AC Servo Motor Driver

MINAS S-series

Operating Manual

Be sure give this instruction manual to the user.

Thank you very much for your buying Panasonic AC Servo Motor Driver,A-series. Before use, read through this manual to ensure proper use. Keep this manual at an easily accessible place so as to be referred anytime as necessary.

Table of Contents
Before Use
Safety Precautions 4 Introduction 8
After Opening the Package 8 Check the Model Number of Amplifier 8 Check the Model Number of Motor 9 Check the Combination of Amplifier and Motor 10

Parts Description 12
Amplifier 12 Motor 13

Installation 14
Amplifier 14 Motor 16

Preparations and Adjustments

System Configuration and Wiring 1 8
General Wiring Diagram List of Available Components Main Circuits CN SIG Connector For Encoder CN SER Connector CN I/F Connector For Controller CN MON Connector Overview Parameter Groups and Listing Setting the Parameters Overview of PANATERM How to Connect 18 20 22 23 24 25 35 36 36 41 41 41

Trial Run 44
Inspections before Trial Run 44 Operation with CN I/F Connected 45

Adjustments 50
Purposes of Gain Adjustments Types of Gain Adjustments How to Adjust Gain How to Use "Normal Auto-Gain" Tuning How to Use "Real Time Auto-Gain" Tuning How to Adjust Gain Manually Gain Tuning Using Gain Adjustment Rotary Switch To reduce the mechanincal resonance 50 50 52 53 54 55 58 59

Parameter Setting 36

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Important Information
Protective Functions 60 Maintenance and Inspections 6 6 Troubleshooting 68 After-Sale Service Back cover

Appendixes
Conformance to EC Directives and UL Standards App. 2 Holding Brake App. 6 Dynamic Brake App. 8 Timing Chart App. 10 Acceptable Loads on Output Shaft App. 14 Homing Operation (Precautions) App. 15 Recommended Parts Dimensions Characteristics Specifications Details of Parameters Optional Parts App. 47 App. 48 App. 53 App. 54 App. 16 App. 38

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Safety Precautions

(Important)

Observe the following precautions in order to avoid injuries of operators and other persons, and mechanical damages. The following DANGER and CAUTION symbols are used according to the level of dangers possibly occurring if you fail to observe the instructions or precautions indicated.

DANGER CAUTION
must observe.

Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. Indicates a potentially hazardous situation which, if not avoided, will result in minor or moderate injury and physical damage.

The following symbols indicate what you are not allowed to do, or what you

This symbol indicates that the operation is prohibited. This symbol indicates that the operation must be performed without fail.

DANGER
An over-current protection, earth leakage breaker, over-temperature protection and emergency stop should be installed.
Failure to observe this instruction could result in electric shocks, injuries and/or fire.

Don't insert your hands in the amplifier.

Failure to observe this instruction could result in burns and/or electric shocks.

Install the amplifier securely to prevent fire hazard and personal injury resulting from earthquake.
Failure to observe this instruction could result in electric shocks, injuries and/or fire.

Be sure to check safety after occurrence of earthquake.

Failure to observe this instruction could result in electric shocks, injuries and/or fire.

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DANGER
Don't touch the rotating part of the motor in motion. Don't subject the product to water splash, corrosive gases, flammable gases and combustible things.
Failure to observe this instruction could result in fire.

Before Use

Rotating part

Failure to observe this instruction could result in injuries.

Do not expose the cables to sharp edges, excessive pressing forces, heavy loads or pinching forces.
Failure to observe this instruction could result in electric shocks, malfunction and/or damages.

Perform the transportation, wiring and inspection at least 10 minutes after the power off.
Failure to observe this instruction could result in electric shocks. Always ask to an electrical engineer for wiring.

Ground the earth terminal of the amplifier.

Install an external emergency stop device so that you can shut off the power in any emergency cases.
Failure to observe this instruction could result in injuries, electric shocks, fire, malfunction and/or mechanical damages.

Failure to observe this instruction could result in electric shocks.

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Safety Precautions
Caution
Use the motor and amplifier in the specified combination.

(Important)

Execute the trial operations with the motor fixed but without motor load connected. Connecting a load to the motor is possible only after successful trial operation.
Failure to observe this instruction could result in injuries.

Failure to observe this instruction could result in fire.

If an error occurs, remove the causes for the error and secure the safety before restarting the operation.
Failure to observe this instruction could result in injuries.

Don't touch the motor, amplifier or its regenerative discharge resistor, since they become hot.
Failure to observe this instruction could result in burns.

Avoid extreme adjustment or change. Avoid an operation which causes unstable action.
Failure to observe this instruction could result in injuries.

Don't modify, dismantle or repair the amplifier.

Failure to observe this instruction could result in fire, electric shocks and/or injuries.

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Caution
Don't hold the cables or motor shaft when transporting the motor. After recovery from the power failure, the equipment may restart suddenly. Don't approach the equipment
Failure to observe this instruction could result in injuries.
*Provide appropriate settings as a preparedness against the accidental restart of the machine in order to ensure the safety of personnel.

Before Use

Failure to observe this instruction could result in injuries.

Don't block the heat dissipation hole or insert foreign matters in it.

Observe the voltage specified.

Failure to observe this instruction could result in electric shocks, injuries and/or fire.

Failure to observe this instruction could result in electric shocks, injuries and/or fire.

Make sure that the wirings are made correctly.

This equipment should be treated as an industrial waste when it is disposed of. Do not turn on/off the main power frequently. Failure to observe this instruction could result in malfunctions.

Failure to observe this instruction could result in electric shocks, injuries.

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Introduction
After Opening the Package
Make sure that the product is what you have ordered. Check whether the product has been damaged or not during transportation. If the product is not correct, or it has been damaged, contact dealer or sales agent.

Check the Model of Amplifier

Name plate
AC SERVO DRIVER

Model Rated input voltage Rated motor output

Model No.

MUDS3A1A1A

INPUT OUTPUT ENCODER Voltage 100-115V 32V 2500P/R Phase 1 3 F.L.C 1.0A 1.0A Freq. 50/60Hz 0~333.3Hz 30W Power 60/75 Wire Only SER.NO. 00010001 Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection

Number of pulses of the encoder(resolution) Rated output current

Serial Number

Model Designation
1~3
Symbol Applicable motors MUD MUMiExtra low inertiaj

5~6

10 11~12

Custom specification Custom specification 2 (A, B, C...) A: Standard Custom specification 1 (1, 2, 3...) 1: Standard Rotary encoder (see Table 1-b) Power supply 1: Single-phase, 100V 2: Single-phase, 200V 3: Three-phase, 200V 5: Three-phase/Single-phase, 200V (common phase)

Series symbol S: S-series

Rated motor output (see Table 1-a) -8-

Check the Model of Motor

Name plate
Type Rated output Revolution rating
AC SERVO MOTOR Model No. MUMS042A1A INPUT 3AC 92 V 1.6 A RATED OUTPUT 0.2 kW Hz RATED FREQ. 200 RATED REV. 3000 r/min CONT. TORQUE 0.64 Nm RATING S1 INS. CLASS B (TV) A (UL) IP65 CONNECTION SER No. 00010001

Before Use

Serial No

MatsushitaElectric Industrial Co..Ltd. Made in Japan

Model Designation
1~3
Symbol MUM Type Super low inertia
Motor structure (see Table 1-c) Custom specification 1 1: Standard Rotary encoder (see Table 1-b)

5~6

10 11~12
Custom specification 2

Series symbol S: S-series Rated output (see Table 1-a)

Voltage 1: 100V 2: 200V Z: 100/200V

Table 1-a

Rated Motor Output

Table 1-b Symbol A

Rotary Encoder Specifications Type Incremental

No. of pulses Resolution Lead wire

Symbol Rated output Symbol Rated output 3A 30W 02 200W 5A 50W 04 400W 01 100W 08 750W Table 1-c Oil seal None Yes Motor Structure Brake None Yes None Yes Shaft Straight A B C D

2500P/r

10000

11-wire

Key way E F G H
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Specifications with the shaft provided with key way are standard.

Introduction
Check the Combination of Amplifier and Motor
The amplifier has been designed for use in combination with the specified motors only. Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.

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With the incremental type encoder: 2500P/r

Before Use

Power supply for Amplifier amplifier 1-phase, MUDS3A1A1A 100V MUDS5A1A1A MUDS011A1A MUDS021A1A MUDS041A1A 1-phase, MUDS022A1A 200V MUDS042A1A 3-phase/1- MUDS3A5A1A phase, 200V 200V MUDS5A5A1A MUDS015A1A MUDS043A1A MUDS083A1A

Amplifier type

Motor
Series symbol

Motor type

Voltage

Type1 MUMS MUMS3AZ Super Type2 Type3 Type2 Type3 Type1 Low inertia MUMS5AZ

3-phase, MUDS023A1A Type2 Type3

**** **** MUMS011A **** MUMS021A **** MUMS041A **** MUMS022A **** MUMS042A **** MUMS3AZA **** MUMS5AZA **** MUMS012A **** MUMS022A **** MUMS042A **** MUMS082A ****

Output rating 30W 50W 100W 200W 400W 200W 400W

Revolution rating

Encoder type

100V

Incremental 3000r/min 2500P/r, 11 wires

200V

30W 50W 100W 200W 400W 750W

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Parts Description
Amplifier
Example: MUDS023A1A (3-phase, 200V 200W: Type 1) Example: MUDS042A1A (1-phase, 200V 400W: Type 3)

MSDS

STATUS ALM CODE

MSDS

STATUS ALM CODE

Status LED Alarm code LED

GAIN

CN SER

Communication connector CN SER Controller connection (CN I/F)

GAIN

CN SER

Main power input connector (L1, L2, L3,P, B) Motor connection (U, V, W, E)

Rotary switch for gain (GAIN) tuning

CN I/F CN POWER

CN I/F CN POWER

CN SIG

Earth connections

CN MOTOR

Encoder connection (CN SIG)

CN SIG CN MOTOR

CN MON

Check pins (CN MON)

Check pins (CN MON)

<Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.50 to 52).

CN MON

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Motor
Example: Super Low-Inertia Motor (MUMS Series, 400W)

Before Use

Encoder cable Motor cable

Encoder

Brake cable (Motor with electromagnetic brake only ) Flange

Frame Mounting bolt holes (4)

<Notes> For detailed information for each of motor types, see the drawings in the Appendix (App.48 & 49).

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Installation
The amplifier and motor should be properly installed to avoid failures, mechanical damages and injuries.

Amplifier
Location
Indoors, where the amplifier is not subjected to rain water and direct sun beams. Note that the amplifier is not a waterproof structure. Avoid the place where the amplifier is subjected to corrosive gases, flammable gases, grinding liquids, oil mists, iron powders and cutting particles. Place in a well-ventilated, and humid- and dust-free space. Place in a vibration-free space.

Environmental Conditions
Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude Conditions 0 to 55C (free from freezing) Not greater than 90%RH (free from condensation) -20 to 80C (free from condensation) Not greater than 90%RH (free from condensation) Not greater than 5.9m/s2 (0.6G) at 10 to 60 Hz Not greater than 1000 m

How to Install
This is a rack-mount type. Place the amplifier vertically. Allow enough space surrounding for ventilation. Front panel mount type (recessed)

MSDS

STATUS ALM CODE

GAIN

CN SER

CN I/F CN POWER

CN SIG CN MOTOR

Earth connection (M4 screw) tightening torque shall not exceed 0.39 ~ 0.59 Nm.

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Mounting Direction and Space Requirements

Allow enough space to ensure enough cooling. Install fans to provide a uniform distribution of temperature in the control box. The airflow of fan is more than 0.43m3/min. And it should be located 10 cm away from the amplifier. Observe the environmental requirements for the control box, mentioned in the previous page.
Fan Fan min. 100mm

Before Use

MSDS

STATUS ALM CODE

MSDS

STATUS ALM CODE

MSDS

STATUS ALM CODE

MSDS

STATUS ALM CODE

GAIN

GAIN

GAIN

GAIN

CN SER

CN SER

CN SER

CN SER

CN I/F CN POWER CN POWER

CN I/F CN POWER

CN I/F CN POWER

CN I/F

min. 40mm

CN SIG CN MOTOR

min. 10mm

CN SIG CN MOTOR

min. 10mm

CN SIG CN MOTOR

min. 10mm

CN SIG CN MOTOR

min. 40mm

min. 100mm

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Installation
Motor
Location
Indoors, where the amplifier is not subjected to rain water and direct sun beams. Avoid the place where the amplifier is subjected to corrosive gases, flammable gases, grinding liquids, oil mists, iron powders and cutting particles. Place in a well-ventilated, and humid- and dust-free space. Easy maintenance, inspections and cleaning is also important.

Environmental Conditions
Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Motor only With gear (At rotation) Shock Motor only With gear Conditions 0 to 40C (free from freezing) Not greater than 85%RH (free from condensation) -20 to 80C (free from freezing) Not greater than 85%RH (free from condensation) 49 m/s2 (5G) or less at rotation, 24.5 m/s2 (2.5G) or less at rest High precision and normal type: 24 m/s2 (2G) or less Standard type: 49 m/s2 (5G) or less 98 m/s2 (10G) or less High precision and normal type: 98 m/s2 (10G) or less Standard type: 24 m/s2 (2G) or less

How to Install
The motor can be installed either vertically or horizontally. Observe the following notes. Horizontal mounting Place the motor with the cable outlet facing down to prevent the entry of oil and water. Vertical mounting If a motor is coupled with a reduction gear, use a motor equipped with oil seal so that oil in the reduction gear may not enter into the motor.

Oil and Water Protections

This motor(IP65 rating) can be used where it is subjected to water and/or oil drops, but is not water - or oil - proof. Therefore, the motors should not be placed or used in such environment. If the motor is coupled with a reduction gear, use the motor with oil seals to prevent the reduction gear oil from entering into the motor. Don't use the motor with the cables being immersed in oil or water.
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Cable Motor

Oil and water

Cable: Stress Relieving

Make sure that the cables are not subjected to moments or vertical loads due to external bending forces or self-weight at the cable outlets or connections. In case the motor is movable, secure the cable (proper one supplied together with the motor) to a stationery part (e.g. floor), and it should be extended with an additional cable which should be housed in a cable bearer so that bending stresses can be minimized. Make the bending radius of cables as large as possible. (Minimum bend radius: 20 mm)

Before Use

Permissible Shaft Load

Make sure that both of radial and thrust load to be applied to the motor shaft during installation and running, are within the specified value of each model. Pay extra attention to installing a rigid coupling (especially an excess bending load which may cause the damages and/or wear of the shaft and bearings). Flexible coupling is recommended in order to keep the radial load smaller than the permissible value, which is designed exclusively for servo motors with high mechanical stiffness. For the permissible shaft load, see "Allowable Shaft Loads Listing" in Appendix.

Installation Notes
Don't hit the shaft with a hammer directly while attaching/detaching the coupling to the motor shaft.(otherwise the encoder at the opposite end of the shaft will be damaged). Try perfect alignment between shafts (misalignment may cause vibration, and damages of the bearings).

Motor

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System Configuration and Wiring

General Wiring Diagram
Main Circuits
Non-Fuse Breaker (NFB) Used to protect the power lines: overcurrent will shut off the circuit. Noise Filter (NF) Prevents the external noise from the power line, and reduces the effect of the noises generated by the servo motor. Magnetic Contactor (MC) Turns on/off the main power of the servo motor. Used together with a surge absorber. Reactor (L) Reduces the harmonic current in the main power.

Terminals P and B In case of use under large regenerative e n e r g y, c o n n e c t a n e x t e r n a l regenerative discharge resistor to P and B terminals.

Ground

<Notes> Where residual-current-operated protective device (RCD) is used for protection in case of direct or indirect contact. Only RCD of Type B is allowed on supply side of this Electronic Equipment (EE).

Regenerative discharge resistor

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Preparations and Adjustments

Personal computer

STATUS ALM CODE

7
8 9

Communication control software PANATERM

GAIN

5 6

1
2 3 4

CN SER

CN SER
CN I/F CN POWER

(to connect a PC or controller)

CN I/F
(to connect a controller)
CN SIG CN MOTOR

CN SIG
(to connect an encoder)

Encoder cable

1234 1234 1234 Hazardous Voltage

Others; Low Voltage circuit Motor cable Power supply for motor brake (24VDC) -19-

System Configuration and Wiring

List of Available Components
Amplifier
Required Power Series Voltage Output (at the rated load) Circuit breaker (rated current) Noise filter Magnetic contactor (contacts)
Main circuit wire diameter

(L1 , L2, L3, U, V, W, E)

30 ~ 50W

Approx. 0.3kVA B K 2 5 1 D V O P 1 4 4 1 B M F T 6 1 0 4 1 N
(3P+1a)

1-phase, 1 0 0 W Approx. 0.4kVA ( 5 A ) 1 0 0 V 2 0 0 W Approx. 0.5kVA (10A) *1-phase, 30 ~ 50W 200V MUDS 1-phase, 200V
100W 2 0 0 W Approx. 0.5kVA 4 0 0 W Approx. 0.9kVA B K 3 1 0 1 D V O P 1 4 4 2

4 0 0 W Approx. 1.0kVA B K 2 1 0 1 D V O P 1 4 4 2 B M F T 6 1 5 4 1 N (3P+1a) (3P+1a) 0.75mm2 AWG 18

Approx. 0.3kVA B K 3 5 1 D V O P 1 4 4 1 B M F T 6 1 5 4 1 N ~ 0.85mm2 (5A)

(10A)

*3-phase, 30 ~ 50W Approx. 0.3kVA B K 3 5 1 D V O P 1 4 4 1 M M F T 6 1 0 4 2 N 200V 1 0 0 W (3P+1a) (5A)

2 0 0 W Approx. 0.5kVA

3-phase, 4 0 0 W Approx. 0.9kVA B K 3 1 0 1 ( 1 0 A ) 2 0 0 V 7 5 0 W Approx. 1.3kVA B K 3 1 5 1 D V O P 1 4 4 2 (15A)

As these models with * are used for both 1-phase 200V and 3-phase 200V, make a choice according to the power source.

When these wires are used, wire length between circuit breaker and amplifier should be less than 3 m. The model numbers of circuit breaker and magnetic contactors shown in the above list are manufactured by Matsushita Electric Works, Ltd. Use the circuit breaker as shown in App.3 to meet relevant EC Directives. The model number of noise filters (options) shown in the above are manufactured by Okaya Electric Industries Co., Ltd. <Notes> CN POWER, CN MOTOR and earth terminals Wires should be copper conductors of a temperature rating of 60C or above. Earth wire diameter should be 2.0 mm 2 (AWG14) or larger. Please also consider the electrochemical potentials between metal conductor including closed loop terminals. The electrochemical potentials shall be less than 0.6V.

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For 3-phase 200VAC

3-phase 200V
NFB ON
MC

MC MC

OFF L 10 8 6 5

Noise filter

L1 L2 L3 P B P N

172167-1
tyco Electronics AMP Red White or yellow Black Green/yellow

172159-1
tyco Electronics AMP

3 5557-10R-210 1 4 6 3 5557-06R-210

1 2 3 4

U V W E

Preparations and Adjustments

Motor
9

ALM

ALM

VDC 12~24V 13 COM

For 1-phase 100V/200V

Single-phase 100V or Single-phase 200V
NFB ON
MC

MC

OFF L 10

Noise filter

MC

L1 L2

6 5 172167-1
tyco Electronics AMP

L3 P B P N

172159-1
tyco Electronics AMP

3 5557-10R-210

Red White or yellow Black Green/yellow

1 2 3 4 5557-06R-210

1 4 6 3

U V W E

Motor
9

ALM

ALM

VDC 12~24V 13 COM

<Note> In case that alarm occurs, construct the circuits so that the main power is switched off.

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System Configuration and Wiring

Main Circuits
Always ask to an electric engineer for wiring. Don't turn on the main power until the wiring and connectings are completed, to avoid electric shocks.

Wiring Instructions
Make necessary connections. For wire diameter, see List of Available Components (page 20). Securely insert connectors.
See the nameplate of the amplifier to check the power specification. Install a non-fuse breaker or leakage breaker. The latter should be a special one intended for inverters, i.e. with a countermeasure against higher harmonics. Install a noise filter without fail. Install a surge absorber to the magnetic contactor coil.
Power supply
NFB NF MC L

Install an AC reactor. For three-phase 200V,connect L1(10pin), L2(8pin), and L3(6pin). For single-phase 100V and 200V, connect L1(10pin) and L3(6pin). Connect to the grounding system of the facility. Never fail to connect between the amplifier's protective earth terminal ( ) and control board's protective earth terminal (ground plate) in order to avoid electric shocks. Ensure to connect matching in color between the motor wires and terminals (U, V, W and E).

5 P

CN POWER

10 L1 L2 L3 6

D class ground: 100 max. For wire diameter, see page 20.

B 1 3

CN MOTOR

Red White or yellow Black

U V W

1 2 3 4
1 4

Don't short circuit or ground. Don't connect to the main power.

Green E yellow

Motor

DC 24V

Power supply for elector magnetic brake (Min, 0.5A)

The electromagnetic brake is not polar-sensitive. For power capacities, see the App. 7. For use of the brake, see "Holding Brake" in App. 6. Install a surge absorber.

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CN SIG Connector (For Encoder)

Wiring Instructions
MSDS

POWER ALARM

Power

GAIN

RS232C

The cable length between the amplifier and motor should be max. 20 m. If you use a longer cable, contact the dealer or sales agent. Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.

CN I/F CN POWER

CN SIG

Motor

Encoder

CN MOTOR

min.30cm max.20m

Preparations and Adjustment

Wiring Diagrams
172171-1 tyco Electronics AMP Yellow Orange
Yellow Green

172163-1 tyco Electronics AMP CN SIG Z Z B B A A 5 6 3 4 1 2 11 12 13 14 11 12 9 10 7 8 17 18 3 1 4 2 15 20 Z Z B B A A

When you prepare your own connecting cables see the "Optional Parts" for connectors, and 1) Follow the wiring diagram and use the 2) Wire material: 0.18 mm2 (AWG24) or more, shielded twist-paired wire @with an enough bending durability, 3) Signal/power paired wires should be of a twist-paired type. 4) Shield: The shield at the amplifier side should be connected to Pin 20 (FG) of CN SIG Connector. The shield at the motor side should be connected to: connector of 15 pins type

Blue Red Pink Light Blue Purple White Black

RX RX +5V 0V

RX RX +5V 0V +5V 0V FG

FG

Moter side

Connecting cable

Driver side

5) If the cable is longer than 10 m, the encoder power line (+5V and 0V) should be dual per the figure shown left. 6) Other terminals should be left unconnected.

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System Configuration and Wiring

CN SER Connector
For RC232C communications
Connect a personal computer to the amplifier with RS232C at 1:1, and use the communication control software "PANATERM " (Option). Operate "PANATERM " on the personal computer. Convenient functions of high operability can be obtained such as monitor and parameter setting and setting change and waveform graphic display. Connection

MSDS

STATUS ALM CODE

Exclusive connection cable (Option) See App. 44.

Personal computer

Insert and pull out connector after cutting power to both personal computer and amplifier

GAIN

CN SER

Securely tighten the fixing screw CN SER RS232C connector

CN I/F

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List of Available Components

CN I/F Connector (For Controller)
Wiring Instructions
max. 3 m
MSDS

Place the peripheral devices such as the controller max. 3 m away from the amplifier.
POWER ALARM GAIN RS232C CN I/F CN POWER

Controller
min.30 cm
Power supply

CN SIG CN MOTOR

Separate these wiring min. 30 cm from the main circuit wires. Don't lay these wires in the same duct of the mains or bundle with them.

Preparations and Adjustments

Motor

The control power (VDC) between COM+ and COM- should be supplied by the customer (recommended voltage: +12VDC to +24VDC).
COM+ 1 2 GND

Use a shielded twist-paired type for the wiring of pulse input, encoder signal output, etc.

Do not apply power higher than 24V or 50mA to control signal output terminal.
VDC

COM-

If you directly activate a relay using the control signal,install a diode in parallel to the relay as shown in the left figure. Without a diode or with it but placed in the opposite direction, the amplifier will be damaged.
CN I/F

FG

The Frame Ground (FG) is connected to an earth terminal in the amplifier. CN I/F Connector Specifications Receptacle on the amplifier side 10226-52A2JL Connector to controller side Part description Part No. Solder type plug (Soldering type) Connector cover 10126-3000VE 10326-52A0-008 Manufacturer Sumitomo three M

The CN I/F pins assignment is shown in "Optional Parts" in Appendix.

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 CN I/F Wiring for Position Control

If this is an open collector I/F, see P1 in page 33.

4.7k

Servo-ON

PULS1
220 220

22 23 Command pulse input

Alarm clear

1 COM+ 2 SRV-ON 3 A-CLR PULS2 CL GAIN DIV 5

Position error counter clear 4

VDC 12~24V

2nd gain switching

Command pulse scaler switch 6

CW overtravel inhibit

Scaler
330 330 330

CCW overtravel inhibit

7 CWL 8 CCWL 9 ALM COIN 10 11 BRKOFF 12 WARN 13 COMFG CN I/F CN MON

1K 1K

A-phase output B-phase output Z-phase output

Servo alarm

In-position

SIGN1 24 25 SIGN2 14 GND 15 OA+ 16 OA17 OB+ 18 OB19 OZ+ 20 OZ-

Circuits Available for Typical Control Modes

System configutration and wiring

- 26 CZ 21 26 SPM IM GND

Mechanical brake release

Alarm (Pr09)

Z-phase output (open collector)

1 2 Monitor pin 3 Monitor pin

Velocity monitor output Torque monitor output

 CN I/F Wiring for Internal Velocity Control

Servo-ON

1 COM+ 2 SRV-ON
4.7k 220 220

PULS1 PULS2 23

22

Alarm clear

Internal vel .cmnd.select 2

VDC 12~24V

Speed zero clamp

Internal vel .cmnd.select 1

CW overtravel inhibit

3 A-CLR 4 INTSPD2 5 ZEROSPD 6 INTSPD1 7 CWL

Scaler
330 330 330

CCW overtravel inhibit

8 CCWL 9 ALM COIN 10 11 BRKOFF 12 WARN 13 COMCZ

A-phase output B-phase output Z-phase output

Servo alarm

At-speed

24 SIGN1 SIGN2 25 14 GND 15 OA+ 16 OA17 OB+ 18 OB19 OZ+ 20 OZ-

Preparations and Adjustments

- 27 21 26 FG CN I/F CN MON
1K 1K

Mechanical brake release

Alarm (Pr09)

Z-phase output (open collector)

SPM IM GND

1 2 Monitor pin 3 Monitor pin

Velocity monitor output Torque monitor output

System configuration and wiring

CN I/F Connector
Input Signals (Common) and their Functions
Signal Control signal power (+) Control signal power (-) Servo-ON Pin No. 1 1 3 Symbol Function Use power supply of 12V10%`24V10% C O M | Connect to (-) of an external power supply(12VDC to 24VDC). The required capacity depends on the I/O circuit configuration. I/F circuit \\

C O M { Connect to (+) of an external power supply(12VDC to 24VDC).

0.5A or larger is recommended. 2 SRV-ON When this signal is connected to COM-, the dynamic brake will be SI <Notes> released and the amplifier is enabled. (Servo-ON). page 33 1. This signal becomes effective about two seconds after power on (see the Timing chart). 2. Don't use this Servo-ON or Servo-OFF signal to turn on or off the motor. (See App.8) Allow at least 100ms delay after the amplifier is enabled before any command input is entered. By opening the connection to COM- , the amplifier will be disabled(Servo-OFF) and the current flow to the motor will be inhibited. Operation of the dynamic brake and clearing action of the position error counter can be selected using Pr69 (Sequence under Servo-OFF). 3 A-CLR If the COM- connection is kept closed for more than 120 ms,
the alarm status will be cleared.

Alarm clear

SI page 33

Some alarms cannot be cleared by this input.

For details, see Protective Functions on page 60.

Position error counter clear/Internal command velocity selection 2

CL/ The function differs depending on the control mode. SI INTSPD2 page 33 Position control Internal velocity control Clears the position error counter. Connect to COMto clear the counter. Use Pr4D to select the clear mode (0 Default: level 1: Edge) The internal velocity selection 2 (input) is valid. 4 kinds of velocity settings are available by combination with DIV/ INTSPD1 input. See control mode setting Pr02 (APP . 16).

- 28 -

Signal Gain switching/ Speed zero clamp

Pin No. 5

Symbol GAIN/ ZEROSPD

Function The function differs depending on the control mode.

I/F circuit SI page 33

Position control

The functions depend on the value of Pr30. Gain switching input results. Input for switching PI/P operation and No. 1/No. 2 gains. P r 3 0 Connection Function value to COM0 Open Speed loop:PI(ProportionalEIntegration) operation (Default) Close 1 Open Close Speed loop: P (Proportion) operation #1 gain selection (Pr10, 11, 12, 13, 14) #2 gain selection (Pr 18, 19, 1A, 1B, 1C)

Preparations and Adjustments

Internal velocity control

At Pr31 value of 2 For No.2 Gain change Funcution, see Protective Adjustments on page 57. Speed zero clamp input results. With COM- open, the velocity command is considered zero. This input can be made disabled using Pr06. Default: Contact is set. With COM- open, the velocity command is considered zero. Pr06 value Meaning 0 ZEROSPD is disabled. 1 [Default] ZEROSPD is enabled

Command pulse scaler switch/ Internal command velocity selection 1

6 Position control

DIV/ INTSPD1

The function differs depending on the control mode.

SI page 33

This is the input to switch command pulse scaler. With COM- closed, the numerator of the command scaler is changed from the value stored in Pr46 (Numerator of 1st Command Scaler) to the value stored in Pr47 (Numerator of 2nd Command Scaler). <Note> Don't enter command pulses 10 ms after or before switching. The internal velocity selection 1 (input) is valid. 4 kinds of velocity

Internal velocity control

settings are available by the combination with CL/INTSPD2 input. See control mode setting Pr02 (APP. 16).

- 29 -

System configuration and wiring

Signal CW overtravel inhibit CCW overtravel inhibit 8 CCWL Pin No. 7 Symbol CWL I/F circuit If COM- is opened when the movable part of the SI machine has moved to CW exceeding the limit, the page 33 Function motor does not generate torque. If the COM- is opened when the movable part of the SI

machine has moved CCW exceeding the limit, the page 33 motor does not generate torque. When Pr04 (Overtravel Limit Input Disabled) = 1, CWL and CCWL inputs are disabled. The default is "Disabled" (1). The dynamic brake can be made operable during CWL/ CCWL inputs valid. Use Pr66 (Dynamic Brake Inactivation at Overtravel Limit) to make the dynamic brake operable. The default is to allow the dynamic brake to operate. (Pr66 value is 0.)

Input Signals (Position Control) and their Functions

Signal Command pulse 2 3 Command sign 2 5 SIGN2 2 4 Pin No. 2 2 Symbol I/F circuit P U L S 1 This is the input terminal for command pulses. The maximum allowable PI input frequency is 500 kpps for line amplifier input and 200 kpps for page 33 PULS2 open collector input. The amplifier is the high-speed photocoupler Function SIGN1 of TOSHIBA TLP554 or equivalent. The input impedance of PULSE and SIGN signals is 220. Command pulses can be input in three different ways. Use Pr42 to select one of the following. (See App.26.) 1) Quadrature (A and B) input 2) CW (PULSE)/CCW (SIGN) pulse input 3) Command pulse (PULS)/Sign (SIGN) input

- 30 -

Output Signals (Common) and their Functions

Signal Servo alarm In-position/ At-speed Position control Internal velocity control Mechanical brake release Warning 1 2 WARN 1 1 Pin No. 9 1 0 Symbol ALM COIN I/F circuit This output (transistor) turns off, when the S O 1 detector detects an alarm. page 34 Function The function differs depending on the control S O 1 mode. In-position output Output(transistor) turns ON when the position error is below the preset value by Pr60 (In-Position Range). At-speed. This output (transistor) turns ON, when the motor speed exceeds the preset value by Pr62 (At-Speed). Used to release the motor electromagnetic brake. Use "Output (transistor) ON" to release the electromagnetic brake. See Timing Charts (App. 10 -13). SO1 page 34 page 34

Preparations and Adjustments

BRK-OFF

Signal which is selected at Pr09 (warning output selection) S O 1 will be turned on. This output (transistor) turns ON at least page 34 for one second after warning indication signals are output.

Pr0A value Function 0 "In-torque limiting" output Output(transistor) turns ON during the In-toque limiting. 1 Zero speed output Output(transistor) turns ON when the motor speed becomes lower than that of the preset speed with Pr61(Zero speed). Output of both over-regeneration and overload warnings

[ D e f a u l t ] Output(transistor) turns ON when either one of overregeneration or overload is activated. 3 Over-regeneration warning output Output(transistor) turns ON when the over-regeneration (more than 85% of permissible power of the internal 4 regenerative discharge resistor) warning is activated. Overload warning output Output(transistor) turns ON when the overload (the effective torque is more than 85% of the overload trip 5 level) warning is activated. Does not function, although displayed.
- 31 -

System configuration and wiring

Signal A-phase output B-phase output Z-phase output Z-phase output Pin No. 1 5 1 6 1 7 1 8 1 9 2 0 2 1 Symbol OA + OA OB + OB OZ + OZ CZ I/F circuit Provides differential outputs of the encoder signals P O 1 (A, B and Z phases) that come from the divider page 34 Function (equivalent to RS422 signals). The logical relation between A and B phases can be selected by Pr45 (Output Pulse Logic Inversion). Not insulated Z-phase signal output in an open collector Not insulated Signal ground 1 4 GND Signal ground for pulse output Internally isolated from the control power (COM-). -----PO2 page 35

Others
Signal Frame ground Pin No. 2 6 Symbol FG Function Internally connected to the earth terminal. I/F circuit ------

Output Signals (Others) and their Functions

Signal Speed monitor signal output Pin No. 1 Symbol SP I/F circuit Outputs the motor speed, or voltage in proportion to the A O page 35 commanded speed with polarity. Function + : CCW rotation : CW rotation Use Pr07 (Velocity Monitor Selection) to switch between actual and commanded speed, and to define the relation between speed and output voltage. Torque monitor output 2 IM Outputs the output torque, or voltage in proportion to the position A O page 35 error with polarity. + : generating CCW-torque : Fgenerating CW-torque Use Pr08 (Torque Monitor Selection) to switch between torque and positional error, and to define the relation between torque/positional error and output voltage. Signal ground 3 GND Signal ground for monitor signal Internally isolated from the control power (COM).
- 32 -

-----

CN I/F Connector
Interface Circuit (Input Circuit) SI Connecting to sequence input signals
Connect to a contact of switch and relay, or a transistor of an open collector output. Use a switch or relay for micro current so that insufficient contact can be avoided. Can be used with COM- instead of COM+
VDC 12~24V Relay 1 COM+ 4.7k

12~24V VDC Relay

1 COM+ 4.7k
Servo-ON or other input

Preparations and Adjustments

Servo-ON or other input

Available at reverse polarity

PI Command pulse input circuit

1) Line Amplifier I/F This is a good signal transmission method that is less sensitive to noises. We recommend you to use this to maintain the reliability of signals. 2) Open Collector I/F This uses an external control power supply(VDC). This requires a current-limiting resistor corresponding to the capacity of the VDC value.

1)

AM26LS31or equivalent

22 PULS1 23 220

PULS2 24 SIGN1 25 220

14 SIGN2 GND

2)
22 PULS1 R 23 220

PULS2 24 SIGN1
R 25 VDC 220

V DC 12V 24V VDC - 1.5 R + 220

R value 1k1/4W 2k1/4W 10mA

14 SIGN2 GND

shows a pair of twisted wires.

- 33 -

System configuration and wiring

Interface Circuit (Output Circuit) S O 1 Sequence output circuit
This comprises a Darlington amplifier with an open collector. This is connected to a relay or photo coupler. There exists a collector-to-emitter voltage VCE(SAT) of approx. 1.2V at transistor ON, because of Darlington connection of the output transistor. Note that normal TTL IC can't be directly connected since this does not meet VIL requirement. If the recommended current value of the actual photocoupler is 10mA, calculate the resistance using the formula below. VDC - 2.5 10
Install as per the fig. shows without fail

SO1
ALM

12~24V VDC R [k] SO1

WARN or other signal COM

13

Maximum rating: 30V, 50mA

[K]

R=

For the recommended current value, see the data sheets of actual equipment and photocoupler.

PO1 Line Driver (Differential Output) Output

Provides differential outputs of encoder signals (A, B and Z phases) that come from the scaler. Receive these signals with a line receivers. In this case, install a resistor of approx. 330 between the inputs.

AM26LS32 or equivalent OA+ OAOB+ OBOZ+ OZ-

15 16 17 18 19 20

AM26LS31 or equivalent A B

14 GND

shows a pair of twisted wires.

Connect the amplifier signal grounds to the controller.

- 34 -

P O 2 Open Collector Output

Outputs Z-phase signals among those from the encoder. The outputs are noninsulated. Receive these signal with high-speed photo coupler at controller side, since these Z-phase signal width is normally narrow. shows a pair of twisted wires.
Maximum rating: 30V, 50mA

19 CZ 14 GND
High-speed photo coupler TOSHIBA TLP554 or equivalent

Preparations and Adjustments

CN MON Connector
Monitor Circuit (Output Circuit) A O Analogue Monitor Output
Output from CN MON Connector This output is the velocity monitor signal (SP) or torque monitor signal (IM). The signal range is approx. 0 to 9V. The output impedance is 1k. Pay attention to the input impedance of your measuring instruments and external circuits connected. <Resolution> 1) Velocity monitor signal (SP): 8r/min./ LSB calculated from 6V/3000r/min (Pr07 = 3) 2) Torque monitor signal (IM): 0.4%/LSB calculated from 3V/rated value (100%)

CN MON 1 SP
Measuring instrument or external circuit

1k

2 IM 1k 3 GND

- 35 -

Parameter Setting
Overview
The servo amplifier has various parameters that are used for adjusting or setting the features or functions of the amplifier. This section describes the purpose and functions of these parameters. Understanding these parameters is essential for obtaining the best, application-specific operation of the amplifier. You can view, set and adjust these parameters using your personal computer with the communication software PANATERM .

Parameter Groups and Listing

Group
Function selection Adjustment
ParameterNo.

Pr**

Brief explanation
You can select the control mode, allocate I/O signals, and set the baud rate and etc. You can set various factors and constants such as the servo gains (1st and 2nd) for position, velocity and integration, and time constants of filters. Real time auto-tuning parameters. You can set the real time auto-tuning mode, select the machine stiffness, etc. You can set the parameters relating to the switching between 1st and 2nd gains. You can set the input format of command pulses, logical selection, encoder pulse rate and pulse scaler.

00 ~ 0F 10 ~ 1F 20 ~ 22

Position control

30 ~ 35 40 ~ 4D

Internal velocity and torque control

53 ~ 5A

You can set the internal speed (1st to 4th), and it's acceleration and deceleration time.

Sequence

5E 60 ~ 6C

You can set the torque limit. You can set the conditions for detecting the output such as inposition and zero-speed, and set the processing conditions at excess position error, etc. You can also set the conditions for stopping at the main poweroff, in-alarm and servo-off, or conditions for the error counter clearance, etc.

For details, see "Details of Parameters" in Appendix.

<Notes> Parameters marked with * are enabled, when set data are written to EEPROM, main power is once turned OFF and then turned ON again.
- 36 -

Parameters for Selecting Function

Parameter NO. (Pr**) Parameter description Axis address (Internal use) Control mode set-up (Internal use) Overtravel Input inhibit (Internal use) ZEROSPD input selection Speed monitor(SP) selection Torque monitor (IM) selection Warning output selection (Internal use) (Internal use) Baud rate set-up of RS232C (Internal use) (Internal use) Range Default Unit

0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 A 0 B 0 C 0 D 0 E, 0 F

0 ~ 15 ----0~1 -----0~1 ----0~1 0~9 0~5 0~5 ----------0~2 -----------

1 0 0 1 1 1 1 3 0 2 1 1 2 2 0

---------------------------------------------------------------------------

Preparations and Adjustments

For values marked with *, see page 36.

Parameters for Adjusting Time Constants of Gain Filters, etc.

Parameter NO. (Pr**) Parameter description Range Default Unit

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

0 1st position loop gain 1 1st velocity loop gain 2 1st velocity loop integration time constant 3 1st speed detection filter 4 1st torque filter time constant 5 Velocity feed forward 6 Feed forward filter time constant 7 (Internal use) 8 2nd position loop gain 9 2nd velocity loop gain A 2nd velocity loop integration time constant B 2nd speed detection filter C 2nd torque filter time constant D Notch fr eq uenc y E Notch width selection F Disturbance torque obserber
- 37 -

0 ~ 2000 1 ~ 3500 1 ~ 1000 0~5 0 ~ 2500 0 ~ 100 0 ~ 6400 -----0 ~ 2000 1 ~ 3500 1 ~ 1000 0~5 0 ~ 2500 100 ~ 1500 0~4 0~8

100 100 5 0 4 5 0 0 0 0 100 100 5 0 4 5 0 1500 2 8

1/s Hz ms -----0.01ms % 0.01ms -----1/s Hz ms -----0.01ms Hz -----------

Parameter Setting
Parameters for Defining the Real Time Auto Gain Tuning
Parameter No. (Pr**) Parameter description Inertia ratio Real time auto tuning set-up Machine stiffness at auto tuning (Not available) Range Default Unit

2 2 2

0 1 2

0 ~ 10000 0~3 0~9 ---------

100 0 2 100 0

% -----------------

2 3 24~2F

(Internal use)

Parameters for Adjustments (for 2nd Gain)

Parameter No. (Pr**) Parameter description 2nd gain action set-up Position control switching mode Position control switching delay time Position control switching level Position control swiching hysteresis Position loop gain switching time (Not available) (Not available) (Internal use) Range Default Unit

3 3 3 3 3 3 3

0 1 2 3 4 5 6

0~1 0~8 0 ~ 10000 0 ~ 10000 0 ~ 10000 0 ~ 10000 -------------

0 0 0 0 0 0 0 0 0

--------166s --------(1 + Setting value)

x166s -------------

37 ~ 39 3E~3F

- 38 -

Parameters for Position Control

Parameter No. (Pr**) Parameter description Command pulse multiplier set-up Command pulse logic inversion Command pulse input mode set-up (Internal use) Output pulses per single turn Pulse output logic Inversion Numerator of 2nd command pulse ratio (Internal use) (Internal use) Multiplier of numerator of command pulse ratio Denominator of command pulse ratio Smoothing filter set-up Counter clear input (Internal use) Range Default Unit

*4 *4 *4 4 *4 *4 4 4 4 4 4 4 4

0 1 2 3 4 5 6 7 8 9 A B C

1~4 0~3 0~3 1 1 ~ 16384 0~1 1 ~ 10000 --------0 ~ 17 1 ~ 10000 0~7 0~1 -----

4 0 1 1 2500 0 10000 10000 10000 10000 0 10000 1 0 0

----------------------------------------2n -------------

Numerator of 1st command pulse ratio 1 ~ 10000

Preparations and Adjustments

4 D 4 E, 4 F

For values marked with *, see <Note> in page 36.

Parameters for Velocity and Torque Control

Parameter No. (Pr**) Parameter description Range Default Unit

5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5

0 (Internal use) 1 (Internal use) 2 (Internal use) 3 1st internal speed 4 2nd internal speed 5 3rd internal speed 6 4th internal speed 7 (Internal use) 8 Acceleration time set-up 9 Deceleration time set-up A S-shaped Accel./Decel. time set-up B (Internal use) C (Internal use) D (Internal use) E Torque limit set-up F (Internal use)
- 39 -

------------- 10000 ~ 10000 - 10000 ~ 10000 - 10000 ~ 10000 - 10000 ~ 0000 ----0 ~ 5000 0 ~ 5000 0 ~ 500 ------------0 ~ 500 -----

500 1 0 0 0 0 0 300 0 0 0 0 3 0 0 300 0

------------r/min r/min r/min r/min ----2ms/kr/min 2ms/kr/min 2ms ------------% -----

Setting the Parameters

Parameters for Sequence
Parameter No (Pr ) Parameter description In-position range Zero speed At-speed Position error set-up Range Default Unit

6 6 6 6 6 6 6 6 6 6 6 6

0 1 2 3 4 5 6 7 8 9 A B

0 ~ 32767 0 ~ 10000 0 ~ 10000 0 ~ 32767 0~1 -----0~1 -----0~3 0~7 0 ~ 100 0 ~ 100 0~2 ------

1 0 5 0 1000 1875 0 1 0 0 0 0 0 0 2 0

Pulse r/min r/min

256Pulse

Position error invalidation (Internal use) Dynamic Brake inhibition at overtravel limit (Internal use) Sequence at alarm Sequence at Servo-OFF Mech. break action set-up at motor stadstill Mech. break action set-up at motor in motion

------------------------------2ms 2ms -----------

* 6 C External regenerative discharge resistor selection 6 D ~ F (Internal use)

For values marked with *, see <Note> in page 36.

Set-up range of excessive positional deviation of Pr63 is "Set-up value x 256 pulses". Set-up is made before shipment so that the excessive positional deviation error takes place at value in excess of 1875 x 256 pulses. Pr5E Torque limit set-up
Power supply for amplifier Amplifier Amplifier type Default

MUDS3A1A1A Single-phase 100V MUDS5A1A1A MUDS011A1A MUDS021A1A Type 2 Type 3 Type 2 Type 3 Type 1 330 350 330 Type 1 300

Pr5E "Torque limit set-up" disables set-up in excess of the values set up for the system parameter "Max. torque set-up". Values for "Max. torque set-up" are same as defaults. The system parameters are fault parameters that cannot be changed with PANATERM or on the operation panel.

MUDS041A1A Single-phase M U D S 0 2 2 A 1 A 200V 3-phase / 200V 3-phase 200V MUDS042A1A MUDS3A5A1A

Single-phase M U D S 5 A 5 A 1 A MUDS015A1A MUDS023A1A MUDS043A1A MUDS083A1A

300

Type 2 Type 3

330 300

- 40 -

Setting the Parameters

You can set the Parameters with your personal computer with the S-series communication software PANATERM.

<Notes> For the use of PANATERM for parameter handling, see the instruction manual of the software.

Preparations and Adjustments

Overview of PANATERM
You can conduct the following operations using PANATERM:
1) Setting the Parameters for amplifier, storing them, and writing in the memory (EEPROM) 2) Monitoring input/output status, monitoring pulse input, monitoring load ratio. 3) Checking current error status and error history 4) Measurement of wave form graphic data, and storage and reading of the data 5) Automatic tuning 6) Measurement of frequency characteristics

How to Connect

MSDS

POWER ALARM

RS232C cable

GAIN

DVOP1960 (DOS/V) DVOP1160 (For PC-98 series)

CN SER

CN I/F CN POWER

Connect to CN SER. Setup disc of DVOP2820 communication software PANATERM

CN SIG CN MOTOR

- 41 -

Setting the Parameters

Installing PANATERM on a hard disc
<Notes> 1. The memory capacity of the hard disc should be 15MB or more. Prepare OS of Windows 95 or Windows98. 2. Install PANATERM with setup discs, otherwise the software does not work.

Procedure
1) Turn on your personal computer. Start Windows95 (or 98).
(If there is any application program on, close all of them.) 2) Insert the PANATERM setup floppy disk in the floppy disk drive. 3) Start Explorer, and switch (select) to the floppy disk drive. (For the procedure for starting the Explorer program, see the instructions for Windows.) 4) Double click on the setup program (Setup. exe) in the floppy disk. (PANATERM setup program will start.) 5) Click on

OK

to start the setup program.

6) Keep the operation according to the guide of the setup program. (When indication to replace the setup disk appears, follow this instruction.) 7) Click on Start installing? to start the setup routine. 8) Confirm an message "Setup completed". Then click on

OK .

9) Close all the applications. Then restart Windows. PANATERM will be added to the program menu when restarted.

- 42 -

Starting PANATERM
<Notes> 1. Once you install PANATERM on your hard disc, you do not have to install it again for next use. 2. Before using PANATERM , the amplifier, power supply, motor and encoder should be connected. For the procedure for starting PANATERM , see the Windows manual .

Procedure
1) Turn on your personal computer. Start Windows95 (or 98).
2) Turn on the amplifier. 3) Click on the start button of Windows (see the Windows manual). 4) Select (click on) PANATERM from the program menu. 5) An opening splash will be displayed for two seconds, and then PANATERM screen will appear. For the operation, functions and other details about PANATERM , see the Instructions for the PANATERM program.

Preparations and Adjustments

- 43 -

Trial Run
Inspections before Trial Run
1) Inspecting the wiring
Make sure that all wire connections (especially main power and motor output ) are correct. Make sure that there is no short, and earth wires are properly connected. Make sure that there is no poor connections.

2) Inspecting the power specifications

Make sure that the voltage is correct.

STATUS ALM CODE

5 6

Power
GAIN

7 8

9 01
2 3

CN SER

CN I/F CN POWER

Controller

3) Securing the servo motor

Make sure that the servo motor is firmly secured.

CN I/F

4) Disconnecting the motor load

Trial run without load
CN MOTOR

CN SIG

5) Releasing the brake

CN SIG

Motor Machine (motor load)

Ground

- 44 -

Operation with CN I/F Connected

1) Connect CN I/F. 2) Connect the control signal (COM+/-) to the power supply (12 to 24V DC). 3) Turn the main power (amplifier) ON. 4) Check the defaults of the parameters. Control mode setting (Pr2 value: 0). 5) Connect between SRV-ON (CN I/F pin 2) and COM- (CN I/F pin 13) to make Servo-On active. The motor will be kept excited.

Preparations and Adjustments

Run at Position Control Mode

1) Set Pr42 (Command Pulse Input Mode Set-Up) according to the output form of the controller. Then
write it down to EEPROM. Then turn the power OFF and then ON again. 2) Send a low-frequency pulse signal from the controller to the amplifier to run the motor at low speed. 3) Check the motor speed at monitor mode with PANATERM. Make sure that the speed is per the set-up. Check if the motor stops when the command (pulse) is stopped.

Wiring Diagram
1 DC 12V~24V 2

Parameters
PrNo. Pr02
Parameter description Control mode set-up Overtravel input inhibit Value

COM+ SRV-ON

0 1 1

13

COM

Pr04 P r 4 2 Command pulse input mode set-up

22 120 23 24 120 25

Use the controller to send command pulses.

PULS1 PULS2 SIGN1 SIGN2
In case of op collector for CW/CCW pulse inputs

Input Signals Status

No. 0 A
Input signal Servo-ON Counter clear Monitor display with PANATERM

DC 5V

+A ---

21 14

CZ GND

Z-phase output for homing

- 45 -

Trial Run
Set-up of motor speed and input pulse frequency
Input pulse frequency Motor speed
Pr 46

x2
Pr 4B

Pr 4A

(pps) 500k 250k 100k 500k

(r/min) 3000 3000 3000 1500

2500P/r
10000

x 2

10000 10000

x 2

5000 10000

x 2

2000 5000

x 2

10000 * You can set any value by setting any value for the numerator and denominator. However, the motor follow the extreme setting of the ratio. It is recommended to set within a range from 1/50 to 20. action will not

Relationship between motor speed and input pulse frequency

Gear
(Example) Rotate the motor by 60 degrees with an overall reduction ratio of 18/365

60

Pulley ratio: 18/60 Gear ratio: 12/73 Overall reduction: 18/365

Encoder pulse

2500P/r
Pr46

x 2
Pr4B

Pr4A

365

x2
108

Theory

Set the parameter so that motor turns 60with 10000 pulses when a command is entered from the controller to the amplifier.

Determining the parameter

3 6 5 10000 60 x x 1 8 1 0 0 0 0 360
365 x 2 108
0

<Notes> Default: The motor output shaft turns one revolution with 10000 pulses.

- 46 -

Test Run at Internal Velocity Control Mode

1) Select the internal velocity control mode (Pr02: 1) for the control mode.
2) Run with zero speed clamp input (ZEROSPD) (5 pin) switch close, and rotate the motor with the combination of the internal command speed selection INTSPD 1 (6 pin) and INTSPD 2 (4 pin). 3) Check the motor speed on the PANATERM monitor. E Speed and direction

4) Make sure that the motor stops by making zero speed clamp input (ZEROSPD) open. 5) To change the speed or direction, adjust the following parameters again. Pr53 - Pr56: Velocity set-up for 1st speed through 4th speed See "Details of Parameters" in Appendix 31.

Preparations and Adjustments

Wiring Diagram
1 2 4 DC 12V~24V 5 6

Parameters
PrNo.
Parameter description Control mode set-up Overtravel input inhibit ZEROSPD input selection Value Default

COM+ SRV-ON INTSPD2 ZEROSPD INTSPD1 COMZEROSPD switch Close: Run Open: Stop

Pr02 Pr04 Pr06 Pr53 ~ Pr56 Pr58 Pr59 Pr5A

1 1 1

0 1 1 0 0 0 0

Velocity set-up

1st speed Set as rethrough quired 4th speed

Acceleration time set-up Deceleration time set-up

S-shaped accel/decel time set-up

Internal speed 1st speed (Pr53) 2nd speed (Pr54) 3rd speed (Pr55) 4th speed (Pr56)

DIV/INTSPD1 (6 pin) OPEN CLOSE OPEN CLOSE

CL/INTSPD2 (4 pin) OPEN OPEN CLOSE CLOSE

Input Signal Status

No. 0 5
- 47 Input signal Servo-ON Speed zero clamp Monitor display

+A ---Stop with +A

Trial Run
Fundamental Operations and LED Indications

1. Turn on the power.

STATUS

Power supply

ALM CODE
7 8

5 6

9 01

4
2 3

GAIN

CN SER

CN POWER
CN I/F CN POWER

CN SIG CN MOTOR

Motor

- 48 -

2.Check LED status.

LED color Green Orange Red Meaning Main power is on. Amplifier power is on. Flashing when warning occurs. (Overload, excessive regenerative energy) Alarm

Make sure that the alarm code LED is not flashing. (Under the normal operation, the alarm indicator is OFF.) This indicator will start flashing when an alarm occurs. Alarm codes (see page 60-65) are indicated by the number of flash (in orange and red) Orange: Tens digits, Red: Unit digits
Set the rotary switch to default "0" position for GAIN adjustment.

Preparations and Adjustments

(Example) When an overload (alarm code No.16) occurs: The alarm indicator will flash in orange once and in red six times. 1 sec. orange 1 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. After red red red red red red 2 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. 0.5 sec. seconds

3. Set Parameters.
CN I/F

Prepare a personal computer and PANATERM.

CN SIG

4. Input commands relevant to the desirable control mode.

CN MOTOR

- 49 -

Adjustments
Purposes of Gain Adjustment
In case of the servo motor, the motor is required to act per any command without any time delay, or without missing any commands. necessary. To ensure this, gain adjustment is

<Example: ball screw>

Gain set-up: low
+2000 +2000

Gain set-up: high

+Feed forward set-up

0
Actual velocity Command Speed

-2000 -2000 {r/min} {r/min} 0.0

125

250

375

0.0

125

250

375

0.0

125

250

375

Position loop gain Velocity loop gain Velocity loop integration time constant Velocity feed forward Inertia ratio

: 20 : 100 : 50 :0 : 100

Position loop gain Velocity loop gain Velocity loop integration time constant Velocity feed forward Inertia ratio

: 100 : 50 : 50 :0 : 100

Position loop gain Velocity loop gain Velocity loop integration time constant Velocity feed forward Inertia ratio

: 100 : 50 : 50 : 50 : 100

Types of Gain Adjustment

Type
Automatic adjustment Real time Normal mode

Description
Accelerate and decelerate the motor per the preset

Gain set value of rotary switch for gain adjustment

auto gain tuning (internally fixed) patterns to calculate the load inertia
from the required torque. Then automatically define appropriate gains according to the inertia. During an actual operation, calculate the load inertia in

auto gain tuning real time. Then automatically define appropriate gains
according to the inertia. The gains will be automatically adjusted against the fluctuation of load inertia during operation.

Manual adjustment

Manual gain tuning

You can manually adjust the necessary gains to obtain the most appropriate action by monitoring command to the amplifier, motor speed, torque and position error as the monitor signals (SP, IM), or using the optional communication software, PANATERM (especially with its graphic function).

Gain tuning using the rotary Gain adjustment is available by digital setting with switch for gain adjustment
the rotary switch.

1-9

- 50 -

Applicability of Automatic Adjustment

Item Load inertia Load
Must not fluctuate much The machine (motor load) and its coupling must have a higher mechanical stiffness. The backlash of the gears and other equipment must be small. Eccentric load must be smaller than one-fourth of the rated torque. The viscous load torque must be smaller than one-fourth of the rated torque. Any oscillation must not cause any mechanical damages of the machine (motor load). Two CCW turns and subsequent two CW turns must in no case cause any troubles.

Conditions
Must be at least three times as large as the motor inertia, but not greater than 20 times.

Preparations and Adjustments

The auto gain tuning affects the values of the following six parameters.

P r 1 0 1st Position Loop Gain P r 1 1 1st Velocity Loop Gain P r 1 2 1st Velocity Loop Integration Time Constant

P r 1 3 1st Speed Detection Filter P r 1 4 1st Torque Filter Time Constant Pr20 Inertia Ratio

Pr15 (Velocity Feed Forward) will be automatically changed to 0%, if the auto gain tuning is
executed.

<Notes>
The real time auto gain tuning will be disabled in the following cases: 1) Running pattern at a constant speed 2) Running pattern with a small acceleration/deceleration

Relationship between Gain Adjustment and Mechanical Stiffness

To increase the mechanical stiffness, 1) The machine (motor load) should be firmly secured to a rigid foundation. 2) The coupling between the motor and machine should be a high-stiffness special for servo motors. 3) The timing belt should have a larger width. The tension of the timing belt should be according to the allowable axial load of the motor. 4) The gears should have a smaller backlash characteristic. The inherent frequency (resonance) of the machine significantly affects the gain adjustment of the servo motor. If the machine has a lower resonance frequency (i.e. lower stiffness), you can't set the high response of the servo system. adjusted one designed

- 51 -

Adjustments
How to Adjust Gain
Start

Turn gain adjustment rotary switch GAIN CW.

No Actioon OK? Abnormal sound or vibration occurs.

Adjust setting to value suitable for machine configuration. For table of rotary set values and machine configuration, see page 58.

Return gain adjustment rotary switch GAIN to original position. (Turn CCW.)

OK

Action OK?

NG Adjust gain adjustment rotary switch to "0" position. No Setting by PANATERM is required.
Yes Normal auto gain tuning Real time auto gain tuning

Automatic adjustment (automatic gain tuning)

No
Actioon OK? Abnormal sound or vibration occurs. Yes

Manual gain tuning

Guidance values of gains Monitoring the velocity and torque using PANATERM, fine-adjust the gains so that the motor action follows the commands. OK
No

Action OK?

NG
Any affect of the machine resonance ? Yes Notch filter

Measure the resonance frequency of machine system

Pr1D

Torque command filter

Pr14,Pr1C
No

Do you need higher response ? Yes 2nd gain switching function

NG

Action OK?

OK
Downloading to EEPROM

<Notes>
Pay extra attention to the safety.

End

If the machine enters to oscillation (abnormal sound and vibration), shut off the power immediately, or change to Servo-OFF. - 52 -

How to Use "Normal Auto-Gain" Tuning

Automatic tuning is available when the gain adjustment rotary switch GAIN is set to "0" position only.
1) Start PANATERM, and click on "Auto tuning" in the window menu to open the automatic tuning screen. 2) Move the bar for mechanical stiffness to set the stiffness.To start from smaller value (1).
Driving method Ball screw + direct coupling Ball screw + timing belt Timing belt Gear, or rack & pinion Others: lower stiffness Mechanical stiffness

Preparations and Adjustments

4`8 3`6 2`5 1`3 1`3

4) 15 seconds, the motor repeats the cycle 5 times(at

3) Click on [Start] button to execute automatic tuning. CN I/F pin 2: Servo-ON Pr ID (Notch Frequency) = 1500

most), which consists of two CCW revolutions and two CW revolutions. Note that this process doesn't necessarily repeat 5 cycles and this is not abnormal. Value is entered in the post-application column after tuning.

5) Download the obtained gain values to EEPROM. Note that if you turn off the power before downloading, the gain values will be lost. <Notes> Never perform normal automatic tuning with single motor nor with single amplifier. Otherwise, Pr20 (inertia ratio) becomes zero, possibly resulting in oscillation.
Symptom Cause Remedy

E r r o r m e s s a g e Either one of Alarm, Servo-Off or Avoid operation near the limit switch or home displayed
Position Error Counter Clear activated. position sensor. Turn to Servo-ON. Cancel the Position Error Counter Clear. Values of gain affecting parameters (e.g. Pr10) doesn't change. The load inertia cannot be calculated. E x e c u t e a g a i n w i t h P r 1 0 a n d P r 11 r e d u c e d t o 1 0 a n d 5 0 r e s p e c t i v e l y. Execute the manual adjustment. (Calculate and input load inertia.) Motor does not turn. CL/INTSPD 2 (4 pin) of CN I/F input Make CL/INTSPD 2 (4 pin) of CN I/F OFF.

- 53 -

Adjustments
How to Use "Real Time Auto-Gain" Tuning
Automatic tuning is available when the gain adjustment rotary switch GAIN is set to "0" position only.
1) Start PANATERM, and go to Parameter Set-up Mode. 2) Set Pr1F (Disturbance torque observer) to 8 (invalid). 3) Set Pr22 (Real time auto tuning machine stiffness).
Driving method Ball screw + direct coupling Ball screw + timing belt Timing belt Gear, or rack & pinion Others: lower stiffness Mechanical stiffness

4~8 3~6 2~5 1~3 1~3

First, set the parameter to the smallest value and then gradually increase with which no abnormal sound or vibration will occur.

4) Set Pr21 (Real time auto tuning mode) to 1 or 2. The operation may not be stable depending on the operation pattern. In this case, set the parameter to 0 (to disable the auto tuning function).
Pr21 value Real time auto tuning set-up Disabled Fluctuation of load inertia during operation

0 1 2 3 5) Start the motor.

--------Almost no change Small change Quick change

Enabled

With a larger value, the response to the change in load inertia (acceleration) is quicker. 6) If the fluctuation in load inertia is small, stop the motor (machine), and set Pr21 to 0 to fix the gain (in order to raise the safety). 7) FDownload the obtained gain values to EEPROM. Note that if you turn off the power before downloading, the gain values will be lost.

<Notes>
Before changing Pr21 or Pr22, stop (servo-lock) the motor. Don't modify Pr10 through Pr15. Otherwise it may give a shock to the machine.

- 54 -

How to Adjust Gain Manually

Before Adjustment
You may adjust the gains by viewing or hearing the motions and sound of the machine during operation. But, to adjust the gains more quickly and precisely, you can obtain quicker and secure adjustment by analog wave form monitoring. 1. Wave form graphic function of PANATERM You can view the graphic information of the command to the motor, actual motor action (speed, torque and position error) on the computer display screen. For details, see the instructions of PANATERM .

Preparations and Adjustments

2. Using the analogue monitor output You can measure the actual motor speed,commanded speed,torque, position error in analog voltage level with an oscilloscope.To do this, it is necessary to specify the types of output signals and output voltage level by using Pr07 (Velocity monitor selection), Pr08 (Torque monitor selection). For details, see "CN MON Connector" in the main part of this manual, and "Details of Parameters" in Appendix.

MSDS

POWER ALARM

RS232C cable

GAIN

CN SER

CN I/F CN POWER

<Note>
CN SIG CN MOTOR

Connect to CN SER.

Guidance Values of Gains, and How to Adjust

See the table below for the guidance values of gains, if the inertia ratio has been set correctly.

Machine Ball screw Timing belt Rack & pinion

Position loop gain Pr10 100 5 0 5 0

Velocity loop gain Pr11 5 0 2 5 2 5

Velocity loop integration time constant

Pr12 5 0 5 0 200`500

How to adjust 1) Adjust the velocity loop gain Pr11. 2) Take "Position loop gain Pr10 set-up value 2 x Velocity loop gain Pr11 set-up value" as a guidance value of stable operation. 3) Set-up of "Position loop gain Pr10 set-up value > 5 x Velocity loop gain Pr11 set-up value" will lead to hunting and oscillation.

<Notes>
Set-up of current loop gain for adjustment by customers is unavailable. Values are fixed to those set up before shipment by motor model. - 55 -

Adjustments
How to Adjust the Gain at Position Control Mode
1) Input the inertia ratio of Pr20. For horizontal axis, take measurements on the basis of "Normal auto tuning". For vertical axis, obtain values through calculations. 2) Conduct adjustments with the parameters shown in the following table taken as guidance values.

Parameter No. Pr10

Parameter description 1st position loop gain

Guidance value 50

Concept of adjustment OK, if there is no problem with the motion. With a larger value, responsibility improves. With an excessively large value, oscillation occurs. OK, if there is no unusual running noise. If unusual noise is heard, decrease

Pr11

1st velocity loop gain

30

the value. OK, if there is no problem with the motion. With a smaller value,

Pr12

1st velocity loop integration time constant

50

responsibility improves. With an excessively small value, oscillation occurs. With a larger value, deviation pulses may not be converged but left over indefinitely.

Pr13

1st velocity detection filter

0 OK, if there is no unusual running noise. If vibration is found,

Pr14

1st torque filter time constant

50

change the value. Adjust the value so that "Pr11 set-up value x Pr14 set-up value" may be smaller than 10000. If vibration takes place, make Pr14 larger and Pr11 smaller.

If you want to improve the response further, adjust Pr15 (Velocity Feed Forward) within the extent that the motor (machine) does not generate abnormal sound or vibration. With a larger value, overshoot and/or chattering of in-position signals may occur, which results in a longer in-position time. Note that this may be improved by adjusting the value of Pr16 (Feed Forward Filter).

How to Adjust the Gains at Internal Velocity Control mode

1) Start the motor (machine). 2) Increase the value of Pr11 (1st Velocity Loop Gain) gradually until the motor (machine) does not generate abnormal sound or vibration. 3) Decrease the value of Pr12 (1st velocity Loop Integration Time Constant) according to the delay of commands. With a smaller value, overshoot may occur.

- 56 -

How to improve the response further

You can manually adjust the 2nd gain. With the 2nd gain adjustment, you can expect quicker response.

<Example>
When you want to reduce the noise produced during the stopping (servo-locking), you set the lower gain after the motor stops.

Action Status Gain

Commanded speed Stop (servo-lock) Lower gain (1st gain)

1ms

Run Higher gain (2nd gain)

Suppress the vibration by lowering the gain

2ms

Stop (servo-lock) Lower gain (1st gain)

Time

Preparations and Adjustments

Parameter No. Pr10

Parameter description 1st position loop gain

Guidance value Value same as the 2nd position loop gain

Concept of adjustment

Pr11

1st velocity loop gain

Value same as the 2nd velocity loop gain

OK, if there is no unusual running noise at servo lock in stop. If unusual noise is found, make the value smaller. OK, if there is no problem with the motion. With a smaller value, responsibility improves. With an excessively small value, oscillation occurs.

Pr12

1st velocity loop integration time constant

50

Pr13 Pr14

1st velocity detection filter 1st torque filter time constant

Fixed set-up

V a l u e s a m e a s t h e OK, if there is no unusual running noise at servo lock in 2nd torque filter time stop. If unusual noise is found, change the value. constant

Pr18

2nd position loop gain

50

OK, if there is no problem with the motion. With a larger value, responsibility improves. With an excessively large value, oscillation occurs.

Pr19

2nd position loop gain

30

OK, if there is no unusual running noise. If unusual noise is found, make the value smaller.

Pr20 Pr30 Pr31 Pr1A

Inertia ratio 2nd gain operation set-up Position control changeover mode 2nd velocity loop integration time constant 1 7 1000

First, make the set-up correctly.

Pr1B Pr1C

2nd velocity detection filter 2nd torque filter time constant

0 50

Fixed set-up OK, if there is no unusual running noise. If unusual noise is found, change the value.

<Notes> For setting parameters for other control modes, see Appendix.
- 57 -

Adjustments
Gain Tuning Using Gain Adjustment Rotary Switch
Set the rotary switch depending on machine configuration. Then while checking movement of machine, in5 6

For increasing gain

7 8
When the number gets larger, gain will be increased.

crease the rotary switch value one by one.

0 1

Note

4
2 3

For lowering gain

<Notes> *Do not operate rapid change of the value such as 9 to 0 or 0 to 9. Otherwise the motor will oscillate, which results in abnormal sound and vibration.

Relationship between Gain Adjustment Rotary Switch Value and Inertia

RSW setting
1 2 3 4 5 6 7 8 9 Value of Pr10 (Standard factory setting: 100) Value of Pr11 (Standard factory setting: 100)

Position Loop Gain

Velocity Loop Gain

Values of Pr11 and Pr19

Inertia Ratio
Value of Pr20 5 0 100 150 200 300 400 500 750 1000

0 [factory setting] Values of Pr10 and Pr18

<Notes> Set the rotary switch to "0" position when setting automatic gain tuning or parameters. Set up the RSW to "0" when using the 2nd gain.

- 58 -

To reduce the mechanical resonance

If the machine is not stiff, vibration and noise may be generated due to the resonance by shaft torsion, and you mey not be able to set-up the higher gains. You can suppress the resonance by 2 types of the filters. 1 . Torque command filter (Pr14 and Pr1C) Set the filter's time constant so that Resonance characteristics the frequency components around the Resonance resonance region can be attenuated. You can obtain the cutoff frequency (fc) by the following formula; Gain Cutoff frequency, fc (Hz) = 1/(2 x Parameter value x 0.00001) Anti-resonance 2 . Notch filter (Pr1D and Pr1E) Frequency Characteristics of Adjust the notch frequency of the filter notch filter to the resonance frequency.

Preparations and Adjustments

P r 1 D Notch frequency

Set this about 10% lower than the resonance frequency measured by the frequency characteristics analysis function of PANATERM . Use the default value of 2.

Gain Notch Frequency

Pr1E

Notch width selection

How to measure the resonance frequency of a machine system

1) Log-on PANATERM and open the frequency characteristics screen. 2) Set the following parameters and measuring conditions. Note that the values shown below are only guidance. Decrease the value of Pr11 (1st Velocity Loop Gain) to 25 (to make the resonance frequency more distinguishable). Set the amplitude to 50 r/min (so that the torque may not saturate). Set the offset to 100 r/min. (to increase the amount of velocity detection information, and run the motor in one-way rotation). Polarities: (+) for CCW and (-) for CW. Set the sampling rate to 1 (from a range between 0 and 7). Start the frequency characteristics analysis function. <Notes> Before starting the measurement, make sure that the machine does not move beyond the limit. Approximate speed = Offset (r/min.) x 0.017 x (Sampling rate + 1) With a larger offset value, good results can be obtained, though the speed becomes higher. Set-up Pr21 (Real time auto tuning mode set-up) to 0. <Notes> Set-up the offset larger than the amplitude setting, and with one-way rotation so that you can obtain better results.

- 59 -

Protective Functions
What are the Protective Functions?
The amplifier has various protective functions. When one of the protections is activated, the motor trips according to the timing chart shown in "Error Handling" in Appendix, and the Servo Alarm Output (ALM) is turned off. Actions to be taken after trip events After a trip event, the status LED (STATUS) on the front panel will be turned in red, and the alarm code LED display (ALM CODE) will start flashing. No servo-ON occurs. For meaning of flashing of alarm code LED, see page 49. Any trip status can be cleared by keeping A-CLR (Alarm Clear Input) on for at least 120 ms. The overload protection can be cleared by A-CLR at least 10 seconds after the occurrence of the event. If the main power supply of amplifier turns off, the time limiting operation is cleared. The alarms mentioned above can also be cleared by using PANATERM. <Notes> Protections marked with * cannot be cleared with A-CLR (Alarm Clear Input). They should be cleared by turning the power off, removing the causes, and then turning the power on again. Alarms of undervoltage protection (Alarm Code No. 11), EEPROM parameter error protection (Alarm Code No. 36), EEPROM check code error protection (Alarm Code No. 37) and drive inhibit input protection (Alarm Code No. 38) are not stored in the Alarm History.

- 60 -

Protective Functions: Causes and Corrections

Protection Undervoltage Alarm Code No. Cause Countermeasures

1 1

The P-N voltage of the main power Measure the terminal-to-terminal voltconverter is lower than the specified age (between L1, L2 and L3). voltage during Servo-ON. 1) Increase the capacity of the main power or replace it with a larger one. 1) The main power line voltage is too low. Or remove the causes of the failure An instantaneous outage occurred. of the magnetic contact, and then re2) Too small power source: The line voltage start the power source. dropped due to the in-rush current at 2) Increase the capacity of the main power on. power. For the required capacity, see 3) Open phase: Operating with a single "List of Applicable Equipment". phase from the main power in spite of 33) Correct the phase (L1, L2 and L3) conphase specifications. nection of the main power. If the main 4) The amplifier (circuit) failed. power is single-phase 100V or singlephase 200V, use L1 and L3. 4) Replace with a new amplifier.

Overvoltage error

1 2

The line voltage is larger than the specified acceptable range, so that the P-N voltage of the converter is larger than the specified value, or the line voltage was raised by a advancing capacitor or UPS (Uninterruptible Power Supply). 1) The internal regenerative discharge resistor is disconnected. 2) The external regenerative discharge resistor is not suitable so that regenerative energy cannot be absorbed. 3) The amplifier (circuit) failed.

Measure the terminal-to-terminal voltages (between L1, L2 and L3). Remove the causes. Feed a power of correct voltage. Except phase advancing capacitor

1) Measure the resistance value of the external resistor installed between P and B amplifier terminals using a tester. If it read , the connection is broken. Replace the external resistor. 2) Use a resistor having the specified resistance for specified rated power. 3) Replace with a new amplifier.

Important information

- 61 -

Protective Functions
Protection *Overcurrent error Cause The current flowing in the converter is larger than the specified value. 1) The amplifier failed (due to defective circuits or IGBT parts). Countermeasures

2) Motor wires (U, V and W) are shorted. 3) Motor wires are grounded.

4) Motor burned

5) Poor connection of Motor wires

6) The relay for the dynamic brake is melted and stuck due to the frequent Servo-ON/OFF. 7) The motor is not compatible with the amplifier.

8) Pulse input and Servo-ON occurs simultaneously, or pulse input occurs faster than Servo-ON.

1) Disconnect the motor wires, and enter Servo-ON. If this trouble happens immediately, replace the amplifier with a new one (that is working correctly). 2) Check if the U. V and W wires are shorted at the connections. Reconnect them, if necessary. 3) Measure the insulation resistance between U/V/W and earth wire. If the resistance is not correct, replace the motor with a new one. 4) Measure the resistance between U, V and W. If they are unbalanced, replace the motor with a new one. 5) Check if the U/V/W connector pins are firmly secured with screws. Loosened pins should be fixed firmly. 6) Replace the amplifier with a new one. Do not start or stop the motor by entering Servo-ON or OFF. 7) Check the capacity of the motor and amplifier on the nameplate. If the motor is not compatible with the amplifier, replace it with a correct one. 8) Pulse input should occur after at least 100 ms following Servo-ON. Refer to Appendix "Timing Chart".

- 62 -

Protection Overload error

Alarm Code No.

Cause

Countermeasures

1 6 Overload protection is activated via Check on waveform graphic screen of the specified time limiting operation P A N A T E R M w h e t h e r t h e t o r q u e

when the integration of a torque com- ( c u r r e n t w a v e ) i s s u r g i n g o r n o t . mand exceeds the specified overload Check the overload alarm message level. and load factor using PANATERM . 1) Caused by a long operation with a torque 1) Increase the capacity of the amplifier and that exceeds the specified torque limit. motor. Lengthen the ramp time of acceleration/deceleration. Re-duce the motor load. 2) Vibration or hunting due to incor- rect 2) Readjust the gains. gains. Cause vibration and/or abnormal Adjust setting of the rotary switch. sound. Adjustment of inertia ratio, set value of Pr20, is required. 3) Motor wires connected wrong or broken 3) Correct the motor wiring per the wiring diagrams. Replace cables. 4) The machine is hit against a heavy thing, 4) Free the machine of any tangle. Reduce or suddenly becomes heavy in operation. the motor load. The machine is entangled. 5) The electromagnetic brake is ON. 5) Measure the voltage at the brake wiring connections. Turn off the brake. 6) Correct the motor and encoder wiring to 6) In a system of multiple amplifiers, some eliminate the mismatching. motors are wired incorrectly to other axis.

Regenerative discharge

1 8

The regenerative energy is larger than the Check regenerative discharge resistor load capacity of the regenerative discharge re- factor on monitor screen of PANATERM. sistor. The amplifier should not be used with continuous regenerative braking. 1) When the load inertia is too large, he 1) Check the operation pattern (using the converter voltage increases due to the velocity monitor). Check the load rate of large energy regenerated during decelthe regenerative resistor and the overeration, and increases more due to the regeneration alarm on display.Increase the shortage energy consumption by the recapacity of the amplifier and motor. generative discharge resistor. Increase the deceleration time. Use an external regenerative resistor. 2) When the velocity of the motor is too high, 2) Check the operation pattern (using the vethe regenerative energy cannot be conlocity monitor). Check the load rate of the resumed within the specified deceleration generative resistor and the over-regeneration time. alarm on display. Increase the capacity of the amplifier and motor. Increase the deceleration time. Reduce the motor rpm. Use an external regenerative re sistor. 3) Set "2" on Pr6C. 3) Operation of external resistor is limited to 10% duty. <Notes> When setting Pr6C to "2", don't fail to install external protection such as thermal fuse. Otherwise, regenerative discharge resistor is not protected any more to cause possible abnormal heat generation, resulting in burning of the motor.

Important information

- 63 -

Protective Functions
Protection Alarm

Code No.

Cause

Countermeasures

* Encoder A/ 2 0 B-phase error

No encoder A- and B-phase pulse is de- Correct the encoder wiring per the wiring tected. The encoder failed. diagram. Correct the connection of the pins. Due to no communication between the encoder and amplifier, the detective function for broken encoder wires is activated. The connection between the encoder and Make sure that the power of the encoder amplifier is broken. is 5VDC 5% (4.75 to 5.25V). Especially when the wire length is long, it is important to meet this requirement. You should not bundle the encoder wires and motor wires together. Connect The encoder sends an erroneous data the shield to FG. See the encoder wiring diamainly due to noises. The encoder is con- gram. nected correctly, though the data is not correct. The position error pulse is larger than 1) Check whether the motor operates per Pr63 (position error limit). the position command pulse or not. See the torque monitor to check if the output 1) Operation of the motor does not follow the torque is saturated. Readjust the gains. commands. Maximize the value of Pr5E (torque limit 2) Pr63 value (Position error limit) is smaller. set-up). Correct the encoder wiring per the wiring diagram. Increase the acceleration and deceleration time. Reduce the load and velocity. ] 2) Increase the value of Pr63. The motor velocity exceeds the specified limit. Do not give excessive speed commands. Check the frequency of the command pulse and scale ratio. If an overshoot occurs due to wrong gain adjustment, readjust the gains. Correct the encoder wiring per the wiring diagram.

2 1 * Encoder communication error

* Encoder connection error

2 2

2 3 * Encoder communication data error

Position error

2 4

Over-speed 2 6 error

Command pulse sealer error

2 7

The scale ratios set by Pr46 through Pr4B (nu- Check the set values of Pr46 through 4B. merator of 1st to 4th command scale) are not Adjust the scale ratio so that the frequency of the command pulse may be correct. 500 kpps or less.

- 64 -

CodeNo. Error counter 2 9 The value of the position error counter is Check that the motor operates per the
over flow o v e r 227 ( 1 3 4 2 1 7 7 2 8 ) . position command pulse. See the torque monitor to check that the output torque does not get saturated. Readjust the gains. Maximize the value of Pr5E (torque limit setup). Correct the encoder wiring. * EEPROM parameter error

Protection

Alarm

Cause

Countermeasures

3 6 The data contained in the parameter stor- Set all the parameters again. If this error
age area of the EEPROM is broken, occurs frequently, the amplifier may have been broken. Replace the amplifier with a new one. Return the old amplifier to the sales agent for repair.

* EEPROM check code error Overttravel inhibit

3 7 The check code of the EEPROM is bro- T h e a m p l i f i e r m a y h a v e b e e n b r o k e n .

ken, Replace the amplifier with a new one. Return the old amplifier to the sales agent for repair. supply that constitute the circuits. Check that the control power (12 to 24VDC) can be established without delay. Check the

3 8 Both the CW and CCW over-travel limits C h e c k t h e s w i t c h e s , w i r e s a n d p o w e r

are not active.

* Other error

9 9

value of Pr04. Correct the wiring, if necessary. The control circuit operates incorrectly Turn off the power and turn it on again. If due to large noises or any other reasons. the error cannot be eliminated, the motor The amplifier's self-diagnosing function is a n d / o r a m p l i f i e r m a y b e b r o k e n . activated, because an error happens in Discontinue use of the motor, and replace the amplifier. the motor and the amplifier. Return the old equipment to the sales agent for repair.

* ) Status LED indicator (STATUS) and alarm code LED indicator (ALM CODE) start flashing simultaneously.

Important information

Status LED red red orange orange

Alarm code LED red orange red orange

- 65 -

Maintenance and Inspections

E Routine maintenance and inspections are essential for proper and satisfactory operation of the amplifier and motor.

Notes to Maintenance/Inspections Personnel

1)Power-on/off operations should be done by the operators themselves. 2)For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be done a while (about 10 minutes), after the power is turned off and the LED lamp on the panel is extinguished. 3)Do not take insulation resistance measures because the amplifier gets damaged.

Inspection Items and cycles

Normal (correct) operating conditions: Ambient temperature: 30 C (annual average) Load factor: max. 80% Operating hours: max. 20 hours per day Daily and periodical inspections should be done per the following instructions. Type Cycles Inspection items Ambient temperature, humidity, dust, particles, foreign matters, etc. Abnormal sound and vibration Main circuit voltage Odor Daily inspection Daily Lint or other foreign matters in the ventilation openings Cleanliness of the operation board Damaged circuits Loosened connections and improper pin positions Foreign matters caught in the machine (motor load) Periodical inspection Every year Loosened screws Signs of overheat

<Notes>
If the actual operating conditions differ from things mentioned above, the inspection cycles may change accordingly.

- 66 -

Replacement Guidance
Parts replacement cycles depend on the actual operating conditions and how the equipment has been used. Defective parts should be replaced or repaired immediately.

Dismantling for inspections or repairs should be done by our company (or our sales agents). Prohibited

Equipment

Part
Smoothing condenser Aluminum electrolytic capacit or o n th e p r in t board

Standard replacement

cycles (hour)
about 5 years

Remarks

Amplifier

about 5 years The replacement cycles shown here are just only for reference. If any part is found defective regardless of the standard replacement cycles, immediately replace it with a new one.

Bearing

3 to 5 years (20 to 30 thousand hours)

Motor

Oil seal Encoder

5000 hours 3 to 5 years (20 to 30 thousand hours)

Important information

- 67 -

Troubleshooting
The motor does not rotate. [Check Points]

The status LED indicator turned red or orange? The LED indicator flashing?

Parameter values correct? The voltage of the power is correct? Is the power fed? Power line connections firmly secured?
STATUS ALM CODE
7 8

GAIN

Controller

5 6

9 01
2 3

CN SER

CN I/F CN POWER

CN I/F connections correct? Not loosened?

Abnormal sound from the motor? The magnetic brake improperly activated?
CN SIG CN MOTOR

CN SIG connections correct? Not loosened?

Machine Motor

Coupling loosened? Loosened connections (wire break, ill contact)? Wiring correct?

- 68 -

The motor does not rotate.

Category
Parameters

Causes

Countermeasures

Wiring

Installation

The control mode selected is not Check the value of Pr02 (control mode set-up). correct. 0: position control, 1: internal velocity control, The torque limit has been set to 0. Check the value of Pr5E (torque limit set-up). Change the value to 300 (default). The zero speed clamp is ON, so Check the value of Pr06 (ZERPSPD input selection). the motor does not operate. Change the value to 0. If the value is 1, the zero clamp function is valid. If you desire to set the parameter to 1, enable the zero speed clamp input, and adjust the wiring so that the zero speed clamp input can be turned on correctly. Internal velocity set-up parameter Check the values of Pr53 through Pr56. Set a desirable number of revolution. is not entered. T h e c i r c u i t f o r C W / C C W Check the value of Pr04. If the value is 0, connect overtravel inhibit is open. between CN I/F pins 8 and 13, and 7 and 13. CN I/F Servo-ON signal is not Connect (short circuit) between CN I/F pins 2 and received. 13. C N I / F c o u n t e r c l e a r i s O N Disconnect between CN I/F pins 4 and 13. (shorted). Turn off the power. Disconnect the motor. Rotate Motor lock the motor shaft by hand to make sure that the motor rotates freely. If the motor is fitted with an electromagnetic brake, rotate the shaft by hand while applying a voltage (24VDC) to the brake. If the motor does not rotate, consult the sales agent to repair it.

Parameter values change to the former value.

Important information
Category
Parameter

Causes

Countermeasures

Parameter values are not down- See "Parameter Setting" chapter. loaded into EEPROM before power off.

- 69 -

Troubleshooting
The rotation is not smooth.
Category
Adjustment

Causes
The gains are not appropriate.

Countermeasures
Increase the value of Pr11 (1st velocity loop gain). Set a torque filter (Pr14) and then further increase the value of Pr11.

P o s i t i o n c o m m a n d s a r e n o t Check the behavior of the motor on the waveform graphic screen of PANATERM using the CN MON check pin. Check the wiring and its connections. Check the controller. 1) Check the wiring and connections between CN I/F pins 2 CN I/F signals are chattering. and 13 by monitoring the display of input and output sig1) Servo-ON signal nals status. Modify the wiring so that Servo-ON signals can be made active correctly. Check the controller. 2) Check the wiring and connections between CN I/F pins 4 and 13 by monitoring the display of input and output sig2) Counter clear input signal nals status. Modify the wiring so that the position error counter clear input can be made active correctly. Check the controller. 3) Check the wiring and connections between CN I/F pins 5 and 13, 4 and 13, and 6 and 13 by monitoring the display of input 3) Zero speed clamp input and output signals status. Modify the wiring so that Zero Speed Internal command speed selection Clamp input can be made active correctly. Check the control1, 2 ler. stable.

Wiring

- 70 -

Positioning accuracy is bad.

Category
System

Causes

Countermeasures

Position commands (amount of Count the number of feedback pulses on the monitor command pulses) are not cor- screen of PANATERM while repeating travel to back and forth within a fixed distance. If the number of rect. feedback pulses varies, adjust the controller. Take measures to reduce the noise on the command pulse. R e a d i n g o f i n - p o s i t i o n s i g n a l s Use the waveform graphic screen of PANATERM to monitor the position error when the in-position occurs at the edge. signals are received. Read the in-position signals at a mid point on the time span, not at the edge. The form and width of the com- If the command pulses are deformed or narrowed, m a n d p u l s e s d e v i a t e f r o m t h e adjust the pulse generation circuit. Take measures to reduce the noise on the command pulse. specified values. T h e p o s i t i o n l o o p g a i n i s t o o Check the amount of position error on the monitor screen of PANATERM . Increase the value of Pr10 small. to the extent that no oscillation occurs. The setting of in-position detec- Decrease the value of Pr60 (in-position range) to the extent that the in-position signals do not chatter. tion range (Pr60) is too large. The command pulse frequency Decrease the command pulse frequency. Change the values of Pr46 through Pr47 (numerator of 1st to exceeds 500 kpps. CN I/F signals are chattering: 1) Servo-ON signals 2nd command scale). 1) Check the wiring and connections between CN I/F pins 2 and 13 by monitoring the display of input and output signals status. Modify the wiring so that Servo-ON signals can be made active correctly. Check the controller. 2) Check the wiring and connections between CN I/F pins 4 and 13 by monitoring the display of input and output signals status. Modify the wiring so that the position error counter clear input cannot be made active during operation. Check the controller.

Adjustment

Parameter

Wiring

2) Counter clear input

Important information

Installation

Load inertia is large.

Check the overshoot at stop using the wave form graphics function of PANATERM. Adjust the gains. If this is not effective, increase the capacity of the amplifier and motor.

- 71 -

Troubleshooting
The initial (home) position varies.
Category
System

Causes

Countermeasures

W h e n c a l c u l a t i n g t h e i n i t i a l Check that the Z-phase accords to the center of ( h o m e ) p o s i t i o n , t h e Z - p h a s e the proximity dog. Perform initialization correctly output is not detected. too high. according to the controller. position, or lengthen the initialization sensor. Creep speed to initial position is Decrease the return speed near the initial (home)

Wiring

The output of the initial (home) Check the input to the sensor using an oscilloscope. position proximity sensor (dog Modify the wiring around the sensor. Take measures sensor) is chattering. Noise on encoder wires to reduce the noise. Take measures to reduce the noise (noise filters, ferrite cores, etc.). Properly connect the shield wires of I/F cables. Use twist-paired wires. Separate the signal and power wires. Z-phase signal is not output. Monitor the Z-phase signal using an oscilloscope. Check that the ground terminal 14 of CN I/F CZ (Z phase signal open collector output) is connected to the ground terminal of the controller. Replace the amplifier and controller, or repair them. The circuit for Z-phase signal is Check that the line amplifier is connected at the both not correct. sides. If the controller does not have a differential input, use CZ (Z phase signal open collector output).

- 72 -

The motor produces an abnormal sound and/or vibration.

Category
Adjustment

Causes
The gains are too large.

Countermeasures
Decrease the values of Pr10 (position loop gain) and

Pr11 (velocity loop gain).Change the value of rotary switch gain. The velocity detection filter is Increase the value of Pr13 (speed detection filter) until the sound decreases to an acceptable level, or not proper. Installation return the value to 4 (default). R e s o n a n c e b e t w e e n t h e m a - Adjust the value of Pr14 (Torque filter time constant). chine and motor occurs. Check the mechanical resonance using the frequency characteristics analysis program in PANATERM . If a Motor bearing resonance occurs, set Pr1D(notch frequency). Operate the motor without load in order to check the sound and vibration near the bearing. Replace the motor and operate it to do the same checks. Repair the motor, if necessary.

Electromagnetic sound, gear sound, Operate the motor without load or use a new motor braking sound, hub sound, rubbing in order to locate the source of sounds. Repair the motor, if necessary. sound from the encoder, etc.

Important information

- 73 -

Troubleshooting
Overshoot or undershoot The motor overheats (burnt)
Category
Adjustment

Causes
Gains are not correct.

Countermeasures

Installation

Check the gains using the wave form graphics monitoring function of PANATERM , speed monitor (SP) and/or torque monitor (IM). Adjust the gains. See "Adjustments" chapter. Load inertia is too large. Check the load inertia using the wave form graphics monitoring function of PANATERM , speed monitor Check the coupling between the motor and machine. Increase the capacity of the motor and amplifier use a geard motor to decrease inertia ratio. Rattling or slip of the machine Check the fitting part of the machine. E n v i r o n m e n t ( a m b i e n t t e m - If the ambient temperature is higher than the specified value, install a cooling fan. perature, etc.) The cooling fan does not work. Check the cooling fan of the amplifier. The air intake is dirty. Mismatch between the amplifier Check the nameplates of the amplifier and motor. For availand motor able combinations between amplifier and motor, see the instruction manuals or catalogues. Motor bearings fail. Turn off the power. Rotate the motor shaft by hand to check whether abnormal sound (rumbling) occurs or not. If it rumbles, replace it with a new one, or repair it. The electromagnetic brake is ON Check the voltage at the brake terminal. Apply 24VDC to (failure to release the brake). release the brake. The motor fails (due to oil, wa- Avoid high temperature/humidity, oil, dust and iron powter, etc.). ders. The motor is operated by exter- Check the operation pattern, use and working status. This n a l f o r c e s w h i l e t h e d y n a m i c kind of operation should be avoided. brake is activated.

The motor speed does not increase up to the specified value. The speed (movement) is too large or small.
Category
Adjustment

Causes

Countermeasures

T h e p o s i t i o n l o o p g a i n i s t o o Adjust the value of Pr10 (position loop gain) to apsmall. The scale is not appropriate. proximately 100. Correct the values of Pr46 (numerator of 1st command pulse ratio), Pr4A (Multiplier of numerator of command pulse radio) and Pr4B (denominator of pulse command ratio). See "Details of Parameters" chapter.

- 74 -

Appendixes
Conform to EC Directives and UL Standards Holding brake Dynamic brake Timing chart

App. 2 App. 6

App. 8

App. 10 App. 14

Allowable loads on output axes Homing operation (Precautions) Details of Parameters

App. 15 App. 16

Optional Parts (Amplifier power connection connector kit, encoder relay cable, motor replay
cable, motor brake relay cable, monitor connector, motor encoder connection connector kit, controller connection connector kit, connector connection interface cable, communication cable, communication control software [PANATERM], external regenerative discharge resistor, reactor)

App. 38

Recommended Parts
Surge absorber for motor brake

App. 47

List of peripheral equipment manufacturers

App. 47

Outer Views and Dimensions

Motor

App. 48

Amplifier

App. 50

Properties Specifications

Overload protection: time-related characteristics

App. 53

Appendixes

Gain switching conditions for each control mode Block diagrams

App. 54 App. 56

Specifications of amplifier

App. 58

- App.1 - 75 - -

Conformance to EC Directives and UL Standards

EC Directives
The EC Directives apply to all such electronic products as those having specific functions and directly sold to general consumers in EU countries. These products are required to meet the EU unified standards and to be furnished with CE Marking. However, our AC servos meet the EC Directives for Low Voltage Equipment so that the machine or equipment comprising our AC servos can meet relevant EC Directives.

EMC Directives
Our servo systems can meet EMC Directives and related standards. However, to meet these requirements, the systems must be limited with respect to configuration and other aspects, e.g. the distance between the servo amplifier and motor is restricted, and some special wiring conditions must be met. This means that in some cases machines and equipment comprising our servo systems may not satisfy the requirements for wiring and grounding conditions specified by the EMC Directives. Therefore, conformance to the EMC Directives (especially the requirements for emission noise and noise terminal voltage) should be examined based on the final products that include our servo amplifiers and servo motors.

Applicable Standards
Subject Motor Motor and amplifier Applicable standard IEC60034-1 EN50178 IEC61800-3 EN55011 IEC61000-4-2 IEC61000-4-3 IEC61000-4-4 IEC61000-4-5 IEC61000-4-6 IEC61000-4-11 EMC Requirements for Variable Speed Electric Power Driven Systems
Radio Disturbance Characteristics of Industrial, Scientific and Medical (ISM) Radio-Frequency Equipment

Standards referenced by LowVoltage Directive

Electrostatic Discharge Immunity Test Radio Frequency Electromagnetic Field Immunity Test Electric High-Speed Transition Phenomenon - Burst Immunity Test Lightening Surge Immunity Test High Frequency Conduction - Immunity Test Instantaneous Outage - Immunity Test

Standards referenced by EMC Directives

EC: International Electrotechnical Commission EN: Europaischen Normen EMC: Electromagnetic Compatibility

- App. 2 -

Peripheral Equipment
Environment
The servo amplifier should be used under Contamination Level 2 or 1 specified by IEC606641 (housing the amplifier in an IP54 control box).
Control box

Controller

Insulated power for interface CNI/F AC servo amplifier

Power Circuit breaker

Noise filter for signal lines Noise filter

Noise filter for signal lines AC servo motor U V W E

L1 L2 L3

M
RE

Surge absorber Protective earth (PE) CNSIG

Power
Single-phase 100V : Single-phase 100 to 115V +10%/-15%, 50/60Hz Single-phase 200V : Single-phase 200 to 230V +10%/-15%, 50/60Hz Three-phase 200V : Three-phase 200 to 230V +10%/-15%, 50/60Hz (1) Use under the environment of Over-voltage Category III specified by IEC60664-1. (2) The power for interface should be marked CE or appropriate EN Standard type, 12VDC to 24VDC, insulated.

Circuit Breaker
Install a circuit breaker between the power supply and noise filter. The circuit breaker should be IEC Standard and UL listed marked.

Appendixes

Noise Filter
If several amplifiers are used, and a single noise filter is installed at the power supply, consult the manufacturer of the noise filter.

- App. 3 -

Conformance to EC Directives and UL Standards

Surge Absorber
Install a surge absorber at the primary side of the noise filter. <Notes> When performing a voltage-resisting test, remove the surge absorber. Otherwise the absorber may be damaged.

Install noise filters.

Install noise filters (specially designed for signal wires) for all cables (power, motor, encoder and interface wires).

Grounding
(1) Connect between the servo amplifier's protective earth terminal and control box's protective earth (ground plate) to prevent electric shocks. (2) Multiple connections to a single protective earth terminal should be avoided. There are two protective earth terminals.

Peripheral Devices Applicable to Amplifiers (EC Directives)

Surge Absorber
Optional Part No. DVOP1450
4.2 0.2

Manufacturer's Product No. RAV-781BXZ-4

5.5 1 11 1

Manufacturer Okaya Electric Industries Co., Ltd.

28.5 1

41 1

- App. 4 -

28 1

4.5 0.5

+30 200 -0

Circuit diagram

UL-1015 AWG16

Install noise filfers

39 1

Optional Part No. DVOP1460

Manufacturer's Product No. ZCAT3035-1330

Manufacturer TDK Corporation

34 1 Weight: 62.8 g

13 1

Noise Filter
Optional Part No. DVOP1441 DVOP1442 Manufacturer's Product No. 3SUP-A10H-ER-4 3SUP-A30H-ER-4
H 1.5 I 1.5 A B C D

30 1

Manufacturer Okaya Electric Industries Co., Ltd.

4.0 1.5 1.0 1.5

M 1.5

O 1.5

L A B E L

Circuit diagram
6-J
R Cx L Cx

2-L

DVOP1441 DVOP1442
Cy

A B C D E F G H I J K L M N O 188 160 145 130 110 95 70 55 25 M5 4.5 4.5 7 10 M4 17.5 228 200 185 170 110 95 70 60 30 M6 4.5 4.5 7 10 M4 17.5

Conform to UL Standards
The noise filters conform to UL508C (File No. E164620) to satisfy the following conditions. 1) The servo amplifier should be used under Contamination Level 2 or 1 specified by IEC606641 (housing the amplifier in an IP54 control box). 2) Install a circuit breaker or fuse between the power supply and noise filter. The circuit breaker or fuse should be a UL listed marked type. The current rating of the circuit breaker or fuse should be per the table in page 20.

G 1.5 F 1.0 E 1.5

2-K

Appendixes

- App. 5 -

Holding brake
The brake is to hold the work (movable part coupled to a vertical motor axis) to prevent it from falling by gravity in case the servo power is lost. <Caution>

The holding brake is to hold the work, not stop its motion. Never use the brake for decelerating and stopping the machine.

Wiring (Example)
This circuit shows a function of controlling the brake using the brake release signal (BRKOFF) from the amplifier.
Amplifier Surge absorber Motor RY Brake coil

RY 11 13
BRK-OFF 12~24V COMPower for brake 24VDC CN I / F Fuse (5A)

VDC

<Notes and Cautions> 1. The brake coil has no polarities. 2. The power supply for the brake should be supplied by the customer. Do not use the control power (VDC) for driving the brake. 3. Install a surge absorber per the figure above in order to suppress the surge voltage due to the on/off operation of the relay (RY). If you use a diode for surge absorber, note that the start of the servo motor after releasing the brake is delayed. 4. Use the recommended surge absorber. See Recommended Parts in page appendix 47. 5. Recommended parts are those specified for measurement of the brake releasing time. They are not provided with sufficient measures to prevent noise. Reactance of the cable varies with the wiring length, possibly resulting in jump-up of the voltage in some cases. Select a surge absorber so that the coil voltage of the relay may be suppressed to (Max. rating: 30V, 50mA max.) and the terminal-to-terminal voltage of the brake to (Max. rating: 30V, 50mA max.).

- App. 6 -

BRK-OFF Signal See Timing Chart describing the timing of issuing BRK-OFF signal, e.g. to release the brake after power-on, and activate the brake in case a servo-off/ alarm occurs during the operation of the motor.
The timing (delay) of deactivating BRK-OFF signal (i.e. activating the brake) after the motor is freed into a non-excited status in case of Servo-OFF or alarm event can be adjusted by using Pr6B (brake output delay time set-up at motor in motion). For details, see Details of Parameters. <Notes> 1. The brake may produce a sound (rattling of brake liner). This is not a problem. 2. When energizing the brake coil (when the brake is off), magnetic flux may leak from the end of the axis. If a magnetic sensor or similar device is used near the motor, make sure that the device is not affected by the magnetic flux.

Holding Brake Specifications

Motor Capacity (W) 30 ~ 100 200, 400 750 Static friction torque (Nm) 0.29 or more 1.27 or more 2.45 or more Inertia x 10|4 (kgm2) 0.003 0.03 0.09 Absorption time (ms) 25 or less 50 or less 60 or less Releasing time (ms) *1 20 or less (30) 15 or less (100)
Excitation current
(DC current (A)) (during cooling)

Releasing Allowable thermal voltage equivalent of

work per braking (J)

Allowable overall thermal equivalent of work(x103 J)

MUMS

0.26 0.36 0.43

1VDC or more

39.2 137 196

4.9 44.1 147

Excitation voltage should be 24VDC 10% *1) Delay of DC cutoff in case a surge absorber is used.
( ) means actual values using a diode "V03C" made by HITACHI SEMCON DEVICE Co., Ltd.

Appendixes

The values in this table are representative (except the friction torque, releasing voltage and excitation voltage). The backlash of the brake is factory-set to within 1 degree.

- App. 7 -

Dynamic Brake (DB)

The amplifier has a dynamic brake for emergency use. Observe the following precautions.

<Notes> 1. The dynamic brake should be used for emergency stop only.

Do not start or stop the motor by switching servo-on signal on or off. Otherwise, dynamic brake circuit may be broken.
2. The dynamic brake should be on for just a short time for emergency. If the dynamic brake is activated during a high-speed operation, leave the motor stopped for at least three minutes. The dynamic brake can be used in the following cases. 1) Servo-OFF 2) One of the protective functions is activated. 3) Over-travel Inhibit (CWL or CCWL) is activated.
In any of three cases above, the dynamic brake can be activated either during deceleration or after stop, or can be made disabled (i.e. allowing the free running of the motor). These features can be set by using the relevant parameters.

However, if the main power is OFF, the dynamic brake is kept ON.

- App. 8 -

1) Options of the operation through deceleration and stop by turning on Servo-OFF (Pr69)

Sequence at Servo-OFF (Pr69) Pr69 0 1 2 3 4 5 6 7

Operating conditions During deceleration After stop

Position error counter

D B Free run D B Free run D B Free run D B Free run

D B D B Free run Free run D B D B Free run Free run

Clear

Hold

2) Options of the operation through deceleration and stop by turning on a protective function (Pr68)

Sequence at alarm-on (Pr68) Pr68 0 1 2 3

Operating conditions During deceleration After stop

Position error counter

D B Free run D B Free run

D B D B Free run Free run

Clear

3) Options of the operation through deceleration and stop by turning on Over-travel Inhibit (CWL or CCWL) (Pr66)
DB inhibition at overtravel limit (Pr66)

Appendixes

Operating conditions During deceleration After stop

Pr66 0 1 D B Free run

- App. 9 -

Free run Free run

Timing Chart
After Power ON (receiving Servo-ON signal)
Internal control power Main power control Dynamic brake Motor energized Brake release (BRK-OFF) Internal reset Servo alarm (ALM) approx. 700 ms

Activated (braking) Not energized approx. 50 ms Operation (OFF) approx. 2 ms Reset Alarm approx. 2 sec

Released

Energized approx. 10ms Released (ON) Released Not alarm

Servo-ON (SRV-ON) Position/velocity/ torque command

1 Invalid 100ms or more Not input

Valid Input

<Caution> 1. This means that SRV-ON signal is entered mechanically, but not accepted actually.

<Notes> Avoid repeating to switch on and off the main power. Switch on the main power in about 1 minute more after it is switched off.

- App. 10 -

After an Alarm event (during Servo-ON)

Alarm Normal Error (alarmed)

Dynamic brake

Operation (braking) 2

Motor energized Servo alarm (ALM) Brake release (BRK-OFF)

Energized

approx.1 to 5 ms

Not energized Alarm

Not alarm Set by Pr6B Released (ON) A approx. 30 r/min Set by Pr6B t1 1 approx. 30 r/min Operation (OFF) t1 1 Operation (OFF)

Released (ON) B

*1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to approx. 30 r/min, which is shorter. *2. For the operation of the dynamic brake following an alarm event, see the explanation of Pr68 in "Details of Parameters".

Appendixes

- App. 11 -

Timing Chart
After an Alarm is cleared (during Servo-ON)
120 ms or more Alarm clear (A-CLR) Dynamic brake Entry of Clear signal Operation (braking) Not energized Operation (OFF)

Released approx, 50 ms Energized approx, 10 ms Released (ON) Not alarm 100 ms or more Input

Motor energized Brake release (BRK-OFF) Servo alarm (ALM)

Alarm

Position/velocity/ torque command

Not input

Servo-ON/OFF operation when the motor is stopped

Servo-ON (SRV-ON) Dynamic brake servo-OFF Braking Not energized Operation (OFF) Servo-ON approx. 1 to 5 ms approx. 50 ms Servo-OFF braking 2 Not energized Operation (OFF)

Released Energized approx. 10 ms Released (ON)

approx. 1 to 5 ms t 1

Motor energized Brake release (BRK-OFF)

Motor speed

approx. 30 r/min

*1. The value of t depends on the value of Pr6A. *2. For the operation of the dynamic brake at Servo-OFF, see the explanation of Pr69 in "Details of Parameters".
- App. 12 -

Servo-ON/OFF operation when the motor is in operation

With Servo-ON entered
Servo-ON (SRV-ON) Dynamic brake Servo-OFF Braking Not energized Operation (OFF) Servo-ON Released approx. 50 ms Energized approx. 10 ms Released (ON) Servo-ON becomes active about 50ms after the motor speed becomes about 30 r/min or less.

Motor energized Brake release (BRK-OFF)

Motor speed

approx. 30 r/min

With Servo-OFF entered Servo-ON (SRV-ON) Dynamic brake Servo-ON approx. 1 to 5 ms Released Energized Set by Pr6B Brake release (BRK-OFF) Motor speed A A approx. 30 r/min Brake release (BRK-OFF) Motor speed B Released (ON) t1 1 2 Set by Pr6B t1 1 2 Operation (OFF) Operation (OFF) Braking 3 Not energized Servo-OFF

Motor energized

Released (ON) B approx. 30 r/min

Appendixes

*1. The value of t1 is the value of Pr6B or the time needed for decreasing the motor speed to about 30 r/min , which is shorter. *2. During deceleration, Servo-ON does not become active until the motor stops, even if you attempt to turn on SRV-ON again. *3. For the operation of the dynamic brake at Servo-OFF, see the explanation of Pr69 in "Details of Parameters".
- App. 13 -

Acceptable Loads on Output Axes

Acceptable Loads on Output Axes
Radial load (P) direction
L A M L/2 P B

Thrust load (A and B) direction

Unit: N (1 kgf = 9.8 N) Acceptable during no operation Radial load Thrust load A direction 88 147 294 B direction 117.6 196 392 Acceptable during operation Radial load 49 68.6 245 392 Thrust load (A or B direction) 29.4 58.8 98 147

Motor series MUMS

Motor output

30W 50W, 100W 200W, 400W 750W

147 392 686

- App. 14 -

Homing operation (Precautions)

In the returning operation to the home position using the controller, if the initialization signal (Z-phase signal from the encoder) is entered before the motor is not substantially decelerated (after the proximity sensor is activated), the motor may not stop at the required position. To avoid this, determine the positions with the proximity sensor on and initialization signal on in consideration of the number of pulses required for successful deceleration. The parameters for setting the acceleration/deceleration time also affect the homing operation, so that these parameters should be determined in consideration of both the positioning and homing operations. As for the detail of homing operation, please refer to an operation manual of controller you use. Following is one of examples.

Example of homing operation

The motor will start to decelerate with the proximity sensor ON, and stop with the first initialization signal (Z-phase).

If the initial (home) position could not be found within the proximity range, the motor will repeat deceleration and acceleration while going back and forth (stop with the proximity sensor (dog) OFF (moving beyond the proximity range) and move in the opposite direction).

Proximity sensor Velocity

Proximity sensor (dog) range

Proximity sensor (dog) range

Going back and forth

Initialization signal

Z-phase output from encoder

Z-phase output from encoder

The motor will start to decelerate with the proximity sensor ON, and stop with the first initialization Z-phase signal after the proximity sensor OFF.

Proximity sensor (dog) range

Appendixes

Proximity sensor Velocity

Initialization signal

Z-phase signal from encoder

- App. 15 -

Details of Parameters
Parameters for Function Selection
PrNo. 0 0 Parameter Axis address Value 0~ 15 [1] 0 2 Control mode set-up
0~1

Default setting is shown by [ ]. Function

If multiple axes are used, it is necessary for the amplifier to identify the current axis accessed by the host (e. g. PC employing RS232C). You can identify axis address by number with this parameter. Value [0] 1 Control mode Position control mode Internal velocity control mode

* You can easily set-up the internal speed with contact inputs only. * There are 4 options of internal velocity commands. Each command data can be set using Pr53 (1st speed), Pr54 (2nd speed) , Pr55 (3rd speed) and Pr56 (4th speed). * Internal block diagram
CN I/F Contact input CL/INTSPD2 DIV/INTSPD1

4 6
1st. speed (Pr53) 2nd. speed (Pr54) 3rd. speed (Pr55) 4th. speed (Pr56)

Velocity command GAIN/ZEROSPD

Enabled/disabled (Pr06)

* Switching among 4 options of internal velocity commands can be done by 2 kinds of contact input: 1) DIV/INTSPD1 (CN I/F 6-pin): Internal velocity command 1 2) CL/INTSPD2 (CN I/F 4-pin): Internal velocity command 2 Internal speed 1st speed (Pr53) 2nd speed (Pr54) 3rd speed (Pr55) 4th speed (Pr56) DIV/INTSPD1 (pin6) OPEN CLOSE OPEN CLOSE INTSPD2 (pin4) OPEN OPEN CLOSE CLOSE

- App.16 -

PrNo. 0 2

Parameter Control mode

Value

Function

(continued) set-up (continued) * Example of 4 speeds operation using internal velocity command In addition to DIV/INTSPD1 and CL/INTSPD2, zero speed clamp input (ZEROSPD) and Servo-On input (SRV-ON) are required as the input to control start and stop of the motor.
SRV-ON input ZEROSPD input DIV/INTSPD1 input CL/INTSPD2 input Stop Servo-On Operation OPEN OPEN CLOSE OPEN 2nd speed Velocity 1st speed 3rd speed 4th -speed OPEN CLOSE CLOSE CLOSE

Time

<Notes> Acceleration time, deceleration time and S-shaped acceleration/ deceleration time can be set individually. Refer to the descriptions of Pr58: Acceleration time set-up Pr59: Deceleration time set-up Pr5A: S-shaped acceleration/deceleration time set-up

Appendixes

- App.17 -

Details of Parameters
Default setting is shown by [ ]. PrNo. 0 4 Parameter Overtravel input inhibit Value 0~1 Function For linear motion or other similar motion, overtraveling of the work may cause mechanical damages. To avoid this, it is necessary to provide limit switches at each end so that traveling over the limit switch position can be inhibited.
CW direction Work CCW direction Amplifier Servo motor Limit switch Limit switch

CCWL CWL

Value

CCWL/CWL input Input CCWL (CN I/F-8-pin)

Operation Connection to COMClose Normal with the CCW limit Open switch not activated Traveling in CCW direction inhibited Normal with the CW limit switch not activated Traveling in CW direction inhibited

Enabled

CWL (CN I/F-7-pin)

Close

[1]

Open Both the CCWL and CWL inputs are disabled, and traveling Disabled in both the CW and CCW directions are allowed. <Notes> 1 . With Pr04 = 0 and CCW/CW off (not connected to COM-), the amplifier will stop the motor with "overtravel limit input error" assuming that traveling over the limit occurs in both the CCW and CW directions. 2 . You can specify whether or not to use the dynamic brake during deceleration after CCW or CW overtravel limit input (CCWL or CWL) becomes active. For details, see the description of Pr66 (DB inhibition at overtravel limit).

- App.18 -

PrNo. 0 6

Parameter ZEROSPD input selection Value 0 [1]

Value 0~1

Function You can switch whether to enable or disable the zero speed clamp input (ZEROSPD, CN I/F Pin 5).

Function of ZEROSPD input (Pin 5) The ZEROSPD input is disabled, and the amplifier assumes that the motor is always "not clamped to zero speed". The ZEROSPD input is enabled, and the velocity command is regarded as "0", by opening the connection to COM- . 0~9 You can select/set-up the relationship between the voltage to be fed-out to the speed monitor signal output (SP: CN MON 1 Pin) and the actual speed (or command velocity) of the motor. SP signal Relationship between output voltage level and velocity 1.6V / 47 r/min 1.6V / 187 r/min 1.6V / 750 r/min 1.6V / 3000 r/min 1.5V / 3000 r/min 1.6V / 47 r/min 1.6V / 187 r/min Commanded veloctly 0~5 1.6V / 750 r/min 1.6V / 3000 r/min 1.5V / 3000 r/min You can select/set-up the relationship between the voltage to be fed-out to torque monitor signal output (IM: CN MON 2 Pin) and the actual torque of the motor or position error pulse counts. IM signal Torque Relationship between output voltage and torque or position error pulse counts 3V / rated torque (100%) 3V / 31 Pulse 3V / 125 Pulse 3V / 500 Pulse 3V / 2000 Pulse 3V / 8000 Pulse

0 7

Speed monitor(SP) selection Value 0 1 2 [3] 4 5 6 7 8 9

Actual motor speed

0 8

Torque monitor (IM)selection Value [0] 1 2 3 4 5

Appendixes

Position error pulse counts

- App.19 -

Details of Parameters
PrNo. 0 9 Parameter Warning output selection Varue 0 1 [2] 3 4 5 0C Baud rate set-up of RS232C Value 0~5 Function You can define the function of warning output (WARN: CN I/F 12-pin). Function Torque in-limit Zero speed detection Alarm signal Overregeneration alarm Overload alarm Does not function, although displayed. 0~2 Remarks For details of these functions, see the section of CN I/F Connector on page31.

Value 0 1 [2]

Baud rate 2400bps 4800bps 9600bps

- App.20 -

Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
PrNo. 1 0 Parameter 1st position loop gain 1st velocity loop gain Value 10 ~ 2000 [ 50 ] 1~ 3500 * [ 100 ] Hz Unit 1/s Function You can define the response characteristics of position control. Higher the gain you set, quicker the in-position time you can obtain. To obtain the overall response of the servo system together with the above position gain, set this gain as large as possible. * If Pr20 (inertia ratio) has been set correctly, the unit of values of Pr11 and Pr 19 is Hz. 1 2 1st velocity loop integration [ 50 ] time constant 1~ 1000 ms Integration element of the velocity loop. The smaller the setting, the quicker you can reduce the velocity error to 0. The integration is disabled by setting this at 1,000. 1 3 1st speed detection filter 0~5 [4] ---- You can set-up the time constant of low-pass filter(LPF) in 6 stages(0 to 5), which is inserted after the block , and which converts the encoder signal to the velocity signal. Normally, use the default (4). If set value is smaller, the motor noise increases. But, the time constant becomes smaller and also the phase lag becomes smaller. Thus, you can set-up larger. Sudden setting of small value may cause oscillation to damage machine. Be careful in setting. 1 4 1st torque filter time constant 0~ 2500 [ 50 ] 1 5 Velocity feed forward 0~ 100 [0] % 0.01ms You can set-up the time constant of the primary delay filter that is inserted to the torque command portion. Use this function to suppress the oscillation caused by torsion resonance. You can set-up the amount of velocity feed forward at position control. Position error becomes almost 0 while

1 1

Appendixes

the motor runs at a constant speed, by setting this to 100%. The higher the setting you make, the quicker the response you can obtain with smaller position error, however, it may cause overshoot. 0.01ms You can set-up the time constant of the primary delay filter that is inserted to the velocity feed forward portion. Use this function to reduce the over and undershoot of the speed, chattering of the in-position signal.
- App.21 -

1 6

Feed forward filter time constant

0~ 6400 [0]

Details of Parameters
PrNo. 1 8 Parameter 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 1B 1C 2nd speed detection filter 2nd torque filter time constant 1D Notch frequency Value 0~ 2000 [100] 1 9 1~ 3500 [100] 1~ 1000 [50] 0~5 [4] 0~ 2500 [50] 100 ~ 500 [1500] Hz You can set-up the frequency of the resonance suppression notch filter. You can set-up frequency 10% lower than the resonance frequency of the machine system which you can obtain by the frequency characteristics analysis program contained in PANATERM . This notch filter function will be disabled by setting this parameter at1500. 1E Notch width selection 0~4 [2] You can set-up the width (five options) of the resonance suppression notch filter in 5 steps. The higher the setting is, the wider the width you can obtain. In normal cases, the default value should be used. 1F Disturbance torque observer 0~8 You can set-up the time constant (eight options) of the primary delay filter inserted in the Disturbance torque observer. Value of Pr1F 0~7 [8] The smaller the setting is, the larger the Disturbance torque observer disabled. suppression you can expect. *1 * 1Note that the running noise of the motor becomes larger, with a smaller value of Pr1F(better suppression of the Disturbance torque). It is recommended that you start from the larger value of Pr1F to see the actual response and decrease the value. For the calculation of Disturbance torque in the observer, the inertia ratio (Pr20) is necessary. If the load inertia is known, calculate the inertia ratio and set the value of Pr20 to the inertia ratio calculated. If the load inertia is unknown, perform the auto gain tuning so that you can automatically enter the value of Pr20.
- App.22 -

Unit 1/s

Function This amplifier provides 2(two) sets (1st. and 2nd.) of gain and time constant for position loop, velocity loop, velocity detection filter and torque command filter. The functions and meanings of these 2nd gains or time constants are the same as those of the 1st ones mentioned in the previous page. For switching between the 1st and 2nd gains or constants, see Adjustment.

Hz * ms

1A

0.01ms

* If Pr20 (inertia ratio) has been set correctly, the unit of the values of Pr11 and Pr19 is Hz.

Parameters for real time gain tuning

Default : [ PrNo. 2 0 Parameter Inertia ratio Value 0~ 10000 [100] Unit % Function You can set-up the ratio of load inertia to the motor's rotor inertia. Pr20 = (Load inertia)/(Rotor inertia) x100% Set values change by operating gain adjustment rotary switch GAIN. (See page 58.) The load inertia can be estimated by executing the auto gain tuning, and this result will be reflected in this parameter. If Pr20 (inertia ratio) is set correctly, the unit of the values of Pr11 and Pr19 becomes Hz. If the value of Pr20 is larger than the actual load inertia, the unit of the value of these parameters becomes larger. If the value of Pr20 is smaller than the actual load inertia, the unit of the value of these parameters becomes smaller. 2 1 Real time auto 0 ~ 3 You can define the operating mode of the real tuning set-up time auto tuning. Value Real time auto tuning Fluctuation of load inertia during operation [0] Not used ---------1 2 3 Used Rarely fluctuates Fluctuates slowly Fluctuates quickly With a larger value of Pr21, a quicker response to the change of load inertia can be obtained, though the operation may become unstable depending on the operating pattern. In normal cases, the value of this 2 2 Machine stiffness at Real time auto tuning Pr22 0~9 [2] parameter should be 1 or 2. You can set-up the machine stiffness (from 10 options) that is used at the real time auto gain tuning. Low Machine stiffness High Low Servo gain High 0 1- - - - - - - - - - - - - 8 9 Low Response High ]

Appendixes

Large impact shock might be given to the machine, when you suddenly set this parameter to a larger value. Start from the smaller value while monitoring the machine movement.
- App.23 -

Details of Parameters
Parameters for Switching to 2nd Gains
Default : [ PrNo. P a r a m e t e r R a n g e description 3 0 2nd gain 0~1
action set-up

Unit -----

Function
You can select the switching between PI and P action or switching between the 1st and 2nd gains. Value Gain selection and switching Fixed to the 1st gains *1 (switching between PI and P possible) Switching between the 1st

[0] 1

and 2nd gains possible *2

*1 Switch the PI and P action with the gain switching input (GAIN: CN I/F Pin 5). GAIN input COM- disconnected COM- connected Operation of the position loop PI operation P operation

*2 See Adjustment for the conditions for switching between the 1st and 2nd gains.

3 1

Position control switching mode Value

0~8

---

You can select the conditions for switching between the 1st and 2nd gains at the position control mode. Conditions for gain switching

[0] 1 2 3 4 5 6 7

Fixed to the 1st gain Fixed to the 2nd gain 2nd gain selection with the gain switching input (GAIN) ON/ (Pr30 must be set to 1)

* *3 *3 *3 *3 *
3

2nd gain selection with a larger torque command change Fixed to the 1st gain 2nd gain selection with a larger velocity command 2nd gain selection with a larger position error 2nd gain selection with the position command issued 2nd gain selection with existence of 1 or more command pulse in 166 s area. 2nd gain selection with no in-position

2nd gain selection with a position error counter value larger than Pr60 (inposition detection range)

*3

For the switching level and timing, see App. 54 and App. 55.

- App.24 -

PrNo. 3 2

Parameter Range description Position control 0~ switching delay 10000

time

Unit x 166s

Function
You can set-up the delay time when switching from the 2nd. to the 1st. gain when the actual status shifts out of the preset condition with Pr31.

[0] 0~ 10000 [0] 0~ 10000 [0] ----

3 3

Position control switching level

This parameter is enabled when Pr31 is set to 3,5 and 6, and you can define the level of judgement for switch from the 1st. to the 2nd. gain. You can set-up the width of the hysteresis to be defined at the top and bottom of the level of judgement set with Pr33. The figure below shows the definitions of Pr32 (delay time), Pr33 (switching level) and Pr34 (hysteresis).

3 4

Position control switching hysteresis

----

Pr33 0
1st gain 2nd gain

Pr34
1st gain

Pr32
<Notes> The settings of Pr33 (level) and Pr34 (hysteresis) are enabled as absolute values.

3 5

Position loop gain switching time

0~ 10000 [0]

(Value+1) x 166s

You can set-up a phased switching time of the gain applied to the position loop alone, while the 2nd. gain switching function is enabled.
(Example)
166 166 166s 166

Kp1(Pr10)<Kp2(Pr18)

Kp2(Pr10) Pr35=

0 1

3 2

0 1 2 3

Bold solid line

Fine solid line

Kp1(Pr18)
1st gain 2nd gain 1st gain

Appendixes

Use this parameter only for switching from a smaller position loop gain to a larger position loop gain (from Kp1 to Kp2) (in order to reduce the impact forces caused by a large change in gain). Set the smaller value than the difference between Kp2 and Kp1.

- App.25 -

Details of Parameters
Parameters for Position Control
Default : [ PrNo. P a r a m e t e r R a n g e Function description 4 0 Command pulse 1 ~ 4 You can set-up the multiplication when [quadrature pulse input]
multiplier set-up is selected with Pr42(Command pulse input mode set-up).

Value

Multiplication at quadrature pulse input

1 2 3 or [4] 4 1
Command pulse logic inversion

x1 x2 x4

0~3

You can individually set-up the logic of 2-series of pulse command inputs (PULSE and SIGN). Value Logic of PULSE signal Non-inversion Inversion Non-inversion Inversion Logic of SIGN signal Non-inversion Non-inversion Inversion Inversion

[0] 1 2 3 4 2
Command pulse input mode set-up

0~3

You can set-up the type of command pulse to be given to the amplifier from the controller. There are three types of command pulse as shown in the table below. Select an appropriate type according to the controller. Signal CCW command
t1 t1

Value

Type of command pulse

CW command
t1 t1

PULS
0 or 2 Quadrature pulse command mode

A-phase B-phase B-phase advances A-phase by 90 degrees

t1 t1 t1

SIGN

B-phase delays from A-phase by 90 degrees

t1

[1]

CW/CCW pulse command mode

PULS SIGN
t2 t2

+3

t2

t2

Pulse/Sign

PULS
t4 t5 16 t4 t5

command mode

SIGN
t6

H
t6

16

- App.26 -

PrNo. 4 2
(continued)

Parameter Range description

Function

Maximum permissible frequency and minimum required time width of command pulse inputs I/F for inputting PULSE/SIGN signals Interface for line drivers Interface for open collectors Maximum permissible frequency Minimum required time width [ s ]

t1 2 5

t2 1

t3 1

t4 1

t5 1

t6 1

500kps 200kpps

2.5 2.5 2.5 2.5 2.5

Make both of the rising and tailing time 0.1 s or shorter.

4 4

Output pulses per single turn

1~

You can set-up encoder pulse counts per single

16384 turn, which is to be fed-out to the controller. Set[2500] ting in scalar.Set the required pulse counts per single turn in [Pulse/rev] unit directly. Note that the set-up of the larger counts than the encoder

4 5

Pulse output logic inversion

0~1

pulses is disabled. When the motor runs CW, the B-phase pulse delays from the A-phase pulse (when the motor runs CCW, the B-phase pulse advances the A-phase pulse).

You can invert the the phase relation between A and B phases by inverting the logic of the B-phase pulse with this parameter. CCW run CW run

Value
A-phase (OA), B-phase (OB), non-inversion B-phase (OB), inversion

[0] 1

Appendixes

- App.27 -

Details of Parameters
Default : [ PrNo. 4 6 Parameter Range description Numerator of 1st 1~ command pulse ratio 10000 [10000] Numerator of 2nd 1~ command pulse ratio 10000 4A Multiplier numerator Function
Pulse command scaling function (electronic gear) Purpose 1) You can set-up any motor speed or work travel amount per input command pulse. 2) You can increase the nominal command pulse frequency with scaling, when your required speed can't be obtained due to the capacity of the pulse generator of the controller(maximum available frequency).

Parameters for Pulse Command Scaler (Pr46 through Pr4B)

4 7

[10000] Block diagram of the scaling function o f 0 ~ 17 of [0]

Command pulse

command pulse ratio 4B Denominator of 1~ command pulse ratio 10000 [10000]

Numerator of 1st. command pulse ratio (Pr46) Numerator of 2st. command pulse ratio (Pr47)

Multiplier of numerator of command pulse ratio (Pr4A) Internal + command

F

to the position error counter

Denominator of pulse command pulse raito (Pr4B)

Feedback pulse (resolution) 10000P/rev

The calculated numerator is max. 2621440. Set-up of larger value than this is disabled, and automatically substituted by 2621440.

- App.28 -

PrNo. 46 ~ 4B
(continued)

Parameter Range description

Function
You can select the numerator of the command scalar. *1 Select the 1st. or 2nd. numerator with scalar input switching (DIV: CN I/F Pin 6) . DIV off DIV on 1st numerator (Pr46) selection 2nd numerator (Pr47) selection

<Example> Basic relation is defined so as the motor runs one revolution with the command input of encoder resolution(f), when the scale ratio is 1. Therefore, when the encoder resolution is 10000 P/r, it is necessary to enter f=5000 pulses in case of scale ratio of 2, and f=40000 pulse in case of scale ratio of 1/4 to turn the motor one revolution. Set-up the Pr46, Pr4A and Pr4B so that the post-scaling inter nal command (F) equals the resolution (10000) of the encoder.

F = f x (Pr46 x 2Pr4A)/Pr4B = 10000 F: Internal command pulse counts required for motor one revolution f: Command pulse counts required for motor one revolution

Resolution of encoder Example 1: Command input (f) is 5000 pulses per one revolution Example 1: Command input (f) is 40000 pulses per one revolution. However, if frequency of input pulses is 500 kpps, motor speed is 750 r/ min.

10000 (2500P/r x 4) Pr 4A 0

Pr 46

10000 5000

x2

Pr 4B

Pr 4A Pr 46 2500 x2 0

Pr 4B 10000

Appendixes

- App.29 -

Details of Parameters
PrNo. 4C Parameter Range Function description Smoothing 0 ~ 7 This filter is a primary delay filter that is inserted after the scaling
filter set-up function in the command pulse input portion.

Purpose of this filter Reduce the stepwise motion of the motor that may appear when the command input is rough. The command input may become rough when: 1) The scale ratio is large (10 times or greater) 2) The command frequency is low.

EYou can set-up the time constant of the smoothing filter in 8 steps with Pr4C. Value Time constant No filtering function Small time constant

0 [1] ~ 7 4D
Counter clear input

Large time constant

0~1 [0]

You can set-up the conditions for clearing the position error counter, i.e. for issuing the counter clear signal (CL: CN I/F Pin 4). Value Conditions Cleared with level (*1) Cleared with edge (rising part)

[0] 1

*1:Minimum time width of the CL signal

CL (pin 4) min. 100 s

- App.30 -

Parameters for Velocity Control

PrNo. 5 3 Parameter Range Function description 1st internal - 10000 You can set-up the internal command velocity of 1st - 4th speed to Pr53 - 56 respectively in [r/min] unit, when the internal velocity ~ speed 10000 [0] 5 4
2nd internal speed set-up is enabled with the parameter Pr02 (Setting of Control Mode). <Note> The polarity (+/- sign) of the set values shows the polarity of internal command velocities.

-10000 ~ 10000 [0] -10000 ~ 10000 [0] -10000 ~ 10000 [0]

+ -

CCW run CW run

5 5

3rd internal speed

Set up the internal command velocity within a range of the motor speed (Standard 4500/5000 (r/min) ).

5 6

4th internal speed

5 8

Acceleration time set-up

0~ 5000 [0] 0~ 5000 [0]

5 9

Deceleration time set-up

At internal velocity control mode, you can control the time to reach the velocity you set-up, and the time to stop the motor. You can obtain soft-start/soft-down action of the motor when the phased velocity command is entered, or when the internal velocity set-up is selected.

ta
Velocity command Speed

Pr58 Pr59

x 2ms / 1000r/min x 2ms / 1000r/min

td

ta

td

Appendixes

- App.31 -

Details of Parameters
PrNo. 5A Parameter Range Function description You can add a quasi S-shaped acceleration/deceleration to the 0 ~ S-shaped
accel/decel time set-up

500 [0]

velocity command, so that smooth operation can be obtained in such a case as a large impact shock will be given at starting or stopping with a linear acceleration/deceleration. 1 Set the basic acceleration/deceleration time for the linear regions with Pr58 and Pr59. 2 Set the time of the S-shaped portion, centering the acceleration/deceleration changing regions with Pr5A. Unit in 2 ms.

Speed

ts ta

ts

ts td

ts

ta : Pr58 td : Pr59 ts : Pr5A

ta Use at setting of > ts or 2 td > ts. 2

5E

Torque limit set-up

0~ 500 [300]

You can limit the max. motor torque with this parameter. In normal specifications, the amplifier can produce 300 % of the rated torque for a short duration(peak-torque). Use this limiting function when 300% torque may cause the trouble to the machine.

Set-up the value in % of the rated torque. The right figure shows an example that the maximum torque is limited to 150% of the rated torque. This parameter limits the maximum torque in both CW and CCW directions.

Torque [%] With Pr5E =150

300 (maximum) 200 100 (Rated torque)

CCW

Velocity
100 200 300 (Rated (maximum) torque)

CW

<Notes> Pr5E "Torque limit set-up" disables set-up in excess of the values set up for the system parameter "Max. torque set-up". The system parameters are fault parameters that cannot be changed with PANATERM or on the operation panel.

- App.32 -

Sequences
Default : [ PrNo. P a r a m e t e r R a n g e Function description You can set-up the output timing of the in-position signal (COIN: CN I/ 0~ In-position 6 0 F Pin 10), completing the travel of the motor (work), after the command range 32767 pulse entry. [10] The in-position (positioning complete) signal (COIN) will be fed-out
when the position error counter pulses fall within a preset range

Decide the value of this parameter basing on the resolution of the en-corder, like the figure to the right.

10000 pulses (for 1 revolution) Pr60

<Notes> 1 . If you set-up too small value to Pr60, time to feed-out COIN signal gets longer, or may causes a chattering. 2 . The value of this parameter does not affect the accuracy in positioning.

COIN

On

Pr60

6 1

Zero speed

0~ 10000 [50]

You can set-up the output timing of the zero speed detection signal (WARN: CN I/F pin 12). Unit in [r/min]. To enable output, Set "1" by Pr09. The WARN signal will be fed-out when the motor speed becomes lower than this setting.
CCW Speed Pr61

Pr61 affects both CW and CCW directions regardless of the actual rotating direction.

Pr61 CW

Appendixes

WARN

ON

- App.33 -

Details of Parameters
PrNo. 6 2 Parameter Range Function description At-speed 0~ You can set-up the output timing of at-speed signal (COIN: 10000 CN I/F 10 pin) by setting motor speed [r/min] in internal [1000] velocity control mode. The at-speed signal (COIN) is output, when the motor speed exceeds set value of this parameter Pr62.
Setting of Pr62 works in both CW/CCW directions regardless of rotational direction of motor.
Speed Pr62

CCW

CW Pr62

COIN

Off

On

6 3

Position error limit protection

0~ 32767 [1875]

You can set-up the detection level for the position error limit at [Position error limit protection], with error counter pulses.

Calculate the value of this parameter using the following formula. Parameter value = [Position error limit level (pulses)]/256 <Note> If you set the position gain to low value, and set this Pr63 value too small, the position error limit protection could be activated, even though no unusual situation is to be found.

6 4

Position error invalidation Value

0~1

You can disable the position error limit protection.

Position error limit protection Enabled Disabled. The motor continues to run, even though the pulse counts exceeds the level set by Pr63, judging that no unusual situation is found.

[0] 1

- App.34 -

PrNo.

6 6

Parameter Range Function description DB inhibition at 0~1 You can set-up the conditions for decelerating the motor
overtravel limit Value after the over-travel limit input (CCWL: CNI/F Pin 9 or CWL: CN I/F Pin 8) is made active. Motor operation from deceleration to and after stop With the dynamic brake (DB) activiated the motor is stopped. After stop, the dynamic brake is released. Without dynamic brake the motor stops. After stop, the motor remains free.

[0] 1

6 8

Sequence at alarm

0~3

Defines the conditions for decelerating the motor and keeping the motor stopped after one of the amplifier's protective functions (alarms) is activated. Operating conditions Position error counter Cleared

Value

During deceleration

After stop

[0] 1 2 3

DB
Free run

DB DB
Free run Free run

DB
Free run

(DB: Dynamic brake activiated) See also "Timing chart for alarms" in Appendix 11.

6 9

Sequence at servo-off

0~ [0]

Defines the following processes after Servo-OFF (SER-ON signal: CN I/F Pin 2). 1) Operating conditions during deceleration and after stop 2) Process for clearing the position error counter For the relations among Pr69 values, operating conditions and process for clearing the position error counter, see App.8gDynamic brakeh. See also "Timing chart for Servo-ON/OFF during the halt of motor" in Appendix 12.

Appendixes

- App.35 -

Details of Parameters
Default: [ ] P a r a m e t e r PrNo. Range Function description Defines the duration from OFF of the brake release signal (BRKMechanical 6A 0~
Brake action set-up at motor standstill

100 [0]

OFF) (i.e. brake engaged) to the shutdown of motor current (servo free) in transition to Servo-OFF during the halt of the motor.

The value of this parameter should not be less than the value of tb (delay of braking) in order to avoid the minute movement or fall of the motor (work). Pr6A = (Entry) x 2 ms See also "Timing chart for Servo-ON/OFF during the halt of motor" in Appendix 12. Pr6Atb

SRV-ON

On
tb

Off Brake engaged Brake engaged Not energized

Pr6A

BRK-OFF Brake released Actual Brake braking released Motor current Energized

6B

Mechanical brake action set-up at motor in motion

0~ 100 [0]

Defines the duration from the shutdown of motor current (servo free) to OFF (i.e. brake energized) of the brake release signal (BRKOFF) in transition to Servo-OFF during the motor in motion, not during the halt as handled by Pr6A.

This parameter is necessary for avoiding the degradation of the brake due to the rotation of the motor. The value of TB is the value of Pr6B or the time needed for decreasing the motor speed to about 30 r/min , whichever is smaller. Pr6B = (Entry) x 2 ms See also "Timing chart for Servo-ON/OFF during the halt of motor" in Appendix 13.

SRV-ON

On

Off Brake engaged Not energized Approx.

BRK-OFF Brake released

TB

Motor current

Energized

Motor velocity (r/min)

30 r/min

- App.36 -

PrNo. 6C

Parameter Range Function description External Install an external regenerative discharge resistor (between P (50~3
regenerative discharge resistor selection Value pin) and B2 (3-pin) on the relevant connector), and set this parameter as necessary. Regenerative discharge resistor External regenerative discharge resistor DVOP2890 DVOP2890 External resistor External resistor Over-regenerative power protection Regenerative discharge resistor overload protection works depending on the capacity of the optional external regenerative discharge resistor. The protection operates for the external resistor whose operating limit is 10% of the duty. The protection is activated as operating limit of the external resistor and as 100% duty.

<Notes> Don't fail to install external protection such as thermal fuse. Otherwise, regenerative discharge resistor is not protected any more to cause possible abnormal heat generation, resulting in burning of the motor. Not used. Regeneration processing circuit is not operated.

[3]

<Notes> For safety, a thermal fuse is built in the optional external regenerative discharge resistor. Wiring to the internal thermal fuse may break depending on the applicable heat radiating conditions, operating temperature range, supply voltage and load fluctuation. Be sure to assemble the amplifier with the machine and check the operating limit so that the surface temperature of the regenerative discharge resistor may be 100 or lower on poor conditions likely to cause generation of regenerative discharge resistance conditions (such as high supply voltage, large load inertia and short deceleration time).

Appendixes

- App.37 -

Optional Parts
MINAS-S series Cables
Fig. No. Motor type Cable Part No.

2 - 1 MUMS30 ~ 750W 3-1 4-1

E n c o d e r c a b l e ( 2 5 0 0 P / r , 1 1 MFECAO**OEAA wires), incremental encoders Motor cable Brake cable MFMCAO**OAEB MFMCBO**OGET

Encoder Relay Cables

fig2-1
17(0.669)

MFECAO**OEAA
L
20(0.787)

L (m)
9.2(0.362)

Part No.

3 5 1 0 2 0
3M 10320

MFECAO030EAA MFECAO050EAA MFECAO100EAA MFECAO200EAA

4(0.157)

23(0.906)

4(0.157)

Motor Relay Cables (Robotop, 600V DP)

fig 3-1

Robotop is the trademark of Sumitomo Denso.

MFMCAO**OAEB
50(1.969)

L
11(0.433)

50(1.969)

L (m) 3 5 1 0 2 0

Part No.

12(0.472)

MFMCA0030AEB MFMCA0050AEB MFMCA0100AEB MFMCA0200AEB

4(0.157)

4(0.157) 10(0.394)

Motor
fig 4-1

Brake Relay Cables (Robotop , 600V DP)

MFMCBO OGET
40(1.575)

L
9.8(0.386)

50(1.969)

10(0.394)

12(0.472)

L (m) 3 5 1 0 2 0
- App.38 -

Part No.

MFMCB0030GET MFMCB0050GET MFMCB0100GET MFMCB0200GET

5.6(0.220)

Connector for Monitor

1) Part No.DV0P2880 2) Components Item Connector (3P) Connector pin Manufacturer's Part No. 51004-0300 50011-8100 Quantity 1 3 Manufacturer Molex Incorporated Remarks For CN MON (3 pin)

3) Pin alignment of connector for CN MON 4) Recommended manual press fitting tools (Customers are requested to prepare these
3 GND 2 IM 1 SP

tools for themselves.) Product No. 57032-5000 Molex Incorporated <Notes> 1.The table above shows the pins alignment, looking from the connector pin inserted direction of connector. Make sure of the pin numbers marked on the plug itself for actual connection so that wiring is done correctly. 2. For wiring and connection, refer to "Main circuits" in "System Configuration and Wiring" (page 22).

Connector Kits for Power Source for Amplifier

1) Part No. Item Connector (10-pin) Connector pin DV0P2870 Manufacturer's Part No. Quantity 5557-10R-210 5556PBTL 1 4 Manufacturer Molex Incorporated Remarks POWER connector (10-pin) 2) Components

3) Pin alignment of the connector for CN POWER connector 4) Recommended manual press fitting tools (Customers are requested to prepare these tools for themselves.)
10 L1 5 P 9 (NC) 4 (NC) 8 L2 3 B 7 (NC) 2 (NC) 6 L3 1 E

Appendixes

<Notes> 1 . The table above shows the pins alignment, looking from the terminal inserted direction of the receptacle. Make sure of the pin numbers marked on the plug itself for actual connection so that wiring is done correctly. 2 . For wiring and connection, refer to "Main circuits" in "System Configuration and Wiring" (page 22). 3 . Never connect anything to the pins where (NC) is written on the table above.
- App.39 -

Optional Parts
Connector Kits for Motor and Encoder
Used for: MUMS 30W to 750W 1) Part No. DVOP2900 2) Components with a 2500-pulse, 11-wire incremental encoder

Item Connector

Manufacturer's Part No.

Quantity

Manufacturer

Remarks For CN I/SIG (20pin)

Connector Cover
Connector(15P) Connector Pin Connector(4P) Connector Pin Connector(6P) Connector Pin

10120-3000VE 10320-52A0-008 172163-1 170365-1 172159-1 170366-1 5557-06R-210 5556PBTL

1 1 1 1 5 1 4 1 4

SUMITOMO 3M

Tyco Electronics For encoder cable AMP (15 pins) Tyco Electronics AMP Molex Incorporated
For motor cable (4 pins) For CN MOTOR (6-pin)

<Notes> Plugs, shells and other parts may be equivalents of other manufacturer's make. 3) Alignment of CN SIG pins
11 Z 12 Z 1 0V 2 0V 3 5V 4 5V 13 (NC)

2500P/R
15 (NC) 17 RX 18 RX 9 B 8 A 10 B 19 (NC) 20 FG
Shield

14 (NC)

16 (NC) 7 A

5 (NC)

6 (NC)

4) Recommended manual press fitting tools (Customers are requested to prepare these tools for themselves.)

Name For encoder cable relay For motor power cable relay

Product No. 755330-1 755331-3 57026-5000 57027-5000

M a n u f a c t u r e r Cable Materials

Tyco Electronics AMP

For CN MOTOR

Molex Incorporated

UL1007 UL1015

<Notes> 1. The tables above show the pins alignment, looking from where the plugs are soldered. 2. The pin 20 (FG) should be connected to the shield of the shielded wire. Pins marked with NC should be left unconnected. 3. For wiring and connecting, see the section "System Configuration and Wiring" on page 23. - App.40 -

5) Pin alignment of relay connector for encoder cable

1 A 6 Z 11 RX

2 A 7 (NC) 12 RX

3 B 8 (NC) 13 +5V

4 B 9 (NC) 14 0V

5 Z 10 (NC) 15 FG

6) Pin alignment of relay connector for motor cable

1 U 3 W

2 V 4 E

7) Pin alignment of connector for CN MOTOR

6 W 3 E

5 (NC) 2 (NC)

4 V 1 U

<Notes> 1 . The table above shows the pins alignment, looking from the connector pin inserted direction of the connector. Make sure of the pin numbers marked on the plug for actual connection so that wiring is done correctly. 2 . For wiring and connection, refer to "System Configuration and Wiring" on page 22.

Appendixes

- App.41 -

Optional Parts
Connector Kits for Host Control Equipment
1) Part No. DV0P0770 2) Components
Item Connector Connector cover Manufacturer's Part No. Quantity Manufacturer SUMITOMO Remarks For CN I/F (26 pins)

10126-3000VE 10326-52A0-008

1 1

3M

3) Alignment of CN I/F (26 pins) (Looking from where the plug is soldered)

2500P/R
11 Z 12 Z 1 0V 2 0V 3 5V 4 5V 13 (NC) 15 (NC) 17 RX 18 RX 9 B 8 A 10 B 19 (NC) 20 FG
Shield

14 (NC)

16 (NC) 7 A

5 (NC)

6 (NC)

<Notes> 1.Before making connections, check the Pin Numbers stamped on the plugs. 2.For the symbols and functions of the pins, see the section "System Configuration and Wiring" on the page 26 .

- App.42 -

Interface Cables for controller connection

1) Part No. DVOP0800
Shell kit: 10326-52A0-008

2) Dimension

Sumitomo 3M or the equivalents

2000 50

39
13 37.2

12.7
26

Plug: 10126-3000VE

3) Wire table
Pin No.

14

Sumitomo 3M or the equivalents

1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 9

Signal name Wire color Pin No. Signal name C O M + Orange (Red 1) 1 0 COIN SRV-ON Orange (Brack1) 1 1 BRK-OFF A-CLR Gray (Red 1) 1 2 WARN CL/INTSPD2 Gray (Brack 1) GAIN/ZEROSPD White (Red 1) DIV/INTSPD1 White (Brack 1) CWL Yellow (Red 1) CCWL ALM
Yellow (Brack 1)

Wire color Pink (Brack 1) Orange (Red 2) Orange (Brack 2) Gray (Red 2) Gray (Brack 2) White (Red 2) White (Brack 2) Yellow (Red 2)

Pin No.

1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6

Signal name Wire color OZ+ Pink (Red 2) OZPink (Brack 2) CZ PLUS1 PLUS2 SIGN1 SIGN2 FG
Orange (Red 3) Gray (Red 3) Gray (Brack 3) White (Red 3) White (Brack3) Orange (Brack 3)

1 3 1 4 1 5 1 6 1 7 1 8

COMGND OA+ OAOB+ OB-

Pink (Red 1)

Yellow (Brack 2)

<Notes> For example, Orange (Red 1) for Pin No.1 means that the lead wire is colored in orange with one dot mark in red.

14

Appendixes

- App.43 -

Optional Parts
Communication Cables (for connection to personal computer)
1) Part No. DVOP1960 (for DOS/V)
(78.74)

2) Part No. DVOP1160 (for PC98 series)

(78.74)

Communication Control Software PANATERM

1) Part No. DVOP2820 (English Version) 2) 3.5 inches Floppy Disks <Notes> For the operating environment and other details, see the Instructions for PANATERM.

- App.44 -

External Regenerative Discharge Resistor

Part.No. DV0P2890 DV0P2891
<Notes> For safety, a thermal fuse is built in the optional external regenerative discharge resistor. Wiring to the internal thermal fuse may break depending on the applicable heat radiating conditions, operating temperature range, supply voltage and load fluctuation. Be sure to assemble the amplifier with the machine and check the operating limit so that the surface temperature of the regenerative discharge resistor may be 100 or lower on poor conditions likely to cause generation of regenerative discharge resistance (such as high supply voltage, large load inertia and short deceleration time).

Product number 45M03 45M03

Specifications R e s i s t a n c e Rated power Built-in thermal fuse operating temperature 50 100 10W 10W 130 2 C 130 2 C

Manufacturer: IWAKI MUSEN KENKYUSHO CO., LTD

Recommended combination between amplifier and external regenerative discharge resistor Power supply Amplifier type 1 2 3 Single-phase 100V DVOP2890 x1 Single phase/Three-phase 200V DVOP2891 x1 For amplifier types, see pages 10 and 11.

Appendixes

<Notes> Regenerative discharge resistor reaches high temperature.

Device measures to avoid fire and burns. When mounting the amplifier, do not install near flammables. Do not install in a place reached by hand.
- App.45 -

Optional Parts
Reactor
Amplfier Voltage Rated output MUDS Singlephase 100V 200W ~ 400W DVOP228 30W ~ 100W 100W Reactor Part No. DVOP227

fig. 1

X Y Z

NP

R S T

Singlephase 200V 3-phase 200V Single-phase 200V 3-phase 200V Product A

30W ~ 400W 100W ~ 400W 30W ~ 400W 100W ~ 400W 400W 750W

DVOP220
(Mounting dimensions)

A B

4-H

F
(Mounting dimensions)

fig. 2

DVOP221
A B

(Mounting dimensions)

4-H

F
(Mounting dimensions)

I M4 M4 M4 M4

Inductance (mH)

Rated set-up (A)

f i g DVOP220 6 1 DV0P221 6 f i g DV0P227 5 2 DV0P228 5

5 1 2 5 8 3 1 1 8 1 4 5 7 0 8 5 7(W) x ~12(L) 0 1 5 0 1 1 3 1 3 7 1 2 0 6 0 7 5 7(W) x ~12(L) 7 5 8 0 6 8 9 0 9 0 4155 6 0 7 5 8 0 6 8 9 0 9 5 46

6.81 4.02 4.02 2

3 5 5 8

- App.46 -

Recommended Parts
Surge Absorber for Motor Brake
Motor MUMS30W ~ 750W Surge absorber for brake C-5A2 or Z15D151 Ishizuka Electronics Corpration

Recommended parts are those specified for measurement of the brake releasing time.

Peripheral Equipment Manufacturers

Manufacturer/agent Tel

November 2000
Equipment Contact and surge absorber No fuse breaker Regenerative discharge resistor Surge absorber for Brake Diode for brake Noise filter for signal line Surge absorber Noise filter

Matsushita Electric Works, Ltd. 8 1 - 0 6 - 6 9 0 8 - 1 1 3 1 IWAKI MUSEN KENKYUSHO CO., LTD Ishizuka Electronics Corporation Hitachi Semiconductor and Devices Sales Co., Ltd. TDK Corporation Okaya Electric Industries Co., Ltd. Sumitomo 3M 81-044-833-4311 Kantou Area Chubu Area Kansai Area 81-03-3621-2703 81-052-777-5070 81-06-6391-6491

81-06-6263-2031 Kantou Area Chubu Area Kansai Area East Japan West Japan Kantou Area Chubu Area Kansai Area Kantou Area Chubu Area Kansai Area Kantou Area Chubu Area Kansai Area 81-03-5201-7229 81-052-971-1712 81-06-6245-7333 81-03-3424-8120 81-06-6392-1781 81-03-5716-7290 81-052-322-9652 81-06-6447-3944 81-044-844-8111 81-0565-29-0890 81-06-6533-8232 81-0462-65-2313 81-052-571-4413 81-06-6377-6760

Tyco Electronics AMP

Connector

Molex Incorporated

Sumitomo Wiring System, LTD. 8 1 - 0 6 - 6 2 2 9 - 1 9 6 0

Cable

Appendixes

- App.47 -

Dimensions
Motor MUMS Series 30W ~ 750W

LL LF

LR LE

LH

7.874

Sh6

Encoder wire dimension LH

30W -100W 200W -750W

230mm 220mm

Model MUMS3AZA1 MUMS5AZA1 MUMS01 A1 MUMS02 A1 MUMS04 A1 MUMS082A1 MUMS3AZA1 MUMS5AZA1 MUMS01 A1 MUMS02 A1 MUMS04 A1 MUMS082A1

Output(W) 3 0 5 0 100 200 400 750 3 0 5 0 100 200 400 750

LL 2.657 2.972 3.642 3.780 4.862 5.610 3.898 4.213 4.882 5.079 6.161 6.949

With brake Without brake

LR mm(Inch) LB 2 4 0 . 2 5 0 ( 0 . 9 4 5 ) 0.866 0.500 0.625 0.250 0.500 0.625 28.5 (1.122) 34 (1.339) 2 4 (0.945) 28.5 (1.122) 34 (1.339)

LE 0.079

LBh7
LF

LH 9.055

0.276 2.877 0 . 1 1 8 0.315 0.866 0 . 0 7 9 0.276 2.877 0 . 1 1 8 0.315

Unit: mm (Inch)

8.661

MUMS

9.055

8.661

* LL - LH Unit Inch

- App.48 -

LC

4-LZ LW LK
LA
KH

KWh9

Key way type (Dimentions incl. key)

LA

LC

LZ M3

LW 1 3 1 4 2 0 2 5

RH
LK 1 2 12.5 1 8 22.5 2 2 1 2 12.5 1 8 22.5 2 2 KW 2 3 4 5 6 2 3 4 5 6 KH 2 3 4 5 6 2 3 4 5 6 RH 5.8 6.2 8.5 1 1 15.5 5.8 6.2 8.5 1 1 15.5 Weight(kg) 0.30 0.40 0.50 0.96 1.5 3.1 0.50 0.60 0.70 1.4 1.9 3.8
Unit: mm

Without brake

1 . 7 2 4 1.654

Depth4.5

4.5 3 . 8 7 4 3.346 6.5 M3 1 . 7 2 4 1.654

Depth4.5

With brake

MUMS

1 3 1 4 2 0 2 5

4.5 3 . 8 7 4 3.346 6.5

Appendixes

- App.49 -

Dimensions
Amplifier Type 1
Weight: 0.7 kg unit: mm(Inch)

Back panel mount type

(Standard)
9(0.354) 5(0.197)

45(1.772) 20(0.787) 10(0.394)

0.2 05 )
MSDS

120(4.724) 4.1(0.161)

( 5.2

STATUS ALM CODE

AC SERVO AMPLIFIER
GAIN
Model No.

INPUT OUTPUT ENCODER

Voltage

CN SER

Phase
F.L.C Freq.

Power
60/75C Wire Only SER.NO. Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection

150(5.906)

160(6.299)

CN I/F CN POWER

168(6.614)

DANGER
CN SIG CN MOTOR Risk of injury and electric shock. Read the manual and follow the safety instructions before use. Hazardous Voltage,High Temperature. Design notice: Where residual-current-operated protective device(RCD) is used for protection in case of direct or indirect contact,only RCD of Type B is allowed on the supply side of this Electoronic Equipment(EE). Matsushita Electric Industrial Co.,Ltd. Made in Japan

2.

0 6(

.1

02

5.2(0.205) 10(0.394)
45(1.772 )

3(0.118 )

CN MON

- App. 50 -

Amplifier Type 2

Weight: 0.9 kg

unit: mm(Inch)

Back panel mount type

(Standard) 60(2.362) 25(0.984) 15(0.591) 20(0.787)

9(0.354)

5(0.197)

120(4.724) 4.1(0.161)

2 5.

(0.2

05)
MSDS

STATUS ALM CODE

AC SERVO AMPLIFIER
GAIN
Model No.

INPUT
Voltage

OUTPUT

ENCODER

CN SER

Phase
F.L.C Freq.

Power
60/75 C Wire Only SER.NO. Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection

150(5.906)

160(6.299)

CN I/F CN POWER

168(6.614)

DANGER
CN SIG CN MOTOR Risk of injury and electric shock. Read the manual and follow the safety instructions before use. Hazardous Voltage,High Temperature. Design notice: Where residual-current-operated protective device(RCD) is used for protection in case of direct or indirect contact,only RCD of Type B is allowed on the supply side of this Electoronic Equipment(EE). Matsushita Electric Industrial Co.,Ltd. Made in Japan

R2

.6

(0

0 .1

2)

5.2(0.205) 25(0.984)

3(0.118 )

15(0.591 )

45(1.772 )

CN MON

Appendixes

- App. 51 -

Dimensions
Amplifier Type 3
Weight: 1.2 kg unit: mm(Inch)

Back panel mount type

2(0 .07 9
65(2.559) 2(0.079) 32.5(1.280) 15(0.591) 61(2.402)

11(0.433)

(Standard)

5(0.197)

160(6.299) 2.3(0.091)

( 5.2

0.2

05

)
MSDS

STATUS ALM CODE

AC SERVO AMPLIFIER
GAIN
Model No.

INPUT OUTPUT ENCODER

Voltage

CN SER

Phase
F.L.C Freq.

Power
60/75C Wire Only SER.NO. Use Copper Conductors Only Refer to Manual for Wiring and Wire Size Refer to Manual for Over Load Protection

160(6.299)

172(6.772)

CN I/F CN POWER

182(7.165)

DANGER
CN SIG CN MOTOR
Risk of injury and electric shock. Read the manual and follow the safety instructions before use. Hazardous Voltage,High Temperature. Design notice: Where residual-current-operated protective device(RCD) is used for protection in case of direct or indirect contact,only RCD of Type B is allowed on the supply side of this Electoronic Equipment(EE).

Matsushita Electric Industrial Co.,Ltd. Made in Japan

CN MON

5.2(0.205)

3(0.118)

2.

6(

0.

2 10

32.5(1.280)

15(0.591)

50(1.969)

- App. 52 -

Time(sec)

Overload Protection: Time Limiting Characteristics MUMS 30W~100W MUMS 200W~750W

Characteristics

100

Appendixes

- App. 53 -

10

1 200 250 300 350 400 450 Torque(%)

100 115

150

Specifications
Gain Switching Conditions Position Control Mode ( : the parameter valid, -: invalid)
Gain switching conditions Pr31 0 1 2 3 4 5 6 7 8 *1 *2 *3 Switching conditions Fixed to 1st gain Fixed to 2nd gain Gain switching input, 2nd gain selected with GAIN On 2nd gain selected with a large torque command differential Fixed to 1st gain Large target velocity commanded Large position error Position command existing Positioning incomplete A ----B
(r/min) (r/min) *4 (pulse)

Parameters for position control Delay time1 Level Hysteresis 2 Figure Pr32 ------------Pr33 ------------*3
(0.05%/166 s )

Pr34 ------------*3
(0.05%/166 s )

-----

-----

C D E

*4 (pulse)

---------

---------

Delay time (parameters Pr32) becomes effective when returning from 2nd gain to 1st gain. For the definitions of hysteresis parameters (Pr34), see the right figure. When conditions are that torque fluctuation of 10% was experienced in the 166 s area, set up the value 200. 10%/166 s = Set-up value [200] x (0.05%/166 s )
Hysteresis

H
Level (Pr33.38.3C) 0

*4

Resolution of encoder Figures A through E are shown in the next page. Internal velocity control mode Gain switching is disabled(fixed to 1 st gain).

- App. 54 -

Speed N

Speed command S

delayed Torque T
1st 2nd Gain 1st

T Level Speed N

Delay
1st 2nd 1st 2nd 1st Gain 2nd 2nd 1st COIN 1st

delayed Speed command S Level

1st

2nd Gain

1st

delayed
1st 2nd Gain 1st

Speed N

Position error Level delayed

1st 2nd Gain 1st

Appendixes

<Notes> The figures above do not reflect the gain switching timing delay caused by hysteresis ( Pr34) .

- App. 55 -

CN MOTOR
U

Internal Block Diagram of MINAS-S Amplifier P CN POWER

+
V

L1 L2 L3
W

Specifications

DC/DC
Gate drive power supply Encoder power supply

12V +5V
Gate drive

RE

P
E

Sequence control Parameter control Protective circuit

Error detection

MSDS

STATUS

Operator interface

EEPROM

- App. 56 Position

ALM CODE

CN SER

CN I/F

Alarm signal

Pulse command

Scale + Speed

+ Position error amplifier Velocity error amplifier

Position error counter

Torque limit

Current control

PWM circuit A/D

Control (input)

Internal velocity command Velocity detection

Control (output)

CN SIG
Processing encoder signals Scaling

Pulse output

 Control Block Diagram

Velocity feed forward Pr15

Feed forward filter Pr16

Block for servo gains and filter time constants P S : Position control mode : Velocity control mode
Selected by Pr02

Control mode switching

Scaling Multiplier Pr4A

Pr46

Pulse command
Wave form graphics Velocity command Position error counter Position 1 [Pr10] Velocity error amplifier

+ +
S
Inertia ratio [Pr20]

Position error amplifier

+ +
Velocity, 1st [Pr11] Integration, 1st [Pr12] Velocity, 2nd [Pr19] Integration, 2nd [Pr1A]

P P/S

Pr02

PULS SIGN

Input mode selection [Pr42] PANATERM Only position control mode Position 2 [Pr18]

PANATERM Monitoring the sum of command pulses

Numerator X 2

Smoothing filter Pr4C

Denominator Pr4B

Speed detection filter 1st [Pr13] 2nd [Pr18] Wave form graphics speed command PANATERM Wave form graphics (actual velocity) PANATERM

Notch filter Frequency [Pr1D]

Torque command filter 1st [Pr14]

Torque limit

Torque command

Width [Pr1E]

2nd [Pr1C]

Pr5E

Appendixes

- App. 57 Acceleration, deceleration and S-curve accel./decel. time

Acceleration time [Pr58] Deceleration time [Pr59] S-curve accel./decel. time [Pr5A] speed detection Output pulse per single turn[Pr44] Pr44

Switching between internal and external velocity setting

Internal 1st speed Pr53

Internal 2nd speed Pr54

Internal 3rd speed Pr55

Internal 4th speed Pr56

PANATERM Monitoring feedback pulses

Multiplier of 4

Encoder signal A/B phase or Rx

Feedback pulse(OA OB)

Feedback pulse(OZ CZ)

Encoder signal (Z phase)

Specifications
Power Single-phase 100V system Single-phase 200V system 3-phase 200V system Permissible frequency variation Control system Encoder Rotary encoder Built-in Regenerative discharge functions Dynamic brake Auto gain tuning Electronic gear (command pulse ratio) Scale of feedback pulse Protective Stores past14 errors including current one. functions Alarms marked with *cannot be stored. Monitor Panel indication Analogue output (connector pins for monitor) Selects the items to be measured by using a parameter, and measuring range (output impedance of 1k) Setting Communication Position Control Max. input pulse frequency Type Command type Velocity control Internal velocity command Acceleration/deceleration time setting Rotary Rotary encoder phase A / B encoder Feedback signal Z phase Input of control signal Physical structure Weight Working environment Rated speed Maximum speed Holding brake Rotary encoder Structure (Dust proof and drip proof) Weight Working environment Type Backlash Instantaneous max. input revolution With reduction Efficiency gear (Torque rating - Revolution rating at 20C) Vibration Structure (Combined with motor) Single-phase, AC100 - 115V Single-phase, AC200 - 230V 3-phase, AC200 - 230V + 10% 50/60Hz - 15% + 10% 50/60Hz - 15% + 10% 50/60Hz - 15%

Max. 5% IGBT PWM control (sine wave control) Incremental encoder, 11 wires, 2500 P/r External regenerative discharge resistor Active after Main Power-Off, Servo-Off, protective function and limit switch. Normal and Real time 1-10000 Calculated as x 20 -17 1-10000 11-wire incremental encoder: 1 to 2500 P/r Undervoltage,Overvoltage,Overcurrent,Overload,Regenerative discharge,Encoder error,Position error,Over speed,command pulse scaler error,Error counter over flow,EEPROM data error,Alarms (parameter error, check code error)Overtravel inhibit input error, CPU error etc Status LED indicator (STATUS), Error LED indicator (ALM CODE) Velocity monitor: 6V/3000r/min (rated revolution, default) Torque monitor: 3V/100% (rated torque, default) Position error pulse number RS232C Line driver 500 kpps, Open collector 200 kpps Line driver and open collector Quadrature pulse command, CW/CCW pulse command and Pulse/direction command 4 speeds set-up (CW/CCW, Max.10000r/min) 0 to 10s/1000rpm, individual set-up of acceleration and deceleration, S-shaped acceleration/deceleration Line driver output Output from line driver and open collector See "System Configuration and Wiring". Back panel mounting See "Outer Views and Dimensions". See "Installation". 3000r/min 30W-400W:5000r/min.750W:4500r/min DC24V See "Holding brake built in servo motor". Incremental encoder, 11 wires, 2500 P/r IP65 (Except connector, shaft run-through area and reduction gear) See "Motor outline drawing". See "Installation". GH (High accuracy) type GS (Standard) type GL (Popular) type 2-3 (Initially) 2-3 (Initially) 2-3 (Initially) 5000r/min 3600r/min 6 5 % mi n . V-20 IP40 7 5 % mi n .

Motor

Amplifier

IP44

IP55

- App. 58 -

After-Sale Service Repair

Repair
Ask the seller where the product was purchased for details of repair work. When the product is installed in a machine or device, consult first the manufacturer of the machine or device.

Information
Customer Service TEL : 072-870-30573110 Operating hours : 9:00 to 17:00, Monday to Saturday (except Sunday, National holiday and the end/biginning of the year)

Memorandum(Fill in the blanks for convenience in case of inquiry or repair)

Date of purchase Date: Model No. MUDS MUMS

Place of purchase

Telephone No.(

Industrial and Appliance Motor Division, Motor Co., Matsushita Electric Industrial Co.,Ltd.
1-1, Morofuku 7-chome, Daito, Osaka, Japan 574-0044 TEL:(072)871-1212 IMB36 S0-300-1110