
(Connection to external scale)
• Connection to motor driving
phase and ground
Short bar
From a top
U-phase
V-phase
Junction cable
for motor
W-phase
Junction cable for brake
DC Power supply for brake
DC24V
(to be supplied by customer)
: High voltage
31
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Driver and List of Applicable Peripheral Equipments
Required Circuit
Cable
Cable
Applicable
motor
Rated
output
Noise
filter
Magnetic
contactor
Surge Noise filter
absorber for signal
Power breaker
(at the rated (rated
load) current)
diameter diameter
Driver
Voltage
Connection
(main circuit) (control circuit)
approx.
–100W 0.4kVA
50W
MSMD Single
phase,
BMFT61041N
(3P+1a)
approx.
0.4kVA
approx.
MQMA 100V 100W
50W
MSMD
–200W 0.5kVA
MADD
approx.
Single 100W
MQMA phase,
200V 200W
0.3kVA
approx.
0.5kVA
approx.
0.3kVA
BMFT61542N
(3P+1a)
DV0P4170 DV0P4190
MAMA
100W
10A
MSMD Single
phase, 200W
MQMA 100V
approx.
0.5kVA
BMFT61041N
(3P+1a)
0.75 to
2.0mm2
AWG
MBDD MSMD
approx.
0.9kVA
14 to 18
Single 400W
BMFT61542N
(3P+1a)
MQMA phase,
200V
approx.
0.5kVA
MAMA
200W
MQMA Single
approx.
0.9kVA
BMFT61541N
(3P+1a)
phase, 400W
100V
MSMD
approx.
1.3kVA
750W
DV0P4180
0.75mm2
AWG18
MCDD
DV0P1460
MAMA Single/
3- phase, 400W
MFMA 200V
approx.
0.9kVA
BMFT61542N
(3P+1a)
approx.
1.1kVA
approx.
1.6kVA
15A
MHMA
500W
750W
MAMA
MDMA
approx.
1.8kVA
1.0kW
900W
MHMA
approx.
1.8kVA
approx.
1.8kVA
DV0P1450
MGMA
Single/
MDDD MSMA 3- phase, 1.0kW
BMFT61842N 2.0mm2
(3P+1a)
AWG14
200V
MHMA
20A
DV0P4220
MDMA
1.5kW
MSMA
approx.
2.3kVA
MFMA
MDMA
Terminal
block
2.0mm2
BMF6352N AWG14
(3P+2a2b)
M5
approx.
3.3kVA
MSMA
2.0kW
2.5kW
11.0 or
smaller
30A
MEDD
3- phase,
MHMA 200V
3.5mm2
AWG12
approx.
3.8kVA
MFMA
ø5.3
32
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Required Circuit
Power breaker
(at the rated (rated
load) current)
Cable
Cable
Applicable
motor
Rated
output
Noise
filter
Magnetic
contactor
Surge Noise filter
absorber for signal
diameter diameter
Driver
Voltage
Connection
(main circuit) (control circuit)
approx.
3.8kVA
MGMA
MDMA
MHMA
MSMA
MGMA
MDMA
2.0kW
BMF6352N
(3P+2a2b)
approx.
4.5kVA
3.0kW
3.5mm2
AWG12
Terminal
block
M5
3- phase,
11.0 or
smaller
0.75mm2
AWG18
approx.
6kVA
MFDD MHMA 200V 4.0kW
50A DV0P3410 DV0P1450 DV0P1460
MSMA
ø5.3
approx.
6.8kVA
approx.
7.5kVA
MFMA
4.5kW
MGMA
BMF6652N
(3P+2a2b)
5.3mm2
AWG10
MDMA
approx.
7.5kVA
MHMA
MSMA
5.0kW
• Select a single and 3-phase common specifications according to the power source.
• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works.
To comply to EC Directives, install a circuit breaker between the power and the noise filter without fail, and
the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or larger model when the
maximum current value of the circuit breaker is limited to 20A.
• For details of noise filters, refer to P.177, 178, "Noise Filter" and P.179, "Driver and List of Applicable
Peripheral Equipments (EC Directives)" of Supplement.
<Remarks>
• Select and use the circuit breaker and noise filter with matching capacity to those of the power source,
considering the load conditions as well.
• Terminal block and protective earth terminal
Use a copper conductor cable with temperature rating of 60˚C or higher.
Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.
•
•
Larger tightening torque of the screw than the max. value (M4 : 1.2 N m, M5 : 2.0 N m) may damage the
terminal block.
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model, and 3.5mm2 (AWG12)
or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger for 4.5kW to 5kW model.
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off length of 8 to 9mm.
•
• Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35 N m.
Larger tightening torque than these may damage the connector at the driver side.
33
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Wiring of the Main Circuit (A to D-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Tips on Wiring
8 to 9mm
1) Peel off the insulation cover of the cable.
(Observe the dimension as the right fig. shows.)
2) Insert the cable to the connector detached
from the driver. (See P.37 for details.)
3) Connect the wired connector to the driver.
•Check the name plate of the driver for power
specifications.
•Provide a circuit breaker, or a leakage breaker. The
leakage breaker to be the one designed for "Inverter" and
is equipped with countermeasures for harmonics.
•Provide a noise filter without fail.
•Provide a surge absorber to a coil of the Magnetic
Contactor. Never start/stop the motor with this
Magnetic Contactor.
Connect a fuse in series with the surge absorber. Ask the
manufacturer of the Magnetic Contactor for the fuse rating.
•Provide an AC Reactor.
•Connect L1 and L1C, and L3 and L2C at single phase
use (100V and 200V), and don' t use L2.
L1
5
Power
supply
NFB NF
MC
L
L2
L3
4
3
2
1
L1C
L2C
CN X1
RB1
•
•
Match the colors of the motor lead wires to those of the
corresponding motor output terminals (U,V,W).
Don't disconnect the shorting cable between RB2 and RB3 (C
and D frame type). Disconnect this only when the external
regenerative register is used.
6
5
4
3
2
1
RB3
RB2
U
Yellow
(X2)
U
V
Red
1
2
3
4
•Avoid shorting and ground fault. Don' t connect the
V
main power.
White
Black
W
*
Connect pin 3 of the connector on the driver side with pin 1
of the connector on the motor side.
W
CN X2
Green E
•Earth-ground this.
yellow
•
Connect the protective earth terminal ( ) of the driver and
the protective earth (earth plate) of the control panel without
fail to prevent electrical shock.
Motor
•Don't co-clamp the earth wires to the protective earth
terminal ( ) . Two terminals are provided.
•Don' t connect the earth cable to other inserting slot,
nor make them touch.
Ground resistance : 100Ω max.
For applicable wire,
refer to P.B14 and B15.
DC
24V
DC power supply
for brake
•Compose a duplex Brake Control Circuit so that the brake
can also be activated by an external emergency stop
signal.
Surge absorber
Fuse (5A)
•The Electromagnetic Brake has no polarity.
•For the capacity of the electromagnetic brake and how to
use it, refer to P.50, "Specifications of Built-in Holding
Brake".
•Provide a surge absorber.
Connect a 5A fuse in series with the surge absorber.
34
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Wiring Diagram
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, 100V (A and B-frame)
In Case of Single Phase, 200V (A and B-frame)
+10%
–15%
+10%
–15%
+10%
to 240V
–15% –15%
+10%
Power supply Single phase, 100V
to 115V
Power supply Single phase, 200V
Built-in thermostat of an external
regenerative resistor (light yellow)
Built-in thermostat of an external
regenerative resistor (light yellow)
ON OFF ALM
MC
ON OFF ALM
MC
MC
MC
Surge absorber
Surge absorber
CN X1
CN X1
MC L
MC L
NFB
NFB
L1
L1
Main power
supply
Main power
supply
L3
L3
L1C
L1C
Control power
supply
Control power
supply
Use a reactor for
3-phase
L2C
L2C
CN X2
CN X2
RB1
RB3
RB2
U
RB1
RB3
RB2
U
External regenerative resistor
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
172167-1
Tyco Electronics AMP
Red
1 1
1 1
Motor
connection
Motor
connection
White
Black
Green
White
Black
Green
2 2
3 3
4 4
2 2
3 3
4 4
V
V
W
W
Motor
Motor
CN X5
CN X5
ALM
ALM
172159-1
Tyco Electronics AMP
172159-1
Tyco Electronics AMP
15
15
ALM
COM–
ALM
COM–
DC12 to 24V
DC12 to 24V
17
17
(±5%)
(±5%)
In Case of Single Phase, 200V (C and D-frame)
In Case of 3-Phase, 200V (C and D-frame)
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%
Power supply Single phase, 200V
<Remarks>
When you use single
phase, connect the main
power between L1 and
L3 terminals.
to 240V
Power supply 3-phase, 200V
to 240V
Built-in thermostat of an external
regenerative resistor (light yellow)
Built-in thermostat of an external
regenerative resistor (light yellow)
<Remarks>
When you use single
phase, connect the main
ON OFFALM
MC
ON OFFALM
MC
MC
MC
power between L1 and L3
Surge absorber
Surge absorber
CN X1
terminals.
CN X1
MC L
MC
L
NFB
NFB
L1
L2
L1
L2
Main power
supply
Main power
supply
L3
L3
Use a reactor for
3-phase
L1C
L2C
L1C
L2C
Control power
supply
Control power
supply
(Remove the short wire when you connect
the external regenerative resistor.)
(Remove the short wire when you connect
the external regenerative resistor.)
CN X2
CN X2
RB1
RB3
RB2
U
RB1
RB3
RB2
U
External regenerative resistor
172167-1
Tyco Electronics AMP
External regenerative resistor
172167-1
Tyco Electronics AMP
Red
Red
*
*
1 1
1 1
Motor
White
2 2
White
Motor
2 2
V
V
connection
connection
Black
3 3
Black
3 3
W
W
Green
4 4
Green
4 4
Motor
Motor
172159-1
Tyco Electronics AMP
172159-1
Tyco Electronics AMP
CN X5
CN X5
ALM
ALM
15
15
ALM
COM–
ALM
COM–
DC12 to 24V
(±5%)
DC12 to 24V
(±5%)
17
17
D
A
B
* When you use motor model of
MSMA, MDMA, MFMA, MHMA
and MGMA, use the connections
as the below table shows.
PIN No. Application
PIN No. Application
G
H
A
F
I
B
E
D
C
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
A
B
C
D
E
F
G
H
I
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
C
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
G
E
H
D
A
C
A
B
C
F
I
B
D
E
F
PIN No. Application
[ Motor portion]
Connector : by Japan Aviation Electronics Ind.
A
B
C
D
U-phase
V-phase
W-phase
Ground
G
H
I
JL04V-2E20-18PE-B-R
JL04V-2E24-11PE-B-R
<Remark>
Do not connect anything to NC.
35
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Wiring of the Main Circuit (E and F-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Tips on Wiring
1) Take off the cover fixing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable
diameter and size, rater to "Driver and List of Applicable Peripheral Equipments" (P.B14 and B15).
3) Attach the terminal cover, and fix with screws.
Fastening torque of cover fixed screw in less than 0.2 N•m.
•Check the name plate of the driver for power
specifications.
•Provide a circuit breaker, or a leakage breaker. The
leakage breaker to be the one designed for
"Inverter" and is equipped with countermeasures for
harmonics.
L1
•Provide a noise filter without fail.
Power
•Provide a surge absorber to a coil of the Magnetic
Contactor. Never start/stop the motor with this
Magnetic Contactor.
NFB
NF
MC
L
L2
L3
r
supply
Connect a fuse in series with the surge absorber.
Ask the manufacturer of the Magnetic Contactor for
the fuse rating.
•Provide an AC Reactor.
t
P
•Don't disconnect the short bar between B1 and B2.
Disconnect this only when an external regenerative
register is used.
•Match the colors of the motor lead wires to those of
the corresponding motor output terminals (U,V,W).
•Avoid shorting and ground fault.
B1
B2
U
Yellow
(X2)
U
V
Red
Don' t connect the main power.
V
White
Black
•Earth-ground this.
•Connect the protective earth terminal ( ) of the
driver and the protective earth (earth plate) of the
control panel without fail to prevent electrical shock.
•Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
•Don' t connect the earth cable to other inserting
slot, nor make them touch.
W
W
Green E
yellow
Motor
Ground resistance : 100Ω max.
For applicable wire,
refer to P.B14 and B15.
•Compose a duplex Brake Control Circuit so that the
brake can also be activated by an external
emergency stop signal.
•The Electromagnetic Brake has no polarity.
•For the capacity of the electromagnetic brake and
how to use it, refer to P.50, "Specifications of Built-in
Holding Brake".
•Provide a surge absorber.
Connect a 5A fuse in series with the surge absorber.
DC
24V
DC power supply
for brake
Surge absorber
Fuse (5A)
36
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Wiring Diagram
Compose the circuit so that the main circuit power will be shut off when an error occurs.
[ Motor portion]
Connector : by Japan Aviation Electronics Ind.
In Case of 3-Phase, 200V (E and F-frame)
+10%
–15%
+10%
to 230V
–15%
D
A
Power supply 3-phase, 200V
C
B
Built-in thermostat of an external
regenerative resistor (light yellow)
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
ON OFF
ALM
MC
MC
Surge absorber
PIN No. Application
A
B
C
D
U-phase
V-phase
W-phase
Ground
MC
L
NFB
L1
Main power
supply
L2
L3
Control power
supply
r
t
G
E
H
D
A
A
B
H
C
I
P
External regenerative resistor
F
I
B
D
E
F
B1
B2
U
(Remove the short bar when you connect
the external regenerative resistor.)
C
G
Red
Motor
connection
White
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
PIN No. Application PIN No. Application
V
Black
W
Green
G
H
A
F
I
B
E
D
C
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
A
B
C
D
E
F
G
H
I
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
Motor
ALM
15
17
ALM
COM–
DC12 to 24V
(±5%)
<Remark>
Do not connect anything to NC.
Wiring method to connector (A to D-frame)
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 .
How to connect
1. Peel off the insulation cover of the cable. (see the right fig for exact length for peeling.)
2. Insert the cable to the connecter in the following 2 methods.
(a) Using the attached Handle Lever
8 to 9mm
(b) Using a screw driver (blade width of 3.0 to 3.5 mm)
(a)
1
2
3
Using
handle
lever
Attach the handle lever
to the handling slot on
the upper portion.
Insert the peeled cable
while pressing down the
lever, until it hits the
insertion slot (round
hole).
Release the lever.
<CAUTION>
Press down the lever to
push down the spring.
•
Peel off the cable
with exact length (8
to 9 mm).
* You can pull out the cable by pushing down the spring as the above.
(b)
•
Take off the
connector from the
Servo Driver
before making
connection.
1
2
3
Using
screw
driver
•
•
Insert one cable
into each one of
cable insertion slot.
Pay attention to
injury by screw
driver.
Press the screw driver
to the handling slot on
the upper portion to
push down the spring.
Insert the peeled cable
while pressing down the
screw driver, until it hits
the insertion slot (round
hole).
Release the screw
driver.
* You can pull out the cable by pushing down the spring as the above.
37
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Wiring to the Connector, CN X6 (Connection to Encoder)
Tips on Wiring
Maximum cable length between the driver and the motor to be 20m.
Consult with a dealer or distributor if you want to use the longer
cable than 20m. (Refer to the back cover.)
Power
supply
Keep this wiring away from the main circuit by 30 cm or more. Don't
guide this wiring through the same duct with the main, nor bind
them together.
Encoder
Motor
30cm or more
20m max.
Encoder outlets are different by the motors, flyer leads + connecter
and cannon plug type.
Connector
Junction cable
When you make your own encoder junction cable (for connectors,
refer to P.186, "Options (Connector Kit for Motor and Encoder
connection)" of Supplement.
20m max.
Junction cable
Cannon plug
1) Refer to the Wiring Diagram below.
2) Cable to be : Shielded twisted pair cable with core diameter of
0.18mm2 or larger (AWG24), and with higher bending resistance.
20m max.
3) Use twisted pair cable for corresponding signal/power wiring.
4) Shielding treatment
Encoder
• Shield wall of the driver side : Connect to Pin-20 (FG) of CN X6.
• Shield wall of the motor side :
Tyco Electronics AMP
junction cable
1
2
E5V
E0V
E5V
E0V
In case of 9-pin (17-bit absolute/incremental encoder) : Connect to pin-3.
In case of 6-pin (2500P/r incremental encoder) : Connect to pin-6.
In case of cannon plug, connect to Pin-J.
5
6
PS
PS
PS
PS
5) Connect nothing to the empty terminals of each connector and
Cannon Plug.
Encoder side
connector
(Cannon plug)
Driver side
CN X6
Wiring Diagram In case of 2500P/r incremental encoder
• MSMD 50W to 750W
• MAMA 100W to 750W
• MQMA 100W to 400W
CN X6
White
Black
4
5
1
2
3
4
5
6
+5V
0V
E5V
E5V
E0V
Regulator
E0V
2
3
Light Blue
Purple
PS
PS
PS
PS
FG
6
Case
Twisted pair
172168-1
172160-1
(by Tyco Electronics , AMP) (by Tyco Electronics, AMP)
motor
Junction cable
Motor side
Driver side
38
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
• MSMA 1kW to 5kW
• MDMA 1kW to 5kW
• MHMA 500W to 5kW
• MFMA 400W to 4.5kW
• MGMA 900W to 4.5kW
Pin No. of connector
CN X6
H
G
1
+5V
0V
E5V
E0V
E5V
E0V
Regulator
2
3
4
5
6
K
PS
PS
PS
L
J
PS
FG
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
(by Japan Aviation Electronics Ind.)
Case
Twisted pair
motor
Junction cable
Motor side
Driver side
Wiring Diagram In case of 17-bit absolute/incremental encoder
• MSMD 50W to 750W
• MAMA 100W to 750W
• MQMA 100W to 400W
CN X6
E5V
White
Black
7
8
1
2
3
4
5
6
+5V
0V
E5V
E0V
Regulator
E0V
battery
Red
1
2
4
5
BAT+
BAT–
PS
PS
PS
Pink
Light Blue
Purple
Yellow/Green
PS
FG
3
Case
Twisted pair
172169-1
172161-1
(by Tyco Electronics, AMP) (by Tyco Electronics, AMP)
motor
Junction cable
Motor side
Driver side
• MSMA
• MDMA
• MHMA 500W to 5kW
• MFMA 400W to 4.5kW
• MGMA 900W to 4.5kW
1kW to 5kW
1kW to 5kW
Pin No. of connector
CN X6
H
G
+5V
0V
1
2
E5V
E0V
E5V
E0V
Regulator
3
4
5
6
battery
T
S
K
L
J
PS
PS
BAT+
BAT–
PS
PS
FG
Straight plug N/MS3106B20-29S
Cable clamp N/MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
Case
Twisted pair
motor
Junction cable
Motor side
Driver side
39
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Wiring to the Connector, CN X7 (Connection to External Scale)
Power supply for the external scale shall be prepared by customer, or use the following power supply output
for the external scale (250mA or less).
Connector
Application
Content
PinNo.
Power supply output
for external scale
1
EX5V
EX0V
EXPS
EXPS
FG
2
5
I/F of external scale signals
(serial signal)
6
Frame ground
Case
<Note>
EXOV of the external scale power supply output is connected to the control circuit ground which is
connected to the Connecter, CN X5.
<Remark>
Do not connect anything to other Pin numbers descried in the above table (Pin-3 and 4).
Cautions
(1) Following external scale can be used for full-closed control.
• AT500 series by Mitutoyo (Resolution 0.05[µm] , max. speed 2[ m/s] )
• ST771 by Mitutoyo (Resolution 0.5[µm] , max. speed 2[ m/s] )
(2) Recommended external scale ratio is 1/20<External scale ratio<20
If you set up the external scale ratio to smaller value than 50/position loop gain (SV.Pr10 and 18), you
may not be able to control per 1 pulse unit. Setup of larger scale ratio may result in larger noise.
Wiring to the External Scale, Connector, CN X7
Wire the signals from the external scale to the external scale connector, CN X7.
1) Cable for the external scale to be the twisted pair with bundle shielding and to having the twisted core
wire with diameter of 0.18mm2.
2) Cable length to be max. 20m. Double wiring for 5V power supply is recommended when the wiring
length is long to reduce the voltage drop effect.
3) Connect the outer film of the shield wire of the external scale to the shield of the junction cable. Also
connect the outer film of the shield wire to the shell (FG) of CN X7 of the driver without fail.
4) Separate the wiring to CN X7 from the
CN X7
3
1
1
2
3
4
5
6
+5V
0V
power line (L1, L2, L3, L1C(r), L2C(t),
U, V. W, ) as much as possible (30cm
or more). Do not pass these wires in
the same duct, nor bundle together.
5) Do not connect anything to the vacant
pins of CN X7.
EX5V
EX0V
EX5V
EX0V
EX5V
EX0V
EX5V
EX0V
4
2
11
13
EXPS
EXPS
55100-0600
(by Molex Inc.)
6) Cut away the driver's CN X7 cover.
7
8
EXPS
EXPS
FG
X6
X7
15
Twisted pair
HDAB-15P
(by Hirose Electric Co.) (by Hirose Electric Co.)
HDAB-15S
Detection head
Please cut it out
with nippers etc.
Junction cable
External scale unit
External scale side
Servo driver
40
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Wiring to the Connector, CN X5 (Connection to Host Controller)
• Tips on wiring
3m
or shorter
Peripheral apparatus such as host controller should be located
within 3m.
Controller
30cm or longer
Separate the main circuit at least 30cm away.
Power
supply
Don't pass them in the same duct, nor bind them together.
Motor
Power supply for control signals (VCC) between COM+ and COM– (VDC)
should be prepared by customer.
COM+
1
2
Use shield twisted pair for the wiring of encoder signal output.
GND
Don't apply more than 24V to the control signal output terminals, nor run
50mA or more to them.
VDC
When the relay is directly driven by the control output signals, install a
diode in parallel with a relay, and in the direction as the Fig. shows. The
driver might be damaged without a diode installment, or by reverse
direction.
COM–
FG
CN X5
Frame ground (FG) is connected to the earth terminal inside of the
driver.
•
For detailed information, refer to P.42 to 47.
• Specifications of the Connector, CN X5
Connecter to be prepared by customer
Connector at driver side
Manufacturer
Part name
Part No.
54306-3611
54306-3619 (lead-free)
54331-0361
or
Connecter (soldering type)
Connector cover
Molex Inc.
52986-3679
or
Connecter (soldering type)
Connector cover
10136-3000VE
10336-52A0-008
Sumitomo 3M
<Note>
For details, refer to P.185, "Options" of Supplement.
<Remarks>
•
• Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35N m.
Larger tightening torque than these may damage the connector at the driver side.
41
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Wiring for Connector CN X5
Driver side
Control signal power supply
1
2
COM+
EMG-STP
CCWL
CWL
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
Emergency stop input
CCW over-travel inhibit input
CW over-travel inhibit input
Home sensor input
Servo-ON signal input
Strobe signal input
19
20
21
23
24
3
Z-LS
SRV-ON
STB
Point specifying input
Point specifying input
Point specifying input
Point specifying input
Point specifying input
Point specifying input
Multi-function input 1
Multi-function input 2
P1IN
4
P2IN
5
P4IN
6
P8IN
7
P16IN
P32IN
EX-IN1
EX-IN2
8
22
25
11
12
13
14
9
OA+
OA
OB+
OB
OZ+
OZ
A-phase
output
Present position
330Ω
330Ω
330Ω
MAX 50mA
MAX 50mA
MAX 50mA
MAX 50mA
MAX 50mA
MAX 50mA
MAX 50mA
MAX 50mA
MAX 50mA
MAX 50mA
-
output
29
30
31
32
33
34
28
27
15
36
17
P1OUT
P2OUT
P4OUT
P8OUT
P16OUT
P32OUT
BUSY
B-phase
output
Present position
output
-
Z-phase
output
Present position
output
VDC
12 to 24V
10
-
Present position
output
26
16
GND
CZ
Present position
output
Z-phase output (open collector)
Present position
output
Motor operation
condition output
Positioning completion
output / Output during
deceleration
COIN/
DCLON
Servo alarm output
ALM
BRK-OFF
COM–
FG
Brake release
signal
Control signal power supply
18
CN X5
(
represents twisted pair.)
42
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Interface Circuit
Input Circuit
SI Connection to sequence input signals
• Connect to contacts of switches and relays, or open collec-
tor output transistors.
• When you use contact inputs, use the switches and relays
for micro current to avoid contact failure.
• Make the lower limit voltage of the power supply (12 to 24V)
as 11.4V or more in order to secure the primary current for
photo-couplers.
12 to 24V
1
1
COM+4.7kΩ
SRV-ON etc.
Relay
12 to 24V
COM+4.7kΩ
SRV-ON etc.
Output Circuit
SO1 Sequence output circuit
Install toward the direction.
SO1
ALM,
COIN etc.
• The output circuit is composed of open collector transistor
outputs in the Darlington connection, and connect to relays or
photo-couplers.
• There exists collector to emitter voltage, VCE (SAT) of approx.
1V at transistor-ON, due to the Darlington connection of the
output or. Note that normal TTL IC cannot be directly connec-
ted since it does not meet VIL.
• There are two types of output, one which emitter side of the
output transistor is independent and is connectable individual-
ly, and the one which is common to – side of the control pow-
er supply (COM–).
12 to 24V
17 COM–
Max. rating 30V,50mA
or
SO1
ALM,
COIN etc.
12 to 24V
17 COM–
VDC[ V]– 2.5[ V]
10
R [ kΩ] =
•
If a recommended primary current value of the photo-coupler is
10mA, decide the resistor value using the formula of the right Fig.
Max. rating 30V,50mA
For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.
PO1 Line driver (Differential output) output
AM26LS31 or
AM26LS32 or equivalent
OA+
equivalent
11
12
• Feeds out the divided encoder outputs (A, B and Z-phase) in
differential through each line driver.
A
OA–
• At the host side, receive these in line receiver. Install a termi-
nal resistor (approx. 330Ω) between line receiver inputs with-
out fail.
B
Z
13
14
OB+
OB
–
9
10
OZ+
OZ–
• These outputs are not insulated.
GND
26
Connect signal ground of the host
and the driver without fail.
represents twisted pair.
PO2 Open collector output
Max. rating 30V,
50mA
• Feeds out the Z-phase signal among the encoder signals in
open collector. This output is not insulated.
• Receive this output with high-speed photo couplers at the
host side, since the pulse width of the Z-phase signal is nar-
row.
16 CZ
26 GND
High speed
photo-coupler
(TLP554 by Toshiba or equivalent)
represents twisted pair.
43
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
List of Signal for Connector CN X5
Common input signals
Connector
pin No.
Application
Code
Function
• Connected to the + terminal of an external DC power supply (12 to 24 V)
• Use a 12 V (±5%) to 24 V (±5%) power supply.
• Connected to the – terminal of an external DC power supply (12 to 24 V).
• The power supply capacity differs depending on the configuration of the
input/output circuits used. A capacity of more than 0.5A is recommended.
COM+
1
Control signal
power supply
COM–
17
2
• When connection with COM– is opened, emergency stop input error (error
code No.39) occurs, and the circuit trips.
• Tripping can be reset using an alarm clear input initiated by specifying point
0 or assigning the multi-function inputs (EX-IN1, EX-IN2).
Emergency
stop input
EMG-
STP
• Specify an operation point number when operation command is input.
• The number at which operation point can be specified depends on the
number of points set by SV.Pr57.
• SV.Pr58 can be used for setting input logic.
When the point described below is specified, special operation is
performed.
1)Specify point 0, and input a strobe signal, then alarm is cleared.
2)Specify the maximum point number specified in SV.Pr57, and input a
strobe signal, then system returns to the home position.
3)Specify the maximum point number specified in SV.Pr57 –1 and input a
strobe signal, then high-speed normal rotation jog is performed.
4)Specify the maximum point number specified in SV.Pr57 –2 and input a
strobe signal, then high-speed reverse rotation jog is performed.
• CCW drive prohibition input (CCWL).
P1IN
P2IN
P4IN
P8IN
P16IN
P32IN
3
4
5
6
7
8
Point specifying
input
• Connect so as to open COM– connection when movable part of the
equipment exceeds the movable range in CCW direction.
• When this input is open, operation command in CCW direction is not
issued. (Torque is generated)
CCW over-
travel
inhibit input
CCWL
19
• SV.Pr53, 54, and 55 enable for setting of valid/invalid, input logic, and
operation.
• CW drive prohibition input (CWL).
• Connect so as to open COM– connection when movable part of the
equipment exceeds the movable range in CW direction.
• When this input is open, operation command in CW direction is not issued.
(Torque is generated)
• SV.Pr53, 54, and 55 enable setting of valid/invalid, input logic, and
operation.
CW over-travel
inhibit input
CWL
Z-LS
20
21
• Connect so as to close the home sensor input when system is in the
vicinity of home position (default).
SV.Pr56 can be used for setting input logic.
• Connected to the home sensor signal.
Home sensor
input
• Connect so as to close the home sensor input when system is in the
vicinity of home position.
Pr56 can be used for setting input logic.
•
When servo driver is connected to COM
set in servo-ON condition.
–
of control signal power supply, it is
• When connection to COM– is opened, servo-OFF condition is set, and
energization of motor is cut off.
Servo-ON sig-
nal input
•
Dynamic brake operation and deviation counter clearing operation in servo-OFF
condition can be chosen by SV.Pr69 (sequence at servo-off).
SRV-ON
23
• SV.Pr5D enable setting of valid/invalid.
<Notes>
1)When shifting from servo-OFF to servo-ON, make sure that the motor is
stopped.
2)After shifting to servo-ON, allow 100ms or more before giving an
instruction.
3)Frequent repeating of servo-ON/OFF may damage the dynamic brake
circuit contained in servo driver. Avoid such a use.
44
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Connector
pin No.
Application
Code
Function
• When this is connected to COM– of the control signal power supply, the
servo driver starts the movement to the specified point.
• When 10ms or more has passed after setting specified point input, connect
the strobe signal input (STB) to COM–. It is possible that the servo driver is
unable to read specified point input properly.
Strobe signal
input
STB
24
• Input STB signal 10ms or longer. Also, reset STB signal to opened
condition after receiving BUSY signal from the servo driver in order to
ensure that STB signal is received reliably.
Multi-function
input 1
Multi-function
input 2
Function can be selected and set by Pr5A and 5C out of the options below.
Instantaneous stop, temporary stop, deceleration stop, high-speed normal
rotation jog, high-speed reverse rotation jog, and alarm clearing
Input logic can be set by SV.Pr59 and 5B.
EX-IN1
EX-IN2
22
25
Overview of Point Spesifying Input
Operation instruction is specified by use of signal for point specifying input (P1IN to P32IN).
See the table below for the relation between point specifying input and operation instruction.
In order to execute an instruction, determine the kind of instruction by P1IN to P32IN, and then input
a strobe signal.
<Remarks>
Because down of the signal wires during moving operation or exceptionally larger external noise
disturbance may result in unexpected action, the protective equipments like limit sensors or
emergency stop input must be installed before using.
Ex) When SV.Pr57 = 3 (6 bits) is set
Point No. P32IN P16IN P8IN P4IN P2IN P1IN
Description
0 (00H)
1 (01H)
2 (02H)
3 (03H)
4 (04H)
5 (05H)
6 (06H)
7 (07H)
8 (08H)
9 (09H)
10 (0AH)
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
H
L
H
H
H
H
L
L
L
L
H
H
L
H
L
H
L
H
L
H
L
Alarm clearing instruction
Moves to step parameter 1.
Moves to step parameter 2.
Moves to step parameter 3.
Moves to step parameter 4.
Moves to step parameter 5.
Moves to step parameter 6.
Moves to step parameter 7.
Moves to step parameter 8.
Moves to step parameter 9.
Moves to step parameter 10.
L
H
H
L
L
H
H
H
H
H
L
H
L
H
L
L
•
•
•
•
•
•
59 (3BH)
60 (3CH)
61 (3DH)
62 (3EH)
63 (3FH)
L
L
L
L
L
L
L
L
L
L
L
L
L
L
L
H
L
L
L
L
L
H
H
L
L
H
L
H
L
Moves to step parameter 59.
Moves to step parameter 60.
High-speed jog operation (negative)
High-speed jog operation (positive)
Homing instruction
L
<Notes>
• H indicates the opened contact condition and L the closed contact condition.
• The number of point inputs can be set by SV.Pr57.
• The logic of point input can be changed by SV.Pr58.
The table above describes the case where SV.Pr58 is "1: Point input valid by closed connection
with COM–".
In the case of "0: Point input valid by opened connection with COM–", "H" and "L" are reversed.
• Point number of "High-speed jog operation (negative)", "High-speed jog operation (positive)",
and "Homing instruction" depends on the setting of SV.Pr57.
45
Download from Www.Somanuals.com. All Manuals Search And Download.
System Configuration and Wiring
Common output signals and their functions
Connector
Application
Code
ALM
Function
pin No.
Output signal indicating that the alarm is on.
Output transistor turns on in normal condition, and output transistor turns off
when alarm is on.
Servo alarm
output
15
• This output signal can be used by choosing positioning completion output
(COIN) or output during deceleration (DCLON) by SV.Pr64.
COIN: When the amount of position deviation pulse is within the range set by
SV.Pr60 (In-position range), the transistor turns on. However, while the
operation command is being processed, it will not turn ON even inside the
positioning completion range.
DCLON: Transistor turns ON while the motor is decelerating. However, the
signal is not output when the motor has stopped because the deceleration
time is zero.
• Transistor turns OFF while the servo driver is processing operation
command.
<Notes>
When an operation command has been started by the strobe signal input
(STB), the motor operation status output remains OFF until the strobe
signal input is set to the opened condition.
Positioning
completion
output/
Output during
deceleration
COIN/
DCLON
27
28
Motor operation
condition output
BUSY
• Outputs the present motor position (point number) when the step operation
is completed.
• All the transistors are OFF (point 0) when the power is turned on. However,
when the absolute mode is established or when the 16.Pr38 is set to 1
(homing is invalid), the maximum point number set in the SV.Pr57
(Selecting the number of input points) is output.
• Upon completion of homing, the maximum point number set in the SV.Pr57
(Selecting the number of input points) is output.
• During high-speed normal rotation jog operations, the maximum point
number set in the SV.Pr57 (Selecting the number of input points) minus 1 is
output after the motor has stopped.
• During high-speed reverse rotation jog operations, the maximum point
number set in the SV.Pr57 (Selecting the number of input points) minus 2 is
output after the motor has stopped.
When an alarm has occurred, all the transistors are set OFF.
<Note>
When an operation has been aborted because of servo OFF,
instantaneous stop or deceleration stop, the last status is held as the
current position output. To obtain the correct output, move to the reference
position (home point, absolute position command point).
P1OUT
P2OUT
P4OUT
P8OUT
P16OUT
P32OUT
29
30
31
32
33
34
Present posi-
tion output
•
Defines the timing signal to activate the electromagnetic brake for the motor.
When the electromagnetic brake is released, the output transistor turns ON.
Brake release
output
BRK-OFF 36
• Output timing of this signal can be set by SV.Pr6A (Mechanical brake delay
at motor standstill) and SV.Pr6B (Mechanical brake delay at motor in
motion).
Output signal (pulse train) and function
Connector
Application
Code
OA+
OA–
OB+
OB–
OZ+
OZ–
Function
pin No.
• Division-processed encoder signal or external scale signal (A/B-phase) is
output in differential mode. (RS422)
11
A-phase output
• SV.Pr44 (numerator of output pulse ratio) and SV.Pr45 (denominator of
output pulse ratio) can be used to set the division ratio.
• SV.Pr46 (pulse output logic inversion) can be used to select the logic
relation of phase B with regard to the pulse of phase A, and its output
source.
• Ground of line driver of the output circuit is connected to signal ground
(GND); not insulated.
• The maximum output frequency is 4 Mpps (after being multiplied by 4).
12
13
14
9
B-phase output
Z-phase output
Z-phase output
10
• Open collector output of Z-phase signal.
• Emitter side of the transistor of the output circuit is connected to signal
ground (GND); not insulated.
CZ
16
46
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
<Note>
• When the output source is the encoder
SV.Pr44
SV.Pr45
•
If the encoder resolution X
is multiple of 4, Z-phase will be fed out synchronizing with A-phase.
In other case, the Z-phase width will be equal to the encoder resolution, and will not synchronize with
A-phase because of narrower width than that of A-phase.
SV.Pr44
SV.Pr45
SV.Pr44
SV.Pr45
when the encoder resolution
is multiple of 4,
when the encoder resolution
is not multiple of 4,
A
B
Z
A
B
Z
synchronized
not-synchronized
• In case of the 5-wire, 2500P/r incremental encoder, the signal sequence might not follow the above fig.
until the first Z-phase is fed out. When you use the pulse output as the control signal, rotate the motor
one revolution or more to make sure that the Z-phase is fed out at least once before using.
Others
Connector
pin No.
Application
Code
Function
Frame ground
FG
18 • Internally connected to the ground terminal inside the servo driver.
• Signal ground
Signal ground
GND
26
• Internally insulated from the control signal power supply (COM–) inside the
servo driver.
47
Download from Www.Somanuals.com. All Manuals Search And Download.
Setup with the Front Panel
Composition of Touch Panel and Display
Display LED (2 digits)
In the case of an error, the alarm code will flash.
In the case of a warning, the warning code (about 2 seconds)
will alternate at about 4 seconds intervals with
.
ID address setup rotary switch
LSD : Lower-shifting (Default : 0)
MSD : Upper-shifting (Default : 0)
For manufacturers' use only.
(Not for individual use)
Output signal (Analog signal)
Speed monitor output
Torque monitor output
Signal ground
Initial Status of the Front Panel Display (7-Segment LED)
When an alarm has been given, an alarm code of two-digit decimal number blinks on the front panel display
(7-segment LED) of this servo driver. When no alarm is given, the display shows as follows:
Control power supply
turns on
All the segments turn on
(Light check)
After approximately 2 seconds
Baud Rate indicated
ID address indicated
After approximately 0.5 seconds
(A set value)
After approximately 0.5 seconds
After approximately 0.5 seconds
(A set value)
After approximately 0.5 seconds
Hyphens indicated
A dot blinks
Main power supply
turns on
SERVO READY = 1
Main power supply
turns off
SERVO READY = 0
“Servo off” command
(at the right-hand side)
“Servo on”
command
“Servo off”
command
Normal display
(Alarm code 0)
“Servo on” command
• When an alarm has been given
• When a warning has been given
A warning code and normal state are shown in turn
An alarm code blinks.
(In the case of overflow)
Warning code
Normal display
(Approximately 2 seconds) (Approximately 4 seconds)
48
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Output Signals (Analog) and Their Functions
Application
Code
Function
• The content of the output signal varies depending on SV.Pr07 (Speed monitor (IM)
selection).
• You can set up the scaling with SV.Pr07 value.
SV.Pr07 Control mode
Function
• Feeds out the voltage in proportion to the motor speed
with polarity.
Speed monitor
signal output
SP
Motor
0 to 4
speed
+ : rotates to CCW
– : rotates to CW
• Feeds out the voltage in proportion to the command
speed with polarity.
+ : rotates to CCW
Command
5 to 9
speed
– : rotates to CW
• The content of output signal varies depending on SV.Pr08 (Torque monitor (IM)
selection).
• You can set up the scaling with SV.Pr08 value.
SV.Pr08 Control mode
Function
• Feeds out the voltage in proportion to the motor torque
command with polarity.
+ : generates CCW torque
Torque monitor
signal output
IM
0,
11,12
Torque
command
– : generates CW torque
• Feeds out the voltage in proportion to the positional
deviation pulse counts with polarity.
+ : positional command to CCW of motor position
– : positional command to CW of motor position
Positional
deviation
1 – 5
49
Download from Www.Somanuals.com. All Manuals Search And Download.
Built-in Holding Brake
In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the
work (moving load) from falling by gravity while the power to the servo is shut off.
<Caution>
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
Never use this for "Brake" purpose to stop the load in motion.
Connecting Example
The following shows the example when the brake is controlled by using the brake release output signal
(BRK-OFF) of the driver.
Relays to be shut off
at emergency stop
Surge absorber
Motor
Driver
RY
Brake coil
RY
BRK-OFF+
36
17
VDC
12 to 24V
COM–
Power supply
for brake
Fuse
(5A)
DC24V
CN X5
<Notes, Cautions>
1. The brake coil has no polarity.
2. Power supply for the brake to be provided by customer. Do not co-use the power supply for the brake and
for the control signals (VDC).
3. Install a surge absorber as the above Fig. shows to suppress surge voltage generated by ON/OFF action
of the relay (RY). When you use a diode, note that the time from the brake release to brake engagement
is slower than that of the case of using a surge absorber.
4. For a surge absorber, refer to P.191, "Recommended Components"of Supplement.
5. Recommended components are specified to measure the brake releasing time.
Reactance of the cable varies depending on the cable length, and it might generate surge voltage.
Select a surge absorber so that relay coil voltage (max. rating : 30V, 50mA) and terminal voltage may not
exceed the rating.
Output Timing of BRK-OFF Signal
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is
in motion, refer to P.133, 135, "Timing Chart".
• With the parameter, SV.Pr6B (Setup of mechanical brake action while the motor is in motion), you can set
up a time between when the motor enters to a free-run from energized status and when BRK-OFF signal
turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion.
<Notes>
1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with built-
in brake, however this does not affect any functionality.
2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is
open). Pay an extra attention when magnetic sensors are used nearby the motor.
50
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
Specifications of Built-in Holding Brake
Static friction Rotor inertia Engaging Releasing Exciting
Permissible Permissible
work (J) per total work
one braking x 103J
Motor
series
Motor
output
current DC A Releasing
torque
N m
X10–4
time
ms
time
ms*
voltage
2
•
•
kg m
0.002
0.018
0.075
0.03
(at cool-off)
50W, 100W
200W, 400W
750W
0.29 or more
1.27 or more
2.45 or more
0.29 or more
1.27 or more
4.9 or more
7.8 or more
11.8 or more
35 or less
50 or less
0.25
39.2
137
196
137
196
4.9
44.1
147
44.1
147
196
MSMD
MAMA
10 or less
DC2V
0.30
or more
0.35
70 or less 20 or less
100W
50 or less
15 or less
60 or less
0.29
0.41
0.74
DC1V
MQMA
200W, 400W
1.0kW
0.09
or more
0.25
50 or less 15 or less
1.5kW, 2.0kW
3.0kW
392
0.33
1.35
(100)
0.81
0.90
0.59
490
2156
780
MSMA
80 or less
50 or less
110 or less
4.0kW, 5.0kW
1.0kW
16.1 or more
4.9 or more
1470
588
(130)
70 or less
80 or less
(200)
1.35
1.5kW, 2.0kW
3.0kW
13.7 or more
16.1 or more
100 or less 50 or less
0.79
0.90
1176
1470
1470
2156
110 or less
(130)
35 or less
(150)
MDMA
4.0kW
5.0kW
21.5 or more
24.5 or more
4.9 or more
13.7 or more
24.5 or more
4.9 or more
7.8 or more
4.25
4.7
90 or less
1.10
1.30
0.59
0.79
1.30
0.59
0.83
0.75
0.79
1.3
1078
1372
588
2450
2940
784
25 or less
(200)
80 or less
70 or less
(200)
500W, 1.0kW
1.5kW
DC2V
1.35
50 or less
(130)
or more
MHMA
MFMA
MGMA
100 or less
1176
1372
588
1470
2940
784
25 or less
(200)
2.0kW to 5.0kW
400W
4.7
1.35
4.7
70 or less
(200)
80 or less
35 or less
(150)
1.5kW
1372
1470
1176
2940
2.5kW
4.5kW
21.6 or more
31.4 or more
100 or less
(450)
1470
2156
8.75
1.35
150 or less
100 or less
80 or less
150 or less
50 or less
(130)
900W
2.0kW
13.7 or more
24.5 or more
58.8 or more
1470
25 or less
(200)
4.7
1372
2940
50 or less
(130)
3.0kW, 4.5kW
1.4
• Excitation voltage is DC24±10%.
• * Values represent the ones with DC-cutoff using a surge absorber for holding brake.
Values in ( ) represent those measured by using a diode (V03C by Renesas Technology Corp.)
• Above values (except static friction torque, releasing voltage and excitation current) represent typical
values.
• Backlash of the built-in holding brake is kept ±1˚ or smaller at ex-factory point.
• Permissible angular acceleration : 30000rad/s2 for MAMA series
10000rad/s2 for MSMD, MQMA, MSMA, MDMA, MHMA, MFMA and
MGMA series
• Service life of the number of acceleration/deceleration with the above permissible angular acceleration is
more than 10 million times.
(Life end is defined as when the brake backlash drastically changes.)
51
Download from Www.Somanuals.com. All Manuals Search And Download.
Dynamic Brake
This driver is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.
<Caution>
1. Dynamic brake is only for emergency stop.
Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Or it may damage the dynamic brake circuit of the driver.
The motor becomes a dynamo when driven externally, and shorting current runs
while this dynamic brake is activated and might cause smoking or fire.
2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 3 minutes
pause when the dynamic brake is activated during high-speed running.
(Over-current protection (error code No. 14) may be activated when the dynamic brake circuit inside the
F-frame driver has overheated.)
• You can activate the dynamic brake in the following cases.
1) When the main power is turned off
2) At Servo-OFF
3) When one of the protective function is activated.
In the above cases from 1) to 3), you can select either activation of the dynamic brake or making the
motor free-run during deceleration or after the stop, with parameter.
Note that when the control power is off, the dynamic brake will be kept activated.
1) Setup of driving condition from deceleration to after stop by main power-off (SV.Pr67)
Contents of
deviation
counter
Driving condition
Sequence at main
power-off (SV.Pr67)
during deceleration
after stalling
Setup value of SV.Pr67
0
1
2
3
D B
Free-run
D B
D B
D B
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Clear
Clear
Free-run
Free-run
D B
Free-run
D B
4
5
6
7
8
9
Free-run
D B
D B
Free-run
Free-run
D B
Free-run
Emergency stop
Emergency stop
Free-run
Torque limit value at emergency stop will be that of SV.Pr6E (Emergency stop torque set up)
when the setup value is 8 or 9.
52
Download from Www.Somanuals.com. All Manuals Search And Download.
[Preparation]
2) Setup of driving condition from deceleration to after stop by Servo-OFF (SV.Pr69)
Contents of
deviation
counter
Driving condition
Sequence at main
Servo-OFF (SV.Pr69)
During deceleration after stalling
Setup value of SV.Pr69
0
1
2
3
D B
Free-run
D B
D B
D B
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Clear
Clear
Free-run
Free-run
D B
Free-run
D B
4
5
6
7
8
9
Free-run
D B
D B
Free-run
Free-run
D B
Free-run
Emergency stop
Emergency stop
Free-run
Torque limit value at emergency stop will be that of SV.Pr6E (Emergency stop torque set up)
when the setup value is 8 or 9.
3) Setup of driving condition from deceleration to after stop by activation of protective func-
tion (SV.Pr68)
Contents of
deviation
counter
Driving condition
Sequence at main
Servo-OFF (SV.Pr68)
During deceleration after stalling
Setup value of SV.Pr68
0
1
2
3
D B
Free-run
D B
D B
D B
Hold
Hold
Hold
Hold
Free-run
Free-run
Free-run
Deviation counter at activation of protective function will be cleared at alarm-clear.
53
Download from Www.Somanuals.com. All Manuals Search And Download.
M E M O
54
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
page
Parameter Setup......................................................56
Outline of Parameter ................................................................... 56
How to Set ................................................................................... 56
Outline of PANATERM® .............................................................. 56
How to Connect ........................................................................... 56
Composition of Parameters......................................................... 57
List of Servo Parameter............................................................... 58
List of 16-bit Positioning Parameters .......................................... 73
List of 32-bit Positioning Parameters .......................................... 77
List of Step Parameters............................................................... 77
Setup of Torque Limit .................................................................. 78
How to Use the Console .........................................80
Setup with the Console ............................................................... 80
Initial Status of the Console Display (7 Segment LED)............... 80
Mode Change .............................................................................. 81
Monitor Mode .............................................................................. 82
Teaching Mode ............................................................................ 87
Parameter setup mode................................................................ 91
EEPROM Writing Mode............................................................... 96
Auto-Gain Tuning Mode .............................................................. 97
Auxiliary Function Mode .............................................................. 98
Copying Function (Console Only) ............................................. 101
Outline of Setup Support Software, "PANATERM®"....103
Outline of PANATERM® ............................................................. 103
How to Connect ......................................................................... 103
55
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Outline of Parameter
This driver is equipped with various parameters to set up its characteristics and functions. This section
describes the outline of each parameter. Read and comprehend very well so that you can adjust this driver
in optimum condition for your running requirements.
<Remarks>
The parameter numbers not be mentioned in this section are not for individual use but for manufacturers'
use. Do not change these parameters from the default setting.
How to Set
• You can refer and set up the parameter with either one of the following.
1) Console (DV0P4420, option)
2) Combination of the setup support software, "PANATERM®" (Option, DV0P4460: Japanese / English ver-
sion) and PC.
<Note>
For setup of the parameters on PC screen, refer to the instruction manual of the "PANATERM®".
Outline of PANATERM®
With the PANATERM®, you can execute the followings.
1) Setup and storage of parameters, and writing to the memory (EEPROM).
2) Monitoring of I/O and pulse input and load factor.
3) Display of the present alarm and reference of the error history.
4) Data measurement of the wave-form graphic and bringing of the stored data.
5) Normal auto-gain tuning
6) Frequency characteristic measurement of the machine system.
How to Connect
RS232 connection cable (option)
DV0P1960 (for DOS/V machines)
Connect to CN X4
Setup disc of setup support software, PANATERM®
• DV0P4460 : Japanese / English version (option)
For the latest version, feel free to contact us.
®
Refer to “Outline of Setup Support Software ‘ ‘ PANATERM”
on page 103.
Connect to CN X4
Console : DV0P4420 (option)
<Remarks>
• Connect the console connector to the connector, CN X4 of the driver securely.
• Do not pull the cable to insert/unplug.
56
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Composition of Parameters
• Servo parameter
Servo
parameter No.
Group
Outline
Servo
parameter
Function selection
01 to 03, You can select a control mode,
07,08,0B, and set up a baud rate.
0C,0F
Adjustment
10 to 1E, You can set up servo gains (1st and 2nd) of position, velocity,
27 to 2E integration, etc, and time constants of various filters.
20 to 26, Parameters related to Real Time Auto-Gain Tuning. You
2F
30 to 35 You can set up parameters related to gain
switching(1st 2nd)
can set up a mode and select a mechanical stiffness.
Position Control
Input signals
Sequence
44 to 46, You can set up dividing of encoder output pulse.
4C, 4D
53 to 5D You can set up the logic of input signals and the number of point input.
5E to 5F You can set up a torque limit of torque command.
60, 64, 65, You can set up detecting conditions of output signals, such as
67 to 6E positioning-completion.
You can also set up a deceleration/stop action at
main power-off, at alarm output and at servo-off,
and clear condition of the deviation counter.
70, 72, 73 You can set up actions of protective functions.
78 to 7C You can set up dividing of external scale.
Full-Closed Control
• 16-bit positioning parameter
16-bit positioning
Outline
Group
parameter No.
16-bit
positioning
parameter
Motor speed
Acceleration and
Deceleration
Homing
00 to 0F You can set speed data of step operation.
10 to 1F You can set acceleration and deceleration data of step operation.
30 to 3B You can set data for homing.
Jog operation
Others
40 to 45 You can set data for jog operation.
48 to 54 You can set data for teaching or operation direction and so on.
• 32-bit positioning parameter
32-bit positioning
Outline
Group
parameter No.
32-bit positioning parameter
00 to 03 You can set data for offset or maximum movement.
• Step parameter
Group
Outline
Step
Operation mode
Specifying the positioning procedure.
parameter
ABS (absolute position), INC (relative position),
Rotary (rotation coordinates), and Dwell time (standby time)
Inputting the coordinate data for positioning.
Position/waiting time
Speed
When dwell time is selected in operation mode, set the standby time.
Selecting a speed selection number in positioning.
Setting the speed by 16-bit positioning parameter.
Selecting an acceleration speed selecting number in positioning.
Setting the speed by 16-bit positioning parameter.
Selecting a deceleration speed selecting number in positioning.
Setting the speed by 16-bit positioning parameter.
Choosing either single operation or block operation.
Acceleration
Deceleration
Block
• In this document, following symbols represent each mode.
Setup value of
servo parameter No.02
Symbol
Control mode
P
F
Position control
0
6
Full-Closed control
57
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
List of Servo Parameter
Parameters for Functional Selection
Standard default : < >
Servo
PrNo.
01
Setup
range
Title
Function/Content
0 to 15 You can select the type of data to be displayed on the console LED (7 segment) at
7-segment LED
status for console,
initial condition
display
<1>
the initial status after power-on.
*
Setup
value
Content
Positional deviation
0
Power -ON
<1> Motor rotational speed
2
3
Torque output
Control mode
4
I/O signal status
5
Error factor/history
Software version
6
Flashes
(for approx. 2 sec)
during initialization
7
Alarm
8
Regenerative load factor
Over-load factor
9
10
11
12
13
14
15
Inertia ratio
Setup value of Pr01
Sum of feedback pulses
Sum of command pulses
External scale deviation
Sum of external scale feedback pulses
Motor automatic recognizing function
For details of display, refer to the
technical reference or instruction
manual of the console.
02
Control mode
0, 6
You can set up the control mode to be used.
<0>
Setup value of
Control mode
SV.Pr.02
*
Symbol
<0>
6
Position
P
F
Full-closed
03
07
Torque limit
selection
0 to 3
<1>
You can set up the torque limiting method for CCW/CW direction.
Setup value
0, <1>
CCW
Pr5E is a limit value for both CCW and CW direction
Set with SV.Pr5E Set with SV.Pr5F
CW
2, 3
Speed monitor
(SP) selection
0 to 9
<3>
You can set up the content of analog speed monitor signal output (SP : CN X5,
Pin43) and the relation between the output voltage level and the speed.
Setup value Signal of SP Relation between the output voltage level and the speed
0
1
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
Motor actual
speed
2
<3>
4
5
6
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
Command
speed
7
8
9
<Notes>
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on
the control power.
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.
58
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
Servo
PrNo.
Setup
range
Title
Function/Content
08
Torque monitor
(IM) selection
0 to 12 You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin-
<0>
42), and the relation between the output voltage level and torque or deviation pulse counts.
Setup value Signal of IM
Relation between the output voltage level and torque or deviation pulse counts
3V/rated (100%) torque
3V / 31Pulse
<0>
1
Torque command
2
3V / 125Pulse
Position
3
3V / 500Pulse
deviation
4
3V / 2000Pulse
5
3V / 8000Pulse
6
3V / 31Pulse
7
3V / 125Pulse
Full-closed
deviation
8
3V / 500Pulse
9
3V / 2000Pulse
10
11
12
3V / 8000Pulse
Torque
3V / 200% torque
3V / 400% torque
command
0B
Absolute encoder
set up
0 to 2
<1>
You can set up the using method of 17-bit absolute encoder.
*
Setup value
Content
Use as an absolute encoder.
0
<1>
2
Use as an incremental encoder.
Use as an absolute encoder, but ignore the multi-turn counter over.
<Caution>
This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used.
0C
Baud rate of
RS232
0 to 5
<2>
You can set up the communication speed of RS232.
• Error of baud rate is ±0.5%.
*
Baud rate
2400bps
4800bps
9600bps
Baud rate
19200bps
38400bps
57600bps
Setup value
Setup value
0
1
3
4
5
<2>
<Caution>
If the console is used specify the set value 2 (9600 bps).
Shows the axis number set by a rotary switch at the front panel of the driver. The
0F
Node address
–
(display only) axis number cannot be changed.
Parameters for Adjustment of Time Constants of Gains and Filters
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
10
1st position loop
gain
0 to 3000
A to C-frame:<63>*
D to F-frame:<32>*
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1/s
You can determine the response of the positional control system.
Higher the gain of position loop you set, faster the positioning time you
can obtain. Note that too high setup may cause oscillation.
You can determine the response of the velocity loop.
In order to increase the response of overall servo system by setting high
position loop gain, you need higher setup of this velocity loop gain as well.
However, too high setup may cause oscillation.
11
1st velocity loop
gain
Hz
<Caution>
When the inertia ratio of SV.Pr20 is set correctly, the setup unit of
SV.Pr11 becomes (Hz).
12
1st velocity loop
integration time
constant
1 to 1000
A to C-frame:<16>*
D to F-frame:<31>*
ms
You can set up the integration time constant of velocity loop.
Smaller the setup, faster you can dog-in deviation at stall to 0.
The integration will be maintained by setting to "999".
The integration effect will be lost by setting to "1000".
59
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
Setup
range
0 to 5
<0>*
Servo
PrNo.
13
Title
1st speed
detection filter
Unit
Function/Content
–
You can set up the time constant of the low pass filter (LPF) after the
speed detection, in 6 steps. Higher the setup, larger the time constant you
can obtain so that you can decrease the motor noise, however, response
becomes slow. Use with a default value of 0 in normal operation.
This setting is invalid if SV.Pr27 (Velocity observer) is enabled.
14
15
1st torque filter time 0 – 2500 0.01ms You can set up the time constant of the 1st delay filter inserted in the
constant
A to C-frame:<65>*
D to F-frame:<126>*
torque command portion. You might expect suppression of oscillation
caused by distortion resonance.
Velocity feed
forward
–2000
0.1%
You can set up the velocity feed forward volume at position control.
Use when high-speed response is required.
to 2000
<300>*
16
18
Feed forward filter 0 to 6400 0.01ms You can set up the time constant of 1st delay filter inserted in velocity feed
time constant
<50>*
forward portion.
2nd position loop
gain
0 to 3000
A to C-frame:<73>*
D to F-frame:<38>*
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1 to 1000
<1000>*
1/s
Hz
ms
–
Set when performing optimum tuning using the gain switching function.
Set the second loop gain for position control.
19
1A
1B
2nd velocity loop
gain
Set when performing optimum tuning using the gain switching function.
When SV.Pr20 (Inertia ratio) has been set correctly, the set time is “Hz”.
2nd velocity loop
integration time
constant
Set when performing optimum tuning using the gain switching function.
When using in a vertical axis, to keep the integration value, set “999”.
To disable the integration, set “1000”.
2nd speed
0 to 5
<0>*
Set when performing optimum tuning using the gain switching function.
If you increase the value, the motor noise reduces.
This setting is disabled if the instantaneous speed observer is enabled
(SV.Pr27 = 1).
detection filter
1C
1D
2nd torque filter
time constant
0 to 2500 0.01ms Set when performing optimum tuning using the gain switching function.
A to C-frame:<65>*
D to F-frame:<126>*
100 to 1500
<1500>
Set the time constant of 1st delay filter of the torque command.
1st notch
frequency
Hz
Specify the frequency of the 1st resonance suppressing notch filter. Use it
according to the machine resonance frequency.
If this parameter is set to “1500”, the notch filter function is disabled.
<Note>
This parameter may be changed depending on the adaptive filter settings.
1E
1st notch width
selection
0 to 4
<2>
–
You can set up the notch filter width of the 1st resonance suppressing
filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
<Note>
This parameter may be changed depending on the adaptive filter
operation. If it is combined with the adaptive filter, use the 2nd notch filter.
27
Velocity observer
0 to 1
<0>*
–
With a high stiffness machine, you can achieve both high response and
reduction of vibration at stall, by using this instantaneous speed observer.
(P)
Setup value
Instantaneous speed observer setup
<0>*
1
Invalid
Valid
You need to set up the inertia ratio of SV.Pr20 correctly to use this function.
If you set up SV.Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), SV.Pr27 becomes 0 (invalid).
28
2nd notch
frequency
100 to 1500
<1500>
Hz
You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
60
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
29
2A
2B
2nd notch width
selection
0 to 4
<2>
–
You can set up the notch width of 2nd resonance suppressing filter in 5
steps. Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
2nd notch depth
selection
0 to 99
<0>
–
You can set up the 2nd notch depth of the resonance suppressing filter.
Higher the setup, shallower the notch depth and smaller the phase delay
you can obtain.
1st vibration
suppression
frequency
0 to 2000 0.1Hz
<0>
You can set up the 1st vibration suppression frequency of the damping
control which suppress vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1[ Hz] .
The setup frequency is 10.0 to 200.0[ Hz] . Setup of 0 to 99 becomes invalid.
Refer to P.161, "Damping control" as well before using this parameter.
2C
2D
2E
1st vibration
–200 to 2000 0.1Hz
While you set up SV.Pr2B (1st vibration suppression frequency), set this
up to smaller value when torque saturation occurs, and to larger value
when you need faster action.Use with the setup of 0 in normal operation.
Refer to P.161, "Damping control" of Adjustment .
suppression filter
<0>
<Caution>
<
<
Setup is also limited by 10.0[ Hz] – SV.Pr2B SV.Pr2C SV.Pr2B
=
=
2nd vibration
suppression
frequency
0 to 2000 0.1Hz
<0>
You can set up the 2nd vibration suppression frequency of the damping
control which suppress vibration at the load edge.
The driver measures vibration at the load edge. Setup unit is 0.1 [ Hz] .
Setup frequency is 10.0 to 200.0 [ Hz] . Setup of 0-99 becomes invalid.
Refer to P.161, "Damping control" of Adjustment as well before using this
parameter.
2nd vibration
–200 to 2000 0.1Hz
While you set up SV.Pr2D (2nd vibration suppression frequency), set this
up to smaller value when torque saturation occurs, and to larger value
when you need faster action.
suppression filter
<0>
Use with the setup of 0 in normal operation. Refer to P.161, "Damping
control" of Adjustment .
<Caution>
<
<
Setup is also limited by 10.0[ Hz] – SV.Pr2D SV.Pr2E SV.Pr2D
=
=
Parameters for Auto-Gain Tuning
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
SV.Pr20 = (load inertia/rotor inertia) X 100 [ %]
20
Inertia ratio
0 to 10000
<250>*
%
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of SV.Pr11 and SV.Pr19
becomes (Hz). When the inertia ratio of SV.Pr20 is larger than the actual,
the setup unit of the velocity loop gain becomes larger, and when the
inertia ratio of SV.Pr20 is smaller than the actual, the setup unit of the
velocity loop gain becomes smaller.
<Notes>
• Anything marked with “(P)” on the servo parameter number (Servo PrNo.) can be used only for the “posi-
tion control”.
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.
61
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
You can set up the action mode of the real-time auto-gain tuning.
With higher setup such as 3 or 6, the driver respond quickly to the change
of the inertia during operation, however it might cause an unstable
operation. Use 1 or 4 for normal operation.For the vertical axis application,
use with the setup of 4 to 6.
21
Real time auto
tuning set up
0 to 7
<1>
–
When vibration occurs at gain switching, set up this to "7".
Real-time
auto-gain tuning
Invalid
Varying degree of
load inertia in motion
–
Setup value
0
<1>
2
Little change
Normal mode
Gradual change
Rapid change
Little change
3
4
5
Vertical axis mode
No gain switching
Gradual change
Rapid change
Little change
6
7
You can set up the machine stiffness in 16 steps while the real-time auto-
gain tuning is valid.
22
Machine stiffness
at auto tuning
0 to 15
A to C-frame:
<4>
–
low machine stiffness high
D to F-frame:
<1>
low
0, 1- - - - - - - - - - - - 14, 15
low response high
servo gain
high
SV.Pr22
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine. Increase the setup
gradually watching the movement of the machine.
You can set up the action of the adaptive filter.
23
24
Adaptive filter
mode
0 to 2
<1>
–
–
Setup value
Content
0
<1>
2
Invalid
Valid
Hold (holds the adaptive filter frequency when this setup is changed to 2.)
You can select the switching method when you use the vibration
suppression filter.
Vibration
0 to 2
<0>
suppression filter
switching selection
Content
Setup value
No switching (both of 1st and 2nd are valid.)
You can switch with the position command direction.
CCW : 1st damping filter selection (SV.Pr2B, 2C).
CW : 2nd damping filter selection (SV.Pr2D, 2E).
<0>, 1
2
25
Normal auto tuning
motion setup
0 to 7
<0>
–
You can set up the action pattern at the normal mode auto-gain tuning.
Setup value Number of revolution
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
<0>
1
2 [ revolution]
2
3
4
CCW CW
CW CCW
CCW CCW
CW CW
5
1 [ revolution]
6
7
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
62
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
You can set up the movable range of the motor against the position
command input range. When the motor movement exceeds the setup
value, software limit protection of Err.34 will be triggered. This parameter
is invalid with setup value of 0.
26
Software limit set
up
0 to 1000
0.1
<10> revolution
Displays the table No. corresponding to the adaptive filter frequency.
(Refer to P.147 of Adjustment.) This parameter will be automatically set
and cannot be changed while the adaptive filter is valid. (when SV.Pr23
(Adaptive filter mode) is other than 0.)
2F
Adaptive filter
frequency
0 to 64
<0>
–
Setup value
<0> to 4
5 to 48
Filter mode
Filter is invalid.
Filter is valid.
49 to 64
Filter validity changes according to SV.Pr22.
This parameter will be saved to EEPROM every 30 minutes while the
adaptive filter is valid, and when the adaptive filter is valid at the next
power-on, the adaptive action starts taking the saved data in EEPROM as
an initial value.
<Caution>
When you need to clear this parameter to reset the adaptive action while
the action is not normal, invalidate the adaptive filter (SV.Pr23, "Adaptive
filter mode" to 0) once, then validate again.
Refer to P.151, "Release of Automatic Gain Adjusting Function" of
Adjustment as well.
Parameters for Adjustment (2nd Gain Switching Function)
Standard default : < >
Setup
range
Servo
PrNo.
30
Title
Unit
Function/Content
Set when performing optimum tuning using the gain switching function.
2nd gain action set
up
0
to
1
–
<1>*
Setup value
Gain selection/switching
1st gain (SV.Pr10 to 14)
1st (SV.Pr10 to 14) / 2nd gain (SV.Pr18 to 1C)
0
<1>*
31
1st control
0
to 10
–
Set a trigger to switch a gain.
Setup value
switching mode
<10>*
Gain switching condition
0
Fixed to the 1st gain.
Fixed to the 2nd gain.
1
2
Unavailable
3
Toque command variation
Speed command variation
Speed command
*1
*1
*1
*1
*1
*1
*1
*1
4
5
6
Positional deviation
Positional command
Positioning is not completed
Speed
7
8
9
<10>*
Position command + speed
*1 For the switching level and the timing, refer to P.155, "Gain Switching
Function" of Adjustment.
32
33
1st control
switching delay
time
0 to 10000 x 166µs Set a time from the detection of trigger to actual gain switching when the
<30>*
2nd gain is switched into the 1st gain, if SV.Pr31 (1st control switching
mode) is between 3 and 10.
1st control
switching level
0 to 20000
<50>*
–
You can set up the switching (judging) level of the 1st and the 2nd gains,
while SV.Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of SV.Pr31 (1st control switching mode)
<Notes>
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.
63
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
Setup
range
0 to 20000
<33>*
Servo
PrNo.
34
Title
1st control
Unit
Function/Content
You can set up hysteresis width to be
–
implemented above/below the judging
level which is set up with SV.Pr33. Unit
varies depending on the setup of
SV.Pr31 (1st control switching mode).
Definitions of SV.Pr32 (Delay), SV.Pr33
(Level) and SV.Pr34 (Hysteresis) are
explained in the fig. below.
switching
hysteresis
SV.Pr33
0
SV.Pr34
1st gain 2nd gain
1st gain
SV.Pr32
<Caution>
The setup of SV.Pr33 (Level) and SV.Pr34 (Hysteresis) are valid as
absolute values (positive/negative).
35
Position loop gain 0 – 10000 (setup
switching time
You can setup the
e.g.)
Kp1(SV.Pr10)>Kp2(SV.Pr18)
166 166µs
<20>* value +1) step-by-step switching
166
166
Kp1
x 166µs time to the position
loop gain only at gain
switching while the 1st
and the 2nd gain
switching is valid.
bold line
thin line
0
1
2
3
(SV.Pr10)
3
2
SV.Pr35=
0
1
Kp2
(SV.Pr18)
1st gain
2nd gain
1st gain
<Caution>
The switching time is
only valid when switching from small position gain to large position gain.
Parameters for Position Control
Standard default : < >
Servo
PrNo.
44
Setup
range
1 to 32767
Title
Function/Content
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
Numerator of
output pulse ratio
<10000>
*
• In the case that the encoder pulse is output (When the control mode is
the position control mode and SV.Pr46 = 0, 1).
45
Denominator of
0 to 32767
<10000>
• SV.Pr45=0 :
output pulse ratio
*
You can set up the output pulse counts per one motor revolution for each OA
and OB with the SV.Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
The pulse output resolution per one revolution =
SV.Pr44 (Numerator of output pulse ratio) X 4
• SV.Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
SV.Pr44
(Numerator of output pulse ratio)
Pulse output resolution per one revolution
x Encoder resolution
SV.Pr45
(Denominator of output pulse ratio)
<Cautions>
• The encoder resolution is 131072 [ P/r] for the 17-bit absolute encoder, and
10000 [ P/r] for the 5-wire 2500P/r incremental encoder.
• The pulse output resolution per one revolution cannot be greater than the
encoder resolution.
(In the above setup, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per one revolution of the motor.
When the pulse output resolution obtained from the above formula is multiple of 4,
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to
output with the encoder resolution, and becomes narrower than A-phase, hence
does not synchronize with A-phase.
(Continue to the next page.)
64
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
Servo
PrNo.
Setup
range
Title
Function/Content
44
Numerator of
1 to 32767
SV.Pr44
SV.Pr45
SV.Pr44
output pulse ratio
<10000>
when encoder resolution x
is multiple of 4 when encoder resolution x
is not multiple of 4
SV.Pr45
*
45
Denominator of
0 to 32767
<10000>
A
B
Z
A
B
Z
output pulse ratio
*
Synchronized
Not-synchronized
• In the case the external scale pulse is output (When the control mode is
the full-closed control mode and SV.Pr46 = 2, 3).
• SV.Pr45=0 :
No division will be executed.
• SV.Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
SV.Pr45
The pulse of external
scale output resolution
one resolution
Pulse output resolution
per one revolution
(Denominator of output pulse ratio)
=
x
SV.Pr44
(Numerator of output pulse ratio)
<Cautions>
• The setting of SV.Pr44>SV.Pr45 is invalid. (For the setting above, no division will
be executed.)
• Z-phase of the external scale is not reproduced.
46
Pulse output logic
inversion
0 to 3
<0>
You can set up the B-phase logic and the output source of the pulse output (X5 OB+
: Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation
between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.
*
at motor CCW rotation
at motor CW rotation
Setup
value
A-phase
(OA)
B-phase(OB)
non-reversal
B-phase(OB)
reversal
<0>, 2
1, 3
SV.Pr46
<0>
B-phase logic
Output source
Encoder position
Non-reversal
Reversal
1
Encoder position
2 *1
3 *1
Non-reversal
Reversal
External scale position
External scale position
*1 The output source of SV.Pr46=2, 3 is valid only at full-closed control.
<Notes>
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on
the control power.
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.
65
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
Servo
PrNo.
Setup
range
Title
Function/Content
4C
Smoothing filter
0 to 7
You can set the time constant of
Setup value
Time constant
<1>
the primary delay firter covering
the internal command pulse in 8
steps.
0
No filter function
<1>
Time constant small
7
Time constant large
4D
FIR filter set up
0 to 31 You can set up the moving average times of the FIR filter covering the internal
<0>
command pulse. (Setup value + 1) become average travel times.
*
Parameters for Input Signals
Standard default : < >
Servo
PrNo.
Setup
range
Title
Function/Content
53
54
55
Over-travel inhibit
input valid
0 to 1
Specify whether to enable or disable the CW/CCW over-travel inhibit input (CWL:
CN X5 Pin 20, CCWL: CN X5 Pin 19).
<1>
Setup value
Description
Disable
0
<1>
Enable
Over-travel inhibit
input logic
0 to 1
<0>
Set the logic of the CW/CCW over-travel inhibit input (CWL: CN X5 Pin 20, CCWL:
CN X5 Pin 19).
Setup value
Description
<0>
1
Over-travel is inhibited by opening the connection to COM–.
Over-travel is inhibited by closing the connection to COM–.
Over-travel inhibit
input operation
setting
0 to3
<1>
Select an operation when the CW/CCW over-travel inhibit input (CWL: CN X5 Pin
20, CCWL: CN X5 Pin 19) has been made. An operation is not tripped before
homing has completed, even if “0” or “1” is selected.
Setup value
Description
0
<1>
2
An operation decelerates, stops and trips after the stop.
An operation stops in deceleration time “0” and trips after the stop.
An operation decelerates and stops, but it does not trip after the stop.
An operation stops in deceleration time “0”, but it does not trip after the stop.
3
56
Home sensor
input logic
0 to 1
<1>
Set the logic of the Home sensor input (Z-LS: CN X5 Pin 21).
Setup value
Description
0
Home sensor input is enabled by opening the connection to COM–.
Home sensor input is enabled by closing the connection to COM–.
<1>
57
Selecting
0 to 3
<2>
Select the number of point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7
and 8). The number of present position outputs (P1OUT to P32OUT: CN X5 Pin 29,
30, 31, 32, 33 and 34) also becomes the same as that of selected point specifying
input.
the number of
input points
*
Description
Setup value
P1IN to P4IN: CN X5 Pin 3, 4 and 5, and P1OUT to P4OUT: CN X5 Pin 29, 30 and 31 only are enabled.
The number of positioning points is 4 and a maximum number of points is 7.
0
3 bits
4 bits
5 bits
6 bits
P1IN to P8IN: CN X5 Pin 3, 4, 5 and 6, and P1OUT to P8OUT: CN X5 Pin 29, 30, 31 and 32 only are enabled.
The number of positioning points is 12 and a maximum number of points is 15.
1
<2>
3
P1IN to P16IN: CN X5 Pin 3, 4, 5, 6 and 7, and P1OUT to P16OUT: CN X5 Pin 29, 30, 31, 32 and 33 only are enabled.
The number of positioning points is 28 and a maximum number of points is 31.
P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8, and P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34 only are enabled.
The number of positioning points is 60 and a maximum number of points is 63.
<Notes>
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on
the control power.
66
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
Servo
PrNo.
Setup
range
Title
Function/Content
58
Point specifying
0 to 1
Set the logic of the point specifying inputs (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).
input logic setting
<1>
Setup value
Description
0
Point specifying inputs are enabled by opening the connection to COM–.
<1>
Point specifying inputs are enabled by closing the connection to COM–.
59
Multi-function
0 to 1
<1>
Set the logic of the multi function input 1 (EX-IN1: CN X5 Pin 22).
input 1 Signal logic
Setup value
Description
0
Input is enabled by opening the connection to COM–.
<1>
Input is enabled by closing the connection to COM–.
5A
Multi-function
input 1 Signal
selection
0 to 6
<0>
Set the function of the multi function input 1 (EX-IN2: CN X5 Pin 22).
*
Description
Setup value
Disabled (regardless of the logic setting in SV.Pr59).
Immediate stop
<0>
1
Temporary stop
2
Deceleration and stop
3
High-speed normal rotation jog
High-speed reverse rotation jog
Alarm is cleared.
4
5
6
5B
Multi-function
0 to 1
<1>
Set the logic of the multi function input 2 (EX-IN2: CN X5 Pin 25).
input 2 Signal logic
Setup value
Description
0
Input is enabled by opening the connection to COM–.
<1>
Input is enabled by closing the connection to COM–.
5C
Multi-function
input 2 Signal
selection
0 to 6
<0>
Set the function of the multi function input 2 (EX-IN2: CN X5 Pin 25).
*
Description
Setup value
Disabled (regardless of the logic setting in SV.Pr5B).
Immediate stop
<0>
1
Temporary stop
2
Deceleration and stop
3
High-speed normal rotation jog
High-speed reverse rotation jog
Alarm is cleared.
4
5
6
<Note>
The setting of the multi function input 1 and that of the multi function input 2 must be
different from each other. Moreover, if high-speed normal rotation jog and high-
speed reverse rotation jog are assigned to the input 1 and input 2, respectively, the
motor does not work when those turn on simultaneously.
5D
Servo-ON input
valid
0 to 1
<1>
Specify whether to enable or disable the servo-on input (SRV-ON: CN X5 Pin 23).
Description
Setup value
Disable:
A servo turns on after the power supply turns on, regardless of the state
of servo-on input (SRV-ON: CN X5 Pin 23).
Enable:
0
A servo turns on when the servo-on input (SRV-ON: CN X5 Pin 23) has
been input after the power supply turns on.
<1>
67
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Parameters for Velocity and Torque Limit
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
You can set up the limit value of the motor output torque (SV.Pr5E : 1st
torque, SV.Pr5F : 2nd torque). For the torque limit selection, refer to
SV.Pr03 (Torque limit selection).
5E
1st torque limit
0 to 500
<500>
*2
%
This torque limit function limits the max. motor torque inside of the
driver with parameter setup.
In normal operation, this driver permits approx. 3 times larger torque
than the rated torque instantaneously. If this 3 times bigger torque
causes any trouble to the load (machine) strength, you can use this
function to limit the max. torque.
5F
2nd torque limit
0 to 500
<500>
*2
%
torque [ %]
300(Max.)
CCW
• Setup value is to be given in
% against the rated torque.
• Right fig. shows example of
150% setup with SV.Pr03=1.
• SV.Pr5E limits the max.
torque for both CCW and CW
directions.
when
SV.Pr5E=150
200
100
(Rated)
speed
(Rating) (Max.)
100
200
300
CW
<Caution>
You cannot set up a larger value to this parameter than the default setup
value of "Max. output torque setup" of System parameter (which you
cannot change through operation with PANATERM® or panel). Default
value varies depending on the combination of the motor and the driver.
For details, refer to P.78, "Setup of Torque Limit " of Preparation.
<Note>
• For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver
and the motor.
Parameters for Sequence
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
60
In-position range
0 to
Pulse
You can set up the timing to feed out the positioning complete signal
(COIN : CN X5, Pin-27).
The positioning complete signal (COIN) will be fed out when the deviation
counter pulse counts fall within ± (the setup value), after the position
command entry is completed.
32767
<131>
The setup unit should be the encoder pulse counts at the position control
and the external scale pulse counts at the full-closed control.
• Basic unit of deviation pulse is encoder "resolution", and varies per
the encoder as below.
(1) 17-bit encoder : 217 = 131072
(2) 2500P/r encoder : 4 X 2500 = 10000
<Cautions>
1. If you set up too small value
to SV.Pr60, the time until the
deviation
pulses
Pr60
COIN signal is fed might
become longer, or cause
chattering at output.
2. The setup of "Positioning
complete range" does not
give any effect to the final
positioning accuracy.
ON
Pr60
COIN
68
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
64
Output signal
selection
0 to 1
<0>
–
Set the function of the positioning completion output/in-deceleration
output pin (COIN/DCLON: CN X5 Pin 27).
Description
Setup value
COIN (Positioning completion output)
DCLON (In-deceleration output)
<0>
1
65
Undervoltage error
response at main
power-off
0 to 1
<1>
–
You can select whether or not to activate Err13 (Main power supply
under-voltage protection) function while the main power shutoff continues
for the setup of Pr6D (Main power-off detection time).
Action of main power low voltage protection
Turns the servo off according to SV.Pr67 (Error response
at main power-off).
Setup value
0
When the main power is shut off during Servo-ON, the
driver will trip due to Err13 (Main power supply under-
voltage protection).
<1>
<Caution>
This parameter is invalid when SV.Pr6D (Main power-off detection
time)=1000. Err13 (Main power supply under-voltage protection) is
triggered when setup of SV.Pr6D is long and P-N voltage of the main
converter falls below the specified value before detecting the main power
shutoff, regardless of the SV.Pr65 setup.
67
Error response at
main power-off
0 to 9
<0>
–
When SV.Pr65 (Undervoltage error response at main power-off) is 0, you
can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content
after the main power is shut off.
Setup
Action
During deceleration
Deviation counter
content
Clear
value
After stalling
DB
<0>
1
DB
Free-run
DB
DB
Clear
2
Free-run
Free-run
DB
Clear
3
Free-run
DB
Clear
4
Hold
5
Free-run
DB
DB
Hold
6
Free-run
Free-run
DB
Hold
7
Free-run
Emergency stop
Emergency stop
Hold
8
Clear
9
Free-run
Clear
(DB: Dynamic Brake action)
<Caution>
In case of the setup value of 8 or 9, torque limit during deceleration will be
limited by the setup value of SV.Pr6E (Emergency stop torque set up).
You can set up the action during deceleration or after stalling when some
error occurs while either one of the protective functions of the driver is
triggered.
68
Error response
action
0 to 3
<0>
–
Setup
Action
During deceleration
Deviation counter
value
After stalling
DB
content
Hold
<0>
1
DB
Free-run
DB
DB
Hold
2
Free-run
Free-run
Hold
3
Free-run
Hold
(DB: Dynamic Brake action)
<Caution>
The content of the deviation counter will be cleared when clearing the
alarm.
69
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
69
Sequence at
Servo-OFF
0 to 9
<0>
–
You can set up,
1) the running condition during deceleration and after stalling
2) the clear treatment of deviation counter is set up.
After the servo-ON signal input is turned off (SRV-ON : CN X5, Pin-23
shifting from ON to OFF).
The relation between the setup value of SV.Pr69 and the action/deviation
counter clearance is same as that of SV.Pr67 (Error response at main
power-off).
Refer to P.135, "Timing Chart"-Servo-ON/OFF action while the motor is at
stall" of Operation Setting as well.
6A
Mechanical brake
delay at motor
standstill
0 to 100
<0>
2ms
You can set up the time from when the brake release signal (BRK-OFF :
CN X5, Pin-10 and 11) turns off to when the motor is de-energized
(Servo-free), when the motor turns to Servo-OFF while the motor is at
stall.
• Set up to prevent a micro-travel/
drop of the motor (work) due to the
action delay time (tb) of the brake
SRV-ON
OFF
hold
hold
ON
BRK-OFF
release
tb
>
• After setting up SV.Pr6a tb ,
=
actual brake
then compose the sequence so as
the driver turns to Servo-OFF after
the brake is actually activated.
release
motor
energization
non-
energized
energized
Pr6A
Refer to P.135, "Timing Chart"-Servo-ON/OFF Action While the Motor Is
at Stall" of Operation Setting as well.
6B
Mechanical brake
delay at motor in
motion
0 to 100
<0>
2ms
You can set up time from when detecting the off of Servo-ON input signal
(SRV-ON : CN X5, Pin-29) is to when external brake release signal
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to
servo off during the motor in motion.
• Set up to prevent the brake
deterioration due to the motor
running.
• At Servo-OFF during the motor is
running, tb of the right fig. will be
a shorter one of either SV.Pr6B
setup time, or time lapse till the
motor speed falls below 30r/min.
SRV-ON
ON
OFF
hold
BRK-OFF
release
tb
actual
brake
energized
non-
energized
30 r/min
motor
energization
Refer to P.135, "Timing Chart"-Servo-ON/OFF action while the motor is in
motion" of Operation Setting as well.
<Notes>
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on
the control power.
70
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
Setup
range
0 to 3
for
Servo
PrNo.
6C
Title
External
Unit
Function/Content
With this parameter, you can select either to use the built-in regenerative
resistor of the driver, or to separate this built-in regenerative resistor and
externally install the regenerative resistor (between RB1 and RB2 of
Connector CN X2 in case of A to D-frame, between P and B2 of terminal
block in case of E, F-frame).
–
regenerative
*
resistor set up
A, B-frame
<3>
for
Regenerative resistor
Regenerative processing and
regenerative resistor overload
Setup value
<0>
to be used
C to F-frame
<0>
Regenerative processing circuit will be
activated and regenerative resistor overload
protection will be triggered according to the
built-in resistor (approx. 1% duty).
(C, D, E and
F-frame)
Built-in resistor
The driver trips due to regenerative overload
protection (Err18), when regenerative
processing circuit is activated and its active
ratio exceeds 10%,
Regenerative processing circuit is activated,
but no regenerative over-load protection is
triggered.
Both regenerative processing circuit and
regenerative protection are not activated, and
built-in capacitor handles all regenerative
power.
1
2
External resistor
External resistor
No resistor
<3>
(A, B-frame)
<Remarks>
Install an external protection such as thermal fuse when you use the
external regenerative resistor.
Otherwise, the regenerative resistor might be heated up abnormally and
result in burnout, regardless of validation or invalidation of regenerative
over-road protection.
<Caution>
When you use the built-in regenerative resistor, never to set up other
value than 0. Don't touch the external regenerative resistor.
External regenerative resistor gets very hot, and might cause burning.
6D
Main power-off
detection time
35 to 1000
<35>
2ms
%
You can set up the time to detect the shutoff while the main power is kept
shut off continuously.
*
The main power off detection is invalid when you set up this to 1000.
6E
Emergency stop
torque set up
0 to 500
<0>
You can set up the torque limit in case of emergency stop as below.
• During deceleration with the setup of 8 or 9 of SV.Pr67 (Error response
at main power-off)
• During deceleration with the setup of 8 or 9 of SV.Pr69 (Sequence at
Servo-OFF)
Normal torque limit is used by setting this to 0.
<Caution>
The stop is not due to the emergency stop input (EMG-STP: CN X5 Pin 2).
Parameters for Protective function
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
70
Position deviation 0 to 32767 256 x
• You can set up the excess range of position deviation.
• Set up with the encoder pulse counts at the position control and with the
external scale pulse counts at the full-closed control.
• Err24 (Position deviation excess protection) becomes invalid when you
set up this to 0.
error level
<25000> pulse
72
Overload level
0 to 500
<0>
%
• You can set up the over-load level. The overload level becomes 115 [ %]
by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-load level.
•
The setup value of this parameter is limited by 115[ %] of the motor rating.
71
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
Setup
range
0 to 20000 r/min
<0>
Servo
PrNo.
73
Title
Setup of
over-speed level
Unit
Function/Content
• You can set up the over-speed level. The over-speed level becomes 1.2
times of the motor max. speed by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-speed level.
• The setup value of this parameter is limited by 1.2 times of the motor
max. speed.
<Caution>
The detection error against the setup value is ±3 [ r/min] in case of the 7-wire
absolute encoder, and ±36 [ r/min] in case of the 5-wire incremental encoder.
Parameters for Full-Closed Control
Standard default : < >
Setup
range
Servo
PrNo.
Title
Unit
Function/Content
78
Numerator of
external scale
ratio
0 to 32767
<10000>
–
You can setup the ratio between the encoder resolution and the external
scale resolution at full-closed control.
*
(F)
Encoder resolution per one motor revolution
SV.Pr78 X 2SV.Pr79
SV.Pr7A
=
External scale resolution per one motor revolution
• SV.Pr78= 0
79
Multiplier of
numerator of
external scale
ratio
0 to 17
<0>
–
–
Numerator equals to encoder resolution, and you can setup
the external scale resolution per one motor revolution with SV.Pr7A.
• SV.Pr78 ≠ 0,
Setup the ratio between the external scale resolution and the encoder
resolution per one motor revolution according to the above formula.
*
(F)
<Caution>
7A
Denominator of
external scale
ratio
1 to 32767
<10000>
• Upper limit of numerator value after calculation is 131072. Setup
exceeding this value will be invalidated, and 131702 will be the actual
numerator.
*
(F)
• The actual calculation of numerator is “numerator of external scale
division (SV.Pr78) x 2 to the nth power (a set value of SV.Pr79)”.
7B
Hybrid deviation
error level
1 to 10000
16 x
• You can setup the permissible gap (hybrid deviation) between the
present motor position and the present external scale position.
<100> external
scale
*
(F)
pulse
7C
External scale
direction
0 to 1
<0>
–
You can set up the logic of the absolute data of the external scale.
*
Content
Setup value
(F)
Serial data will increase when the detection head travels
0
to the right viewed from the mounting side. (+ count)
Serial data will decrease when the detection head travels
1
to the right viewed from the mounting side. (– count)
<Caution>
Unlike 16.Pr50 (setup of operating direction), this parameter depends on
the mounting direction of external scale. Please note that the full-closed
control cannot be executed appropriately in a reverse setting.
<Notes>
• Anything marked with “(F)” on the servo parameter number (Servo PrNo.) can be used only for the “Full-
Closed Control”.
• For servo parameters which No. have a suffix of "*", changed contents will be validated when you turn on
the control power.
72
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
List of 16-bit Positioning Parameters
Parameters for Motor speed
Standard default : < >
16-bit
Setup
positioning
Title
Unit
Function/Content
range
0 to 6000
<0>
PrNo.
00
1st speed
r/min
Specify a speed when Speed Selection 1 has been selected.
Specify a speed when Speed Selection 2 has been selected.
Specify a speed when Speed Selection 3 has been selected.
Specify a speed when Speed Selection 4 has been selected.
Specify a speed when Speed Selection 5 has been selected.
Specify a speed when Speed Selection 6 has been selected.
Specify a speed when Speed Selection 7 has been selected.
Specify a speed when Speed Selection 8 has been selected.
Specify a speed when Speed Selection 9 has been selected.
Specify a speed when Speed Selection 10 has been selected.
Specify a speed when Speed Selection 11 has been selected.
Specify a speed when Speed Selection 12 has been selected.
Specify a speed when Speed Selection 13 has been selected.
Specify a speed when Speed Selection 14 has been selected.
Specify a speed when Speed Selection 15 has been selected.
Specify a speed when Speed Selection 16 has been selected.
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
2nd speed
3rd speed
4th speed
5th speed
6th speed
7th speed
8th speed
9th speed
10th speed
11th speed
12th speed
13th speed
14th speed
15th speed
16th speed
0 to 6000
<0>
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
0 to 6000
<0>
Parameters for Acceleration and Deceleration
Standard default : < >
16-bit
Setup
positioning
Title
Unit
Function/Content
range
0 to 10000
<0>
PrNo.
Specify acceleration when Acceleration Selection 1 has been selected.
Specify an acceleration time in a range between 0 to 3000 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual acceleration time.
10
1st acceleration
ms
Specify S-shaped acceleration when Acceleration Selection 1 has been
selected. Specify the S-shaped acceleration during acceleration time. For
details, refer to page 131.
11
12
13
14
1st S-shaped
acceleration
0 to 1000
<0>
ms
ms
ms
ms
If “0” is specified, the linear acceleration time is enabled.
Specify deceleration when Deceleration Selection 1 has been selected.
Specify a deceleration time in a range between 3000 to 0 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual deceleration time.
Specify S-shaped deceleration when Deceleration Selection 1 has been
selected. Specify the S-shaped deceleration during deceleration time. For
details, refer to page 131.
1st deceleration
0 to 10000
<0>
1st S-shaped
deceleration
0 to 1000
<0>
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.
Specify acceleration when Acceleration Selection 2 has been selected.
Specify an acceleration time in a range between 0 to 3000 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual acceleration time.
2 nd acceleration
0 to 10000
<0>
73
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
16-bit
Setup
positioning
Title
Unit
Function/Content
range
0 to 1000
<0>
PrNo.
Specify S-shaped acceleration when Acceleration Selection 2 has been
selected. Specify the S-shaped acceleration during acceleration time. For
details, refer to page 131.
15
2nd S-shaped
acceleration
ms
ms
ms
ms
ms
ms
ms
ms
ms
ms
ms
If “0” is specified, the linear acceleration time is enabled.
Specify deceleration when Deceleration Selection 2 has been selected.
Specify a deceleration time in a range between 3000 to 0 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual deceleration time.
16
17
18
19
1A
1B
1C
1D
1E
1F
2nd deceleration
0 to 10000
<0>
Specify S-shaped deceleration when Deceleration Selection 2 has been
selected. Specify the S-shaped deceleration during deceleration time. For
details, refer to page 131.
2nd S-shaped
deceleration
0 to 1000
<0>
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.
Specify acceleration when Acceleration Selection 3 has been selected.
Specify an acceleration time in a range between 0 to 3000 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual acceleration time.
3rd acceleration
0 to 10000
<0>
Specify S-shaped acceleration when Acceleration Selection 3 has been
selected. Specify the S-shaped acceleration during acceleration time. For
details, refer to page 131.
3rd S-shaped
acceleration
0 to 1000
<0>
If “0” is specified, the linear acceleration time is enabled.
Specify deceleration when Deceleration Selection 3 has been selected.
Specify a deceleration time in a range between 3000 to 0 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual deceleration time.
3rd deceleration
0 to 10000
<0>
Specify S-shaped deceleration when Deceleration Selection 3 has been
selected. Specify the S-shaped deceleration during deceleration time. For
details, refer to page 131.
3rd S-shaped
deceleration
0 to 1000
<0>
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.
Specify acceleration when Acceleration Selection 4 has been selected.
Specify an acceleration time in a range between 0 to 3000 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual acceleration time.
4th acceleration
0 to 10000
<0>
Specify S-shaped acceleration when Acceleration Selection 4 has been
selected. Specify the S-shaped acceleration during acceleration time. For
details, refer to page 131.
4th S-shaped
acceleration
0 to 1000
<0>
If “0” is specified, the linear acceleration time is enabled.
Specify deceleration when Deceleration Selection 4 has been selected.
Specify a deceleration time in a range between 3000 to 0 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual deceleration time.
4th deceleration
0 to 10000
<0>
Specify S-shaped deceleration when Deceleration Selection 4 has been
selected. Specify the S-shaped deceleration during deceleration time. For
details, refer to page 131.
4th S-shaped
deceleration
0 to 1000
<0>
If the S-shaped deceleration is set to “0”, the linear deceleration time is enabled.
Parameters for Homing
Standard default : < >
Function/Content
16-bit
Setup
positioning
PrNo.
Title
Unit
range
0 to 6000
<0>
30
31
32
33
Homing speed
(fast)
r/min
Specify a high operation speed for the homing.
Homing speed
(slow)
0 to 6000
<0>
r/min
r/min
ms
Specify a low operation speed for the homing.
Homing offset
speed
0 to 6000
<0>
Specify a speed used for an offset operation for the homing.
Specify acceleration for the homing.
Homing
0 to 10000
<0>
Specify an acceleration time in a range between 0 to 3000 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual acceleration time.
acceleration
Specify deceleration for the homing.
34
Homing
0 to 10000
<0>
ms
Specify a deceleration time in a range between 3000 to 0 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual deceleration time.
deceleration
<Notes>
• For 16-bit positioning parameters which No. have a suffix of "*", changed contents will be validated when
you turn on the control power.
74
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Standard default : < >
16-bit
positioning
PrNo.
Setup
range
0 to 1
<0>
Title
Unit
Function/Content
Specify an operating direction of homing.
35
Homing direction
–
Setup value
Description
<0>
1
Detects a home position in a positive direction.
Detects a home position in a negative direction.
36
Homing type
0 to 7
<0>
–
Select how to perform the homing.
Description
Setup value
Home sensor + Z phase (based on the front end)
Home sensor (based on the front end)
Home sensor + Z phase (based on the rear end)
Limit sensor + Z phase
<0>
1
2
3
Limit sensor
4
Z phase homing
5
Bumping homing
6
Data set
7
37
Home complete
type
0 to 1
<0>
–
–
Select an operation when homing has completed.
Description
Setup value
Set a current position to “- home offset” when the machine
has returned to its home position.
<0>
The machine moves according to the home offset when
homing has completed.
1
If “1” is specified, a step operation can be performed without homing. In
this case, a position when the power supply has turned on is defined as a
38
Homing skip
0 to 1
<0>
*
home position.
Setup value
<0>
Description
Homing required
Homing not required
1
<Note>
If the absolute mode (17-bit absolute encoder is used and SV.Pr08 (abso-
lute encoder setting) is 0.2) is enabled, “Homing not required” is specified
regardless of this parameter.
39
3A
3B
Bumping detection 0 to 10000
ms
%
–
Specify home position recognition time for bumping homing.
time
<0>
0 to 100
<0>
Torque limit for
bumping homing
Homing Z-phase
count setting
Specify a homing torque limit for bumping homing.
0 to 100
<0>
Specify a Z phase at which the machine stops if the machine stops at the Z
phase when returning to its home position. If “0” is specified, the machine
stops at the first Z phase. (The same operation when “1” is specified.)
Parameters for Jog operation
Standard default : < >
16-bit
Setup
positioning
Title
Unit
Function/Content
range
0 to 6000
<0>
PrNo.
40
Jog speed (low)
r/min
Specify a speed for a low-speed jog operation.
<Note>
A low-speed jog can be started only from the console.
For a jog operation with a specified point, a set value for a high-speed jog
is used.
41
42
Jog speed (high)
0 to 6000
<0>
r/min
ms
Specify a speed for a high-speed jog operation.
Specify acceleration for a jog operation.
Acceleration
setting in jog
operation
0 to 10000
<0>
Specify an acceleration time in a range between 0 to 3000 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual acceleration time.
Specify S-shaped acceleration for a jog operation.
Specify the S-shaped control time during acceleration time. For details, refer
to page 131.
43
Setting of S-shaped 0 to 1000
ms
acceleration in jog
operation
<0>
If “0” is specified, the linear acceleration control is enabled.
75
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Standard default : < >
16-bit
Setup
positioning
Title
Unit
Function/Content
range
0 to 10000
<0>
PrNo.
Specify deceleration for a jog operation.
44
Setting of
ms
Specify a deceleration time in a range between 3000 to 0 [ r/min] .
* There is a maximum of 10% difference between a calculation value in the
setup and the actual deceleration time.
deceleration
in jog operation
Specify S-shaped deceleration for a jog operation.
Specify the S-shaped control time during deceleration time. For details, refer
to page 131.
45
Setting of S-shaped 0 to 1000
ms
deceleration in jog
operation
<0>
If “0” is specified, the linear deceleration control is enabled.
Other Parameters
Standard default : < >
16-bit
Setup
range
positioning
Title
Unit
Function/Content
PrNo.
48
49
Teaching movement 0 to 32767 Pulse
amount setting <0>
Instantaneous stop 0 to 10000
Specify the number of pulses for movement at every pressing an opera-
tion key when teaching a position data using the console.
Specify a deceleration time when an immediate stop command assigned
to the multi function input pin has been input. Specify a deceleration time
in a range between 3000 to 0 [ r/min] .
ms
deceleration time
<0>
For “0”, the speed command changes into a step shape.
* There is a maximum of 10% difference between a calculation value in
the setup and the actual deceleration time.
50
Operation direction
setting
0 to 1
<1>
–
Specify a relation between a positive/negative direction of point position
data and command position monitor and a CW/CCW rotation direction.
*
Setup value
Description
0
CCW is a negative direction and CW is a positive direction.
CCW is a positive direction and CW is a negative direction.
<1>
If “0” is specified, a sign of the command pulse sum shown on the monitor
screen of the console or “PANATERM®” is reversed. However, for a value
of the feedback pulse sum, CCW is a positive direction always.
Select an operation when a current position has overflowed.
51
Wrap around
permission
0 to 1
<0>
–
Setup value
Description
*
<0>
1
An alarm is given and a trip is caused (Error code No. 70).
No alarm is given and an operation continues.
<Note>
If “1” is specified to this parameter, although an error does not occur when
wrap around happens, an absolute position cannot be guaranteed. If wrap
around is disabled, use the system in a relative position only.
52
Sequential
0 to 1
<0>
–
Specify whether to enable or disable a sequential operation.
For the details of sequential operation, refer to page 130.
operation setting
*
Setup value
Description
<0>
1
Disable a sequential operation.
Enable a sequential operation.
53
Sequential opera-
tion maximum
point number
0 to 60
<0>
–
–
Specify a maximum point number for a sequential operation.
This is enabled only when a sequential operation is enabled (16.Pr52 = 1).
If “0” is specified, this is the same with “1”
54
Block operation
type
0 to 1
<0>
Specify a type of block operation.
For the details of block operation, refer to page 125.
*
Setup value
Description
<0>
1
Continuous block operation.
Combined block operation.
<Note>
If “1” is specified, the S-shaped acceleration/deceleration becomes unavailable.
<Notes>
• For 16-bit positioning parameters which No. have a suffix of "*", changed contents will be validated when
you turn on the control power.
76
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
List of 32-bit Positioning Parameters
Standard default : < >
32-bit
Setup
positioning
Title
Unit
Function/Content
range
–2147483647 to
2147483647
<0>
PrNo.
00
Home offset
Pulse
Specify the home offset when homing has completed.
For details, refer to page 124.
*
Specify a maximum travel in a positive direction.
If “0” is specified, a positive direction error code No. 72 (maxi-
mum travel limit error protection) is disabled.
The error code No. 72 is shown when a command position has
become larger than this parameter value during a step opera-
tion or jog operation after homing has completed.
<Note>
When homing has not yet completed or 16.Pr51 (wraparound
accepted) is “1”, the error code No. 72 is disabled. Also, the er-
ror code No. 72 is not detected when an operation stops.
01
Setting of
0 to 2147483647
<0>
Pulse
Pulse
Pulse
maximum
*
movement in plus
direction
Specify a maximum travel in a negative direction.
If “0” is specified, a negative direction error code No. 72 (maxi-
mum travel limit error protection) is disabled.
The error code No. 72 is shown when a command position has
become smaller than this parameter value during a step opera-
tion or jog operation after homing has completed.
<Note>
When homing has not yet completed or 16.Pr51 (wraparound
accepted) is “1”, the error code No. 72 is disabled. Also, the er-
ror code No. 72 is not detected when an operation stops.
02
Setting of
–2147483648 to 0
<0>
maximum
*
movement in mi-
nus direction
03
Movement per
rotation in rotation
coordinates
0 to 2147483647
<0>
Specify a travel (the number of pulses) per rotation in a step opera-
tion when a rotary axis is specified (operation mode: Rotary).
An available range is between 2 and 1073741824. If any value
out of this range is specified, an error code No. 69 (undefined
data error protection) is shown when an operation starts.
*
List of Step Parameters
Standard default : < >
Setup range
PANATERM display Console display
Step
Title
Unit
Function/Content
Specify how to position.
PrNo.
01H to Operation mode
3CH
ABS/INC/Rotary/
AbS/inc/rot/d_t
–
Dwelltime
<inc>
Absolute operation (ABS, Abs), incremental
operation (INC, Inc), rotary axis operation
(Rotary, rot), dwell timer operation (Dwell
time, d_t).
<INC>
Position/waiting
time
–2147483648 to
2147483647
<0>
–2147483648 to
2147483647
<0>
Pulse Input a coordinate data for positioning.
/10ms If “Dwelltime” is selected as an operation
mode, specify a waiting time.
Speed
V1 to V16
<V1>
VEL1 to VEL16
<VEL1>
–
Select a speed selection number for positioning.
Specify a speed by 16-bit positioning parameter.
Select a acceleration selection number for posi-
tioning.
Acceleration
A1 to A4
<A1>
Acc1 to Acc4
<Acc1>
–
Specify a speed by 16-bit positioning parameter.
Select a deceleration selection number for posi-
tioning.
Deceleration
Block
D1 to D4
<D1>
dEc1 to dEc4
<dEc1>
–
–
Specify a speed by 16-bit positioning parameter.
Select a single operation or block operation.
Single/Block
<Single>
SinGLE/BLoc
<SinGLE>
77
Download from Www.Somanuals.com. All Manuals Search And Download.
Parameter Setup
Setup of Torque Limit
Torque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver
listed in the table below.
Max. value of
SV.Pr5E,5F
Max. value of
SV.Pr5E,5F
Frame
Model No.
Applicable motor
Frame
Model No.
Applicable motor
A-
frame
MADDCT1105P
MSMD5AZP1*
MSMD5AZS1*
MSMD011P1*
MSMD011S1*
MQMA011P1*
MQMA011S1*
MSMD5AZP1*
MSMD5AZS1*
MSMD012P1*
MSMD012S1*
MQMA012P1*
MQMA012S1*
MSMD022P1*
MSMD022S1*
MAMA012P1*
MAMA012S1*
MQMA022P1*
MQMA022S1*
MSMD021P1*
MSMD021S1*
MQMA021P1*
MQMA021S1*
MSMD042P1*
MSMD042S1*
MAMA022P1*
MAMA022S1*
MQMA042P1*
MQMA042S1*
MSMD041P1*
MSMD041S1*
MQMA041P1*
MQMA041S1*
MSMD082P1*
MSMD082S1*
MAMA042P1*
MAMA042S1*
MFMA042P1*
MFMA042S1*
MHMA052P1*
MHMA052S1*
MDMA102P1*
MDMA102S1*
MHMA102P1*
MHMA102S1*
MGMA092P1*
MGMA092S1*
300
300
300
300
300
300
300
300
300
300
300
300
300
300
500
500
300
300
300
300
300
300
300
300
500
500
300
300
300
300
300
300
300
300
500
500
300
300
255
255
300
300
300
300
225
225
D-
frame
MDDDT5540P
MSMA102P1*
MSMA102S1*
MHMA152P1*
MHMA152S1*
MDMA152P1*
MDMA152S1*
MSMA152P1*
MSMA152S1*
MFMA152P1*
MFMA152S1*
MAMA082P1*
MAMA082S1*
MDMA202P1*
MDMA202S1*
MSMA202P1*
MSMA202S1*
MHMA202P1*
MHMA202S1*
MFMA252P1*
MFMA252S1*
MGMA202P1*
MGMA202S1*
MDMA302P1*
MDMA302S1*
MHMA302P1*
MHMA302S1*
MSMA302P1*
MSMA302S1*
MGMA302P1*
MGMA302S1*
MDMA402P1*
MDMA402S1*
MHMA402P1*
MHMA402S1*
MSMA402P1*
MSMA402S1*
MFMA452P1*
MFMA452S1*
MGMA452P1*
MGMA452S1*
MDMA502P1*
MDMA502S1*
MHMA502P1*
MHMA502S1*
MSMA502P1*
MSMA502S1*
300
300
300
300
300
300
300
300
300
300
500
500
300
300
300
300
300
300
300
300
230
230
300
300
300
300
300
300
235
235
300
300
300
300
300
300
300
300
255
255
300
300
300
300
300
300
MADDT1107P
MADDT1205P
MADDT1207P
E-
frame
MEDDT7364P
MFDDTA390P
MFDDTB3A2P
B-
frame
MBDDT2110P
MBDDT2210P
F-
frame
C-
frame
MCDDT3120P
MCDDT3520P
MDDDT3530P
D-
frame
MDDDT5540P
• The above limit applies to SV.Pr5E, 1st torque limit setup, SV.Pr5F, 2nd torque limit setup and SV.Pr6E,
Torque setup at emergency stop.
<Caution>
When you change the motor model, above max. value may change as well. Check and reset the setup
values of SV.Pr5E, SV.Pr5F and SV.Pr6E.
78
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Cautions on Replacing the Motor
As stated above, torque limit setup range might change when you replace the combination of the motor and
the driver. Pay attention to the followings.
1.When the motor torque is limited,
When you replace the motor series or to the different wattage motor, you need to reset the torque limit
setup because the rated toque of the motor is different from the previous motor. (see e.g.1)
e.g.1)
before replacing the motor
after replacing the motor
MADDT1207P
MADDT1207P
MSMD022P1A
Rated torque
MAMA012P1A
Rated torque
•
•
0.64N m
0.19N m
Set up Pr5E to 337 to
Pr5E Setup range : 0 to 300%
Setup value : 100%.
Torque limit value
Pr5E Setup range : Change to 0 to 500%.
Setup value : Keep 100%.
Torque limit value
make torque limit value
•
to 0.64N m
•
•
•
•
0.64N m x 100% =
0.19N m x 100% =
(0.19N m x 337% = 0.64N m)
•
•
0.64N m
0.19N m
2.When you want to obtain the max. motor torque,
You need to reset the torque limiting setup to the upper limit, because the upper limit value might be
different from the previous motor. (see e.g.2)
e.g.2)
before replacing the motor
after replacing the motor
MADDT1207P
MADDT1207P
MSMD022P1A
MAMA012P1A
Rated torque
•
0.19N m
Set up Pr5E to 500 to obtain
the max. output torque.
Pr5E Setup range : 0 to 300%
Setup value : 300%.
Pr5E Setup range : change to 0 to 500%
Setup value : Keep 300%.
79
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
Setup with the Console
Composition of Display/Touch panel
Display LED (6-digit)
All of LED will flash when error occurs, and switch to error display
screen.
Display LED (in 2 digits)
Parameter No. is displayed at parameter setup mode. Point No. is
displayed at teaching mode.
SHIFT Button
Press this to shift the digit for data change.
Button
Press these to change data or execute selected action of parameter.
Numerical value increases by pressing ,
,
decreases by pressing
.
SET Button
Press this to shift each mode which is selected by mode switching
button to EXECUTION display.
Mode Switching Button Press this to switch 7 kinds of mode.
1) Monitor mode
2) Teaching mode
5) Normal auto-gain tuning mode
6) Auxiliary function mode
• Target position settings established
by teaching
• Alarm clear
• Absolute encoder clear
• Test operation
7) Copy mode
3) Parameter setup mode
4) EEPROM write mode
• Copying of parameters from the driver to the console.
• Copying of parameters from the console to the driver.
Initial Status of the Console Display (7 Segment LED)
Turn on the power of the driver while inserting the console connector to the driver main body, or inserting the
console connector to CN X4 connector.
0.6 sec
0.6 sec
0.6 sec
[ flashes for approx. 0.6 sec each for initialization of the console]
• In case of communication with RS232 only
Displays version No. of micro computer of the console.
(Displayed figures vary depending on the version)
1 sec
Initial display of LED
(Determined by the setup of SV.Pr01, "Initial Status of LED".)
•
Release of RS232 communication error
When RS232 communication error occurs as the Fig, below shows,
release it by pressing
and
at the same time.
80
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Mode Change
The modes below are available in this console. To switch a mode, press
once in the initial state to enter
SELECTION display
the
screen and press
.
Initial state *1
Monitor mode (refer to page82)
Press
.
Press
Press
Press
Press
Press
Press
Press
.
.....Teaching mode
(refer to page87)
.
.....Parameter setup mode
(refer to page91)
.
.....EEPROM write mode
(refer to page96)
.
.....Normal auto-gain tuning mode
(refer to page97)
.
.....Auxiliary function mode
(refer to page98)
.
.....Copy mode
(refer to page101)
.
Show a target mode to be executed, select it by the
button and press
to enter
EXECUTION display
the
screen.
<Note>
*1: Depends on the settings of the initial LED state of SV.Pr01.
81
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
Monitor Mode
SELECTION display
EXECUTION display
Description
Display shifts toward the arrowed direction by
Display
example
Pages to
refer
pressing
and reversed direction by pressing
.
Positional deviation
Motor rotational speed
Torque output
(5 deviation pulses)
(1000r/min)
P.83
P.83
(Torque output 100%)
(Position control mode)
Control mode
I/O signal status
Error factor, history
For manufacturer's use
Alarm
(Input signal No.0 : Active) P.83
(No error currently)
P.85
(No alarm)
P.85
P.86
P.86
P.86
P.86
P.86
P.86
P.86
P.86
P.86
SET
button
(
)
Regenerative
load factor
(30% of permissible
regenerative power)
Overload factor
(28% of overload factor)
(Inertia ratio 100%)
Inertia ratio
(Feedback pulse sum is
50 pulses.)
Feedback pulse sum
Command pulse sum
(Command pulse sum is
10 pulses.)
External scale
deviation
(External scale deviation is
0 pulses.)
External scale
feedback pulse sum
External scale feedback
pulse sum is 0 pulses.
Automatic motor
recognizing function
(Automatic motor recognizing
function is validated.)
Selection of
communication
(RS232 communication)
(Mode switch button)
Teaching Mode
P.87
82
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Display of Position Deviation, Motor Rotational Speed and Torque Output
Data
..........Positional deviation (cumulative pulse counts of deviation counter)
• – display : generates rotational torque of CW direction (viewed from shaft end)
no display : generates rotational torque of CCW direction (viewed from shaft end)
..........Rotational speed of the motor unit [r/min]
• – display : CW rotation, no display : CCW rotation
..........Torque command unit [%] (100 for rated torque)
• – display : CW rotation, no display : CCW rotation
<Note>
is not displayed on LED, but only
“
+
”
“
-
”
appears.
Display of Control Mode
.....Position control mode
.....Full-closed control mode
Display of I/O Signal Status
Displays the control input and output signal to be connected to CN X5 connector.
Select the signal No. to be monitored by pressing
.
(Lowest place
No. of input
signal)
.....Active
(This signal is valid)
.....Inactive
(Highest place
No. of input
signal)
(Lowest place
No. of output
signal)
(This signal is invalid)
Transition when
Signal No.
(Hexadecimal number, 0 to 1F)
pressing
.
.....Input signal
(Highest place
No. of output
signal)
.....Output signal
<Note>
• Shift the flashing decimal point with
• The other way to change signal No. at I/O
selection mode Signal selection mode.
.
(Right side of decimal point :
Signal selection mode)
(Left side of decimal point :
Input/Output selection mode)
83
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
• Signal No. and its title
Input signal
Output signal
Title
(For manufacturer's use)
Signal No.
00
Title
Symbol
SRV-ON
Signal No.
00
Symbol
ALM
COIN/DCLON
BRK-OFF
Servo-ON
(For manufacturer's use)
CW over-travel inhibit input
CCW over-travel inhibit input
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Multi-function input 1
Servo alarm output
Positioning completion output/Output during deceleration
Brake release output
01
02
03
04
05
06
07
08
01
02
03
04
05
06
07
08
CWL
CCWL
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Motor operation condition output
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Present position output
Present position output
Present position output
Present position output
Present position output
Present position output
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
EX-IN1
EX-IN2
BUSY
Multi-function input 2
(For manufacturer's use)
(For manufacturer's use)
Home sensor input
09
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
0A
0B
0C
0D
0E
0F
10
11
12
13
14
Z-LS
(For manufacturer's use)
(For manufacturer's use)
Emergency stop input
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Point specifying input
Point specifying input
Point specifying input
Point specifying input
Point specifying input
Point specifying input
Strobe signal input
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
EMG-STP
P1OUT
P2OUT
P4OUT
P8OUT
P16OUT
P32OUT
15
16
17
18
15
16
17
18
P1IN
P2IN
P4IN
P8IN
P16IN
P32IN
STB-IN
19
19
1A
1B
1C
1D
1E
1F
1A
1B
1C
1D
1E
1F
*For details of Signal, refer to P.42 to 47.
• Point Number Conversion Table
The console shows the point numbers in the specified point input (No. 16 to 1B) and the current position
output (No. 10 to 15) for the of I/O signal state. The point number is expressed in a six-digit binary number.
Convert the point number from the I/O signal state referring to the table below.
The console shows [ A] or [ -] below when SV.Pr58 is “1”. If SV.Pr58 is “0”, interchange [ A] and [ -] with each other.
Input signal No.
Output signal No.
1B
15
P32
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
1A
14
P16
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
19
13
P8
–
–
–
–
–
–
–
18
12
P4
–
–
–
17
11
P2
–
16
10
P1
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
Input signal No.
Output signal No.
1B
15
P32
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
1A
14
P16
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
19
13
P8
–
–
–
–
–
–
–
18
12
P4
–
–
–
17
11
P2
–
16
10
P1
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
A
–
Point No.
0
Point No.
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
1
2
3
4
5
6
7
8
–
–
A
A
–
A
A
–
–
–
A
A
A
A
–
–
–
–
A
A
A
A
–
–
–
–
A
A
A
A
–
–
–
–
A
A
A
A
A
A
A
A
–
–
–
–
A
A
A
A
–
–
–
–
A
A
A
A
–
–
–
–
A
A
A
A
–
–
A
A
–
A
A
–
–
–
A
A
A
A
A
A
A
A
–
–
–
–
–
A
A
A
A
A
A
A
A
–
–
–
–
–
9
–
–
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
A
A
–
A
A
–
–
–
A
A
–
A
A
–
–
–
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
–
–
A
A
–
A
A
–
–
–
–
–
–
–
–
–
A
A
–
A
A
–
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
–
–
A
A
–
–
A
A
A
A
–
–
A
A
–
A
A
A
84
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
<Notice>
• [ -] shows the OPEN state and [ A] shows the CLOSED state.
• The number of point inputs can be specified in SV.Pr57.
• The logic of point input can be changed in SV.Pr58.
The table above shows the case of “1: Point input is enabled by closing the connection to COM–”.
[ A] and [ -] are interchanged with each other in the case of “0: Point input is enabled by opening the
connection to COM–”.
• A point of “High-speed jog operation (negative direction)”, “High-speed jog operation (positive direction)”
and “Homing command” depends on the settings of SV.Pr57.
Reference of Error Factor and History
<Note>
• Following errors are not included in the history.
11: Control power supply under-voltage protection
Error code No.
appears if
no error occurs)
13: Main power supply under-voltage protection
36: EEPROM parameter error protection
37: EEPROM check code error protection
(
........Present error
39: Emergency stop input error protection
93: External scale auto recognition error protection
95: Motor auto recognition error protection
• When one of the errors which are listed in error history
occurs, this error and history o shows the same error No.
• When error occurs, the display flashes.
........History 0 (latest error)
........History 13 (oldest error)
• You can refer the last 14 error factors
(including present one).
Press
to select the factor to
be referred.
<Notice>
For the relation between an error code number and an error, refer to “Protective Function” in [When in
Trouble] on page 164.
Alarm Display
.......
no alarm
.......
Alarm occurrence
• Over-load alarm :
Turns on when the load reaches 85% or more of alarm trigger level of over-load
protection.
• Over-regeneration alarm :
Turns on when regenerative load reaches more than 85% of alarm trigger level
of regenerative load protection. Alarm trigger level is defined as 10% of
regenerative resister working ratio, when Pr6C "Selection of external
regenerative resister " is 1.
• Battery alarm
• Fun-lock alarm
85
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
Display of Regenerative Load Factor
Shows regenerative resistance load factor in percentage assuming that
an operation level of regenerative protection is 100%.
This is valid when SV.Pr6C is 0 or 1.
Display of Over-load Factor
Displays the ratio (%) against the rated load.
Refer to P.170, "Overload Protection Time Characteristics" of When in Trouble.
Display of Inertia Ratio
Displays the inertia ratio (%) .
Value of SV.Pr20 (Inertia ratio) will be displayed as it is.
Display of Feedback Pulse Sum, Command Pulse Sum
lowest
Total sum of pulses after control power-ON.
(
)
order
The display range is from –2147483647 to 2147483647.
An overflow occurs if the result is outside the display range.
Sum of pulses shown can be reset to “ 0” by pressing
for approximately 5 seconds or more.
Press
.
highest
(
)
order
Display of External Scale Deviation, External Scale Feedback Pulse Sum
* Not available to the models that do not
support external scale.
Press
Press
.
.
lowest
(
)
order
Press
.
highest
(
)
order
Automatic Motor Recognizing Function
Automatic recognition is valid. (This is always shown.)
Switching of the Driver to be Communicated
RS232 communication
.....“1” is always shown.
86
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Teaching Mode
Overview of Teaching Mode
In the teaching mode, you can operate the motor actually using this console, set a target position and
execute a test operation, e.g., step operation, jog operation, etc.
Operation at SELECTION display
Press
once and
once in the initial LED state
for the teaching mode.
to show
To change the mode,
press or
.
Press
.
...Step operation (refer to page 89).
Test mode
Moving to a selected point number.
Press
.
...Jog operation (refer to page 90).
The motor rotates while pressing
after pressing
.
...Homing operation
(refer to page 90).
Returning to a home position.
<Note>
• When operating the motor, check the safety, e.g., whether the wiring is correct, whether
the servo motor is fixed, etc.
• When a trouble, e.g., cable breakage, has occurred during a motor operation, the servo
driver overruns a maximum of approximately 1s. Check the safety fully.
Teaching Mode Setup
Operate the motor and set a target position.
Operation at EXECUTION display
EXECUTION display
Teaching mode display
Show
and press
.
Then, a current position is shown
(lowest order).
Press
.
A current position (highest order)
* The data is shown on the two screens because of
a large number of displayed digits.
* If “Error” is shown, it may be caused by any of the factors below.
• Homing is not completed. • The servo turns off. • Operation by I/O etc.
• 16.Pr51 (wrap around permission) is set to “1”.
87
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
When you press
When you press
, the motor rotates by specified travel in a positive direction.
, the motor rotates by specified travel in a negative direction.
The travel can be set by 16.Pr48 (teaching travel setting).
The rotation speed can be set by16.Pr40 (jog speed [ low] ).
When you press
during movement, the motor decelerates and stops.
When you keep on pressing
When you keep on pressing
, the motor rotates continuously in a positive direction while pressing it.
, the motor rotates continuously in a negative direction while pressing it.
The rotation speed can be set by16.Pr40 (jog speed [ low] ).
When you press
during rotation, the rotation speed changes to a jog speed (high speed).
When you keep on pressing
When you keep on pressing
+
+
, the motor rotates continuously in a positive direction while pressing it.
, the motor rotates continuously in a negative direction while pressing it.
The rotation speed can be set by16.Pr41 (jog speed [ high] ).
When you press
during rotation, the rotation speed changes to a jog speed (low speed).
Definition of positive or negative direction of rotation depends on the setting of 16.Pr50 (operating direction setting).
“Error” is shown when execution is made during an operation by I/O etc.
When you press
, teaching is completed and you will be moved to the parameter number selection.
after finishing teaching.
If you do not want to store a current position in a parameter, press
Press
.
• Parameter number selection
To store a current position, set
a relevant point number using
.....Current position (low order)
.....Point number
Keep on pressing
,
and/or
.
.
• Target position setting
Select a point number and keep
A dot moves to the left.
on pressing
position is set in a selected
. A current
.....Point number
parameter and you will be moved
to the speed number selection.
• Step parameter setting
For the setting of the speed number
selection – block selection,
refer to “Step Parameters” on
page 92.
.....Speed number selection
.....Block selection
.
Press
* When you press
during parameter setting, any parameter in process is not changed and is
shown again.
* When you set a target position by teaching, an operation mode fixed to the absolute value mode.
* If you set a target position manually when the servo turns off or main power supply turns off, set
SV.Pr67 and SV.Pr69 to “Deviation counter clear”.
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply
off before writing the parameters into EEPROM, those parameters are cleared.
88
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Test Mode
• Step operation
An operation is performed at a position of a selected point number.
* Execute homing completely before performing a step operation.
An example of an operation to move to the point No. 2 is shown below.
Press
Press
.
.
.....Point No. 1
Keep on pressing
at a desired point number.
.....Point No. 2
Select a point number using
and/or
.
A dot ( ) moves and
then the motor rotates.
.....Point No. 60
.....Point No. 1
A current position is shown
during moving to a point.
An error has occurred.
An error occurs if SV.Pr02 is not set.
If you press
movement, the motor stops.
during
Point number
Movement completed
To move to the next process, press
.
89
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
• Jog operation
The motor can be operated by the jog operation.
...A current position is shown during an operation.
Press
.
When you keep on pressing
When you keep on pressing
, the motor rotates continuously in a positive direction while pressing it.
, the motor rotates continuously in a negative direction while pressing it.
The rotation speed can be set by 16.Pr40 (jog speed [ low] ).
When you press
during rotation, the rotation speed changes to a jog speed (low).
When you keep on pressing
When you keep on pressing
+
+
, the motor rotates continuously in a positive direction while pressing it.
, the motor rotates continuously in a negative direction while pressing it.
The rotation speed can be set by 16.Pr41 (jog speed [ high] ).
When you press
during rotation, the rotation speed changes to a jog speed (high).
* Definition of positive or negative direction of rotation depends on the setting of 16.Pr50
(operating direction setting).
* If “Error” is shown, it may be caused by any of the factors below.
• The servo turns off.
• Operation by I/O etc.
• Homing
Homing is performed as follows.
Press
.
.
Press
Keep on pressing
.
A dot ( ) moves to the left.
Homing
Error occurred
An error occurs if any
parameter related to
homing is not set.
Movement completed.
To move to the next process, press
.
90
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Parameter setup mode
Set the servo driver parameters.
The parameters are classified as follows:
• Step parameter (ST.Pr)
• 16-bit positioning parameter (16.Pr)
• 32-bit positioning parameter (32.Pr)
• Servo parameter (SV.Pr)
Structure of Parameter Setup Mode
When you press
once and
twice in the initial LED state,
.
the step parameter display shows
Select a target parameter using
and/or
.
Press
Press
.
.
Step parameter
(refer to page92)
Press
Press
.
.
16-bit positioning
parameter
(refer to page93)
Press
Press
.
.
32-bit positioning
parameter
(refer to page94)
Press
Press
.
.
Servo parameter
(refer to page95)
91
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
Step Parameter
Step parameter can be set.
* An example to set in ST.Pr1 is shown below.
Step data
(low order)
Step data
(high order)
Press
.
Press
.
.....ST.Pr01
A selected parameter
is shown.
* The data is shown on the
two screens because of a
large number of displayed
digits.
Press
Press
Press
Press
Press
Press
.
.....Speed number selection
.....ST.Pr02
.
.....Acceleration number selection
.
.....ST.Pr60
.....ST.Pr01
.....Deceleration number selection
.
.....Operation mode selection
.
.....Block selection
.
<Notice>
Select an input digit (a dot blinks) by the [ SHIFT] key and a parameter by the [ UP] /[ DOWN] key.
The step data is shown on the two screens because of a large number of displayed digits.
If the parameter is a negative value, a dot lights.
When you press the [ SET] key, the parameter is modified.
* When you press
during parameter setting, any parameter in process is not changed and “No.”
display is shown again.
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply
off before writing the parameters into EEPROM, those parameters are cleared.
92
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
16-Bit Positioning Parameter
16-bit positioning parameter can be set.
Press
.
.....16.Pr00
.....16.Pr01
Selected 16.PrNo.
.....16.Pr63
A parameter that “ ” is displayed on this position is enabled
after writing a set value in EEPROM and resetting the system.
<Notice>
Select an input digit (a dot blinks) by the [ SHIFT] key and a parameter by the [ UP] /[ DOWN] key.
When you press the [ SET] key, the parameter is modified.
* When you press
during parameter setting, any parameter in process is not changed and “No.”
display is shown again.
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply
off before writing the parameters into EEPROM, those parameters are cleared.
93
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
32-Bit Positioning Parameter
32-bit positioning parameter can be set.
Press
.
Press
.
.....32.Pr00
Selected 32.PrNo.
* The data is shown on the
two screens because of
a large number of displayed
digits.
.....32.Pr01
.....32.Pr05
<Notice>
Select an input digit (a dot blinks) by the [ SHIFT] key and a parameter by the [ UP] /[ DOWN] key.
The 32-bit positioning parameter is shown on the two screens because of a large number of displayed
digits.
If the parameter is a negative value, a dot lights.
When you press the [ SET] key, the parameter is modified.
* When you press
during parameter setting, any parameter in process is not changed and “No.”
display is shown again.
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply
off before writing the parameters into EEPROM, those parameters are cleared.
94
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Servo Parameter
Servo parameter can be set. For the details of parameter, refer to “Parameter Setup” on page 56.
Press
.
.....SV.Pr00
<Notice>
A parameter that “ ” is displayed on this
position is enabled after writing a set value in
EEPROM and resetting the system.
Selected
SV.PrNo.
How to set a parameter value
.....SV.Pr01
(1) Select a digit by
a decimal point.
to change
(2) Press
and/or
to set a parameter
value.
increases a value and
Select a target parameter
number, which is to be referred
decreases.
to and set, by
and/or
.
A digit next to the blinking decimal point can be modified.
Press
value.
to set a parameter
<Notice>
Movement to a high order position is limited per
parameter.
.....SV.Pr7F
When you have set the parameters, press
to return
SELECTION display
to
.
<Remarks>
When you change a parameter value and press
, the change is reflected in the control. Modify
gradually a value of parameter (especially, velocity loop gain, position loop gain, etc.) which exerts an
influence on the motor operation, not changing it extremely at a time.
* When you have set the parameters, write the parameters into EEPROM. If you turn the power supply
off before writing the parameters into EEPROM, those parameters are cleared.
95
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
EEPROM Write Mode
EEPROM Writing
Operation at SELECTION display
Starting from the initial LED status,
press
three time after pressing
,
then brings the display of
EEPROM Writing Mode,
Operation at EXECUTION display
Press
to make
EXECUTION DISPLAY to
Keep pressing
until the display changes to
when you execute writing.
“
” increases while
keep pressing
(for approx. 5sec) as
the right fig. shows.
Starts writing.
Finishes writing
Writing completes
To move to the next process, press
Writing error
.
• When you change the parameters which contents become valid after resetting,
displayed after finishing wiring. Turn off the control power once to reset.
will be
Note 1) When writing error occurs, make writing again. If the writing error repeats many times,
this might be a failure.
Note 2) Don't turn off the power during EEPROM writing. Incorrect data might be written.
If this happens, set up all of parameters again, and re-write after checking the data.
Note 3) Between
and
, take care not to pull out a console connector from a servo
driver main unit. If the connector is pulled out accidentally, insert the connector again and retry
from the beginning.
<Notice>
When you have set the parameters, write the parameters into EEPROM. If you turn the power supply
off before writing the parameters into EEPROM, those parameters are cleared.
96
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Auto-Gain Tuning Mode
Normal Mode Auto-Gain Tuning Screen
<Remarks>
• For details of normal auto-gain tuning, refer to P.148, "Normal Auto-Gain Tuning" of Adjustment. Pay a
special attention to applicable range and cautions.
• The motor will be driven in a preset pattern by the driver in normal auto-gain tuning mode.You can change
this pattern with SV.Pr25 (Normal auto tuning motion setup), however, shift the load to where the operation
in this pattern may not cause any trouble, then execute this tuning.
• Depending on the load, oscillation may occur after the tuning. In order to secure the safety, use the
protective functions of SV.Pr26 (Software limit set up), SV.Pr70 (Position deviation error level) or SV.Pr73
(Overspeed level).
Operation at SELECTION display
Starting from the initial LED status, press
four time after pressing
,
then brings the display of normal auto-gain tuning,
<Note>
then press
stiffness No.
to select the machine
For machine
stiffness No.,
refer to P.148.
machine stiffness No.
(1 to 9, A (10) to F (15))
Operation at EXECUTION display
Press
EXECUTION DISPLAY to
After inhibiting command input, and during Servo-On status,keep pressing
to make
until
Console (LED) display changes to
.
“
” increases by pressing
(approx. 5sec)
as the left fig. shows.
<Note>
Starting of the motor
Tuning finishes.
To prevent the loss of
gain value due to the
power shutdown, write
into EEPROM.
Tuning completes
Tuning error
When you have finished the tuning, press
to return to SELECTION display
.
<Remarks>
Don' t disconnect the console from the driver between
and
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
<Note> If the following status occurs during the tuning action, the tuning error occurs.
(1) During the tuning action, 1) when an error occurs, 2) when turned to Servo-OFF,
3) even the deviation counter is cleared and 4) when the tuning is actuated close to the limit switch.
(2) When the output torque is saturated because the inertia or load is too large.
(3) When the tuning can not be executed well causing oscillation.
If the tuning error occurs, value of each gain returns to the previous value before the tuning. The
driver does not trip except error occurrence. Depending on the load, the driver might oscillate without
becoming tuning error. (not showing
) Extra attention should be paid to secure the safety.
97
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
Auxiliary Function Mode
The console has two auxiliary functions.
(1) Alarm Clear
A protection function works and a motor stop (motor trip) can be canceled.
(2) Absolute encoder clear
A value of absolute encoder is cleared.
Structure of Auxiliary Function Mode
Operation at SELECTION display
Starting from the initial LED status, Press
five time after pressing
,
then brings the display of Auxiliary Function Mode,
(A4P series cannot be used.)
EXECUTION display
Press
Press
.
.
Select a desired function
...Clearing of
Absolute Encoder
(refer to page100)
using
press
and/or
and
to change into
[ EXECUTION] display.
...Alarm Clear Screen
(refer to page99)
98
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Alarm Clear Screen
Protective function will be activated and release the motor stall status (error status).
Operation at SELECTION display
Starting from the initial LED status,
Press
five time after pressing
,
then press
to make a display to
Operation at EXECUTION display
Press
to call for
EXECUTION display of
Keep pressing
changes to
until the console (LED)
“
”
increases by pressing
(approx. 5sec) as the right fig. shows.
Alarm clear starts.
Clearing finishes.
Alarm clear completes
Clear is not finished.
Release the error by resetting
the power.
When you have set the alarm clear, press
to return to
.
SELECTION display
<Remarks>
Don't disconnect the console from the driver between
and
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
99
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
Clearing of Absolute Encoder
Only applicable to the system which uses absolute encoder.You can clear the alarm and multi-turn data of
the absolute encoder.
Operation at SELECTION display
Press
five time after pressing
, make a display to
, to setup auxiliary function mode,
then with
Operation at EXECUTION display
Press
to call for
EXECUTION DISPLAY of
Then keep pressing
changes to
until the display of Console (LED)
“
” increases by
pressing (approx. 5sec)
as the left fig. shows.
Clearing of absolute encoder starts
Clearing finishes
Clearing of absolute encoder Error occurs
completes
When non-applicable encoder is
connected
(
)
A incremental encoder or any
unsupported encoder other than an
absolute encoder may be connected.
Reset the power supply and clear the
error.
When you have cleared the absolute encoder, press
to return to
.
SELECTION display
<Remarks>
Don' t disconnect the console from the driver between
to
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
<Notice>
If an error code No. 40 is shown on the console immediately after purchase, clear the absolute encoder
through the console.
100
Download from Www.Somanuals.com. All Manuals Search And Download.
[Setting]
Copying Function (Console Only)
Copying of Parameters from the Driver to the Console
Operation at SELECTION display
Starting from initial LED status, Press
to make a display to
six time after pressing
, then press
,
Operation at EXECUTION display
Press
to call for
EXECUTION DISPLAY of
“
” increases by
Keep pressing
until
pressing
(approx. 3sec)
the console display (LED)
as the left fig. shows.
changes to
.
Initialization of EEPROM
of the console starts.
The positioning parameter is copied
from the servo driver into the
console and the positioning
parameter is written into EEPROM
(console).
The servo parameter and driver
type code are copied from the servo
driver into the console and the
driver type code of the servo
parameter is written into EEPROM
(console).
Error display
<Remarks>
If error is displayed, repeat
the procedures from the
beginning.
Press
for releasing error.
Copying completes normally.
To move to the next process, press
.
When you have finished the copy, press
to return to
.
SELECTION display
<Remarks>
Don' t disconnect the console from the driver between
to
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
<Note>
If the error display repeats frequently, check the broken cable, disconnection of the connector,
misoperation due to noise or failure of console.
101
Download from Www.Somanuals.com. All Manuals Search And Download.
How to Use the Console
Copying of Parameters from the Console to the Driver
Operation at SELECTION display
Starting from initial LED status,Press
to make a display to
six time after pressing
, then press
Operation at EXECUTION display
Press
to call for
EXECUTION DISPLAY of
“
” increases by
Keep pressing
until
pressing
(approx. 3sec)
the console display (LED)
change.
as the left fig. shows.
If a type code stored in EEPROM (console)
and another type code of servo driver are
different from each other.
Press
When you keep on pressing
a dot ( ) moves to the left.
.
,
Check whether or not to
transfer the read parameter
to the servo driver.
The positioning parameter is
copied from the console into the
servo driver.
The servo parameter is copied
from the console into the servo
driver and the driver type code of
the servo parameter is written into
EEPROM (console).
Error display
<Remarks>
If error is displayed,
repeat the procedures
from the beginning.
Copying completes normally.
To move to the next process, press
.
When you have finished the copy, press
to return to
.
SELECTION display
<Remarks>
Don' t disconnect the console from the driver between
to
.
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
<Note>
If the error display repeats frequently, check the broken cable, disconnection of the connector,
misoperation due to noise or failure of console.
102
Download from Www.Somanuals.com. All Manuals Search And Download.
Outline of Setup Support Software, "PANATERM®"
[Setting]
Outline of PANATERM®
With the PANATERM®, you can execute the followings.
(1) Setup and storage of parameters, and writing to the memory (EEPROM).
(2) Monitoring of I/O and pulse input and load factor.
(3) Display of the present alarm and reference of the error history.
(4) Data measurement of the wave-form graphic and bringing of the stored data.
(5) Normal auto-gain tuning
(6) Frequency characteristic measurement of the machine system.
How to Connect
• Connecting cable
DV0P1960
(DOS/V)
RS232
Connect to CN X4.
Setup support software
Setup disc of "PANATERM®"
DV0P4460 (English/Japanese version)
Supporting OS : Windows® 98, Windows® 2000,
Windows® Me, Windows® XP
Install the "PANATERM®" to Hard Disc
<Cautions/Notes>
1. 15MB capacity of hard disc is required. OS to be Window® 98, Windows® 2000, Windows® Me or Win-
dows® XP.
2. Install the "PANATERM®" to a hard disc, using the setup disc according to the procedures below to log on.
Procedure of install
1) Turn on the power of the computer to log on the supporting OS. (Exit the existing logged on software.)
2) Insert the setup disc of the "PANATERM®" to CD-ROM drive.
3) When a window has opened automatically, click a name of file required.
* If a window has not opened automatically, execute the target setup file through the Explorer.
4) Operate according to the guidance of the setup program file.
O K
5) Click
on the installation verification window to start the setup.
6) Exit all applications and log on Windows® again.
"PANATERM®" will be added on program menu when you log on again.
103
Download from Www.Somanuals.com. All Manuals Search And Download.
Outline of Setup Support Software, "PANATERM®"
Log on of the "PANATERM®" .
<Cautions/Notes>
1. Once the "PANATERM®" is installed in the hard disc, you do not need to install every time you log on.
2. Connect the driver to a power supply, the motor and encoder before you log on.
Refer to the instruction manual of supporting OS for start.
Procedure of log on
1) Turn on the power of the computer and log on the supporting OS.
2) Turn on the power of the driver.
3) Click the start bottom of the supporting OS.
(Refer to the instruction manual of supporting OS for start.)
4) Select the "PANATERM®" with program
and click.
5) The screen turns to "PANATERM®" after showing opening splash for approx. 2sec.
For more detailed information for operation and functions of the "PANATERM®", refer to the instruction
manual of the Setup Support Software, "PANATERM®".
104
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
page
Overview of Operation Setting.............................106
Step Operation ......................................................107
Example of Incremental Operation Setting ............................... 108
Example of Absolute Operation Setting .................................... 109
Example of Rotary Axis Operation Setting .................................110
Example of Dwell Timer Operation Setting ................................ 111
Jog Operation........................................................ 112
Homing Operation ................................................. 114
Home Sensor + Z Phase (based on the front end) ....................116
Home Sensor (based on the front end)...................................... 117
Home sensor + Z phase (based on the rear end) ......................118
Limit Sensor + Z phase ............................................................. 120
Limit Sensor .............................................................................. 121
Z Phase Homing........................................................................ 122
Bumping Homing ....................................................................... 122
Data Set .................................................................................... 123
Homing Offset Operation........................................................... 124
Emergency Stop Operation/Deceleration-and-Stop Operation....... 125
Temporary Stop Operation ...................................126
Block Operation ....................................................127
Continuous Block Operation ..................................................... 127
Combined Block Operation ....................................................... 128
Sequential Operation ............................................130
S-shaped Acceleration/Deceleration Function...131
Timing Chart ..........................................................132
Operation Timing after Power-ON ............................................. 132
When an Error (Alarm) Has Occurred (at Servo-ON Command)......... 133
When an Alarm Has Been Cleared (at Servo-ON Command) .. 134
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) ..... 135
Servo-ON/OFF Action While the Motor Is in Motion ................. 135
Absolute System ...................................................136
Outline of Full-Closed Control .............................140
105
Download from Www.Somanuals.com. All Manuals Search And Download.
Overview of Operation Setting
In MINAS A4P, the following operations can be performed.
Step operation
The most basic operation.
Specify a point number set in advance when performing the operation.
The four types of modes are available, i.e., an incremental operation,
.....P.107 absolute operation, rotary axis operation and dwell timer (waiting time).
Jog operation
The motor can be moved in a positive direction or negative direction
independently.
.....P.112 This is useful for teaching or adjustment.
Homing operation
An operation to detect a home position which is the base of operation.
The eight types of homing operations can be performed in A4P.
Homing must be completed before performing the step operation etc.
.....P.114 Also, homing can be disabled by setting a certain parameter.
Emergency stop/
An active operation can be interrupted and canceled.
deceleration-and-stop
operation
Emergency stop: An operation stops in a deceleration time specified by a
special parameter.
Deceleration-and-stop: An operation stops in a deceleration time specified
.....P.125 in an operation mode before the start of deceleration.
Temporary stop operation Active operation can be stopped temporarily and restarted.
.....P.126
Block operation
Several step operations can be performed at a time. The two types of block
operations below can be executed.
Continuous block operation: Several step operations can be performed
continuously. Once an operation starts, the operation continues to a
specified point number.
Combined block operation: A step operation is performed according to
combined several point numbers. This is useful when you want to change
.....P.127 the speed during a step operation.
Sequential operation
A point number increments by 1 automatically whenever an operation
command is given.
A step operation can be performed easily only by turning the STB signal
.....P.130 on/off.
S-shaped acceleration/
deceleration operation
.....P.131
An operation can be performed smoothly by executing the start and end of
acceleration/deceleration gradually.
<Notice>
• For how to set a step data or parameters, “Hot To Use Console” on page 80.
• When setting the step parameters using “PANATERM®”, speed = V1 to V6, deceleration = A1 to A4 and
deceleration = D1 to D4 are shown. This instruction manual describes speed = VEL1 to VEL16, decelera-
tion = ACC1 to ACC4 and deceleration = DEC1 to DEC4.
106
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
Step Operation
Step Operation
Positioning can be performed to a specified point by the step operation.
The four types of modes are available, i.e., an incremental operation, absolute operation, rotary axis opera-
tion and dwell timer (waiting time).
Command
Speed
Actual motion
Point specifying input
(P1IN to P32IN)
Destination
point number
MIN 10ms
Strobe signal input
(STB)
Open
Close
Open
Transistor OFF
MAX 10ms
Transistor ON
Transistor ON
In-operation signal output
(BUSY)
Transistor OFF
Transistor ON
Transistor ON Transistor OFF
In-deceleration output
(DCLON)
Positioning completion output
(COIN)
Transistor OFF
Transistor ON
MAX 10ms
Previous
point number
Destination
point number
Current position output
(P1OUT to P32OUT)
Procedure
Description
Set the step parameters referring to the example of each operation setting since page 108.
Setting of step
parameters
(1)
(2)
(3)
(4)
Perform the homing referring to “Homing Operation” on page 114. Any step operation is
unacceptable if homing is not completed.
Execution of
homing
This operation is not required if the absolute mode and homing are disabled.
Specify an operation point number in the point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5,
6, 7 and 8).
Designation of operation
point number
By connecting (closing) the open strobe signal input (STB: CN X5 Pin 24) to COM- when 10 ms
has passed after inputting the point specifying input (P1IN to P32IN), an operation starts
according to a set value of a point number specified in procedure (3).
Start of step
operation
Check whether a driver is executed by an operation command. If the driver is executed, open the
strobe signal input (STB) again. If a transistor of the in-operation signal output (BUSY: CN X5 Pin
28) turns OFF, an operation is in the execution. Even if an operation completes when the strobe
signal (STB) does not return to the OPEN state, the in-operation signal output (BUSY) remains
turning OFF.
Check of operation
command execution
(5)
Check the completion of operation command execution with the in-operation signal output (BUSY).
If a transistor of the signal returns from OFF to ON, the operation is completed.
Check of completion
(6) of operation
command execution
Check an operation point number executed by the current position output (P1OUT to P32OUT: CN
X5 Pin 29, 30, 31, 32, 33 and 34) after checking the operation command execution. The current
position output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-operation
signal output (BUSY) turns ON.
Check of current
position output
(7)
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning
the transistor ON/OFF, refer to the diagram above.
107
Download from Www.Somanuals.com. All Manuals Search And Download.
Step Operation
Caution
1) If a set value of speed, acceleration or deceleration at a specified point is “0”, an operation trips due to unde-
fined data error protection (error code No. 69) and stops according to an operation at alarm occurrence.
2) If the current position (–2147483647 to 2147483647) overflows when absolute movement is performed
continuously in the same direction, an operation trips due to current position overflow error protection
(error code No. 70) and stops according to an operation at alarm occurrence. This error can be disabled
by 16.Pr51 (Wrap around permission). In this case, however, an absolute position cannot be guaranteed.
If you disable the wrap around, use the incremental operation only.
3) If the over-travel inhibit input is enabled in an operating direction during a step operation, an operation
trips due to over-travel inhibit detection error protection (error code No. 71) and stops according to an
operation at alarm occurrence. In SV.Pr55 (Over-travel inhibit input operation setting), you can specify
whether or not to trip an operation.
4) When the motor has exceeded a maximum travel specified by 32.Pr01 (Setting of maximum movement in
plus direction) and 32.Pr02 (Setting of maximum movement in minus direction) during a step operation,
an operation stops due to maximum travel limit error protection (error code No. 72) and stops according to
an operation at alarm occurrence.
5) When the servo driver has tripped, a step operation cannot be executed again unless you input an Alarm
Clear command once and then execute the homing. However, the absolute mode and homing are dis-
abled, the step operation can be executed without performing the homing operation.
6) If a motor operation completes although the strobe signal input (STB: CN X5 Pin 24) does not return to the
OPEN state after the in-operation signal output (BUSY: CN X5 Pin 28) turns OFF, the in-operation signal
output (BUSY) is still in the OFF state. When the in-operation signal output (BUSY) has turned OFF, be
sure to return the strobe signal input (STB) to the OPEN state.
7) Any step operation is unacceptable when the in-operation signal output (BUSY) turns OFF (a previous
command is being executed).
Step Operation Mode
For a positioning operation in this servo driver, you can select any of the four types of operation modes. For
the details of each operation mode, refer to the relevant page.
Operation mode
Description
Relevant page
P.108
Incremental operation (Incremental)
Absolute operation (Absolute)
Rotary axis operation (Rotary)
Dwell timer operation (Dwell time)
Operates regarding a set value as relative travel from a current position.
Operates regarding a set value as an absolute position of a target.
Operates regarding a set value as an absolute position per rotation.
Operates regarding a set value as a waiting time.
P.109
P.110
P.111
* A step data can be set in the point numbers 1 (01h) to 60 (3Ch). For details, refer to the table in “Overview
of Point specifying Input” on page 45.
* Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremental)
or absolute operation (Absolute). Wrap around according to the command position and the number of
pulses per rotation at the current position cannot be performed appropriately.
Example of Incremental Operation Setting
In the incremental operation, the motor operates regarding a set value as relative travel from a current
position.
Speed
Speed = VEL1
Acceleration =
ACC1
Deceleration = DEC1
Travel = Point 1 set value
(1000000)
Time
Origin = 0 Start position = X
End position = X + 1000000
108
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
• Setting of 16-bit positioning parameter
16.Pr* *
00
Parameter name
VEL1
ACC1
DEC1
Positioning setting first speed
10
Positioning acceleration setting 1st
Positioning deceleration setting 1st
12
1. Set the 16-bit positioning parameter in the table above to any value and specify the step parameter
as shown below.
2. Perform homing. (Refer to “Homing” on page 114.)
3. Specify the point 1 when the servo turns on and connect the strobe signal input (STB: CN X5 Pin 24)
to COM–. Then, an operation starts.
• Setting of step parameter
No.
Operation mode
Position/Waiting time
Speed
Acceleration Deceleration
ACC1 DEC1
Block
01
Incremental operation (Incremental)
1000000
VEL1
Single
Example of Absolute Operation Setting
In the absolute operation, the motor operates regarding a set value as absolute position based on origin = “0”.
The chart below shows an example to specify the point 1 to the absolute operation for movement.
Speed
Speed = VEL1
Acceleration =
ACC1
Deceleration = DEC1
Time
Origin = 0 Start position = X
End position = Point 1 set value
(+1000000)
• Setting of 16-bit positioning parameter
16.Pr* *
00
Parameter name
VEL1
ACC1
DEC1
Positioning setting first speed
10
Positioning acceleration setting 1st
Positioning deceleration setting 1st
12
1. Set the 16-bit positioning parameter in the table above and specify the step parameter as shown
below.
2. Perform homing. (Refer to “Homing” on page 114.)
3. Specify the point 1 when the servo turns on and connect the strobe signal input (STB: CN X5 Pin 24)
to COM–. Then, an operation starts.
• Setting of step parameter
No.
Operation mode
Position/Waiting time
Speed
Acceleration Deceleration
ACC1 DEC1
Block
01
Absolute operation (Absolute)
1000000
VEL1
Single
Caution
1) Wrap around
If 16.Pr51 (wrap around accepted) is set to “1”, although an error does not occur when wrap around
happens, an absolute position cannot be guaranteed. If you will combine the absolute operation mode
and incremental operation mode with each other, take care not to cause the wrap around or do not use the
absolute operation.
109
Download from Www.Somanuals.com. All Manuals Search And Download.
Step Operation
Example of Rotary Axis Operation Setting
If the rotary axis operation is specified, the shaft moves in a direction nearest from the current position to a
target position of a step parameter that the rotary axis operation (rotary) has been specified regarding
32.Pr03 (Movement per rotation in rotation coordinates) as 360 degrees.
A current position of running motor is automatically limited in a range between 0 and [ travel per rotation at a
rotary coordinate –1] as shown below.
Origin = 0
• If travel per rotation at a rotary
coordinate is set to “10000”
... , 2, 1
9999, 9998, ...
Point 1 = 1250
Point 7 = 8750
Point 2 = 2500
Point 6 = 7500
Point 3 = 3750
Point 5 = 6250
Point 4 = 5000
• Setting of 32-bit positioning parameter
32.Pr* *
Parameter name
Input value
03
Movement per rotation in rotation coordinates
10000
• Setting of step parameter
No.
01
02
03
04
05
06
07
Operation mode
Position/Waiting time
Speed
Acceleration Deceleration
Block
Single
Single
Single
Single
Single
Single
Single
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
Rotary axis operation (Rotary)
1250
2500
3750
5000
6250
7500
8750
VEL1
VEL1
VEL1
VEL1
VEL1
VEL1
VEL1
ACC1
ACC1
ACC1
ACC1
ACC1
ACC1
ACC1
DEC1
DEC1
DEC1
DEC1
DEC1
DEC1
DEC1
Caution
1) Control mode
The rotary axis operation is enabled only for the position control (SV.Pr02 = 0). If the rotary axis operation
is specified for the full-closed control (SV.Pr02 = 6), an error code No. 69 (undefined data error protection)
is shown.
2) Restrictions on parameter
If the rotary axis operation is used, the restrictions below are imposed to the parameters not to exceed the
limitation of the current position.
PrNo.
Name
Set value
Description
The rotary axis operation requires homing. If “0” or “2” is
set, an error code No. 69 (undefined data error protection)
is shown when the rotary shaft operation starts.
Be sure to set “1” if you use the home offset function.
The rotary axis operation requires homing.
The combined block operation cannot be used.
For 16.Pr37 = 0, set “0”. For 16.Pr37 = 0, set a value in a
range between 0 and [ movement per rotation at a rotary
coordinate - 1] .
SV.Pr0B Absolute encoder set up
1
16.Pr37 Home complete type
16.Pr38 Homing skip
16.Pr54 Block operation type
1
0
0
32.Pr00 Home offset
For any invalid value out of specified range, an error code
No. 69 (undefined data error protection) is shown when
the positioning operation starts.
Setting of maximum movement in plus
direction
2 to
1073741824
32.Pr03
32.Pr01 Setting of maximum movement in minus direction
32.Pr02 Movement per rotation in rotation coordinates
0
A maximum travel limitation error protection cannot be
used for the rotary axis operation.
110
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
3) Setting of step data
• Do not use the rotary axis operation (Rotary) mode together with the incremental operation (Incremen-
tal) or absolute operation (Absolute).
• If a step data set value specified for the rotary axis operation is out of a range between 0 and [ movement per
rotation at a rotary coordinate –1] , an error code No. 69 (undefined data error protection) is shown.
4) Jog operation
If you use the motor in the rotary axis operation, do not perform the jog operation after homing completes.
The motor may exceed limitation of the current position. If you perform the jog operation by mistake,
execute the homing again.
5) Servo off
Also if the servo has turned off when the motor is used in the rotary axis operation, the motor may exceed
limitation of the current position. Be sure to execute the homing again after the servo turns on.
Example of Dwell Timer Operation Setting
In the dwell timer operation, the motor operates regarding a set value as waiting time.The dwell time operation is
not used independently. This operation is used as waiting time between the points in the block operation.
The chart below shows an example to set the point 1 in the dwell timer after the absolute operation at the
point 2 and perform the relative travel at the point 3 after a specified time has passed.
Speed
DEC1
ACC2
DEC2
Speed = VEL1
Speed = VEL2
Travel = Point 3 set value
(+500000)
Waiting time = Point 1 set value
(500 x 10[ ms] = 5[ s] )
ACC1
Time
End position = X + 1500000
Origin = 0 Start position = X
End position = Point 2 set value (+1000000)
• Setting of 16-bit positioning parameter
16.Pr* *
00, 01
10, 14
12, 16
Parameter name
VEL1, VEL2
ACC1, ACC2
DEC1, DEC2
Positioning setting first speed, second speed
Positioning acceleration setting 1st, 2nd
Positioning deceleration setting 1st, 2nd
1. Set the 16-bit positioning parameter in the table above to any value and specify the step parameter
as shown below.
2. Perform homing. (Refer to “Homing Operation” on page 114.)
3. Specify the point 1 after the point 2 operation has completed and connect the strobe signal input
(STB: CN X5 Pin 24) to COM–. Then, a waiting time operation starts. When a waiting time has
passed, the in-operation signal output (BUSY: CN X5 Pin 28) turns on and the next point 3 operation
can be specified.
• Setting of step parameter
No.
01
Operation mode
Position/Waiting time
Speed
VEL1
VEL1
VEL2
Acceleration Deceleration
Block
Single
Single
Single
Dwell timer operation (Dwell time)
Absolute operation (Absolute)
Incremental operation (Incremental)
500
ACC1
ACC1
ACC2
DEC1
DEC1
DEC2
02
1000000
500000
03
Caution
1) If a waiting time set value (unit: 10 ms) is larger than 214748364, the waiting time is a maximum of
214748364 x 10 ms.
2) To interrupt the dwell timer operation, input emergency stop or deceleration-and-stop signal assigned by
the multi function input (EX-IN1 and EX-IN2: CN X5 Pin 22 and 25).
111
Download from Www.Somanuals.com. All Manuals Search And Download.
Jog Operation
Jog Operation
The motor can be moved in a positive direction or negative direction independently.
Command
Speed
Actual movement
Point specifying input
(P1IN to P32IN)
or
A maximum point number – 1 (normal rotation)
A maximum point number – 2 (reverse rotation)
multifunction 1, 2
(EX-IN1, EX-IN2)
Open
Close
MIN 10ms
Strobe signal input
(STB)
Open
Close
Open
MAX 10ms
In-operation signal output
(BUSY)
Transistor OFF
Transistor ON
Transistor ON
MAX 10ms
In-deceleration output
(DCLON)
Transistor OFF
Transistor OFF
Transistor ON Transistor ON
Transistor ON
Transistor ON
MAX 10ms
Positioning completion output
(COIN)
A maximum
point number – 1
(normal rotation)
A maximum
point number – 2
(reverse rotation)
Current position output
(P1OUT to P32OUT)
Previous
point number
Procedure
Description
Specify the parameters 16.Pr No. 40 to No. 45 related to the jog operation. For details, refer to “List
of Parameters Related to Jog Operation” on page 113.
Setting of parameters
related to jog operation
(1)
There are two ways of starting the jog operation.
1) Point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8)
To start the operation, specify a maximum point - 1 for high-speed normal rotation jog or a
maximum point -2 for high-speed reverse rotation jog and, after 10 ms has passed, connect the
strobe signal input (STB: CN X5 Pin 24) to COM- (i.e., close the opened connection).
*
The maximum point number depends on a set value of SV.Pr57 (selection of number of input points).
(2) Start of jog operation
2) Multi function input 1 and 2 (EX-IN1 and EX-IN2: CN X5 Pin 22 and 25)
To start the operation, specify the high-speed normal rotation jog or high-speed reverse rotation
jog by SV.Pr5A (multi function input 1 signal selection) or SV.Pr5C (multi function input 2 signal
selection), input the multi function input 1 or 2 and, after 10 ms has passed, connect the strobe
signal input (STB: CN X5 Pin 24) to COM– (i.e., close the opened connection).
When the in-operation signal output (BUSY: CN X5 Pin 28) turns OFF, an operation becomes ready
to be executed.
Check of command
(3)
execution
When you make the strobe signal input (STB) open, an operation decelerates and stops. While the
contact of the strobe signal input is closed, the jog operation continues.
Stop of jog operation
(4)
Check the completion of operation command execution through the in-operation signal output
(BUSY). When a transistor of the signal has returned from OFF into ON, this means that the
operation has completed.
Check of completion
(5) of operation
command execution
Check an operation point executed by the current position output (P1OUT to P32OUT: CN X5 Pin
29, 30, 31, 32, 33 and 34) after checking the operation command execution. The current position
output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-operation signal
output (BUSY) has returned to ON.
Check of current
(6)
position output
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning
the transistor ON/OFF, refer to the diagram above.
112
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
• Parameters related to jog operation
Set the parameters below when performing the jog operation.
16.Pr* *
Description
Specify the speed of low-speed jog operation (0 to 6000 r/min). Use this parameter only when
performing the jog operation from the console (optional). For details, refer to page 90.
Specify the speed of high-speed jog operation (0 to 6000 r/min). For the jog operation by point
specifying or multi function input (refer to procedure (2) on page 112), specify the jog speed using this
parameter.
40
41
Specify the acceleration for the jog operation. Available acceleration time is in a range between 0 and
3000 r/min.
42
43
44
45
Specify the S-shaped acceleration for the jog operation. Specify the S-shaped control time during
acceleration time (0 to 1000 r/min). For details, refer to page 131.
Specify the deceleration for the jog operation. Available acceleration time is in a range between 3000
and 0 r/min.
Specify the S-shaped deceleration for the jog operation. Specify the S-shaped control time during
deceleration time (0 to 1000 r/min). For details, refer to page 131.
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to undefined data error
protection (error code No. 69) and stops according to an operation at alarm occurrence.
• 16.Pr40 (Jog speed (low))
• 16.Pr41 (Jog speed (high))
• 16.Pr42 (Jog operation acceleration setting)
• 16.Pr44 (Jog operation deceleration setting)
2) If the current position (–2147483647 to 2147483647) overflows when the jog operation is performed
continuously in the same direction, an operation trips due to current position overflow error protection
(error code No. 70) and stops according to an operation at alarm occurrence. This error can be disabled
by 16.Pr51 (wrap around permission). In this case, however, an absolute position cannot be guaranteed.
If you disable the wrap around, use the incremental operation only.
3) If the over-travel inhibit input is enabled in an operating direction during the jog operation after homing has
completed, an operation trips due to over-travel inhibit detection error protection (error code No. 71) and
stops according to an operation at alarm occurrence. In the SV.Pr55 (Over-travel inhibit input operation
setting), you can specify whether or not to trip the deceleration operation. However, if the over-travel
inhibit input in the operating direction is enabled during the jog operation before homing completes, an
error does not occur although the motor complies with the deceleration pattern of SV.Pr55.
4) When the motor has exceeded a maximum travel specified by 32.Pr01 (Setting of maximum movement in
plus direction) and 32.Pr02 (Setting of maximum movement in minus direction) during the jog operation
after homing has completed, an operation stops due to maximum travel limit error protection (error code
No. 72) and stops according to an operation at alarm occurrence. However, the maximum travel limit error
protection does not work during the jog operation before homing completes.
5) For the jog operation by an external signal, high-speed normal rotation jog operation and high-speed
reverse rotation jog operation only can be executed. (If the console is used, low-speed normal rotation jog
operation and low-speed reverse rotation jog operation also can be performed.)
6) Even if you specify the high-speed normal rotation jog and high-speed reverse rotation jog in the multi
function input (EX-IN1 and EX-IN2) and turn ON the strobe signal input (STB) when both of EX-IN1 and
EX-IN2 turns ON, the motor does not work.
7) If the jog operation is stopped by a stop command (emergency stop, deceleration-and-stop or temporary
stop), the current position output (P1OUT to P3OUT) is not updated.
113
Download from Www.Somanuals.com. All Manuals Search And Download.
Homing Operation
Homing Operation
To start a step operation after turning the power supply on, you need to execute the homing to detect a home
position as the base. Homing must be completed in advance. According to your intended purpose, select
one mode in the “Homing Mode List” below and execute it.
For A) below, homing is not required because the homing is completed when the power supply turns on.
A) Homing is completed when the power supply turns on
• “0” or “2” is set to SV.Pr0B (absolute encoder setting) using an absolute encoder or absolute external scale.
When homing is executed for this setting, an absolute position corresponding to the hone position is
stored in EEPROM of the driver. If the absolute position when homing has been executed last is set to
the hone position, no homing is required.
For details, refer to “Absolute System” on page 136.
• If “1” (homing not required) is set to 16.Pr38 (Homing skip)
For this setting, set a motor position when the power supply turn on to “32.Pr00 (Home offset) set value”.
B) Homing is not completed
• After the power supply turns on, excluding the case A) above
Execute the homing. Then, the homing is completed.
• When an alarm is given, excluding the case A) above
If the setting (the case A) above) that the homing is required when the power supply turns on is not
satisfied, the homing has not yet been completed when an alarm has been given.
In this case, eliminate the cause of the alarm, clear the alarm and execute the homing. Then, the
homing can be completed.
• When the homing starts
The homing is not completed even if the homing starts. When the homing finishes normally, the homing
is completed. If the homing is interrupted due to input of an operation stop (emergency stop, temporary
stop or deceleration-and-stop), servo off, trip, etc., the homing is not completed. Retry the homing from
the beginning.
• When the normal auto-tuning or frequency characteristics measurement is executed
Even if the normal auto-tuning is executed by a console or “PANATERM®” or the frequency characteris-
tics measurement is executed by “PANATERM®”, the homing is not completed. Execute the homing
again. Otherwise, for the setting A) above, the homing can be completed by turning the power supply on
again.
Homing Mode List
The table below lists the available homing modes selected by combining 16.Pr36 (Homing type) and control
mode (SV.Pr02) with each other. For the details of each mode, refer to the relevant page (page 116 to page
123).
16-bit positioning parameter No. 36 Positioning Full-closed Relevant
Operation
(Homing type setting)
control
control
page
P.116
P.117
P.118
P.120
P.121
P.122
P.122
P.123
Home sensor + Z phase (based on the front end)
Home sensor (based on the front end)
Home sensor + Z phase (based on the rear end)
Limit sensor + Z phase
0
1
2
3
4
5
6
7
Limit sensor
Z phase homing
Bumping homing
Data set
Caution
In the table above, “ ” means “Available” and “ ” means “Unavailable (error code No. 68 (homing error
protection) is shown)”.
114
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
A chart of I/O signal timing during homing and an operating procedure are shown as an example of the case
that 16.Pr36 (Homing type) is “0” (Home sensor + Z phase (based on the front end)).The same procedure is
performed also in any other homing mode.
Homing speed (high-speed)
Homing speed (low-speed)
Command
Actual motion
Speed
Point specifying input
(P1IN to P32IN)
A maximum point number (homing)
MIN 10ms
Strobe signal input
(STB)
Open
Close
MAX 10ms
Open
Home sensor input
(Z-LS)
Open
Close
Open
Close
Transistor ON
In-operation signal output
(BUSY)
Transistor OFF
Transistor ON
Transistor ON
In-deceleration output
(DCLON)
Transistor OFF
Transistor OFF
Transistor OFF
Transistor ON
Transistor ON
Transistor OFF
MAX 10ms
Transistor ON
Positioning completion output
(COIN)
Transistor OFF
Transistor ON Transistor ON
MAX 10ms
Current position output
(P1OUT to P32OUT)
ALL OFF (Homing is not completed)
ALL ON (Homing is not completed)
Procedure
Description
Setting of parameters Specify 16.Pr30 (homing speed (high-speed)), 16.Pr31 (homing speed (low-speed)), 16.Pr33
(1) related to homing
operation
(homing acceleration setting), 16.Pr34 (homing deceleration setting) and 16.Pr35 (homing direction
setting).
Designation of point
Specify a maximum point number depending on SV.Pr57 (selection of number of input points),
using the point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).
By connecting (closing) the open strobe signal input (STB: CN X5 Pin 24) to COM– when 10 ms
has passed after inputting the point specifying input (P1IN to P32IN), an operation starts
according to a set value of a point number specified in procedure (3).
(2)
number
Start of homing
(3)
operation
Check whether a driver is executed by an operation command. If the driver is executed, open the
strobe signal input (STB) again. If a transistor of the in-operation signal output (BUSY: CN X5 Pin
28) turns OFF, an operation is in the execution. Even if an operation completes when the strobe
signal (STB) does not return to the OPEN state, the in-operation signal output (BUSY) remains OFF.
Check the completion of operation command execution with the in-operation signal output (BUSY).
If a transistor of the signal returns from OFF to ON, the operation is completed.
Check of operation
(4)
command execution
Check of completion
(5) of operation
command execution
Check that the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) is
“ALL ON” (homing has been completed) after checking the operation command execution. The
current position output (P1OUT to P32OUT) is updated within 10 ms after a transistor of the in-
operation signal output (BUSY) turns ON.
Check of current
(6)
position output
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning
the transistor ON/OFF, refer to the diagram above.
Caution
Because a command position and current position are preset at the instant when a home position has been
detected, COIN turns ON momentarily and the motor overruns a little and returns. Then, COIN turns OFF/
ON according to the positional deviation.
115
Download from Www.Somanuals.com. All Manuals Search And Download.
Homing Operation
Home Sensor + Z Phase (based on the front end)
Example: Z phase count = 3 at an operation in a positive direction
Direction of homing
Positive direction
limit sensor
Negative direction
limit sensor
Home sensor
L-SPD
Z phase
(1) A starting point is between the
home sensor and negative
H-SPD
direction limit sensor (also on
the negative direction limit sensor)
L-SPD
(2) A starting point is on
the home sensor
H-SPD
L-SPD
H-SPD
(3) A starting point is between the
positive direction limit sensor
and home sensor
H-SPD
L-SPD
(4) A starting point is on the
positive direction limit sensor
H-SPD
Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get out
of the home sensor area once and detect the home sensor (at the front end) by 16.Pr31 (Homing speed
(low)) again. After that, count the Z phase specified times by 16.Pr3B (Homing Z-phase count setting) and
define that point as a home position.
• Parameters related to this operation
Parameter number
Description
30
31
Specify the high speed for the homing operation (0 to 6000 r/min).
Specify the low speed for the homing operation (0 to 6000 r/min).
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
33
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)
Specify a type of homing. ([ 0] : Home sensor + Z phase (based on the front end))
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
operation, refer to page 124.
16.Pr**
34
35
36
37
3B
01
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)
Specify the home offset (–2147483647 to 2147483647 pulses).
32.Pr**
If the home offset is not required, specify “0”.
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr30 (Homing speed (high))
• 16.Pr31 (Homing speed (low))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
116
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home
sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction
of homing, has been detected.
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,
stop in the deceleration time “0”.)
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)
when the motor is decelerating after it detects the home sensor or limit sensor.
4) We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase
detection start position (L-SPD in the home sensor area in a figure shown at the previous page). The
number of Z phase counts may vary. A position where the Z phase is counted specified times is defined as
the home position, even if the position is out of the home sensor area during Z phase count.
Home Sensor (based on the front end)
Direction of homing
Positive direction
limit sensor
Negative direction
limit sensor
Home sensor
H-SPD
L-SPD
(1) A starting point is between the
home sensor and negative
direction limit sensor (also on
the negative direction limit sensor)
L-SPD
L-SPD
L-SPD
(2) A starting point is on
the home sensor
H-SPD
H-SPD
H-SPD
(3) A starting point is between the
positive direction limit sensor
and home sensor
(4) A starting point is on the
positive direction limit sensor
H-SPD
Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), get out
of the home sensor area once, detect the home sensor (at the front end) by 16.Pr31 (Homing speed (low))
again and define that point as a home position.
• Parameters related to this operation
Parameter number
Description
Specify the high speed for the homing operation (0 to 6000 r/min).
30
31
Specify the low speed for the homing operation (0 to 6000 r/min).
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)
Specify a type of homing. ([ 1] : Home sensor (based on the front end))
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform)
For the home offset operation, refer to page 124.
33
16.Pr**
32.Pr**
34
35
36
37
01
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.
117
Download from Www.Somanuals.com. All Manuals Search And Download.
Homing Operation
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr30 (Homing speed (high))
• 16.Pr31 (Homing speed (low))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home
sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction
of homing, has been detected.
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,
stop in the deceleration time “0”.)
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)
when the motor is decelerating after it detects the home sensor or limit sensor.
4) In this system, delay time of a maximum of 2 ms is caused when detecting the home sensor (front end) at
the part and, therefore, the home position varies to the extent of a maximum of homing speed (low)
•
multiplied by 2 (ms).
Home sensor + Z phase (based on the rear end)
Example: Z phase count = 3 at an operation in a positive direction
Direction of homing
Positive direction
limit sensor
Negative direction
limit sensor
Home sensor
L-SPD
H-SPD
(1) A starting point is between the
home sensor and negative
direction limit sensor (also on
the negative direction limit sensor)
(2) A starting point is on
the home sensor
L-SPD
L-SPD
H-SPD
(3) A starting point is between the
positive direction limit sensor
and home sensor
H-SPD
L-SPD
(4) A starting point is on the
positive direction limit sensor
H-SPD
Detect the home sensor (at the front end) in a direction of homing by 16.Pr30 (Homing speed (high)), decel-
erate to 16.Pr31 (Homing speed (low)), detect the home sensor (at the rear end) turning off, count the Z
phase specified times by 16.Pr3B (Homing Z phase count setting) and define that point as a home position.
118
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
• Parameters related to this operation
Parameter number
Description
30
31
Specify the high speed for the homing operation (0 to 6000 r/min).
Specify the low speed for the homing operation (0 to 6000 r/min).
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
33
34
35
36
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)
Specify a type of homing. ([ 2] : Home sensor + Z phase (based on the rear end))
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
operation, refer to page 124.
16.Pr**
37
3B
01
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.
32.Pr**
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr30 (Homing speed (high))
• 16.Pr31 (Homing speed (low))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• After the reversal due to detection of a limit sensor in a direction of homing, the change in the home
sensor ON into OFF could not be detected and a limit sensor in the reverse direction, not in a direction
of homing, has been detected.
• A limit sensor in a traveling direction has been detected during detection of the home sensor at the rear end
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase
How to decelerate at the detection of a limit sensor depends on the settings of the servo parameter No. 55
(over-travel inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set
value = 1 or 3, stop in the deceleration time “0”.)
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)
when the motor is decelerating after it detects the home sensor or limit sensor.
4) We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase
detection start position (L-SPD out of the home sensor area in a figure shown above). The number of Z
phase counts may vary. A position where the Z phase is counted specified times is defined as the home
position, even if the position is out of the home sensor area during Z phase count.
119
Download from Www.Somanuals.com. All Manuals Search And Download.
Homing Operation
Limit Sensor + Z phase
Example: Z phase count = 3 at an operation in a positive direction
Direction of homing
Positive direction
limit sensor
Negative direction
limit sensor
Z phase
L-SPD
L-SPD
(1) A starting point is at any place
other than on the negative limit
sensor
H-SPD
(2) A starting point is on the negative
limit sensor
Detect the home sensor and the limit sensor in a reverse direction, not in a direction of homing, by 16.Pr30
(Homing speed (high)), decelerate, and stop. After that, detect the limit sensor turning off in a direction of
homing by 16.Pr31 (Homing speed (low)), count the Z phase specified times by 16.Pr3B (homing Z phase
count setting) and define that point as a home position.
• Parameters related to this operation
Parameter number
Description
30
31
Specify the high speed for the homing operation (0 to 6000 r/min).
Specify the low speed for the homing operation (0 to 6000 r/min).
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
33
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)
Specify a type of homing. ([ 3] : Limit sensor + Z phase)
16.Pr**
34
35
36
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
operation, refer to page 124.
37
3B
01
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.
32.Pr**
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr30 (Homing speed (high))
• 16.Pr31 (Homing speed (low))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,
stop in the deceleration time “0”.)
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)
when the motor is decelerating after it detects the limit sensor.
4) We would like to ask you to design so that the Z phase of the motor does not turn on near the Z phase
detection start position (L-SPD out of the negative limit sensor area in a figure shown above).The number
of Z phase counts may vary.
120
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
Limit Sensor
Example: An operation in a positive direction
Direction of homing
H-SPD
Positive direction
limit sensor
Negative direction
limit sensor
L-SPD
L-SPD
(1) A starting point is at any place
other than on the positive limit
sensor
(2) A starting point is on the positive
limit sensor
H-SPD
Detect the limit sensor in a direction of homing by 16.Pr30 (Homing speed (high)), decelerate and stop. After
that, get out of the limit sensor area once, detect the limit sensor turning off by 16.Pr31 (Homing speed (low))
and define that point as a home position.
• Parameters related to this operation
Parameter number
Description
30
31
Specify the high speed for the homing operation (0 to 6000 r/min).
Specify the low speed for the homing operation (0 to 6000 r/min).
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
33
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)
Specify a type of homing. ([ 4] : Limit sensor)
16.Pr**
34
35
36
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
operation, refer to page 124.
37
32.Pr**
01
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr30 (Homing speed (high))
• 16.Pr31 (Homing speed (low))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• After the reversal due to detection of a limit sensor in a direction of homing, a limit sensor in the reverse
direction, not in a direction of homing, has been detected.
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,
stop in the deceleration time “0”.)
3) We would like to ask you to design so that a sensor signal does not vary (beyond the sensor signal width)
when the motor is decelerating after it detects the limit sensor.
4) In this system, delay time of a maximum of 2 ms is caused when detecting the limit sensor at the part
•
and, therefore, the home position varies to the extent of a maximum of homing speed (low) multiplied by
2 (ms).
121
Download from Www.Somanuals.com. All Manuals Search And Download.
Homing Operation
Z Phase Homing
Example: Z phase count = 3 at an operation in a positive direction
Direction of homing
Count the Z phase specified times by 16.Pr3B (homing
Z phase count setting) while moving in a direction of
homing according to 16.Pr31 (Homing speed (low)) and
define that point as a home position.
L-SPD
• Parameters related to this operation
Parameter number
Description
31
Specify the low speed for the homing operation (0 to 6000 r/min).
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
33
34
35
36
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)
Specify a type of homing. ([ 5] : Z phase homing)
16.Pr**
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
operation, refer to page 124.
37
3B
01
Specify the Z phase that an operation stops. ([ 3] (the 3rd Z phase) in this example)
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.
32.Pr**
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr31 (Homing speed (low))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• A limit sensor in a traveling direction has been detected during detection of specified count of Z phase
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,
stop in the deceleration time “0”.)
3) If a start position of homing is near the Z phase output position, the number of Z phase counts may vary.
Bumping Homing
Example: An operation in a positive direction
The motor moves in a direction of homing accord-
Direction of homing
ing to 16.Pr30 (Homing speed (high)). During the
H-SPD
homing, the motor output torque limit becomes
16.Pr3A (Torque limit for bumping homing). When
the state the motor output torque is limited by the
hit & stop torque limit has been kept for a period
Stopper etc.
specified by 16.Pr39 (Bumping detection time), de-
fine that point as a home position
122
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
• Parameters related to this operation
Parameter number
Description
Specify the high speed for the homing operation (0 to 6000 r/min).
30
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
33
34
35
36
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min.
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min.
Specify an operating direction for the homing. (0: positive direction, 1: negative direction)
Specify a type of homing. ([ 6] : Bumping Homing)
16.Pr**
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
operation, refer to page 124.
37
39
3A
01
Specify the bumping detection time (0 to 10000 ms).
Specify the torque limit for the bumping homing (0 to 100%).
32.Pr**
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.
Caution
1) If any of the set values of the parameters below is “0”, an operation trips due to homing error protection
(error code No. 68) and stops according to an operation at alarm occurrence.
• 16.Pr30 (Homing speed (high))
• 16.Pr33 (Homing acceleration setting)
• 16.Pr34 (Homing deceleration setting)
2) Also, if the over-travel inhibit input is enabled in an operating direction under any of the conditions below
during homing, an operation trips due to homing error protection (error code No. 68) and stops according
to an operation at alarm occurrence.
• A limit sensor has turned on at the startup.
• A limit sensor in a traveling direction has been detected during detection of bumping.
How to decelerate at the detection of a limit sensor depends on the settings of SV.Pr55 (Over-travel
inhibit input operation setting). (For a set value = 0 or 2, deceleration-and-stop. For a set value = 1 or 3,
stop in the deceleration time “0”.)
3) If a set value of 16.Pr39 (Bumping detection time) and 16.Pr3A (Torque limit for bumping homing) is small,
the bumping may not be detected exactly.
Data Set
Example:
A current position is defined as a home position. If
the motor is moved to any position by JOG and hom-
Direction of homing
ing of data set system is executed, that place is
defined as a home position and the homing is com-
pleted.
Home position = current position
• Parameters related to this operation
Parameter number
Description
Specify the offset operation speed if the home offset operation is performed (0 to 6000 r/min). For the home
offset operation, refer to page 124.
32
Specify the acceleration for the homing operation in a range between 0 to 3000 r/min. (This is required only
when performing an offset operation.)
33
Specify the deceleration for the homing operation in a range between 3000 to 0 r/min. (This is required only
when performing an offset operation.)
34
16.Pr**
36
37
Specify a type of homing. ([ 7] : Data set)
Specify whether or not to perform the home offset operation. (0: Not perform, 1: Perform) For the home offset
operation, refer to page 124.
32.Pr**
01
Specify the home offset (–2147483647 to 2147483647 pulses). If the home offset is not required, specify “0”.
123
Download from Www.Somanuals.com. All Manuals Search And Download.
Homing Operation
Homing Offset Operation
The home offset at the completion of homing can be specified by 32.Pr00 (Home offset). Specify the travel
from a machine home position (homing completion position) to the “0” position as the home offset.
• 16.Pr37 (Home complete type) is set to “0”
The motor stops at the machine home position when the homing has completed and, at the same time, a
command position is set to [ - home offset] .
• 16.Pr37 (Home complete type) is set to “1”
After the motor stops at a machine home position, preset a command position = [ - home offset] . Then,
perform a step operation for the home offset at a speed specified by 16.Pr32 (Homing offset speed). In this
case, the command position after the home offset operation completes becomes “0”
Caution
1) If 16.Pr32 (Homing offset speed), 16.Pr33 (Homing acceleration setting) and 16.Pr34 (Homing decelera-
tion setting) are “0”, an operation trips due to the error code No. 69 (undefined data error protection) and
stops according to an operation at alarm occurrence.
2) Do not set [ - home offset] out of a maximum travel limit range.The error code No. 72 (maximum travel limit
error protection) may be shown.
3) Set the home offset appropriately so that a position of [ command position = 0] is not in the over-travel
inhibit input range. The home offset may not be completed.
* Example of homing offset
• Homing offset is set to “ +5000”
(Homing offset operation)
(Homing)
Negative
direction
Positive
direction
Machine homing
= – homing offset
= –5000
Command position = 0
Homing offset travel
= homing offset
= +5000
• Timing chart
Completion of homing operation Start of homing offset operation
Command
Speed
Actual motion
In-operation signal output
(BUSY)
Transistor OFF
Transistor OFF
Transistor OFF
Transistor ON
Transistor OFF
In-deceleration output
(DCLON)
Transistor ON
Positioning completion output
(COIN)
Transistor ON
Current position output
(P1OUT to P32OUT)
Point 0
Maximum point number (homing completed)
124
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
Emergency Stop Operation/Deceleration-and-Stop Operation
Emergency Stop Operation/Deceleration-and-Stop Operation
An active operation can be interrupted and canceled.
Emergency stop
: An operation stops in a deceleration time specified by a special parameter.
Deceleration-and-stop : An operation stops in a deceleration time specified in an operation mode before the
start of deceleration.
For emergency stop:
Decelerates according to 16.Pr No. 49
(deceleration time at emergency stop).
For deceleration-and-stop:
Decelerates according to the decelera-
Command
Actual motion
MAX 10ms
tion time specified in an operation
mode before deceleration starts.
Speed
Multifunction input 1, 2
(EX-IN1, EX-IN2)
Close
Open
Open
In-operation signal output
(BUSY)
Transistor OFF
Transistor ON
Transistor OFF
Transistor ON
Transistor OFF
In-deceleration output
(DCLON)
Transistor ON
Positioning completion output
(COIN)
Transistor OFF
Transistor ON
Transistor ON
Current position output
(P1OUT to P32OUT)
Does not change
Procedure
Description
Assign the emergency stop or deceleration-and-stop to the multifunction input 1 (EX-IN1: CN X5
Pin 22) or multifunction input 2 (EX-IN2: CN X5 Pin 25) by SV.Pr5A (multi function input 1 signal
selection) or SV.Pr5C (multi function input 2 signal selection).
By connecting (closing) the open multi function input 1/2, to which the emergency stop or
deceleration-and-stop is assigned, into COM– when the motor is running, an active operation is
canceled and a stop operation starts. The signal logic can be changed by SV.Pr59 (multi function
input 1 signal logic) or SV.Pr5B (multi function input 2 signal logic).
• For emergency stop: An operation decelerates according to 16.Pr49 (deceleration time at
emergency stop). If a set value is “0”, an operation stop in the deceleration time “0”.
• For deceleration-and-stop: An operation stops in a deceleration time specified in an operation
mode at the start of deceleration.
Assignment of emergency
stop/deceleration-and-stop
(1)
(2)
Start of emergency
stop/deceleration-
and-stop
When a stop operation has completed, a transistor of the in-operation signal output (BUSY: CN X5
Pin 28) turns ON again. Then, the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30,
31, 32, 33 and 34) keeps the state before the deceleration.
(3) Stop confirmation
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of turning
the transistor ON/OFF, refer to the diagram above.
Caution
1) Even if the multifunction input 1/2 (EX-IN1/EX-IN2) is returned to the OPEN state, the deceleration is not
canceled and the stop operation continues. Return the multi function input to the previous state after the
emergency stop or deceleration-and-stop, specify a point just like as a normal step operation and connect
(close) the open strobe signal input (STB: CN X5 Pin 24) to COM–. Then, movement to the point starts.
2) When you input a stop signal during a homing operation, retry the homing operation from the beginning.
3) If the emergency stop and deceleration-and-stop are assigned to the multifunction input 1 and 2 (EX-IN1
and EX-IN2), respectively, and those are input simultaneously, the higher priority is given to the emer-
gency stop.
4) If the emergency stop is input during deceleration by the deceleration-and-stop, an operation stops in the
deceleration time “0”.
5) When the emergency stop or deceleration-and-stop is input, the start of step operation, jog operation and
homing operation (strobe signal input (STB) ON) is ignored.
125
Download from Www.Somanuals.com. All Manuals Search And Download.
Temporary Stop Operation
Temporary Stop Operation
An active operation can be stopped temporarily and restarted.
Command
Actual motion
Speed
MAX 10ms
MAX 10ms
Open
Multifunction input 1, 2
(EX-IN1, EX-IN2)
Close
Open
In-operation signal output
(BUSY)
Transistor OFF
Transistor ON
Transistor OFF
Transistor ON
Transistor ON
Transistor OFF
Transistor ON
In-deceleration output
(DCLON)
Transistor OFF
Transistor ON
Transistor ON
Positioning completion output
(COIN)
Transistor OFF
Transistor OFF
MAX 10ms
Transistor ON
Current position output
(P1OUT to P32OUT)
Procedure
Description
Assign the temporary stop to the multi function input 1 (EX-IN1: CN X5 Pin 22) or multi function
input 2 (EX-IN2: CN X5 Pin 25) by SV.Pr5A (multi function input 1 signal selection) or SV.Pr5C
(multi function input 2 signal selection).
By connecting (closing) the open multi function input 1 or multi function input 2, to which the
temporary stop is assigned, into COM- when the motor is running, an active operation is stopped
temporarily. Then, the deceleration operation complies with the settings specified in an operation
mode at the start of deceleration.
Even if the stop operation is completed, a transistor of the in-operation signal output (BUSY: CN X5
Pin 28) remains OFF. Therefore, if the stop must be checked, check it with the positioning
completion output (COIN: CN X5 Pin 27).
Assignment of
temporary stop
(1)
(2)
(3)
Start of temporary
stop
Check of stop by
temporary stop
An operation can be restarted by opening again the multi function input 1 or multi function input 2 to
which the temporary stop is assigned. After the restart, check the completion of operation etc. in the
same procedure as a step operation.
Cancellation of
(4) temporary stop and
restart of operation
* Positioning completion output/in-deceleration output (COIN/DCLON: CN X5 Pin 27)
In SV.Pr64 (output signal selection), you can select COIN or DCLON to be output. For the timing of tuning
the transistor ON/OFF, refer to the diagram above.
Caution
1) The temporary stop operation is enabled only for the step operation. The temporary stop operation works
like the deceleration-and-stop for the jog operation and homing operation and any operation before the
temporary operation is canceled.
2) When you input a temporary stop signal during a homing operation, retry the homing operation from the
beginning.
3) If the emergency stop or deceleration-and-stop is input during the temporary stop, the temporary stop is
terminated forcibly. An operation cannot be restarted even if the input of the temporary stop is canceled.
4) If the emergency stop is input during deceleration by the temporary stop, an operation stops in the decel-
eration time “0”.
5) If the temporary stop is input and the temporary stop is canceled during the motor deceleration, an opera-
tion stops once and then restarts.
6) If the temporary stop is input at the start of step operation command, the step operation is held although
the command is accepted. After that, the step operation which was held starts when the temporary stop
has been canceled. The start (strobe signal input (STB) ON) of the jog operation/homing operation in
temporary stop is ignored.
126
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
Block Operation
Overview of Block Operation
This servo driver can perform the two types of block operations, i.e., continuous block operation and com-
bined block operation. These operations can be switched by 16.Pr54 (block operation type setting).
Continuous block operation :Several step operations can be performed continuously. Once an operation
starts, the operation continues to a specified point number.
Combined block operation : A step operation is performed according to combined several point numbers.
This is useful when you want to change the speed during a step operation.
16.Pr54
Description
(block operation type setting)
0
1
Continuous block operation
Combined block operation
Continuous Block Operation
If 16.Pr54 (block operation type setting) is “0” (continuous block operation) and the block setting of the point
number specified by point specifying input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8) is “Block”, the step
operation is performed continuously in order from the specified point number to the block number of “Single”
block setting.
Acceleration = ACC1
Speed = VEL1
Deceleration = DEC1
Moving to the absolute position “0”
Speed
[ 01]
[ 02]
Moving to the absolute
position “500000”
Waiting time
5 seconds
[ 03]
Deceleration
= DEC2
Acceleration
= ACC2
Speed
= VEL2
Point specifying input
(P1IN to P32IN)
1 (01H)
MIN10ms
Close
Strobe signal input
(STB)
Open
Open
Transistor OFF
Transistor ON
Transistor ON
In-operation signal output
(BUSY)
In-deceleration output
(DCLON)
Transistor OFF
Transistor ON
Transistor ON
Transistor OFF
Transistor OFF
Transistor OFF
MAX 10ms
Positioning completion output
(COIN)
MAX 10ms
MAX 10ms
3 (03H)
Point output
(P1OUT to P32OUT)
1 (01H)
2 (02H)
Continuous block operation procedure (example)
1. Set a 16-bit positioning parameter and step parameter. (Refer to “Parameters Used in this Operation
Example” on page 128.)
2. Execute the homing. (Refer to “Homing Operation” on page 114.)
3. Specify the point 1 when the servo turns on and input the strobe signal input (STB: CN X5 Pin 24). Then,
an operation is performed continuously, e.g., [ 01] –> [ 0>2][ –03] .
127
Download from Www.Somanuals.com. All Manuals Search And Download.
Block Operation
• Parameters Used in this Operation Example
16-bit positioning parameter
16.Pr**
54
Symbol in diagram
Description
–
Specify a type of block operation. ([ 0] for the continuous block operation)
Specify the first speed (0 to 6000 r/min)
01
VEL1
VEL2
02
Specify the second speed (0 to 6000 r/min)
Specify the first acceleration speed (0 to 10000 ms)
10
ACC1
ACC2
DEC1
DEC2
Specify in the acceleration speed in a range between 0 and 3000 r/min.
Specify the second acceleration speed (0 to 10000 ms)
Specify in the acceleration speed in a range between 0 and 3000 r/min.
Specify the first deceleration speed (0 to 10000 ms)
14
12
Specify in the deceleration speed in a range between 3000 and 0 r/min.
Specify the second deceleration speed (0 to 10000 ms)
Specify in the deceleration speed in a range between 3000 and 0 r/min.
16
Step parameter
ST.Pr**
01
Operation mode
Position/Waiting time
Speed
VEL1
VEL1
VEL2
Acceleration Deceleration
Block
Block
Block
Single
Absolute operation (Absolute)
Dwell timer operation (Dwell time)
Absolute operation (Absolute)
500000
500
ACC1
ACC1
ACC2
DEC1
DEC1
DEC2
02
03
0
Caution
1) A maximum point number (specified by the settings of SV.Pr57 (selection of number of input points)) is
treated as the “Single” operation, regardless of the block setting.
2) The change into the last point number (point “10” in this example) of the in-operation signal output (BUSY:
CN X5 Pin 28) and the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34)
is made only when the last step operation of the continuous block operation has completed and the strobe
signal input (STB: CN X5 Pin 24) is in the OPEN state. Be sure to make the strobe signal input (STB) open
after the in-operation signal output (BUSY) turns OFF.
Combined Block Operation
If the block setting of a point number specified by the point specifying input (P1IN to P32IN: CN X5 Pin 3, 4,
5, 6, 7 and 8) is “Block” when 16.Pr54 (block operation type setting) is “1” (combined block operation), the
operation which consists of combined step operations from a specified point number to the “Single” point
number specified by the block setting.
Speed = VEL1
MAX = ACC1
An operation does not stop and the
speed changes from VEL1 into VEL2.
Deceleration
= DEC1
Speed = VEL2
Speed
[ 01]
Deceleration = DEC2
[ 02]
Travel: 1000 + 5000 = 15000 pulses
1 (01H)
Point specifying input
(P1IN to P32IN)
MIN10ms
Close
Strobe signal input
(STB)
Open
Open
In-operation signal output
(BUSY)
Transistor OFF
Transistor ON
Transistor OFF
Transistor ON
Transistor ON
Transistor OFF
In-deceleration output
(DCLON)
Transistor OFF
Transistor OFF
Transistor ON
Transistor ON
Positioning completion output
(COIN)
Transistor ON
MAX 10ms
MAX 10ms
Point output
(P1OUT to P32OUT)
1 (01H)
2 (02H)
128
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
Combined block operation procedure (example)
1. Set a 16-bit positioning parameter and step parameter. (Refer to “Parameters Used in this Operation
Example” below.)
2. Execute the homing. (Refer to “Homing Operation” on page 114.)
3. Specify the point 1 when the servo turns on and input the strobe signal input (STB: CN X5 Pin 24). Then,
an operation is performed without stopping, e.g., [ 01] >–[ 02] .
• Parameters Used in this Operation Example
16-bit positioning parameter
16.Pr**
54
Symbol in diagram
Description
–
Specify a type of block operation. ([ 1] for the combined block operation)
Specify the first speed. (0 to 6000 r/min)
01
VEL1
VEL2
02
Specify the second speed. (0 to 6000 r/min)
Specify the acceleration speed. (0 to 10000 ms)
10
ACC1
DEC1
Specify in the acceleration speed in a range between 0 and 3000 r/min.
The acceleration speed at the combined points must be all the same.
Specify the deceleration speed. (0 to 10000 ms)
12
Specify in the deceleration speed in a range between 3000 and 0 r/min.
The deceleration speed at the combined points must be all the same.
Step parameter
ST.Pr**
01
Operation mode
Position/Waiting time
10000
Speed
VEL1
VEL2
Acceleration Deceleration
Block
Block
Single
Incremental operation (Incremental)
Incremental operation (Incremental)
ACC1
ACC1
DEC1
DEC1
02
5000
Caution
1) A combined operation up to a maximum point number (specified by the settings of SV.Pr57 (selection of
number of input points)) available as a step operation can be performed. However, the maximum point
number is treated as the “Single” operation, regardless of the block setting.
2) If the block setting of the next point number is “Dwell time”, an operation works like the continuous block
operation (refer to page 127).
3) Do not specify “Rotary” as an operation mode. The combined block operation is unavailable in the rotary
axis operation.
4) During the combined block operation, the linear acceleration/deceleration only is enabled and the S-
shaped acceleration/deceleration is ignored. The deceleration speed at the combined points must be all
the same.
5) If a step operation in a reverse traveling direction is defined as a combined block operation by the “Block”
designation, the motor moves to the first point by step, stops once, moves back and then starts an opera-
tion to the next point.
6) The change into the last point number (point “10” in this example) of the in-operation signal output (BUSY:
CN X5 Pin 28) and the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34)
is made only when the last step operation of the combined block operation has completed and the strobe
signal input (STB: CN X5 Pin 24) is in the OPEN state. Be sure to make the strobe signal input (STB) open
after the in-operation signal output (BUSY) turns OFF.
129
Download from Www.Somanuals.com. All Manuals Search And Download.
Sequential Operation
Sequential Operation
The sequential operation can be performed by setting 16.Pr52 (sequential operation setting) to “1”. When
the sequential operation is set, execute a step operation by incrementing a point number by 1 at every
inputting the strobe signal input (STB: CN X5 Pin 24) when the servo turns on, not using the point specifying
input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8).
• Homing operation at sequential operation
1) 16.Pr38 (homing disabling setting) is “0” (homing required) and an operation mode is not the absolute
mode (SV.Pr0B (absolute encoder setting) is “1”).
=> Homing is executed by the first strobe signal input (STB) after the power supply turns on.
A sequential operation is performed beginning with the point 1 after the next strobe signal.
2) 16.Pr38 (homing disabling setting) is “1” (homing not required) and an operation mode is the absolute
mode (SV.Pr0B (absolute encoder setting) is “0” or “2”).
=> A sequential operation is performed beginning with the point 1 when the first strobe signal is input,
because homing is not required.
A maximum point number of the sequential operation can be set by 16.Pr53 (a maximum point number of
sequential operation). After a step operation of the maximum point number is executed, the operation re-
turns to the point 1. In the sequential operation, the maximum point number can be specified in a range
between 1 and 60, because the setting of SV.Pr57 (selection of number of input points) is disabled.
Example of Operation
16.Pr52 (sequential operation setting) = 1 (enabled)
16.Pr53 (a maximum point number of sequential operation) = 3
Point 2
Homing
operation
Point 1
Point 1
Power supply
turns on
Open
Close
Point 3
STB
1st time
= homing
operation
2nd time
= Operation
at point 1
3rd time
= Operation
at point 2
4th time
= Operation at point 3
5th time
= Operation at point 4
Procedure
Description
Set 16.Pr52 (sequential operation setting) to “1” and necessary positioning parameters to 16.Pr53
(a maximum point number of sequential operation), “homing operation” and “step operation”.
Turn the servo on after the power supply turns on again.
(1) Setting of parameter
(2) Power reset
Close the first open strobe signal input (STB). Then, homing is executed.
Execution of homing
operation
(3)
After that, an operation is performed in order at every inputting the strobe signal input (STB), e.g.,
point 1 –> point 2 –> point 3 –> point 1 –> point 2 –> ...
Designation of
(4) operation point
number
Caution
1) When setting the sequential operation, an operation command (step operation, homing, jog operation or
Alarm Clear) cannot be executed by the point specifying input (P1IN to P32IN). However, the Alarm Clear
can be specified by assignment of the multifunction input 1/2 (EX-IN1/EX-IN2: CN X5 Pin 22/25).
2) A block operation is unavailable when the sequential operation is set.
130
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
S-shaped Acceleration/Deceleration Function
S-shaped Acceleration/Deceleration Function
This servo driver can perform the S-shaped acceleration/deceleration at the acceleration/deceleration.
Set the S-shaped acceleration/deceleration in the time to reach the acceleration at the linear acceleration/
deceleration in 16-bit positioning parameter “Positioning S-shaped acceleration/deceleration setting 1st to
4th” and “S-shaped acceleration/deceleration at jog operation”.
16-bit positioning parameter “Positioning S-
shaped acceleration/deceleration setting 1st to
4th” is for input of a value of acceleration time
in a range between 0 and 3000 r/min. So,
V1
specify as shown below.
<Note>
The examples 1 to 3 below explain the
acceleration and apply also to the
V1 = Set speed (16.Pr00)
t1 = Acceleration time
t
2
t2
t2 = S-shaped acceleration time (16.Pr11) deceleration.
t1
Example 1:
Linear acceleration (t2 = 0)
Example 2:
S-shaped section less than 50% (t2 <
Example 3:
S-shaped section 50% (t2 =
t
2
1
t
2
1
)
)
V1
V1
V1
t2
t2
t2
t2
t1
t
1
t1
V
1
= 2000r/min
= 100ms
V
1
= 2000r/min
= 100ms
= 30ms
V
1
= 2000r/min
= 100ms
= 50ms
3000
V1
In order to set:
t1
t
t
1
2
t
t
1
2
In order to set:
16.Pr10 = (t1 –
In order to set:
16.Pr10 = (t1 –
3000
16.Pr10 = t1
x
3000
V
1
t
2) x
t
2) x
V1
3000
2000
= 100ms x
= 150ms
3000
2000
3000
2000
= 70ms x
= 105ms
= 50ms x
= 75ms
16.Pr00 1st speed
16.Pr10 1st acceleration
2000
150
0
16.Pr00 1st speed
2000
105
30
16.Pr00 1st speed
2000
75
16.Pr10 1st acceleration
16.Pr10 1st acceleration
16.Pr11 1st S-shaped acceleration
16.Pr11 1st S-shaped acceleration
16.Pr11 1st S-shaped acceleration
50
Caution
1) Change during a motor step operation applies at the next step operation.
2) When a combined block operation is used (16.Pr54 (Block operation type) = 1), all the operations are per-
formed in the linear acceleration/deceleration, regardless of the S-shaped acceleration/deceleration setting.
3) If the S-shaped acceleration/deceleration setting is “0”, the linear acceleration/deceleration applies.
4) Also if a value of the S-shaped acceleration/deceleration setting is out of an available range, the linear
acceleration/deceleration applies.
5) If a deceleration command or travel during the S-shaped acceleration/deceleration is small, smooth S-
shaped characteristics may not be obtained.
6) The calculation above shows a theoretical value. Actual S-shaped acceleration/deceleration may cause
an error in the setting.
• Available set range of S-shaped acceleration/deceleration (decimals omitted)
2500 p/r encoder S-shaped acceleration/deceleration setting [ ms]
(12795÷0 acceleration/deceleration setting [ ms] ) – 1
77066.24 ÷ acceleration/deceleration setting [ ms – 1
17-bit encoder S-shaped acceleration/deceleration setting [ ms] 16
(
)]
Example of calculation: 2500 p/r encoder
For acceleration/deceleration setting = 1000 [ ms] , an available set range of S-shaped acceleration/deceleration is:
<
<
S-shaped acceleration/deceleration setting [ ms] (127950 ÷ 1000) – 1 126.950 [ ms]
=
=
Therefore, for the S-shaped acceleration/deceleration setting of 127 [ ms] or more, the linear acceleration/
deceleration is enabled.
131
Download from Www.Somanuals.com. All Manuals Search And Download.
Timing Chart
Operation Timing after Power-ON
Control
power supply
(L1C,L2C)
OFF
ON
Approx. 100 to 300ms
Approx. 2s
Internal control
power supply
Activated
OFF
Approx. 1.5s
*3
Microcomputer
Initialize
Reset
ON
0s or more
OFF
Main power supply
(L1, L2, L3)
ON
*2
Approx. 10ms
or more
Servo alarm output
(X5 Pin 15)
OFF
ON
Approx. 10ms
or more
*2
0ms or more
ON
Servo-ON input
(X5 Pin 23)
OFF
Approx. 2ms
OFF
Dynamic brake
Motor energized
ON
Approx.
40ms
Not energized
Energized
Approx. 2ms
BRK-OFF output
(X5 Pin 36)
OFF (Brake engaged)
ON
(Brake released)
Point specifying input
(P1IN - P32IN)
Point setting
MIN 10ms
Strobe signal
(STB)
OFF
ON
Approx. 100ms or more *1
<Notes>
• The above chart shows the timing from AC power-ON to command input.
• Activate the external command input according to the above timing chart.
Caution
*1. In this term Servo-ON input (CN X5 SRV-ON:pin23) turns ON as a hard ware, but operation command
can not be received.
*2. Servo alarm output (CN X5 ALM:pin15) turns ON when the microcomputer's initialization is completed,
and the condition of no error is occurring. Servo-ON input turns ON after Servo alarm turns ON and the
main power supply is activated sufficiently.
* 3. After Internal control power supply , protective functions are active from approx. 1.5 sec after the
start of initializing microcomputer. Please set the signals, especially for protective function, for
example over-travel inhibit input (CWL,CCWL) or emergency stop input (EMG-STP), so as to de-
cide their logic until this term.
132
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
When an Error (Alarm) Has Occurred (at Servo-ON Command)
Alarm
normal
alarm
0.5 to 5 ms
Dynamic brake
Motor energization
released
energized
engaged *2
non-energized
Servo-Ready output
(S-RDY)
alarm
not alarm
Setup value of
SV.Pr6B
Break release output
(BRK-OFF)
released (ON)
engaged (OFF)
t1 * 1
when setup
motor speed
value of SV.Pr6B
is shorter,
approx.30r/min
Setup value of
SV.Pr6B
released (ON)
engaged (OFF)
t1 * 1
when time to fall
below 30r/min
is shorter,
motor speed
approx.30r/min
Current position output *3
(P1OUT to P32OUT)
EX.) Point 2
all OFF (Point 0)
Caution
*1. t1 will be a shorter time of either the setup value of SV.Pr6B or elapsing time for the motor speed to fall
below 30r/min.
t1 will be 0 when the motor is in stall regardless of the setup pf SV.Pr6A.
*2. For the action of dynamic brake at alarm occurrence, refer to an explanation of SV.Pr68, "Sequence at
alarm ("Parameter setup" at each control mode) as well.
*3. When an alarm has been given, the homing is not completed. So, all the transistors of the current posi-
tion output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) turn OFF (point “0”).
133
Download from Www.Somanuals.com. All Manuals Search And Download.
Timing Chart
When an Alarm Has Been Cleared (at Servo-ON Command)
120ms or longer
Alarm-clear input
clear
(Refer to the following
for the input method.)
engaged
Dynamic brake
approx.2ms
released
approx.40ms
not-energized
Motor energization
energized
Brake release output
(BRK-OFF)
engaged (OFF)
released (ON)
approx.2ms
Servo-Alarm output
(ALM)
not ready
ready
100ms or longer
Homing command
(Input ON strobe signal,
after point specifying.)
start to engage
homing
not input
completed
maximum
point number
Current position output
(P1OUT to P32OUT)
all OFF (Point 0)
1) Alarm Clear can be input in the two ways below.
1. Point input (P1IN to P32IN: CN X5 Pin 3, 4, 5, 6, 7 and 8)
Specify the point “0” and, when 10 ms or more has passed, enable the strobe signal (STB: CN X5 Pin 24).
Alarm Clear is started when the disabled strobe signal input has been enabled.
2. Multi function input (EX-IN1/EX-IN2: CN X5 Pin 22/25)
Assign the Alarm Clear to the multi function input 1 (EX-IN1: CN X5 Pin 22) or multi function input 2 (EX-
IN2: CN X5 Pin 25) by SV.Pr5A (multi function input 1 signal selection) or SV.Pr5C (multi function input
2 signal selection) to enable the Alarm Clear.
Alarm Clear is started when the disabled strobe signal input has been enabled.
The signal logic of multi function input can be changed by SV.Pr59 (multi function input 1 signal logic) or
SV.Pr5B (multi function input 2 signal logic).
2) The servo driver power supply turns on again after an alarm is cleared.
A step operation can be performed by executing the homing.
When the homing has been completed, a transistor of the current position output (P1OUT to P32OUT: CN
X5 Pin 29, 30, 31, 32, 33 and 34) becomes a maximum point number decided by SV.Pr57 (selection of
number of input points).
However, in the absolute mode or if the homing is not required, a transistor of the current position output
(P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33 and 34) becomes a maximum point number decided by
SV.Pr57 (selection of number of input points) immediately after Alarm Clear and the step operation can be
performed.
134
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)
Servo-ON input
(SEV-ON)
OFF
ON
approx.2ms
OFF
1 to 5ms
t1 * 1
engaged * 3
released
engaged * 2
Dynamic brake
not-energized
energized
not-energized
Motor energization
approx.40ms
engaged (OFF)
approx.2ms
released (ON)
Brake release output
(BRK-OFF)
engaged (OFF)
Caution
*1. t1 will be determined by SV.Pr6A setup value.
*2. For the dynamic brake action at Servo-OFF, refer to an explanation of SV.Pr69, "Sequence at Servo-
OFF ("Parameter setup" at each control mode) as well.
*3. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
*4. Once the servo turns off, the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33
and 34) is held to be unchanged until the next point operation is completed.
Servo-ON/OFF Action While the Motor Is in Motion
(Timing at emergency stop or trip. Do not repeat this sequence. During the normal operation, stop the motor,
then make Servo-ON/OFF action.)
Servo-ON input
(SEV-ON)
OFF
OFF
ON
* 4
approx.1 to 5ms
Dynamic brake
Motor energization
engaged * 2
released
engaged * 2
not-energized
energized
not-energized * 4
approx.40ms
Setup value of
SV.Pr6B
approx.2ms
released (ON)
engaged
(OFF)
engaged
(OFF)
Brake release output
(BRK-OFF)
Motor rotational
speed
approx.30r/min
t1 * 1
Motor rotational speed
Setup value of
SV.Pr6B
when setup
value of SV.Pr6B
is shorter,
approx.30r/min
Motor rotational
speed
servo validated
released (ON)
engaged (OFF)
t1 * 1
when setup
value of SV.Pr6B
is shorter,
No servo-ON until the motor speed
falls below approx. 30r/min.
Motor rotational
speed
approx.30r/min
Caution
*1. t1 will be a shorter time of either the setup value of SV.Pr6B or elapsing time for the motor speed to fall
below 30r/min.
*2. For a dynamic brake operation during servo off and a motor operation state during deceleration, refer to
the explanation of SV.Pr69 (sequence at servo off) also.
*3. For the action of dynamic brake at alarm occurrence, refer to an explanation of Pt69, "Sequence at
Servo-OFF ("Parameter setup" at each control mode) as well.
*4. Once the servo turns off, the current position output (P1OUT to P32OUT: CN X5 Pin 29, 30, 31, 32, 33
and 34) is held to be unchanged until the next point operation is completed.
135
Download from Www.Somanuals.com. All Manuals Search And Download.
Absolute System
Overview of Absolute System
In a motor of the absolute encoder specifications or absolute/incremental specifications, an absolute system
can be constructed by connecting a battery for an absolute encoder and changing the setting of SV.Pr0B
(absolute encoder setting) from “1” (default setting) into “0” or “2”. In the absolute system, homing is not
required after turning the power supply on.
Configuration of Absolute System
The data of an absolute encoder consists of single-turn data, which output an absolute position always
within single turn, and multi-turn data which counts the number of turns. When a battery for the absolute
encoder is connected, the multi-turn data can be held even if the power supply turns off. This allow to hold a
home position set once, even after the
power supply is reset. For the home po-
131071, 0,1,2 ...... 131071, 0,1,2 ......131071, 0,1,
Single-turn data
– 1 0
CW
0 1
1 2
sition setting, “Setup (Initialization) of Ab-
solute Encoder” on page 138.
Multi-turn data
Motor rotating direction
CCW
Battery (for Backup) Installation
First Installation of the Battery
After installing and connecting the back-up battery to the motor, execute an absolute encoder setup. Refer
to P.138, "Setup (initialization) of Absolute Encoder ".
It is recommended to perform ON/OFF action once a day after installing the battery for refreshing the battery.
A battery error might occur due to voltage delay of the battery if you fail to carry out the battery refreshment.
Replacement of the Battery
It is necessary to replace the battery for absolute encoder when battery alarm occurs.
Replace while turning on the control power. Data stored in the encoder might be lost when you
replace the battery while the control power of the driver is off.
After replacing the battery, clear the battery alarm. Refer to P.99, "How to Clear the Battery Alarm".
<Caution>
When you execute the absolute encoder with the console (refer to P.100 of Setting), all of error and multi-
turn data will be cleared together with alarm, and you are required to execute “Setup (Initialization) of abso-
lute encoder” (refer to P.138).
How to Replace the Battery
1) Refresh the new battery.
Connector with lead wire of
the battery to CN601 and
leave of 5 min. Pull out the
connector from CN601 5 min
after.
2) Take off the cover
of the battery box.
3) Install the battery to
the battery box.
Connect
the connector.
CN601
Raise the latch and
take off the cover.
Pull out after 5 min.
connection
Place the battery with
+ facing downward.
136
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
4) Close the cover of the battery box.
<Caution>
Use the following battery for absolute encoder.
Part No. : DV0P2990 (Lithium battery by Toshiba Battery Co.,
Ltd. ER6V, 3.6V 2000mAh)
Close the cover
not to pinch the
connector cable.
<Cautions>
• Be absolutely sure to follow the precautions below since improper use of the battery can cause electrolyte to
leak from the battery, giving rise to trouble where the product may become corroded, and/or the battery itself
may rupture.
1) Insert the battery with its “+” and “–” electrodes oriented correctly.
2) Leaving a battery which has been used for a long period of time or a battery which is no longer usable sitting inside
the product can cause electrolyte leakage and other trouble. For this reason, ensure that such a battery is replaced
at an early date. (As a general guideline, it is recommended that the battery be replaced every two years.)
• The electrolyte inside the battery is highly corrosive, and if it should leak out, it will not only corrode the
surrounding parts but also give rise to the danger of short-circuiting since it is electrically conductive. For
this reason, ensure that the battery is replaced periodically.
3) Do not disassemble the battery or throw it into a fire.
• Do not disassemble the battery since fragments of the interior parts may fly into your eyes, which is
extremely dangerous. It is also dangerous to throw a battery into a fire or apply heat to it as doing so may
cause it to rupture.
4) Do not cause the battery to be short-circuited. Under no circumstances must the battery tube be peeled off.
• It is dangerous for metal items to make contact with the “+” and “–” electrodes of the battery since such
objects may cause a high current to flow all at once, which will not only reduce the battery performance but
also generate considerable heat, possibly leading to the rupture of the battery.
5) This battery is not rechargeable. Under no circumstances must any attempt be made to recharge it.
• The disposal of used batteries after they have been replaced may be subject to restrictions imposed by local
governing authorities. In such cases, ensure that their disposal is in accordance with these restrictions.
<Reference>
Following example shows the life calculation of the back-up battery used in assumed robot operation.
2000[ mAh] of battery capacity is used for calculation. Note that the following value is not a guaranteed value, but
only represents a calculated value. The values below were calculated with only the current consumption fac-
tored in.The calculations do not factor in electrolyte leakage and other forms of battery deterioration.
Life time may be shortened depending on ambient condition.
1) 2 cycles/day
Mon. to Sat. 313 days/365 day
Sun. 52 days/365 days
24h
a : Current consumption in normal mode 3.6[µA]
b : Current consumption at power failure timer mode
280[µA]
24h
10h 2h
10h 2h
ON
* Power failure timer mode...Action mode in time
period when the motor can respond to max.
speed even the power is off (5sec).
Power
supply
OFF
c : Current consumption at power failure mode 110[µA]
a
b c
a
b c
c
Annual consumption capacity = (10h x a + 0.0014h x b + 2h x c) x 2 x 313 days + 24h x c x 52 days = 297.8[ mAh] )
Battery life = 2000[ mAh] /297.8[ mAh] = 6.7 (6.7159) [ year]
2) 1 cycle/day
(2nd cycle of the above 1) is for rest.
Annual consumption capacity = (10h x a + 0.0014h x b + 14h x c) x 313 days + 24h x c x 52 days = 640.6[ mAh] )
Battery life = 2000[ mAh] /630.6[ mAh] = 3.1 (3.1715) [ year]
137
Download from Www.Somanuals.com. All Manuals Search And Download.
Absolute System
When you make your own cable for 17-bit absolute encoder
When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute
encoder, DV0P2060 or DV0P2990 as per the wiring diagram below. Connector of the battery for absolute
encoder shall be provided by customer as well.
<Cautions>
Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, it may cause
the wire breakdown or damage of the battery.
Refer to the instruction manual of the battery for handling the battery.
• Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous
acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from
splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
3) Well-ventilated and humid and dust-free place.
4) Vibration-free place
Wiring Diagram
Pin number when a connector is used
Pin number when a cannon plug is used
Junction connector for
encoder cable
Twisted
pair
Connector, CN X6
(Optional connector kit)
1
(Optional connector kit)
7 (H)
8 (G)
E5V
E0V
E5V
2
E0V
Battery
1 (T)
2 (S)
4 (K)
5 (L)
3 (J)
1
2
1
2
5
BAT+
BAT–
PS
PS
BAT+
BAT–
BAT+
BAT–
6
PS
Connector, ZHR-2
(by J.S.T.)
FG (Case)
PS
Part No. DV0P2060
Lithium battery by Toshiba Battery Co., Ltd.
ER6V 3.6V 2000mAh
Battery for absolute encoder (Option)
DV0P2060 or DV0P2990
FG
50
Lead wire
Title
Connector
Part No.
ZMR-2
Manufacturer
J.S.T.
Connector pin SMM-003T-P0.5
Clamping Jig YRS-800
J.S.T.
J.S.T.
Connector for absolute encoder connection
(To be provided by customer)
Setup (Initialization) of Absolute Encoder
Execute the setup of absolute encoder in the following cases.
• Initial setup of the machine
• When absolute system down error protection (alarm No. 40) occurs
• When the encoder cable is pulled out
*For a normal operation, calculate the travel using a value
A home position can be set in the two ways
below.
that the home position is subtracted from the motor position.
Servo Driver
• Normal homing
Battery for
Absolute
Encoder
Step
EEPROM
Operation
(Refer to “Homing Operation” on page 114.)
Execute one of the eight types of homing op-
erations and store that position in EEPROM
as the position. Positioning is performed
based on the stored position as the home
position even after the power supply reset.
(
Home position)
Jog
Operation
Servo Motor
Single-turn data
Multi-turn data
Encoder
Motor
Position
Absolute
Homing
Operation
(
)
position
CN X6
*The motor position is stored in EEPROM when homing has been completed.
• Define “ 0” position of absolute encoder as a home position
Clear an absolute encoder so that a machine home position and the “0” position of absolute encoder can
match with each other. By using a data of the absolute encoder after the power supply reset, positioning is
performed based on the “0” position of absolute encoder as the home position.
The absolute encoder is cleared through a console or “PANATERM®”. A multi-turn data only is cleared by
clearing the absolute encoder.
138
Download from Www.Somanuals.com. All Manuals Search And Download.
[Operation Setting]
Clearing Absolute Encoder
• Using a console
(1) Turn the power supply on and mount it to the machine when you find a position where a machine home
position and single-turn data of the absolute encoder become “0”. (A position of single-turn data = “0” is
a position where the Z phase is output, only when the pulse output division ratio is “1:1”.)
(2) After mounting it, turn it one quarter or one half turn counterclockwise. (If you perform clearing at a
position where the Z phase is output, the home position may turn completely in the worst case. Turn it
counterclockwise slightly from the Z phase output position when performing clearing.)
(3) Put the console in the auxiliary function mode and enable the EXECUTION display for “Absolute en-
coder clear mode”. (Refer to “Absolute Encoder Clearing Function” in “Settings” on page 100.)
(Auxiliary function mode)
SELECTION
EXECUTION
Automatic offset adjustment mode
Motor trial operation mode
Alarm clearing mode
Absolute encoder clearing mode
(4) Operate the key as shown below in the EXECUTION display.
When you keep on pressing
(approximately 3 seconds),
“
” increases.
Absolute encoder clearing starts.
Clearing completes instantly.
Note: For the incremental encoder,
clearing is executed.
display appears when absolute encoder
(5) Turn the power supply off once and turn it on again.
®
• Using the setup support software “ PANATERM ”
Basically, the step (3) and (4) only are different from the procedure by the console. The absolute encoder
is cleared when you open the monitor window, select the [ Absolute encoder] tab and press the [ Clear]
button for the multi-turn data and encoder error. A digital value of single-turn data is shown on the same
monitor window. So, you do not need to check the Z phase as stated in 1).
139
Download from Www.Somanuals.com. All Manuals Search And Download.
Outline of Full-Closed Control
What Is Full-Closed Control ?
In this full-closed control, you can make a position control by using a external scale mounted externally
which detects the machine position directly and feeds it back.. With this control, you can control without
being affected by the positional variation due to the ball screw error or temperature and you can expect to
achieve a very high precision positioning in sub-micron order.
(Speed detection)
Position
command
Position detection
External scale
Preparation for full-closed control
1) Wire the external scale referring to “Wiring to CN X7” in “System Configuration and Wiring” on page 40.
2) Set SV.Pr02 (control mode setting) to “6” (full-closed control). (Change becomes enabled after turning the
power supply on again.)
3) Specify each parameter according to “Cautions on Full-Closed Control” below.
Cautions on Full-Closed Control
A4P-series supports the external scale of a communication type. Execute the initial setup of parameters per
the following procedures, then write into EEPROM and turn on the power again before using this function.
<How to make an initial setup of parameters related to external scale >
1) Turn on the power after checking the wiring.
2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the
console or with the setup support software, PANATERM®.
3) Move the work and check the travel from the initial values of the above 2).
4) If the travel of the feedback sum and the external scale feedback pulse sum are reversed in positive
and negative, set up the reversal of external scale direction (SV.Pr7C) to 1.
5) Set up the external scale division ratio (SV.Pr78-7A) using the formula below,
Total variation of external scale feedback pulse sum
External scale division ratio =
Total variation of feedback pulse sum
SV.Pr78 x 2 SV.Pr79
=
SV.Pr7A
<
<
We recommend 1/20 external scale division ratio 20.
=
=
If the external scale division ratio is set to a value smaller than 50/position loop gain (SV.Pr10,
18), control per pulse may not be performed. If the external scale division ratio is set to a larger
value, an operating noise may become large.
* If the design value of the external scale division ratio is obtained, set up this value.
6) Set up appropriate value of hybrid deviation excess (SV.Pr7B) in 16 pulse unit of the external scale
resolution, in order to avoid the damage to the machine.
* A4P-series driver calculates the difference between the encoder position and the external scale
position as hybrid deviation, and is used to prevent the machine runaway or damage in case of
the external scale breakdown or when the motor and the load is disconnected.
If the hybrid deviation excess range is too wide, detection of the breakdown or the disconnection
will be delayed and error detection effect will be lost. If this is too narrow, it may detect the normal
distortion between the motor and the machine under normal operation as an error.
* When the external scale division ration is not correct, hybrid deviation excess error (Err25) may
occur especially when the work travels long distance, even though the external scale and the
motor position matches.
In this case, widen the hybrid deviation excess range by matching the external scale division ratio
to the closest value.
140
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
page
Gain Adjustment....................................................142
Real-Time Auto-Gain Tuning Mode......................144
Adaptive Filter ........................................................................... 147
Normal Mode Auto-Gain Tuning ..........................148
Release of Automatic Gain Adjusting Function .151
Manual Gain Tuning (Basic) .................................152
Adjustment in Position Control Mode ........................................ 153
Adjustment in Full-Closed Control Mode................................... 154
Gain Switching Function............................................................ 155
Suppression of Machine Resonance ........................................ 158
Manual Gain Tuning (Application) .......................160
Instantaneous Speed Observer ................................................ 160
Damping Control ....................................................................... 161
141
Download from Www.Somanuals.com. All Manuals Search And Download.
Gain Adjustment
Purpose
It is required for the servo driver to run the motor in least time delay and as faithful as possible against the
commands from the host controller. You can make a gain adjustment so that you can run the motor as
closely as possible to the commands and obtain the optimum performance of the machine.
<e.g. : Ball screw>
Gain setup : Low
Gain setup : High
Gain setup : High + feed forward setup
[ r/min]
+2000
0
Motor actual speed
Command Speed
-
2000
0.0
125
250
375
0.0
125
250
375
0.0
125
250
375
Position loop gain
Velocity loop gain
Time constant of
V-loop integration
Velocity loop feed forward :
Inertia ratio
:
20
Position loop gain
Velocity loop gain
Time constant of
V-loop integration
Velocity loop feed forward :
Inertia ratio
: 100
Position loop gain
Velocity loop gain
Time constant of
V-loop integration
Velocity loop feed forward : 500
Inertia ratio : 100
: 100
: 100
:
50
50
0
:
50
:
50
:
:
50
0
: 100
: 100
Procedures
Start adjustment
Automatic
adjustment ?
No
No
Yes
(see P.151)
Ready for
command
input ?
Release of
auto-adjusting
function
Yes
(Default)
(see P.148)
(see P.144)
Real time
Normal mode
auto-gain tuning
auto-gain tuning
Action O.K.?
Yes
No
Action O.K.?
Yes
No
No
Load
characteristics
vary?
(see P.152)
(see P.151)
Yes
Release of
auto-adjusting
function
Manual gain tuning
Action O.K.?
Yes
No
Writing to EEPROM
Finish adjustment
Consult to authorized dealer
142
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
Type
Pages
to
refer
Function
Explanation
Estimates the load inertia of the machine in real time, and auto-
matically sets up the optimum gain corresponding to this result.
Reduces the resonance vibration point by automatically setting
up the notch filter coefficient which removes the resonance
component from the torque command while estimating the res-
onance frequency from the vibrating component which appears
n the motor speed in actual operating condition.
Real-time auto-gain tuning
P.144
Adaptive filter
P.147
Sets up the appropriate gain automatically by calculating the
load inertia from the torque required to run the motor in the
command pattern automatically created in the driver.
Describes the cautions when you invalidate the real-time auto-
gain tuning or adaptive filter which are defaults.
Normal mode auto-gain tuning
P.148
P.151
Release of automatic gain
adjusting function
Execute the manual adjustment when real-time auto-gain tun-
ing cannot be executed due to the limitation of control mode
and load condition, or when you want to obtain an optimum re-
sponse depending on each load.
Manual gain tuning (basic)
P.152
Adjustment of position control mode
P.153
P.154
Basic procedure
Adjustment of full-closed control mode
You can expect to reduce vibration at stopping and settling
time and to improve command compliance by switching the
gains by internal data or external signals.
Gain switching function
P.155
P.158
P.160
When the machine stiffness is low, vibration or noise may be gen-
erated due to the distorted axis, hence you cannot set the higher
gain. You can suppress the resonance with two kinds of filter.
You can obtain the higher performance while you are not satis-
fied with the performance obtained with the basic adjustment,
using the following application functions.
Suppression of machine
resonance
Manual gain tuning (application)
Function which obtains both high response and reduction of vi-
bration at stopping by estimating the motor speed with the load
model, and hence improves the accuracy of speed detection.
Function which reduces vibration by removing the vibration fre-
quency component while the front end of the machine vibrates.
Instantaneous speed observer
Damping control
P.160
P.161
<Remarks>
• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the main
power, or turn to Servo-OFF.
143
Download from Www.Somanuals.com. All Manuals Search And Download.
Real-Time Auto-GainTuning Mode
Outline
Gain
Filter
Motor
Position/Velocity
command
auto-setup auto-adjustment
Torque
command
current
Estimates the load inertia of the
machine in real time and sets
up the optimum gain automati-
cally responding to the result.
Also, an adaptive filter can
cope with any load caused by
the resonance.
current
control
Position/Velocity
control
Adaptive
Filter
Motor
Action command under
actual condition
Resonance frequency
estimation
Load inertia estimation
Real time
auto-gain tuning
Motor
speed
Encoder
Servo driver
Applicable Range
Conditions under which the real-time auto-gain tuning is activated
• Real time auto-gain tuning is applicable to all control modes.
However, the load inertia estimation will be disabled when a motor trial operation function
is executed and a frequency characteristics measurement function of “PANATERM®” is
used.
Control mode
Others
• The servo turns on.
• Any factors, including Deviation Counter Clear command input inhibition and torque limit,
other than control parameter are set appropriately and the motor can rotate normally
without any problem.
Caution
Real-time auto-gain tuning may not be executed properly under the conditions described in the table below.
In these cases, use the normal mode auto-gain tuning (refer to P.148), or execute the manual auto-gain
tuning (refer to P.152).
Conditions which obstruct real-time auto-gain tuning action
•
The load is too small or large compared to the rotor inertia. (less than 3 times or more than 20 times)
Load inertia
Load
• The load inertia changes too quickly (10 [ s] or less)
• The machine stiffness is extremely low.
• A chattering such as backlash exists.
• The motor is running continuously at low speed of (100 [ r/min] or lower.
• Acceleration/deceleration is slow (2000 [ r/min] per 1[ s] or low).
•
Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque.
Action pattern
• When the speed condition of 100 [ r/min] or more and acceleration/deceleration condition
of 2000 [ r/min] per 1 [ s] are not maintained for 80 [ ms] .
How to Operate
1) Bring the motor to stall (Servo-OFF).
2) Set up SV.Pr21 (Real time auto tuning set up) to 1-7.
Real time auto-gain tuning
Varying degree of load inertia in motion
Setup value
(not in use)
–
0
[1]
2
no change
slow change
rapid change
no change
slow change
rapid change
no change
normal mode
3
4
vertical axis mode
5
6
no gain switching mode
7
When the changing degree of load inertia is large, set up 3 or 6.
When the motor is used for vertical axis, set up 4 to 6.
When vibration occurs during gain switching, set up 7.
144
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
3) Set up SV.Pr22 (Machine stiffness at auto tuning) to 0 or smaller value.
4) Turn to Servo-ON to run the machine normally.
5) Gradually increase SV.Pr22 (Machine stiffness at auto tuning) when you want to obtain a better response.
Lower the value (0 to 3) when you experience abnormal noise or oscillation.
6) Write the result to EEPROM when you want to save it.
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.
Setup of parameter, Pr21
Press
Press
.
.
Match to the parameter No.
to be set up with . (Here match to Pr21.)
Press
Change the setup with
Press
Setup of parameter, Pr22
Match to Pr22 with
Press
.
.
.
.
.
(default values)
Numeral increases with
and decreases with
,
.
Press
.
Writing to EEPROM
Press
Press
.
.
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish
Writing completes
, after writing finishes.
Writing error
occurs
Press
to return to
SELECTION display
145
Download from Www.Somanuals.com. All Manuals Search And Download.
Real-Time Auto-GainTuning Mode
Parameters Which Are Automatically Set
Following parameters are automatically adjusted. Also following parameters are automatically set up.
Setup
SV.PrNo.
Title
SV.PrNo.
Title
value
300
50
0
10
11
12
13
14
18
19
1A
1B
1C
20
1st position loop gain
15
16
27
30
31
32
33
34
35
Velocity feed forward
1st velocity loop gain
Feed forward filter time constant
Velocity observer
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd gain action set up
1
1st control switching mode
1st control switching delay time
1st control switching level
1st control switching hysteresis
Position loop gain switching time
10
30
50
33
20
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change the parameters which are automati-
cally adjusted.
• SV.Pr31 becomes 10 at position or full closed control and when SV.Pr21 (Real time auto tuning set up)
is 1 to 6, and becomes 0 in other cases.
146
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
Adaptive Filter
Invalidation of Adaptive Filter
Estimates the resonance frequency out of vibration component presented in the motor speed in motion, then
removes the resonance component from the torque command by setting up the notch filter coefficient auto-
matically, hence reduces the resonance vibration.
The adaptive filter is enabled by setting SV.Pr23 (Adaptive filter mode) to any value other than “0”.
The adaptive filter may not work properly under the following conditions. In these cases, take measures to
resonance according to the manual adjustment procedures, using the 1st notch filter (SV.Pr1D and 1E) and
the 2nd notch filter (SV.Pr28 to 2A).
Conditions which obstruct adaptive filter action
• Resonance frequency is lower than 300[ Hz] .
• Resonance peak is low, or control gain is low where the motor speed is not affected by this.
• Multiple resonance points exist.
Resonance point
• Motor speed variation with high harmonic component is generated due to non-linear factors such as
backlash.
Load
Command pattern
• Acceleration/deceleration is rapid such as 30000[ r/min] per 1[ s] .
<Notes>
The adaptive filter may be disabled also if SV.Pr23 is set to any value other than “0”. Refer to “Invalidation of
Adaptive Filter” on page 151.
How to Operate
1) Validate the adaptive filter by setting up SV.Pr23 (Adaptive
filter mode) to 1.
Setup value Adaptive filter
Adaptive action
0
[1]
2
Invalid
–
Yes
Adaptive filter automatically estimates the resonance fre-
quency out of vibration component presented in the motor
speed in motion, then removes the resonance components
from the torque command by setting up the notch filter co-
efficient automatically, hence reduces the resonance vibration.
2) Write the result to EEPROM when you want to save it.
Valid
No (Hold)
When adaptation finishes (SV.Pr2F does not
change), and resonance point seems not change,
set up the value to 2.
Caution
(1) After the start-up, you may experience abnormal noise and oscillation right after the first operation or
when you increase the setup of SV.Pr22 (Machine stiffness at auto tuning), until load inertia is identified
(estimated) or adaptive filter is stabilized. These are not failures as long as they disappear immediately.
If they persist over 3 reciprocating operations, take the following measures in possible order.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setup of SV.Pr22 (Machine stiffness at auto tuning).
3) Invalidate the adaptive filter by setting up SV.Pr23 (Adaptive filter mode) to 0.
(Reset of inertia calculation and adaptive action)
4) Set up the notch filter manually.
(2) When abnormal noise and oscillation occur, SV.Pr2F (Adaptive filter frequency) might have changed to
extreme values. Take the same measures as the above in these cases.
(3) Among the results of real-time auto-gain tuning, SV.Pr20 (Inertia ratio) will be written into EEPROM at
every 30 minutes. When you turn the power supply on again, auto-gain tuning will be executed using this
data as initial values.
(4) When you enable the real-time auto-gain tuning, SV.Pr27 (Velocity observer) will be disabled automati-
cally.
(5) During the trial run and frequency characteristics measurement of “PANATERM®”, the load inertia esti-
mation will be disabled.
147
Download from Www.Somanuals.com. All Manuals Search And Download.
Normal Mode Auto-GainTuning
Position command
Position command
Outline
Normal mode
auto-gain tuning
The motor will be driven per the command with a pat-
tern generated by the driver automatically.The driver
estimates the load inertia from the necessary torque,
Load inertia
calculation
Motor
Gain
current
auto-
Torque
adjust
command
Generation
and sets up an appropriate gain automatically.
Current
control
Position/Velocity
Control
Motor
of
internal
positional
command
Motor torque
Servo driver
Motor
speed
Encoder
Applicable Range
This function works under the following condition.
Conditions under which the normal mode auto-gain tuning is activated
Applies to all control modes.
• Servo-ON status
Control mode
Others
<Remarks>
Set up the torque limit selection (SV.Pr03) to 1.
When you set up other than 1, driver may not act correctly.
Caution
Normal mode auto-gain tuning may not be work properly under the following conditions. In these cases, set
up in manual gain tuning
Conditions which obstruct normal auto-gain tuning
• Too small or too big compared to the rotor inertia
Load inertia
Load
(smaller than 3 times or larger than 20 times)
• Load inertia varies.
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
• Tuning error will be triggered when an error, Servo-OFF, the main power shutdown, validation of over-
travel inhibition, or deviation counter clear occurs during the normal mode auto-gain tuning.
• If the load inertia cannot be calculated even though the normal mode auto-gain tuning is executed, gain
value will not change and be kept as same as that of before the execution.
• The motor output torque during the normal auto-gain tuning is permitted to the max. torque set with SV.Pr5E
(Setup of torque limit).
• Please note that each signal of the CW over-travel inhibit input, CCW over-travel inhibit input, emergency
stop, deceleration-and-stop and temporary stop is ignored.
Pay an extra attention to the safety. When oscillation occurs, shut off the main power or turn to Servo-
OFF immediately. Bring back the gain to default with parameter setup. Refer to cautions of P.95,
"Auto-Gain Tuning Mode" of Setting as well.
148
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
Auto-Gain Tuning Action
(1) In the normal mode auto-gain tuning, you can set up the response with machine stiffness No..
Machine stiffness No.
•
Represents the degree of machine stiffness of the customer's machine and have values from o to 15.
You can set a higher No. to the high stiffness machine and set up a higher gain.
• Usually start setting up with a lower value and increase gradually to repeat auto-gain tuning in the
range where no oscillation, no abnormal noise, nor vibration occurs.
(2) This tuning repeats max. 5 cycles of the action pattern set with SV.Pr25 (Normal auto tuning motion
setup). Action acceleration will be doubled every one cycle after third cycle. Tuning may finish, or action
acceleration does not vary before 5th cycle depending on the load, however, this is nor an error.
How to Operate
(1) Set up the action pattern with SV.Pr25.
(2) Shift the load to the position where no hazard is expected even though the action pattern which is set
with SV.Pr25 is executed.
(3) Prohibit the command entry. (Do not enter the action command during the normal mode auto-gain tuning.)
(4) Turn to Servo-ON.
(5) Start up the auto-gain tuning. Use the "PANATERM®".
(6) Adjust the machine stiffness to the level at which no vibration occurs and obtain the required response.
(7) Write the result to EEPROM, if it is satisfactory.
Parameters Which Are Automatically Set
Table of auto-gain tuning
Pr
Stiffness value
Title
No.
0
[1]
12 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557
18 22 27 35 40 50 60 75 90 115 140 170 210 250 310
2
3
[4]
5
6
7
8
9
10 11 12 13 14 15
10 1st position loop gain
11 1st velocity loop gain
9
12 1st velocity loop integration time constant 62 31 25 21 16 14 12 11
9
0
8
0
7
0
6
0
5
0
4
0
4
0
3
0
13 1st speed detection filter
14 1st torque filter time constant *2
15 Velocity feed forward
0
0
0
0
0
0
0
0
253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
19 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649
16 Feed forward filter time constant
18 2nd position loop gain
19 2nd velocity loop gain
9
18 22 27 35 40 50 60 75 90 115 140 170 210 250 310
1A 2nd velocity loop integration time constant 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999
1B 2nd speed detection filter
1C 2nd torque filter time constant *2
20 Inertia ratio
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10
Estimated load inertia ratio
27 Velocity observer
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
30 2nd gain action set up
31 1st control switching mode
32 1st control switching delay time
33 1st control switching level
34 1st control switching hysteresis
35 Position loop gain switching time
10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30
50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33
20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20
represents parameters with fixed value. Default for A to C-frame is 4, and 1 for D to F-frame.
*2 Lower limit for stiffness value is 10 for 17-bit encoder, and 25 for 2500P/r encoder.
149
Download from Www.Somanuals.com. All Manuals Search And Download.
Normal Mode Auto-GainTuning
How to Operate from the Console
Display of rotational speed
of the motor (initial display)
(1) Turn to the normal auto-gain tuning
mode from the monitor mode, by
pressing the SET button, then press
the mode switching button three times.
For details, refer to P.81, "Structure
of Each Mode" of Preparation.
Machine stiffness No.
(2) Enter the machine stiffness No. by pressing
.
Machine stiffness No. (High)
Value changes toward the direction as
Drive method
Ball screw direct connection
Ball screw + timing belt
Timing belt
Machine stiffness No.
8 to 14
6 to 12
4 to 10
2 to 8
an arrow shows by pressing and
changes toward the reversed direction
by pressing
Gear, Rack & Pinion
Others, low stiffness machine
.
0 to 8
Machine stiffness No. (Low)
(3) Shift to MONITOR/EXECUTION mode
by pressing
.
(4) Operation at MONITOR/EXECUTION mode
Keep pressing
until the display
changes to
.
• Pin-29 of the connector, CN X5 to be
Servo-ON status.
Keep pressing
for approx.3sec,
then bar increase as the right fig. shows.
The motor starts rotating.
For approx. 15 sec, the motor repeats
max. 5 cycles of CCW/CW rotation,
2 revolutions each direction per one cycle.
Tuning may finish before 5th cycles,
however, this is not an error.
(5) Write the gain value to EEPROM to prevent
them from being lost due to the power shut off.
Tuning finishes
normally
Tuning error
<Caution>
Do not use the normal mode auto-gain tuning with the motor and driver alone. SV.Pr20 (Inertia ratio)
becomes to 0.
<Notes>
Content
Cause
Measure
Display of error.
One of alarm, Servo-OFF or • Avoid an operation near the limit switch or home sensor switch.
deviation counter clear has
occurred.
• Turn to Servo-ON.
• Release the deviation counter clear
Value of parameter
Load inertia cannot be identi- • Lower SV.Pr10 to 10 and SV.Pr11 to 50, then execute the
related to gain (such as
SV/Pr10) is kept as same
as before the execution.
fied.
tuning.
• Adjust the gain manually. (Calculate the load inertia, and then
enter.)
150
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
Release of Automatic Gain Adjusting Function
Outline
Cautions are described when you want to invalidate the real time auto-gain tuning of default or the adaptive filter.
Caution
Execute the release of the automatic adjusting functions while all action stop (Servo-OFF)
Invalidation of Real-Time Auto-Gain Tuning
You can stop the automatic calculation of SV.Pr20 (Inertial ratio) and invalidate the real-time auto-gain
tuning by setting up SV.Pr21 (Real time auto tuning set up) to 0.
Note that the calculation result of SV.Pr20 (Inertia ratio) will be held, and if this parameter becomes abnor-
mal value, use the normal mode auto-gain tuning or set up proper value manually obtained from formula or
calculation.
Invalidation of Adaptive Filter
When you set up SV.Pr23 (Adaptive filter mode) to 0, adaptive filter function which automatically follows the
load resonance will be invalidated.
If you invalidate the adaptive filter which have been working correctly, noise and vibration may occur due to
the effect of resonance which have been suppressed.
Therefore, execute the copying function of the setup of adaptive filter (SV.Pr2F) to the 1st notch frequency
(SV.Pr1D), or set up SV.Pr1D (1st notch frequency) manually by using the table below, then invalidate this
filter.
SV.Pr2F 1st notch frequency [Hz]
SV.Pr2F 1st notch frequency [Hz]
SV.Pr2F 1st notch frequency [Hz]
0
1
(invalid)
(invalid)
(invalid)
(invalid)
(invalid)
1482
1426
1372
1319
1269
1221
1174
1130
1087
1045
1005
967
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
766
737
709
682
656
631
607
584
562
540
520
500
481
462
445
428
412
396
381
366
352
339
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
326
314
302
290
279
2
3
4
>
5
269 (invalid when Pr22 15)
=
>
6
258 (invalid when Pr22 15)
=
>
7
248 (invalid when Pr22 15)
=
>
8
239 (invalid when Pr22 15)
=
>
9
230 (invalid when Pr22 15)
=
>
10
11
12
13
14
15
16
17
18
19
20
21
221 (invalid when Pr22 14)
=
>
213 (invalid when Pr22 14)
=
>
205 (invalid when Pr22 14)
=
>
197 (invalid when Pr22 14)
=
>
189 (invalid when Pr22 14)
=
>
182 (invalid when Pr22 13)
=
(invalid)
(invalid)
(invalid)
(invalid)
(invalid)
930
895
861
828
796
*Set up 1500 to SV.Pr1D (1st notch frequency) in case of “ invalid ” of the above table.
151
Download from Www.Somanuals.com. All Manuals Search And Download.
Manual Gain Tuning (Basic)
As explained previously, MINAS-A4P series features the automatic gain tuning function, however, there
might be some cases where this automatic gain tuning cannot be adjusted properly depending on the limita-
tion on load conditions. Or you might need to readjust the tuning to obtain the optimum response or stability
corresponding to each load.
Here we explain this manual gain tuning method by each control mode and function.
Before Making a Manual Adjustment
You can adjust with the sound or motor (machine) movement by using the console, however, you can adjust
more securely by using wave graphic function of the setup support software, PANATERM®, or by measuring
the analog voltage waveform using a monitoring function.
1. Analog monitor output
You can measure the actual motor speed, commanded speed, torque and deviation pulses by analog
voltage level by using an oscilloscope. Set up the types of the signals or the output voltage level with
SV.Pr07 (Speed monitor (SP) selection) and SV.Pr08 (Torque monitor (IM) selection).
For details, refer to P.49, "Wiring to the Connector, CN X5" of Preparation, and P.56, "Parameter Setup" of
Setting.
1kΩ
IM
1kΩ
SP
2. Waveform graphic function of the PANATERM®
You can display the command to the motor, motor movement (speed, torque command and deviation
pulses) as a waveform graphic on PC display. Refer to P.103, "Outline of the Setup Support Software,
PANATERM®".
RS232
connection cable
Connect to CN X4
Setup support software
Setup disc of "PANATERM®"
DV0P4460 (English/Japanese version)
152
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
Adjustment in Position Control Mode
Position control of MINAS-A4P series is described in Block diagram of P.224.
Make adjustment in position control per the following procedures.
(1) Set up the following parameters to the values of the table below.
Servo
Parameter
No.
Servo
Parameter
No.
Standard
value
Standard
value
Title of parameter
1st position loop gain
Title of parameter
Inertia ratio
(SV.Pr* * )
(SV.Pr* * )
10
11
12
13
14
15
16
18
19
1A
1B
1C
1D
1E
27
15
37
0
20
21
23
2B
2C
2D
2E
30
31
32
33
34
35
4C
4D
100
0
1st velocity loop gain
Real time auto tuning set up
Adaptive filter mode
1st velocity loop integration time constant
1st speed detection filter
0
1st vibration suppression frequency
1st vibration suppression filter
2nd vibration suppression frequency
2nd vibration suppression filter
2nd gain action set up
0
0
0
0
0
0
0
0
0
0
1
0
1st torque filter time constant
Velocity feed forward
152
0
Feed forward filter time constant
2nd position loop gain
0
27
15
37
0
2nd velocity loop gain
1st control switching mode
1st control switching delay time
1st control switching level
1st control switching hysteresis
Position loop gain switching time
Smoothing filter
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
1st notch frequency
152
1500
2
1st notch width selection
FIR filter set up
(2) Enter the inertia ratio of SV.Pr20. Measure the ratio or setup the calculated value.
(3) Make adjustment using the standard values below.
Servo
Parameter
No.
Standard
value
Order
Title of parameter
How to adjust
(SV.Pr* * )
Increase the value within the range where no abnormal noise and no vibration
occur. If they occur, lower the value.
1
SV.Pr11 1st velocity loop gain
30
When vibration occurs by changing SV.Pr11, change this value.
Setup so as to make SV.Pr11 x SV.Pr14 becomes smaller than 10000. If you
want to suppress vibration at stopping, setup larger value to SV.Pr14 and
smaller value to SV.Pr11. If you experience too large vibration right before
stopping, lower than value of SV.Pr14.
1st torque filter time
2
SV.Pr14
constant
50
Adjust this observing the positioning time. Larger the setup, faster the
positioning time you can obtain, but too large setup may cause oscillation.
Setup this value within the range where no problem occurs. If you setup
smaller value, you can obtain a shorter positioning time, but too small value
may cause oscillation. If you setup too large value, deviation pulses do not
converge and will be remained.
3
4
SV.Pr10 1st position loop gain
50
25
1st velocity loop
SV.Pr12 integration time
constant
Increase the value within the range where no abnormal noise occurs.
Too large setup may result in overshoot or chattering of position complete
signal, hence does not shorten the settling time. You can improve by setting up
SV.Pr16 (Feed forward filter time constant) to larger value.
5
SV.Pr15 Velocity feed forward
300
153
Download from Www.Somanuals.com. All Manuals Search And Download.
Manual Gain Tuning (Basic)
Adjustment in Full-Closed Control Mode
Full-closed control of MINAS-A4P series is described in Block diagram of P.225 of Full-Closed Control.
Adjustment in full-closed control is almost same as that in position control described in P.153 “Adjustment in
Position Control Mode”, and make adjustments of parameters per the procedures except cautions of P.140,
“Outline of Full-Closed Control”.
Here we explain the setup of external scale ratio, hybrid deviation excess and hybrid control at initial setup
of full-closed control.
1) Setup of external scale ratio
Setup the external scale ratio using the numerator of external scale division (SV.Pr78), the multiplier
for numerator of external scale division (SV.Pr79) and denominator of external scale division (SV.Pr7A).
• Check the encoder pulse counts per one motor revolution and the external scale pulse counts per one
motor revolution, then set up the numerator of external scale division (SV.Pr78), the multiplier for nu-
merator of external scale division (SV.Pr79) and denominator of external scale division so that the fol-
lowing formula can be established.
SV.Pr78 1 x 2 SV.Pr79 17
SV.Pr7A 5000
Number of encoder pulses per motor rotation
Number of external scale pulses per motor rotation
=
• If this ratio is incorrect, a gap between the position calculated from the encoder pulse counts and that of
calculated from the external scale pulse counts will be enlarged and hybrid deviation excess (Err.25) will
be triggered when the work or load travels a long distance.
• When you set up SV.Pr78 to 0, the encoder pulse counts will be automatically set up.
2) Setup of hybrid deviation excess
Set up the minimum value of hybrid deviation excess (SV.Pr78) within the range where the gap between
the motor (encoder) position and the load (external scale) position will be considered to be an excess.
• Note that the hybrid deviation excess (Error code No.25) may be generated under other conditions than the
above 1), such as reversed connection of the external scale or loose connection of the motor and the load.
Caution
(1) Enter the position command based on the external scale reference.
(2) The external scales to used for full-closed control are as follows.
• AT500 series by Mitutoyo (Resolution 0.05[µm] , max. speed 2[ m/s] )
• ST771 by Mitutoyo (Resolution 0.5[µm] , max. speed 2[ m/s] )
(3) To prevent the runaway and damage of the machine due to the setup of the external scale, setup the
hybrid deviation excess (SV.Pr7B) to the appropriate value, in the unit of external scale resolution.
<
<
(4) We recommend the external scale as 1/20 external scale ratio 20.
=
=
If you setup the external scale ratio to smaller value than 50/position loop gain (SV.Pr10 and 18), you
may not be able to control by one pulse unit. If you set up too large external scale ratio, you may expect
larger noise in movement.
154
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
Gain Switching Function
At manual gain tuning, you can set 2nd gain
manually in addition to 1st gain and you can
switch the gain depending on the various re-
quirements of the action such cases as,
• you want to increase the response by increas-
ing the gain in motion
Action
Command speed
Stop
(Servo-Lock)
Stop
Time
Run
(Servo-Lock)
Status
Gain
Low gain
(1st gain)
Low gain
(1st gain)
High gain
(2nd gain)
• you want to increase the servo-lock stiffness
by increasing the gain at stopping
1ms
2ms
Suppress the vibration by lowering the gain.
• switch to the optimum gain according to the
action mode
• lower the gain to suppress the vibration at stopping.
<Example>
Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up to
lower gain after the motor stops.
• Make adjustment referring to the auto-gain tuning table (P.149) as well.
Set up the same
value as SV.Pr10-
14 (1st gain)
to SV.Pr18-1C
(2nd gain)
Execute manual
gain-tuning
without gain
switching
Set up
SV.Pr30-35
(Gain switching
condition)
Adjust SV.Pr11
and 14 at
Servo
Parameter
No.
Title of parameter
stopping
(1st gain)
(SV.Pr**)
10
11
12
13
14
15
16
18
19
1A
1B
1C
30
31
32
33
34
35
1st position loop gain
63
35
16
0
1st velocity loop gain
27
84
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
Velocity feed forward
65
300
50
Feed forward filter time constant
2nd position loop gain
63
35
16
0
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
2nd gain action set up
65
0
1
7
1st control switching mode
1st control switching delay time
1st control switching level
1st control switching hysteresis
Position loop gain switching time
30
0
0
0
•
Enter the known value
from load calculation
• Measure the inertia
ratio by executing nor
mal auto-gain tuning
• Default is 250
20
Inertia ration
155
Download from Www.Somanuals.com. All Manuals Search And Download.
Manual Gain Tuning (Basic)
Setup of Gain Switching Condition
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)
Setup parameters at position control, full-closed control
Setup of gain switching condition
Delay time * 1
Level
Hysteresis * 2
SV.Pr31 Switching condition to 2nd gain Fig.
SV.Pr32
SV.Pr33
SV.Pr34
0
1
2
3
4
5
Fixed to 1st gain
–
–
–
–
–
Fixed to 2nd gain
–
–
Gain switching input, GAIN ON
Variation of torque command is large.
Fixed to 1st gain
–
–
A
*3[ 0.05%/166µs]
*3[ 0.05%/166µs]
–
–
–
Speed command is large.
Position deviation/Full-closed
position deviation is large
Position command exists.
Not in positioning complete nor in
full-closed positioning complete
Speed
C
D
E
F
[ r/min]
[ r/min]
6
7
8
9
*4[ pulse]
*4[ pulse]
–
–
–
–
C
G
[ r/min]
[ r/min]
10 Command exists + velocity
[ r/min] *6
[ r/min] *6
*1 Delay time (SV.Pr32 and 37) will be valid only when returning from 2nd to 1st gain.
*2 Hysteresis is defined as the fig. below shows.
*3 When you make it a condition that there is 10% torque variation during 166µs, set up the value to 200.
10%/166µs = Setup value 200 x [ 0.05%/16µ6s]
*4 Designate with either the encoder resolution or the external scale resolution depending on the control
mode.
*5 When you make it a condition that there is speed variation of 10r/min in 1s, set up the value to 1.
*6 When SV.Pr31=10, the meanings of delay time, level and hysteresis are different from the normal.
(refer to Fig. G)
Hysteresis
H
(SV.Pr34)
Level
(SV.Pr33)
L
0
156
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
motor speed or
commanded
speed
Fig.A
Fig. C
Fig. E
speed N
torque T
command
speed S
level
delay
2nd gain
delay
2nd gain
1st
1st
1st
1st
Fig. D
Fig. F
∆T
speed N
speed N
level
deviation pulse
level
delay
1
2
2
1st gain
2
2
1
COIN
1st
1
1
delay
2nd gain
delay
1st
1st
2nd gain
1st
Fig. B
command
speed S
Fig. G
no position command
x SV.Pr32,delay time
|
actual speed
|
<
position command
exists.
SV.Pr33 level
at stall
1st gain
in action
2nd gain
at settling
2nd gain
proximity of stall
∆S
2nd gain for velocity integrating
only and 1st gain for others
level
|
actual speed
|
<
(SV.Pr33 level – SV.Pr34 hysteresis)
(SV.Pr33 level – SV.Pr34 hysteresis)
delay
1st gain
1st
2nd
2nd
1st
|
actual speed
|
<
<Caution>
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (SV.Pr34).
157
Download from Www.Somanuals.com. All Manuals Search And Download.
Manual Gain Tuning (Basic)
Suppression of Machine Resonance
In case of a low machine stiffness, you cannot set up a higher gain because vibration and noise occur due to
oscillation caused by axis distortion or other causes. You can suppress the resonance using two types of
filter in these cases.
1. Torque command filter (SV.Pr14 and SV.Pr1C)
Sets up the filter time constant so as to damp the frequency at vicinity of resonance frequency
You can obtain the cut off frequency of the torque command filter in the following formula.
Cut off frequency (Hz) fc = 1 / (2π x parameter setup value x 0.00001)
2. Notch filter
• Adaptive filter (SV.Pr23, SV.Pr2F)
MINASA-A4P series feature the adaptive filter. With this filter you can control vibration of the load
which resonance points vary by machine by machine and normal notch filter or torque filter cannot
respond. The adaptive filter is validated by setting up SV.Pr23 (Adaptive filter mode) to 1.
SV.Pr23 Adaptive filter mode
1 : Adaptive filter is valid.
SV.Pr2F Adaptive filter frequency
Displays the table No, corresponding to adaptive filter frequency (not changeable)
• 1st and 2nd notch filter (SV.Pr1D, 2E, 28, 29 and 2A)
MINASA-A4P series feature 2 normal notch filters.You can adjust frequency and width with the 1st
filter, and frequency, width and depth with the 2nd filter.
Set up lower a frequency by 10% from the
measured one through frequency
characteristics analysis of the PANATERM®
Set up according to the resonance
characteristics.
Machine characteristics at resonance
Resonance
SV.Pr1D 1st notch frequency
.
gain
1st notch
SV.Pr1E
width selection
Anti-resonance
Set up lower a frequency by 10% from the
frequency
Notch filter
characteristics
SV.Pr28 2nd notch frequency measured one through frequency
characteristics analysis of the PANATERM®
.
SV.Pr29 2nd notch width selection
SV.Pr2A 2nd notch depth selection
Set up according to the resonance
characteristics.
gain
Notch
frequency
width
width
torque
command
after filtering
torque
command
Depth
frequency automatic following
frequency
frequency
Adaptive filter
1st notch filter
2nd notch filter
Copying of the setup from the
adaptive filter to 1st notch filter
is enabled. (refer to P.151)
Suppress resonance point
instantaneously.
Adjustment of frequency,
width and depth is enabled.
(
)
(
) (
)
Example of application machine
Gain
Gain
Gain
frequency
frequency
frequency
velocity response
Machine which resonance point
varies by each machine or by aging
Machine which has
multiple resonance points
Machine which has small peak
nearby velocity response
158
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
How to Check the Resonance Frequency of the Machine
(1) Start up the Setup Support Software, "PANATERM® " and bring the frequency characteristics measure-
ment screen.
(2) Set up the parameters and measurement conditions. (Following values are standard.)
• Set up SV.Pr11 (1st velocity loop gain) to 25 or so. (to lower the gain and make it easy to identify the
resonance frequency)
• Set up the amplitude to 50 (r/min) or so. (not to saturate the torque)
• Make the offset to 100 (r/min) or so. (to increase the speed detecting data and to avoid the measure-
ment error in the vicinity of speed-zero)
• Polarity is made CCW with "+" and CW with "–".
• Setup the sampling rate to 0. (setup range to be 0 to 7.)
(3) Execute the frequency characteristic analysis.
<Remarks>
• Make sure that the revolution does not exceed the travel limit before the measurement.
Standard revolutions are,
Offset (r/min) x 0.017 x (sampling rate +1)
Larger the offset, better measurement result you can obtain, however, revolutions may be increased.
• Set up SV.Pr23 (Adaptive filter mode) to 0 while you make measurement.
<Notes>
• When you set a larger value of offset than the amplitude setup and make the motor run to the one direction
at all time, you can obtain a better measurement result.
• Set up a smaller sampling rate when you measure a high frequency band, and a larger sampling rate when
you measure a low frequency band in order to obtain a better measurement result.
• When you set a larger amplitude, you can obtain a better measurement result, but noise will be larger.
Start a measurement from 50 [ r/min] and gradually increase it.
Relation of Gain Adjustment and Machine Stiffness
In order to enhance the machine stiffness,
(1) Install the base of the machine firmly, and assemble them without looseness.
(2) Use a coupling designed exclusively for servo application with high stiffness.
(3) Use a wider timing belt. Belt tension to be within the permissible load to the motor shaft.
(4) Use a gear reducer with small backlash.
• Inherent vibration (resonance frequency) of the machine system has a large effect to the gain adjustment
of the servo.
You cannot setup a higher response of the servo system to the machine with a low resonance frequency
(machine stiffness is low).
159
Download from Www.Somanuals.com. All Manuals Search And Download.
Manual GainTuning (Application)
Instantaneous Speed Observer
Torque
Outline
Velocity
command
command
Motor
current
Velocity
control
Current
Motor
Load
This function enables both realization of high response
control
Estimated
and reduction of vibration at stopping, by estimating
the motor speed using a load model, hence improv-
ing the accuracy of the speed detection.
velocity
value
Instantaneous
speed observer
(Total inertia)
Load model
Motor
position
Position control
Encoder
Servo driver
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the instantaneous speed observer is activated
• Control mode to be position control. (SV.Pr02 = 0)
• 7-wire absolute encoder
Control mode
Encoder
Caution
This function does not work properly or no effect is obtained under the following conditions.
Conditions which obstruct the instantaneous speed observer effect
• Gap between the estimated total load inertia (motor + load) and actual machine is large.
e.g.) Large resonance point exists in frequency band of 300[ Hz] or below.
Load
Non-linear factor such as large backlash exists.
• Load inertia varies.
• Disturbance torque with harmonic component is applied.
• Settling range is very small.
Others
How to Use
(1) Setup of inertia ratio (SV.Pr20)
Set up as exact inertia ratio as possible.
• When the inertia ratio (SV.Pr20) is already obtained through real-time auto-gain tuning and is appli-
cable at normal position control, use this value as SV.Pr20 setup value.
• When the inertia ratio is already known through calculation, enter this calculated value.
• When the inertia ration is not known, execute the normal mode auto-gain tuning and measure the
inertia ratio.
(2) Adjustment at normal position control
Refer to P.153, "Adjustment at Position Control Mode".
(3) Setup of instantaneous velocity observer (SV.Pr27)
• You can switch the velocity detecting method to instantaneous velocity observer by setting up SV.Pr27
(Velocity observer) to 1.
• When you experience a large variation of the torque waveform or noise, return this to 0, and reconfirm
the above cautions and (1).
• When you obtain the effect such as a reduction of the variation of the torque waveform and noise,
search an optimum setup by making a fine adjustment of SV.Pr20 (Inertia ratio) while observing the
position deviation waveform and actual speed waveform to obtained the least variation. If you change
the position loop gain and velocity loop gain, the optimum value of the inertia ratio (SV.Pr20) might
have been changed, and you need to make a fine adjustment again.
160
Download from Www.Somanuals.com. All Manuals Search And Download.
[Adjustment]
Damping Control
Outline
Front edge vibrates.
Vibration
measurement
with
displacement
sensor
Setup of front edge vibration
frequency
This function reduces the vibration by removing
the vibration frequency component from the com-
mand when the load end of the machine vibrates.
Driver
Motor
travel
Ball
Coupling
PLC
Work
screw
Machine
base
Torque
Position
command
command
Motor
current
Damping
filter
Position/Velocity
control
Current
control
Motor
Load
Motor position
Encoder
Servo driver
Applicable Range
This function can only be applicable when the following conditions are satisfied.
Conditions under which the damping control is activated
• Control mode to be either or both position control or/and full-closed control.
SV.Pr02 = 0 : Position control
Control mode
SV.Pr02 = 6 : Full-closed control
Caution
When you change the parameter setup or switch with VS-SEL, stop the action first then execute.
This function does not work properly or no effect is obtained under the following conditions.
Conditions which obstruct the damping control effect
• Vibration is triggered by other factors than command (such as disturbance).
• Ratio of resonance frequency and anti-resonance frequency is large.
• Vibration frequency is out of the range of 10.0 to 200.0 [ Hz] .
Load
How to Use
Position deviation
(1) Setup of damping frequency (1st : SV.Pr2B, 2nd : SV.Pr2D)
Measure the vibration frequency of the front edge of the machine.
When you use such instrument as laser displacement meter, and can
directly measure the load end vibration, read out the vibration fre-
quency from the measured waveform and enter it to SV.Pr2B or
SV.Pr2D (2nd vibration suppression frequency).
Command
speed
Calculation of
vibration frequency
(2) Setup of damping filter (1st : SV.Pr2C, 2nd : SV.Pr2E)
First, set up 0.
You can reduce the settling time by setting up larger
Damping filter setup is
appropriate.
Damping filter setup is
too large.
Torque saturation
value, however, the torque ripple increases at the
command changing point as the right fig. shows.
Setup within the range where no torque saturation
occurs under the actual condition. If torque satura-
tion occurs, damping control effect will be lost.
Torque
command
<Remark>
Limit the damping filter setup with the following formula.
<
SV.Pr24
Switching mode
10.0 [ Hz] – Damping frequency Damping filter setup
=
0, 1
No switching ( Both of 2 are valid.)
Switch with command direction.
CCW : 1st damping filter
<
Damping frequency
=
2
(3) Setup of damping filter switching selection
(SV.Pr24)
CW : 2nd damping filter
You can switch the 1st or the 2nd damping filter depending on the vibration condition of the machine.
161
Download from Www.Somanuals.com. All Manuals Search And Download.
M E M O
162
Download from Www.Somanuals.com. All Manuals Search And Download.
[When in Trouble]
page
When in Trouble ....................................................164
What to Check ? ........................................................................ 164
Protective Function (What is Error Code ?) .............................. 164
Protective Function (Detail of Error Code) ................................ 165
Troubleshooting ....................................................172
Motor Does Not Run / Motor Stops During an Operation ......... 172
Point Deviates / Positioning Accuracy is Poor .......................... 173
Home Position Slips .................................................................. 173
Abnormal Motor Noise or Vibration ........................................... 173
Overshoot/Undershoot /
Overheating of the Motor (Motor Burn-Out) .............................. 174
Parameter Returns to Previous Setup ...................................... 174
Display of "Communication port or driver cannot be detected"
Appears on the Screen While Using the PANATERM®. ............ 174
163
Download from Www.Somanuals.com. All Manuals Search And Download.
When in Trouble
What to Check ?
Isn't error code No. is displayed ?
Doesn't the power voltage vary ?
Is the power turned on ?
Any loose connection ?
Motor does not run.
SP
IM
Is the connecting portion
disconnected ?
X4
G
(Broke wire, contact)
A
X3
Is the wiring correct ?
Isn't the connector pulled off ?
Isn't the short wire pulled off ?
B
X3
Host
controller
Is abnormal noise generated
from the motor ?
X5
Is the wiring to CN X5 correct ?
Or aren't any wires pulled off ?
Isn't the electro-
magnetic brake
engaged ?
Is the wiring to CN X6 correct ?
Or aren't any wires pulled off ?
X6
X7
Motor
Machine
Is the wiring to CN X7 in case
of full-closed control correct ?
Or aren't any wires pulled off ?
Ground
Isn't the connection
loose ?
External scale
Protective Function (What is Error Code ?)
• Various protective functions are equipped in the driver. When these are triggered, the motor will stall due
to error, according to P.133, "Timing Chart (When error occurs)"of Operation Setting, and the driver will
turn the Servo-Alarm output (ALM) to off (open).
• Error status ands their measures
• During the error status, the error code No. will be displayed on the front panel LED, and you cannot turn
Servo-ON.
• You can clear the error status by turning on the alarm clear input for 120ms or longer.
• When overload protection is triggered, you can clear it by turning on the alarm clear signal 10 sec or
longer after the error occurs. You can clear the time characteristics by turning off the connection be-
tween L1C and L2C or r and t of the control power supply of the driver.
• You can clear the above error by operating the console.
(Refer to P.99, "Alarm Clear Mode" of Setting.)
• You can also clear the above error by operating the "PANATERM®".
<Remarks>
• When the protective function with a prefix of "*" in the protective function table is triggered, you cannot
clear with alarm clear input. For resumption, shut off the power to remove the cause of the error and re-
enter the power.
• Following errors will not be stored in the error history.
Control power supply under-voltage protection (Error code No. 11)
Main power supply under-voltage protection
EEPROM parameter error protection
EEPROM check code error protection
Emergency stop input error protection
(Error code No. 13)
(Error code No. 36)
(Error code No. 37)
(Error code No. 39)
External scale auto recognition error protection (Error code No. 93)
Motor auto recognition error protection (Error code No. 95)
164
Download from Www.Somanuals.com. All Manuals Search And Download.
[When in Trouble]
Warning Function
• In MINAS-A4P Series, a warning is given before a protection function works and you can check the ma-
chine status such as overload in advance.
When a warning has been given, a warning code below blinks slowly on the 7-segment LED at the front panel.
Warning
code number
Warning name
Description
The load has been 85% or more of the overload protection level.
16
Overload warning
Over-regeneration
load warning
The load has been 85% or more of the over-regenerative load protection level.
18
Voltage of a battery for absolute encoder has been approximately 3.2 V or less.
A fan has stopped for 1s or more.
40
88
Battery warning
Fan lock warning
An external scale temperature has been 65flC or more or signal intensity is insufficient
(mounting must be adjusted). This is enabled only for the full-closed control.
89
External scale alarm
• When an overload warning or over-regeneration load warning has been given, referring to the counter-
measures taken by relevant protection function.
• When a battery warning has been given, replace the battery for absolute encoder with a new one. When
the battery has been replaced, perform Alarm Clear to the servo driver once to clear the battery alarm.
Protective Function (Detail of Error Code)
Protective Error
Causes
Measures
function
code No.
Voltage between P and N of the converter portion of the
control power supply has fallen below the specified value. and L2C) and terminal block (r and t).
Measure the voltage between lines of connector (L1C
Control
power
supply
under-
voltage
protection
11
1)Power supply voltage is low. Instantaneous power
failure has occurred
2)Lack of power capacity...Power supply voltage has
fallen down due to inrush current at the main power-on.
3)Failure of servo driver (failure of the circuit)
1)Increase the power capacity. Change the power
supply.
2)Increase the power capacity.
3)Replace the driver with a new one.
Voltage between P and N of the converter portion of the Measure the voltage between lines of connector (L1,
control power supply has exceeded the specified value L2 and L3).
1)Power supply voltage has exceeded the permissible 1)Enter correct voltage. Remove a phase-advancing
Over-
voltage
protection
12
input voltage. Voltage surge due to the phase-
advancing capacitor or UPS (Uninterruptible Power
Supply) have occurred.
capacitor.
2)Disconnection of the regeneration discharge resistor 2)Measure the resistance of the external resistor
connected between terminal P and B of the driver.
Replace the external resistor if the value is ∞.
3)External regeneration discharge resistor is not appro- 3)Change to the one with specified resistance and
priate and could not absorb the regeneration energy.
4)Failure of servo driver (failure of the circuit)
wattage.
4)Replace the driver with a new one.
Instantaneous power failure has occurred between L1 and Measure the voltage between lines of connector (L1,
Main power
supply
under-
voltage
protection
13
L3 for longer period than the preset time with SV.Pr6D
(Main power-off detection time) while SV.Pr65
(Undervoltage error response at main power-off) is set to
1. Or the voltage between P and N of the converter
portion of the main power supply has fallen below the
specified value during Servo-ON.
L2 and L3).
1)Power supply voltage is low. Instantaneous power
failure has occurred
1)Increase the power capacity. Change the power supply.
Remove the causes of the shutdown of the magnetic
contactor or the main power supply, then re-enter the power.
2)Set up the longer time to SV.Pr6D (Main power off
detecting time). Set up each phase of the power correctly.
3)Increase the power capacity. For the capacity, refer
to P.32, "Driver and List of Applicable Peripheral
Equipments" of Preparation.
2)Instantaneous power failure has occurred.
3)Lack of power capacity...Power supply voltage has
fallen down due to inrush current at the main power-
on.
4)Phase lack...3-phase input driver has been operated 4)Connect each phase of the power supply (L1, L2 and
with single phase input.
L3) correctly. For single phase, 100V and 200V
driver, use L1 and L3.
5)Failure of servo driver (failure of the circuit)
5)Replace the driver with a new one.
165
Download from Www.Somanuals.com. All Manuals Search And Download.
When in Trouble
Protective Error
Causes
Measures
function
code No.
Current through the converter portion has exceeded
the specified value.
1)Failure of servo driver (failure of the circuit, IGBT or
other components)
* Over-
current
protection
14
1)Turn to Servo-ON, while disconnecting the motor. If
error occurs immediately, replace with a new driver.
2)Check that the motor wire (U, V and W) is not
shorted, and check the branched out wire out of the
connector. Make a correct wiring connection.
3)Measure the insulation resistance between motor
wires, U, V and W and earth wire. In case of poor
insulation, replace the motor.
2)Short of the motor wire (U, V and W)
3)Earth fault of the motor wire
4)Burnout of the motor
4)Check the balance of resister between each motor
line, and if unbalance is found, replace the motor.
5)Check the loose connectors. If they are, or pulled
out, fix them securely.
5)Poor contact of the motor wire.
6)Melting of the relays for dynamic brake due to
frequent Servo-ON/OFF operation
6)Replace the driver. Prohibit the run/stop operation
with Servo-ON/OFF.
7)The motor is not applicable to the driver.
7)Check the name plate and capacity of the motor and
driver, and replace with motor applicable to the driver.
Temperature of the heat sink or power device has been
risen over the specified temperature.
1)Ambient temperature has risen over the specified
temperature.
* Over-heat
protection
15
16
1)Improve the ambient temperature and cooling
condition.
2)Increase the capacity of the driver and motor.
Set up longer acceleration/deceleration time.
Lower the load.
2)Over-load
Torque command value has exceeded the over-load
level set with SV.Pr72 (Overload level) and resulted in fluctuate up an down very much on the graphic screen
overload protection according to the time
characteristics (described later)
Check that the torque (current) does not oscillates nor
Over-load
protection
of the PANATERM®. Check the over-load alarm display
and load factor with the PANATERM®.
1)Load was heavy and actual torque has exceeded the 1)Increase the capacity of the driver and motor. Set up
rated torque and kept running for a long time.
2)Oscillation and hunching action due to poor
adjustment. Motor vibration, abnormal noise. Inertia
ratio (SV.Pr20) setup error.
longer acceleration/deceleration time. Lower the load.
2)Make a re-adjustment.
3)Miswiring, disconnection of the motor.
3)Make a wiring as per the wiring diagram. Replace the
cables. Connect the black (W phase),
white (V phase) and red (U phase) cables in
sequence from the bottom at the CN X2 connector.
4)Remove the cause of distortion. Lower the load.
4)Machine has collided or the load has gotten heavy.
Machine has been distorted.
5)Electromagnetic brake has been kept engaged.
5)Measure the voltage between brake terminals.
Release the brake
6)While wiring multiple axes, miswiring has occurred by 6)Make a correct wiring by matching the correct motor
connecting the motor cable to other axis.
7)SV.Pr72 setup has been low.
and encoder wires.
7)Set up SV.Pr72 to 0. (Set up to max. value of 115%
of the driver)
Regenerative energy has exceeded the capacity of
regenerative resistor.
Check the load factor of the regenerative resistor on
the monitor screen of the PANATERM®. Do not use in
the continuous regenerative brake application.
1) Improve the regenerative processing capability, e.g.,
increase the motor and driver capacity, put external
regenerative resistor, etc.
* Over-
regeneration
load
18
1)Due to the regenerative energy during deceleration caused
by a large load inertia, converter voltage has risen, and the
voltage is risen further due to the lack of capacity of
protection
absorbing this energy of the regeneration discharge resistor.
2)Regenerative energy has not been absorbed in the
specified time due to a high motor rotational speed.
2) Reduce the regenerative energy at deceleration,
e.g., lower the motor rotation speed, make the
deceleration time longer, etc.
3)Active limit of the external regenerative resistor has
been limited to 10% duty.
3) If SV.Pr6C (External regenerative resistor set up) is
“0” and an internal regenerative resistor is used, and
if SV.Pr6C is “3” and an external regenerative
resistor is not used, use the external regenerative
resistor and try to set SV.Pr6C to “1”.
<Remarks>
If the external regenerative resistor is used and
SV.Pr6C is set to “1”, secure any external over-
regeneration load protection measures and try to set
SV.Pr6C to “2”.
Install an external protection such as thermal fuse without fail when you
set up SV.Pr6C to 2. Otherwise, regenerative resistor loses the protection
and it may be heated up extremely and may burn out.
166
Download from Www.Somanuals.com. All Manuals Search And Download.
[When in Trouble]
Protective Error
Causes
Measures
function
code No.
• Make a wiring connection of the encoder as per the
wiring diagram. Correct the miswiring of the
connector pins. Note that the encoder cable to be
connected to CN X6. (Check that the encoder cable
is not connected to the connector CN X7 for external
scale connection by mistake.)
Secure the power supply for the encoder of DC5V±5%
(4.75 to 5.25V)...pay an attention especially when the
encoder cables are long.
• Separate the encoder cable and the motor cable if
they are bound together.
• Connect the shield to FG...Refer to P.38, "Wiring to
the Connector, CN X6" of Preparation.
Communication between the encoder and the driver
has been interrupted in certain times, and
disconnection detecting function has been triggered.
* Encoder
communi-
cation error
protection
21
Communication error has occurred in data from the
encoder. Mainly data error due to noise. Encoder
cables are connected, but communication data has
some errors.
* Encoder
communi-
cation
data error
protection
•
23
24
Deviation pulses have exceeded the setup of SV.Pr70
(Position deviation error level).
Position
deviation
excess
1)The motor movement has not followed the command. 1)Check that the motor follows to the position
command. Check that the output toque has not
saturated in torque monitor. Make a gain adjustment.
Set up maximum value to SV.Pr5E (1st torque limit)
and SV.Pr5F (2nd torque limit). Make a encoder
wiring as per the wiring diagram. Set up the longer
acceleration/deceleration time. Lower the load and
speed.
protection
2)Setup value of SV.Pr70 (Position deviation error
level) is small.
2)Set up a larger value to SV.Pr70, or set up 0
(invalid).
•
Check the connection between the motor and the load.
Check the looseness, slippage and backlash.
Position of load by the external scale and position of
the motor by the encoder slips larger than the setup
pulses with SV.Pr7B (Setup of hybrid deviation excess)
at full-closed control.
* Hybrid
deviation
excess
error
protection
25
• Check the connection between the external scale and
the driver.
• Check that the variation of the motor position
(encoder feedback value) and the load position
(external scale feedback value) is the same sign
when you move the load.
•
Check that the numerator and denominator of the external
scale division (SV.Pr78, 79 and 7A) and reversal of
external scale direction (SV.Pr7C) are correctly set.
• Do not give an excessive speed command.
• Make a gain adjustment when an overshoot has
occurred due to a poor gain adjustment.
The motor rotational speed has exceeded the setup
value of SV.Pr73 (Over-speed level setup)
Over-speed
protection
26
28
• Separate the encoder cable and the motor cable if
they are bound together.
• Connect the shield to FG...refer to wiring diagram.
Communication error has occurred in data from the
encoder. The data could be received normally, but an
error occurred in the data due to noise.
* External
scale com-
munication
data error
protection
Deviation counter value has exceeded 227 (134217728).
• Check that the motor runs as per the position com-
mand.
• Check that the output toque has not saturated in
torque monitor.
• Make a gain adjustment.
• Set up longer acceleration/deceleration time. Lower
the load and speed.
Deviation
counter
overflow
protection
29
34
The motor exceeded an allowable motor operation
range specified by SV.Pr26 (software limit setup)
against the position command input range.
1)Gain has not matched up.
Refer to P.170,"Software Limit Function" before using
this.
Software
limit
protection
1)Check the gain (balance of position loop gain and ve-
locity loop gain) and the inertia ratio.
2)Setup value of SV.Pr26 (Software limit setup) is small. 2)Setup a larger value to SV.Pr26. Otherwise, set
SV.Pr26 to “0” and disable the software limit protection.
<Remarks>
When the protective function with a prefix of "*" in the protective function table is triggered, you cannot clear
with alarm clear input.
167
Download from Www.Somanuals.com. All Manuals Search And Download.
When in Trouble
Protective Error
Causes
Measures
function
code No.
Communication between the external scale and the • Make a wiring connection of the external scale as per
driver has been interrupted in certain times, and the wiring diagram.
* External
scale com-
munication
error
35
disconnection detecting function has been triggered.
• Correct the miswiring of the connector pins.
•
Secure the power supply voltage DC 5 V±5% (4.75 to
5.25 V) for the external scale ... pay attention especially
when the external scale connection cables are long.
protection
Data in parameter storage area has been damaged
when reading the data from EEPROM at power-on.
• Set up all parameters again.
* EEPROM
parameter
error
36
37
39
• If the error persists, replace the driver (it may be a
failure.) Return the product to the dealer or
manufacturer.
protection
Data for writing confirmation to EEPROM has been
damaged when reading the data from EEPROM at
power-on.
Replace the driver. (it may be a failure). Return the
product to a dealer or manufacturer.
* EEPROM
check code
error
protection
When the emergency stop input (EMG-STP: CN X5 Pin • Check the switch power supply and cable connected to
2) has turned off, the system trips regarding it as an
error.
Emergency
stop input
error
the emergency stop input for error.
Check that the emergency stop input (CN X5 Pin 2)
turns on.
Check that the rising time of the control signal cable (DC
12 to 24 V) at the power supply on is not slower than
that of the servo driver.
•
•
protection
Voltage of the built-in capacitor has fallen below the
specified value because the power supply or battery
for the 17-bit absolute encoder has been down.
After connecting the power supply for the battery, clear
the absolute encoder. (Refer to P.138, "Setup
(Initialization) of Absolute Encoder" of Operation
Setting.) You cannot clear the alarm unless you clear
the absolute encoder.
Absolute
system
down error
protection
40
Multi-turn counter of the 17-bit absolute encoder has
exceeded the specified value.
• Set up an appropriate value to SV.Pr0B (Absolute
encoder set up) .
• Limit the travel from the machine home position within
32767 revolutions.
* Absolute
counter
over error
protection
41
42
The motor speed has exceeded the specified value
when only the supply from the battery has been
supplied to 17-bit encoder during the power failure.
• Check the supply voltage at the encoder side
(5V±5%)
Absolute
over-speed
error
•
Check the connecting condition of the connector, CN X6.
• You cannot clear the alarm unless you clear the
absolute encoder.
protection
Single turn counter error of 17-bit absolute encoder
has been detected.
Single turn counter error of 2500[ P/r] , 5-wire serial
encoder has been detected.
Replace the motor.
* Absolute
single turn
counter
error
protection
44
45
Multi turn counter error of 17-bit absolute encoder has Replace the motor.
been detected.
Multi turn counter error of 2500[ P/r] , 5-wire serial
encoder has been detected.
* Absolute
multi-turn
counter
error
protection
17-bit absolute encoder has been running at faster
speed than the specified value at power-on.
Arrange so as the motor does not run at power-on.
Absolute
status error
protection
47
48
Missing pulse of Z-phase of 2500[ P/r] , 5-wire serial
encoder has been detected
The encoder might be a failure. Replace the motor.
* Encoder
Z-phase
error
protection
CS signal logic error of 2500[ P/r] , 5-wire serial encoderThe encoder might be a failure. Replace the motor.
has been detected
* Encoder
CS signal
error
49
protection
<Remarks>
When the protective function with a prefix of "*" in the protective function table is triggered, you cannot clear
with alarm clear input.
168
Download from Www.Somanuals.com. All Manuals Search And Download.
[When in Trouble]
Protective Error
Causes
Measures
function
code No.
*
External scale
Bit 0 of the external scale error code (ALMC) has been Remove the causes of the error, then shut off the
50
status 0 error
protection
turned to 1.
power to reset.
Check the specifications of the external scale.
*
External scale
Bit 1 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
51
52
53
54
55
68
status 1 error
protection
*
External scale
Bit 2 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
status 2 error
protection
*
External scale
Bit 3 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
status 3 error
protection
*
External scale
Bit 4 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
status 4 error
protection
*
External scale
Bit 5 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
status 5 error
protection
• Check the switch, limit sensor, cable and power
supply connected to the over-travel inhibit input
(CCWL/CWL: CN X5 Pin 19/20) for error.
• Check the parameter settings for homing.
• For details, refer to “Homing Operation” in “Operation
Setting” on page 114.
An error occurred during homing.
Homing
error
protection
An invalid over-travel inhibit input signal was input.
A parameters necessary for homing operation is not
set or an invalid value is set.
A parameters necessary for an instructed step
operation and jog operation is not set or an invalid
value is set.
Check the settings of positioning parameter and step para-
meter. For details, refer to “Step Operation” in “Operation
Setting” on page 107 and “Jog Operation” on page 112.
Undefined
data error
protection
69
70
* Present
position
overflow
error
A current position (–2147483647 to 2147483647)
overflowed when 16.Pr51 (wraparound accepted) is
“0”.
Do not give an unsuitable operation command to make
the current position exceed “–2147483647 to
2147483647”.
Especially, pay attention to an incremental operation,
jog operation and home offset operation.
protection
Over-travel inhibit input in an operating direction was
detected in a step operation and jog operation after
homing completes.
Both of CCW over-travel inhibit input (CCWL: CN X5
Pin 19) and CW over-travel inhibit input (CWL: CN X5
Pin 20) were in the OPEN state.
• Check the switch, limit sensor, cable and power
supply connected to the over-travel inhibit input
(CCWL/CWL) for error.
• Check the operation command and the mount of limit
sensor.
Drive
71
72
prohibition
detection
error
protection
• Check that a direction of home offset operation is not
the same as that of over-travel inhibit input.
A motor command position exceeded a maximum
travel limit range in a step operation and jog operation
after homing completes.
• Do not give an unsuitable operation command to
make the command position exceed the maximum
travel limit range. Especially, pay attention to an
incremental operation, jog operation and home offset
operation.
* Maximum
movement
limit error
protection
• Check a set value of 32.Pr01 (setting of maximum
travel in positive direction) and 32.Pr02 (setting of
maximum travel in negative direction)
* ID setting
error
The ID set value exceeds a range between 0 and 31.
An unsupported external scale is connected.
Check the setting of the rotary switch on the front
panel.
82
93
protection
* External
scale auto
recognition
error pro-
tection
Replace it with a supported external scale.
* Motor auto
recognition
error
The motor and the driver has not been matched.
Replace the motor which matches to the driver.
95
protection
Other
No.
Control circuit has malfunctioned due to excess noise
or other causes.
Some error has occurred inside of the driver while
triggering self-diagnosis function of the driver.
• Turn off the power once, then re-enter.
• If error repeats, this might be a failure.
Stop using the products, and replace the motor and
the driver. Return the products to the dealer or
manufacturer.
* Other error
169
Download from Www.Somanuals.com. All Manuals Search And Download.
When in Trouble
• Time characteristics of Err16 (Overload protection)
time [ sec]
Overload protection time characteristics (Motor type M* MA)
100
10
1
MAMA 100W
MQMA 100W to 400W
MAMA 200W to 750W
MSMA 1kW to 5kW
MDMA 1kW to 5kW
MHMA 1kW to 5kW
MFMA 400W to 4.5kW
MGMA 900W to 4.5kW
0.1
115
100
150
200
250
300
350
400
450
500 torque [ 100%]
time [ sec]
100
Overload protection time characteristics (Motor type M* MD)
MSMD 50W
MSMD 100W (100V)
MSMD 100W (200V)
MSMD 200W
MSMD 400W
MSMD 750W
10
1
0.1
115
100
150
200
250
300
350
400
450
500 torque [ 100%]
• Software Limit Function
1)Outline
You can make an alarm stop of the motor with software limit protection (Error code No.34) when the
motor travels exceeding the movable range which is set up with SV.Pr26 (Software limit set up) against
the position command input range.
You can prevent the work from colliding to the machine end caused by motor oscillation.
2) Applicable range
This function works under the following conditions.
Conditions under which the software limit works
• Either at position control mode or full-closed control mode
SV.Pr02 = 0 : Position control
SV.Pr02 = 6 : Full-closed control
Control mode
(1) operating Normal auto tuning
(2) After the last clearance of the position command input range (0 clearance), the movable range
of the motor is within 2147483647 for both CCW and CW direction.
(3) at Servo-ON
(2) when SV.Pr26 (Software limit setup) is other than 0.
Others
Once the motor gets out of the (2) condition, the software limit protection will be invalidated
until the later mentioned "5) Condition under which the position command input range is
cleared" is satisfied. The position command input range will be 0-cleared when the motor gets
out of the conditions of (3) and (4).
170
Download from Www.Somanuals.com. All Manuals Search And Download.
[When in Trouble]
3) Cautions
• This function is not a protection against the abnormal position command.
• When this software limit protection is activated, the motor decelerates and stops according to SV.Pr68
(Error response action).
The work (load) may collide to the machine end and be damaged depending on the load during this
deceleration, hence set up the range of SV.Pr26 including the deceleration movement.
• This software limit protection will be invalidated during the trial run and frequency characteristics func-
tioning of the PANATERM®.
4) Example of movement
(1) When no position command is entered (Servo-ON status),
The motor movable range will be the travel range which is set at both sides of the motor with SV.Pr26
since no position command is entered. When the load enters to the Err34 occurrence range (oblique
line range), software limit protection will be activated.
Motor
Load
SV. SV.
Pr26 Pr26
Motor
movable
range
Err34 occurrence range
Err34 occurrence range
(2) When the load moves to the right (at Servo-ON),
When the position command to the right direction is entered, the motor movable range will be ex-
panded by entered position command, and the movable range will be the position command input
range + SV.Pr26 setups in both sides.
Motor
Load
SV.
Pr26
Position command
input range
SV.
Pr26
Err34 occurrence range
Err34 occurrence range
Motor movable range
(3) When the load moves to the left (at Servo-ON),
When the position command to the left direction, the motor movable range will be expanded further.
Motor
Load
Position command
input range
SV.
Pr26
SV.
Pr26
Err34 occurrence range
Err34 occurrence range
Motor movable range
5) Condition under which the position command input range is cleared
The position command input range will be 0-cleared under the following conditions.
• When the power is turned on.
• When the homing is completed.
• At the starting and the finishing of the normal auto-gain tuning.
171
Download from Www.Somanuals.com. All Manuals Search And Download.
Troubleshooting
Motor Does Not Run
Motor Stops During an Operation
Classification
Causes
Countermeasures
Parameter Error in control mode
setting
The setting of the control mode in the console or the
monitor mode of “PANATERM ” may be wrong.
Set SV.Pr02 (Control mode) again.
®
Error in torque limit
setting
The torque limit may be smaller than correct torque
necessary for an operation.
Check the setting of SV.Pr5E (1st torque
limit) and SV.Pr5F (2nd torque limit)
.
Error in operation
parameter setting
A parameter necessary for an operation may not be set. Check the parameters of travel, speed
(If any parameter is not set, the error code No. 68 or 69 acceleration/deceleration time necessary
is shown.)
for homing operation or step operation in
16.Pr.
Setting out of a
An operation command may exceed the maximum
Check the set value of 32.Pr01/02.
maximum travel range travel range in a positive direction and/or negative
of target position
direction.
Error in a parameter
used by a manufacturer. be changed from a default setting.
The setting of parameter used by a manufacturer may
Initialize all the parameters once and set
them again.
Wiring
Main power supply
(L1, L2 and/or L3) of
CN X1 and/or control
power supply (L1C
and/or L2C) does not
turn on. Otherwise, a
voltage value is wrong.
Voltage of the main power supply and/or control power Check the wiring and voltage of the main
supply may not be correct.
power supply (L1, L2 and/or L3) of CN
X1 and/or the control power supply (L1C
and/or L2C).
The error code No. 11, 12 and/or 13 may occur.
Servo-on input (SRV- The 7-segment LED on the front panel may show [ --] . Check and wire the input signal so that
ON) of CN X5 is
opened.
The servo-on signal may be in the [ --] state in the
monitor mode of the console or “PANATERM ”.
the SRV-ON input can be connected to
COM–.
®
CW/CCW over-travel
inhibit input (CWL/
CCWL) of CN X5 is in logic are set by SV.Pr53/54.)
the ON state. The CW/CCW over-travel inhibit input may be in the [ --]
The CW/CCW over-travel inhibit input (CWL/CCWL) of Check the wiring of CW/CCW over-travel
CN X5 may be in the ON state. (“Enable/disable” and
inhibit input and check the set value in
SV.Pr53/54.
®
state in the monitor mode of the console or “PANATERM ”.
Strobe input (STB) of The strobe input (STB) of CN X5 may remain opened.
Check and wire the input signal so that
the strobe input can be connected to
COM–.
CN X5 is opened.
The strobe input signal may be in the [ --] state in the
®
monitor mode of the console or “PANATERM ”.
Emergency stop input The emergency stop input (EMG-STP) of CN X5 may
(EMG-STP) of CN X5 be opened. (The error code No. 39 is shown.)
is opened.
Check and wire the input signal so that
EMG-STP can be connected to COM–.
Error in the point
The point specifying input (P1IN to P32IN) of CN X5 may Check the wiring of P1IN to P32IN.
specifying input (P1IN not be input correctly. (Logic can be set by SV.Pr58.)
to P32IN) of CN X5.
The state of P1IN to P32IN may not be displayed
correctly in the monitor mode of the console or
®
Error in input timing of “PANATERM ”.
the strobe input (STB) Waiting time from the input of the point specifying input Insert waiting time of 10 ms or more.
and the point specify- (P1IN to P32IN) of CN X5 to the input of the strobe input
ing input (P1IN to
P32IN) of CN X5.
A stop instruction is
input by the multi
(STB) of CN X5 may not be 10 ms or more. (If the
waiting time is less than 10 ms, a target point may be
unstable.)
The deceleration-and-stop, emergency stop and tempo- Check the setting and wiring of the multi
function input 1/2 (EX- rary stop, which are assigned to the multi function input function input 1/2.
IN1/EX-IN2) of CN X5. 1/2 (EX-IN1/EX-IN2) of CN X5, may turn on.
Homing not completed (Function selection and logic can be set by SV.Pr5A/5C
and SV.Pr59/5B, respectively.)
Others
Homing may not be completed.
Complete the homing.
During the execution
of an operation com-
The point output may be “0” in the monitor mode of the Refer to page 114.
console or “PANATERM ”.
®
mand, the next opera- During the execution of an operation command (a
tion command starts. transistor of the motor operation state output BUSY of
The motor shaft drags. CN X5 turns OFF), you may start the next operation
Check that the transistor of the motor
operation state output turns ON and then
start the next operation command.
The motor does not
run.
command.
The motor shaft drags. The motor does not run.
1)After turning the power supply off and separating it
from the machine, the motor shaft may not be rotated
manually.
If the motor shaft cannot be rotated, ask
the local shop to repair the motor.
2)For the motor equipped with electromagnetic brake,
the motor shaft may not be rotated manually if DC 24
V is applied to the brake.
172
Download from Www.Somanuals.com. All Manuals Search And Download.
[When in Trouble]
Point Deviates
Positioning Accuracy is Poor
Classification
Causes
Countermeasures
Parameter
The setting of the parameter for positioning
operation is wrong.
The setting of positioning completion range is
large.
Adjust the target position parameter at each point.
Check the setting of an operation mode (relative travel/absolute travel).
Decrease the set value of the positioning completion range (SV.Pr60)
to the extent that chattering does not occur.
Position loop gain is small.
Check the position deviation in the monitor mode of the console or
“PANATERM®”.
Increase the set value of SV.Pr10 to the extent that oscillation does not
occur and check it.
Wiring
Each input signal of CN X5 is chattering.
1)Servo-ON signal
Check the wiring and connection between each signal of the connector
CN X5 and COM–.
2)CW/CCW over-travel inhibit input
3)Multi function input 1/2
(when a stop command is set)
4)Strobe signal input
5)Point specifying input
Installation
Load inertia is large.
Check the overshoot when stopping with a graphic function of
“PANATERM®”. If this problem is not resolved by gain adjustment,
increase the motor and driver capacity.
Home Position Slips
Classification
Causes
Countermeasures
Parameter The homing speed is slow, if any of the homing Review the set value of the homing speed (16.Pr30/31).
types below is used.
16.Pr36 =
1:Home sensor (based on the front end)
4: Limit sensor
Wiring
Chattering of home sensor (Z-LS) input.
Noise is on the encoder line.
Check home sensor input signal of the controller with oscilloscope.
Review the wiring near to proximity dog and make a noise measure or
reduce noise.
Reduce noise (installation of noise filter or ferrite core), shield
treatment of I/F cables, use of a twisted pair or separation of power
and signal lines.
Abnormal Motor Noise or Vibration
Classification
Causes
Countermeasures
Adjustment Gain setup is large.
Lower the gain by setting up lower values to SV.Pr11 and 19, of
velocity loop gain and SV.Pr10 and 18 of position loop gain.
Re-adjust SV.Pr14 and 1C (Torque filter). Check if the machine
resonance exists or not with frequency characteristics analyzing
function of the PANATERM®. Set up the notch frequency to SV.Pr1D
or SV.Pr28 if resonance exists.
Installation Resonance of the machine and
the motor.
Motor bearing
Check the noise and vibration near the bearing of the motor while
running the motor with no load. Replace the motor to check. Request
for repair.
Electro-magnetic sound, gear noise, rubbing
noise at brake engagement, hub noise or rub-
bing noise of encoder
Check the noise of the motor while running the motor with no load.
Replace the motor to check. Request for repair.
173
Download from Www.Somanuals.com. All Manuals Search And Download.
Troubleshooting
Overshoot/Undershoot
Overheating of the Motor (Motor Burn-Out)
Classification
Causes
Countermeasures
Adjustment Gain adjustment is not proper.
Check with graphic function of PANATERM® or velocity monitor (SP)
or torque monitor (IM). Make a correct gain adjustment. Refer to P.142
of Adjustment.
Installation Load inertia is large.
Check with graphic function of PANATERM® or velocity monitor (SP)
or torque monitor (IM). Make an appropriate adjustment. Increase the
motor and driver capacity and lower the inertia ratio. Use a gear reducer.
Review the mounting to the machine.
Looseness or slip of the machine
Ambient temperature, environment
Stall of cooling fan, dirt of fan ventilation duct
Mismatching of the driver and the motor
Failure of motor bearing
Lower the temperature with cooling fan if the ambient temperature
exceeds the predications.
Check the cooling fans of the driver and the machine. Replace the
driver fan or request for repair.
Check the name plates of the driver and the motor. Select a correct
combination of them referring to the instruction manual or catalogue.
Check that the motor does not generate rumbling noise while turning it
by hand after shutting off the power. Replace the motor and request for
repair if the noise is heard.
Electromagnetic brake is kept engaged (left un- Check the voltage at brake terminals. Apply the power (DC24V) to
released).
release the brake.
Motor failure (oil, water or others)
Avoid the installation place where the motor is subject to high
temperature, humidity, oil, dust or iron particles.
Check the running pattern, working condition and operating status, and
inhibit the operation under the condition of the left.
Motor has been turned by external force while
dynamic brake has been engaged.
Parameter Returns to Previous Setup
Classification
Causes
Countermeasures
Parameter No writing to EEPROM has been carried out
Refer to P.96, "How to Operate-EEPROM Writing" of Preparation.
before turning off the power.
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the PANATERM®.
Classification
Causes
Countermeasures
Wiring
Communication cable (for RS232C) is
connected to the connector, CN X3.
Connect the communication cable (for RS232C) to connector, CN X4.
174
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
page
Conformity to EC Directives and UL Standards..... 176
Options...................................................................180
Recommended components ................................191
Dimensions (Driver) ..............................................192
Dimensions (Motor) ..............................................195
Permissible Load at Output Shaft .......................210
Motor Characteristics (S-T Characteristics) ....... 211
Motor with Gear Reducer .....................................217
Dimensions/Motor with Gear Reducer ................218
Permissible Load at Output Shaft/Motor with Gear Reducer....... 220
Characteristics of Motor with Gear Reducer ......221
Block Diagram of Driver ......................................222
Block Diagram by Control Mode..........................224
Specifications (Driver) ..........................................226
Default Parameters
(for all the models of A4P Series) ........................228
175
Download from Www.Somanuals.com. All Manuals Search And Download.
Conformity to EC Directives and UL Standards
EC Directives
The EC Directives apply to all such electronic products as those having specific functions and have been
exported to EU and directly sold to general consumers. Those products are required to conform to the EU
unified standards and to furnish the CE marking on the 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 (condi-
tion) 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.
Conformed Standards
Subject
Motor
Conformed Standard
IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100
EN50178 UL508C
Conforms to Low-
Voltage Directives
Radio Disturbance Characteristics of Industrial, Scientific
and Medical (ISM) Radio-Frequency Equipment
Immunity for Industrial Environments
EN55011
EN61000-6-2
IEC61000-4-2
IEC61000-4-3
IEC61000-4-4
IEC61000-4-5
IEC61000-4-6
Motor/
Motor
and
Standards
referenced by
EMC Directives
Electrostatic Discharge Immunity Test
Radio Frequency Electromagnetic Field Immunity Test
Electric High-Speed Transition Phenomenon/Burst Immunity Test
Lightening Surge Immunity Test
driver
High Frequency Conduction Immunity Test
IEC61000-4-11 Instantaneous Outage Immunity Test
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
<Precautions in using options>
Use options correctly after reading operation manuals of the options to better understand the precautions.
Take care not to apply excessive stress to each optional part.
Composition of Peripheral Equipments
Control box
Installation Environment
Use the servo driver in the envi-
Controller
ronment of Pollution Degree 1 or
2 prescribed in IEC-60664-1 (e.g.
Install the driver in control panel
with IP54 protection structure.)
Insulated power supply
for interface
CN X5
Driver
Noise filters for
signal lines
Noise filters
for
signal lines
Power
supply
CN X1
L1
L2
L3
Ground-fault
breaker (RCD)
Circuit
breaker
Noise filter
CN X2
Motor
M
U
V
W
L1C
L2C
RE
Surge
absorber
CN X6
Protective earth (PE)
176
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Power Supply
+10%
–15%
+10%
–15%
100V type : Single phase,
(A, B and C-frame)
200V type : Single phase,
(B, C-frame)
100V
200V
200V
200V
to 115V
to 240V
to 240V
to 230V
50/60Hz
50/60Hz
50/60Hz
50/60Hz
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%
200V type : Single/3-phase,
(C, D-frame)
+10%
–15%
+10%
–15%
200V type : 3-phase,
(E, F-frame)
(1) This product is designed to be used at over-voltage category (Installation category) II of EN 50178:1997.
If you want to use this product un over-voltage category (Installation category) III, install a surge ab-
sorber which complies with EN61634-11:2002 or other relevant standards at the power input portion.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies with EN60950
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed and
between power supply and noise filter.
marked)
Noise Filter
When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of
the noise filter.
Voltage specifications
for driver
Option part No.
Manufacturer' s part No.Applicable driver (frame)
Manufacturer
DV0P4170 Single phase 100V/200V
SUP-EK5-ER-6
A and B-frame
Okaya Electric Ind.
100.0 ± 2.0
Terminal cover
(transparent)
88.0
75.0
7.0
2.0
5.0
53.1±1.0
Circuit diagram
IN
OUT
L
L
1
3
Cy
Label
R
Cx
Cx
Cy
2
4
(11.6)
6 – M4
2 – ø4.5 x 6.75
2 – ø4.5
(13.0
)
Voltage specifications
for driver
Option part No.
DV0P4180
Manufacturer' s part No.Applicable driver (frame) Manufacturer
3SUP-HQ10-ER-6
3SUP-HU30-ER-6
C-frame
3-phase 200V
Okaya Electric Ind.
DV0P4220
D and E-frame
A
B
Circuit diagram
C
H
IN
OUT
Earth terminal
L1
1
4
M4
2
5
6
Label
Screw for cover
3
M3
R
Cx1
Cx1
M4
Cy1
A
B
C
D
E
F
G
H
K
L
Cover
DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4
DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4
Body
177
Download from Www.Somanuals.com. All Manuals Search And Download.
Conformity to EC Directives and UL Standards
Voltage specifications
Option part No.
Manufacturer' s part No.Applicable driver (frame)
Manufacturer
for driver
DV0P3410
3-phase 200V
3SUP-HL50-ER-6B
F-frame
Okaya Electric Ind.
286±3.0
Circuit diagram
270
255±1.0
240
IN
OUT
2-ø5.5
2-ø5.5 x 7
150
1
2
3
4
5
6
6-6M
Label
Surge Absorber
Provide a surge absorber for the primary side of noise filter.
Voltage specifications
for driver
Option part No.
Manufacturer' s part No. Manufacturer
DV0P1450
3-phase 200V
R . A .V-781BXZ-4
Okaya Electric Ind.
ø4.2±0.2
Circuit diagram
(1) (2) (3)
UL-1015 AWG16
1
2
3
41±1
Voltage specifications
for driver
Option part No.
Manufacturer' s part No. Manufacturer
Single phase 100/200V R . A .V-781BWZ-4 Okaya Electric Ind.
DV0P4190
ø4.2±0.2
Circuit diagram
(1) (2)
UL-1015 AWG16
1
2
41±1
<Remarks>
Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may
damage the surge absorber.
178
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Noise Filter for Signal Lines *
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable)
* In case of D-frame, install 3 noise filters at power line.
Option part No. Manufacturer' s part No. Manufacturer
DV0P1460
ZCAT3035-1330
TDK Corp.
39±1
<Caution>
34±1
Mass: 62.8g
Fix the signal line noise filter in place to
eliminate excessive stress to the cables.
Grounding
(1) Connect the protective earth terminal (
) of the driver and the protective earth terminal (PE) of the
control box without fail to prevent electrical shocks.
(2) Do not make a joint connection to the protective earth terminals (
protective earth.
). 2 terminals are provided for
Ground-Fault Breaker
Install a type B ground fault breaker (RCD) at primary side of the power supply.
<Note>
For driver and applicable peripheral equipments, refer to P.32 "Driver and List of Applicable Peripheral
Equipments" of Preparation.
Driver and List of Applicable Peripheral Equipments (EC Directives)
Refer to P.32 "Driver and List of Applicable Peripheral Equipments" of Preparation.
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C (File No. 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) Install a circuit breaker or fuse which are UL recognized (LISTED
and the noise filter without fail.
marked) between the power supply
For the rated current of the circuit breaker or fuse, refer to P.32, "Driver and List of Applicable Peripheral
Equipments" of Preparation.
Use a copper cable with temperature rating of 60˚C or higher.
•
•
Tightening torque of more than the max. values (M4:1.2N m, M5: 2.0N m) may break the terminal block.
(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. Confirm that the effective current of the driver does not
exceed the rated current. Set up the peak permissible current with SV.Pr5E (1st torque limit) and SV.Pr5F
(2nd torque limit ).
179
Download from Www.Somanuals.com. All Manuals Search And Download.
Options
Specifications of for Motor Connector
• Pin disposition for encoder connector
• Pin disposition for motor/brake connector (with brake)
MSMA
MDMA
MFMA
MHMA
MGMA
MSMA
MDMA
MFMA
MHMA
MGMA
MSMA 1kW, 1.5kW, 2kW
MDMA 1kW, 1.5kW, 2kW
MFMA 400W, 1.5kW
MHMA 500W, 1kW, 1.5kW
MGMA 900W
MSMA 3kW, 4kW, 5kW
MDMA 3kW, 4kW, 5kW
MFMA 2.5kW, 4.5kW
MHMA 2kW,3kW,4kW,5kW
MGMA 2kW, 3kW, 4.5kW
G
E
H
I
A
C
A
B
E
C
I
A
N
A
N
B
P
B
P
M
T
M
T
C
C
L
L
B
F
D
F
D
D
K
K
D
G
H
S
R
S
R
J
E
J
E
H
F
H
F
G
G
N/MS3102A20-29P
• Specifications of 2500P/r
incremental encoder
N/MS3102A20-29P
• Specifications of 17bit
absolute/incremental
encoder
JL04V-2E20-18PE-B-R
(by Japan Aviation
Electronics or equivalent)
JL04V-2E24-11PE-B-R
(by Japan Aviation
Electronics or equivalent)
Content
Brake
Brake
NC
U-phase
V-phase
W-phase
Earth
Content
Brake
Brake
NC
U-phase
V-phase
W-phase
Earth
Pin No.
Pin No.
Pin No. Content Pin No. Content
Pin No. Content Pin No. Content
G
H
A
F
I
B
E
D
C
A
B
C
D
E
F
G
H
I
PS
PS
A
B
C
D
E
F
G
H
J
NC
NC
NC
NC
NC
K
L
A
B
C
D
E
F
G
H
J
NC
NC
NC
NC
NC
K
L
PS
NC
NC
NC
PS
NC
NC
NC
M
N
P
R
S
T
M
N
P
R
S
T
NC
NC
NC
NC
NC
NC
BAT–*
BAT+*
EOV
E5V
Frame
GND
EOV
E5V
Frame
GND
Earth
NC
Earth
NC
*
Connection to Pin-S and T are not
required when used in incremental.
• Pin disposition for motor/brake connector (without brake)
MSMA 1kW, 1.5kW, 2kW
MDMA 1kW, 1.5kW, 2kW
MHMA 500W, 1kW, 1.5kW
MGMA 900W
MSMA 3kW, 4kW, 5kW
MDMA 3kW, 4kW, 5kW
MHMA 2kW,3kW,4kW,5kW
MGMA 2kW, 3kW, 4.5kW
MFMA 400W, 1.5kW
MFMA 2.5kW, 4.5kW
G
E
H
I
A
C
A
B
E
C
I
B
F
D
F
D
C
A
B
D
C
A
B
D
G
H
JL04V-2E20-4PE-B-R
(by Japan Aviation
JL04V-2E22-22PE-B-R
(by Japan Aviation
JL04V-2E20-18PE-B-R
(by Japan Aviation
JL04V-2E24-11PE-B-R
(by Japan Aviation
Electronics or equivalent)
Electronics or equivalent)
Electronics or equivalent)
Electronics or equivalent)
Content
U-phase
V-phase
W-phase
Earth
Content
U-phase
V-phase
W-phase
Earth
Content
NC
NC
Content
NC
NC
PIN No.
PIN No.
PIN No.
PIN No.
A
B
C
D
A
B
C
D
G
H
A
F
I
B
E
D
C
A
B
C
D
E
F
G
H
I
NC
NC
U-phase
V-phase
W-phase
Earth
Earth
NC
U-phase
V-phase
W-phase
Earth
Earth
NC
Do not connect anything to NC pins.
180
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Table for junction cable by model of MINAS A4P series
Motor type
MAMA 100W to 750W Encoder
MSMD 50W to 750W
MQMA 100W to 400W
Motor
Type of junction cable
Part No of junction cable Fig.No.
17bit, 7-wire With battery holder for absolute encoder
MFECA0**0EAE
Fig.2-1
Without battery holder for absolute encoder MFECA0**0EAD Fig.2-2
MFECA0**0EAM Fig.2-3
2500P/r, 5-wire
MFMCA0**0EED Fig.3-1
Brake
MFMCB0**0GET Fig.5-1
MSMA 1.0kW, 1.5kW
MDMA 1.0kW, 1.5kW
MHMA 0.5kW to 1.5kW
MGMA 900W
Encoder
17bit, 7-wire With battery holder for absolute encoder
MFECA0**0ESE
Fig.2-4
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5
MFECA0**0ESD Fig.2-5
2500P/r, 5-wire
without Brake
Brake
Motor
MFMCD0**2ECD Fig.3-2
MFMCA0**2FCD Fig.4-1
MSMA 2.0kW
MDMA 2.0kW
Encoder
17bit, 7-wire With battery holder for absolute encoder
MFECA0**0ESE
Fig.2-4
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5
MFECA0**0ESD Fig.2-5
2500P/r, 5-wire
without Brake
Brake
Motor
MFMCD0**2ECT Fig.3-3
MFMCA0**2FCT Fig.4-2
MSMA 3.0kW to 5.0kW Encoder
MDMA 3.0kW to 5.0kW
17bit, 7-wire With battery holder for absolute encoder
MFECA0**0ESE
Fig.2-4
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5
MFECA0**0ESD Fig.2-5
MHMA 2.0kW to 5.0kW
2500P/r, 5-wire
without Brake
Brake
MGMA 2.0kW to 4.5kW Motor
MFMCA0**3ECT Fig.3-4
MFMCA0**3FCT Fig.4-3
MFMA 0.4kW, 1.5kW
MFMA 2.5kW, 4.5kW
Encoder
17bit, 7-wire With battery holder for absolute encoder
MFECA0**0ESE
Fig.2-4
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5
MFECA0**0ESD Fig.2-5
2500P/r, 5-wire
without Brake
Brake
Motor
MFMCA0**2ECD Fig.3-5
MFMCA0**2FCD Fig.4-1
Encoder
17bit, 7-wire With battery holder for absolute encoder
MFECA0**0ESE
Fig.2-4
Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5
MFECA0**0ESD Fig.2-5
2500P/r, 5-wire
without Brake
Brake
Motor
MFMCD0**3ECT Fig.3-6
MFMCA0**3FCT Fig.4-3
181
Download from Www.Somanuals.com. All Manuals Search And Download.
Options
Junction Cable for Encoder
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W
17-bit absolute encoder with battery holder
MFECA0**0EAE
Fig. 2-1
Title
Part No.
Manufacturer
L(m)
Part No.
L
551055100-0600 or
55100-0670 (lead-free)
172161-1
3
5
MFECA0030EAE
MFECA0050EAE
Connector
Molex Inc.
110
300
Connector
Connector pin
10 MFECA0100EAE
20 MFECA0200EAE
Tyco
Electronics AMP
170365-1
Oki
Cable
0.20mm2 x 4P
(4) (14) (4)
Electric Cable Co.
Note) Battery for absolute encoder is an option.
MSMD 50W to 750W, MQMA100W to 400W, MAMA 100W to 750W
17-bit incremental encoder without battery holder
MFECA0**0EAD
Fig. 2-2
L
Title
Part No.
55100-0600 or
55100-0670 (lead-free)
172161-1
Manufacturer
L(m)
Part No.
3
5
MFECA0030EAD
MFECA0050EAD
Connector
Molex Inc.
Connector
10 MFECA0100EAD
20 MFECA0200EAD
Tyco
(4)
(14)
(4)
Connector pin
170365-1
Electronics AMP
Oki
Cable
0.20mm2 x 3P
Electric Cable Co.
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W
2500P/r encoder
MFECA0**0EAM
Fig. 2-3
L
Title
Part No.
55100-0600 or
55100-0670 (lead-free)
172160-1
Manufacturer
L(m)
Part No.
3
5
MFECA0030EAM
MFECA0050EAM
Connector
Molex Inc.
Connector
10 MFECA0100EAM
20 MFECA0200EAM
Tyco
Connector pin
170365-1
Electronics AMP
(4)
(14)
(4)
Oki
Cable
0.20mm2 x 3P
Electric Cable Co.
MSMA, MDMA, MHMA, MGMA, MFMA
17-bit absolute encoder with battery holder
MFECA0**0ESE
Fig. 2-4
Title
Part No.
55100-0600 or
55100-0670 (lead-free)
Manufacturer
L(m)
Part No.
L
3
5
MFECA0030ESE
MFECA0050ESE
Connector
Molex Inc.
110
300
Straight plug N/MS3106B20-29S Japan Aviation
10 MFECA0100ESE
20 MFECA0200ESE
Cable clamp
N/MS3057-12A
Electronics Ind.
Oki
Cable
0.20mm2 x 4P
Electric Cable Co.
Note) Battery for absolute encoder is an option.
MSMA, MDMA, MHMA, MGMA, MFMA
17-bit incremental encoder without battery holder, 2500P/r encoder
MFECA0**0ESD
Fig. 2-5
L
Title
Part No.
55100-0600 or
Manufacturer
L(m)
3
5
10
20
Part No.
MFECA0030ESD
MFECA0050ESD
MFECA0100ESD
MFECA0200ESD
Connector
Molex Inc.
55100-0670 (lead-free)
Straight plug N/MS3106B20-29S Japan Aviation
Cable clamp
N/MS3057-12A
Electronics Ind.
2
Oki
Cable
0.20mm x 3P
Electric Cable Co.
182
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
®
•
Junction Cable for Motor (ROBO-TOP 105˚C 600V DP)
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.
MFMCA0**0EED
Fig. 3-1
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W
Title
Part No.
172159-1
170366-1
Manufacturer
(50)
(50)
L
Connector
Connector pin
Tyco
Electronics AMP
L(m)
Part No.
3
5
MFMCA0030EED
MFMCA0050EED
Rod terminal AI0.75-8GY
Phoenix
Nylon insulated
N1.25-M4
round terminal
J.S.T Mfg. Co.,
Ltd.
Daiden Co.,Ltd.
10 MFMCA0100EED
20 MFMCA0200EED
(4) (10.0) (4)
2
Cable
ROBO-TOP 600V 0.75mm
MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW
MHMA 500W to 1.5kW, MGMA 900W
MFMCD0**2ECD
Fig. 3-2
Title
Part No.
Straight plug JL04V-6A20-4SE-EB-R
Cable clamp JL04-2022CK(14)-R
Manufacturer
Japan Aviation
Electronics Ind.
Phoenix
(50)
L(m)
Part No.
L
3
5
MFMCD0032ECD
MFMCD0052ECD
Rod terminal
AI2.5-8BU
Nylon insulated
round terminal
J.S.T Mfg. Co.,
Ltd.
Daiden Co.,Ltd.
10 MFMCD0102ECD
20 MFMCD0202ECD
N2-M4
ROBO-TOP 600V 2.0mm2
Cable
MFMCD0**2ECT
Fig. 3-3
MSMA 2.0kW, MDMA 2.0kW
(50)
L
Title
Part No.
Manufacturer
L(m)
Part No.
Straight plug JL04V-6A20-4SE-EB-R Japan Aviation
Cable clamp JL04-2022CK(14)-R Electronics Ind.
Nylon insulated
3
5
MFMCD0032ECT
MFMCD0052ECT
10 MFMCD0102ECT
20 MFMCD0202ECT
N2-5
J.S.T Mfg. Co., Ltd.
round terminal
Cable
ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd.
MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW, MGMA 2.0kW to 4.5kW
MFECA0**3ECT
Fig. 3-4
(50)
L
Title
Part No.
JL04V-6A22-22SE-EB-R
JL04-2022CK(14)-R
Manufacturer
Japan Aviation
Electronics Ind.
L(m)
3
5
Part No.
MFMCA0033ECT
MFMCA0053ECT
Straight plug
Cable clamp
10 MFMCA0103ECT
20 MFMCA0203ECT
Nylon insulated
round terminal
N5.5-5
J.S.T Mfg. Co., Ltd.
Cable
ROBO-TOP 600V 3.5mm2 Daiden Co.,Ltd.
MFMA 400W to 1.5kW
(50)
MFMCA0**2ECD
Fig. 3-5
Title
Part No.
Manufacturer
Japan Aviation
Electronics Ind.
Phoenix
L
Straight plug
Cable clamp
Rod terminal
JL04V-6A20-18SE-EB-R
JL04-2022CK(14)-R
AI2.5-8BU
L(m)
3
5
Part No.
MFMCA0032ECD
MFMCA0052ECD
Nylon insulated
round terminal
J.S.T Mfg. Co.,
Ltd.
Daiden Co.,Ltd.
10 MFMCA0102ECD
20 MFMCA0202ECD
N2-M4
ROBO-TOP 600V 2.0mm2
Cable
MFMA 2.5kW to 4.5kW
(50)
MFMCD0**3ECT
Fig. 3-6
Title
Straight plug
Cable clamp
Part No.
JL04V-6A24-11SE-EB-R Japan Aviation
JL04-2428CK(17)-R Electronics Ind.
Manufacturer
L(m)
3
5
10
20
Part No.
L
MFMCD0033ECT
MFMCD0053ECT
MFMCD0103ECT
MFMCD0203ECT
Nylon insulated
round terminal
N5.5-5
J.S.T Mfg. Co., Ltd.
Cable
ROBO-TOP 600V 3.5mm2 Daiden Co.,Ltd.
183
Download from Www.Somanuals.com. All Manuals Search And Download.
Options
®
•
Junction Cable for Motor with Brake (ROBO-TOP 105˚C 600V DP)
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.
MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW
MHMA 500W to 1.5kW, MFMA 400W to 1.5kW
MGMA 900W
MFMCA0**2FCD
Fig. 4-1
(50)
L
Manufacturer
Japan Aviation
Electronics Ind.
Phoenix
Title
Part No.
JL04V-6A20-18SE-EB-R
JL04-2022CK(14)-R
AI2.5-8BU
Straight plug
Cable clamp
Rod terminal
Earth
J.S.T Mfg. Co., Ltd.
N2-M4
N1.25-M4
ROBO-TOP 600V 0.75mm2
Nylon insulated
round terminal
L(m)
3
5
Part No.
MFMCA0032FCD
MFMCA0052FCD
Brake
Daiden Co.,Ltd.
Cable
and
10 MFMCA0102FCD
20 MFMCA0202FCD
ROBO-TOP 600V 2.0mm2
MFMCA0**2FCT
Fig. 4-2
MSMA 2.0kW, MDMA 2.0kW
(50)
L
Title
Part No.
Manufacturer
Japan Aviation
Straight plug JL04V-6A20-18SE-EB-R
JL04-2022CK(14)-R Electronics Ind.
Cable clamp
Earth
N2-5
Nylon insulated
round terminal
L(m)
3
5
Part No.
MFMCA0032FCT
MFMCA0052FCT
J.S.T Mfg. Co., Ltd.
N1.25-M4
Brake
ROBO-TOP 600V 0.75mm2
Cable
Daiden Co.,Ltd.
and
10 MFMCA0102FCT
20 MFMCA0202FCT
ROBO-TOP 600V 2.0mm2
MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW, MFMA 2.5kW to 4.5kW
MGMA 2.0kW to 4.5kW
MFMCA0**3FCT
Fig. 4-3
(50)
L
Title
Part No.
Manufacturer
Japan Aviation
Electronics Ind.
Straight plug JL04V-6A24-11SE-EB-R
Cable clamp JL04-2428CK(17)-R
Earth
Brake
N5.5-5
N1.25-M4
ROBO-TOP 600V 0.75mm2
Nylon insulated
round terminal
L(m)
3
5
Part No.
MFMCA0033FCT
MFMCA0053FCT
J.S.T Mfg. Co., Ltd.
Cable
Daiden Co.,Ltd.
and
10 MFMCA0103FCT
20 MFMCA0203FCT
ROBO-TOP 600V 3.5mm2
®
•
Junction Cable for Brake (ROBO-TOP 105˚C 600V DP)
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.
MSMD 50W to 750W
MFMCB0**0GET
MQMA 100W to 400W
Fig. 5-1
MAMA 100W to 750W
(40)
(50)
L
Title
Connector
Connector pin
Part No.
172157-1
170366-1,170362-1
Manufacturer
L(m)
3
5
Part No.
MFMCB0030GET
MFMCB0050GET
Tyco
Electronics AMP
10 MFMCB0100GET
20 MFMCB0200GET
Nylon insulated
round terminal
J.S.T Mfg. Co., Ltd.
N1.25-M4
(5.6)
ROBO-TOP 600V 0.75mm2
Cable
Daiden Co.,Ltd.
184
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Connector Kit for External Peripheral Equipments
1) Par No. DV0P4350
Title
Part No.
Quantity
Manufacturer
Note
2) Components
54306-3611 or
Connector
1
1
For CN X5
(36-pins)
(lead-free)
54306-3619
Molex Inc.
Connector cover
54331-0361
3) Pin disposition (36 pins) (viewed from the soldering side)
<Cautions>
19
21
23
25
27
29
31
33
35
1) Check the stamped pin-No. on the
connector body while making a wiring.
2) For the function of each signal title or
its symbol, refer to the wiring example
of the connector CN I/F.
CCWL
Z-LS
SRV-ON EX-IN2
COIN/
DCLON
P1OUT
P4OUT
P16OUT (NC)
20
CWL
22
24
STB
26
GND
28
BUSY
30
P2OUT
32
P8OUT
34
36
EX-IN1
P32OUT BRK-OFF
1
3
P1IN
5
P4IN
7
9
OZ
11
OA
13
DB
15
ALM
17
COM
COM
P16IN
2
4
6
8
10
12
14
16
18
EMG-
STP
P2IN
P8IN
P32IN
OZ
OA
DB
CZ
FG
3) Check the stamped pin-No. on the
connector body while making a wiring.
Interface Cable
Cable of 2m is connected.
1) Par No. DV0P4510
3) Table for wiring
Pin No.
color
Pin No.
13
color
Gray (Red2)
Pin No.
25
color
2) Dimensions
1
2
Orange (Red1)
Orange (Black1)
Gray (Red1)
White (Red3)
White (Black3)
Yellow (Red3)
Yellow (Black3)
Pink (Red3)
2000 +0200
12.7
14
Gray (Black2)
White (Red2)
White (Black2)
Yellow (Red2)
Yellow (Black2)
Pink (Red2)
26
(39)
3
15
27
50+010
4
White (Red1)
White (Black1)
Gray (Black1)
Yellow (Red1)
Yellow (Black1)
Pink (Red1)
16
28
5
17
29
6
18
30
Pink (Black3)
Orange (Red4)
Orange (Black4)
Gray (Red4)
7
19
31
8
20
Pink (Black2)
Orange (Red3)
Orange (Black3)
Gray (Red3)
32
<Remarks>
Color designation of the cable
e.g.) Pin-1 Cable color : Orange
(Red1) : One red dot on the cable
9
21
33
10
11
12
Pink (Black1)
Orange (Red2)
Orange (Black2)
22
34
Gray (Black4)
White (Red4)
White (Black4)
23
35
24
Gray (Black3)
36
Communication Cable (for connection to PC)
1) Par No. DV0P1960 (DOS/V machine)
2000
33
18
Mini-DIN 8P
D-sub connector 9P
MD connector
Setup Support Software “PANATERM®”
1) Part No. DV0P4460 (English/Japanese version)
2) Supply media : CD-ROM
<Caution>
For setup circumstance, refer to the Instruction Manual of [PANATERM®].
185
Download from Www.Somanuals.com. All Manuals Search And Download.
Options
Connector Kit for Motor/Encoder Connection
These are required when you make your own encoder and motor cables.
• Applicable motor models :
MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W
For brake, purchase our
optional brake cable.
17-bit absolute
1) Part No. DV0P4290
2) Components
Title
Part No.
Number
Manufacturer
Note
55100-0600 or
55100-0670 (lead-free)
Connector
1
Molex Inc.
For CN X6 (6-pins)
Connector
1
9
1
4
For junction cable to
encoder (9-pins)
172161-1
170365-1
172159-1
Tyco Electronics AMP
Tyco Electronics AMP
Connector pin
Connector
For junction cable to
motor (4-pins)
Connector pin
170366-1
3) Pin disposition of connector, CN X6 4) Pin disposition of junction cable 5) Pin disposition of junction cable
for encoder for motor power
1 E5V
3 E5V
5 PS
2 E0V
4 E0V
6 PS
1
2
3
1
2
BAT+ BAT– FG
4
U
3
V
4
5
6
PS
7
PS
8
NC
9
W
E
E5V E0V
NC
Case
FG
(
)
*When you connect the battery for absolute encoder, refer to P.138,
"When you make your own cable for 17-bit absolute encoder"
• Applicable motor models :
MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W
For brake, purchase our
optional brake cable.
2500P/r incremental
encoder
1) Part No. DV0P4380
2) Components
Title
Part No.
Number
Manufacturer
Note
55100-0600 or
55100-0670 (lead-free)
1
Connector
For CN X6 (6-pins)
Molex Inc.
Connector
172160-1
170365-1
172159-1
170366-1
1
6
1
4
For junction cable to
encoder (6-pins)
Tyco Electronics AMP
Tyco Electronics AMP
Connector pin
Connector
For junction cable to
encoder (4-pins)
Connector pin
3) Pin disposition of connector, CN X6 4) Pin disposition of junction
cablefor encoder
5) Pin disposition of junction
cable for motor power
1 E5V
3 E5V
5 PS
2 E0V
4 E0V
6 PS
1
2
3
1
2
NC
4
PS
5
PS
6
U
3
V
4
E5V E0V
FG
W
E
Case
FG
(
)
For DVOP2490, DV0P3480,
• recommended manual
crimp tool
Title
Part No.
Manufacturer
For junction cable to encoder
For junction cable to motor
755330 - 1
755331 - 1
Tyco Electronics AMP
(to be prepared by customer)
186
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
• Applicable motor models :
MSMA 1.0kW to 2.0kW
MDMA 1.0kW to 2.0kW
MHMA 500W to 1.5kW
MGMA 900W
17-bit absolute incremental encoder,
2500P/r incremental encoder
Without brake
1) Part No. DV0P4310
2) Components
Title
Part No.
55100-0600 or 55100-0670
(lead-free)
Number Manufacturer
Note
1
Connector
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-4S
N/MS3057-12A
1
1
1
1
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
• Applicable motor models :
MSMA 3.0kW to 5.0kW
MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW
MGMA 2.0kW to 4.5kW
17-bit absolute incremental encoder,
2500P/r incremental encoder
Without brake
1) Part No. DV0P4320
2) Components
Title
Part No.
55100-0600 or 55100-0670
(lead-free)
Number Manufacturer
Note
1
Connector
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B-20-29S
N/MS3057-12A
N/MS3106B22-22S
N/MS3057-12A
1
1
1
1
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
• Applicable motor models :
MSMA 1.0kW to 2.0kW
MDMA 1.0kW to 2.0kW
MHMA 0.5kW to 1.5kW
MGMA 900W
17-bit absolute incremental encoder,
2500P/r incremental encoder
With brake
17-bit absolute incremental encoder, Without brake
MFMA 0.4kW to 1.5kW
2500P/r incremental encoder
With brake
1) Part No. DV0P4330
2) Components
Title
Part No.
55100-0600 or 55100-0670
(lead-free)
Number Manufacturer
Note
1
Connector
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-18S
N/MS3057-12A
1
1
1
1
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
• Applicable motor models :
MSMA 3.0kW to 5.0kW
MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW
MGMA 2.0kW to 4.5kW
17-bit absolute incremental encoder,
2500P/r incremental encoder
With brake
17-bit absolute incremental encoder, Without brake
MFMA 2.5kW to 4.5kW
2500P/r incremental encoder
With brake
1) Part No. DV0P4340
Title
Part No.
55100-0600 or 55100-0670
(lead-free)
Number Manufacturer
Note
2) Components
1
Connector
Molex Inc.
For CN X6 (6-pins)
Straight plug
Cable clamp
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B24-11S
N/MS3057-16A
1
1
1
1
Japan Aviation Electronics For junction cable to
Industry Ltd.
encoder
Japan Aviation Electronics For junction cable to
Industry Ltd.
motor power
187
Download from Www.Somanuals.com. All Manuals Search And Download.
Options
Mounting Bracket
Frame symbol
of applicable
driver
Dimensions
Mounting
screw
part No.
Upper side
2-M4, Pan head
Bottom side
2-M4, Pan head
11 ±0.2
M4 x L6
Pan head
4pcs
11
±0.2
DV0P
4271
2.6
2.6
A-frame
5.2
7
7
21
21
2-M4, Pan head
2.6
2-M4, Pan head
18 ±0.2
M4 x L6
Pan head
4pcs
18 ±0.2
DV0P
4272
5.2
2.6
B-frame
7
7
28
28
2-M4, Pan head
2-M4, Pan head
30 ±0.2
30 ±0.2
5.2
M4 x L6
Pan head
4pcs
DV0P
4273
2.6
2.6
C-frame
20
20
40
40
2-M4, Pan head
2-M4, Pan head
19
36 ±0.2
5
36 ±0.2
M4 x L6
Pan head
4pcs
DV0P
4274
2.6
5.2
5.2
2.6
D-frame
10
40
60
10
40 ±0.2
60
<Caution>
For E and F-frame, you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).
Console
(24)
(62)
Part No. DV0P4420
M3 L5
Tightening torque for the insert screw
shall be 0.5N m or less.
Name plate
•
(15)
MD connector
Mini DIN-8P
(1500)
188
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Reactor
Fig.1
Rated
Inductance
(mH)
current
(A)
Part No.
A
B
C
D
E
F
G
H
I
X
Y
Z
DV0P220 65 125 83 118 145 70 85 7(w) x 12(L) M4
DV0P221 60 150 113 137 120 60 75 7(w) x 12(L) M4
DV0P222 60 150 113 137 130 70 95 7(w) x 12(L) M4
DV0P223 60 150 113 137 140 79 95 7(w) x 12(L) M4
DV0P224 60 150 113 137 145 84 100 7(w) x 12(L) M4 0.848
DV0P225 60 150 113 137 160 100 115 7(w) x 12(L) M5 0.557
6.81
4.02
2
3
5
8
11
16
25
3
5
8
11
NP
R
S
T
1.39
6-1
E
DV0P226 55 80 68 90 90 41 55
DV0P227 55 80 68 90 90 41 55
DV0P228 55 80 68 90 95 46 60
DV0P229 55 80 68 90 105 56 70
ø7.0
ø7.0
ø7.0
ø7.0
M4
M4
M4
M4
6.81
4.02
2
1.39
Motor Power
series supply
Rated
Motor Power
series supply
Rated
A
F
Part No.
Part No.
4-H
output
output
(Mounting pitch)
(Mounting pitch)
B
G
MSMD
Single
MQMA
phase,
MSMD
50W to 100W
100W
MGMA
MSMA
MDMA
MHMA
MFMA
MSMA
900W
DV0P227
1.0kW
1.5kW
DV0P222
Fig.2
100V 200W to 400W DV0P228
50W to 200W
2-1
MQMA
MSMD
MQMA
MAMA
MFMA
MHMA
MSMD
MQMA
MAMA
MAMA
MFMA
MHMA
MSMD
MAMA
E
1.5kW
2.0kW
2.5kW
3.0kW
100W to 200W
DV0P220 MDMA
DV0P223
Single
3-phase,
200V
400W
MHMA
MGMA
MFMA
phase,
500W
200V
400W to 750W
400W
400W to 750W
A
F
DV0P221 MSMA
MDMA
MHMA
DV0P220 MGMA
MSMA
4-H
(Mounting pitch)
(Mounting pitch)
DV0P224
DV0P225
G
B
400W
500W
750W
3-phase,
200V
MDMA
MHMA
4.0kW
DV0P221
Harmonic restraint
On September, 1994, “Guidelines for harmonic restraint on heavy consumers who receive power through
high voltage system or extra high voltage system” and “Guidelines for harmonic restraint on household
electrical appliances and general-purpose articles” established by the Agency for Natural Resources and
Energy 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 tech-
nical 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 exclude the general-purpose inverter and servo driver from the “Guidelines for har-
monic restraint on household electrical appliances and general-purpose articles”. After that, the “Guidelines
for harmonic restraint on household electrical appliances and general-purpose articles” was abolished on
September 6, 2004.
We are pleased to inform you that the procedure to execute the harmonic restraint on general-purpose
inverter and servo driver was modified as follows.
1.All types of the general-purpose inverters and servo drivers used by specific users are under the control of
the “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage sys-
tem or extra high voltage system”. The users who are required to apply the guidelines must calculate the
equivalent capacity and harmonic current according to the guidelines and must take appropriate counter-
measures if the harmonic current exceeds a limit value specified in a contract demand. (Refer to JEM-TR
210 and JEM-TR 225.)
2.The “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”
was abolished on September 6, 2004. However, based on conventional guidelines, JEMA applies the
technical documents JEM-TR 226 and JEM-TR 227 to any users who do not fit into the “Guidelines for
harmonic restraint on heavy consumers who receive power through high voltage system or extra high
voltage system” from a perspective on enlightenment on general harmonic restraint.The purpose of these
guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent.
189
Download from Www.Somanuals.com. All Manuals Search And Download.
Options
External Regenerative Resistor
Specifications
Activation
temperature of
built-in thermostat
Rated power (reference) *
with fan [W]
Manufacturer's
Part No.
Resistance
part No.
Free air
[W]
10
Ω
1m/s
25
2m/s
35
3m/s
45
DV0P4280
DV0P4281
DV0P4282
DV0P4283
DV0P4284
DV0P4285
RF70M
RF70M
RF18B
RF18B
RF240
RH450F
50
100
25
50
30
20
140±5˚C
B-contact
10
25
35
45
Open/Close capacity
(resistance load)
4A 125VAC 10000 times
2.5A 250VAC 10000 times
17
50
60
75
17
50
60
75
40
100
130
120
160
150
200
52
* Power with which the driver can be used without activating
the built-in thermostat.
Manufacturer : Iwaki Musen Kenkyusho
DV0P4280, DV0P4281
DV0P4282,DV0P4283
Power supply
300
65
57
170±1
Single phase, 200V
Frame
thermostat
(light yellow x2)
Single phase, 100V
5
5
2-Ø4.5
160±0.5
3-phase, 200V
6-Ø4.5
24
DV0P4281
DV0P4280
A
21
450
DV0P4283
DV0P4282
DV0P4283
B
C
D
E
10
300±30
450
DV0P4284
DV0P4285
Arrange 2
DV0P4285
in a parallel
30
thermostat
(light yellow x2)
Drawing process
(2mm MAX)
–
F
DV0P4284
DV0P4285
300
278
300
290
280
(5)
4-Ø4.5
450
thermostat
(light yellow x2)
thermostat
300
(light yellow x2)
450
450
300
53
10
71
10
288
<Remarks>
<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.
Make it sure that the surface temperature of the resistor may not exceed
100˚C at the worst running conditions with the machine, which brings large
regeneration (such case as high supply voltage, load inertia is large or decel-
eration time is short) Install a fan for a forced cooling if necessary.
Regenerative resistor gets very hot.
Take preventive measures for fire and
burns.
Avoid the installation near inflammable
objects, and easily accessible place by
hand.
Battery For Absolute Encoder
Battery
84
Lead wire length 50mm
DV0P2990
0 0 0 9 0 0 0 1
(1) Part No. DV0P2990
(2) Lithium battery by Toshiba Battery Co.
ER6V, 3.6V 2000mAh
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).
190
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Recommended components
Surge Absorber for Motor Brake
Motor
Surge absorber for motor brake
MSMD
50W to 1.0kW
MAMA 100W to 750W
MHMA 2.0kW to 5.0kW
MGMA 900W to 2.0kW
MSMA 1.5kW to 5.0kW
MDMA 4.0kW to 5.0kW
MFMA 1.5kW
• C-5A2 or Z15D151
Ishizuka Electronics Co.
• C-5A3 or Z15D151
Ishizuka Electronics Co.
MGMA 3.0kW to 4.5kW
MDMA 1.0kW to 3.0kW
MFMA 400W
• TNR9V820K
Nippon Chemi_Con Co.
MFMA 2.5kW to 4.5kW
MHMA 500W to 1.5kW
List of Peripheral Equipments
(reference only)
As of Nov.2004
Manufacturer
Tel No./URL
Peripheral components
Non-fuse breaker
Magnetic contactor
Surge absorber
Automation Controls Company
Matsushita Electric Works, Ltd.
81-6-6908-1131
http://www.mew.co.jp
81-44-833-4311
Iwaki Musen Kenkyusho Co., Ltd.
Nippon Chemi_Con Corp.
Ishizuka Electronics Corp.
Renesas Technology Corp.
TDK Corp.
Regenerative resistor
Surge absorber for holding brake
Noise filter for signal lines
http://www.iwakimusen.co.jp/
81-3-5436-7608
http://www.chemi_con.co.jp/
81-3-3621-2703
http://www.semitec.co.jp/
81-6-6233-9511
http://www.renesas.com/jpn/
81-3-5201-7229
http://www.tdk.co.jp/
Surge absorber
Noise filter
81-3-3424-8120
Okaya Electric Industries Co. Ltd.
Japan Aviation Electronics Industry, Ltd.
Sumitomo 3M
http://www.okayatec.co.jp/
81-3-3780-2717
http://www.jae.co.jp
81-3-5716-7290
http://www.mmmco.jp
81-44-844-8111
Tyco Electronics AMP k.k,
Japan Molex Inc.
http://www.tycoelectronics.com/japan/amp
Connector
81-462-65-2313
http://www.molex.co.jp
81-3-3492-2161
Hirose Electric Co., Ltd.
J.S.T Mfg. Co., Ltd.
http://www.hirose.co.jp/
81-45-543-1271
http://www.jst-mfg.com/
81-3-5805-5880
http://www.dyden.co.jp/
Daiden Co., Ltd.
Cable
81-44-813-5410
http://www.mitutoyo.co.jp
Mitutoyo Corp.
External scale
* The above list is for reference only. We may change the manufacturer without notice.
191
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Driver)
40
132
A-frame
Mounting bracket
(Option)
21
24
7
41
Mounting bracket
(Option)
Main power
input terminals
CN X1
RS232
communication
terminal, CN X4
Control power
input terminals
CN X1
Name plate
For
manufacturer's
use
X1
X1
Regenerative
resistor
Control signal
terminals,
CN X5
connecting
terminals
X2
X2
CN X2
(Do not use RB3.)
Encoder
terminals,
CN X6
X6
X6
Motor
connecting
terminals
CN X2
X7
X7
External scale
terminals,
CN X7
5.2
(75)
5.2
28
7
Mounting bracket
(Option)
Mounting bracket
(Option)
6
Base mount type
(Standard : Back-end mounting)
Rack mount type
(Option : Front-end mounting)
Mass 0.8kg
Connector at driver side
Connector sign
CNX7
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
Connector at Power Supply and motor side
(which comes with the driver)
CNX6
CNX5
CNX4
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign
Connector type
Manufacturer
CNX3B
CNX3A
CNX2
855050013 (or equivalent)
855050013 (or equivalent)
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
S04B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
CNX2
CNX1
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
04JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
* Refer to P.188, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
CNX1
55
132
B-frame
28
Mounting bracket
(Option)
24
7
Mounting bracket
(Option)
Main power
input terminals
CN X1
RS232
communication
Control power
input terminals
CN X1
terminal, CN X4
For
Name plate
manufacturer's
use
X1
X1
Regenerative
resistor
Control signal
terminals,
CN X5
connecting
terminals
X2
X2
CN X2
(Do not use RB3.)
Encoder
terminals,
CN X6
X6
X6
Motor
X7
X7
connecting
terminals
CN X2
External scale
terminals,
CN X7
5.2
(75)
5.2
7
Mounting bracket
(Option)
Mounting bracket
(Option)
43
6
Base mount type
(Standard : Back-end mounting)
Rack mount type
(Option : Front-end mounting)
Connector at driver side
Connector sign
CNX7
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
Manufacturer
Mass 1.1kg
Molex Inc.
Molex Inc.
Molex Inc.
Connector at Power Supply and motor side
(which comes with the driver)
CNX6
CNX5
CNX4
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign
Connector type
Manufacturer
CNX3B
CNX3A
CNX2
855050013 (or equivalent)
855050013 (or equivalent)
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
S04B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
CNX2
CNX1
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
04JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
* Refer to P.188, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
CNX1
192
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
C-frame
65
172
40
Mounting bracket
(Option)
20
24
Mounting bracket
(Option)
Main power
input terminals
CN X1
RS232
communication
terminal, CN X4
Control power
input terminals
CN X1
Name plate
For
X1
manufacturer's
use
X1
Regenerative
resistor
Control signal
terminals,
CN X5
connecting
terminals
X2
X2
CN X2
(Do not use RB3.)
Encoder
terminals,
CN X6
X6
X7
X6
X7
Motor
External scale
terminals,
CN X7
connecting
terminals
CN X2
5.2
(75)
5.2
20
Mounting bracket
(Option)
Mounting bracket
(Option)
50
7.5
40
Base mount type
(Standard :
Back-end mounting)
Rack mount type
(Option : Front-end mounting)
Connector at driver side
Mass 1.5kg
Connector sign
CNX7
Connector type
53460-0629 (or equivalent)
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
Connector at Power Supply and motor side
(which comes with the driver)
CNX6
CNX5
53460-0629 (or equivalent)
529863679 (or equivalent)
CNX4
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign
Connector type
Manufacturer
CNX3B
CNX3A
CNX2
855050013 (or equivalent)
855050013 (or equivalent)
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
S05B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
CNX2
CNX1
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
05JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
* Refer to P.188, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
CNX1
Air movement
(inside out)
D-frame
85
172
60
40
Mounting bracket
(Option)
10
24
Mounting bracket
(Option)
Main power
input terminals
CN X1
RS232
communication
terminal, CN X4
Control power
input terminals
CN X1
For
Name plate
manufacturer's
use
X1
X1
Control signal
terminals,
CN X5
Regenerative
resistor
connecting
terminals
X2
X2
CN X2
(Do not use RB3.)
Encoder
terminals,
CN X6
X6
X7
X6
X7
Motor
External scale
terminals,
CN X7
connecting
terminals
CN X2
5.2
40
5.2
5.2
(75)
10
70
7.5
Mounting bracket
(Option)
Mounting bracket
(Option)
Air movement
(inside out)
Base mount type
(Standard :
Back-end mounting)
Rack mount type
(Option : Front-end mounting)
Connector at driver side
Connector sign
CNX7
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
Manufacturer
Mass 1.7kg
Molex Inc.
Molex Inc.
Molex Inc.
Connector at Power Supply and motor side
(which comes with the driver)
CNX6
CNX5
CNX4
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. Connector sign
Connector type
Manufacturer
CNX3B
CNX3A
CNX2
855050013 (or equivalent)
855050013 (or equivalent)
S06B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
S05B-F32SK-GGXR (or equivalent) J.S.T. Mfg.Co., Ltd.
Molex Inc.
Molex Inc.
CNX2
CNX1
06JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
05JFAT-SAXGF (or equivalent) J.S.T. Mfg.Co., Ltd.
* Refer to P.188, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
CNX1
193
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Driver)
E-frame
Connector at driver side
Connector sign
CNX7
Connector type
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
CNX6
CNX5
CNX4
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd.
CNX3B
CNX3A
855050013 (or equivalent)
855050013 (or equivalent)
Molex Inc.
Molex Inc.
Air movement (inside out)
(88)
85
50
42.5
3.5
200
17.5
32.1
Mounting bracket
(Standard)
5.2
2.6
5.2
Mounting bracket
(install the standard to back end)
Main power
RS232
L1
input terminals
communication
terminal, CN X4
L2
L3
r
Name plate
For
Control power
input terminals
manufacturer's
use
t
Regenerative
resistor
connecting
terminals
(Short between B1
and B2 in normal
operation)
Control signal
terminals,
CN X5
P
B1
B2
U
X5
X5
Encoder
terminals,
CN X6
X6
X7
X6
X7
V
W
External scale
terminals,
CN X7
Motor
connecting
terminals
Earth terminals
5.2
5.2
(75)
42.5
17.5
50
Mass 3.2kg
Air movement (inside out)
F-frame
Connector at driver side
Connector sign
CNX7
Connector type
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529863679 (or equivalent)
CNX6
CNX5
CNX4
MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd.
CNX3B
CNX3A
855050013 (or equivalent)
855050013 (or equivalent)
Molex Inc.
Molex Inc.
130
100
3.5
200
15
32.3
65
Mounting bracket
(Standard)
2.6
5.2
5.2
Mounting bracket
(install the standard to back end)
Main power
RS232
input terminals
communication
terminal, CN X4
L1
L2
L3
r
Control power
input terminals
Name plate
For
manufacturer's
use
Regenerative
resistor
connecting
terminals
(Short between B1
and B2 in normal
operation)
t
P
Control signal
terminals,
CN X5
B1
B2
U
X5
X5
X6
X6
Encoder
terminals,
CN X6
V
X7
X7
Air movement
(from front to back)
W
Motor
connecting
terminals
External scale
terminals,
CN X7
Earth terminals
5.2
65
(75)
5.2
15
100
Mass 6.0kg
194
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Dimensions (Motor)
•MAMA 100W to 750W
Motor connector
Brake connector
LR
Encoder
connector
LL
LF
LE
Motor
cable
LC
(Key way dimensions)
4-ØLZ
LW
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Ultra low inertia)
MAMA series
Motor output
Motor model
100W
200W
400W
750W
012P1 *
012S1 *
022P1 *
022S1 *
042P1 *
042S1 *
082P1 *
082S1 *
MAMA
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
2500P/r
Incremental
2500P/r
Incremental
2500P/r
Incremental
Rotary encoder specifications
Without brake
L L
110.5
138
127
111
139
126
154
139
167
154
182
160
175
With brake
154.5
192.5
207.5
L R
S
24
30
30
35
8
11
70
50
60
14
70
50
60
19
90
70
80
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
48
22
42
2
7
3
7
3
7
3
8
34
3.4
14
43
4.5
20
43
4.5
25
53
6
25
22
6h9
6
12.5
3h9
3
18
22.5
5h9
5
4h9
4
6.2
8.5
11
15.5
Without brake
Mass (kg)
0.65
0.85
0.71
0.91
1.1
1.5
1.2
1.6
1.5
1.9
1.6
2.0
3.3
4.0
3.4
4.1
With brake
Connector/Plug specifications
Refer to P.186, "Options".
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
195
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Motor)
•MSMD 50W to 100W
Brake connector
Encoder
Motor connector
connector
LL
LR
LE
LF
(Key way dimensions)
4-ØLZ
LW
LC
LK
KW
TP
LN
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(low inertia)
MSMD series
Motor output
Motor model
50W
100W
5A * P1 *
5A * S1 *
01 * P1 *
01 * S1 *
MSMD
17-bit Absolute/
Incremental
17-bit Absolute/
Incremental
2500P/r Incremental
Rotary encoder specifications
2500P/r Incremental
Without brake
L L
72
92
122
25
8
With brake
102
25
8
L R
S
L A
L B
L C
L D
L E
L F
L G
L H
L N
L Z
L W
L K
K W
K H
R H
T P
45
30
38
45
30
38
3
6
3
6
32
26.5
3.4
14
32
46.5
3.4
14
12.5
3h9
3
12.5
3h9
3
6.2
6.2
M3 x 6 (depth)
0.32
M3 x 6 (depth)
0.47
Without brake
Mass (kg)
With brake
0.53
0.68
Refer to P.186, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
196
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
•MSMD 200W to 750W
(Key way dimensions)
LW
LK
Brake connector
Motor connector
Encoder
connector
KW
LL
LR
LE
LF
TP
4-ØLZ
LC
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(low inertia)
04 * S1 *
MSMD series
200W
400W
750W
Motor output
Motor model
02 * P1 *
02 * S1 *
04 * P1 *
08 * P1 *
2500P/r
08 * S1 *
MSMD
17-bit
17-bit
Absolute/
Incremental
17-bit
2500P/r
2500P/r
Incremental
Rotary encoder specifications
Absolute/
Incremental
Absolute/
Incremental
Incremental
Incremental
79
98.5
112
149
35
Without brake
L L
115.5
30
135
30
14
70
50
60
With brake
L R
S
11
19
70
90
L A
L B
L C
L D
L E
L F
L G
L H
L N
L Z
L W
L K
K W
K H
R H
T P
50
70
60
80
3
3
3
8
6.5
6.5
43
43
53
4.5
4.5
6
25
22
6h9
6
20
25
18
22.5
4h9
5h9
4
8.5
5
11
15.5
M4 x8 (depth)
0.82
M5 x 10 (depth)
M5 x 10 (depth)
Without brake
Mass (kg)
1.2
1.7
2.3
3.1
With brake
1.3
Refer to P.186, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
197
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Motor)
•MQMA 100W to 400W
Encoder
connector
Motor connector
LL
LR
Brake connector
LF
LC
LE
(7)
(7)
(Key way dimensions)
4-ØLZ
LW
LK
KW
TP
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(low inertia)
MQMA series
100W
200W
400W
Motor output
Motor model
01 * P1 *
01 * S1 *
02 * P1 *
02 * S1 *
17-bit
04 * P1 *
04 * S1 *
MQMA
17-bit
17-bit
2500P/r
2500P/r
2500P/r
Rotary encoder specifications
Absolute/
Incremental
Absolute/
Absolute/
Incremental
Incremental
Incremental
Incremental
Incremental
60
84
87
67
94
82
109
Without brake
L L
111
99.5
126.5
114.5
141.5
With brake
25
8
30
11
90
70
80
30
14
90
70
80
L R
S
70
50
60
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
T P
3
7
5
8
5
8
43
4.5
14
53
5.5
20
53
5.5
25
12.5
18
22.5
3h9
4h9
4
5h9
3
6.2
5
11
8.5
M3 x 6(depth)
M4 x 8(depth)
M5 x 10(depth)
Without brake
Mass (kg)
0.65
0.90
0.75
1.00
1.3
2.0
1.4
2.1
1.8
2.5
1.9
2.6
With brake
Refer to P.186, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
198
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
•MSMA 1.0kW to 2.0kW
Motor/Brake
connector
LC
LL
LR
LE
Encoder
connector
(Key way dimensions)
LF
4-ØLZ
LW
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(low inertia)
15 * S1 *
MSMA series
1.0kW
1.5kW
2.0kW
Motor output
Motor model
10 * P1 *
10 * S1 *
15 * P1 *
20 * P1 *
20 * S1 *
MSMA
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
2500P/r
Incremental
2500P/r
Incremental
Rotary encoder specifications
175
200
175
200
180
205
180
205
205
230
205
230
Without brake
L L
With brake
L R
S
55
19
100
80
90
120
3
55
19
115
95
100
135
3
55
19
115
95
100
135
3
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
7
10
84
103
9
10
84
103
9
84
98
6.6
45
42
6h9
6
45
42
6h9
6
45
42
6h9
6
15.5
15.5
15.5
Without brake
Mass (kg)
4.5
5.1
4.5
5.1
5.1
6.5
5.1
6.5
6.5
7.9
6.5
7.9
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
199
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Motor)
•MSMA 3.0kW to 5.0kW
Motor/Brake
connector
LC
LL
LR
LE
Encoder
connector
(Key way dimensions)
LF
4-ØLZ
LW
LK
KW
LC
Ø
135
Ø
145
LZ
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(low inertia)
MSMA series
Motor output
Motor model
3.0kW
4.0kW
5.0kW
30 * P1 *
30 * S1 *
40 * P1 *
40 * S1 *
50 * P1 *
50 * S1 *
MSMA
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
2500P/r
Incremental
2500P/r
Incremental
Rotary encoder specifications
Without brake
L L
217
242
217
242
240
265
240
265
280
305
280
305
With brake
L R
S
55
22
65
24
65
24
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
130/145 (slot)
145
110
130
165
6
145
110
130
165
6
110
120
162
3
12
84
111
9
12
12
84
84
118
9
118
9
45
41
8h9
7
55
55
51
51
8h9
7
8h9
7
18
20
20
Without brake
Mass (kg)
09.3
11.0
9.3
12.9
14.8
12.9
14.8
17.3
19.2
17.3
19.2
With brake
11.0
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
200
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
•MDMA 1.0kW to 1.5kW
Motor/Brake
connector
LL
LR
LC
Encoder
connector
(Key way dimensions)
LW
LF
LE
4-ØLZ
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Middle inertia)
15 * P1 *
MDMA series
1.0kW
Motor output
Motor model
1.5kW
10 * P1 *
10 * S1 *
15 * S1 *
MDMA
17-bit
Absolute/Incremental
17-bit
Absolute/Incremental
Rotary encoder specifications
2500P/r Incremental
2500P/r Incremental
150
175
150
175
175
200
175
200
Without brake
L L
With brake
L R
S
55
22
55
22
145
110
130
165
6
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
145
110
130
165
6
12
12
84
84
118
9
118
9
45
45
41
41
8h9
7
8h9
7
18
18
Without brake
Mass (kg)
6.8
8.7
6.8
8.7
8.5
8.5
With brake
10.1
10.1
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
201
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Motor)
•MDMA 2.0kW to 3.0kW
Motor/Brake
connector
LL
LR
LC
Encoder
connector
(Key way dimensions)
LW
LF
LE
4-ØLZ
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Middle inertia)
30 * P1 *
MDMA series
2.0kW
Motor output
Motor model
3.0kW
20 * P1 *
20 * S1 *
30 * S1 *
MDMA
17-bit
Absolute/Incremental
17-bit
Absolute/Incremental
Rotary encoder specifications
2500P/r Incremental
2500P/r Incremental
Without brake
L L
200
225
200
225
250
275
250
275
With brake
L R
S
55
22
65
24
145
110
130
165
6
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
145
110
130
165
6
12
12
84
84
118
9
118
9
45
55
41
51
8h9
7
8h9
7
18
20
Without brake
Mass (kg)
10.6
12.5
10.6
12.5
14.6
16.5
14.6
16.5
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
202
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
•MDMA 4.0kW to 5.0kW
Motor/Brake
connector
LL
LR
LC
Encoder
connector
(Key way dimensions)
LW
LF
LE
4-ØLZ
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Middle inertia)
50 * P1 *
MDMA series
4.0kW
Motor output
Motor model
5.0kW
40 * P1 *
40 * S1 *
50 * S1 *
MDMA
17-bit
Absolute/Incremental
17-bit
Absolute/Incremental
Rotary encoder specifications
2500P/r Incremental
2500P/r Incremental
242
267
242
267
225
250
225
250
Without brake
L L
With brake
L R
S
65
28
70
35
200
114.3
176
233
3.2
18
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
165
130
150
190
3.2
18
84
84
128
11
143
13.5
55
55
51
50
8h9
7
10h9
8
24
30
Without brake
Mass (kg)
18.8
21.3
18.8
21.3
25.0
28.5
25.0
28.5
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
203
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Motor)
•MGMA 900W to 2.0kW
MGMA 900W to 2.0kW
Encoder connector
Motor/Brake connector
LL
LR
LC
(Key way dimensions)
LF LE
4-ØLZ
LW
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Middle inertia)
MGMA series
Motor output
Motor model
900W
2.0kW
09 * P1 *
09 * S1 *
20 * P1 *
20 * S1 *
MGMA
17-bit
Absolute/Incremental
17-bit
Absolute/Incremental
Rotary encoder specifications
2500P/r Incremental
2500P/r Incremental
Without brake
L L
175
200
175
200
182
207
182
207
With brake
L R
S
70
22
80
35
200
114.3
176
233
3.2
18
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
145
110
130
165
6
12
84
84
118
9
143
13.5
55
45
41
50
8h9
7
10h9
8
18
30
Without brake
Mass (kg)
8.5
8.5
17.5
21.0
17.5
21.0
With brake
10.0
10.0
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
204
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
•MGMA 3.0kW to 4.5kW
MGMA 3.0kW
LL
LR
Motor/Brake connector
Encoder connector
LC
4-ØLZ
LF LE
(Key way dimensions)
MGMA 4.5kW
LW
LK
LL
LR
Motor/Brake connector
Encoder connector
LC
Eye bole (Thread 10)
LF
LE
4-ØLZ
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Middle inertia)
45 * P1 *
MGMA series
3.0kW
Motor output
Motor model
4.5kW
30 * P1 *
30 * S1 *
45 * S1 *
17-bit
MGMA
17-bit
Absolute/Incremental
Rotary encoder specifications
2500P/r Incremental
2500P/r Incremental
Absolute/Incremental
Without brake
L L
222
271
222
271
300.5
337.5
300.5
337.5
With brake
L R
S
80
35
113
42
200
114.3
176
233
3.2
24
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
200
114.3
176
233
3.2
18
84
84
143
13.5
55
143
13.5
96
50
90
10h9
8
12h9
8
30
37
Without brake
Mass (kg)
25.0
28.5
25.0
28.5
34.0
39.5
34.0
39.5
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
205
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Motor)
•MFMA 400W to 1.5kW
Encoder connector
4-ØLZ
Motor/Brake connector
LC
LR
LE
LL
LF
(Key way dimensions)
LW
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Middle inertia)
MFMA series
Motor output
Motor model
400W
1.5kW
04 * P1 *
04 * S1 *
15 * P1 *
15 * S1 *
MFMA
17-bit
Absolute/Incremental
17-bit
Absolute/Incremental
Rotary encoder specifications
2500P/r Incremental
2500P/r Incremental
120
145
120
145
145
170
145
170
Without brake
L L
With brake
L R
S
55
65
19
145
110
130
165
6
35
200
114.3
176
233
3.2
18
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
12
84
84
118
9
143
13.5
55
45
42
50
6h9
6
10h9
8
15.5
30
Without brake
Mass (kg)
4.7
6.7
4.7
6.7
11.0
14.0
11.0
14.0
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
206
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
•MFMA 2.5kW to 4.5kW
Encoder connector
4-ØLZ
Motor/Brake connector
LC
LR
LE
LL
LF
(Key way dimensions)
LW
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Middle inertia)
45 * P1 *
MFMA series
2.5kW
Motor output
Motor model
4.5kW
25 * P1 *
25 * S1 *
45 * S1 *
MFMA
17-bit
Absolute/Incremental
17-bit
Absolute/Incremental
Rotary encoder specifications
2500P/r Incremental
2500P/r Incremental
Without brake
L L
139
166
139
166
163
194
163
194
With brake
L R
S
65
35
70
35
235
200
220
268
4
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
235
200
220
268
4
16
16
84
84
164
13.5
55
164
13.5
55
50
50
10h9
8
10h9
8
30
30
Without brake
Mass (kg)
14.8
17.5
14.8
17.5
19.9
24.3
19.9
24.3
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
207
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions (Motor)
•MHMA 500W to 1.5kW
Encoder connector
Motor/Brake connector
LL
LR
LC
(Key way dimensions)
LW
LF
LE
4-ØLZ
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(High inertia)
MHMA series
Motor output
Motor model
500W
1.0kW
1.5kW
05 * P1 *
05 * S1 *
10 * P1 *
10 * S1 *
15 * P1 *
15 * S1 *
MHMA
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
2500P/r
Incremental
2500P/r
Incremental
Rotary encoder specifications
Without brake
L L
150
175
175
200
175
200
200
225
200
225
150
175
With brake
L R
S
70
22
70
22
70
22
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
145
110
130
165
6
145
110
130
165
6
145
110
130
165
6
12
12
12
84
84
84
118
9
118
9
118
9
45
45
45
41
41
41
8h9
7
8h9
7
8h9
7
18
18
18
Without brake
Mass (kg)
5.3
6.9
5.3
6.9
8.9
9.5
8.9
9.5
10.0
11.6
10.0
11.6
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
208
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
•MHMA 2.0kW to 5.0kW
Encoder connector
Motor/Brake connector
LC
LL
LR
(Key way dimensions)
LF
LE
4-ØLZ
LW
LK
KW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(High inertia)
MHMA series
Motor output
Motor model
2.0kW
3.0kW
4.0kW
5.0kW
20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *
MHMA
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
2500P/r
Incremental
2500P/r
Incremental
2500P/r
Incremental
Rotary encoder specifications
Without brake
L L
190
215
190
215
205
230
205
230
230
255
230
255
255
280
255
280
With brake
L R
S
80
80
80
80
35
200
114.3
176
233
3.2
18
35
200
114.3
176
233
3.2
18
35
200
114.3
176
233
3.2
18
35
200
114.3
176
233
3.2
18
L A
L B
L C
L D
L E
L F
L G
L H
L Z
L W
L K
K W
K H
R H
84
84
84
84
143
13.5
55
143
13.5
55
143
13.5
55
143
13.5
55
50
50
50
50
10h9
8
10h9
8
10h9
8
10h9
8
30
30
30
30
Without brake
Mass (kg)
16.0
19.5
16.0
19.5
18.2
21.7
18.2
21.7
22.0
25.5
22.0
25.5
26.7
30.2
26.7
30.2
With brake
Refer to P.180, "Options".
Connector/Plug specifications
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
209
Download from Www.Somanuals.com. All Manuals Search And Download.
Permissible Load at Output Shaft
Radial load (P) direction
Thrust load (A and B) direction
L
A
M
B
L/2
P
Unit : N (1kgf=9.8N)
During running
Thrust load A
At assembly
Thrust load
Motor
series
Motor output
Radial thrust
Radial thrust
and B-direction
A-direction B-direction
50W, 100W
200W, 400W
750W
147
88
117.6
196
68.6
245
392
392
490
784
68.6
245
490
58.8
98
MSMD
392
686
686
147
294
392
392
147
147
196
343
58.8
98
1kW
490
MSMA
MQMA
1.5kW to 3.0kW
4.0kW to 5.0kW
100W
980
588
686
147
392
88
117.6
196
200W, 400W
1.0kW to 2.0kW
3.0kW
147
196
980
588
784
686
980
MDMA
4.0kW
784
343
1666
5.0kW
500W to 1.5kW
2.0kW to 5.0kW
400W
980
588
784
686
980
490
784
392
490
784
686
1176
1470
196
343
147
196
294
196
MHMA
MFMA
1666
980
588
1.5kW
686
2.5kW, 4.5kW
900W
1862
980
686
588
784
980
MGMA
2.0kW
1666
2058
980
490
3.0kW, 4.5kW
1176
<Note>
When the load point varies, calculate the permissible radial
load, P (N) from the distance of the load point, L (mm) from
the mounting flange based on the formula of the right table,
and make it smaller than the calculated result.
Motor
series
Motor
output
Formula of Load and
load point relation
3533
P =
50W
100W
200W
400W
750W
L+39
4905
P =
L+59
14945
P =
MSMD
L+46
19723
P =
L+65.5
L
37044
P =
P
L+77
210
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Motor Characteristics (S-T Characteristics)
• Note that the motor characteristics may vary due to the existence of oil seal or brake.
• Continuous torque vs. ambient temperature characteristics have been measured with an aluminum
flange attached to the motor (approx. twice as large as the motor flange).
MQMA series (100W to 400W)
With and without oil seal
• MQMA011 * 1 *
• MQMA012 * 1 *
Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.)
Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
* Continuous torque vs.
torque
[ Nm]
* Continuous torque vs.
ambient temp.
•
ambient temp.
•
1.0
(0.95)
1.0
100
50
100
50
(0.95)
Peak running range
Peak running range
0.5
(0.32)
0.5
(0.32)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
40
ambient temp. [˚C]
0
10
20
30
40
0
10
20
30
0
1000 2000 3000 4000 5000
speed [ r/min]
ambient temp. [˚C]
• MQMA021 * 1 *
Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.)
• MQMA022 * 1 *
Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
2.0
(1.91)
2.0
(1.91)
100
50
100
50
Peak running range
Peak running range
1.0
1.0
(0.64)
(0.64)
Continuous running range
Continuous running range
C
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
• MQMA041 * 1 *
Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.)
• MQMA042 * 1 *
Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
•
•
4.0
(3.82)
4.0
(3.82)
100
50
100
50
Peak running range
Peak running range
2.0
2.0
(1.3)
(1.3)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 4500
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
MAMA series (100W to 750W)
without oil seal
• MAMA012 * 1 *
• MAMA022 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
1.0
(0.95)
2.0
(1.91)
torque
[ Nm]
100
50
100
50
•
•
Peak running range
Peak running range
0.5
1.0
(0.19)
(0.38)
Continuous running range
Continuous running range
(5000)
(5000)
0
10
20
30
40
0
10
20
30
40
4000
6000
4000
6000
0
2000
0
2000
speed [ r/min]
ambient temp. [˚C]
speed [ r/min]
ambient temp. [˚C]
• MAMA042 * 1 *
• MAMA082 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
8.0
4.0
(3.82)
100
50
100
50
•
•
(7.16)
[ Nm]
Peak running range
Peak running range
2.0
4.0
(0.76)
(1.43)
Continuous running range
Continuous running range
(5000)
4000
(5000)
4000
0
10
20
30
40
0
10
20
30
40
6000
6000
0
2000
0
2000
speed [ r/min]
ambient temp. [˚C]
speed [ r/min]
ambient temp. [˚C]
* These are subject to change. Contact
us when you use these values for your
machine design.
* Ratio to the rated torque at ambient
temperature of 40˚C is 100% in case
of without oil seal, without brake.
torque
• When you lower the
torque limit setup (Pr5E
and 5F), running range
at high speed might be
lowered as well.
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
speed
211
Download from Www.Somanuals.com. All Manuals Search And Download.
Motor Characteristics (S-T Characteristics)
MSMD series (50W to 100W)
without oil seal
with oil seal
• MSMD5AZ * 1 *
• MSMD5AZ * 1 *
Input voltage to driver: AC100V/200V
Input voltage to driver: AC100V/200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
[ Nm]
•
•
without brake
with brake
with brake
100
95
0.5
(0.48)
0.5
100
(0.48)
70
60
50
Peak running range
Peak running range
0.25
0.25
50
(0.16)
(0.16)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
• MSMD011 * 1 *
• MSMD011 * 1 *
Input voltage to driver: AC100V
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
[ Nm]
without brake
with brake
•
•
with brake
100
95
1.0
(0.95)
100
75
70
1.0
(0.95)
Peak running range
Peak running range
0.5
0.5
50
50
(0.32)
(0.32)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
• MSMD012 * 1 *
Input voltage to driver: AC200V
• MSMD012 * 1 *
Input voltage to driver: AC200V
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
[ Nm]
•
•
without brake
with brake
with brake
100
95
1.0
1.0
100
(0.95)
(0.95)
75
70
Peak running range
Peak running range
0.5
0.5
50
50
(0.32)
(0.32)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
* These are subject to change. Contact us when you use these values for your machine design.
* Ratio to the rated torque at ambient temperature of 40˚C is 100% in case of without oil seal, without brake.
• When you lower the torque limit setup (Pr5E and 5F),
running range at high speed might be lowered as well.
torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
speed
212
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
MSMD series (200W to 750W)
without oil seal
With oil seal
• MSMD021 * 1 *
• MSMD021 * 1 *
Input voltage to driver: AC100V
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
without brake
with brake
2.0
(1.91)
100
50
100
2.0
(1.91)
80
70
Peak running range
Peak running range
1.0
(0.64)
1.0
(0.64)
50
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
• MSMD022 * 1 *
• MSMD022 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
without brake
100
50
2.0
(1.91)
100
80
70
2.0
(1.91)
with brake
Peak running range
Peak running range
1.0
1.0
(0.64)
(0.64)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
• MSMD041 * 1 *
• MSMD041 * 1 *
Input voltage to driver: AC100V
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
[ Nm]
•
•
100
75
50
4.0
100
4.0
90
(3.8)
(3.8)
Peak running range
Peak running range
Continuous running range
2.0
(1.3)
2.0
(1.3)
50
Continuous running range
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
ambient temp. [˚C]
ambient temp. [˚C]
• MSMD042 * 1 *
• MSMD042 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
100
90
100
75
50
4.0
(3.8)
4.0
(3.8)
Peak running range
Peak running range
Continuous running range
2.0
(1.3)
2.0
(1.3)
50
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
• MSMD082 * 1 *
• MSMD082 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
8.0
(7.1)
100
50
8.0
(7.1)
100
Peak running range
Peak running range
4.0
4.0
50
(2.4)
(2.4)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
* These are subject to change. Contact us when you use these values for your machine design.
213
Download from Www.Somanuals.com. All Manuals Search And Download.
Motor Characteristics (S-T Characteristics)
MSMA series (1.0kW to 5.0kW)
With oil seal
• MSMA102 * 1 *
• MSMA152 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
without
brake
with
brake
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
15
(14.3)
10
(9.5)
100
100
85
Peak running range
Peak running range
50
7.5
(4.77)
50
5
(3.18)
Continuous running range
Continuous running range
(3500)
0
10
20
30
40
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
1000 2000 3000 4000 5000
speed [ r/min]
ambient temp. [˚C]
ambient temp. [˚C]
• MSMA202 * 1 *
• MSMA302 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
without
without
* Continuous torque vs.
ambient temp.
torque
[ Nm]
* Continuous torque vs.
ambient temp.
brake
torque
[ Nm]
brake
•
•
with
brake
with
brake
20
(19.1)
30
(28.6)
100
85
70
100
90
85
Peak running range
Peak running range
10
50
15
(9.54)
50
(6.36)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
ambient temp. [˚C]
ambient temp. [˚C]
• MSMA402 * 1 *
• MSMA502 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
without
brake
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
[ Nm]
•
•
with
brake
40
(37.9)
50
(47.6)
100
100
90
85
50
70
50
Peak running range
Peak running range
20
25
(15.8)
(12.6)
Continuous running range
Continuous running range
0
1000 2000 3000 4000 5000
speed [ r/min]
0
10
20
30
40
0
1000 2000 3000 4000 5000
0
10
20
30
40
ambient temp. [˚C]
speed [ r/min]
ambient temp. [˚C]
MDMA series (1.0kW to 2.0kW)
With oil seal
• MDMA152 * 1 *
• MDMA102 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
torque
[ Nm]
* Continuous torque vs.
ambient temp.
torque
[ Nm]
•
•
(21.5)
20
15
(14.4)
100
100
Peak running range
Continuous running range
Peak running range
Continuous running range
10
10
(7.15)
50
50
5
(4.8)
(2200)
2000
40
0
10
20
30
40
0
10
20
30
0
1000
2000
3000
0
1000
3000
ambient temp. [˚C]
speed [ r/min]
speed [ r/min]
ambient temp. [˚C]
• MDMA202 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
torque
[ Nm]
•
100
30
(28.5)
Peak running range
Continuous running range
15
(9.54)
50
(2200)
2000
0
10
20
30
40
0
1000
3000
speed [ r/min]
ambient temp. [˚C]
* These are subject to change. Contact us when you use these values for your machine design.
214
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
MDMA series (3.0kW to 5.0kW)
With oil seal
• MDMA302 * 1 *
• MDMA402 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
* Continuous torque vs. without
torque
[ Nm]
* Continuous torque vs.
ambient temp.
•
brake
with
brake
ambient temp.
•
(56.4)
50
50
(42.9)
100
100
85
Peak running range
Continuous running range
70
Peak running range
Continuous running range
25
(14.3)
25
50
50
(18.8)
0
1000
2000
3000
0
10
20
30
40
0
1000
2000
3000
0
10
20
30
40
ambient temp. [˚C]
speed [ r/min]
speed [ r/min]
ambient temp. [˚C]
• MDMA502 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
without
torque
[ Nm]
* Continuous torque vs.
ambient temp.
brake
•
with
brake
(71.4)
100
90
70
85
Peak running range
Continuous running range
35
(23.8)
50
0
1000
2000
3000
0
10
20
30
40
speed [ r/min]
ambient temp. [˚C]
MFMA series (400W to 4.5kW)
With oil seal
• MFMA042 * 1 *
• MFMA152 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
(5.3)
5
(21.5)
20
100
100
50
Peak running range
Peak running range
10
(7.15)
2.5
(1.9)
50
Continuous running range
Continuous running range
0
1000
2000
3000
0
10
20
30
40
0
1000
2000
3000
0
10
20
30
40
ambient temp. [˚C]
speed [ r/min]
speed [ r/min]
ambient temp. [˚C]
• MFMA252 * 1 *
• MFMA452 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
torque
[ Nm]
torque
[ Nm]
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
•
•
(30.4)
(54.9)
50
30
100
100
50
Peak running range
Peak running range
15
(11.8)
25
(21.5)
50
Continuous running range
Continuous running range
0
1000
2000
3000
0
10
20
30
40
0
1000
2000
3000
0
10
20
30
40
speed [ r/min]
ambient temp. [˚C]
speed [ r/min]
ambient temp. [˚C]
* These are subject to change. Contact us when you use these values for your machine design.
• When you lower the torque limit setup (Pr5E and 5F),
running range at high speed might be lowered as well.
torque
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Continuous running range
speed
215
Download from Www.Somanuals.com. All Manuals Search And Download.
Motor Characteristics (S-T Characteristics)
MHMA series (500W to 5.0kW)
With oil seal
• MHMA052 * 1 *
• MHMA102 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
(6.0)
5.0
torque
[ Nm]
torque
15
•
100
50
100
50
•
[ Nm]
(14.4)
Peak running range
Peak running range
10
2.5
(2.38)
5
(4.8)
Continuous running range
Continuous running range
(2200)
2000
0
1000
2000
3000
0
10
20
30
40
0
10
20
30
40
0
1000
3000
speed [ r/min]
ambient temp. [˚C]
speed [ r/min]
ambient temp. [˚C]
• MHMA152 * 1 *
• MHMA202 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
torque
•
[ Nm]
(21.5)
20
•
[ Nm]
100
50
100
50
30
(28.5)
Peak running range
Continuous running range
Peak running range
Continuous running range
10
(7.15)
15
(9.54)
(2200)
2000
0
1000
2000
3000
0
10
20
30
40
0
10
20
30
40
0
1000
3000
ambient temp. [˚C]
speed [ r/min]
ambient temp. [˚C]
speed [ r/min]
• MHMA302 * 1 *
• MHMA402 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
(56.4)
50
•
•
[ Nm]
50
100
50
100
85
(42.9)
Peak running range
Continuous running range
Peak running range
Continuous running range
25
(14.3)
25
(18.8)
50
0
1000
2000
3000
0
10
20
30
40
0
1000
2000
3000
0
10
20
30
40
ambient temp. [˚C]
speed [ r/min]
speed [ r/min]
ambient temp. [˚C]
• MHMA502 * 1 *
• When you lower the torque limit setup (Pr5E and 5F),
running range at high speed might be lowered as well.
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
torque
torque
Running range (Torque limit setup : 300%)
•
[ Nm]
(71.4)
70
100
85
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
Peak running range
Continuous running range
35
(23.8)
50
Continuous running range
speed
0
1000
2000
3000
0
10
20
30
40
speed [ r/min]
ambient temp. [˚C]
MGMA series (900W to 4.5kW)
With oil seal
• MGMA092 * 1 *
• MGMA202 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm]
torque
[ Nm]
•
•
100
50
100
50
20
(19.3)
50
(44)
Peak running range
Continuous running range
Peak running range
10
(8.62)
25
(19.1)
Continuous running range
0
10
20
30
40
0
10
20
30
40
0
1000
2000
0
1000
2000
ambient temp. [˚C]
speed [ r/min]
ambient temp. [˚C]
speed [ r/min]
• MGMA302 * 1 *
• MGMA452 * 1 *
Input voltage to driver: AC200V
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
(Dotted line represents torque at 10% less voltage.)
* Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[ Nm] 100
(107)
torque
[ Nm]
•
100
50
100
50
•
70
(63.7)
Peak running range
Continuous running range
Peak running range
35
(28.4)
50
(42.9)
Continuous running range
0
10
20
30
40
0
10
20
30
40
0
1000
2000
0
1000
2000
ambient temp. [˚C]
speed [ r/min]
speed [ r/min]
ambient temp. [˚C]
* These are subject to change. Contact us when you use these values for your machine design.
216
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Motor with Gear Reducer
Model No. of Motor with Gear Reduce
Model Designation
M S M D 0 1 1 P 3 1 N
1~4
5~6
7
8
9
10
Symbol
Type
Reduction ratio
Low inertia
MSMD
Symbol Reduction
ratio
Motor rated output
1N
2N
3N
4N
1/5
1/9
1/15
1/25
Voltage
specifications
Symbol Output
01
02
04
08
100W
200W
400W
750W
Symbol Specifications
1
2
100V
200V
Rotary encoder specifications
Motor structure
Specifications
Pulse count Resolution Wire count
Holding brake Shaft
Without With Key way
Symbol
Symbol
Format
P
S
Incremental
Absolute/Incremental common
2500P/r
17bit
10,000
131,072
5-wire
7-wire
3
4
Combination of Driver and Motor with Gear Reducer
This driver is designed to be used in the combination with the specified motor model.
Check the series name, rated output and voltage specifications and the encoder specifications of the applicable motor.
Incremental Specifications, 2500P/r
<Remark>
Do not use the driver and the motor with gear reducer in other combinations than the one in the following table.
• Incremental specifications, 2500P/r
Applicable motor with gear reducer
Applicable driver
Rated
output
of motor
Power
supply
Reduction ratio Reduction ratio Reduction ratio Reduction ratio
Model No.
of driver
Frame
of driver
of 1/5
of 1/9
of 1/15
of 1/25
100W MSMD011P * 1N MSMD011P * 2N MSMD011P * 3N MSMD011P * 4N MADDT1107P A-frame
200W MSMD021P * 1N MSMD021P * 2N MSMD021P * 3N MSMD021P * 3N MBDDT2110P B-frame
400W MSMD041P * 1N MSMD041P * 2N MSMD041P * 3N MSMD041P * 4N MCDDT3120P C-frame
Single phase,
100V
100W MSMD012P * 1N MSMD012P * 2N MSMD012P * 3N MSMD012P * 4N MADDT1205P
A-frame
Single phase, 200W MSMD022P * 1N MSMD022P * 2N MSMD022P * 3N MSMD022P * 3N MADDT1207P
200V
400W MSMD042P * 1N MSMD042P * 2N MSMD042P * 3N MSMD042P * 4N MBDDT2210P B-frame
750W MSMD082P * 1N MSMD082P * 2N MSMD082P * 3N MSMD082P * 4N MCDDT3520P C-frame
3-phase, 200V 750W MSMD082P * 1N MSMD082P * 2N MSMD082P * 3N MSMD082P * 4N MCDDT3520P C-frame
• Absolute/Incremental specifications, 17bit
Applicable motor with gear reducer
Applicable driver
Rated
output
of motor
Power
supply
Reduction ratio Reduction ratio Reduction ratio Reduction ratio
Model No.
of driver
Frame
of driver
of 1/5
of 1/9
of 1/15
of 1/25
100W MSMD011S * 1N MSMD011S * 2N MSMD011S * 3N MSMD011S * 4N MADDT1107P A-frame
200W MSMD021S * 1N MSMD021S * 2N MSMD021S * 3N MSMD021S * 3N MBDDT2110P B-frame
400W MSMD041S * 1N MSMD041S * 2N MSMD041S * 3N MSMD041S * 4N MCDDT3120P C-frame
Single phase,
100V
100W MSMD012S * 1N MSMD012S * 2N MSMD012S * 3N MSMD012S * 4N MADDT1205P
A-frame
Single phase, 200W MSMD022S * 1N MSMD022S * 2N MSMD022S * 3N MSMD022S * 3N MADDT1207P
200V
400W MSMD042S * 1N MSMD042S * 2N MSMD042S * 3N MSMD042S * 4N MBDDT2210P B-frame
750W MSMD082S * 1N MSMD082S * 2N MSMD082S * 3N MSMD082S * 4N MCDDT3520P C-frame
3-phase, 200V 750W MSMD082S * 1N MSMD082S * 2N MSMD082S * 3N MSMD082S * 4N MCDDT3520P C-frame
<Note>
• "*" of the model No. represents the structure of the motor.
217
Download from Www.Somanuals.com. All Manuals Search And Download.
Dimensions/Motor with Gear Reducer
Motor with Gear Reducer
L
(LG)
LR
LL
LQ
LT
LM
KB1
LF
Motor
lead wire
LH
LE
Rotary encoder lead wire
LK
(unit : mm)
Motor
Reduction
Model
L
LL
LM
LT KB1 LF LR LQ LB
S
LP LH
J
(LG) LE (G)
output
rati0
MSMD01 * P31N
MSMD01 * P32N
MSMD01 * P33N
MSMD01 * P34N
MSMD02 * P31N
MSMD02 * P32N
MSMD02 * P33N
MSMD02 * P34N
MSMD04 * P31N
MSMD04 * P32N
MSMD04 * P33N
MSMD04 * P34N
MSMD082P31N
MSMD082P32N
MSMD082P33N
MSMD082P34N
MSMD01 * P41N
MSMD01 * P42N
MSMD01 * P43N
MSMD01 * P44N
MSMD02 * P41N
MSMD02 * P42N
MSMD02 * P43N
MSMD02 * P44N
MSMD04 * P41N
MSMD04 * P42N
MSMD04 * P43N
MSMD04 * P44N
MSMD082P41N
MSMD082P42N
MSMD082P43N
MSMD082P44N
1/5
191.5
20 50 12 45 10 14 67.5
1/9
32
6
100W
200W
400W
750W
100W
200W
400W
750W
92
79
68
25
34
25
34
24 40.8
1/15 202
1/25 234
1/5 183.5
1/9 218.5
78
50 30 70 19 62 17 22 92
32 20 50 12 45 10 14 72.5
89.5
3
6.5
56.5
76
22.5
22.5
1/15
229
100
50 30 70 19 62 17 22
89.5
1/25
1/5
238
1/9
98.5
42
1/15 248.5
1/25 263.5
1/5 255.5
1/9 270.5
100
61 40 90 24 75 18 28 104
50 30 70 19 62 17 22 93.5
97.5
5
3
8
6
112 86.5
25.5 52.2
24 40.8
1/15
283
61 40 90 24 75 18 28
110
5
1/25
1/5
221.5
1/9
67.5
32 20 50 12 45 10 14
122
98
1/15 232
1/25 264
78
50 30 70 19 62 17 22 92
32 20 50 12 45 10 14 72.5
89.5
1/5
1/9
220
255
3
6.5
115.5 93
135 112.5
149 123.5
22.5
22.5
1/15
1/25
1/5
265.5
274.5
100
50 30 70 19 62 17 22
89.5
1/9
42
1/15 285
1/25 300
1/5 292.5
1/9 307.5
100
61 40 90 24 75 18 28 104
50 30 70 19 62 17 22 93.5
97.5
5
3
8
25.5 52.2
1/15
320
61 40 90 24 75 18 28
110
5
1/25
218
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
T
H
LC
4-LZ Depth L
(unit : mm)
Kew way dimensions
(B x H x LK)
–4
2
•
LC
LA
LZ
LD
T
LN Mass (kg) Moment of inertia (x 10 kg m )
0.0910
1.02
0.0853
32
52
60
M5
2.5
12
4 x 4 x 16
1.17
2.17
1.54
0.0860
0.0885
0.258
0.408
0.440
0.428
0.623
0.528
0.560
0.560
1.583
1.520
1.570
1.520
0.0940
0.0883
0.0890
0.0915
0.278
0.428
0.460
0.448
0.643
0.548
0.580
0.580
1.683
1.620
1.670
1.620
78
52
90
60
M6
M5
3.5
2.5
20
12
6 x 6 x 22
4 x 4 x 16
2.52
78
90
M6
3.5
43
6 x 6 x 22
2.9
3.3
4.4
5.7
6.1
20
98
78
115
90
M8
M6
4
8 x 7 x 30
6 x 6 x 22
3.5
53
32
98
52
115
60
M8
M5
4
8 x 7 x 30
4 x 4 x 16
1.23
2.5
12
1.38
2.38
2.02
78
52
90
60
M6
M5
3.5
2.5
20
12
6 x 6 x 22
4 x 4 x 16
3.00
78
90
M6
3.5
43
53
6 x 6 x 22
3.4
20
3.8
4.9
5.2
6.5
98
78
115
90
M8
M6
4
8 x 7 x 30
6 x 6 x 22
3.5
98
115
M8
4
8 x 7 x 30
6.9
Moment of inertia is combined value of the motor and the gear reducer, and converted to that of the motor shaft .
219
Download from Www.Somanuals.com. All Manuals Search And Download.
Permissible Load at Output Shaft
Radial load (P) direction
Thrust load (A and B) direction
LR
A
B
GH
GH
M
LR/2
P
Unit : N (1kgf=9.8N)
Permissible load at shaft
Motor output Motor output
Thrust load A
Radial thrust
and B-direction
1/5
490
588
245
294
392
833
245
588
735
833
490
588
735
1030
490
735
882
1320
1/9
100W
1/15
784
1/25
1/5
1670
490
1/9
1180
1470
1670
980
200W
1/15
1/25
1/5
1/9
1180
1470
2060
980
400W
1/15
1/25
1/5
1/9
1470
1760
2650
750W
1/15
1/25
Remarks on installation
(1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to it. Or it may cause
an abnormal noise.
(2) Apply the load of the pulley or the sprocket to as close to the base of the output shaft as possible.
(3) Check the mounting accuracy and strenght of the stiff joint, when you use it.
(4) The encoder is built in to the motor. If an excessive impact is applied to the motor while assembling it to
the machine, the encoder might be damaged. Pay an extrta attention at assembly.
220
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Characteristics of Motor with Gear Reducer
Reduction
Supply
voltage
to driver
ratio
1/5
1/9
1/15
1/25
Motor
output
MSMD011 * * 1N
MSMD011 * * 2N
MSMD011 * * 3N
MSMD011 * * 4N
torque 4.0
torque
8.0
torque16.0
torque 20.0
(19.0)
•
•
•
•
[N m] (3.72)
[N m]
[N m]
[N m]
(6.86)
(11.4)
Peak running
Peak running
range
Peak running
range
range
Peak running
8.0
range
(3.72)
100W
2.0
4.0
10.0
(1.18)
(2.25)
(6.72)
Continuous
Continuous
Continuous
Continuous
running range
running range
running range
running range
0
500 600
1000
0
333 400 555
0
333
0
200
200
100 120
speed [r/min]
speed [r/min]
speed [r/min]
speed [r/min]
MSMD021 * * 1N
MSMD021 * * 2N
MSMD021 * * 3N
MSMD021 * * 4N
torque(8.04)
torque 16.0
torque 20.0
torque40.0
8.0
•
•
•
(18.8)
[N m]
[N m]
[N m]
•
[N m]
(33.3)
Peak running
(11.3)
Peak running
range
Peak running
range
range
100V
200W
400W
100W
200W
400W
750W
4.0
8.0
20.0
10.0
Peak running
range
(2.65)
(11.1)
(6.27)
(3.72)
Continuous
Continuous
Continuous
Continuous
running range
running range
running range
running range
0
500 600
1000
0
333 400 555
0
333
0
200
200
100 120
speed [r/min]
speed [r/min]
speed [r/min]
speed [r/min]
MSMD041 * * 1N
MSMD041 * * 2N
MSMD041 * * 3N
MSMD041 * * 4N
torque20.0
torque 40.0
torque 60.0
torque80.0
[N m](79.2)
•
•
•
•
[N m]
[N m]
[N m]
(16.2)
(47.5)
(28.5)
Peak running
range
Peak running
range
Peak running
30.0
10.0
20.0 Peak running
range
40.0
range
(26.4)
(5.39)
(15.8)
(9.51)
Continuous
Continuous
running range
Continuous
Continuous
running range
running range
running range
0
500 600
1000
0
333 400 555
0
333
0
200
200
100 120
speed [r/min]
speed [r/min]
speed [r/min]
speed [r/min]
MSMD012 * * 1N
MSMD012 * * 2N
MSMD012 * * 3N
MSMD012 * * 4N
torque4.0
[N m](3.72)
torque 8.0
torque16.0
torque 20.0
[N m] (19.0)
•
•
•
•
[N m] (6.86)
[N m]
(11.4)
Peak running
range
Peak running
range
Peak running
range
Peak running
range
10.0
2.0
4.0
8.0
(1.18)
(2.25)
(3.72)
(6.27)
Continuous
Continuous
Continuous
Continuous
running range
running range
running range
running range
0
500 600
1000
0
333 400 555
0
333
0
200
200
100 120
speed [r/min]
speed [r/min]
speed [r/min]
speed [r/min]
MSMD022 * * 1N
MSMD022 * * 2N
MSMD022 * * 3N
MSMD022 * * 4N
torque
torque 16.0
torque20.0
[N m](18.8)
torque40.0
(8.04)
8.0
•
•
•
•
[N m]
[N m]
[N m]
(33.3)
Peak running
range
(11.3)
Peak running
range
Peak running
range
8.0
20.0
10.0
4.0
Peak running
range
(2.65)
(6.27)
(11.1)
(3.72)
Continuous
Continuous
Continuous
Continuous
running range
running range
running range
running range
0
500 600
1000
0
333 400 555
0
333
0
200
200
100 120
speed [r/min]
speed [r/min]
speed [r/min]
speed [r/min]
200V
MSMD042 * * 1N
MSMD042 * * 2N
MSMD042 * * 3N
MSMD042 * * 4N
torque20.0
torque40.0
torque60.0
torque 80.0
•
•
•
•
(79.2)
[N m]
[N m]
[N m]
[N m]
(16.2)
(15.8)
(28.5)
Peak running
range
Peak running
range
Peak running
range
10.0
20.0 Peak running
range
40.0
30.0
(5.39)
(26.4)
(47.5)
(9.51)
Continuous
Continuous
Continuous
Continuous
running range
running range
running range
running range
0
500 600
1000
0
333 400 555
0
333
0
200
200
100 120
speed [r/min]
speed [r/min]
speed [r/min]
speed [r/min]
MSMD082 * * 1N
MSMD082 * * 2N
MSMD082 * * 3N
MSMD082 * * 4N
torque 40.0
torque 80.0
torque 120.0
torque160.0
[N m](152.0)
•
•
•
•
[N m]
[N m]
[N m]
(32.1)
(91.2)
(54.7)
Peak running
range
Peak running
range
Peak running
range
Peak running
40.0
20.0
80.0
60.0
range
(50.7)
(10.7)
(30.4)
(18.2)
Continuous
Continuous
Continuous
Continuous
running range
running range
running range
running range
0
500 600
900
0
333 400 500
0
300
0
180
200
100 120
speed [r/min]
speed [r/min]
speed [r/min]
speed [r/min]
Dotted line represents the torque at 10% less supply voltage.
221
Download from Www.Somanuals.com. All Manuals Search And Download.
Block Diagram of Driver
222
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
223
Download from Www.Somanuals.com. All Manuals Search And Download.
Block Diagram by Control Mode
Position Control Mode
• when Pr02 (Setup of control mode) is 0
224
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
Full-closed Control Mode
• when Pr02 (Setup of control mode) is 6
225
Download from Www.Somanuals.com. All Manuals Search And Download.
Specifications (Driver)
+10%
–15%
Main circuit
power
Single phase, 100 – 115V
50/60Hz
50/60Hz
50/60Hz
50/60Hz
50/60Hz
50/60Hz
50/60Hz
100V-
line
Control circuit
power
+10%
–15%
Single phase, 100 – 115V
Single phase, 200 – 240V
Single/3-phase, 200 – 240V
3-phase, 200 – 230V
Type
A, B
+10%
–15%
Main
Type
circuit
C, D
+10%
–15%
power
200V-
line
+10%
–15%
Type
E, F
+10%
–15%
Type
Control A to D
circuit
Single phase, 200 – 240V
Single phase, 200 – 230V
+10%
–15%
Type
E, F
power
Temperature
Humidity
Operation temperature: 0 to 55 degrees Storage temperature: –20 to 80 degrees
Operation/storage humidity 90%RH or less (no condensation)
Height above the sea level: 1000 m or less
Operation
conditions
Height above the sea
Vibration
5.88 m/s2 or less, 10 to 60 Hz (Continuous operation at resonance point is not allowed)
IGBT PWM method, sinusoidal drive
Control method
Control mode
Select Position control or Full-closed control by parameter.
17 Bit (resolution: 131072) 7-serial absolute encoder
Encoder feedback
2500 p/r (resolution: 10000) 5-serial incremental encoder
Compatible with ST771 and AT500 made by Mitutoyo Corporation
CW over-travel inhibit, CCW over-travel inhibit, Home sensor, Emergency stop, Point specifying x6
Servo-ON, Strobe, Multi- function input x2
External scale feedback
Input
(14 inputs )
Control
signal
Output
Servo alarm, Brake release signal, Present position output x6,
Positioning completion / Output during deceleration, Motor operation condition,
Encoder pulse (A/B/Z-phase) or external scale pulse (EXA/EXB-phase)is output by the line driver.
For encoder Z-phase pulse, an open collector output is also available.
Setup with Panaterm® or a console is available.
(10 outputs )
Pulse
Input
(4 inputs )
signal
Setup
(Panaterm® and a console are sold separately)
[ 1] 7-segment LED 2-digit
Front panel
[ 2] Analogue monitor pin (velocity monitor and torque monitor)
Type A-B : No internal regenerative resist (external only)
Type C-F : internal regenerative resist (external is also available)
Built in
Regeneration
Dynamic brake
226
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
A function to reduce vibration by removing the vibration frequency component
Damping Control
when the front end of the machine vibrates.
External scale division
gradual increase
setting range
Ratio between the encoder pulse (numerator) and the external scale pulse (denominator)
can be set within the setting range : (1 to 10000 x 2(0–17))/(1 to 10000)
The number of points
maximum 60 points
Eight types of homing operations
[ home sensor + Z phase (based on the front end), home sensor (based on the front end),
home sensor + Z phase (based on the rear end), limit sensor + Z phase, limit sensor,
Z phase homing, Bumping homing, and data set]
Homing
operation
The motor can be moved in a positive direction or negative direction independently.
This is useful for teaching or adjustment.
Jog operation
Step operation
The most basic operation. Specify a point number set in advance when performing the operation.
The four types of modes [ incremental operation, absolute operation,
rotary axis operation and dwell timer (waiting time)]
Continuous block
operation
Several step operations can be performed continuously.
Once an operation starts, the operation continues to a specified point number.
Block operation
A step operation is performed according to combined several point numbers.
This is useful when you want to change the speed during a step operation.
Combined block
operation
A point number increments by 1 automatically whenever an operation command is given.
A step operation can be performed easily only by turning the STB signal on/off.
Sequential
Operation
Teaching
(Console (option)
is necessary)
You can operate the motor actually using this console,
set a target position and execute some test operations.
Load inertia is determined at real time in the state of actual operation
and gain corresponding to the rigidity is set automatically.
Real time
Load inertia is determined by driving the equipment with operation command
within the driver and gain corresponding to the rigidity is set automatically.
Normal mode
Available only for position control.
A function to improve the speed detection accuracy,
achieve the quick response and, at the same time,
Instantaneous
speed observer
reduce the vibration at the stop by estimating the motor speed using a load model.
The following control input signal can be masked:
CW over-travel inhibit, CCW over-travel inhibit, multi function input1 and 2 ,
point specifying input(P8-IN,P16-IN,P32-IN), Servo-ON
Unnecessary wiring
mask function
Division function of
encoder feedback pulse
The number of pulses can be set up arbitrarily. (at the maximum encoder pulse)
Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.
Large positional deviation, Undefined data error , EEPROM error, etc.
Traceable up to 14 alarm data including present alarm data.
Hardware error
Protection
function
Software error
Alarm data trace back function
227
Download from Www.Somanuals.com. All Manuals Search And Download.
Default Parameters (for all the models of A4P Series)
• Servo parameter (SV.Pr)
Parameter
(For manufacturer's use)
Default
Default
SV.Pr* *
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
SV.Pr* *
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
Parameter
(For manufacturer's use)
1
5
7-segment LED status for console, initial condition display
Control mode
Torque limit selection
1
0
1
1
0
0
3
0
0
1
1
2
5
0
0
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Numerator of output pulse ratio
Denominator of output pulse ratio
Pulse output logic inversion
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Smoothing filter
FIR filter set up
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
500
0
0
10000
10000
0
0
10000
0
0
10000
1
0
2
0
0
0
2
1
0
1
1
2
1
1
0
1
0
1
500
500
131
50
1000
0
0
1
0
0
0
0
0
0
0/3
35
0
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Speed monitor (SP) selection
Torque monitor (IM) selection
(For manufacturer's use)
(For manufacturer's use)
Absolute encoder set up
Baud rate of RS232
(For manufacturer's use)
(For manufacturer's use)
Node address
1st position loop gain (*2)
1st velocity loop gain (*2)
(63/32)
(35/18)
1st velocity loop integration time constant (*2) (16/31)
1st speed detection filter
1st torque filter time constant (*2)
Velocity feed forward
(For manufacturer's use)
(0)
(65/126)
(300)
(50)
Over-travel inhibit input valid
Over-travel inhibit input logic
Over-travel inhibit input operation setting
Home sensor input logic
Selecting the number of input points
Point specifying input logic setting
Multi-function input 1 Signal logic
Multi-function input 1 Signal selection
Multi-function input 2 Signal logic
Multi-function input 2 Selection logic
Servo-ON input valid
Feed forward filter time constant
(For manufacturer's use)
2nd position loop gain (*2)
2nd velocity loop gain (*2)
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant (*2)
1st notch frequency
1st notch width selection
(For manufacturer's use)
Inertia ratio
Real time auto tuning set up
Machine stiffness at auto tuning (*2)
Adaptive filter mode
Vibration suppression filter switching selection
Normal auto tuning motion setup
Software limit set up
Velocity observer
2nd notch frequency
2nd notch width selection
2nd notch depth selection
1st vibration suppression frequency
1st vibration suppression filter
2nd vibration suppression frequency
2nd vibration suppression filter
Adaptive filter frequency
0
(73/38)
(35/18)
(1000)
(0)
(65/126)
1500
2
1st torque limit
2nd torque limit
(*1)
(*1)
0
(250)
1
4/1
1
0
0
10
(0)
1500
2
0
0
0
0
0
0
(1)
(10)
(30)
(50)
(33)
(20)
(0)
0
In-position range
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Output signal selection
Undervoltage error response at main power-off
(For manufacturer's use)
Error response at main power-off
Error response action
Sequence at Servo-OFF
Mechanical brake delay at motor standstill
Mechanical brake delay at motor in motion
External regenerative resistor set up
Main power-off detection time
Emergency stop torque set up
(For manufacturer's use)
Position deviation error level
(For manufacturer's use)
Overload level
(*2)
0
2nd gain action set up
25000
0
0
0
0
0
0
0
10000
0
10000
100
0
0
0
0
1st control switching mode
1st control switching delay time
1st control switching level
1st control switching hysteresis
Position loop gain switching time
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Overspeed level
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Numerator of external scale ratio
Multiplier of numerator of external scale ratio
Denominator of external scale ratio
Hybrid deviation error level
External scale direction
0
0
0
0
0
300
0
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
0
*1) A maximum value of SV.Pr5E (torque limit setting) varies depending on an applicable motor. Refer to page 78.
*2) Default parameters of SV.Pr10 to 12, 14, 18, 19, 1C, 22 and 6C vary depending on a driver.
*3) The parameters with parenthesized set value are specified automatically when real-time auto-gain tuning or normal-mode
auto-gain tuning has been executed.
228
Download from Www.Somanuals.com. All Manuals Search And Download.
[Supplement]
• 16-bit positioning parameter (16.Pr)
Default
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Default
16.Pr* *
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
30
31
32
33
Parameter
16.Pr* *
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F
60
61
62
63
64
65
66
67
Parameter
Homing deceleration
Homing direction
Homing type
Home complete type
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1st speed
2nd speed
3rd speed
4th speed
5th speed
6th speed
7th speed
8th speed
9th speed
10th speed
11th speed
12th speed
13th speed
14th speed
15th speed
16th speed
1st acceleration
Homing skip
Bumping detection time
Torque limit for bumping homing
Homing Z-phase count setting
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Jog speed (low)
Jog speed (high)
Acceleration setting in jog operation
Setting of S-shaped acceleration in jog operation
Setting of deceleration in jog operation
Setting of S-shaped deceleration in jog operation
(For manufacturer's use)
(For manufacturer's use)
Teaching movement amount setting
Instantaneous stop deceleration time
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Operation direction setting
Wrap around permission
Sequential operation setting
Sequential operation maximum point number
Block operation type
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
1st S-shaped acceleration
1st deceleration
1st S-shaped deceleration
2nd acceleration
2nd S-shaped acceleration
2nd deceleration
2nd S-shaped deceleration
3rd acceleration
3rd S-shaped acceleration
3rd deceleration
3rd S-shaped deceleration
4th acceleration
4th S-shaped acceleration
4th deceleration
4th S-shaped deceleration
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Homing speed (fast)
Homing speed (slow)
Homing offset speed
Homing acceleration
• 32-bit positioning parameter (32.Pr)
• Step parameter
32.Pr* *
Parameter
Default
32.Pr* *
Parameter
Default
Incremental
0
0
1
2
3
4
5
6
7
Home offset
0
0
0
0
0
0
0
0
Operation mode
Setting of maximum movement in plus direction
Setting of maximum movement in minus direction
Movement per rotation in rotation coordinates
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Position/waiting time
Speed
01H
to
3CH
VEL1
ACC1
DEC1
Single
Acceleration
Deceleration
Block
(For manufacturer's use)
229
Download from Www.Somanuals.com. All Manuals Search And Download.
M E M O
230
Download from Www.Somanuals.com. All Manuals Search And Download.
Motor Company, Matsushita Electric Industrial Co.,Ltd.Marketeing Group
Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03)3538-2961
FAX (03)3538-2964
Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044
TEL (072)870-3065
FAX (072)870-3151
231
Download from Www.Somanuals.com. All Manuals Search And Download.
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 manufacture
or the dealer of the machine or equipment.
Cautions for Proper Use
•This product is intended to be used with a general industrial product, but not designed or manufactured to be
used in a machine or system that may cause personal death when it is failed.
•Install a safety equipments or apparatus in your application, when a serious accident or loss of property is
expected due to the failure of this product.
•Consult us if the application of this product is under such special conditions and environments as nuclear
energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which
require a lesser air contamination.
•We have been making the best effort to ensure the highest quality of the products, however, application of
exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and com-
ponents may result in unexpected action. It is highly recommended that you make a fail-safe design and
secure the safety in the operative range.
•If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending
on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking
and verification by customer is required.
•Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into
consideration when the application of the machine is clean room related.
•Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as
sulphuration can lead to disconnection from the chip resistor or a poor contact connection.
•Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply
of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or
a fire and other trouble.
Technical information
Electric data of this product (Instruction Manual, 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
MEMO (Fill in the blanks for reference in case of inquiry or repair.)
M
M
M
DD
MD
MA
Date of
purchase
Model No.
Dealer
Tel : (
)
-
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan
Tel : (81)-72-871-1212
IMD16
© 2006 Matsushita Electric Industrial Co., Ltd. All Rights Reserved.
S0406-0
Download from Www.Somanuals.com. All Manuals Search And Download.
|