Manual Download

AC Servo Motor Driver
MINAS AIII-series
Operating Manual
DV0P3450
[Be sure to give this instruction manual to the user.]
• Thank you very much for your buying Panasonic AC Servo Motor Driver, MINAS
AIII-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.
*This document is not enclosed in a carton of servo drive. Option Part # : DV0P3450
INDEX
page
Safety Precautions ........................................................... 8
Maintenance and Inspections ................................................. 12
[Before Use]
page
Introduction.............................................................................. 14
Outline .......................................................................................................................................................... 14
Check the Model of Driver ............................................................................................................................ 14
Check the Model of Motor ............................................................................................................................ 15
Check the Combination of Driver and Motor ................................................................................................ 16
Parts Description ..................................................................... 20
Driver ............................................................................................................................................................ 20
Motor ............................................................................................................................................................. 22
Installation................................................................................ 23
Driver ............................................................................................................................................................ 23
Motor ............................................................................................................................................................. 24
[Preparations]
page
System Configuration and Wiring .......................................... 26
General Wiring Diagram ............................................................................................................................... 26
List of Drivers and Compatible Peripheral Equipment ................................................................................. 30
Main Circuits ................................................................................................................................................. 32
CN X4 Connector (For Encoder) .................................................................................................................. 36
CN X6 and CN X7 Connectors (For Personal Computer/Host Controller) .................................................. 38
CN X5 Connector (For High order control equipment) ................................................................................. 39
Timing Chart ................................................................................................................................................. 40
Holding Brake ............................................................................................................................................... 44
Dynamic Brake (DB) ..................................................................................................................................... 46
Initialization (Precautions) ............................................................................................................................ 48
Setting parameters and mode ................................................ 50
Out line ......................................................................................................................................................... 50
Parameter Groups and Listing ..................................................................................................................... 50
Pr5E Torque limit setting .............................................................................................................................. 55
Front Panel Key Operations and Display ..................................................................................................... 56
Functions of the Key Switches ..................................................................................................................... 56
Operating procedure..................................................................................................................................... 57
Details of the execution display in the monitor mode................................................................................... 60
Details of the execution display in the parameter setup mode .................................................................... 63
Details of the execution display in the EEPROM writing mode ................................................................... 63
Details of the execution display in the auto gain tuning mode ..................................................................... 64
Details of the execution display in the auxiliary function mode.................................................................... 66
Trial Run (JOG) ........................................................................ 68
Inspections before Trial Run ......................................................................................................................... 68
Motor trial run ............................................................................................................................................... 69
[Connections and Settings in Position Control Mode]
page
Position control block diagram .............................................. 72
2
Trial run at Position Control Mode ......................................... 86
Operation with CN X5 Connected ................................................................................................................ 86
Real time auto gain tuning ...................................................... 88
[Connections and Settings in Speed Control Mode]
page
CN X5 Connector ....................................................................................................................................... 107
Interface Circuit .......................................................................................................................................... 108
Input signal (common) assignment to CN X5 connector pins .................................................................... 110
Input signal assignment to CN X5 connector pins - designation(logic) ..................................................... 112
Output signal assignment to CN X5 connector pins - designation(logic) .................................................. 112
Operation with CN X5 Connected .............................................................................................................. 114
Real time auto gain tuning .................................................... 116
Parameter Setting .................................................................. 118
3
Appendix
Parameters for Function Selection ............................................................................................................. 118
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ......................... 122
Parameters for real time auto gain tuning .................................................................................................. 122
Parameters for Switching to 2nd Gains ...................................................................................................... 124
Parameters for Position Control ................................................................................................................. 125
Parameters for Speed Control .................................................................................................................... 126
Parameters for Torque Control ................................................................................................................... 128
Parameters for various sequences ............................................................................................................ 128
Encountering
Difficulties?
Outline ........................................................................................................................................................ 116
Application range ........................................................................................................................................ 116
How to use .................................................................................................................................................. 116
Description of the adaptive filter ................................................................................................................. 117
Parameters, which are set up automatically .............................................................................................. 117
Caution ....................................................................................................................................................... 117
Adjustments
Trial run at Speed Control Mode ........................................... 114
Full-closed control
mode
Speed control block diagram................................................ 106
CN X5 Connector ................................................................... 107
Connections and Settings in
Torque Control Mode
Parameters for Function Selection ............................................................................................................... 90
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ........................... 93
Parameters for real time auto gain tuning .................................................................................................... 94
Parameters for Switching to 2nd Gains ........................................................................................................ 96
Parameters for Position Control ................................................................................................................... 97
Parameters for Speed Control .................................................................................................................... 100
Parameters for Torque Control ................................................................................................................... 101
Parameters for various sequences ............................................................................................................ 101
Connections and Settings in
Speed Control Mode
Parameter Setting .................................................................... 90
Connections and Settings in
Position Control Mode
Outline .......................................................................................................................................................... 88
Application range .......................................................................................................................................... 88
How to use .................................................................................................................................................... 88
Description of the adaptive filter ................................................................................................................... 89
Parameters, which are set up automatically
Caution ......................................................................................................................................................... 89
Preparations
CN X5 Connector ......................................................................................................................................... 73
Interface Circuit ............................................................................................................................................ 74
Input signal (common) assignment to CN X5 connector pins ...................................................................... 76
Input signal assignment to CN X5 connector pins - designation(logic) ....................................................... 78
Output signal assignment to CN X5 connector pins - designation(logic) .................................................... 78
Examples of connection to high order control equipment ............................................................................ 80
Before Use
CN X5 Connector ..................................................................... 73
[Connections and Settings in Torque Control Mode]
page
Torque control block diagram............................................... 132
CN X5 Connector ................................................................... 133
CN X5 Connector ....................................................................................................................................... 133
Interface Circuit .......................................................................................................................................... 134
Input signal (common) assignment to CN X5 connector pins .................................................................... 136
Input signal assignment to CN X5 connector pins - designation(logic) ..................................................... 138
Output signal assignment to CN X5 connector pins - designation(logic) .................................................. 138
Trial run at Torque Control Mode.......................................... 140
Operation with CN X5 Connected .............................................................................................................. 140
Real time auto gain tuning .................................................... 142
Outline ........................................................................................................................................................ 142
Application range ........................................................................................................................................ 142
How to use .................................................................................................................................................. 142
Parameters, which are set up automatically .............................................................................................. 143
Caution ....................................................................................................................................................... 143
Parameter Setting .................................................................. 144
Parameters for Function Selection ............................................................................................................. 144
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ......................... 147
Parameters for real time auto gain tuning .................................................................................................. 148
Parameters for Switching to 2nd Gains ...................................................................................................... 150
Parameters for Position Control ................................................................................................................. 150
Parameters for Speed Control .................................................................................................................... 151
Parameters for Torque Control ................................................................................................................... 152
Parameters for various sequences ............................................................................................................ 152
[Full-closed control mode]
page
Outline of Full-closed loop control ....................................... 156
What is full closed loop control .................................................................................................................. 156
Selecting among full-closed modes ........................................................................................................... 157
Full-closed control block diagram........................................ 159
CN X5 Connector ................................................................... 160
Functional selection of interface connector CN X5 by control mode ......................................................... 160
Interface Circuit .......................................................................................................................................... 162
Connector CN X4 ...................................................................................................................................... 164
Connector CN X5 ....................................................................................................................................... 164
Connections to external scale CN X4 ................................... 168
External scale interface specification ......................................................................................................... 168
External scale connection CN X4 ............................................................................................................... 168
Parameter Setting .................................................................. 170
Parameters for Function Selection ............................................................................................................. 170
Parameters for Switching to 2nd Gains ...................................................................................................... 175
Parameters for Position Control ................................................................................................................. 176
Parameters for Speed Control .................................................................................................................... 179
Parameters for Torque Control ................................................................................................................... 180
Parameters for various sequences ............................................................................................................ 180
Parameters for Full-closed Control ............................................................................................................ 184
4
page
Fit gain function .......................................................................................................................................... 190
Nomal Mode Auto gain tuning .............................................. 193
Operation on front panel ............................................................................................................................. 195
Manual gain tuning (Application) ......................................... 207
[Encountering Difficulties?]
page
Check Points .............................................................................................................................................. 216
Protective Functions (What are Alarm codes?) .......................................................................................... 216
Protective Functions: Causes and Corrections .......................................................................................... 217
Troubleshooting .................................................................... 221
Adjustments
Encountering
Difficulties?
The motor does not rotate. ......................................................................................................................... 221
The rotation is not smooth. / The motor rotates slowly even if the target speed is zero in the speed control mode. ........... 221
Positioning accuracy is bad. ....................................................................................................................... 222
The initial (home) position varies. .............................................................................................................. 223
The motor produces an abnormal sound and/or vibration. ........................................................................ 223
Overshoot or undershoot / The motor overheats (burnt) ........................................................................... 224
The motor speed does not increase up to the specified value. / The speed (movement) is too large or small. ........ 224
Parameter values change to the former value. .......................................................................................... 224
PANATERM®, a message "communication port or driver cannot be detected" appears. .......................... 224
Full-closed control
mode
Identifying Problem ............................................................... 216
Connections and Settings in
Torque Control Mode
Instantaneous speed observer ................................................................................................................... 207
Command follow-up control ........................................................................................................................ 208
Vibration suppression control ..................................................................................................................... 211
Resonance ratio control ............................................................................................................................. 212
Disturbance observer ................................................................................................................................. 213
Torsion correction / Status feed back control ............................................................................................. 214
Connections and Settings in
Speed Control Mode
Tuning of position control mode ................................................................................................................. 198
Tuning of speed control mode .................................................................................................................... 200
Tuning of torque control mode ................................................................................................................... 200
Tuning of full-closed control mode ............................................................................................................. 201
Setting for hybrid control ............................................................................................................................ 201
Adjustment upon switching gain ................................................................................................................. 202
To Reduce the Mechanical Resonance ...................................................................................................... 204
Gain auto setting function ........................................................................................................................... 206
Connections and Settings in
Position Control Mode
Disabling of auto tuning function ......................................... 196
Manual gain tuning (Basic) ................................................... 197
Preparations
Gain Tuning ............................................................................ 186
Real Time Auto Gain Tuning ................................................. 188
Before Use
[Adjustments]
Appendix
5
[Appendix]
page
Absolute System ......................................................................................................................................... 226
Set up support software PANATERM® ....................................................................................................... 236
Communication ........................................................................................................................................... 238
Description on Command Pulse Ratio for Parameter Setup ..................................................................... 264
Conformance to EC Directives and UL Standards ..................................................................................... 266
Acceptable Loads on Output Axes ............................................................................................................. 269
Optional Parts ............................................................................................................................................. 270
Recommended Parts .................................................................................................................................. 282
Dimensions ................................................................................................................................................. 284
Driver Block Diagra ..................................................................................................................................... 296
Control block diagrams ............................................................................................................................... 298
Specifications (Driver) ................................................................................................................................ 304
Motor characteristics .................................................................................................................................. 306
[Index]
A ................................................................................................................................................................. 314
B ................................................................................................................................................................. 314
C ................................................................................................................................................................. 314
D ................................................................................................................................................................. 315
E ................................................................................................................................................................. 315
I ................................................................................................................................................................... 315
M ................................................................................................................................................................. 315
O ................................................................................................................................................................. 316
P ................................................................................................................................................................. 316
R ................................................................................................................................................................. 317
S ................................................................................................................................................................. 317
T .................................................................................................................................................................. 317
W ................................................................................................................................................................ 317
6
Before Use
Preparations
Connections and Settings in
Position Control Mode
Connections and Settings in
Speed Control Mode
Connections and Settings in
Torque Control Mode
Full-closed control
mode
Adjustments
Encountering
Difficulties?
Appendix
7
Safety Precautions (Important)
See the following precautions in order to avoid damages on machinery and injuries among the operators
and other people during the operation.
• The following symbols are used to indicate the level of danger possibly occurred when you fail to observe
the safety precautions.
DANGER
Indicates a potentially hazardous situation, which if not avoided, will result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation, which if not avoided, will result in minor injury or physical damage.
• The following symbols indicate what you must do.
Indicates that the operation is prohibited to do.
Indicates that the operation must be done.
DANGER
Do not subject the product to water,
corrosive or flammable gases, and
combustibles.
The failure could result in
fire.
The failure could result in
electric shocks, damages,
or malfunction.
An over-current protection, earth
leakage breaker, over temparture
protecter and emergency stop device
must be installed.
The failure could result
in electric shocks,
injuries, or fire.
Conduct the transportation, wiring and
inspection at least 10 minutes after
the power off. Only electronic expert
is allowed to conduct wiring.
Ground the earth terminal of the servo
motor and servo driver.
Install an external emergency stop
device to shut down the main power
source in any emergency.
The failure could result
in electric shocks.
8
Do not expose the cables to sharp
objects, excessive pressing or
pinching forces, and heavy loads.
The failure could result
in electric shocks.
The failure could result
in electric shocks,
injuries, fire, damages,
DANGER
Install the product properly to avoid
personal accidents or fire in case of
an earthquake.
The failure could result
in electric shocks,
injuries, or fire.
Do not put your hands in the servo
driver.
The failure could result
in burns, or electric
shocks.
Do not touch the rotating
part of the motor while
operating.
Rotor
The failure could result
in injuries.
Make sure to secure the safety after
the earthquake.
The failure could result
in electric shocks,
injuries, or fire.
Attach the motor, driver, regenerative
discharge resistor to incombustible
matter such as metal.
Do not drive the motor from the
outside.
The failure could result
in fire.
Do not place inflammable matter near
the motor, driver, and regenerative
discharge resistor.
The failure could result
in fire.
The failure could result
in fire.
Arrange the phase sequense of the
motor and wiring of the encoder.
The failure could result
in injuries, damages,
or malfunction.
Do not touch the motor, driver, and
external regenerative discharge of
driver, since they become hot.
The failure could result
in burns.
9
Safety Precautions (Important)
CAUTION
Do not hold the cables or motor shaft
when transporting the motor.
The failure could result
in injuries.
Use the motor and driver with the
specified combination.
The failure could result
in fire.
Use the eye-bolt of the motor only
when you carry the motor. Do not use
it when you carry the machine.
The failure could result
in injuries, or damages.
Install the driver and the
motor in the specified direction.
The failure could result
in damages.
Do not give hard
pressure to the shaft.
The failure
could result
in damages.
The failure could result
in electric shocks, or fire.
Make sure that the wirings are
correctly connected.
The failure could result
in electric shocks, or
injuries.
Never start and stop the motor by
magnet contactor which is provide on
the main line.
The failure could result
in damages.
Do not climb or stand on the
servo equipment .
The failure could result
in electric shocks, injuries,
damages, or malfunction.
Conduct proper installation according
to product weight or rated output.
Motor
Do not shock the driver
and the motor.
The failure could result
in damages.
10
Do not block the heat dissipation
hole.
The failure could result
in injuries, or damages.
Ambient temperature of installed
driver should be under permittable
one.
The failure could result
in damages.
CAUTION
Use the specified voltage on the
product.
The failure could result
in electric shocks,
injuries, or fire.
Avoid excessive gain adjustments,
changes, or unstable operation of the
product.
The failure could result
in injuries.
Do not use the motor internal brake
for the purpose of controlling speed of
load.
The failure could result
in injuries, or damages.
Connect a relay that stops at
emergency stop in series with the
brake control relay.
The failure could result
in injuries, or damages.
Do not modify, dismantle or repair the
product.
The failure could result
in electric shocks,
injuries, or fire.
Do not turn on or off the power
frequently.
The failure could result
in damages.
Execute the trial-operations with the
motor fixed and a load unconnected.
Connect a load to the motor after the
successful trial-operations.
The failure could result
in injuries.
Do not approach to the equipment
after recovery from the power failure
because they may restart suddenly.
Execute the personal safety setting
on the Equipment after the restart.
The failure could result
in injuries, or damages.
If an error occurs, remove the causes
of the error and secure the safety
before restarting
The failure could result
in injuries.
When you dispose batteries, insulate
them with tape or the like, and
dispose them according to the local
ordinances of your self-governing
body.
This product should be treated as an
industrial waste when it is disposed.
11
Maintenance and Inspections
• Routine maintenance and inspections are essential for proper and satisfactory operation of the driver and motor.
Notes to Maintenance/Inspections Personnel
1) Power-on/off operations should be done by the operators themselves.
2) For a while after power off, the internal circuits is kept charged at higher voltage. Inspections should be
done a while (about 10 minutes), after the power is turned off and the LED lamp on the panel is
extinguished.
3) Do not take insulation resistance measures. Otherwise the driver will be damaged.
Inspection Items and Cycles
Normal (correct) operating conditions:
Ambient condition: 20 hours max. at 30ºC (annual average) and under 80% or less load ratio
Daily and periodical inspections should be done per the following instructions.
Inspection items
Cycles
Type
Daily
inspection
Cycles
Periodical
inspection
Every year
• Ambient temperature, humidity, dust, particles, foreign matters, etc.
• Abnormal sound and vibration
• Main circuit voltage
• Odor
• 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)
• Loosened screws
• Signs of overheat
• Burned terminals
<Notes>
If the actual operating conditions differ from things mentioned above, the inspection cycles may change
accordingly.
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
Standard replacement
cycles (hour)
Smoothing condenser
about 5 years
2 to 3 years
(10 to 30 thousand hours)
Cooling fan
Driver
Aluminum
electrolytic capacitor
on the print board
Inrush current
preventing relay
Bearing
Oil seal
Motor
Encoder
Battery
(Absolute encoder)
12
Remarks
about 5 years
Approx. 100 thousand times
(Life expectancy depends
on operating condition)
3 to 5 years
(20 to 30 thousand hours)
5000 hours
3 to 5 years
(20 to 30 thousand hours)
1 year from
the first use
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.
[Before Use]
page
Introduction ............................................................. 14
Outline .........................................................................................
Check the Model of Driver ...........................................................
Check the Model of Motor ...........................................................
Check the Combination of Driver and Motor ...............................
14
14
15
16
Parts Description .................................................... 20
Driver ........................................................................................... 20
Motor ........................................................................................... 22
Installation ............................................................... 23
Driver ........................................................................................... 23
Motor ........................................................................................... 24
13
Introduction
Outline
The high performance AC servo motor driver MINAS-AIII series which can drive a machine at a high speed
through a small servomotor of 30 W or a large servomotor of 5.0 kW. By using a top performance CPU, it
responses to a speed at frequency 1 kHz, enabling the driven machine to operate at a high speed and
significantly reducing tact time.
It supports full closed loop control and has an auto-tuning function. The motor can support either 2,500 p/r
incremental encoder specification or a high-resolution 17-bit absolute/incremental encoder.
It also has a damping control equipment that makes it possible to automate complicated gain tuning and
enables a low rigid equipment to have stable stop performance. A variety of high speed motors are available
for various applications.
This document is prepared for you to fully make use of excellent features and functions available on the
MINAS-AIII series.
Precautions
(1) No part of this publication may be reproduced in any form by any means without prior permission.
(2) Contents of this publication are subject to change without notice.
Check the Model of Driver
Name plate
AC SERVO
Model
MODEL No.
MADCT1503
Voltage
Phase
200-240V
1ø/3ø
84V
3ø
F.L.C
Freq.
1.0A/0.70A
50/60Hz
1.0A
0~333.3Hz
INPUT
Rated input voltage
OUTPUT
SERIAL No. 02070001
product No.
mm
yy
Rated output current
100W
Power
Serial Number
ex. 0 2 0 7 0 0 0 1
ENCODER
Rated motor output
Model Designation
M A D C T 1 5 0 3
2
4
Applicable motors
Symbol Applicable motors
A
AIII Series Type A
B
AIII Series Type B
C
AIII Series Type C
D
AIII Series Type D
E
AIII Series Type E
F
AIII Series Type F
G
AIII Series Type G
AC servo driver
C: AIII Series
14
5~6
7
8~9
10~12
Custom specification
(Alphanumeric)
Maximum continuous
output current
continuous
Symbol Maximum
output current
Power supply voltage
03
3A
1: Single-phase 100 V
05
5A
3: 3-phase 200 V
07
7.1A
5: Single-phase/3-phase 200 V 12
12.5A
16
Maximum instantaneous
16.7A
output current
25
25A
instantaneous
Symbol Maximum
33
33.3A
output current
50
50A
T1
10A
75
75A
T2
15A
T3
30A
T5
50A
T7
75A
TA
100A
TB
150A
TC
200A
[Before Use]
Before Use
Check the Model of Motor
Name plate
Type
Rated output
Revolution rating
AC SERVO MOTOR
MODEL No. MSMA3AZS1A
INPUT 3ØAC
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 (TÜV) A (UL)
IP65
CONNECTION
SER No.
02070001
Serial No
ex. 0 2 0 7 0 0 0 1
yy
mm
product No.
Model Designation
M S M A 3 A Z S 1 A
1~4
Symbol
MSMA
MAMA
MDMA
MHMA
MFMA
MGMA
5~6
8
9
10
11~12
Custom
specification
Type
Low inertia
Ultra Low inertia
Middle inertia
High inertia
Middle inertia
Middle inertia
Motor structure
Custom specification
1: Standard
Specification for Position/Speed Detector
Rated output
Table 1-a Rated Motor Output
Rated
Rated
Symbol output
Symbol output
3A
30W 10 1.0kW
5A
50W 12 1.2kW
01 100W 15 1.5kW
02 200W 20 2.0kW
03 300W 25 2.5kW
04 400W 30 3.0kW
05 500W 35 3.5kW
06 600W 40 4.0kW
08 750W 45 4.5kW
09 900W 50 5.0kW
7
Voltage
1: 100V
2: 200V
Z: 100/200V
(only 30/50W)
Table 1-b Rotary encoder
Specifications
Symbol
Type
No. of pulses Resolution Lead wire
Incremental
2500P/r
10000 5-wire
P
Absolute/Incremental 17bit
131072 7-wire
S
Table 1-c Motor Structure
Shaft
Holding Brake
Oil Seal
Straight Key way None Yes None Yes
A
B
C
D
E
F
G
H
15
Introduction
Check the Combination of Driver and Motor
The Driver has been designed for use in combination with the specified motors only. Check the specifications (Series symbol, output rating, voltage rating and encoder type) of the motor you want to use.
With the incremental type encoder: 2500P/r
* You must not use a combination other than those listed below:
Driver
power
suply
Motor
Series symbol
Revolution
rating
Single-phase
200V
MAMA
Ultra Low inertia
5000r/min
Three-phase
200V
Single-phase
100V
Single-phase
200V
MSMA
Low inertia
Three-phase
200V
16
3000r/min
Driver
Motor type
Output
rating
MAMA012P1*
100W
MAMA022P1*
MAMA042P1*
MAMA082P1*
200W
400W
750W
MAMA012P1*
100W
MAMA022P1*
MAMA042P1*
MAMA082P1*
200W
400W
750W
MSMA3AZP1*
30W
MSMA5AZP1*
50W
MSMA011P1*
100W
MSMA021P1*
MSMA041P1*
200W
400W
MSMA3AZP1*
30W
MSMA5AZP1*
50W
MSMA012P1*
100W
MSMA022P1*
200W
MSMA042P1*
MSMA082P1*
400W
750W
MSMA3AZP1*
30W
MSMA5AZP1*
50W
MSMA012P1*
100W
MSMA022P1*
200W
MSMA042P1*
400W
MSMA082P1*
750W
MSMA102P1*
1.0KW
MSMA152P1*
1.5KW
MSMA202P1*
MSMA252P1*
MSMA302P1*
MSMA352P1*
MSMA402P1*
MSMA452P1*
MSMA502P1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
Driver
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1103
MBDCT1103
MADCT1103
MBDCT1103
MADCT1105
MBDCT1107
MBDCT2107
MCDCT3112
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MDDCT5512
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MCDCT3312
MDDCT5512
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MGDCTB375
MGDCTB375
Driver
type
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
[Before Use]
Motor
Series symbol
Revolution
rating
Single-phase 200V
Three-phase
200V
MDMA
Middle inertia
2000r/min
Single-phase 200V
Three-phase
200V
MHMA
High inertia
2000r/min
Single-phase
200V
Three-phase
200V
MFMA
Middle inertia
2000r/min
Single-phase
200V
Three-phase
200V
MGMA
Middle inertia
1000r/min
Before Use
Driver
power
suply
Driver
Motor type
Output
rating
MDMA082P1*
750W
MDMA082P1*
750W
MDMA102P1*
1.0KW
MDMA152P1*
1.5KW
MDMA202P1*
MDMA252P1*
MDMA302P1*
MDMA352P1*
MDMA402P1*
MDMA452P1*
MDMA502P1*
MHMA052P1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
500W
MHMA052P1*
500W
MHMA102P1*
1.0KW
MHMA152P1*
1.5KW
MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
MFMA042P1*
MFMA082P1*
2.0KW
3.0KW
4.0KW
5.0KW
400W
750W
MFMA042P1*
400W
MFMA082P1*
750W
MFMA152P1*
1.5KW
MFMA252P1*
MFMA352P1*
MFMA452P1*
MGMA032P1*
MGMA062P1*
2.5KW
3.5KW
4.5KW
300W
600W
MGMA032P1*
300W
MGMA062P1*
600W
MGMA092P1*
900W
MGMA122P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*
1.2KW
2.0KW
3.0KW
4.5KW
Driver
MDDCT5512
MDDCT5512
MEDCT5312
MEDCT5316
MDDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB350
MGDCTB375
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5507
MEDCT5307
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTB350
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5316
MEDCT5316
MFDCT7325
MGDCTA350
MGDCTB375
MGDCTB375
Driver
type
Type D
Type D
Type E
Type E
Type D
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
Type D
Type D
Type E
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
17
Introduction
With the Absolute/Incremental type encoder: 17bit
* You must not use a combination other than those listed below:
Driver
power
suply
Motor
Series symbol
Revolution
rating
Single-phase
200V
MAMA
Ultra Low inertia
5000r/min
Three-phase
200V
Single-phase
100V
Single-phase
200V
3000r/min
MSMA
Low inertia
Three-phase
200V
18
Driver
Motor type
Output
rating
MAMA012S1*
100W
MAMA022S1*
MAMA042S1*
MAMA082S1*
200W
400W
750W
MAMA012S1*
100W
MAMA022S1*
MAMA042S1*
MAMA082S1*
200W
400W
750W
MSMA3AZS1*
30W
MSMA5AZS1*
50W
MSMA011S1*
100W
MSMA021S1*
MSMA041S1*
200W
400W
MSMA3AZS1*
30W
MSMA5AZS1*
50W
MSMA012S1*
100W
MSMA022S1*
200W
MSMA042S1*
MSMA082S1*
400W
750W
MSMA3AZS1*
30W
MSMA5AZS1*
50W
MSMA012S1*
100W
MSMA022S1*
200W
MSMA042S1*
400W
MSMA082S1*
750W
MSMA102S1*
1.0KW
MSMA152S1*
1.5KW
MSMA202S1*
MSMA252S1*
MSMA302S1*
MSMA352S1*
MSMA402S1*
MSMA452S1*
MSMA502S1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
Driver
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3512
MDDCT5516
MADCT1103
MBDCT1103
MADCT1103
MBDCT1103
MADCT1105
MBDCT1107
MBDCT2107
MCDCT3112
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MDDCT5512
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1503
MBDCT1503
MADCT1505
MBDCT1507
MBDCT2507
MCDCT3312
MDDCT5512
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MGDCTB375
MGDCTB375
Driver
type
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type B
Type C
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type D
Type A
Type B
Type A
Type B
Type A
Type B
Type A
Type B
Type B
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
[Before Use]
Motor
Series symbol
Revolution
rating
Single-phase 200V
Three-phase
200V
MDMA
Middle inertia
2000r/min
Single-phase 200V
Three-phase
200V
2000r/min
Single-phase
200V
MFMA
Three-phase
200V
2000r/min
Motor type
Output
rating
MDMA082S1*
750W
MDMA082S1*
750W
MDMA102S1*
1.0KW
MDMA152S1*
1.5KW
MDMA202S1*
MDMA252S1*
MDMA302S1*
MDMA352S1*
MDMA402S1*
MDMA452S1*
MDMA502S1*
MHMA052S1*
2.0KW
2.5KW
3.0KW
3.5KW
4.0KW
4.5KW
5.0KW
500W
MHMA052S1*
500W
MHMA102S1*
1.0KW
MHMA152S1*
1.5KW
MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA082S1*
2.0KW
3.0KW
4.0KW
5.0KW
400W
750W
MFMA042S1*
400W
MFMA082S1*
750W
MFMA152S1*
1.5KW
MFMA252S1*
MFMA352S1*
MFMA452S1*
MGMA032S1*
MGMA062S1*
2.5KW
3.5KW
4.5KW
300W
600W
MGMA032S1*
300W
MGMA062S1*
600W
MGMA092S1*
900W
MGMA122S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*
1.2KW
2.0KW
3.0KW
4.5KW
Middle inertia
Single-phase
200V
Three-phase
200V
Driver
MHMA
High inertia
MGMA
Middle inertia
Before Use
Driver
power
suply
1000r/min
Driver
MDDCT5512
MDDCT5512
MEDCT5312
MEDCT5316
MDDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MFDCT7333
MGDCTA350
MGDCTB350
MGDCTB375
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5507
MEDCT5307
MDDCT5316
MEDCT5316
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTA350
MGDCTB375
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5325
MEDCT5325
MFDCT7333
MGDCTB350
MGDCTB375
MDDCT5507
MDDCT5512
MCDCT3307
MDDCT5507
MDDCT5512
MEDCT5312
MDDCT5316
MEDCT5316
MFDCT7325
MGDCTA350
MGDCTB375
MGDCTB375
Driver
type
Type D
Type D
Type E
Type E
Type D
Type D
Type E
Type F
Type F
Type G
Type G
Type G
Type G
Type G
Type D
Type D
Type E
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type D
Type D
Type C
Type D
Type D
Type E
Type D
Type E
Type F
Type G
Type G
Type G
< Notes >
1. The default is for "incremental" spec.
When you use the driver with the "absolute" spec, you need to;
1) Install the battery (see page 278 "Optional Parts" in Appendix).
2) Change the value of the parameter "Absolute encoder set-up (Pr0B)" from 1 (factory set default) to 0.
2. When the 17-bit 7-wire absolute encoder is used as an incremental encoder, the backup battery needs
not to be connected.
19
Parts Description
Driver
<Type A>
Mounting bracket
MODE
selector switch
SET
button
MODE
SET
LED indicator (6 digits)
Rotary switch (ID)
Data setting buttons
: SHIFT
Check pins
: UP
: DOWN
Connector
Check pins
Main power supply
input terminal
(L1, L2, L3)
L2
L1
Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)
L1C
L3
Control power supply
input terminal
(L1C, L2C)
DL1
RB2
RB1
DL2
Regenerative discharge
resistor connection terminal
(RB1, RB2, RB3)
Controller connector
Host device, etc.
(CN X5)
Encoder connector
(CN X4)
U
Motor connection terminal
(U, V, W, E)
V
Motor connector
CN X3
723-604
(WAGO)
Normally short-circuited
(DL1, DL2)
W
Regenerative
resistor
connector
CN X2
723-605
(WAGO)
RB3
L2C
Power input
connector
CN X1
721-205/026-000
(WAGO)
Ground terminal
(Two Locations)
Example : MADCT1505 (Single-phase/Three-phase 200V 100W : Type A)
<Type B – D>
Mounting bracket
MODE
selector switch
SET
button
MODE
SET
Rotary switch (ID)
LED indicator (6 digits)
Data setting buttons
: SHIFT
Check pins
: UP
Connector
Main power supply
input terminal
(L1, L2, L3)
L2
L1
X7
L3
X6
L1C
Control power supply
input terminal
(L1C, L2C)
L2C
Power input
connector
CN X1
721-205/026-000
(WAGO)
: DOWN
DL1
DL2
RB1
X5
RB3
Regenerative discharge
resistor connection terminal
(RB1, RB2, RB3)
Controller connector
Host device, etc.
(CN X5)
RB2
Normally short-circuited
(DL1, DL2)
Motor connection terminal
(U, V, W, E)
X4
Encoder connector
(CN X4)
W
Motor connector
CN X3
723-604
(WAGO)
V
U
Regenerative
resistor
connector
CN X2
723-605
(WAGO)
Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)
Ground terminal
(Two Locations)
Example : MBDCT2507 (Single-phase/Three-phase 200V 400W : Type B)
20
[Before Use]
Mounting bracket
Rotary switch (ID)
MODE
selector switch
SET
button
MODE
SET
Before Use
<Type E – F>
LED indicator (6 digits)
Data setting buttons
: SHIFT
Check pins
: UP
: DOWN
Terminal
Main power supply
input terminal
(L1, L2, L3)
Communication
connector 1
(CN X7)
Communication
connector 2
(CN X6)
X7
L1
X6
L2
L3
Control power supply
input terminal
(r, t)
r
X5
t
Regenerative discharge
resistor connection terminal
(P, B2)
P
B1
B2
X4
Encoder
connector
(CN X4)
U
Motor connection terminal
(U, V, W)
Controller
connector
Host device,
etc.
(CN X5)
V
Terminal
block cover
W
Ground terminal
(Two Locations)
Cover setscrew
Example : MEDCT5316 (Three-phase 200V 1.0kW : Type E)
<Type G>
Rotary switch (ID)
Check pins
MODE
selector switch
SET
button
MODE
SET
LED indicator (6 digits)
Data setting buttons
: SHIFT
Terminal
: UP
: DOWN
Main power supply
input terminal
(L1, L2, L3)
X7
L1
L2
X6
L3
Control power supply
input terminal
(r, t)
Regenerative discharge
resistor connection terminal
(P, B2)
r
X5
t
P
B1
B2
U
V
W
Motor connection terminal
(U, V, W)
X4
Communication connector 1
(CN X7)
Communication connector 2
(CN X6)
Controller
connector
Host device,
etc.
(CN X5)
Encoder
connector
(CN X4)
Terminal
block cover
Ground terminal
(Two Locations)
Cover setscrew
Example : MGDCTB375 (Three-phase 200V 5.0kW : Type G)
< Notes >
For detailed information for each of driver types, see page 292 ~ page 295 " Dimensions" in Appendix.
Connectors X1, X2 and X3 come with frames A to D.
21
Parts Description
Motor
MAMA 100W ~ 200W
MSMA 30W ~ 750W
Motor cable
Encoder cable
Rotary encoder
Frame
Flange
Mounting bolt holes (Four locations)
Example: Low-Inertia Motor (MSMA Series, 50W)
MSMA
MDMA
MHMA
MFMA
MGMA
1.0kW ~ 5.0kW
750W ~ 5.0kW
500W ~ 5.0kW
400W ~ 4.5kW
300W ~ 4.5kW
Brake Motor connector
Encoder connector
Flange
Mounting bolt holes (4)
Frame
Example: Middle-Inertia Motor (MDMA Series, 1.0kW)
< Notes >
For detailed information for each of motor types, see page 284 ~ page 290 " Dimensions" in Appendix.
22
Installation
[Before Use]
Before Use
The motor and driver should be properly installed to avoid failures, mechanical damages and injuries.
Driver
Location
1) Indoors, where the driver is not subjected to rain water and direct sun beams. Note that the driver
is not a waterproof structure.
2) A void the place where the driver is subjected to corrosive gases, flammable gases, grinding liquids,
oil mists, iron powders and cutting particles.
3) Place in a well-ventilated, and humid- and dust-free space.
4) Place in a vibration-free space.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude
Conditions
0 to 55˚C (free from freezing)
Not greater than 90%RH (free from condensation)
–20 to 80˚C (free from freezing)
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
1) This is a rack-mount type.
Place the driver vertically. Allow enough space surrounding for ventilation.
Type D and smaller : Back panel mount type (projected, use Bracket A)
Type E and larger : Front panel mount type (recessed, use Bracket B)
(Type A – D)
(Type E – G)
Bracket A
Bracket B
MEDC
MFDC
MGDC
MADC
MBDC
MCDC
MDDC
2) If you want to change the mounting configuration, use the optional bracket (see page 273 "Optional Parts" in Appendix).
Mounting Direction and Space Requirements
• Allow enough space to ensure enough cool
ing.
• Install fans to provide a uniform distribution
of temperature in the control box.
• Observe the environmental requirements for
the control box, mentioned in the previous
page.
Fan
Fan
min. 100mm
min.
40mm
min.
10mm
min.
10mm
min.
10mm
min.
40mm
min. 100mm
23
Installation
Motor
Location
1) Indoors, where the driver is not subjected to rain water and direct sun beams.
2) Avoid the place where the driver is subjected to corrosive gases, flammable gases, grinding liquids, oil
mists, iron powders and cutting particles.
3) Place in a well-ventilated, and humid- and dust-free space.
4) Easy maintenance, inspections and cleaning is also important.
Environmental Conditions
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Motor only
Vibration
Mechanical shock Motor only
Conditions
0 to 40˚C (free from freezing)
Not greater than 85%RH (free from condensation)
-20 to 80˚C (free from freezing)
Not greater than 85%RH (free from condensation)
Not greater than 49m/s2 (5G) in operation; not greater than 24.5m/s2 (2.5G) at rest
Not greater than 98m/s2 (10G)
How to Install
The motor can be installed either vertically or horizontally. Observe the following notes.
1) Horizontal mounting
• Place the motor with the cable outlet facing down to prevent the entry of oil and water.
2) Vertical mounting
• If the motor is coupled with a reduction gear, make sure that the oil in the reduction gear does not enter into
the motor.
Oil and Water Protections
1) This motor can be used where it is subjected to water and/or oil drops, but is not water or oilproof.
Therefore, the motors should not be placed or used in such environment.
2) If the motor is coupled with a reduction gear, use the motor should with oil
seals to prevent the reduction gear oil from entering into the motor.
Motor
Cable
3) Don't use the motor with the cables being immersed in oil or water.
Cable: Stress Relieving
Oil/Water
1) 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.
2) 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.
3) Make the bending radius of cables as large as possible. Minimum bend radius: 20 mm
Permissible Shaft Load
1) Make sure that both of radial and thrust load to be applied to the motor shaft during installation and
running, becomes within the specified value of each model.
2) Pay extra attention at installing a rigid coupling(especially an excess bending load which may cause the
damages and/or wear of the shaft and bearings.
3) 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.
4) For the permissible shaft load, see page 269 "Allowable Shaft Loads Listing" in Appendix.
Installation Notes
1) 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).
2) Try perfect alignment between shafts (misalignment may cause vibration, and damages of the bearings).
24
Motor
[Preparations]
page
System Configuration and Wiring.......................... 26
General Wiring Diagram ..............................................................
List of Drivers and Compatible Peripheral Equipment ................
Main Circuits ................................................................................
CN X4 Connector (For Encoder) .................................................
CN X6 and CN X7 Connectors
(For Personal Computer/Host Controller) ...................................
CN X5 Connector (For High order control equipment) ................
Timing Chart ................................................................................
Holding Brake ..............................................................................
Dynamic Brake (DB) ....................................................................
Initialization (Precautions) ...........................................................
26
30
32
36
38
39
40
44
46
48
Setting parameters and mode ................................ 50
Out line ........................................................................................
Parameter Groups and Listing ....................................................
Pr5E Torque limit setting .............................................................
Front Panel Key Operations and Display ....................................
Functions of the Key Switches ....................................................
Operating procedure ...................................................................
Details of the execution display in the monitor mode ..................
Details of the execution display in the parameter setup mode ...
Details of the execution display in the EEPROM writing mode...
Details of the execution display in the auto gain tuning mode ....
Details of the execution display in the auxiliary function mode ...
50
50
55
56
56
57
60
63
63
64
66
Trial Run (JOG) ........................................................ 68
Inspections before Trial Run ....................................................... 68
Motor trial run .............................................................................. 69
25
System Configuration and Wiring
General Wiring Diagram (Example : Type B)
<Main Circuits>
(See P.30 and 31)
Non-Fuse Breaker (NFB)
Used to protect the power lines:
overcurrent will shutoff the circuit.
(See P.267)
Noise Filter (NF)
Prevents the external noise from the
power line, and reduces the effect of
the noises generated by the servo
motor.
Wires to connector
CN X1
(connection to power source)
(See P.30 and 31)
Magnetic Contactor (MC)
Turns on/off the main power of the
servo motor.
Used together with a surge absorber.
• You must not absolutely run nor
stop a motor with the magnetic
contactor.
L1
L2
L3
L1C
L2C
RB1
(See P.281)
Reactor (L)
Reduces the harmonic in the main
power.
Terminals RB1, RB2 and RB3
• Normally keep RB2 and RB3 shorted.
• If the capacity of the internal regenerative discharge resistor is not
enough, disconnect between RB2
and RB3, and connect an external
regenerative discharge resistor to
RB1 and RB2 terminals.
(Type A does not include regenerative
resistor. When installing the resistor, follow the procedure shown above.)
26
RB2
Wires to connector
CN X2
(connection to
external component)
Regenerative
discharge
resistor
Ground
[Preparations]
Preparations
: Driver high voltage stage
Personal computer
Short circuit wire
Set up support software
PANATERM®
X7
X6
• CN X6/CN X7
(to connect a PC or controller)
• CN X5
(to connect a controller)
X5
• CN X4
(to connect an encoder)
X4
Wire to connector CN X3
(To each phase and ground of the
motor driving circuit)
Encoder junction cable
Motor junction cable
Operation lever
Use the lever to connect
wires to the connector.
Save the lever for future
use.
Brake junction cable
Brake power supply
(24VDC)
*For connection, see page 32 "Wiring Instructions".
27
System Configuration and Wiring
General Wiring Diagram (Example : Type G)
<Main Circuits>
(See P.30 and 31)
Non-Fuse Breaker (NFB)
Used to protect the power lines:
overcurrent will shutoff the circuit.
(See P.267)
Noise Filter (NF)
Prevents the external noise from the
power line, and reduces the effect of
the noises generated by the servo
motor.
(See P.30 and 31)
Magnetic Contactor (MC)
Turns on/off the main power of the
servo motor.
Used together with a surge absorber.
• You must not absolutely run nor
stop a motor with the magnetic
contactor.
(See P.281)
Reactor (L)
Reduces the harmonic in the main
power.
Terminals P, B1 and B2
• Normally keep B1 and B2 shorted.
• When the internal regenerative
resistance does not have sufficient capacity, remove the
short bar between B1 and B2,
and connect an external regenerative resistance to P to B2
terminals.
28
Ground
Regenerative
discharge
resistor
[Preparations]
Preparations
: Driver high voltage stage
Personal computer
Set up support software
PANATERM®
X7
L1
L2
• CN X6/CN X7
(to connect a PC or controller)
X6
L3
r
X5
• CN X5
(to connect a controller)
t
P
B1
B2
• CN X4
(to connect an encoder)
X4
U
V
Encoder
junction cable
W
Motor junction cable
Short circuit bar
Brake junction cable
Brake power supply
(24VDC)
*For connection, see page 33 "Wiring Instructions".
29
System Configuration and Wiring
List of Drivers and Compatible Peripheral Equipment
Driver
Compatible
motor
MSMA
MADC
MAMA
Output
Single-phase
100V
30W ~ 50W
100W
30W ~ 100W
200W
100W
30W ~ 100W
200W
100W
30W ~ 50W
100W
200W
30W ~ 100W
200W
400W
100W
200W
30W ~ 100W
200W
400W
100W
200W
400W
400W
750W
400W
300W
400W
750W
750W
400W
750W
500W
300W
600W
750W
750W
750W
400W
750W
500W
300W
600W
750W
900W
1kW
1kW
1kW
1.5kW
1.5kW
1.5kW
1.5kW
Single-phase
200V
MSMA Three-phase
200V
MAMA
Single-phase
100V
MSMA
MBDC
Single-phase
200V
MAMA
MSMA
Three-phase
200V
MAMA
MSMA
MAMA
MCDC MSMA
MFMA
MGMA
MAMA
MSMA
MDMA
Single-phase 100V
Single-phase 200V
Three-phase
200V
MFMA
Single-phase
MHMA 200V
MGMA
MAMA
MSMA
MDMA
MDDC
MFMA
MHMA
MGMA
MAMA Three-phase
MGMA 200V
MSMA
MDMA
MHMA
MSMA
MDMA
MFMA
MHMA
30
Circuit
Required Power breaker
(at the rated load) (rated current)
Noise
filter
Magnetic
contactor
(contacts)
Main circuit wire Control power Wiring on
wire diameter connector
diameter
BMFT61041N
approx. 0.3kVA BBC 2101N
(10A)
(3P+1a)
approx. 0.4kVA
approx. 0.3kVA
BMFT61541N
DV0P3390
approx. 0.5kVA
(3P+1a)
approx. 0.3kVA BBC 3101N
(10A)
approx. 0.3kVA
BMFT61042N
approx. 0.5kVA
(3P+10a)
approx. 0.3kVA
approx. 0.3kVA
BBC 2101N
BMFT61041N
approx. 0.4kVA
(10A)
(3P+1a)
approx. 0.5kVA
approx. 0.3kVA
approx. 0.5kVA
BMFT61541N
approx. 0.9kVA
(3P+1a)
approx. 0.3kVA
approx. 0.5kVA BBC 3101N
(10A)
DV0P1441
approx. 0.3kVA
0.75 ~ 2.0mm2
approx. 0.5kVA
BMFT61042N
AWG14 – 18
approx. 0.9kVA
(3P+10a)
approx. 0.3kVA
approx. 0.5kVA
BMFT61541N
approx. 0.9kVA BBC 2101N(10A)
(3P+1a)
approx. 0.9kVA
approx. 1.3kVA
BMFT61042N
approx. 0.9kVA
(3P+10a)
approx. 0.7kVA
approx. 0.9kVA
approx. 1.6kVA
approx. 1.6kVA
approx. 0.9kVA
BMFT61541N
approx. 1.6kVA
(3P+1a)
approx. 1.1kVA
approx. 0.7kVA
approx. 1.2kVA BBC 3151N
(15A)
approx. 1.6kVA
approx. 1.3kVA
approx. 1.3kVA
approx. 1.0kVA
DV0P3410 BMFT61042N
approx. 1.3kVA
(3P+10a)
approx. 1.0kVA
approx. 0.7kVA
approx. 1.1kVA
approx. 1.3kVA
approx. 1.8kVA
BMFT61542N
approx. 1.8kVA
(3P+1a)
approx. 1.8kVA
2.0mm2
approx. 1.8kVA
AWG14
approx. 2.3kVA
BMFT61842N
approx. 2.3kVA BBC 3201N
(20A)
(3P+1a)
approx. 2.3kVA
approx. 2.3kVA
0.75mm2
AWG18
Wiring to dedicated connector
Voltage
[Preparations]
Driver
Compatible
motor
Voltage
MDMA
MFMA
MHMA
MEDC MSMA
MDMA
MHMA
MSMA
MDMA
MFMA
MHMA
MGMA
MSMA
MDMA
MFDC MHMA
MSMA
MDMA
MFMA Three-phase
MGMA 200V
MSMA
MDMA
MHMA
MFMA
MGMA
MGDC MSMA
MDMA
MHMA
MFMA
MSMA
MDMA
MSMA
MDMA
MHMA
MGMA
750W
750W
500W
600W
900W
1kW
1kW
1kW
1.5kW
1.5kW
1.5kW
1.5kW
1.2kW
2kW
2kW
2kW
2.5kW
2.5kW
2.5kW
2kW
3kW
3.5kW
3kW
3.5kW
3kW
3.5kW
3kW
4kW
4kW
4kW
4.5kW
4.5kW
4.5kW
5kW
5kW
5kW
4.5kW
Circuit
Required Power breaker
(at the rated load) (rated current)
approx. 1.3kVA
approx. 1.3kVA
approx. 1.0kVA
approx. 1.1kVA
approx. 1.8kVA
approx. 1.8kVA
approx. 1.8kVA
approx. 1.8kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 2.3kVA
approx. 3.3kVA
approx. 3.3kVA
approx. 3.3kVA
approx. 3.8kVA
approx. 3.8kVA
approx. 3.8kVA
approx. 3.8kVA
approx. 4.5kVA
approx. 5.3kVA
approx. 4.5kVA
approx. 5.3kVA
approx. 4.5kVA
approx. 5.3kVA
approx. 5.3kVA
approx. 6.0kVA
approx. 6.0kVA
approx. 6.0kVA
approx. 6.8kVA
approx. 6.8kVA
approx. 6.8kVA
approx. 7.5kVA
approx. 7.5kVA
approx. 7.5kVA
approx. 7.5kVA
Noise
filter
Magnetic
contactor
(contacts)
Pressure
Main circuit wire Control power terminal
on
wire diameter terminal block
diameter
BMFT61042N 0.75 ~ 2.0mm2
AWG14 – 18
(3P+10a)
BBC 3151N
(15A)
Preparations
MGMA
Output
BMFT61542N
(3P+1a)
BBC 3201N
(20A)
DV0P1442
BMFT61842N
(3P+1a)
2.0mm2
AWG14
BMF6252N
(3P+2a2b)
BBC 3301N
(30A)
0.75mm2
AWG18
M5
BMF6352N
(3P+2a2b)
3.5mm2
AWG11
BBC 3501N
(50A)
DV0P1443
BMF6502N
(3P+2a2b)
BMF6652N
(3P+2a2b)
5.3mm2
AWG10
*Select the single-phase/3-phase 200 V type according to the power supply used.
• Manufacturer of circuit breaker and electromagnetic contactor: Matsushita Electric Works, Ltd.
When it is necessary to conform to the EC Directive, be sure to use a circuit breaker having IEC and
marking between the power source and the noise filter.
For models of 750W or greater, when the installation is protected by a circuit breaker maximum rating of
which is 20A, energy fed to the circuit should be limited to 5000 Arms. Ensure that no load exceeding
these values should be applied.
• For further information on the noise filter, see page 268 "Peripheral Devices Applicable to Drivers (EC
Directires)" in Appendix.
<Please note>
• Select circuit breaker and noise filter rated at a capacity enough to accommodate the applicable power
and load.
• Terminal block and ground terminal
For wiring, use a copper conductor cable having 60*C or higher temperature rating.
For protective earth terminals, use M4 for types A to D and M5 for types E to G.
Mounting torque of screws in excess of the maximum value (M4: 1.2N • m and M5: 2.0N • m) might break
down a terminal block.
• When output is 30W to 2.5kW, use earth cable whose wire diameter is 2.0 mm2 (AWG14) or greater.
When output ranges from 3kW to 5kW, use earth cable whose wire diameter is not less than 3.5mm2
(AWG 11).
• For types A to D, you should use an ancillary dedicated connector. In this case, the length of bare cable
must be 8 to 9 mm.
31
System Configuration and Wiring
Main Circuits (Type A – D)
• Wiring work must be conducted by a qualified electrician.
• Don't turn on the main power until the wiring is completed, to avoid electric shocks.
Wiring Instructions
8 – 9mm
1. Unsheathe the cable to be used.
2. Insert the cable into the connector disconnected from the body. Release the lever and verify that the cable
is positively held. For further information, see page 70 "Connecting cables to the terminal block".
3. Set the wired connector to the body.
Power
supply
NFB
NF
MC
L
L1
L2
L3
L1C
L2C
DL1
DL2
RB1
RB3
RB2
Yellow
2 wires
U
Red
V
White or
yellow
Black
W
Green
yellow
E
1
2
U
V
W
3
4
Motor
Earthing resistance
: 100Ω or less
See pages 30 and 31
for applicable cable.
Power supply for
DC
24V electoromagnetic
brake
Surge absorber
32
See the nameplate of the driver 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.
Never start or stop the motor by using the
electromagnetic contactor.
Install an AC reactor.
For single-phase 100V, 200V connect between L1
and L1C, and between L3 and L2C. Do not use L2
terminal.
Don't remove the Short circuit wire connecting
between DL1 and DL2.
Don't remove the Short circuit wire connecting
between RB2 and RB3. Remove this only when an
external regenerative discharge resistor is
connected.
Ensure matching in color between the motor wires
and terminals (U, V and W).
Don't short circuit or ground. Don't connect to
the main power.
Connect to the grounding system of the facility.
Never fail to connect between the driver's
protective earth terminal ( ) and control board's
protective earth terminal (PE) in order to avoid
electric shocks.
No multiple connections to a single earth terminal
permissible. There are two earth terminals (
)
Earth wires should in no case be connected or
made contact to any of the terminals other than the
earth terminals on the block.
The electromagnetic brake is not polar-sensitive.
The brake control circuit should have double circuit
configuration so that it can be actuated even on
receipt of an external emergency stop signal.
For power capacities and for use of the brake, see
page 44 "Holding Brake".
Provide a surge absorber.
[Preparations]
Main Circuits (Type E – G)
• Wiring work must be conducted by a qualified electrician.
• Don't turn on the main power until the wiring is completed, to avoid electric shocks.
Wiring Instructions
L1
Power
supply
NFB
NF
MC
L
L2
L3
r
t
P
B1
B2
Yellow
2 wires
U
Red
V
White or
yellow
Black
W
Green
yellow
E
1
U
2
V
3
W
4
Motor
Earthing resistance: 100Ω or less
See pages 30 and 31
for applicable cable.
Power supply for
DC
24V electoromagnetic
brake
Surge absorber
Preparations
1. Detach the terminal block by removing the cover securing screw.
2. Make necessary connections.
Use clamp terminal connectors with an insulation cover. For wire diameter and connector sizes, see List
of Available Components (page 30, 31).
3. Attach the terminal block cover and tighten the cover securing screw.
See the nameplate of the driver 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.
Never start or stop the motor by using the
electromagnetic contactor.
Install an AC reactor.
For single-phase 200V connect between L1
and r, and between L3 and t. Do not use L2
terminal.
Don't remove the circuit bar connecting between
B1 and B2. Remove this only when an external
regenerative discharge resistor is connected.
Ensure matching in color between the motor
wires and terminals (U, V and W).
Don't short circuit or ground. Don't connect
to the main power.
Connect to the grounding system of the
facility.
Never fail to connect between the driver's
protective earth terminal (
) and control
board's protective earth terminal (PE) in order
to avoid electric shocks.
No multiple connections to a single earth
terminal permissible. There are two earth
terminals (
)
Earth wires should in no case be connected or
made contact to any of the terminals other than
the earth terminals on the block.
The electromagnetic brake is not polarsensitive.
The brake control circuit should have double
circuit configuration so that it can be actuated
even on receipt of an external emergency stop
signal.
For power capacities and for use of the brake,
see page 44 "Holding Brake".
Provide a surge absorber.
33
System Configuration and Wiring
Wiring Diagrams
Configure the circuit so that the power supply for the main circuit turns OFF at occurrence of an alarm.
For 1-phase 100V/200V, 3-phase 200V(Type A)
For 1-phase 100V/200V*
For 3-phase 200V
ON
ON
ALM
ALM
MC
MC L
NFB
Power
supply
MC
OFF
MC
OFF
MC
*
Noise
Filter
L
MC
NFB
L1
L1
P
Power
supply
L2
Noise
Filter
N
L3
P
L2
N
L3
L1C
L1C
DC/DC
DC/DC
L2C
L2C
DL1
DL1
DL2
DL2
RB1
RB1
P
N
RB2
* In the case of 1phase 200 V, use a
reactor designed
for 3-phase application.
U
V
U
V
V
V
W
W
W
Earth
Earth
Motor
Motor
37
ALM
VDC
ALM+
37
ALM
VDC
36 ALM41 COM-
12–24V
12–24V
CN X5
For 1-phase 100V/200V(Type B – D)*
ON
For 3-phase 200V(Type B – D)
ON
ALM
NFB
OFF
MC L
*
Noise
Filter
ALM
MC
MC
MC
MC
MC
NFB
L1
P
L2
OFF
L
L1
Power
supply
Noise
Filter
DC/DC
L2C
DC/DC
L2C
DL1
DL1
DL2
DL2
RB1
RB2
RB2
U
N
U
V
U
V
V
W
V
W
W
Earth
W
Earth
Motor
ALM
VDC
Motor
ALM
VDC
12–24V
37
12–24V
ALM+
36 ALM41 COM-
CN X5
34
P
RB3
P
RB3
U
N
L3
L1C
L1C
RB1
P
L2
N
L3
* In the case of 1phase 200 V, use a
reactor designed
for 3-phase application.
ALM+
36 ALM41 COM-
CN X5
Power
supply
N
RB2
U
U
W
P
RB3
RB3
37
ALM+
36 ALM41 COM-
CN X5
N
[Preparations]
3-phase 200V(Type E – G)
ON
ALM
MC
MC
L
L1
Power
supply
Preparations
MC
NFB
OFF
Noise
Filter
P
L2
N
L3
r
DC/DC
t
P
P
B1
B2
U
N
U
V
V
W
W
Earth
Motor
ALM
VDC
12–4V
37
ALM+
36 ALM41 COM-
CN X5
• Cannon Plug Type Motor Connectors
Motor
Brake
Not fitted
Fitted
Cannon plug's pin no.
Series symbol
Output rating
MSMA
1 ~ 2.5kW
MDMA
0.75 ~ 2.5kW
MGMA
0.3 ~ 0.9kW
MHMA
0.5 ~ 1.5kW
MSMA
3 ~ 5kW
MDMA
3 ~ 5kW
MGMA
1.2 ~ 4.5kW
U
V
W
E
A
B
C
D
A
B
C
D
MHMA
2 ~ 5kW
MFMA
0.75 ~ 1.5kW
F
I
B
D, E
D
E
F
G, H
F
I
B
D
E
F
MFMA
2.5 ~ 4.5kW
MSMA
1 ~ 2.5kW
MDMA
0.75 ~ 2.5kW
MGMA
0.3 ~ 0.9kW
MHMA
0.5 ~ 1.5kW
MFMA
0.4 ~ 1.5kW
MSMA
3 ~ 5kW
MDMA
3 ~ 5kW
MGMA
1.2 ~ 4.5kW
MHMA
2 ~ 5kW
MFMA
2.5 ~ 4.5kW
Brake 1
Brake 2
G
H
A
B
D
E
G
H
<Note> See page 270 "Optional Parts" (Specifications of connectors/plugs for motors) in Appendix.
35
System Configuration and Wiring
CN X4 Connector (For Encoder)
Wiring Instructions
The cable length between the driver and motor should be
max. 20 m. If you use a longer cable, contact the dealer or
sales agent. (See the back cover.)
Power
Motor
Encoder
min. 30 cm
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.
max. 20 m
Connector
Connecting cable
Two types of encoder wire exit: One is "Lead wire +
connector" and other is Cannon plug type(depending on the
motor model).
max. 20 m
Cannon plug
If you make junction cables to the encoder by yourself,
observe the following (for connectors, refer to page 275 of
Appendix, “Optional Parts (Connector Kit for Connection of
Motor and Encoder)”:
1) Refer to the wiring diagram.
2) Wire material: 0.18 mm2 (AWG24) or above, shielded twistpaired wire with an enough bending durability.
1
3) Signal/power paired wires should be of a twist-paired type.
E0V
2
E0V
3
4) Shield:
E5V
4
E5V
• The shield at the driver side should be connected to Pin 20
5
BTP-0
6
BTN-0
(FG) of CN X4 Connector.
17
PS
18
• The shield at the motor side should be connected to:
PS
20
FG
Pin 3 (for AMP connector of 9 pins type)
Pin 6 (for AMP connector of 6 pins type)
CN X4
J-pin (for canon plug connector)
connectors
5) If the cable is longer than 10 m, the encoder power line
on the driver
(+5V and 0V) should be dual per the figure shown left.
6) Leave empty terminals of each connector and Canon plug
unconnected.
with a 2500P/r incremental type encoder ( [P] *1)
Connecting cable
max. 20 m
Encoder cable
Connectors
(canon plugs)
on the encoder
Wiring Diagrams
• MSMA 750W or smaller, and MAMA
1
2
3
Black
5
White
4
4
5
6
Light Biue
2
17
Purple
3
18
6
19
Shield wire
172168-1
(Tyco Electronics Amp)
Servo motor
Motor side
36
E0V
E0V
0V
Regulator
E5V
E5V
+5V
BTP-0
BTN-0
PS
PS
FG
Pair of twisted wire
172160-1
(Tyco Electronics Amp)
Connecting cable
Servo driver side
[Preparations]
• MSMA 1kW or larger, MDMA,
MFMA, MHMA, MGMA
Cannon plug Pin No.
G
1
2
3
H
5
6
K
17
L
18
J
20
0V
Regulator
E5V
E5V
+5V
Preparations
4
E0V
E0V
BTP-0
BTN-0
PS
PS
FG
Straight plug MS3106B20-29S
Pair of twisted wire
Cable clamp MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
Servo motor
Connecting cable
Motor side
* 1 For encoder symbols, see Table 1-b in page 15.
Wiring Diagrams
Servo driver side
) shows a pair of twisted wires.
Driver with a 17 bits absolute/incremental encoder ( [S] *2)
• MSMA 750W or smaller, MAMA
Black
8
1
2
White
7
3
4
Red
1
5
Pink
2
6
Light Biue
4
17
Purple
Yellowish
green
5
18
3
20
Shielded wire
0V
Regulator
E5V
E5V
+5V
BTP-0
BTN-0
PS
PS
FG
Pair of twisted wire
172161-1
(Tyco Electronics Amp)
172169-1
(Tyco Electronics Amp)
Servo motor
Connecting cable
Motor side
• MSMA 1kW or larger, MDMA,
MFMA, MHMA, MGMA
E0V
E0V
Servo driver side
Cannon plug Pin No.
G
1
2
3
H
4
T
5
S
6
K
17
L
18
J
20
E0V
E0V
0V
Regulator
E5V
E5V
+5V
BTP-0
BTN-0
PS
PS
FG
Straight plug MS3106B20-29S
Pair of twisted wire
Cable clamp MS3057-12A
(Japan Aviation Electronics Industry, Ltd.)
Servo motor
Motor side
Connecting cable
Servo driver side
*2 If you use an absolute/incremental encoder ([S]) as an incremental encoder, you don't need to
connect the back-up battery.
shows a pair of twisted wires.
37
System Configuration and Wiring
CN X6 and CN X7 Connector (For Personal Computer/Host Controller)
• These connectors can be used as either RS232C or RS485. There are three ways for using these connectors as shown below.
For RS232C communication only
Connect the personal computer and the driver 1:1 through RS-232C,The PANATERM® using for Set up
support softwere. The PANATERM® using this function the monitor of the personal computer settings wave
graphics.
How to connect
Turn off the power of both the
driver and computer, before
connecting or disconnecting
the connectors.
Special cable
(optional)
Tighten the screws firmly.
CN X6
RS232C connector (rear)
Rotary switch (ID): all position (0 to F) can be selected
For both RS232C and RS485 communication
Connect the personal computer/host controller and the driver with RS232. Then, use RS 485 to connect
between drivers after the 1st axis.
RS485
RS485
Host
(personal computer
or controller)
RS232C
RS485 connector
(CN X7)
Rotary switch (ID): select a position 1 to F.
For RS485 communication only
Connect all the driver and a host with RS485.
• Rotary switch (ID): select a position 1 to F.
< NOTE >
• Max. 15 driver can be connected to a host.
• For detailed information, see page 238 “Communication”.
38
232C/485 connector
(CN X6)
Rotary switch (ID):
select the position of 0.
[Preparations]
CN X5 Connector (For High order control equipment)
Wiring Instructions
max. 3 m
Controller
min. 30 cm
Separate these wiring min. 30 cm from the main circuit wires.
Don't lay these wires in the same duct of the mains or bundle
with them.
Power
supply
Motor
COM+
1
2
The control power (VDC) between COM+ and COM- should be
supplied by the customer (recommended voltage: +12VDC to
+24VDC).
GND
+
GND
VDC
Analog
GND
COM-
Control signal output terminals can accept max. 24V or 50mA:
Don't apply larger voltage or current exceeding these limits.
If you directly activate a relay using the control signal, install a
diode in parallel to the relay as shown in the left figure. Without a
diode or with it but placed in the opposite direction, the driver will
be damaged.
FG
CN X5
Use a shielded twist-paired type for the wiring of pulse input,
encoder signal output or analog command input.
The Frame Ground (FG) is connected to an earth terminal in the
driver.
• For details, refer to the following on connection
in respective control modes:
Position control mode on page 73
Speed control mode on page 107
Torque control mode on page 133
Full-closed control mode on page 160
• CN X5 Connector Specifications
Receptacle on the
driver side
529865071
Connector to controller side
Part description
Manufacturer
Part No.
Connector (with solder)
54306-5011
Connector cover
54331-0501
Connector (with solder)
10150-3000VE
Connector cover
10350-52A0-008
Molex Japan Co., Ltd.
Sumitomo 3M
< NOTE >
• The CN X5 pins assignment is shown in page 278 "Optional Parts" in Appendix.
39
Preparations
Displace the peripheral devices such as the controller max. 3m
away from the driver.
System Configuration and Wiring
Timing Chart
After Power ON (receiving Servo-ON signal)
Control power supply
(L1C, L2C)
OFF
ON
Approx.
700 ms
Internal control
power supply
Activated
(Initialize)
Microcomputer
OFF
Approx.
2s
ON
0 s or more
Main power supply
(L1, L2, L3)
S-RDY output
(X5 Pins 35 and 34)
OFF
OFF
*2
Approx. 10 ms
or more
Approx. 10 ms
or more
*2
ON
ON
0 s or more
Servo-ON input
(X5 Pin 29)
OFF
ON
Approx. 2ms
Dynamic brake
ON
OFF
Approx. 40 ms
Motor energized
Not energized
Energized
Approx. 2ms
BRK-OFF output
(X5 Pins 10 and 11)
Position/ Speed/
Torque command
OFF (Brake engaged)
ON (Brake released)
Approx. 100 ms or more *1
No command input
Command
input
<Notes>
• The above chart shows the timing from AC power-ON to command input.
• Activate the Servo-ON signal and external command input according to the above timing chart.
*1. During this period, the SRV-ON signal is mechanically input, but not accepted actually.
*2. The S-RDY output turns ON when the microcomputer's initialization is completed, and the main
power supply is activated.
40
[Preparations]
After an Alarm event (during Servo-ON)
Alarm
Error
Normal
Dynamic brake
Servo ready
output (S-RDY)
Servo alarm
output (ALM)
Free (not energized)
approx.1 to 5 ms
Energized
Preparations
Motor energized
Operation *2
Ready
Not ready
Not alarm
Alarm
Set by Pr6B
Brake release
output (BRK-OFF)
Engaged (OFF)
Released (ON)
t1 *1
A
approx. 30 r/min
Set by Pr6B
Released (ON)
t1 *1
B
Engaged (OFF)
approx. 30 r/min
<Notes>
*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, also see the description on Pr68
"Sequence upon alarm", "Parameter setting" (for individual control modes).
After an Alarm is cleared (during Servo-ON)
120 ms or more
Alarm clear
(A-CLR)
Dynamic brake
Entry of Clear signal
Activated
Motor energized Free (not energized)
Brake release
output (BRK-OFF)
Servo ready
output (S-RDY)
Servo alarm
output (ALM)
Position/speed/
torque command
Released
approx, 50 ms
Braking (OFF)
Energized
Released (ON)
Not ready
Ready
Alarm
Not alarm
No
Yes
41
System Configuration and Wiring
Servo-ON/OFF operation when the motor is stopped
(During normal operation, perform the Servo-ON/OFF operation after the motor stops.)
Servo-ON
input (SRV-ON)
servo-OFF
Servo-ON
servo-OFF
approx. 2 ms
Dynamic brake
approx. 1 to 5 ms
Braking
Released
Braking*2
t1 *1
Motor energized
Free
(not energized)*3
approx. 40 ms
Energized
Free
(not energized)
approx. 2 ms
Brake release
(BRK-OFF)
Braking (OFF)
Released (ON)
Braking (OFF)
<Notes>
*1. "tl" depends on the setting of Pr6A.
*2. For the operation of the dynamic brake during servo-off status, also see the description on Pr69
"Sequence during servo-off", "Parameter settings" (for individual control modes).
*3. The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.
42
[Preparations]
Servo-ON/OFF operation when the motor is in operation
(The following chart shows the timing in emergency stop or trip. The Servo-ON/OFF cannot be repeatedly
used.)
Servo-ON
Servo-OFF
input (SRV-ON)
With Servo-OFF entered
Servo-OFF
Servo-ON
*4
Dynamic brake
Motor energized
Preparations
With Servo-ON entered
approx. 1 to 5 ms
Braking
Free
(not energized)
approx. 40 ms
Released
Braking*3
Energized
Free
(not energized)
approx. 2 ms
Set by Pr6B
Brake release
output (BRK-OFF)
Braking (OFF)
Released (ON)
approx. 40 ms
Braking (OFF)
t1*1
Motor speed A
approx. 30 r/min
Motor rpm
approx. 30 r/min
Set by Pr6B
Motor speed
The timedefined
by Pr6B is reached
earlier.
Servo enabled
Released (ON)
Engaged (OFF)
t1*1
Servo-ON does not become active until the
motor speed decreases to about 30 r/min or less.
Motor speed B
approx. 30 r/min
The motorspeed
fallsbelow 30 r/min
earlier.
<Notes>
*1. "t1" is the time defined by Pr6B or the time required to decrease the motor speed to
approx. 30 r/min, whichever is earlier.
*2. Even if the SRV-ON signal turns ON again during motor deceleration, the SRV-ON input does not
become active until the motor stops.
*3. For the operation of the dynamic brake during servo-off status, also see the description on Pr69
"Sequence during servo-off", "Parameter settings" (for individual control modes).
*4 The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.
43
System Configuration and Wiring
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 (BRK-OFF) from the
driver.
Cut off upon emergency stop
Surge absorber
Driver
Motor
RY
11
12~24V
10
RY
BRK-OFF+
Brake coil
VDC
BRK-OFFFuse (5A)
Power for brake
41
COM-
DC24V
CN X5
<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 page 282 "Recommended Parts" in Appendix.
5. The recommended parts are those specified for measurement of brake release time. They may not
ensure enough noise immunity.
The reactance of the cable varies depending on the cable length, causing a sporadic voltage rise. Select
a surge absorber so that the relay coil voltage (maximum rating: 30 V, 50 mA) and the voltage between
the brake terminals do not exceed the rated value.
BRK-OFF Signal
• Refer to “Timing Chart” on page 40
, for timing to release the brake at power-on or timing to actuate the
brake in case of servo-off/alarm while the motor is running.
• 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 "Parameter setting" (for individual control modes).
<Note>
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.
44
[Preparations]
Holding Brake Specifications
Motor
MSMA
MSMA
MDMA
MHMA
MFMA
100W
200W, 400W
750W
30W – 100W
200W, 400W
750W
1kW
1.5kW – 2.5kW
3kW, 3.5kW
0.29 or less
1.27 or less
2.45 or less
0.29 or more
1.27 or more
2.45 or more
4.9 or more
7.8 or more
11.8 or more
4kW – 5kW
16.1 or more
750W
7.8 or more
1kW
4.9 or more
1.5kW, 2kW
2.5kW, 3kW
13.7 or more
16.1 or more
3.5kW, 4kW
21.5 or more
4.5kW, 5kW
24.5 or more
500W, 1kW
4.9 or more
1.5kW
13.7 or more
2kW – 5kW
24.5 or more
400W
4.9 or more
750W, 1.5kW
7.8 or more
2.5kW, 3.5kW
4.5kW
21.6 or more
31.4 or more
300W
4.9 or more
600W, 900W
13.7 or more
1.2kW, 2kW
24.5 or more
3kW, 4.5kW
58.8 or more
MGMA
Allowable
Allowable
Inertia Responding Releasing Excitation
overall
current Releasing thermal
equivalent
thermal
x 10-4
time
time
(DC current (A)) voltage of work per equivalent of
(ms) *1 (during cooling)
(ms)
(kg·m2)
braking (J) work(x103 J)
35 or less
0.002
4.9
39.2
0.25
10 or less
2VDC
0.018
44.1
137
0.30
50 or less
or more
0.075
147
196
0.35
70 or less 20 or less
0.003
4.9
39.2
0.26
25 or less 20 or less (30)
1VDC
0.03
44.1
137
0.36
50 or less
or more
0.09
147
196
0.43
60 or less
15 or less
0.25
196
0.74
50 or less
(100)
392
0.33
490
0.81
80 or less
50 or less
1.35
2156
1470
0.90
110 or less
(130)
15 or less
0.33
490
392
0.81
50 or less
(100)
70 or less
784
588
0.59
80 or less
(200)
1.35
1470
1176
0.79
100 or less 50 or less
2156
1470
0.90
(130)
110 or less
35 or less
4.25
2450
1078
1.10
90 or less
(150)
25 or less
4.7
2940
1372
1.30
(200)
80 or less
70 or less
784
588
0.59
2VDC
(200)
1.35
or more
50 or less
1470
1176
0.79
100 or less
(130)
25 or less
4.7
2940
1372
1.30
(200)
70 or less
1.35
784
588
0.59
80 or less
(200)
35 or less
4.7
2940
1372
0.83
(150)
1470
100 or less
8.75
1470
0.75
150 or less
2156
(450)
70 or less
784
588
0.59
80 or less
(200)
1.35
50 or less
1470
1176
0.79
100 or less
(130)
25 or less
1.3
80 or less
(200)
4.7
2940
1372
50 or less
1.4
150 or less
(130)
• Excitation voltage should be 24VDC ± 10%
*1) Delay of DC cutoff in case a surge absorber is used.
The values given in ( ) are the actual values measured with the diode (V03C manufactured by
HITACHI Semiconductor and Devices Sales Co., Ltd.).
• 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.
• Allowed angle acceleration : MAMA series is 30000 rad/s2
: MSMA, MDMA, MHMA, MFMA, MGMA series are 10000 rad/s2
• The life of number of acceleration/deceleration according to allowed angular acceleration is not less than
10 million.
45
Preparations
MAMA
Capacity
Static friction
torque
(N·m)
System Configuration and Wiring
Dynamic Brake (DB)
The driver 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, the dynamic brake circuit may be broken.
The motor, when driven by the external power, operates as a generator. Dynamic
braking causes a short circuit current to flow which may lead to smoking and firing.
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) Main power OFF.
2) Servo-OFF
3) One of the protective functions is activated.
4) Over-travel Inhibit (CWL or CCWL) is activated.
In any of four 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, when control power is switched OFF, the dynamic brake is kept ON for types
A to F, while type G will be free run.
1) Options of the operation through deceleration and stop by turning off the main power (Pr67)
Sequence at
main power-off (Pr67)
Operating conditions
During deceleration
After stop
Position error
counter
Pr67
0
1
2
3
4
5
6
7
46
D
B
Free run
D
B
Free run
D
B
Free run
D
B
Free run
D
B
Clear
D
B
Clear
Free run
Clear
Free run
Clear
D
B
Hold
D
B
Hold
Free run
Hold
Free run
Hold
[Preparations]
2) Options of the operation through deceleration and stop by turning on Servo-OFF (Pr69)
Sequence
at Servo-OFF (Pr69)
Operating conditions
During deceleration
After stop
Position
error counter
Pr69
1
2
3
4
5
6
7
D
B
Free run
D
B
Free run
D
B
Free run
D
B
Free run
D
B
Clear
D
B
Clear
Free run
Clear
Free run
Clear
D
B
Hold
D
B
Hold
Free run
Hold
Free run
Hold
Preparations
0
3) Options of the operation through deceleration and stop by turning on a protective function (Pr68)
Sequence
at alarm-on (Pr68)
Operating conditions
During deceleration
After stop
Position
error counter
Pr68
0
1
2
3
D
B
Free run
D
B
Free run
D
B
Clear
D
B
Clear
Free run
Clear
Free run
Clear
4) Options of the operation through deceleration and stop by turning on Over-travel Inhibit (CWL or CCWL)
(Pr66)
DB inhibition at
overtravel limit (Pr66)
Operating conditions
During deceleration
After stop
Pr66
0
1
D
B
Free run
Free run
Free run
47
System Configuration and Wiring
Initialization (Precautions)
• In the operation of initialization (returning to the home position), if the initialization signal (Z-phase signal
from the encoder) is entered before the motor is not substantially decelerated (after the proximity sensor
is activated), the motor may not stop at the 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
operation of initialization, so that these parameters should be determined in consideration of both the
positioning and initializing operations.
For details on the origin return operation, refer to the operation manual for the host controller.
Example of Origin Return Operation
Proximity dog ON ....... The motor will start to decelerate with the proximity sensor ON, and stop with the
first initialization signal (Z-phase).
Proximity
sensor
Proximity sensor
(dog) range
Speed
Initialization
signal
Z-phase output from encoder
Proximity dog OFF ....... 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
Proximity
sensor
Speed
Initialization
signal
48
Z-phase signal from encoder
[Preparations]
MEMO
Preparations
49
Setting parameters and mode
Outline
This driver has various parameters that are used for adjusting or setting the features or functions of the
driver.
This section describes the purpose and functions of these parameters. Understanding these parameters is
essential for obtaining the best, application-specific operation of the driver.
You can view, set and adjust these parameters using either:
1) the front touch panel or
2) your personal computer with Set up support software PANATERM®.
Parameter Groups and Listing
Group
Parameter No.
(Pr
)
Brief explanation
Function selection
00 – 0F
To select control mode, allocate input/output signals, set baud rate,
etc.
Adjustment
10 – 1F
To set servo gains (No.1 and No.2) such as position/speed/integration
or time constants for various filters.
20 – 2F
The parameters related to real-time auto gain tuning are used to select
the mode, select machine stiffness, etc.
Position control
30 – 3F
To set parameters related to switching between the 1st and 2nd gains.
40 – 4F
To set input format of command pulses, logic selection, dividing of
encoder output pulse, multiply division ratio of command pulses.
Speed and
50 – 5B
To set input gain, polarity inversion, and offset adjustment of speed
command. To set internal speed (the 1st to 4th gear, JOG speed)
torque control
acceleration/deceleration time, etc.
5C – 5F
To set input gain, polarity inversion, offset adjustment, and torque limit
of torque command.
60 – 6F
Sequence
To set not only output detection conditions of output signals such as
completion of positioning, zero speed, etc., but also processing
conditions when positional deviation is excessive.
To set stop conditions when main power is off/when alarm is
generated/when servo is turned off as well as conditions for clearing
the deviation counter.
Full-close version
70 – 7F
The parameters related to “full-closed” specifications
For details, see "Parameter setting" (for individual control modes).
<In this manual, the following symbols represent specific mode.>
Symbol
P
PS
HP
LP
S
LS
Control mode
Command
form
Position control mode
Semi-closed control mode
Position
Position control (for high stiffness)
Position control (for low stiffness)
Speed control mode
Speed
Speed control (for low stiffness)
Symbol
Control mode
T
PF
PH
PR
Torque control mode
Full-closed control mode
Hybrid control mode
External encoder control mode
2nd integrated full-closed
control mode
UPF
Command
form
Torque
Full
closed
loop
• You can select position control for high rigid and low rigid devices, speed control for low rigid devices, and the 2nd full-closed control can be made only when 17-bit encoder is used.
• For respective control modes, refer to connection and setting of each control mode, and a block
diagram by adjustment and control mode.
50
[Preparations]
Parameters for Selecting Function
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
Related control mode
Axis address
0 – 15
1
–
All
*01
LED display at power up
0 – 15
1
–
All
*02
Control mode
0 – 14
1
–
All
03
Analog torque limit input disabled
0–1
1
–
Other than T
04
Overtravel input inhibit
0–1
1
–
All
05
Internal / external speed switching
0–2
0
–
S, LS
ZEROSPD input selection
0–1
0
–
T, S, LS
07
Speed monitor (SP) selection
0–9
3
–
All
08
Torque monitor (IM) selection
0 – 12
0
–
All
09
TLC output selection
0–5
0
–
All
0A
*06
ZSP output selection
0–5
1
–
All
*0B
Absolute encoder set up
0–2
1
–
All
*0C
Baud rate of RS232C
0–2
2
–
All
*0D
Baud rate of RS485
0–2
2
–
All
0E
(For manufacturer use)
–
–
–
0F
(For manufacturer use)
–
–
–
Preparations
*00
• With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
Parameters for Adjusting Time Constants of Gain Filters, etc.
Parameter No.
(Pr
)
Range
Default
Unit
Related control mode
1st position loop gain
0 – 32767
<63>
1/s
P, PS, PF, PH, UPF, HP, LP
11
1st velocity loop gain
1 – 3500
<35>
Hz
Other than PR
12
1st velocity loop integration time constant
1 – 1000
<16>
ms
Other than PR
13
1st speed detection filter
14
1st torque filter time constant
15
Velocity feed forward
16
Feed forward filter time constant
10
Parameter description
0–6
<0>
–
Other than PR
0 – 2500
<65>
0.01ms
Other than PR
–2000 – 2000
<300>
0.1%
P, PS, PF, PH, PR, UPF, HP, LP
0 – 6400
<50>
0.01ms
P, PS, PF, PH, PR, UPF, HP, LP
HP
17
1st position integration gain
0 – 10000
<0>
x10/s2
18
2nd position loop gain
0 – 32767
<73>
1/s
P, PS, PF, PH, UPF, HP, LP, PR
19
2nd velocity loop gain
1 – 3500
<35>
Hz
All
1A
2nd velocity loop integration time constant
1 – 1000
<1000>
ms
All
1B
2nd speed detection filter
1C
2nd torque filter time constant
1D
1st notch frequency
1E
1st notch width selection
1F
2nd position integration gain
26
Disturbance torque compensation gain
27
Disturbance torque observer filter selection
28
2nd notch frequency
29
2A
2B
Vibration suppression frequency
2C
Vibration suppression filter
0–6
<0>
–
All
0 – 2500
<65>
0.01ms
All
100 – 1500
1500
Hz
All
0–4
2
–
All
0 – 10000
<0>
x10/s2
HP
0 – 200
0
%
HP, LP, LS, UPF
0 – 255
<0>
–
P, S, T, PS, HP, LP, LS, UPF
100 – 1500
1500
Hz
All
2nd notch width selection
0–4
2
–
All
2nd notch depth selection
0 – 99
0
–
All
0 – 500
0
Hz
P, PS, LP
–20 – 250
0
Hz
P, PS, LP
<Notes>
• Default setting of parameter in < > will be changed automatically as the real time auto gain tuning
operates. To manually adjust the parameter, see page 196 "Disabling of auto tuning function".
51
Setting parameters and mode
Parameters for Defining the Real Time Auto Gain Tuning
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
Related control mode
20
Inertia ratio
0 – 10000
<100>
%
All
21
Real time auto tuning set up
0–7
1
–
P, S, T, PS
22
Machine stiffness at auto tuning
0 – 15
4
–
P, S, T, PS
23
Fit gain function set up
0–2
2
–
P,PS
24
Result of fit gain function
–32768 – 32767
0
–
P, PS
25
Normal auto tuning motion set up
0–7
0
–
P, S, T, PS
2D
(For manufacturer use)
–
–
–
–
2E
(For manufacturer use)
–
–
–
–
2F
Adaptive filter frequency
0 – 64
<0>
–
P, S, T, PS
Default
Unit
Related control mode
Parameters for Adjustments (for 2nd Gain)
Parameter No.
(Pr
)
Parameter description
Range
30
2nd gain action set up
0–1
<1>
–
All
31
Position control switching mode
0 – 10
<10>
–
P, PS, PF, PH, PR, UPF, HP, LP
32
Position control switching delay time
0 – 10000
<30>
166µs
P, PS, PF, PH, PR, UPF, HP, LP
33
Position control switching level
0 – 20000
<50>
–
P, PS, PF, PH, PR, UPF, HP, LP
34
Position control switching hysteresis
0 – 20000
<33>
–
P, PS, PF, PH, PR, UPF, HP, LP
35
Position gain switching time
0 – 10000
<20>
1 + Set value
x 166µs
P, PS, PF, PH, PR, UPF, HP, LP
36
Speed control switching mode
0–5
<0>
–
S, LS
37
Speed control switching delay time
0 – 10000
0
166µs
S, LS
38
Speed control switching level
0 – 20000
0
–
S, LS
39
Speed control switching hysteresis
0 – 20000
0
–
S, LS
3A
Torque control switching mode
0–3
<0>
–
T
3B
Torque control switching delay time
0 – 10000
0
166µs
T
3C
Torque control switching level
0 – 20000
0
–
T
3D
Torque control switching hysteresis
0 – 20000
0
–
T
–
–
–
–
3E–3F
(For manufacturer use)
<Notes>
• Default setting of parameter in < > will be changed automatically as the real time auto gain tuning
operates. To manually adjust the parameter, see page 196 "Disabling of auto tuning function".
• In this manual, the following symbols represent specific mode.
P : Position control mode, S : Speed control mode, T : Torque control mode,
PS : Semi-closed control mode, PF : Full-closed control mode, PH : Hybrid control mode, PR : External encoder control mode,
HP : Position control (for high stiffness), LP : Position control (for low stiffness), LS : Speed control (for low stiffness),
UPF : 2nd integrated full-closed control mode
52
[Preparations]
Parameters for Position Control
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
Related control mode
Command pulse multiplier set up
1–4
4
–
P, PS, PF, PH, PR, UPF ,HP, LP
*4 1
Command pulse logic inversion
0–3
0
–
P, PS, PF, PH, PR, UPF ,HP, LP
Command pulse input mode
0–3
1
–
P, PS, PF, PH, PR, UPF ,HP, LP
Command pulse inhibit input invalidation
0–1
1
–
P,PS,HP,LP,UPF
1 – 16384
2500
P/r
All
0–1
0
–
All
*4 2
43
*4 4
Output pulses per single turn
*4 5
Pulse output logic inversion
46
1st numerator of command pulse ratio
1 – 10000
10000
–
P, PS, PF, PH, PR, UPF ,HP, LP
47
2nd numerator of command pulse ratio
1 – 10000
10000
–
P, PS, PF, PH, PR
48
3rd numerator of command pulse ratio
1 – 10000
10000
–
PS, PF, PH, PR
49
4th numerator of command pulse ratio
1 – 10000
10000
–
PS, PF, PH, PR
n
P, PS, PF, PH, PR, UPF, HP, LP
4A
Multiplier of numerator of command pulse ratio
0 – 17
0
2
4B
Denominator of command pulse ratio
1 – 10000
10000
–
P, PS, PF, PH, PR, UPF, HP, LP
4C
Smoothing filter
0–7
1
–
P, PS, PF, PH, PR, UPF, LP
4D
Counter clear input
0–1
0
–
P, PS, PF, PH, PR, UPF, HP, LP
*4 E
FIR filter 1 set up
0 – 31
0
Set value + 1
HP, LP
*4 F
FIR filter 2 set up
0 – 31
0
Set value + 1
HP
• With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
Parameters for Velocity and Torque Control
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
Related control mode
10 – 2000
500
(r/min) /V
S, LS
0–1
1
–
S, LS
50
Velocity command input gain
51
Velocity command input logic inversion
52
Velocity command offset
–2047 – 2047
0
0.3mV
S, T, LS
53
1st internal speed
–20000 – 20000
0
r/min
S, LS
54
2nd internal speed
–20000 – 20000
0
r/min
S, LS
55
3rd internal speed
–20000 – 20000
0
r/min
S, LS
56
4th internal speed
–20000 – 20000
0
r/min
S, T, LS
57
JOG speed set up
0 – 500
300
r/min
All
58
Acceleration time
0 – 5000
0
2ms/(1000r/min)
S, LS
59
Deceleration time
0 – 5000
0
2ms/(1000r/min)
S, LS
5A
S-shaped acceleration/deceleration time
0 – 500
0
2ms
S, LS
Speed command FIR filter set up
0 – 31
0
Set value + 1
LS
10 – 100
30
0.1V/100%
T
0–1
0
–
T
%
All
–
–
*5 B
5C
Torque command input gain
5D
Torque command input inversion
5 E * 1 Torque limit
5F
(For manufacturer use)
0 – 500
–
500 *1
–
*1 Normal default setting of Pr5E is based on the combination of driver and motor. Refer to page 55
"Pr5E Torque limit setting" shown below.
53
Preparations
*4 0
Setting parameters and mode
Parameters for Sequence
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
Related control mode
60
In-position range
0 – 32767
131
Pulse
P, PS, PF, PH, PR, UPF, HP, LP
61
Zero speed
0 – 20000
50
r/min
All
62
At-speed
0 – 20000
1000
r/min
S, T, LS
63
Position deviation error level
1 – 32767
25000
256Pulse
P, PS, PF, PH, PR, UPF, HP, LP
64
Position error invalidation
0–1
0
–
P, PS, PF, PH, PR, UPF, HP, LP
65
Undervoltage error response at main power-off
0–1
1
–
All
66
Dynamic breke inhibition at overtravel limit
0–1
0
–
P, S, T, HP, LP, LS, UPF
67
Error response at main power-off
0–7
0
–
All
68
Error response action
0–3
0
–
All
69
Sequence at Servo-OFF
0–7
0
–
All
6A
Mechanical brake delay at motor standstill
0 – 100
0
2ms
All
6B
Mechanical brake delay at motor in motion
0 – 100
0
2ms
All
*6 C
External regenerative resister set up
*6 D
Main power-off detection time
6E–6F
(For manufacturer use)
0–3
0
–
All
0 – 32767
35
2ms
All
–
–
–
–
• With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
Parameters for "Full-Closed" driver
Parameter No.
(Pr
)
Parameter description
Range
Default
Unit
Related control mode
70
Hybrid switching speed
1 – 20000
10
r/min
PH
71
Hybrid shifting delay time
0 – 10000
0
2ms
PH
72
Hybrid control period
1 – 10000
10
2ms
PH
73
Hybrid error limit excess
1 – 10000
100
Resolution of
external scale
PF, PH, PR, UPF
74
Numerator of external ratio
1 – 10000
1
–
PF, PH, PR, UPF
75
Multiplier of numerator of external scale ratio
0 – 17
17
2n
PF, PH, PR, UPF
76
Denominator of external scale ratio
1 – 10000
10000
–
PF, PH, PR, UPF
0–3
1
–
PF, PH, PR, UPF
*7 7
Scale error cancel
*7 8
Pulse output selection
*7 9
Numerator of external scale pulse output ratio
*7A
Denominator of external scale pulse output ratio
7B
Torsion correction gain
7C
Torsion/ Differential speed detection filter
7D
Torsion feedback gain
7E
Differential speed feedback gain
7F
(For manufacturer use)
0–1
0
–
PF, PH, PR, UPF
1 – 10000
10000
–
PF, PH, PR, UPF
1 – 10000
10000
–
PF, PH, PR, UPF
–2000 – 2000
<0>
1/s
UPF
0 – 255
<0>
3.7Hz
UPF
–2047 – 2047
<0>
–
UPF
–2047 – 2047
<0>
–
UPF
–
–
–
–
• With the parameter number marked with * in the table, the set value becomes valid when the control
power supply is turned OFF and then turned ON again after the set value is written into the EEPROM.
<Notes>
• Default setting of parameter in < > will be changed automatically as the real time auto gain tuning
operates. To manually adjust the parameter, see page 196 "Disabling of auto tuning function".
• In this manual, the following symbols represent specific mode.
P : Position control mode, S : Speed control mode, T : Torque control mode,
PS : Semi-closed control mode, PF : Full-closed control mode, PH : Hybrid control mode, PR : External encoder control mode,
HP : Position control (for high stiffness), LP : Position control (for low stiffness), LS : Speed control (for low stiffness),
UPF : 2nd integrated full-closed control mode
54
[Preparations]
Pr5E Torque limit setting
For driver-motor combinations other than those listed blew, the standard default setting of Pr5E is 300.
Model
A
MADCT1505
MBDCT1505
MBDCT2507
MCDCT3307
MCDCT3512
MDDCT5507
B
C
D
MDDCT5512
Compatible
motor
MAMA012***
MAMA012***
MAMA022***
MGMA032***
MAMA042***
MGMA032***
MHMA052***
MGMA062***
Pr5E
Range
00 – 500
00 – 500
00 – 500
00 – 260
00 – 500
00 – 260
00 – 255
00 – 260
Pr5E
Max.
500
500
500
260
500
260
255
260
Type
D
E
F
G
Compatible
motor
MDDCT5316 MGMA092***
MDDCT5516 MAMA082***
MEDCT5312 MGMA062***
MEDCT5316 MGMA092***
MFDCT7325 MGMA122***
MGDCTA350 MGMA202***
MGMA302***
MGDCTB375
MGMA452***
Model
Pr5E
Range
00 – 225
00 – 500
00 – 260
00 – 225
00 – 245
00 – 230
00 – 235
00 – 255
Pr5E
Max.
225
500
260
225
245
230
235
255
Preparations
Type
Precautions When You Replace Motor
When you connect a motor to an driver, an upper limit in the range of Pr5E torque limits will be automatically
determined. Thus, reconfirm setting because, depending on a type of motor, setting of Pr5E may vary when
you replace a motor.
1. When you replace a motor with one having a same model name:
After replacement, a value programmed in the driver prior to replacement will be a new set value of Pr5E.
A user does not need to make a change.
2. When you impose limit on torque of the motor:
Setting of Pr5E torque limit is % value to rated torque. If you change your motor to a motor of different
series or having different W number, reset Pr5E because a new motor will have a different rated torque
value (Refer to Example 1).
(Example 1)
MADCT1505
Before Replacement
of Motor
MADCT1505
C DE
AB
789
789
IM
456
456
AB
F01
23
23
C DE
F01
After Replacement
of Motor
IM
SP
SP
MSMA****
MSMA****
Rated torque
0.64N • m
Pr5E Range of setting: 0–300%
Set value: 100%
0.64N • m x 100%
= Torque limit value 0.64N• m
Rated torque
0.19N • m
Pr5E Range of setting:
Change to 0 – 500%.
Set value:
The value should remain as 100%.
0.19N.m x 100%
= Torque limit value 0.19N• m
To set a torque limit value to
0.64Nm, set 337 for Pr5E
(0.19N.m x 337% = 0.64N• m).
3. When you have motor output to maximum torque:
Reset Pr5E to an upper limit because before or after replacement, an upper limit in set range of Pr5E
torque limit may vary (Refer to Example 2).
(Example 2)
MADCT1505
Before Replacement
of Motor
C DE
AB
789
AB
F01
456
456
789
IM
IM
SP
MSMA****
After Replacement
of Motor
23
23
C DE
F01
MADCT1505
SP
MSMA****
Rated torque
0.19N • m
Pr5E Range of setting: 0–300%
Set value: 300%
Pr5E Range of setting:
Change to 0 – 500%.
Set value:
The value should remain as 300%.
To have the motor output to
maximum torque, set 500 for
Pr5E
55
Setting parameters and mode
Front Panel Key Operations and Display
Configuration of the operation and display panel
Type A
Type B ~ G
Functions of the Key Switches
Switch
Active condition
Function
Used to shift between the following five modes:
Active on the selection
1) Monitor mode
display
3) EEPROM write mode
(MODE key)
2) Parameter setup mode
4) Auto tuning mode
5) Auxiliary function mode
<NOTE>
Always active
Used to switch between the selection display and
execution display.
(SET key)
Used to change the display in each mode, change data,
Active for the digit
select parameters and execute operations.
with a blinking decimal
point
Used to move the changeable digit to the higher-order
digit.
<Notes>
The above five modes provide "selection display" and "execution display" individually.
For details on these displays, see to page 57 "operating procedure.
56
[Preparations]
Operating procedure
When you turn on the power of this servo driver for the first time,
is displayed (when the
motor is stopped). If you wish to change display at power on, change setting of Pr01 LED initial
state (For details, refer to parameter settings for each control mode).
Execution display
Monitor mode [Execution display]
Monitor mode [Selection display]
Example
Reference
section
Position error
(Error 5 pulse)
Page 59
Motor speed
(1000 r/min)
Page 59
Torque output
(Torque output 100%)
Page 59
Control mode
(Position control mode)
Page 59
I/O signal status
(Input signal No. 0 active) Page 59
Cause & History of error
(No error)
Page 60
Software version
(Software version 1.06)
Page 61
Warning
(No warning)
Page 61
Regenerative load ratio
(30% of allowable
regenerative power)
Page 61
Overload ratio
(Overload ratio 28%)
Page 61
Inertial ratio
(Inertia ratio 100%)
Page 61
Feedback pulse total
(Feedback pulse total 50)
Page 61
Command pulse total
(Command pulse total 10)
Page 61
External scale error
(External scale error 5)
Page 62
External scale feedback
pulse total
(External scale feedback
pulse total 500)
Page 62
Motor auto recognition
function
(Motor auto-recognition
enable)
Page 62
(SET key)
Pressing the
key shifts the display in the direction indicated by arrow.
Pressing the
key shifts the display in the opposite direction.
To next page
Meaning
Preparations
Selection display
(MODE key)
From next page
57
Setting parameters and mode
To previous page
From previous page
Parameter setup mode [Selection display]
Parameter setup mode [Execution display]
Example
Meaning
Reference
section
Pr00
(Parameter value: 1000)
Page 63
Pr7F
Pressing the
key shifts the display in the direction indicated by arrow.
Pressing the
key shifts the display in the opposite direction.
NOTE
(SET key)
Set up the parameter by using the
, or
key.
The digit with a blinking decimal point can be set up
or changed.
A change of the parameter with the " "mark displayed
before the parameter No. becomes valid after the power
supply is reset.
(MODE key)
EEPROM write mode [Selection display]
EEPROM write mode [Execution display]
Example
Meaning
Writing parameter into
EEPROM
Keep pressing the
key.
Reference
section
Page 63
Writing starts.
To write a parameter into the EEPROM, press the
key to go to the execution display.
(SET key)
Writing is completed.
(MODE key)
Auto gain tuning mode [Selection display]
Normal Mode Auto Gain Tuning Mode [Execution Display]
Example
Mechanical stiffness
No. 0 (low)
Meaning
(Auto gain tuning)
•
•
Keep pressing the
Mechanical stiffness
No. 14
Reference
section
Page 64
key.
Tuning starts.
(SET key)
Mechanical stiffness
No. 15 (high)
Tuning is completed.
Real-time Auto Gain Tuning [Execution Display]
Fit gain window
Pressing the
key shifts the display in the direction indicated by arrow.
Pressing the
key shifts the display in the opposite direction.
After difining the mechanical stiffness, press the
the execution display.
NOTE For " mechanical stiffness ", see page 139.
To next page
From next page
58
Example
(MODE key)
Meaning
(Adaptive filter enabled)
Reference
section
Page 65
key to go to
Real time auto tuning stiffness 4
[Preparations]
To previous page
From previous page
Auxiliary function mode [Selection display]
Auxiliary function mode [Execution display]
Example
Meaning
Reference
section
Page 66
(Alarm clear)
Keep pressing the
Automatic offset adjustment
(SET key)
key.
Alarm clear starts.
Motor trial run
Alarm clear is completed.
Absolute encoder clear
Pressing the
key shifts the display in the direction indicated by arrow.
Pressing the
key shifts the display in the opposite direction.
(Automatic offset
adjustment)
Page 67
(Motor trial run)
Page 69
(Absolute encoder clear)
Page 231
(MODE key)
59
Preparations
Alarm clear
Setting parameters and mode
Details of the execution display in the monitor mode
Position error, motor speed and torque output display
Data
........ Position error (Pulse count accumulated in the error counter)
• Polarity (+): CCW torque (viewed from the axis end)
(–): CW torque (viewed from the axis end)
........ Motor speed (Unit: r/min)
• Polarity (+): CCW, (–): CW
........ Torque output
• Polarity (+): CCW, (–): CW
<Note>
LED does not display “+”. It only displays “–”.
Control mode display
..... Position control mode
..... External encoder control mode
..... Speed control mode
..... Position control
(for high stiffness)
..... Torque control mode
..... Position control
(for low stiffness)
..... Semi-closed control mode
..... Speed control
(for low stiffness)
..... Hybrid control mode
..... Integrated full-closed control mode
..... Full-closed control mode
I/O signal status display
• Press the
or
to be monitored.
..... Active
(The signal is active.)
..... Inactive
(The signal is inactive.)
Signal No. (0 to 1F)
..... Input signal
..... Output signal
60
key to select the signal No.
(Least-significant
input signal No.)
Pressing the
key
shifts the display in
this order.
(Most-significant
input signal No.)
(Least-significant
output signal No.)
(Most-significant
output signal No.)
[Preparations]
• Relation between signal No. and signal name
Input signal
Signal
No.
Output signal
Signal name
Code
Pin No.
Signal
No.
Signal name
Code
Pin No.
Servo ON
SRV-ON
29
0
Servo ready
S-RDY
35/34
01
Alarm clear
A-CLR
31
1
Servo alarm
ALM
37/36
02
CW overtravel input
CWL
8
2
In-position
COIN
39/38
03
CCW overtravel input
CCWL
9
3
External brake release
BRK-OFF
11/10
04
Control mode switching
C-MODE
32
4
Zero speed detection
ZSP
12
05
Speed zero clamp
ZEROSPD
26
5
Torque limit control
TLC
40
06
Command pulse scale switch 1 DIV
28
9
At-speed
COIN
39/38
07
Command pulse scale switch 2 DIV2
9
A
Full-closed in-position
EX-COIN
39/38
08
Command pulse input inhibit
INH
33
09
Gain switching
GAIN
27
0A
Error counter clear
CL
30
0C
Internal command speed selection 1 INTSPD1
33
0D
Internal command speed selection 2 INTSPD2
30
0F
Scale error
SC-ERR
33
12
Smoothing switching
SMOOTH
8
Cause of error and history reference
• Causes of up to 14 errors in the past (including the current
error) can be seen.
Select the history No. to be seen by pressing the
or
key.
Error code No.
(
indicates occurrence
of no error.)
..... Current error
..... History 0
..... History 13
NOTE 1) The following errors are not stored in the history.
11: Control power supply undervoltage error
13: Undervoltage error
36: EEPROM parameter error
37: EEPROM check code error
38: Overtravel input error
95: Motor automatic recognition error
97: Control mode setting error
NOTE 2) During occurrence of an error to be stored in the
history, the current error and History 0 indicate the
same error code No.
• Relation between error code No. and contents
Error code No.
Contents
Error code No.
Contents
11
Control power supply undervoltage error
35
External scale wiring error
12
Overvoltage error
36
EEPROM parameter error
13
Undervoltage error
37
EEPROM check code error
14
Overcurrent error
38
Overtravel input error
15
Overheat error
40
Absolute system shutdown error
16
Overload error
41
Absolute counter overflow error
18
Regenerative overload error
42
Absolute encoder overspeed error
21
Encoder communication error
44
Absolute encoder single-revolution counter error
23
Encoder communication data error
45
Absolute encoder multi-revolution counter error
24
Position error limit excess error
47
Absolute status error
25
Excessive hybrid deviation error
48
Encoder Z-phase error
26
Overspeed error
49
Encoder CS signal error
27
Command pulse scale error
95
Motor automatic recognition error
28
External scale error
97
Control mode setting error
29
Error counter overflow error
Other
Other errors
61
Preparations
00
Setting parameters and mode
Software version
CPU1 software version
Every time the
or
key is pressed, the software version is switched
between CPU1 and CPU2.
CPU2 software version
Warning indication
..... No warning
..... Occurrence of warning
Regenerative overload warning:
Indicates that the regenerative load ratio is 85% or less of the regenerative
overload protection alarm level.
When Pr6C (External regenerative discharge resistor selection) is set to "1",
regenerative discharge resistor's duty ratio 10% is defined as the alarm level.
Overload warning: Indicates that the load ratio is 85% or less of the overload
protection alarm level.
Battery warning: Indicates that the voltage of the absolute encoder battery is the
warning level (approx. 3.2 V) or lower.
Indication of regenerative load ratio
Indicates the ratio (%) of the regenerative load to the regenerative overload
protection alarm level.
Indication of overload ratio
Indicates the ratio (%) of the actual load to the rated load.
Indication of inertia ratio
Indicates the current setting of Pr20 (Inertia ratio).
Indication of feedback pulse total and command pulse total
32767
Indicates the total pulse count after poweron of the control power supply. The pulse
count overflows asshown below.
0
CW
Control power is ON
-32768
-32768
CCW
External scale error
• Polarity (+) : CCW, (–) : CW
External scale feedback pulse total
32767
Indicates the total pulse count after poweron of the control power supply. The pulse
count overflows as shown below.
62
0
CW
Control power is ON
-32768
-32768
CCW
[Preparations]
Motor automatic recognition function
Automatic recognition enabled (Always displayed this sign)
Details of the execution display in the parameter setup mode
Preparations
Parameter setup
The digit with a blinking decimal point can be changed.
Parameter value
• Define the parameter value by pressing the
or
key (Pressing the
key increases the set value,
and pressing the
key decreases it.)
• Every time the
key is pressed, the blinking decimal point shifts to the higher-order digit. The digit
with the blinking decimal point can be changed.
NOTE) As soon as you change a value of parameter, the change will be reflected in control. When you
change a value of parameters (i.e., speed loop gain, position loop gain, etc., in particular) that
will have great effect on behavior of the motor, you should change a value little by little, instead
of changing it considerably at one time.
Details of the execution display in the EEPROM writing mode
Writing parameter into EEPROM
• To execute the writing, keep pressing the
key until the display is switched to "
".
Keep pressing the
key
for approx. 5 seconds.
"
" is added as shown
on the right.
Writing starts.
Writing ends.
Writing is completed.
Writing error occurred.
• If you change the setting of the parameter that will become valid after reset, "
" will be
displayed after completion of the writing. In this case, turn OFF the control power supply once, and
reset it.
NOTE 1) When a writing error occurs, re-write the same data into the EEPROM. If the same writing
error occurs repeatedly, the servo driver may be defective.
NOTE 2) Do not turn OFF the power supply while writing data into the EEPROM. Otherwise, incorrect
data may be written into the EEPROM. If this trouble occurs, re-set up all parameters, and
perform re-writing after checking the parameter settings thoroughly.
63
Setting parameters and mode
Details of the execution display in the auto gain tuning mode
Auto gain tuning
NOTE 1) For details of the auto gain tuning function, see page 185 "Adjustments.
We would like to ask you to start using the auto gain tuning function after carefully reading the
scope, precautions, etc. herein.
NOTE 2) In normal auto gain tuning mode, the driver automatically operates the motor in a predetermined
pattern. You can change this operation pattern with Pr25 (setting of the normal mode auto tuning operation). However, execute the normal mode auto gain tuning only after moving load to a
position where no trouble will be caused by this operation pattern.
[Selection display]
Machine stiffness No.
Select machine stiffness No. by pressing the
(For machine stiffness No., see page 195.)
or
key.
[Execution display]
Press the
key to show the execution display
.
To execute the auto gain tuning function, inhibit a command input first, and then activate the SER-ON
signal. Then, keep pressing the
key until the display is switched to
.
Keep pressing the
key
for approx. 5 seconds.
"
" is added as shown
on the right.
Motor starts.
End
Tuning is completed.
Error occurred.
NOTE) If any of the following conditions occurs during execution of auto tuning, it is judged as a tuning
error.
1) During auto tuning : • An error occurred.
• Servo-OFF is activated.
• The error counter is cleared.
2) When the output torque is saturated because the inertia or load is too large:
3) When the tuning cannot be normally completed due to oscillation, etc.
If a tuning error occurs, each gain will be reset to the value defined before executed of the auto tuning.
The tuning error does not result in a trip, unless other error simultaneously occurs. Also, oscillation may
occur without the tuning error indication
depending on the load. During auto gain tuning,
exercise through caution to ensure safety.
64
[Preparations]
Real-time Auto Gain Tuning Screen
[Selection display]
Fit gain window
Preparations
[Execution display]
• Press the
to display the execution window.
[6] [5] [4] [3] [2] [1]
• Position the decimal point to [1], [2], [4] or [6] using the
key. The fit gain function can be started or
real time auto gain tuning/adaptive filter can be altered or stored using the
keys.
• Meaning of the display
[1]Setting of the real time auto gain tuning stiffness/fit gain starting up
Display
Meaning
Extension function
•••
Can be
changed
with
•••
Stiffness 15
Rigidity will change in the sequence of 0 to 9, A (10) to F (15)
every time you press
.
Stiffness 1
If you hold down
function will start.
Stiffness 0
about 3 seconds in this state, the fit gain
[2]Real time auto gain tuning operation setting
Display
Meaning
Extension function
Enabled : Load inertia changes sharply
Can be
changed
with
Enabled : Load inertia changes slowly
Enabled : Little change in load inertia
Disabled :
Real time auto tuning disabled
In a state of (0), press the
for
approx. 3 seconds.
Gain auto setting corresponding to the
stiffness is carried out.
(See sect.11)
[3]Real time auto gain tuning operation status (display only)
: Disabled
: Enabled
: Load inertia estimating
or
[4]Copying to the 1st notch filter of adaptive filter operation switching and adaptive filter setting
Display
Meaning
Can be
changed
with
Enabled
Disabled
Extension function
In a state of adaptive filter enabled , press
for approx. 3 seconds.
Present adaptive filter setting is copied to the first notch frequency
(Pr1D, Pr1E).
In a state of adaptive filter disabled , press
for approx. 3 seconds.
The setting of the 1st. notch frequency (Pr1D, Pr1E) is cleared.
[5] Adaptive filter operation status (display only)
: Disabled
: Enabled
: Operation tuning
or
[6] Fit gain result application status
Display
Can not
be switched
Meaning
Enabled
Disabled
Extension function
In the state of fit gain enabled, press
for approx. 3 seconds.
Result of fit gain function (Pr23 and Pr24) is cleared.
Press
for approx. 3 seconds , present setting is written in the
EEPROM.
65
Setting parameters and mode
Details of the execution display in the auxiliary function mode
Alarm clear
This function is used to cancel a trip condition.
[Selection display]
[Execution display]
• Press the
key to show the execution display
To execute the alarm clear function, keep pressing the
to
.
.
key until the display is switched
Keep pressing the
key
for approx. 5 seconds.
A bar is added as shown
on the right.
Alarm clear starts.
End
Alarm clear is completed.
66
Alarm cannot be cleared.
Reset the power supply.
[Preparations]
Automatic offset adjustment
This function is used to adjust the offset value (Pr52 Speed command offset) for the analog speed command
input (SPR/TRQR) automatically.
[Selection display]
Preparations
[Execution display]
• Press the
key to show the execution display
.
To execute the automatic offset adjustment, set a command input to 0 V first, and then keep pressing
the
key until the display is switched to
.
Keep pressing the
key
for approx. 5 seconds.
A bar is added as shown
on the right.
Automatic offset
adjustment starts.
End
Automatic offset adjustment
is completed.
Error occurred.
NOTE 1) This function is disabled in the position control mode.
NOTE 2) Even if the automatic offset adjustment is executed, the offset data are not written to the
EEPROM.
To reflect the offset adjustment result on the control, write the offset data into the EEPROM.
67
Trial Run (JOG)
Inspections before Trial Run
1) Inspecting the wiring
• Make sure that all wire connections (especially main power and motor output ) are correct.
• Make sure that there are no improper grounding connections, and earth wires are properly connected.
• Make sure there is no loose connection.
LED display
2) Inspecting the power specifications
• Make sure that the voltage
is correct.
Power
L2
L1
X7
RB1
DL2
DL1
L2C
L1C
L3
X6
U
RB2
RB3
3) Securing the servo motor
• Make sure that the servo
motor is firmly secured.
X5
4) Disconnecting the motor load
V
CN X4
W
X4
5) Releasing the brake
Motor
Machine
68
Ground
[Preparations]
Motor trial run
The motor can be run on trial, without connection of the X5 connector.
[Selection display]
Preparations
[Execution display]
• Press the
key to show the execution display
To execute the motor trial run, keep pressing the
.
key until the display is switched to
.
Keep pressing the
key
for approx. 5 seconds.
A bar is added as shown
on the right.
Preparatory step 1
• Then, keep pressing the
key until the display is switched to
.
Keep pressing the
key
for approx. 5 seconds.
The dot (.) moves as shown
on the right.
Preparatory step 2
(Servo-ON)
• After Servo-ON, pressing the
key runs the motor CCW, and pressing the
key runs the motor
CW at a speed defined by Pr57 (JOG speed setup).
NOTE 1) Before starting a trial run, be sure to remove a load from the motor, and disconnect the CN X5
connector.
NOTE 2) To execute a trial run, reset Pr10 (1st position loop gain) and Pr11 (1st speed loop gain) to the
initial values to avoid troubles such as oscillation.
NOTE 3) Set Pr03 (Analog torque limit input disabled) and Pr04 (Overtravel input inhibit) to "1". If these
parameters are set to "0", the motor will not run.
69
Connecting cables to the terminal block
Connect cables to the power connectors X1 , X2 and X3 according to the following the procedure.
Wiring procedure
1. Unsheathe the cable to be used.
8 – 9mm
2. Plug the cable in the connector. To plug the cable, the following two methods are available:
(a) Insert the cable by using the supplied operation lever.
(b) Insert the cable by using either a flat head (lip width 3.0 to 3.5 mm) or any of 210-120J,
210-350/01,270-258J of WAGO Company of Japan, Ltd.
(a) When using the operation lever
2
1
Push the operation lever
located in the upper opera-tion
slot with your finger to lower
the spring.
While pressing the operation
lever, insert the cable into the
cable insertion hole (round
hole) until it reaches the
innermost of the hole.
3
Releasing the lever
completes the cable
connection.
(b)-1 When using a screwdriver (I)
1
Put the dedicated screw-driver
in the upper operation slot, and
push it to lower the spring.
2
Insert the properly-unsheathed
cable into the cable insertion hole
(round hole) until it reaches the
innermost of the hole.
3
Releasing the lever
completes the cable
connection.
* The cable can be disconnected from the connector in the same manner as the above procedure.
CAUTION
• Unsheathe the cable exactly by the specified length. (8 – 9mm)
• Before connecting a cable into the connector, remove the connector from the servo driver.
• Only one cable can be inserted into one insertion hole of the connecter.
• Be careful not to be injured when using a screwdriver.
70
[Connections and Settings
in Position Control Mode]
page
Position control block diagram .............................. 72
CN X5 Connector ..................................................... 73
CN X5 Connector ........................................................................
Interface Circuit ...........................................................................
Input signal (common) assignment to CN X5 connector pins .....
Input signal assignment to CN X5 connector pins - designation(logic) ......
Output signal assignment to CN X5 connector pins - designation(logic) ...
Examples of connection to high order control equipment ...........
73
74
76
78
78
80
Trial run at Position Control Mode ......................... 86
Operation with CN X5 Connected ............................................... 86
Real time auto gain tuning ..................................... 88
Outline .........................................................................................
Application range .........................................................................
How to use ..................................................................................
Description of the adaptive filter ..................................................
Parameters, which are set up automatically................................
Caution ........................................................................................
88
88
88
89
89
89
Parameter Setting.................................................... 90
Parameters for Function Selection .............................................. 90
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ........ 93
Parameters for real time auto gain tuning ................................... 94
Parameters for Switching to 2nd Gains ....................................... 96
Parameters for Position Control .................................................. 97
Parameters for Speed Control .................................................. 100
Parameters for Torque Control .................................................. 101
Parameters for various sequences ........................................... 101
71
72
Division gradual
increase
Pr 46
Pr 47
Pr 4A
Pr 4B
1st
numerator
2nd
numerator
Numerator
magnification
Denominator
Input setting
Pr 40
Pr 41
Pr 42
Gradual
increase
Inverse
Mode
OA / OB / OZ
Feedback pulse
Pulse
string
PULS
SIGN
Division
Pr 45
Pr 44
Division
Inverse
Pr 4C
Pr 2C
Pr 2B
+
–
Command
speed monitor
Filter
Frequency
Selection
Pr 10
Pr 18
Position
deviation monitor
2nd
1st
Position control
Pr 1 6
Filter
Smoothing
Pr 15
Gain
Speed feed
foreword
2nd
Speed detection
Pr 13
Pr 1B
1st
Speed
detection filter
+
+ +
–
Pr 19
Pr 1A
Pr 20
2nd
ratio
2nd
differential
Inertia
ratio
+
–
Actual speed
monitor
Pr 11
Pr 12
1st
differential
Speed control
1st ratio
Pr 2A
2nd
depth
Pr 27
Encoder
receive
processing
Filter
Disturbance
observer
Pr 29
2nd
width
Pr 1C
Pr 28
PS / PS
signal
Pr 5E
2nd time
constant
Pr 1E
1st width
2nd
frequency
Limit
Pr 14
1st time
constant
Pr 1D
Torque filter
1st
frequency
Notch filter
Encoder
Motor
Torque command
monitor
Position control block diagram
• Control mode set-up: when Pr02 is [0]*
* For the block diagram showing "Control mode set-up parameter Pr02=[11] (position control for high-stiffness
equipment) and Pr02 [12] (position control for low-stiffness equipment), see page 301"Appendix".
Battery for absolute encoder
(Pr0A)
Zero speed detected
Torque limited
(Pr09)
TLC
50
FG
44 BATT+
45
BATT-
ZSP
41 COM-
12
40
11 BRKOFF+
10 BRKOFF-
39 COIN+
38 COIN-
In-position
Mechanical brake release
37 ALM+
36 ALM-
Servo alarm
CN X5
to CN X4 (6th pin) 10kΩ
to CN X4 (5th pin)
10kΩ
Scaler
· In case the battery for absolute encoder
is installed at the controller side
VDC
12-24V
35 S-RDY+
34 S-RDY-
Servo-ready
CCW overtravel inhibit 9 CCWL
CW overtravel inhibit 8 CWL
ZEROSPD
Control mode switching 32
C-MODE
31 A-CLR
Alarm clear
26
29 SRV-ON
P-operation/2nd gain switching 27 GAIN
Command scaling switching 28
DIV
Servo-ON
4.7kΩ
PULS2
4
1kΩ
1kΩ
10kΩ
10kΩ
20kΩ
IM
SP
CWTL
GND
CCWTL/TRQR
GND
SPR/TRQR
CZ
GND
330Ω
330Ω
330Ω
42
43
18
17
16
15
14
20
19 Z-phase output(Open collector)
25
47
SIGN1 5
6
SIGN2
220Ω
13
GND
21
OA+
22
OA48
OB+
49
OB23
OZ+
24
OZ46
220Ω
PULS1
2
3
1
Connections and Settings in
Position Control Mode
7 COM+
Command pulse input inhibit 33
INH
Deviation counter clear 30
CL
If this is an open collector I/F,
see P1 in page 74.
CCW torque
limit input
(0 to +10V)
CW torque
limit input
(-10 to 0V)
Speed monitor
output
Torque monitor
output
Z-phase
output
B-phase
output
A-phase
output
Command
pulse input
CN X5 Connector
[Connections and Settings in Position Control Mode]
CN X5 Connector
Circuits Available for Position control mode
73
CN X5 Connector
Interface Circuit
•
Input Circuit
SI SI Connecting to
sequence input signals
12~24V
7 COM+4.7kΩ
Servo-ON or
other input
• 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.
• Lower limit of the power supply (12 to 24V) should not be
less than 11.4V in order to secure the appropriate level
of primary current of the photo coupler.
PI PI Command pulse
input circuit
74
R value
12V
1kΩ 1/2W
24V
2kΩ 1/2W
12~24V
7 COM+4.7kΩ
Servo-ON or
other input
1)
AM26LS31or equivalent
3 PULS1
4
1) Line Driver I/F
• This is a good signal transmission method that is less
sensitive to noises. We recommend you to use this to
maintain the reliability of signals.
2) Open Collector I/F
• This uses an external control power supply(VDC).
• This requires a current-limiting resistor (R) corresponding to the capacity of the VDC value.
• Be sure to connect specified resistance (R).
VDC
Relay
VDC – 1.5 .
=. 10mA
R + 220
shows a pair of twisted wires.
220Ω
PULS2
5 SIGN1
6 220Ω
13 SIGN2
GND
2)
3 PULS1
R
4 PULS2
220Ω
5 SIGN1
R
VDC
6 SIGN2
220Ω
GND
13
Max. input voltage DC24V
Rated current 10mA
[Connections and Settings in Position Control Mode]
Output Circuit
SO1 SO2 Sequence output circuit
SO1
ALM+
or other signal
ALM–
or other signal
12–24V
VDC
SO2
ZSP, TLC
Connections and Settings in
Position Control Mode
• This comprises a Darlington driver with an open collector.
This is connected to a relay or photo coupler.
• There exists a collector-to-emitter voltage VCE(SAT) of
approx. 1V at transistor ON, because of Darlington connection of the out put transistor. Note that normal TTLIC
can't be directly connected since this does not meet VIL
requirement.
• This circuit has an independent emitter connection, or an
emitter connection that is commonly used as the minus
(–) terminal (COM–) of the control power.
• Calculate the value of R using the formula below so as the
primary current of the photo coupler become approx. 10mA.
Install as per the fig. Shows
without fail
41 COM–
Maximum rating: 30V, 50mA
VDC[V] — 2.5[V]
R [kΩ] =
10
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
PO1 Line Driver (Differential Output) Output
• Provides differential outputs of encoder signals (A, B and
Z phases) that come from the scalar.
• Receive these signals with a line receivers. In this case,
install a resistor of approx. 330Ω between the inputs.
• These outputs are non-insulated signals.
AM26LS32
or equivalent
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
B
OZ+
OZ-
23
24
Z
GND 25
shows a pair of twisted wires.
Connect the signal
grounds between the controller and driver.
PO2 Open Collector Output
• Outputs Z-phase signals among those from the encoder.
The outputs are non-insulated.
• 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
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
AO Analogue Monitor Output
43 SP
1kΩ
• This output is the speed monitor signal (SP) or torque moniMeasuring
tor signal (IM).
instrument
or external
• The signal range is approx. 0 to ± 9V.
42 IM 1kΩ
circuit
• The output impedance is 1kΩ. Pay attention to the input
17 GND
impedance of your measuring instruments and external
circuits connected.
<Resolution>
1) Speed 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%)
75
CN X5 Connector
Input signal (common) assignment to CN X5 connector pins
Input Signals (Common) and their Functions
Signal
Pin No.
Symbol
Control signal
power (+)
7
COM +
Control signal
power (–)
41
COM –
Servo-ON
29
SRV-ON
Function
I/F circuit
• Connect to (+) of an external power supply (12VDC to
–
24VDC).
• Use source voltage of 12V±10% – 24V±10%.
• Connect to (–) of an external power supply (12VDC to
24VDC).
• The required
capacity depends on the I/O circuit
configuration. 0.5A or larger is recommended.
• When this signal is connected to COM–, the dynamic brake
SI
will be released and the driver is enabled. (Servo-ON).
page 74
<Notes>
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 page
46 "Dynamic Brake" in Preparations.
• Allow at least 50ms delay after the driver is enabled before any command input is
entered.
• By opening the connection to COM– , the driver will be disabled(Servo-OFF) and
the current flow to the motor will be inhibited.
• Operation of the dynamic brake and clearing action of the position error counter can
be selected using Pr69 (Sequence under Servo-OFF).
Control mode
switching
32
C-MODE
Pr02 value
3
4
5
CW overtravel
inhibit
CCW overtravel
inhibit
Counter clear
• When Pr02 (Control Mode Selection) = 3, 4 or 5, the control
SI
mode is selected per the table below.
page 74
Connection with COM–
open (1st)
closed (2nd)
Speed control mode
Position control mode
Position control mode
Torque control mode
Speed control mode
Torque control mode
• If COM– is opened when the movable part of the machine
SI
has moved to CW exceeding the limit, the motor does not page 74
generate torque.
• If COM– is opened when the movable part of the machine
CCWL
9
SI
has moved CCW exceeding the limit, the motor does not page 74
generate torque.
• If you set 1 to Pr04 (Overtravel input inhibited invalid), CWL/CCWL
input will be disabled. A factory setting is Disable (1).
• With Pr66 (DB deactivate when driving is inhibited), you can
activate dynamic brake when CWL/CCWL input is enabled.
According to a factory setting, dynamic brake operates
(Pr66 is set to 0).
The function differs depending on the control mode.
CL
30
SI
page
74
Position control • Clears the position error counter.
8
CWL
Connect to COM– to clear the counter.
• Use Pr4D to select the clear mode.
Speed control
Pr4D value
Meaning
0(Factory-setting)
LEVEL
1
EDGE
• With speed setting of the 2nd selection input, you can set 4
speeds in combination with INH.
• For details, see Pr05 (Speed Set-Up Switching) description.
Torque control
76
• Invalid
[Connections and Settings in Position Control Mode]
Signal
Command pulse
input inhibit
Pin No.
Symbol
33
INH
Position control
Function
The function differs depending on the control mode.
• Enter command pulse input inhibit.
• You can disable this input with Pr43
(disable command pulse input inhibit).
I/F circuit
SI
page 74
Speed control
Torque control
Speed zero clamp
26
Connections and Settings in
Position Control Mode
Pr43 value
Meaning
1(Factory-setting) The INH signal (input) is disabled.
0
• With COM– closed, the pulse
command signal (PULSE SIGN) is
enabled.
• With COM– open, the pulse
command signal (PULSE SIGN) is
inhibited.
• With speed setting of the 1st selection input, you can set 4
speeds in combination with CL input.
• For details, see Pr05 (Speed Set-Up Switching) description.
• Invalid
ZEROSPD
• With COM– open, the speed command is considered zero.
SI
• This input can be made disabled using Pr06.
page 74
• With factory setting, disconnecting this pin from COM– sets
the speed to zero.
Pr06 value
Meaning
0 (Factory-setting) ZEROSPD is disabled.
1
ZEROSPD is enabled.
Gain switching
27
GAIN
• This is setting of Pr30 (2nd gain setting) and has the
SI
following 2 types of functions:
page 74
Connection
Function
to COM–
0
Speed loop: PI (Proportional / Integral) action
Open
(Factory-setting)
Speed loop: P (Proportional) action
Close
• 1st gain selected (Pr10, 11, 12, 13 and 14)
Open
1
• 2nd gain selected (Pr18, 19, 1A, 1B, 1C)
Close
To use the second gain, set Pr31 to “2”.
Pr30 value
Alarm clear
31
A-CLR
• No.2 Gain change Funcutions, see page 202 "Adjustments ".
• If the COM– connection is kept closed for more than 120
SI
ms, the alarm status will be cleared.
page 74
• For details about not cleared alarm, see page 216
"Protective Functions".
77
CN X5 Connector
Input signal assignment to CN X5 connector pins - designation(logic)
Input Signals (Position Control) and their Functions
Signal
Pin No.
Symbol
3
PULS1
4
PULS2
5
SIGN1
6
SIGN2
Command pulse
scalar switch
28
DIV
Battery +
44
BATT +
Battery –
45
BATT –
Command pulse
Command sign
Function
I/F circuit
• This is the input terminal for command pulses. The driver
PI
receives this signal by a high-speed photo coupler.
page 74
• Max input voltage 24VDC/Rated current 10mA.
• The input impedance of PULSE and SIGN signals is 220Ω.
• Command pulses can be input in three different ways. Use
Pr42 to select one of the following.
1) Quadrature (A and B) input
2) CW (PULSE)/CCW (SIGN) pulse input
3) Command pulse (PULS)/Sign (SIGN) input
• With COM– closed, the numerator of the command scalar is changed
SI
from the value stored in Pr46 (Numerator of 1st Command Scalar) to page 74
the value stored in Pr47 (Numerator of 2nd Command Scalar).
< Note >
Don't enter command pulses 10 ms after or before switching.
• Connect a backup battery for absolute encoder (pole–
sensitive !).
• If the battery is connected directly to the driver, it is not
necessary to connect a battery to this terminal.
Output signal assignment to CN X5 connector pins - designation(logic)
Output Signals (Common) and their Functions
Signal
Pin No.
Servo alarm output
37
36
35
34
11
10
Servo-ready output
Mechanical brake
release output
Zero speed
detection
12
Symbol
Function
• This output(transistor) turns OFF, when the driver detects
ALM +
and error(trip).
ALM –
• This output(transistor) turns ON, when the main power is
S-RDY +
on(for both the driver and the motor) and no alarm is active.
S-RDY –
BRK-OFF + • This is used to release the electromagnetic brake of the
motor.
BRK-OFF –
• Turn the output transistor ON when releasing brake.
• Refer to “Timing Chart” on page 40, on Preparations.
• Signal which is selected at Pr0A (ZSP Output Selection) will
ZSP
be turned on.
Function
Output(transistor) turns ON during the In-toque limiting.
Output(transistor) turns ON when the motor speed becomes
lower than that of the preset speed with Pr61(Zero speed).
Output(transistor) turns ON when either one of
overregeneration, overload or battery warning is activated.
3*
Output(transistor) turns ON when the over-regeneration (more
than 85% of permissible power of the internal regenerative
discharge resistor) warning is activated.
4*
Output(transistor) turns ON when the overload (the effective
torque is more than 85% of the overload trip level) warning is
activated.
5*
Output(transistor) turns ON when the battery (the voltage of the
backup battery becomes lower than approx. 3.2V at the
encoder side) warning is activated.
* When the setting is a value between 2 and 5, the output transistor will be turned on
for at least 1 second upon detecting an alarm condition.
Pr0A value
0
1
(Factory-setting)
2*
78
I/F circuit
SO1
page 75
SO1
page 75
SO1
page 75
SO2
page 75
[Connections and Settings in Position Control Mode]
Signal
Pin No.
Symbol
Torque in-limit
40
TLC
In-position/
At-speed
39
38
COIN +
COIN –
Z-phase output
Z-phase output
Speed monitor
output
Torque monitor
output
• Signal which is selected by Pr09 (TLC Output Selection) will
SO2
be turned ON. Factory-setting: 0
page 75
• See the above ZSP signal for the set-up of Pr09 and
functions.
• Function changes at control mode.
SO1
<Caution>
page 75
As positional deviation is always around 0 even during
operation in control following commands, COIN (positioning
complete signal) may remain ON.
21
22
48
49
23
24
19
OA +
OA –
OB +
OB –
OZ +
OZ –
CZ
43
SP
(17)
(GND)
42
IM
(17)
(GND)
• Provides differential outputs of the encoder signals (A, B
and Z phases) that come from the driver (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)
• Not insulated
• Outputs the motor speed, or voltage in proportion to the
commanded speed with polarity.
+ : CCW rotation
– : CW rotation
• Use Pr07 (Speed Monitor Selection) to switch between
actual and commanded speed, and to define the relation
between speed and output voltage.
• Outputs the output torque, or voltage in proportion to the
position error with polarity.
+ : Fgenerating CCW-torque
– : Fgenerating CW-torque
• Use Pr08 (Torque Monitor Selection) to switch between
torque and positional error, and to define the relation
between torque/positional error and output voltage.
Connections and Settings in
Position Control Mode
Speed and
torque
B-phase output
I/F circuit
• In-position output
• Output(transistor) turns ON when the position error is below
the preset value by Pr60 (In-Position Range).
• At-speed output
• Output(transistor) turns ON when the motor speed reaches
the preset value by Pr62 (At-Speed ).
Position
A-phase output
Function
PO1
page 75
PO2
page 75
AO
page 75
AO
page 75
Output Signals (Others) and their Functions
Signal
Signal ground
Frame ground
(Not in use)
Pin No.
Symbol
13
15
17
25
50
1
2
20
46
47
GND
FG
–
Function
I/F circuit
• Signal ground in the driver
• Internally isolated from the control power (COM -).
–
• Internally connected to the earth terminal.
• No connections should be made.
–
–
79
CN X5 Connector
Examples of connection to high order control equipment
Example 1 - PLC: FPG-C32T (Matsushita Electric Works)
PLC
Driver
FPG-C32T (Matsushita Electric Works)
Y0
CW pulse command
output
Y1
AIII series
2kΩ
3
2kΩ
CCW pulse command
output
5.6kΩ
X2
PULS1
4
PULS2
5
SIGN1
6
SIGN2
19
CZ
13
GND
7
COM+
30
CL
220Ω
CW pulse
command
input
220Ω
CCW pulse
command
input
Z phase
output
Origin input
COM
+
Y2
Deviation counter
reset output
–
29 SRV-ON
27
GAIN
31
A-CLR
COM
9
CCWL
X3
8
CWL
From
PLC I/O
output
Near origin input
3kΩ
35 S-RDY+
CCW limit over input
CW limit over input
5.6kΩ
5.6kΩ
X5
Counter
clear input
4.7kΩ
Servo ON
input
4.7kΩ
Gain change
input
4.7kΩ
Alarm clear
input
4.7kΩ
CCW drive
disable input
4.7kΩ
CW drive
disable input
Servo ready
output
34 S-RDY–
To
PLC I/O
input
X6
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
GND +24V
DC24V
Power supply
80
4.7kΩ
37
ALM+
36
ALM–
39
COIN+
38
COIN–
41
COM–
Servo alarm
output
Positioning
complete output
[Connections and Settings in Position Control Mode]
Example 2 - PLC: FP2-PP22 AFP2434/FP2-PP42 AFP2435 (Matsushita Electric Works)
PLC
Driver
FP2-PP22 AFP2434 (Matsushita Electric Works)
FP2-PP42 AFP2435 (Matsushita Electric Works)
A1
(A10)
B1
(B10)
A2
(A11)
B2
(B11)
A4
(B13)
B3
(B12)
Pulse output A
Pulse output B
Origin input
Deviation counter clear
output
Near origin input
Limit over
+
Limit over
–
A7
(A16)
B7
(B16)
B4
(B13)
A5
(A14)
A6
(A15)
B6
(B15)
3
PULS1
4
PULS2
5
SIGN1
6
SIGN2
23
OZ+
24
OZ–
13
GND
7
COM+
30
CL
29 SRV-ON
27
From
PLC I/O
output
GAIN
31 A-CLR
9
CCWL
8
CWL
35 S-RDY+
220Ω
CW pulse
command
input
220Ω
CCW pulse
command
input
Connections and Settings in
Position Control Mode
AIII series
Z phase
output
4.7kΩ
Counter
clear input
4.7kΩ
Servo ON
input
4.7kΩ
Gain change
input
4.7kΩ
Alarm clear
input
4.7kΩ
CCW drive
disable input
4.7kΩ
CW drive
disable input
Servo ready
output
34 S-RDY–
Power supply to
internal circuit
+24VDC
GND
A20
To
PLC I/O
input
B20
37
ALM+
36
ALM–
39 COIN+
Origin proximity
sensor
Servo alarm
output
Positioning
complete output
38 COIN–
CW
limit sensor
CCW
limit sensor
41
COM–
GND +24V
DC24V
Power supply
81
CN X5 Connector
Example 3 - PLC: CS1W-NC113 (Omron)
PLC
Driver
CS1W-NC113(Omron)
1.6kΩ
CW pulse command
output
1.6kΩ
CCW pulse command
output
150Ω
Origin line driver
input
Power supply for
output
V+
GND
Deviation counter
reset output
AIII series
3
A6
A8
A16
Near origin input
CCW limit over
input
CW limit over
input
4
PULS2
5
SIGN1
6
SIGN2
23
OZ+
A14
24
OZ–
A1
13
GND
A2
7
COM+
A10
30
CL
29 SRV-ON
A24
Emergency stop
input
PULS1
4.7kΩ
4.7Ω
A20
27
From
PLC I/O
output
A21
GAIN
31 A-CLR
9
CCWL
8
CWL
35 S-RDY+
4.7kΩ
4.7kΩ
A23
CW pulse
command
input
220Ω
CCW pulse
command
input
Z phase
output
4.7kΩ
Counter
clear input
4.7kΩ
Servo ON
input
4.7kΩ
Servo ON
input
4.7kΩ
Alarm
clear input
4.7kΩ
CCW drive
disable input
4.7kΩ
CW drive
disable input
Servo ready
output
34 S-RDY–
To
PLC I/O
input
A22
37
ALM+
36
ALM–
39 COIN+
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
38 COIN–
41
GND +24V
DC24V
Power supply
82
220Ω
COM–
Servo alarm
output
Positioning
complete output
[Connections and Settings in Position Control Mode]
Example 4 - PLC: CS1W-NC133 (Omron)
PLC
Driver
CS1W-NC133 (Omron)
AIII series
150Ω
Origin line driver
input
V+
GND
Deviation counter reset
output
PULS1
A6
4
PULS2
A7
5
SIGN1
A8
6
SIGN2
A16
23
OZ+
A14
24
OZ–
A1
13
GND
A2
7
COM+
A10
30
CL
29 SRV-ON
A24
Immediate stop
input
4.7kΩ
Near origin
input
4.7kΩ
From
PLC I/O
output
A20
A21
GAIN
31 A-CLR
9
CCWL
8
CWL
35 S-RDY+
CCW limit over
input
4.7kΩ
CW limit over
input
5 V power supply
for pulse output
27
4.7kΩ
GND
+V
A23
220Ω
CW pulse
command
input
220Ω
CCW pulse
command
input
Connections and Settings in
Position Control Mode
CCW pulse command
output
24 V supply for
output
3
A5
CW pulse command
output
Z phase
output
4.7kΩ
Counter
clear input
4.7kΩ
Servo ON
input
4.7kΩ
Gain change
input
4.7kΩ
Alarm clear
input
4.7kΩ
CCW drive
disable input
4.7kΩ
CW drive
disable input
Servo ready
output
34 S-RDY–
To PLC
I/O
input
37
ALM+
A22
36
ALM–
A3
39
COIN+
A4
38 COIN–
41
Servo alarm
output
Positioning
complete output
COM–
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
GND +5V
DC5V
Power supply
GND +24V
DC24V
Power supply
83
CN X5 Connector
Example 5 - PLC: C200H-NC211 (Omron)
PLC
Driver
C200H-NC211 (Omron)
1.6kΩ
CW+CCW pulse output
1.6kΩ
AIII series
3
2
13
PULS1
4
PULS2
5
SIGN1
Direction output
150Ω
Origin line driver input
Power supply for
output
V+
GND
Deviation counter reset
output
6
SIGN2
9
23
OZ+
11
24
OZ–
1
13
GND
23
7
COM+
4
30
CL
29 SRV-ON
22
Emergency stop
input
Near origin input
2kΩ
2kΩ
19
27
From
PLC I/O
output
7
GAIN
31 A-CLR
9
CCWL
8
CWL
35 S-RDY+
CCW limit over input
2kΩ
17
2kΩ
18
37
ALM+
36
ALM–
39 COIN+
Origin proximity
sensor
CCW
limit sensor
CW
limit sensor
38 COIN–
41
GND +24V
DC24V
Power supply
84
Pulse
command
input
220Ω
Direction
command
input
Z phase
output
4.7kΩ
Counter
clear input
4.7kΩ
Servo ON
input
4.7kΩ
Gain change
input
4.7kΩ
Alarm clear
input
4.7kΩ
CCW drive
disable input
4.7kΩ
CW drive
disable input
Servo ready
output
34 S-RDY–
To PLC
I/O
input
CW limit over input
220Ω
COM–
Servo alarm
output
Positioning
complete output
[Connections and Settings in Position Control Mode]
Example 6 - PLC: A1SD75/AD75P1 (Mitsubishi Electric Corporation)
PLC
Driver
AIII series
3
3
CW pulse command
output
CCW pulse command o
utput
500Ω
PULS1
21
4
PULS2
4
5
SIGN1
22
6
SIGN2
24
23
OZ+
25
24
OZ–
13
GND
7
COM+
5
30
CL
23
29 SRV-ON
26
27
220Ω
CW pulse
command
input
220Ω
CCW
command
input
Z phase
output
Zero point signal
Deviation counter reset
output
Drive unit ready
4.7kΩ
7
In-position
4.7kΩ
Near point signal
From
PLC I/O
output
CCWL
35
8
CWL
36
35 S-RDY+
4.7kΩ
4.7kΩ
12
Lower limit
4.7kΩ
4.7kΩ
Counter
clear input
4.7kΩ
Servo ON
input
4.7kΩ
Gain change
input
4.7kΩ
Alarm clear
input
4.7kΩ
CCW drive
disable input
4.7kΩ
CW drive
disable input
Servo ready
output
34 S-RDY–
11
Upper limit
31 A-CLR
9
8
Common
From
PLC I/O
output
GAIN
Connections and Settings in
Position Control Mode
A1SD75/AD75P1 (Mitsubishi Electric Corporation)
To
PLC I/O
input
13
37
ALM+
36
ALM–
39 COIN+
Origin proximity
sensor
CW
limit sensor
CCW
limit sensor
Servo alarm
output
Positioning
complete output
38 COIN–
41
COM–
GND +24V
DC24V
Power supply
85
Trial run at Position Control Mode
Operation with CN X5 Connected
1) Connect CN X5.
2) Connect the control signal (COM+/COM–) to the power supply (12 to 24 VDC) .
3) Turn the main power (driver) ON.
4) Check the defaults of the parameters.
5) Connect between SRV-ON (CN X5 pin 29) and COM– (CN X5 pin 41) to make Servo-On active. The
motor will be kept excited.
6) Set Pr42 (Command Pulse Input Mode Set-Up) according to the output form of the controller. Then write
it down to EEPROM, followed by turning the power OFF and then ON again.
7) Send a low-frequency pulse signal from the controller to the to run the motor at low speed.
8) Check the motor speed at monitor mode.
• Make sure that the speed is per the set-up.
• Check if the motor stops when the command (pulse) is stopped.
Wiring Diagram
7
33
DC
12V – 24V
COM+
INH
29
SRV-ON
41
3
120Ω
DC
5V
120Ω
Note that the motor
can start by
command-open
with Pr43.
COMPULS1
4
PULS2
5
SIGN1
6
SIGN2
CZ
GND
86
Parameters
Open collector
for CW/CCW
pulse inputs
Z-phase
output
for homing
PrNo.
Parameter description
Value
Pr02 Control mode set-up
0
Pr04 Overtravel input inhibit
1
Pr42 Command pulse input mode set-up
1
Pr43 Command pulse input inhibit
1
• Use the controller to send command pulses.
Input Signals Status
No.
Input signal
0
2
3
8
A
Servo-ON
CW overtravel inhibit
CCW overtravel inhibit
Command pulse input inhibit
Counter clear
Monitor
display
+A
–
–
– Related to Pr43
–
[Connections and Settings in Position Control Mode]
Set-up of motor speed and input pulse frequency
Input pulse
frequency
(pps)
Motor
speed
(r/min)
500k
3000
1 x 2 17
10000
10000 x 2 0
10000
250k
3000
1 x 2 17
5000
10000 x 2 0
5000
100k
3000
1 x 2 17
2000
10000 x 2 0
2000
500k
1500
1 x 2 16
10000
5000 x 2 0
10000
Pr46 x 2 Pr4A
Pr4B
17 bits
2500P/r
* You can set any value by setting any value for the numerator and denominator. However, the motor
action will not follow any extreme setting of the ratio. It is recommended to set within a range from
1/50 to 20 times.
Relationship between motor speed
and input pulse frequency
Gear
60° Pulley ratio: 18/60
Gear ratio: 12/73
Overall reduction: 18/365
(Example) Rotate the motor by 60 degrees with an overall reduction ratio of 18/365
Encoder pulse
17 bits
Pr46 x 2 Pr4A
Pr4B
Theory
Determining
the parameter
365 x 2
6912
10
2500P/r
365 x 2
108
0
From the controller to the ,
enter a command with which the
motor turns one revolution with
8192 (213) pulses.
From the controller to the ,
enter a command with which the
motor turns one revolution with
10000 pulses.
365
1 x 217
60˚
x
x
18
2 13
360˚
365 x 2 17
=
884736
365
10000
60˚
x
x
18
10000
360˚
365 x 2 0
=
108
The numerator 47841280 is
greater than 2621440, and the
denominator is greater than
10,000. Thus,
365
18
=
x
1 x 210
60˚
x
26
360˚
365 x 2 10
6912
2n
20
21
22
23
24
25
26
27
28
29
210
211
212
213
214
215
216
217
10 Decimal
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
65536
131072
* See also “Description on Command Pulse Ratio for Parameter Setup” on page 264.
87
Connections and Settings in
Position Control Mode
Preset value
* Our preset value causes the motor shaft
to rotate by one with 10,000 pulses
input. Note that the maximum input
pulse frequency is 500 kpps with line
driver and 200 kpps with open collector.
Real time auto gain tuning
Outline
Load inertia of the machine is estimated
at real time, and the optimum gain is set
up automatically based on the estimated
result. A load, which has a resonance, also
can be handled owing to the adaptive filter.
Gain auto
setting
Position/speed
command
Filter auto
tuning
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Operation command under
actual operation conditions
Resonant frequency estimate
Load inertia estimate
Real time auto
gain tuning
Motor
speed
Encoder
Servo driver
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning
(see page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
• When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
• When the load inertia fluctuates
• When the machine stiffness is extremely low
Load
• When any unsecured part resides in such as backlash, etc.
• In case of a continuous low speed operation under 100 [r/min].
Operation pattern
• In case of soft acceleration/deceleration under 2000 [r/min] per 1 [s].
• When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 ~ 6.
Set up value before shipment is1.
Setting value
Real-time auto tuning
0
Not used
[1]
–
No
Little change
2
3
Changing degree of load inertia during operation Adaptive filter
Change slowly
Used
4
Yes
Change s haply
Little change
5
Change slowly
No
6
Change s haply
–
Yes
7
Not used
When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.
When the influence of resonance is conceivable, select “adaptive filter YES”.
[3] Set 0 – 2 to Pr22 (real-time auto tuning machine stiffness).
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time
auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
88
[Connections and Settings in Position Control Mode]
Description of the adaptive filter
By setting Pr21 (Real-time auto tuning set-up) to 1 – 3 or 7, the adaptive filter is enabled.
In an actual operation state, resonance frequency is estimated based on the vibration component, which
appears in motor speed, and resonance point vibration is reduced by removing resonance component from
the torque command by the adaptive filter.
The adaptive filter may not function normally under the following conditions. In such a case, take antiresonance measures using the 1 st . notch frequency (Pr1D and 1E) or second notch filter (Pr28 – 2A) in
accordance with the manual tuning procedure.
For details on the notch filter, refer to “To Reduce the Mechanical Resonance” on page 204.
Conditions under which the adaptive filter is prevented from functioning
• When resonance peak is low, or control gain is low; and its influence does not appear on the motor speed
• When plural resonance points reside in
Load
• When a motor speed fluctuation having a high frequency component is caused due to a non-linear element such as backlash etc
Command pattern
• When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]
Connections and Settings in
Position Control Mode
• When the resonance frequency is 300 [Hz] or less
Resonance point
Parameters, which are set up automatically
The following parameters
are tuned automatically.
Parameter No.
10
11
12
13
14
18
19
1A
1B
1C
20
2F
Name
1st position loop gain
1st speed loop gain
1st speed loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd speed loop gain
2nd speed loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Adaptive filter frequency
The following parameters are also set up
to the following fixed values automatically.
Parameter No.
15
16
17
1F
27
30
31
32
33
34
35
Name
Speed feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
Disturbance torque observer filter selection
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Set value
300
50
0
0
0
1
10
30
50
33
20
Caution
[1] Immediately after the first turning the servo ON at start up, or when Pr22 (Machine stiffness at real-time
auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there is no problem.
But, when such problem as vibration or noise continues during a period of 3 reciprocal operations, etc
occurs frequently, take the following measures.
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
* 3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
* 4) Set up the notch filter manually.
* When disabling he real time auto tuning, see page 196 "Disabling of auto tuning function" in Adjust
ments.
[2] After a noise or vibration has occurred, Pr20 (Inertia ratio) and/or Pr2F (Adaptive filter frequency) may
have been changed into an extreme value. In such a case also, take the above measures.
[3] In
the results of the real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are
written into the EEPROM every 30 minutes. And auto tuning is carried out using the data as the initial value.
89
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 – 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
• At power on, settings of the rotary switch ID on the front panel (0 – F) will be
programmed into parameters of the driver.
• Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display
at power up
0 – 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Flashing during initialization
(about 2 seconds)
Setting of Pr01
See page 56 "Front Panel Key Operations and Display".
02
Control mode
0 – 14
90
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Select the control mode of the servo driver.
Control mode
The 1st Mode
The 2nd Mode*1
0
–
Position control
[1] Speed control
–
2
–
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control –
7
–
Full-closed control
8
–
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
–
position control
Low-stiff equipment
12
–
position control
Low-stiff equipment
13
–
speed control
14
Second full-closed control –
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
*1 A special control mode focused on the full-closed
specification. For details, refer to “Full-Closed
Control” volume on Page 000.
*2 When composite mode (Pr02 = 3,4,5,9,10) is set,
you can switch the 1st and 2nd modes with the
control mode switch input (C-MODE).
C-MODE
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
]
[Connections and Settings in Position Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
03
Torque limit
selection
Setting
range
0–1
[1]
]
Function/Description
The parameter is used to disable analog torque limit input (CCWTL, CWTL) signals.
0: Enabled
1: Disabled
If you do not use torque limit functions, set “1” to Pr03.
With Pr03 set to “0” and torque limit input (CCWTL, CWTL) open, no torque will be generated, and thus the
motor does not rotate.
04
Overtravel input
inhibit
0–1
Driver
Servo Motor
Limit
Switch
Limit
Switch
CCWL
CWL
Setting
value
CCWL/CWL
Input
Input
Enable
[1]
Disable
Action
Normal condition in which the limit switch on
CCW side is not operating.
CCW direction inhibited, CW direction allowed
Open
Normal condition in which the limit switch on
CWL
Connected
CW side is not operating.
(CN X5-8 pin)
CW direction inhibited, CCW direction allowed
Open
Both CCWL and CWL inputs are ignored and they normally operate as no
overtravel inhibit being set.
CCWL
(CN X5-9 pin)
0
Connection with COMConnected
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to “abnormal overtravel
input inhibit“.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
3. Work may repeat vertical motion as a result of absence of upward torque after you
turned off the limit switch on the upper side of work on the vertical axis. In such a
case, you should not use this function, and instead execute limit processing on the
host controller side.
07
Speed monitor
(SP) selection
0–9
The parameter selects/sets a relationship between voltage output to the speed
monitor signal output (SP: CN X5 43-pin) and the actual motor speed or command
speed.
Setting value
0
1
2
[3]
4
5
6
7
8
9
SP Signals
Motor Actual
Speed
Command
Speed
Relationship between Output Voltage Level and Speed
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
91
Connections and Settings in
Position Control Mode
In the case of linear driving, in particular, to prevent mechanical damage due to
overtraveling of work, you should provide limit switches on both ends of the axis, as
shown below, whereby driving in a direction of switch action is required to be
inhibited.
CW direction Work
CCW direction
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
08
Torque monitor
(IM) selection
Setting
range
0 – 12
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value IM Signals Relationship between output level and torque or number of deviation pulses
Torque
[0]
3V / rated (100%) torque
1
3V / 31Pulse
2
3V / 125Pulse
No. of
3
3V / 500Pulse
Deviation
4
3V / 2000Pulse
Pulses
5
3V / 8000Pulse
6 – 10
Enabled under full-closed control (See P156 –.)
11
3V / 200% torque
Torque
12
3V / 400% torque
09
TLC output
selection
0–5
ZSP output
selection
0–5
Absolute encoder
set up
0–2
0C
Baud rate of
RS232C
0–2
0D
Baud rate of
RS485
0–2
0A
0B
92
The parameter allocates functions of output in torque limits (TLC: CN X5 40-pin).
Remarks
Functions
Setting value
Output in torque limit
[0]
For functional deOutput of zero-speed detection
1
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
The parameter allocates functions of zero speed detection output (ZSP: CN X5 12-pin).
Remarks
Functions
Setting value
Output in torque limit
0
For functional deOutput of zero-speed detection
[1]
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
Listed below are settings when you use the absolute encoder:
Description
Setting value
To use the absolute encoder as absolute.
0
To use the absolute encoder as incremental.
[1]
To use the absolute encode as absolute. In this case, multi-rotation
2
excess counter is ignored.
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
]
[Connections and Settings in Position Control Mode]
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
Default setting is shown by [
Parameter
Parameter Name
No.
10
1st position loop
gain
11
1st velocity
loop gain
Setting
range
0 – 32767
[63]*
1 – 3500
[35]*
Function/Description
1/s
• The parameter defines responsiveness of the position control system.
Higher position gain would shorten time of positioning.
• The parameter defines responsiveness of the speed loop. You need to
set this speed loop gain high so as to improve responsiveness of the
entire servo system by increasing position loop gain.
• This parameter is an integration element of a speed loop and acts to
drive quickly the subtle speed deviation into zero. The smaller the
setting is, the faster deviation will be zeroed.
• Setting of “1000” will remove effects of integration.
• The parameter sets in 6 phases (0 to 5) a time constant of the low-pass filter
inserted after the block of converting an encoder signal into a speed signal.
• Setting this parameter high would increase a time constant, thereby
reducing noise of the motor. However, usually use the factory setting (0).
• The parameter sets a time constant of the primary delay filter inserted
into the torque command unit.
• It effects the control of vibration because of the torsion resonance.
• The parameter defines volume of speed feed forward under position control. Setting
it to 100% would make positional deviation in operation at a constant rate almost 0.
When you set it higher, positional deviation will decrease and responsiveness will be
improved. Be careful, however, as overshooting is apt to occur.
• The parameter sets a time constant of the primary delay filter inserted
into the speed feed forward unit.
• Inclusion of the feed forward function would cause speed overshooting/undershooting. Thus, this filter may make improvement when a positioning completion signal is chattering.
• The parameter sets integration gain of a position loop.
• This is enabled only in control mode HP.
Note) In order to prevent excessive oscillation, you may set the parameter
only in the range that satisfies the following expression for Pr10.
(Pr10)2 >
= 20 x Pr17
• A position loop, speed loop, speed detection filter, and torque command
filter, respectively, has 2 pairs of gains or time constants (the 1st and
2nd).
• Each function/content is similar to the 1st gain/time constraint, described
earlier.
• For details on switching of the 1st and 2nd gains or time constants, refer
to Adjustment volume on page 186.
* Pr11 and Pr19 will be set in terms of (Hz) when Pr20 inertia ratio has
been set correctly.
Hz
12
1st velocity loop
integration time
constant
13
1st speed
detection
filter
14
1st torque filter
time constant
15
Velocity feed
forward
16
Feed forward
filter
time constant
0 – 6400
[50]*
0.01ms
17
1st position
integration gain
0 – 10000
[0]*
x 10/s2
18
2nd position loop
gain
2nd velocity loop
gain
2nd velocity loop integration time constant
2nd speed
detection filter
2nd torque filter
time constant
1st notch
frequency
1/s
0 – 32767
[73]*
Hz
1 – 3500
[35]*
ms
1 – 1000
[1000]*
–
0–6
[0]*
0 – 2500 0.01ms
[65]*
100 – 1500
Hz
[1500]
19
1A
1B
1C
1D
1 – 1000
[16]*
ms
0–6
[0]*
–
0 – 2500
[65]*
0.01ms
–2000
– 2000
[300]*
0.1%
1E
1st notch width
selection
0–4
[2]
–
1F
2nd position
integration gain
0 – 10000
[0]*
x 10/s2
Connections and Settings in
Position Control Mode
Unit
]
• The parameter sets frequency of the resonance suppression notch filter.
• You should set it about 10% lower than the resonance frequency of the
mechanical system that has been found by the frequency characteristics
analysis facility of the setup assisted software “PANATERMR®”.
• Setting this parameter ”1500” would disable the function of notch filter.
• The parameter sets width of the resonance suppression notch filter in 5
steps. The higher the setting is, the greater the width is.
• Normally, use a factory setting.
• This parameter should be set only when you use the gain switching
function to execute optimal tuning.
• The parameter sets integration gain.
• It is enabled only under control mode HP.
Refer to “Adjustment upon switching gain” of Adjustment volume on page 202.
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
93
Parameter Setting
Parameters for real time auto gain tuning
Default setting is shown by [
Parameter
Parameter Name
No.
20
Inertia ratio
Setting
range
0 – 10000
[100]*
Unit
%
Function/Description
• Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
• When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
21
Real time auto
tuning set up
0–7
Setting value
0
[1]
2
3
4
5
6
7
22
–
• Defines the operation mode of real-time auto tuning. Increasing the set
value (3, 6,...) provides higher response to the inertia change during
operation. However, operation may become unstable depending on the
operation pattern. Normally, set this parameter to "1" or "4".
• If you set this parameter to any value other than 0, Pr27 disturbance
observer filter selection will be disabled (0). In addition, if you set the
adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
• When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
In the torque control mode, the adaptive notch filter is always invalid.
Real-time Auto GainTuning Degree of Changes in Load Inertia Adaptive Filter
Not used
–
Absent
Hardly changes.
Present
Changes moderately.
Changes sharply.
Used
Hardly changes.
Absent
Changes moderately.
Changes sharply.
Not used
–
Present
• Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
• Defines the machine stiffness during execution of real-time auto tuning.
Machine stiffness
at auto tuning
0 – 15
[4]
–
23
Fit gain function
set up
0–2
[2]
–
24
Result of fit gain
function
–32768 – 32767
[0]
–
• The parameter displays the result of tuning of the fit gain function.
• This value is set automatically by the fit gain function; it can not be altered.
25
Normal auto
tuning motion
set up
0–7
–
• Defines the operation pattern of the normal mode auto tuning.
Low Machine stiffness High
Low
Servo gain
High
Pr22
0 , 1- - - - - - - - - - - - 14, 15
Low Responsiveness High
• If the parameter value is rapidly changed, the gain significantly changes,
applying a shock to the machine. Be sure to set a small value first, and
increase it gradually, while monitoring the operating condition.
Operation mode of the fit gain function is set. It can be used in position
control mode /semi-closed control mode only.
The larger value provides the finer optimum gain.
0: Disabled
(at the same time, Pr24: result of fit gain function tuning is cleared.)
1: Level 1 enabled (optimum rigidity is searched)
2: Level 2 enabled (optimum gain is searched)
See page 190 "Fit Gain Function" in Adjustments.
Set value Number of revolutions
[0]
1
2[revolution]
2
3
4
5
1[revolution]
6
7
Revolving direction
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
Example) Setting this parameter to "0" provides two CCW revolutions and two CW revolutions.
94
]
[Connections and Settings in Position Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
26
Disturbance
torque
compensation
gain
27
Disturbance
torque observer
filter selection
Setting
range
0 – 200
[0]
0 –255
Unit
]
Function/Description
%
• When the control mode is HP, LP, LS or UPF, a gain, in which the torque
command is multiplied by a disturbance torque estimate value, is set.
• By setting 100 [%], a torque compensation that clears the disturbance
torque is applied.
• When Pr21 real time auto tuning mode setting is altered, Pr26 changes
to 0 (disabled).
–
• Cut-off frequency of the filter for disturbance torque observer is set.
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
29
• Defines the notch frequency of the second resonance suppression notch
filter.
• The unit is [Hz]. Match the notch frequency with the machine's resonance frequency.
100 to 1499: Filter enabled 1500: Filter disabled
100 – 1500
[1500]
Hz
2nd notch width
selection
0–4
[2]
–
• Select the notch width of the second resonance suppression notch filter.
• Increasing the set value enlarges the notch width.
2A
2nd notch depth
selection
0 – 99
[0]
–
• Select the notch depth of the second resonance suppression notch filter.
• Increasing the set value reduces the notch depth and the phase delay.
2B
Vibration
suppression
frequency
0 – 500
[0]
Hz
• Vibration suppression frequency of the vibration suppression for suppressing vibration at the front end of a load is set. Frequency of vibration
at the front end of the load is measured and set. Unit: [Hz]
• Minimum setting frequency is 10 [Hz]. When it is set to 0 - 9, it is disabled.
• Before using this function, see page 211 "Vibration suppression control"
in Adjustments.
2C
–20 – 250
Vibration
suppression filter
[0]
Hz
• When setting Pr2B (vibration reducing frequency), if torque saturation
occurs, set a larger value; if a faster operation is required, set a smaller
value.
• Before using this function, see page 211 "Vibration suppression control"
in Adjustments.
2F
Adaptive filter
frequency
–
• Table No. corresponding to the frequency of the applied filter is displayed. (See page 196)
• When the applied filter is enabled (when Pr21 (real time auto tuning
mode setting) is 1-3,7), this parameter is set automatically and can not
be altered.
0: Filter disabled 1 - 64: Filter enabled
Before using this function, see page 196 “Disabling of auto tuning function” in adjustments.
• When the applied filter is enabled, the parameter is stored in the EEPROM every 30 minutes. And when the applied filter is enabled at turning ON the power next time, the data stored in the EEPROM is used as
the initial value to adapt the operation.
• When clearing the parameter to reset the adapted operation due to unsatisfactory operation, once set the applied filter disabled (set Pr21 (real
time auto tuning mode setting) to other than 1 - 3, 7), and make it enabled again.
Refer to “Control of Vibration Damping” of Adjustment volume on page 211.
0 – 64
[0]*
Connections and Settings in
Position Control Mode
Set value
[0]*
1 – 255
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
95
Parameter Setting
Parameters for Switching to 2nd Gains
Default setting is shown by [
Parameter
Parameter Name
No.
30
2nd gain action
set up
Setting
range
0–1
Unit
Function/Description
–
• The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*1 Switching of 1 PI/P operation is done through gain switching input
(GAIN CN X5 27-pin).
GAIN input
Open with COM–
Connect to COM–
Operation of speed loop
PI operation
P operation
*2 For conditions of switching between the 1st and 2nd gains, refer to
“Adjustment upon switching gain” of Adjustment volume on page 202.
31
Position control
switching mode
Setting value
0
1
2
3
4
5
6
7
8
9
*3
*3
*3
*3
*3
*3
*3
[10]* *3
0 –10
–
• The parameter selects conditions of switching the 1st and 2nd gains in
position control mode.
Conditions for Switching Gains
Fixed to the 1st gain.
Fixed to the 2nd gain.
The 2nd gain is selected with gain switching input (GAIN) turned ON (Pr30 needs setting of 1).
Torque command variation is greater than setting of Pr33 (position control switching level) and
Pr14, and the 2nd gain is selected.
Fixed to the 1st gain.
Command speed is greater than setting of Pr33 (position control switching level) and Pr14,
and the 2nd gain is selected.
Positional deviation is greater than setting of Pr33 (position control switching level) and Pr14,
and the 2nd gain is selected.
Position command is present and the 2nd gain is selected.
The 2nd gain is selected when the command pulse is 1 or higher in 166ms.
The 2nd gain is selected with positioning not complete.
The 2nd gain is selected when a value of the positional deviation counter is greater than Pr60
(positioning completion range).
Motor actual speed is greater than setting of Pr33 (position control switching level) and Pr34,
and the 2nd gain is selected.
Switching to the 2nd gain with position command present.
Switching to the 1st gain when absence of position command continues for Pr32 (x 166ms) and
speed falls below Pr33 - Pr34 [r/min].
*3 For levels to be switching and timing, refer to "Adjustment upon switching gain" of Adjustment volume on page 202.
32
33
96
Position control
switching delay
time
Position control
switching level
0 – 10000 x 166µs
[30]*
0 – 20000
[50]*
–
• The parameter sets delay time of diversion from switching conditions set
with Pr31 to actual return to the 1st gain, when Pr31 is enabled at settings of 3, 5, 6, 7, 9, and 10.
• The parameter sets judgment level upon switching between the 1st and
the 2nd gains, when Pr31 is enabled at settings of 3, 5, 6, 9, and 10.
]
[Connections and Settings in Position Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
34
Position control
switching
hysteresis
Setting
range
0 – 20000
[33]*
Unit
Function/Description
–
• The parameter sets width of hysteresis to be provided above and under
the judgment level set with Pr33 mentioned above.
• The following figure shows definitions of the above-mentioned Pr32 (delay), Pr33 (level) and Pr34 (hysteresis).
Pr33
]
Pr34
0
1st Gain
2nd Gain
1st
Connections and Settings in
Position Control Mode
Pr32
<Caution>
Settings of Pr33 (level) and Pr34 (hysteresis) are enabled as an absolute
value (positive/negative).
35
Position gain
switching time
0 – 10000 (Setting +1) • The parameter sets stepped switching time only for position loop gain
[20]* x 166µs
upon switching gains when the 2nd gain switching function has been enabled.
(Example)
166
166µs
166
Kp1(Pr10)<Kp2(Pr18)
166
Kp2(Pr10)
3
2
Pr35= 0
1
0 Thick solid line
1
2
3 Thin solid line
Kp1(Pr18)
1st Gain
2nd Gain
1st Gain
• Switching time should be provided only when a small position loop gain
is switched to a large position loop gain (Kp1 ––> Kp2). (This is to alleviate impact on the machine due to rapid change of gain.)
• You should set a value smaller than a difference of Kp2 and Kp1.
Parameters for Position Control
Default setting is shown by [
Parameter
Parameter Name
No.
40
Command pulse
multiplier set up
Setting
range
1–4
Function/Description
• The parameter sets a multiply when “2-phase pulse input” has been selected as a
command pulse form with Pr42 (command pulse input mode setting).
Setting value
1
2
3 or [4]
41
Command pulse
logic inversion
0–3
]
Multiply when 2-phase pulse is input
x1
x2
x4
• Each of logics of 2 pulse command input (PULS, SIGN) systems can be individually
set inside the driver.
Setting value
[0]
1
2
3
“PULS” Signal Logic
Non-inverting
Inverting
Non-inverting
Inverting
“SIGN” Signal Logic
Non-inverting
Non-inverting
Inverting
Inverting
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
97
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
42
Command pulse
input mode
Setting
range
0–3
Function/Description
• The parameter sets an input form of a command pulse to be given from the host
device to the driver. Three types of forms listed in the following table can be set.
Make selection in accordance with specifications of the host device.
Command
CW Command
Setting value
Signal Name CCW Command
pulse form
t1
0 or 2
PULS
SIGN
CW pulse train
+
CCW pulse train
PULS
SIGN
Pulse train
+
symbols
PULS
SIGN
[1]
3
t1
t1
t1
Phase A
90˚ phase difference
Two-phase pulse
(Phase A + Phase B)
Phase B
t1
t1
t1
Phase B advances 90˚
ahead of phase A.
t1
Phase B delays 90˚
from phase A
t3
t2 t2
t2 t2
t4 t5
t4 t5
“L”
“H”
t6
t6 t6
t6
Allowed maximum input frequency and required minimum time width of command pulse input signal
Input I/F of
PULS/SIGN signals
Allowed maximum
input frequency
Required minimum time width [µs]
t6
t5
t4
t3
t2
t1
Line driver interface
500kpps
2
1
1
1
1
1
Open collector interface
200kpps
5
2.5
2.5
2.5
2.5
2.5
Pulse rise/fall time of command pulse input signal should be set to no more than 0.1µs.
43
Command pulse
inhibit input
invalidation
0–1
• The parameter selects enable/disable of command pulse inhibit input INH: CN X5
33-pin).
Setting value
0
[1]
INH Input
Enable
Disable
With INH input, connection with COM- will be open, and command pulse input will
be inhibited. If you do not use INH input, set 1 to Pr43. You no longer need to
connect INH (CN 1/F 33-pin) and COM- (41-pin) external to the driver.
44
Output pulses per 1 – 16384 The parameter sets number of pulses per one revolution of encoder pulse to be outsingle turn
[2500] put to the host device. The pulse will be set in dividing.
You should directly set in this parameter the number of pulses per revolution needed
for your device/system in terms of [Pulse/rev].
45
Pulse output
logic inversion
0–1
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
A pulse(OA)
[0]
1
98
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
IWhen Motor is Rotating
in CW direction
]
[Connections and Settings in Position Control Mode]
Default setting is shown by [ ]
Setting
Function/Description
range
Related to command pulse multiply division function (Pr46 to 4B)
1 – 10000 Command pulse multiply division (electronic gear) function
[10000] Purpose of Use
1) To arbitrarily set rotation/movement of the motor per unit input command pulse.
1 – 10000 2) In the case predetermined motor speed cannot be achieved because of limited
pulse oscillation capacity (highest possible output frequency) of the host device,
[10000]
multiply function should be used to increase seeming command pulse frequency.
• Block Diagram of Multiply Division Unit:
1 – 10000
[10000]
1 – 10000
[10000]
Command
Pulse
f
*1 The 1st Numerator (Pr46)
*1 The 2nd Numerator (Pr47)
*2 The 3rd Numerator (Pr48)
*2 The 4th Numerator (Pr49)
x2
Scale Factor (Pr4A)
Internal
Command
F
+
–
Feedback
Pulse
(Resolution)
Denominator (Pr4B)
0 – 17
[0]
To Deviation
Counter
10000P/rev
or 217P/rev
• An upper limit of computed value of a numerator will be 2621440. Note that even
when you set a value higher than this, it will become invalid and 2621440 will be a
numerator.
*1: Select the 1st or 2nd numerator by means of command multiply division switch1 – 10000
ing (DIV:CN X5 28-pin).
[10000]
DIV Off
Select the first numerator (Pr46).
DIV ON
Select the second numerator (Pr47).
Connections and Settings in
Position Control Mode
Parameter
Parameter Name
No.
46
1st numerator of
command
pulse ratio
2nd numerator of
47
command
pulse ratio
3rd numerator of
48
command
pulse ratio
4th numerator of
49
command
pulse ratio
Multiplier of
4A
numerator of
command pulse
ratio
Denominator of
4B
command pulse
ratio
*2: 3rd and 4th numerators are used for special specifications such as full-closed
specification. For further information, refer to “Full-Closed Control” volume on
page 156.
<Examples of Setting>
• It is basic to have a relation “a motor rotates once with command input (f) for resolution of an encoder” when the multiply division ratio is 1.
Therefore, to rotate the motor once as an example of the case in which the encoder
has resolution of 10000P/r, f=5000Pulse at multiply of 2 and f=40000Pulse at 1/4
division should be input.
• Pr46, Pr4A and Pr4B should be set so that internal command after multiply division
will be equal to resolution of the encoder (i.e., 10000 or 217).
F = f x Pr46 x 2 Pr4A = 10000 or 217
Pr4B
F: Number of internal command pulses for one revolution of the motor
f: Number of command pulses for one revolution of the motor
Resolution of Encoder
Example 1:
When command input (f)
is set to 5000 per
revolution of the motor]
Example 2:
When command input (f)
is set to 40000 per
revolution of the motor]
217 (131072)
Pr4A 17
Pr46 1 x 2
Pr4B 5000
Pr4A 15
Pr46 1 x 2
Pr4B 10000
10000 (2500P/r x 4)
Pr46 10000 x 2
Pr4B 5000
Pr46 2500 x 2
Pr4B 10000
Pr4A 0
Pr4A 0
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
99
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
4C
Smoothing filter
Setting
range
0–7
]
Function/Description
A smoothing filter is a primary delay filter inserted after command multiply division
unit of command pulse input unit.
Purpose of Smoothing Filter:
• Basically, it is to alleviate stepped movement of the motor when a command
pulse is rough.
• Following are the specific examples in which a command pulse becomes rough:
1) When a multiply ratio is set for command multiply division (10 times or higher)
2) When command pulse frequency is low in some cases
• A time constant of the smoothing filter should be set in 8 steps with Pr4C.
4D
Counter clear
input
0–1
Setting value
0
[1]
Time constant
No filter function
Small time constant
7
Great time constant
The parameter sets clear conditions of counter clear input signal for clearing the deviation counter (CL: CNX5 30-pin).
Setting value
[0]
1
Clear Conditions
Clear at level (*1).
Clear at edge (falling edge).
*1: Minimum time width of CL signal
CL (30-pin)
100µs or longer
4E
FIR filter 1 set up
0 – 31
[0]
• The parameter selects a FIR filter to be applied to a command pulse.
• This is enabled only when command mode is HP and LP.
• It will be a moving average filter for (setting +1) times.
• Note that any change to this parameter will become valid only after you reset the
power source.
4F
FIR filter 2 set up
0 – 31
[0]
• Select the FIR filter for speed feedforward.
• The parameter selects a FIR filter to be applied to the speed feed forward filter.
• This is enabled only when Control mode is HP.
• The filter is a moving average filter (the number of averaging: Set value + 1).
• Note that a change of this parameter becomes valid after the power supply is reset.
Parameters for Speed Control
Default setting is shown by [
Parameter
Parameter Name
No.
57
JOG speed set up
100
Setting
range
0 — 500
[300]
Unit
r/min
]
Function/Description
The parameter directly sets JOG speed in JOG run in motor trial run
mode in terms of [r/min].
For details on JOG function, refer to Trial Run (JOG) of Preparations volume on page 68.
[Connections and Settings in Position Control Mode]
Parameters for Torque Control
Default setting is shown by [
Parameter
Parameter Name
No.
5E
Torque limit
Setting
range
0 – 500
Unit
Function/Description
%
• This function limits maximum torque of the motor through setting of
parameters within the driver.
• In normal specifications, torque about 3 times higher than the rated is allowed for an instant. This parameter limits the maximum torque, however, if the triple torque may cause a trouble in the strength of motor
load (machine).
Torque [%]CCW
300 (Max.)
When Pr5E=150
200
100
(Rated)
Speed
100
(Rated) (Max.)
200
Connections and Settings in
Position Control Mode
• Setting should be given as a %
value to rated torque.
• The right figure shows a case
in which the maximum torque
is limited to 150%.
• Pr5E limits maximum torque in
both CW and CCW directions
simultaneously.
]
300
CW
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM® and panel manipulation) “Maximum Output
Torque Setting”. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to “Pr5E Setting of
Torque Limit” of Preparations volume on page 55.
Parameters for various sequences
Default setting is shown by [
Parameter
Parameter Name
No.
60
In-position range
Setting
range
0 – 32767
[131]
Unit
Function/Description
Pluse
• The parameter sets timing to output a positioning completion signal
(COIN: CN X5 39-pin) when movement of the motor (work) is complete
after input of a command pulse ends.
• A positioning completion signal (COIN) is output when the number of
pulses of the deviation counter is within ± (setting).
• A basic unit of deviation pulse is “resolution” of an encoder you will
use. Thus, be careful because it varies depending on an encoder, as
shown below:
1) 17-bit encoder: 217 = 131072
2) Encoder of 2500 P/rev: 4 x 2500 = 10000
<Cautions>
Deviation
1.Setting Pr60 too small might exPulse
Pr60
tend time till COIN signal is output or cause chattering upon
output.
2.Setting of “Positioning CompleON
Pr60
COIN
tion Range” will have no effect
on final positioning precision.
101
]
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
61
Zero speed
Setting
range
0 – 20000
[50]
Unit
Function/Description
r/min
• The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
• A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
• Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
• There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
63
Position error
set up
1 – 32767
[25000]
–
CCW
Speed
Pr61
Pr61
CW
ZSP
ON
The parameter sets a detection level of “protection against excessive
positional deviation” function when it is determined that positional deviation is excessive, by using the number of residual pulses.
• Calculate a setting value following the expression shown below:
Setting value =
Positional deviation excess determination level [PULSE]
256
<Note>
Note that setting this Pr63 too small, in particular, when positional gain
is set low might activate protection against excessive positional deviation even though there was no abnormality.
64
Position error
invalidation
0–1
–
This parameter disables “protection against excessive positional deviation”.
Setting value
[0]
1
65
Undervoltage
error response
at main power-off
0–1
–
Protection against excessive positional deviation
Enabled
Disabled. Operation will continue without determining abnormality, even though positional deviation pulses exceed
the judgment level set with Pr63.
If you make a mistake in phase sequence or wiring of the
encoder, runaway may occur. You should install a safeguard against runaway in the device.
The parameter sets whether to enable the “protection against main power
source under-voltage” function when you shut down the main power of
main and control power supplies.
Setting value
0
[1]
Main Power Source Under-voltage Protection Action
In this case, if you shut off the main power during Servo
ON, it will be SERVO-OFF without a trip. Then, when the
main power supply turns ON again, it will be recovered to
Servo ON.
Shutting off main power during Servo ON will activate abnormal main power supply under-voltage (alarm code
No.13) and cause a trip.
Refer to the timing chart “At Power ON” of Preparations volume on page 40.
66
Dynamic breke
inhibition at
overtravel limit
0–1
–
The parameter sets driving conditions at decelerated operation after overtravel input inhibit (CCWL: connector CN X5 9-pin or CWL: connector CN
X5 8-pin) has been activated and enabled.
Setting value
[0]
1
102
Driving Conditions from Deceleration to Stop
The motor decelerates and stops as the dynamic brake (DB) is
operated. The motor will be in free condition after it stops.
Free running, the motor decelerates and stops. The motor
will be in free condition after it stops.
]
[Connections and Settings in Position Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
67
Error response
at main power-off
Setting
range
0–7
Unit
–
]
Function/Description
The parameter sets:
(1) Driving conditions during deceleration and after stopping; and
(2) Processing to clear content of the deviation counter
after the main power source is shut off.
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
DB: Activation of dynamic brake
68
Error response
action
0–3
–
The parameter sets driving conditions during deceleration or following
stop, after any of protective functions of the driver has been activated and
alarm has been generated.
Setting
value
[0]
1
2
3
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
(DB: Activation of dynamic brake)
See also “When Abnormality (Alarm) Occurs (Serve ON Command State)”
of the timing chart, Preparations volume on page 41.
69
Sequence at
Servo-OFF
6A
Mechanical
brake delay at
motor standstill
0–7
[0]
–
0 – 100
[0]
2ms
• The parameter sets:
1) Driving conditions during deceleration or after stop
2) Processing to clear the deviation counter
following Servo off (SRV-ON signal: CN X5 29-pin turns On ‡ Off).
• A relationship between setting of Pr69 and driving conditions/deviation
counter processing conditions is similar to that of Pr67 (Sequence at
Main Power Off).
• See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
The parameter sets time till non-energization of motor (servo free) after
the brake release signal (BRK-OFF) turns off (brake retained), at Serve
Off while the motor stops.
• In order to prevent minor
movement/drop of the motor
(work) due to operation delay time of the brake (tb):
> tb.
Setting of Pr6A =
• See “Serve On/Off Operation
When the Motor Stops” of
the timing chart on page 42.
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 43.
103
Connections and Settings in
Position Control Mode
Setting
value
[0]
1
2
3
4
5
6
7
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
6B
Mechanical
brake delay at
motor in motion
Setting
range
0 – 100
[0]
Unit
Function/Description
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
• This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
Release
revolutions of the motor.
• At Servo off while the motor is ro- Motor Energized
Energization
tating, time tb in the right figure
will be either set time of Pr6B or
time till the motor rotational Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
• See “Serve On/Off Operation When the Motor is
Rotating” of the timing chart of on page 43.
]
OFF
Retention
tb
Nonenergization
30 r/min
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
6C
External
regenerative
resister set up
0–3
–
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
1
External resistance
2
Built-in resistance
3
External resistance
Protection against Regeneration
Resistance Overload
According to built-in resistance, (about
1% duty) protection against regeneration resistance overload works.
This is activated with operating limits of
the external resistance at 10% duty.
This is activated with operating limits of
the external resistance at 100% duty.
Regeneration resistance does not
work, and a built-in condenser accommodates all regenerated power.
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
104
Main power-off
detection time
0 – 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
[Connections and Settings
in Speed Control Mode]
page
Speed control block diagram ............................... 106
CN X5 Connector ................................................... 107
CN X5 Connector ...................................................................... 107
Interface Circuit ......................................................................... 108
Input signal (common) assignment to CN X5 connector pins .... 110
Input signal assignment to CN X5 connector pins - designation(logic) ...... 112
Output signal assignment to CN X5 connector pins - designation(logic) .. 112
Trial run at Speed Control Mode .......................... 114
Operation with CN X5 Connected .............................................. 114
Real time auto gain tuning ................................... 116
Outline ........................................................................................ 116
Application range ........................................................................ 116
How to use ................................................................................. 116
Description of the adaptive filter ................................................. 117
Parameters, which are set up automatically .............................. 117
Caution ....................................................................................... 117
Parameter Setting ................................................. 118
Parameters for Function Selection ............................................. 118
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ..... 122
Parameters for real time auto gain tuning ................................. 122
Parameters for Switching to 2nd Gains ..................................... 124
Parameters for Position Control ................................................ 125
Parameters for Speed Control .................................................. 126
Parameters for Torque Control .................................................. 128
Parameters for various sequences ........................................... 128
105
106
OA / OB / OZ
Feedback pulse
Analog
speed
command
16bitA/D
SPR
Pr58
Pr56
Division Pr44
Inverse Pr45
Pr13
Pr1B
detection Speed
1st
2nd
Speed
detection filter
Pr54
Pr5A
Pr59
+
–
Pr55
Pr53
Division
1st
speed
2nd
speed
3rd
speed
4th
speed
Internal speed setting
S-shape
Pr52
Offset
Pr05
Deceleration
Selection
Pr50
Pr51
Acceleration
Accel./decel. limit
Inverse
Command
selection
Gain
Input setting
Command speed
monitor
Pr 1A
Pr 20
2nd
differential
Inertia
ratio
+
–
Actual speed
monitor
Pr 19
Pr 12
2nd ratio
1st
differential
Pr 11
control Speed
1st ratio
Pr29
2nd
width
Pr27
Encoder
receive
processing
Filter
Disturbance
observer
Pr2A
Pr28
2nd
frequency
2nd
depth
2nd time
constant
Pr1E
1st width
PS / PS
signal
Limit
1st time
constant
Pr 5E
Pr 1C
Pr 14
Torque filter
Pr1D
1st
frequency
Notch filter
Encoder
Motor
Torque command
monitor
Speed control block diagram
• Control mode set-up: when Pr02 is [1]*
* For the block diagram showing "Control mode set-up parameter Pr02=[13] (speed control for low-stiffness equipment), see page 302 "Appendix".
39 COIN+
38 COIN-
At-speed
Battery for absolute encoder
(Pr0A)
Zero speed detected
Torque limited
(Pr09)
ZSP
TLC
45
44
50
FG
BATT-
BATT+
41 COM-
12
40
11 BRKOFF+
10 BRKOFF-
37 ALM+
36 ALM-
Servo alarm
Mechanical brake release
35 S-RDY+
34 S-RDY-
Servo-ready
CCW overtravel inhibit 9 CCWL
CW overtravel inhibit 8 CWL
· In case the battery for absolute encoder
is installed at the controller side
VDC
12–24V
DIV
ZEROSPD
Control mode switching 32
C-MODE
31 A-CLR
Alarm clear
28
Zero speed clamp (Pr06) 26
Servo-ON
CL
29 SRV-ON
P-operation/2nd gain switching 27 GAIN
30
INH
7 COM+
33
PULS2
4
20kΩ
SPR/TRQR
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
CN X5
1kΩ
1kΩ
IM
SP
330Ω
330Ω
330Ω
14
20
19 Z-phase output (Open collector)
25
47
46
24
23
49
48
22
5
SIGN1
SIGN2 6
220Ω
13
GND
21
OA+
220Ω
PULS1
2
3
1
42
43
GND 15
10kΩ
16
CCWTL/TRQR
10kΩ
17
GND
to CN X4 (5th pin)
10kΩ
CWTL 18
to CN X4 (6th pin) 10kΩ
4.7kΩ
Scaler
Connections and Settings in
Speed Control Mode
Internal command
speed selection 1
Internal command
speed selection 2
Speed monitor
output
Torque monitor
output
CW torque limit
(-10 to 0V)
CCW torque limit
(0 to +10V)
Speed command
(0 to ±10V)
Z-phase
output
B-phase
output
A-phase
output
CN X5 Connector
[Connections and Settings in Speed Control Mode]
CN X5 Connector
Circuits Available for Speed control mode
107
CN X5 Connector
Interface Circuit
Input Circuit
SI SI Connecting to
sequence input signals
12–24V
7 COM+4.7kΩ
Servo-ON or
other input
• 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.
• Lower limit of the power supply (12 to 24V) should not be
less than 11.4V in order to secure the appropriate level
of primary current of the photo coupler.
Relay
12–24V
7 COM+4.7kΩ
Servo-ON or
other input
AI AI Analogue Command Input
• There are three analogue command inputs of SPR/RTQR
(14 pins), CCWTL (16 pins) and CWTL (18 pins).
• The maximum permissible input voltage is ±10V. For the
input impedance of these inputs, see the right figure.
• If you make a simplified circuit comprising a variable resistor (VR) and resistor (R), refer to the right figure.
When the variable range of each input is -10V to +10V,
the VR should be a B type resistor of 2kΩ (min.1/2W).
The R should be 200Ω (min.1/2W).
• The A/D converters for these inputs should have the following resolution.
SPR/TRQR 14
+12V
VR
-12V
R
1) ADC1 (SPR and TRQR)
: 16 bits (including one bit for sign)
2) ADC2 (CCWTL and CWTL) : 10 bits (including one bit for sign)
108
20kΩ
R
15
+
ADC
1
GND
CCWTL 16 10kΩ
17 GND
CWTL 18 10kΩ
+
10kΩ
+
10kΩ
ADC
2
[Connections and Settings in Speed Control Mode]
Output Circuit
SO1 SO2 Sequence output circuit
• This comprises a Darlington driver with an open collector.
This is connected to a relay or photo coupler.
• There exists a collector-to-emitter voltage VCE(SAT) of
approx. 1V at transistor ON, because of Darlington connection of the out put transistor. Note that normal TTLIC
can't be directly connected since this does not meet VIL
requirement.
• This circuit has an independent emitter connection, or an
emitter connection that is commonly used as the minus
(–) terminal (COM–) of the control power.
• Calculate the value of R using the formula below so as the
primary current of the photo coupler become approx. 10mA.
Install as per the fig. Shows
without fail
SO1
ALM+
or other signal
ALM–
or other signal
12–24V
VDC
SO2
ZSP, TLC
41 COM–
Maximum rating: 30V, 50mA
VDC[V] — 2.5[V]
R [kΩ] =
10
PO1 Line Driver (Differential Output) Output
• Provides differential outputs of encoder signals (A, B and
Z phases) that come from the scalar.
• Receive these signals with a line receivers. In this case,
install a resistor of approx. 330Ω between the inputs.
• These outputs are non-insulated signals.
AM26LS32
or equivalent
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
B
OZ+
OZ-
23
24
Z
Connections and Settings in
Speed Control Mode
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
GND 25
shows a pair of twisted wires.
Connect the signal
grounds between the controller and driver.
PO2 Open Collector Output
• Outputs Z-phase signals among those from the encoder.
The outputs are non-insulated.
• 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
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
AO Analogue Monitor Output
43 SP
1kΩ
• This output is the speed monitor signal (SP) or torque moniMeasuring
tor signal (IM).
instrument
or external
• The signal range is approx. 0 to ± 9V.
42 IM 1kΩ
circuit
• The output impedance is 1kΩ. Pay attention to the input
17 GND
impedance of your measuring instruments and external
circuits connected.
<Resolution>
1) Speed 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%)
109
CN X5 Connector
Input signal (common) assignment to CN X5 connector pins
Input Signals (Common) and their Functions
Signal
Pin No.
Symbol
Control signal
power (+)
7
COM +
Control signal
power (–)
41
COM –
Servo-ON
29
SRV-ON
Function
I/F circuit
• Connect to (+) of an external power supply (12VDC to
–
24VDC).
• Use source voltage of 12V±10% – 24V±10%.
• Connect to (–) of an external power supply (12VDC to
24VDC).
• The required
capacity depends on the I/O circuit
configuration. 0.5A or larger is recommended.
• When this signal is connected to COM–, the dynamic brake
SI
will be released and the driver is enabled. (Servo-ON).
page 108
<Notes>
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 page
46 "Dynamic Brake" in Preparations.
• Allow at least 50ms delay after the driver is enabled before any command input is
entered.
• By opening the connection to COM– , the driver will be disabled(Servo-OFF) and
the current flow to the motor will be inhibited.
• Operation of the dynamic brake and clearing action of the position error counter can
be selected using Pr69 (Sequence under Servo-OFF).
Control mode
switching
32
C-MODE
Pr02 value
3
4
5
CW overtravel
inhibit
CCW overtravel
inhibit
Counter clear
• When Pr02 (Control Mode Selection) = 3, 4 or 5, the control
SI
mode is selected per the table below.
page 108
Connection with COMopen (1st)
closed (2nd)
Speed control mode
Position control mode
Position control mode
Torque control mode
Speed control mode
Torque control mode
• If COM– is opened when the movable part of the machine
SI
has moved to CW exceeding the limit, the motor does not page 108
generate torque.
• If COM– is opened when the movable part of the machine
CCWL
9
SI
has moved CCW exceeding the limit, the motor does not page 108
generate torque.
• If you set 1 to Pr04 (Overtravel input inhibited invalid), CWL/CCWL
input will be disabled. A factory setting is Disable (1).
• With Pr66 (DB deactivate when driving is inhibited), you can
activate dynamic brake when CWL/CCWL input is enabled.
According to a factory setting, dynamic brake operates
(Pr66 is set to 0).
The function differs depending on the control mode.
CL
30
SI
page
108
Position control • Clears the position error counter.
8
CWL
Connect to COM– to clear the counter.
• Use Pr4D to select the clear mode.
Speed control
Pr4D value
Meaning
0(Factory-setting)
LEVEL
1
EDGE
• With speed setting of the 2nd selection input, you can set 4
speeds in combination with INH.
• For details, see Pr05 (Speed Set-Up Switching) description.
Torque control
110
• Invalid
[Connections and Settings in Speed Control Mode]
Signal
Command pulse
input inhibit
Pin No.
Symbol
33
INH
Position control
Function
The function differs depending on the control mode.
• Enter command pulse input inhibit.
• You can disable this input with Pr43
(disable command pulse input inhibit).
I/F circuit
SI
page 108
Pr43 value
Meaning
1(Factory-setting) The INH signal (input) is disabled.
0
• With COM– closed, the pulse
command signal (PULSE SIGN) is
enabled.
• With COM– open, the pulse
command signal (PULSE SIGN) is
inhibited.
Speed control
Torque control
26
ZEROSPD
• With COM- open, the speed command is considered zero.
SI
• This input can be made disabled using Pr06.
page 108
• With factory setting, disconnecting this pin from COM– sets
the speed to zero.
Pr06 value
Meaning
0 (Factory-setting) ZEROSPD is disabled.
1
ZEROSPD is enabled.
Gain switching
27
GAIN
• This is setting of Pr30 (2nd gain setting) and has the
SI
following 2 types of functions:
page 108
Connection
Function
to COM–
0
Speed loop: PI (Proportional / Integral) action
Open
(Factory-setting)
Speed loop: P (Proportional) action
Close
• 1st gain selected (Pr10, 11, 12, 13 and 14)
Open
1
• 2nd gain selected (Pr18, 19, 1A, 1B, 1C)
Close
To use the second gain, set Pr31 to “2”.
Pr30 value
Alarm clear
31
A-CLR
• No.2 Gain change Funcutions, see page 202 "Adjustments ".
• If the COM– connection is kept closed for more than 120
SI
ms, the alarm status will be cleared.
page 108
• For details about not cleared alarm, see page 216
"Protective Functions".
111
Connections and Settings in
Speed Control Mode
Speed zero clamp
• With speed setting of the 1st selection input, you can set 4
speeds in combination with CL input.
• For details, see Pr05 (Speed Set-Up Switching) description.
• Invalid
CN X5 Connector
Input signal assignment to CN X5 connector pins - designation(logic)
Input Signals (Speed Control) and their Functions
Signal
Pin No.
Symbol
14
SPR/TRQR
(15)
(GND)
16
CCWTL/
TRQR*
(17)
(GND)
18
CWTL
Battery +
(17)
44
(GND)
BATT +
Battery –
45
BATT –
Speed (torque)
command
CCW torque limit
CW torque limit
Function
I/F circuit
< At speed control >
AI
• This becomes speed command input (analogue) 0~±10V
page 108
• You can set-up the relationship between the command
voltage level and the motor speed, with Pr50 (Speed
Command Input Gain) .
• Use Pr51 to inverse the polarity of the command input.
< At torque control >*
• This becomes torque command input (analogue) 0~±10V
• You can set-up the relationship between the command
voltage level and the motor torque, with Pr5C (Torque
Command Input Gain) .
• Use Pr5D to inverse the polarity of input signals.
• Use Pr56 (4th Speed Set-up) to adjust the speed limit in
torque control.
< Note >
SPR/TRQR are invalid in position control mode.
< At speed and position control >
AI
• You can limit the motor torque in the CCW direction by page 108
entering positive voltage (0 to +10V) to CCWTL.
• You can limit the motor torque in the CW direction by
entering negative voltage (–10 to 0V) to CWTL.
• The torque limit value is proportional to the voltage with a
factor of 100%/3V.
• CCWTL and CWTL are valid when Pr03 (Torque Limit Input
Inhibit) = 0. They are invalid when Pr03 = 1.
< At torque control >*
• Both of CCWTL and CWTL are invalid.
• Use the 4th speed set-up(Pr56) to limit the speed.
• Connect a backup battery for absolute encoder (polesensitive !).
• If the battery is connected directly to the driver, it is not
necessary to connect a battery to this terminal.
–
* When the torque control mode is selected at the velocity/torque switching mode (Pr02 = 5), the
No.16 pin (CCWTL/TRQR) becomes the torque command input (analogue). You can set-up the
relationship between the command voltage level and the motor torque with Pr5C (Torque Command Input Gain).
Output signal assignment to CN X5 connector pins - designation(logic)
Output Signals (Common) and their Functions
Signal
Pin No.
Symbol
Servo alarm output
37
36
35
34
11
10
ALM +
ALM S-RDY +
S-RDY BRK-OFF +
BRK-OFF -
Servo-ready output
Mechanical brake
release output
112
Function
I/F circuit
• This output(transistor) turns OFF, when the driver detects
SO1
and error(trip).
page 109
• This output(transistor) turns ON, when the main power is
SO1
on(for both the driver and the motor) and no alarm is active.
page 109
• This is used to release the electromagnetic brake of the motor.
SO1
• Turn the output transistor ON when releasing brake.
page 109
• Refer to “Timing Chart” on page 40, on Preparations.
• This output(transistor) turns ON , when the brake is released.
• See page 40 "Timing Chart".
[Connections and Settings in Speed Control Mode]
Signal
Zero speed
detection
In-position/
At-speed
Symbol
ZSP
• In-position output
• Output(transistor) turns ON when the position error is below
the preset value by Pr60 (In-Position Range).
• At-speed output
• Output(transistor) turns ON when the motor speed reaches
the preset value by Pr62 (At-Speed ).
Speed and
torque
B-phase output
Z-phase output
Z-phase output
Velocity monitor
output
Torque monitor
output
I/F circuit
• Signal which is selected at Pr0A (ZSP Output Selection) will
SO2
be turned on.
page 109
Pr0A value
Function
Output(transistor) turns ON during the In-torque limiting.
0
Output(transistor) turns ON when the motor speed becomes
1
(Factory-setting) lower than that of the preset speed with Pr61(Zero speed).
Output(transistor) turns ON when either one of
over2*
regeneration, overload or battery warning is activated.
Output(transistor) turns ON when the over-regeneration (more
3*
than 85% of permissible power of the internal regenerative
discharge resistor) warning is activated.
Output(transistor) turns ON when the overload (the effective torque is
4*
more than 85% of the overload trip level) warning is activated.
Output(transistor) turns ON when the battery (the voltage of the
5*
backup battery becomes lower than approx. 3.2V at the
encoder side) warning is activated.
* When the setting is a value between 2 and 5, the output transistor will be turned on
for at least 1 second upon detecting an alarm condition.
• Signal which is selected by Pr09 (TLC Output Selection) will
SO2
40
TLC
be turned ON. Factory-setting: 0
page 109
• See the above ZSP signal for the set-up of Pr09 and functions.
• Function changes at control mode.
SO1
39
COIN +
page 109
38
COIN –
12
Position
A-phase output
Function
21
22
48
49
23
24
19
OA +
OA –
OB +
OB –
OZ +
OZ –
CZ
43
SP
(17)
(GND)
42
IM
(17)
(GND)
• Provides differential outputs of the encoder signals (A, B
and Z phases) that come from the driver (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)
• Not insulated
• Outputs the motor speed, or voltage in proportion to the
commanded speed with polarity.
+ : CCW rotation
– : CW rotation
• Use Pr07 (Speed Monitor Selection) to switch between
actual and commanded speed, and to define the relation
between speed and output voltage.
• Outputs the output torque, or voltage in proportion to the
position error with polarity.
+ : Fgenerating CCW-torque
– : Fgenerating CW-torque
• Use Pr08 (Torque Monitor Selection) to switch between
torque and positional error, and to define the relation
between torque/positional error and output voltage.
PO1
page 109
PO2
page 109
AO
page 109
AO
page 109
Output Signals (Others) and their Functions
Signal
Signal ground
Frame ground
(Not in use)
Pin No.
Symbol
13, 15
17, 25
50
1, 2, 20
46, 47
GND
FG
–
Function
• Signal ground in the driver
• Internally isolated from the control power (COM –).
• Internally connected to the earth terminal.
• No connections should be made.
I/F circuit
–
–
–
113
Connections and Settings in
Speed Control Mode
Torque in-limit
Pin No.
Trial run at Speed Control Mode
Operation with CN X5 Connected
1) Connect CN X5.
2) Connect the control signal (COM+/COM–) to the power supply (12 – 24 VDC) .
3) Turn the main power (driver) ON.
4) Check the defaults of the parameters.
5) Connect between SRV-ON (CN X5 pin 29) and COM– (CN X5 pin 41) to make Servo-On active. The
motor will be kept excited.
6) Apply a DC voltage between the speed command input SPR (CN X5 pin 14) and GND (CN X5 pin 15).
Increase the voltage gradually from 0, and make sure that the motor runs and the speed change accordingly.
7) Select the Monitor Mode to monitor the motor speed.
• Make sure that the motor speed is as per the commanded speed.
• Set the command to 0 to see if the motor stops.
8) If the motor still runs at very low speed, even the command voltage is set to 0, use the Auxiliary Mode to
correct the voltage of command input (see page 67 "Automatic offset adjustment" in Preparations).
9) To change the speed or direction, adjust the following parameters.
Pr50 (Speed Command Input Gain)
see page 118 "Parameter Setting" in Speed control mode.
Pr51 (Speed Command Input Inversion)
Wiring Diagram
7
29
DC
12V – 24V
26
41
14
DC
10V
15
COM+
SRV-ON
ZEROSPD
COM–
SPR/TRQR
GND
ZEROSPD switch
Close: Run
Open: Stop
One way
operation
For multi direction
(CW and CCW)
operation, use a
bipolar power
source.
114
Parameters
PrNo.
Pr02
Pr04
Pr06
Pr50
Pr58
Pr59
Pr5A
Parameter description
Value
1
Control mode set-up
1
Overtravel input inhibit
1
ZEROSPD input selection
Speed command input gain
Set as
Acceleration time set-up
Deceleration time set-up
required
S-shaped accel/decel time set-up
Input Signals Status
No.
0
2
3
5
Input signal
Servo-ON
CW overtravel inhibit
CCW overtravel inhibit
Speed zero clamp
Monitor
display
+A
–
–
– Stop with + A
[Connections and Settings in Speed Control Mode]
MEMO
Connections and Settings in
Speed Control Mode
115
Real time auto gain tuning
Outline
Load inertia of the machine is estimated
at real time, and the optimum gain is set
up automatically based on the estimated
result. A load, which has a resonance, also
can be handled owing to the adaptive filter.
Gain auto
setting
Position/speed
command
Filter auto
tuning
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Operation command under
actual operation conditions
Resonant frequency estimate
Load inertia estimate
Real time auto
gain tuning
Motor
speed
Encoder
Servo driver
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning
(see page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
• When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
• When the load inertia fluctuates
• When the machine stiffness is extremely low
Load
• When any unsecured part resides in such as backlash, etc.
• In case of a continuous low speed operation under 100 [r/min].
Operation pattern
• In case of soft acceleration/deceleration under 2000 [r/min] per 1 [s].
• When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 – 6.
Set up value before shipment is 1.
Setting value
Real-time auto tuning
0
Not used
[1]
–
No
Little change
2
3
Changing degree of load inertia during operation Adaptive filter
Change slowly
Used
Yes
Change s haply
4
Little change
5
Change slowly
No
Change s haply
–
Yes
6
7
Not used
When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.
When the influence of resonance is conceivable, select “adaptive filter YES”.
[3] Set 0 – 2 to Pr22 (real-time auto tuning machine stiffness).
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time
auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
116
[Connections and Settings in Speed Control Mode]
Description of the adaptive filter
By setting Pr21 (Real-time auto tuning set-up) to 1 – 3 or 7, the adaptive filter is enabled.
In an actual operation state, resonance frequency is estimated based on the vibration component, which
appears in motor speed, and resonance point vibration is reduced by removing resonance component from
the torque command by the adaptive filter.
The adaptive filter may not function normally under the following conditions. In such a case, take antiresonance measures using the 1st notch frequency (Pr1D and 1E) or second notch filter (Pr28 – 2A) in
accordance with the manual tuning procedure.
For details on the notch filter, refer to “To Reduce the Mechanical Resonance” on page 204.
Conditions under which the adaptive filter is prevented from functioning
• When the resonance frequency is 300 [Hz] or less
Resonance point
• When resonance peak is low, or control gain is low; and its influence does not appear on the motor speed
• When plural resonance points reside in
Load
• When a motor speed fluctuation having a high frequency component is caused due to a non-linear element such as backlash etc
Command pattern
• When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]
The following parameters
are tuned automatically.
Parameter No.
11
12
13
14
19
1A
1B
1C
20
2F
Name
1st speed loop gain
1st speed loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd speed loop gain
2nd speed loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Adaptive filter frequency
The following parameters are also set up
to the following fixed values automatically.
Name
Parameter No.
27
Disturbance torque observer filter selection
30
2nd gain action set-up
36
Speed control switching mode
Set value
0
1
0
Connections and Settings in
Speed Control Mode
Parameters, which are set up automatically
Caution
[1] Immediately after the first turning the servo ON at start up, or when Pr22 (Machine stiffness at real-time
auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there is no problem.
But, when such problem as vibration or noise continues during a period of 3 reciprocal operations, etc
occurs frequently, take the following measures.
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
4) Set up the notch filter manually.
* When disabling he real time auto tuning, see page 196 "Disabling of auto tuning function" in Adjust
ments.
[2] After a noise or vibration has occurred, Pr20 (Inertia ratio) and/or Pr2F (Adaptive filter frequency) may
have been changed into an extreme value. In such a case also, take the above measures.
[3] In
the results of the real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are
written into the EEPROM every 30 minutes. And auto tuning is carried out using the data as the initial value.
117
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 – 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
• At power on, settings of the rotary switch ID on the front panel (0 – F) will be
programmed into parameters of the driver.
• Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display at
power up
0 – 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Flashing during initialization
(about 2 seconds)
Setting of Pr01
See page 56 "Front Panel Key Operations and Display".
02
Control mode
0 – 14
118
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Select the control mode of the servo driver.
Control mode
The 1st Mode
The 2nd Mode*1
0
–
Position control
[1] Speed control
–
2
–
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control –
7
–
Full-closed control
8
–
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
–
position control
Low-stiff equipment
12
–
position control
Low-stiff equipment
13
–
speed control
14
Second full-closed control –
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
*1 A special control mode focused on the full-closed
specification. For details, refer to “Full-Closed
Control” volume on Page 000.
*2 When composite mode (Pr02 = 3,4,5,9,10) is set,
you can switch the 1st and 2nd modes with the
control mode switch input (C-MODE).
C-MODE
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
]
[Connections and Settings in Speed Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
03
Torque limit
selection
Setting
range
0–1
[1]
]
Function/Description
The parameter is used to disable analog torque limit input (CCWTL, CWTL) signals.
0: Enabled
1: Disabled
If you do not use torque limit functions, set “1” to Pr03.
With Pr03 set to “0” and torque limit input (CCWTL, CWTL) open, no torque will be generated, and thus the
motor does not rotate.
04
Overtravel input
inhibit
0–1
In the case of linear driving, in particular, to prevent mechanical damage due to
overtraveling of work, you should provide limit switches on both ends of the axis, as
shown below, whereby driving in a direction of switch action is required to be
inhibited.
CW direction Work
CCW direction
Driver
Servo Motor
Limit
Switch
Limit
Switch
CCWL
CWL
CCWL/CWL
Input
Input
Normal condition in which the limit switch on
CCW side is not operating.
CCW direction inhibited, CW direction allowed
Open
Normal condition in which the limit switch on
CWL
Connected
CW side is not operating.
(CN X5-8 pin)
CW direction inhibited, CCW direction allowed
Open
Both CCWL and CWL inputs are ignored and they normally operate as no
overtravel inhibit being set.
CCWL
(CN X5-9 pin)
0
Enable
[1]
Disable
Action
Connection with COMConnected
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to “abnormal overtravel
input inhibit“.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
05
Internal/external
speed switching
0–2
This is equipped with the internal speed setting capability that can easily implement
speed control only through input of a contact.
Method of Setting Speed
Setting value
External speed command
[0]
Internal speed control mode (4 speeds)
1
External speed control and internal speed control mode (3 speeds)
2
• This parameter sets whether
to enable or disable internal
speed setting.
• There are 4 types of internal
speed commands, and each
command data should be set
to Pr53 (1st speed), Pr54 (2nd
speed), Pr55 (3rd speed), and
Pr56 (4th speed).
Block Diagram of
Internal/External Speed Setting Unit
Contact
Input
CL
INH
CN X5
30
33
1st Speed (Pr53)
2nd Speed (Pr54)
3rd Speed (Pr55)
4th Speed (Pr56)
1
Pr05
1
2
0
External Speed
Command
SPR
14
GND 15
2
0
AD
Converter
Speed Command
119
Connections and Settings in
Speed Control Mode
Setting
value
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
05
Internal/external
(Continued) speed switching
Setting
range
0–2
Function/Description
• Switching of 4 types of internal speed
commands is executed through 2 types
of contact inputs:
1) INH (CN X5, 33-pin): Selection and
input of the 1st speed of speed setting
2) CL (CN X5, 30-pin): Selection and input
of the 2nd speed of speed setting
Internal Speed
1st Speed (Pr53)
2nd Speed (Pr54)
3rd Speed (Pr55)
4th Speed (Pr56)
CL
INH
(33-pin) (30-pin)
open
open
open
close
close
open
close
close
• Example of 4-shift run with internal speed command
In addition to CL/INH inputs, speed zero clamp input (ZEROSPD) and servo ON
input (SRV-ON) are needed as input to control driving/stopping of the motor.
Servo-ON
SRV-ON Input
ZEROSPD Input
Stop
Driving
INH Input
open
close
open
close
CL Input
open
open
2nd
Speed
close
close
Speed
1st
Speed
3rd
Speed
4th
Speed
Time
<Caution>
Using the following parameters, you can individually set acceleration time,
deceleration time, and Sigmoid acceleration/deceleration time.
In this chapter, Pr58: Setting of acceleration time
Pr59: Setting of deceleration time
Pr5A: Setting of Sigmoid acceleration/deceleration time
06
ZEROSPD input
selection
0–1
This switches enable/disable of speed zero clamp input (ZEROSPD, CN X5 26-pin).
Setting value
[0]
2
07
Speed monitor
(SP) selection
0–9
The parameter selects/sets a relationship between voltage output to the speed
monitor signal output (SP: CN X5 43-pin) and the actual motor speed or command
speed.
Setting value
0
1
2
[3]
4
5
6
7
8
9
120
Functions of ZEROSPD Input (26-pin)
ZEROSPD input being ignored, it is determined that it is not speed
zero clamp condition at all times.
ZEROSPD input has been enabled. If connection with COM- is
opened, speed command will be regarded as zero.
SP Signals
Motor Actual
Speed
Command
Speed
Relationship between Output Voltage Level and Speed
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
]
[Connections and Settings in Speed Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
08
Torque monitor
(IM) selection
Setting
range
0 – 12
]
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value IM Signals Relationship between output level and torque or number of deviation pulses
Torque
[0]
3V / rated (100%) torque
1
3V / 31Pulse
2
3V / 125Pulse
No. of
3
3V / 500Pulse
Deviation
4
3V / 2000Pulse
Pulses
5
3V / 8000Pulse
6 – 10
Enabled under full-closed control (See P156 –.)
11
3V / 200% torque
Torque
12
3V / 400% torque
09
0–5
ZSP output
selection
0–5
Absolute encoder
set up
0–2
0C
Baud rate of
RS232C
0–2
0D
Baud rate of
RS485
0–2
0A
0B
The parameter allocates functions of output in torque limits (TLC: CN X5 40-pin).
Remarks
Functions
Setting value
Output in torque limit
[0]
For functional deOutput of zero-speed detection
1
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
The parameter allocates functions of zero speed detection output (ZSP: CN X5 12-pin).
Remarks
Functions
Setting value
Output in torque limit
0
For functional deOutput of zero-speed detection
[1]
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
Listed below are settings when you use the absolute encoder:
Description
Setting value
To use the absolute encoder as absolute.
0
To use the absolute encoder as incremental.
[1]
To use the absolute encode as absolute. In this case, multi-rotation
2
excess counter is ignored.
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
121
Connections and Settings in
Speed Control Mode
TLC output
selection
Parameter Setting
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
Default setting is shown by [
Parameter
Parameter Name
No.
11
1st velocity loop
gain
Setting
range
1 – 3500
[35]*
Unit
Function/Description
Hz
• The parameter defines responsiveness of the speed loop. You need to
set this speed loop gain high so as to improve responsiveness of the
entire servo system by increasing position loop gain.
• This parameter is an integration element of a speed loop and acts to
drive quickly the subtle speed deviation into zero. The smaller the
setting is, the faster deviation will be zeroed.
• Setting of “1000” will remove effects of integration.
• The parameter sets in 6 phases (0 to 5) a time constant of the low-pass
filter inserted after the block of converting an encoder signal into a
speed signal.
• Setting this parameter high would increase a time constant, thereby
reducing noise of the motor. However, usually use the factory setting (0).
• The parameter sets a time constant of the primary delay filter inserted
into the torque command unit.
• It effects the control of vibration because of the torsion resonance.
• A position loop, speed loop, speed detection filter, and torque command
filter, respectively, has 2 pairs of gains or time constants (the 1st and
2nd).
• Each function/content is similar to the 1st gain/time constraint, described
earlier.
• For details on switching of the 1st and 2nd gains or time constants, refer
to Adjustment volume on page 186.
* Pr11 and Pr19 will be set in terms of (Hz) when Pr20 inertia ratio has
been set correctly.
• The parameter sets frequency of the resonance suppression notch filter.
• You should set it about 10% lower than the resonance frequency of the
mechanical system that has been found by the frequency characteristics
analysis facility of the setup assisted software “PANATERMR®”.
• Setting this parameter ”1500” would disable the function of notch filter.
• The parameter sets width of the resonance suppression notch filter in 5
steps. The higher the setting is, the greater the width is.
• Normally, use a factory setting.
12
1st velocity loop
integration time
constant
13
1st speed
detection
filter
14
1st torque filter
time constant
19
2nd velocity loop 1 – 3500
Hz
gain
[35]*
ms
2nd velocity loop inte- 1 – 1000
[1000]*
gration time constant
–
0–6
2nd speed
[0]*
detection filter
0 – 2500 0.01ms
2nd torque filter
[65]*
time constant
1A
1B
1C
1D
1st notch
frequency
1E
1st notch width
selection
1 – 1000
[16]*
ms
0–6
[0]*
–
0 – 2500
[65]*
0.01ms
100 – 1500
[1500]
Hz
0–4
[2]
–
]
Parameters for real time auto gain tuning
Default setting is shown by [
Parameter
Parameter Name
No.
20
Inertia ratio
Setting
range
0 – 10000
[100]*
Unit
%
]
Function/Description
• Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
• When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
122
[Connections and Settings in Speed Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
21
Real time auto
tuning set up
Setting
range
0–7
Unit
Function/Description
–
• Defines the operation mode of real-time auto tuning. Increasing the set
value (3, 6,...) provides higher response to the inertia change during
operation. However, operation may become unstable depending on the
operation pattern. Normally, set this parameter to "1" or "4".
• If you set this parameter to any value other than 0, Pr27 disturbance
observer filter selection will be disabled (0). In addition, if you set the
adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
• When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
In the torque control mode, the adaptive notch filter is always invalid.
Setting value
Used
Not used
Degree of Changes
in Load Inertia
–
Hardly changes.
Changes moderately.
Changes sharply.
Hardly changes.
Changes moderately.
Changes sharply.
–
Adaptive Filter
Absent
Present
Absent
Present
• Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
22
Machine stiffness
at auto tuning
0 – 15
[4]
–
• Defines the machine stiffness during execution of real-time auto tuning.
Low Machine stiffness High
Low
Servo gain
High
Pr22
0 , 1- - - - - - - - - - - - 14, 15
Low Responsiveness High
• If the parameter value is rapidly changed, the gain significantly changes,
applying a shock to the machine. Be sure to set a small value first, and
increase it gradually, while monitoring the operating condition.
25
Normal
auto tuning
motion set up
0–7
–
• Defines the operation pattern of the normal mode auto tuning.
Set value Number of revolutions
[0]
1
2[revolution]
2
3
4
5
1[revolution]
6
7
Revolving direction
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
Example) Setting this parameter to "0" provides two CCW revolutions and
two CW revolutions.
26
Disturbance
torque
compensation
gain
0 – 200
[0]
%
• When the control mode is HP, LP, LS or UPF, a gain, in which the torque
command is multiplied by a disturbance torque estimate value, is set.
• By setting 100 [%], a torque compensation that clears the disturbance
torque is applied.
• When Pr21 real time auto tuning mode setting is altered, Pr26 changes
to 0 (disabled).
123
Connections and Settings in
Speed Control Mode
0
[1]
2
3
4
5
6
7
Real-time Auto Gain
Tuning
Not used
]
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
27
Disturbance
torque observer
filter selection
Setting
range
0 –255
Unit
–
]
Function/Description
• Cut-off frequency of the filter for disturbance torque observer is set.
Set value
[0]*
1 – 255
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
100 – 1500
[1500]
Hz
29
2nd notch width
selection
0–4
[2]
–
• Select the notch width of the second resonance suppression notch filter.
• Increasing the set value enlarges the notch width.
2A
2nd notch depth
selection
0 – 99
[0]
–
• Select the notch depth of the second resonance suppression notch filter.
• Increasing the set value reduces the notch depth and the phase delay.
2F
Adaptive filter
frequency
0 – 64
[0]*
–
• Table No. corresponding to the frequency of the applied filter is displayed. (See page 196)
• When the applied filter is enabled (when Pr21 (real time auto tuning
mode setting) is 1-3,7), this parameter is set automatically and can not
be altered.
0: Filter disabled 1 - 64: Filter enabled
Before using this function, see page 196 “Disabling of auto tuning function” in adjustments.
• When the applied filter is enabled, the parameter is stored in the EEPROM every 30 minutes. And when the applied filter is enabled at turning ON the power next time, the data stored in the EEPROM is used as
the initial value to adapt the operation.
• When clearing the parameter to reset the adapted operation due to unsatisfactory operation, once set the applied filter disabled (set Pr21 (real
time auto tuning mode setting) to other than 1 - 3, 7), and make it enabled again.
• Refer to “Control of Vibration Damping” of Adjustment volume on page 211.
• Defines the notch frequency of the second resonance suppression notch
filter.
• The unit is [Hz]. Match the notch frequency with the machine's resonance frequency.
100 to 1499: Filter enabled 1500: Filter disabled
Parameters for Switching to 2nd Gains
Default setting is shown by [
Parameter
Parameter Name
No.
30
2nd gain action
set up
Setting
range
0–1
Unit
Function/Description
–
• The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*1 Switching of 1 PI/P operation is done through gain switching input
(GAIN CN X5 27-pin).
GAIN input
Open with COM–
Connect to COM–.
Operation of speed loop
PI operation
P operation
*2 For conditions of switching between the 1st and 2nd gains, refer to
“Adjustment upon switching gain” of Adjustment volume on page 202.
124
]
[Connections and Settings in Speed Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
36
Speed control
switching mode
Setting value
[0]*
1
2
3
4
5
*1
*1
*1
Setting
range
0–5
Unit
Function/Description
–
• The parameter sets conditions for switching the 1st and 2nd gains in
speed control mode.
• This is same as Pr31 (position control switching mode) except for position control.
]
Conditions for Switching Gains
Fixed to the 1st gain.
Fixed to the 2nd gain.
With gain switching input (GAIN) on, the 2nd gain is selected.
(Pr30 should be set to 1.)
With much variation of torque command, the 2nd gain is selected.
With much variation of speed command, the 2nd gain is selected.
With high command speed, the 2nd gain is selected.
*1 For details on levels to be switched, refer to “Adjustment upon switching gain” of Adjustment volume on page 202.
37
39
0 – 10000 x 166µs
[0]
0 – 20000
[0]
0 – 20000
[0]
–
• This is same as content of:
Pr32: Switching delay time
Pr33: Switching level
Pr34: Hysteresis at switching”
in position control mode.
Connections and Settings in
Speed Control Mode
38
Speed control
switching delay
time
Speed control
switching level
Speed control
switching
hysteresis
–
Parameters for Position Control
Default setting is shown by [ ]
Parameter
Setting
Parameter Name
Function/Description
No.
range
44
Output pulses per 1 – 16384 The parameter sets number of pulses per one revolution of encoder pulse to be outsingle turn
[2500] put to the host device. The pulse will be set in dividing.
You should directly set in this parameter the number of pulses per revolution needed
for your device/system in terms of [Pulse/rev].
45
Pulse output
logic inversion
0–1
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
IWhen Motor is Rotating
in CW direction
A pulse(OA)
[0]
1
4E
FIR filter 1 set up
0 – 31
[0]
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
• The parameter selects a FIR filter to be applied to a command pulse.
• This is enabled only when command mode is HP and LP.
• It will be a moving average filter for (setting +1) times.
• Note that any change to this parameter will become valid only after you reset the
power source.
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
125
Parameter Setting
Parameters for Speed Control
Default setting is shown by [
Parameter
Parameter Name
No.
50
Velocity
command
input gain
51
Velocity
command
input
logic inversion
Setting
Unit
range
10 – 2000 (r/min)/V
[500]
Function/Description
The parameter sets a relationship between voltage applied to speed control input (SPR: CN X5 14-pin) and motor speed.
CCW
• Pr50 sets a “gradient” in a relationSpeed
ship of command input voltage and
Rated Speed
rotational speed.
Gradient of
Factory Setting
• As a standard factory setting is
-10
-6
2 4 6 8 10
Pr50=500 [(r/min)/V], the relation will
Command
nput Voltage
be 3000r/min with input of 6V.
Rated Speed
<Cautions>
1.Don’t apply±10V or greater to speed
CW
command input (SPR).
2.When this driver is used in speed control mode and a position loop is
established external to the driver, setting Pr50 varies positional gain
of the entire servo system. You should be careful about oscillation
due to too a high setting of Pr50.
0–1
–
The parameter inverts polarity of speed command input signal (SPR). Use
this, for instance, when you wish to change the direction of rotation without
changing the polarity of a command signal on the host device side.
Direction of Motor Rotation
Setting value
CCW direction viewed from the edge of axis for (+) command
0
CW direction viewed from the edge of axis for (+) command
[1]
<Notice>
A standard factory setting of this parameter is 1. With (+) command, the
motor rotates in CW direction, and thus compatibility with the driver of
each series of conventional MINAS is achieved.
<Caution>
When you configure the servo driving system by combining the driver
set to speed control mode and external position unit, be careful as the
motor may abnormally operate unless polarity of speed command signal
from the position unit and polarity setting of this parameter agree.
52
Velocity
command
offset
–2047
– 2047
[0]
0.3mV
• This parameter adjusts offset of external analog speed command system
including the host device.
• Offset volume will be approximately 0.3mV per a set value “1”.
• To adjust offset, there are 2 ways of (1) manual adjustment and (2) automatic adjustment.
1) Manual adjustment
• When you make offset adjustment with the driver only:
Using this parameter, set a value that prevents the motor from rotating, after you have correctly input 0V in speed command input
(SPR/TRQR) (or connected to signal ground).
• When the host device establishes a position loop:
With servo locked, using this parameter, set a value so that deviation
pulse will be zero.
2) Automatic Adjustment
• For details on operating instructions in automatic offset adjustment
mode, refer to “Details of Execution Display of Auxiliary Function
Mode” of Preparations volume on page 66.
• When you execute automatic offset adjustment, the result will be reflected in this parameter Pr52.
126
]
[Connections and Settings in Speed Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
53
1st internal
speed
2nd internal
54
speed
3rd internal
55
speed
4th internal
56
speed
Setting
range
–20000
– 20000
[0]
Unit
r/min
]
Function/Description
The parameter directly sets the 1st to 4th speed of internal command
speed of when setting of internal speed has been enabled with the parameter “speed setting internal/external switching” (Pr05), to Pr53 to Pr56,
respectively, in the unit of [r/min].
<Caution>
Polarity of settings shows that of internal command speed.
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for (–) command
+
–
Pr56 is a value of speed limits in torque control mode.
You should set this parameter in a range of rotational speeds of the
motor to be used.
JOG speed set up
0 – 500
[300]
r/min
The parameter directly sets JOG speed in JOG run in “motor trial run
mode” in terms of [r/min].
For details on JOG function, refer to “Trial Run (JOG)” of Preparations volume on page 68.
58
Acceleration time
59
Deceleration time
2ms/
0 – 5000
Speed control is possible by applying acceleration/deceleration to speed
[0] (1000r/min) command in the driver in speed control mode.
When you input stepped speed command or use in internal speed setting,
0 – 5000
you will have soft start/soft down actions.
2ms/
[0] (1000r/min)
Speed
Command
Pr58 x 2ms/(1000r/min)
ta
Pr58 x 2ms/(1000r/min)
td
Speed
ta
td
<Caution>
When you use this in combination with a position loop external to the driver,
you should not use acceleration/deceleration time.
(Set 0 to both Pr58 and Pr59.)
5A
S-shaped
acceleration/
deceleration time
0 – 500
[0]
2ms
This parameter enables smooth run by adding pseudo Sigmoid acceleration/deceleration to speed control, in applications in which acceleration at
startup/stop considerably changes, thus causing a shock.
Speed
ts
ts
ta
5B
Speed command
FIR filter set up
0 – 31
[0]
ts
ts
td
1. Pr58 and Pr59 set acceleration
and deceleration time of basic linear portion, respectively.
2. Pr5A sets time of Sigmoid part in
time width centered on inflection
ta : Pr58
td : Pr59
ts : Pr5A
ta
td
> ts, and
> ts
2
2
To be used in Pr5A.
Set value Select the filter for the analog speed command in the LS control mode.
+1
The filter is a moving average filter (the number of averaging: Set value + 1).
Note that a change of this parameter becomes valid after the power
supply is reset.
127
Connections and Settings in
Speed Control Mode
57
Parameter Setting
Parameters for Torque Control
Default setting is shown by [
Parameter
Parameter Name
No.
5E
Torque limit
Setting
range
0 – 500
Unit
Function/Description
%
• This function limits maximum torque of the motor through setting of
parameters within the driver.
• In normal specifications, torque about 3 times higher than the rated is allowed for an instant. This parameter limits the maximum torque, however, if the triple torque may cause a trouble in the strength of motor
load (machine).
• Setting should be given as a %
value to rated torque.
• The right figure shows a case
in which the maximum torque
is limited to 150%.
• Pr5E limits maximum torque in
both CW and CCW directions
simultaneously.
]
Torque [%]CCW
300 (Max.)
200
When Pr5E=150
100
(Rated)
Speed
100
(Rated) (Max.)
200
300
CW
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM® and panel manipulation) “Maximum Output
Torque Setting”. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to “Pr5E Setting of
Torque Limit” of Preparations volume on page 55.
Parameters for various sequences
Default setting is shown by [
Parameter
Parameter Name
No.
61
Zero speed
Setting
range
0 – 20000
[50]
Unit
Function/Description
r/min
• The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
• A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
• Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
• There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
62
At-speed
0 – 20000
[1000]
r/min
Speed
Pr61
Pr61
CW
ON
ZSP
• The parameter sets timing to output a at-speed signal (COIN;CN X5 39pin) in speed control and torque control modes in terms of rotational
speed [r/min].
• When the motor speed exceeds setting of this parameter Pr62, at-speed
signal (COIN) will be output.
• Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
• There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
Speed
Pr62
CCW
CW
Pr62
COIN
128
CCW
OFF
ON
]
[Connections and Settings in Speed Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
65
Undervoltage
error response
at main power-off
Setting
range
0–1
Unit
Function/Description
–
The parameter sets whether to enable the “protection against main power
source under-voltage” function when you shut down the main power of
main and control power supplies.
Setting value
0
[1]
66
Dynamic breke
inhibition at
overtravel limit
0–1
–
1
0–7
–
Driving Conditions from Deceleration to Stop
The motor decelerates and stops as the dynamic brake (DB) is
operated. The motor will be in free condition after it stops.
Free running, the motor decelerates and stops. The motor
will be in free condition after it stops.
The parameter sets:
(1) Driving conditions during deceleration and after stopping; and
(2) Processing to clear content of the deviation counter
after the main power source is shut off.
Setting
value
[0]
1
2
3
4
5
6
7
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
DB: Activation of dynamic brake
68
Error response
Action
0–3
–
The parameter sets driving conditions during deceleration or following
stop, after any of protective functions of the driver has been activated and
alarm has been generated.
Setting
value
[0]
1
2
3
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
(DB: Activation of dynamic brake)
See also “When Abnormality (Alarm) Occurs (Serve ON Command State)”
of the timing chart, Preparations volume on page 41.
69
Sequence at
Servo-OFF
0–7
[0]
–
• The parameter sets:
1) Driving conditions during deceleration or after stop
2) Processing to clear the deviation counter
following Servo off (SRV-ON signal: CN X5 29-pin turns On ‡ Off).
• A relationship between setting of Pr69 and driving conditions/deviation
counter processing conditions is similar to that of Pr67 (Sequence at
Main Power Off).
• See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
129
Connections and Settings in
Speed Control Mode
[0]
Error response
at main power-off
Main Power Source Under-voltage Protection Action
In this case, if you shut off the main power during Servo ON, it
will be SERVO-OFF without a trip. Then, when the main power supply turns ON again, it will be recovered to Servo ON.
Shutting off main power during Servo ON will activate abnormal main power supply under-voltage (alarm code
No.13) and cause a trip.
Refer to the timing chart “At Power ON” of Preparations volume on page 40.
The parameter sets driving conditions at decelerated operation after overtravel input inhibit (CCWL: connector CN X5 9-pin or CWL: connector CN
X5 8-pin) has been activated and enabled.
Setting value
67
]
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
6A
Mechanical
brake delay at
motor standstill
Setting
range
0 – 100
[0]
Unit
Function/Description
2ms
The parameter sets time till non-energization of motor (servo free) after
the brake release signal (BRK-OFF) turns off (brake retained), at Serve
Off while the motor stops.
• In order to prevent minor
movement/drop of the motor
(work) due to operation delay time of the brake (tb):
> tb.
Setting of Pr6A =
• See “Serve On/Off Operation
When the Motor Stops” of
the timing chart on page 42.
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
]
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 43.
6B
Mechanical
brake delay at
motor in motion
0 – 100
[0]
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
• This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
revolutions of the motor.
Release
• At Servo off while the motor is rotating, time tb in the right figure Motor Energized
Energization
will be either set time of Pr6B or
time till the motor rotational
Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
• See “Serve On/Off Operation When the Motor is
Rotating” of the timing chart of on page 43.
OFF
Retention
tb
Nonenergization
30 r/min
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
6C
External
regenerative
resister set up
0–3
–
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
1
External resistance
2
Built-in resistance
3
External resistance
Protection against Regeneration
Resistance Overload
According to built-in resistance, (about
1% duty) protection against regeneration resistance overload works.
This is activated with operating limits of
the external resistance at 10% duty.
This is activated with operating limits of
the external resistance at 100% duty.
Regeneration resistance does not
work, and a built-in condenser accommodates all regenerated power.
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
130
Main power-off
detection time
0 – 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
[Connections and Settings
in Torque Control Mode]
page
Torque control block diagram .............................. 132
CN X5 Connector ................................................... 133
CN X5 Connector ......................................................................
Interface Circuit .........................................................................
Input signal (common) assignment to CN X5 connector pins ...
Input signal assignment to CN X5 connector pins - designation(logic) ..........
Output signal assignment to CN X5 connector pins - designation(logic) .......
133
134
136
138
138
Trial run at Torque Control Mode ......................... 140
Operation with CN X5 Connected ............................................. 140
Real time auto gain tuning ................................... 142
Outline .......................................................................................
Application range .......................................................................
How to use ................................................................................
Parameters, which are set up automatically .............................
Caution ......................................................................................
142
142
142
143
143
Parameter Setting ................................................. 144
Parameters for Function Selection ............................................ 144
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning ..... 147
Parameters for real time auto gain tuning ................................. 148
Parameters for Switching to 2nd Gains ..................................... 150
Parameters for Position Control ................................................ 150
Parameters for Speed Control .................................................. 151
Parameters for Torque Control .................................................. 152
Parameters for various sequences ........................................... 152
131
132
Pr 5C
Offset
Pr 52
Inverse Pr 5D
Gain
Input setting
Feedback pulse
OA / OB / OZ
Inverse
Pr 45
Division
Division Pr 44
When pr 02 = 5
Analog torque
Input setting
command
10bitA/D
Gain
Pr 5C
CCWTL /
TRQR
Inverse Pr 5D
Analog torque
command
16bitA/D
SPR /
TRQR
When pr 02 = 2 or 4
Pr 12
1st
differential
Pr 1B
2nd
Speed detection
Pr 13
+
–
Actual speed
monitor
Pr 20
Inertia
ratio
1st
Pr 1A
2nd
differential
Pr 56
4th
speed
Pr 19
Pr 11
Speed control
1st ratio
2nd ratio
Speed
detection filter
+
–
Internal speed limit
Sign(±)
Command speed
monitor
Multiplication
Absolute
(magnitude)
Pr 2A
Pr 27
Encored
receive
processing
Filter
Disturbance
observer
2nd
depth
Pr 28
Pr 29
2nd
width
PS / PS signal
Pr 5E
Pr 1C
2nd time
constant
Pr 1E
1st width
2nd
frequency
Limit
Pr 14
1st time
constant
Pr 1D
Torque f ilter
1st
frequency
Notch filter
Torque
limit
Encoder
Motor
Torque command
monitor
Torque control block diagram
DIV
39 COIN+
38 COIN-
At-speed
Battery for absolute encoder
(Pr0A)
Zero speed detected
Torque limited
(Pr09)
<Note> Specify the speed limit value using
4th speed set-up (Pr56) parameter.
TLC
50
FG
44 BATT+
45
BATT-
ZSP
41 COM-
12
40
11 BRKOFF+
10 BRKOFF-
37 ALM+
36 ALM-
Servo alarm
Mechanical brake release
35 S-RDY+
34 S-RDY-
Servo ready
CCW overtravel inhibit 9 CCWL
CW overtravel inhibit 8 CWL
ZEROSPD
Control mode switching 32
C-MODE
31 A-CLR
Alarm clear
· In case the battery for absolute encoder
is installed at the controller side
VDC
12-24V
28
CL
29 SRV-ON
27 GAIN
Zero speed clamp (Pr06) 26
P-operation/2nd gain
switching
Servo-ON
30
10kΩ
CN X5
to CN X4 (5th pin) 10kΩ
to CN X4 (6th pin)
4.7kΩ
Scaler
CZ
GND
OZ-
OZ+
OB-
OB+
OA-
OA+
GND
SIGN2
SIGN1
PULS2
1
1kΩ
1kΩ
10kΩ
20
17
IM
SP
42
43
CWTL 18
GND
330Ω
330Ω
330Ω
Torque monitor
Speed monitor
Torque command
(0 to ±10V)
ZZ-phase
output
B-phase
output
A-phase
output
Wiring when Pr02
(Control Mode) = 5
14
Speed
SPR/TRQR
command
GND 15
(0 to ±10V)
16
Torque
CCWTL/TRQR
command
17
GND
(0 to ±10V)
19 Z-phase output (Open collector)
25
47
46
24
23
49
48
22
21
6
13
5
4
2
3
14
SPR/TRQR
GND 15
10kΩ
CCWTL/TRQR 16
20kΩ
220Ω
220Ω
PULS1
Connections and Settings in
Torque Control Mode
7 COM+
33 INH
CN X5 Connector
[Connections and Settings in Torque Control Mode]
CN X5 Connector
Circuits Available for Torque control mode
133
CN X5 Connector
Interface Circuit
Input Circuit
SI SI Connecting to
sequence input signals
12–24V
7 COM+4.7kΩ
Servo-ON or
other input
• 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.
• Lower limit of the power supply (12 to 24V) should not be
less than 11.4V in order to secure the appropriate level
of primary current of the photo coupler.
Relay
12–24V
7 COM+4.7kΩ
Servo-ON or
other input
AI AI Analogue Command Input
• There are three analogue command inputs of SPR/RTQR
(14 pins), CCWTL (16 pins) and CWTL (18 pins).
• The maximum permissible input voltage is ±10V. For the
input impedance of these inputs, see the right figure.
• If you make a simplified circuit comprising a variable resistor (VR) and resistor (R), refer to the right figure.
When the variable range of each input is -10V to +10V,
the VR should be a B type resistor of 2kΩ (min.1/2W).
The R should be 200Ω (min.1/2W).
• The A/D converters for these inputs should have the following resolution.
SPR/TRQR 14
+12V
VR
-12V
R
1) ADC1 (SPR and TRQR)
: 16 bits (including one bit for sign)
2) ADC2 (CCWTL and CWTL) : 10 bits (including one bit for sign)
134
20kΩ
R
15
+
ADC
1
GND
CCWTL 16 10kΩ
17 GND
CWTL 18 10kΩ
+
10kΩ
+
10kΩ
ADC
2
[Connections and Settings in Torque Control Mode]
Output Circuit
SO1 SO2 Sequence output circuit
• This comprises a Darlington driver with an open collector.
This is connected to a relay or photo coupler.
• There exists a collector-to-emitter voltage VCE(SAT) of
approx. 1V at transistor ON, because of Darlington connection of the out put transistor. Note that normal TTLIC
can't be directly connected since this does not meet VIL
requirement.
• This circuit has an independent emitter connection, or an
emitter connection that is commonly used as the minus
(–) terminal (COM–) of the control power.
• Calculate the value of R using the formula below so as the
primary current of the photo coupler become approx. 10mA.
Install as per the fig. Shows
without fail
SO1
ALM+
or other signal
ALM–
or other signal
12–24V
VDC
SO2
ZSP, TLC
41 COM–
Maximum rating: 30V, 50mA
VDC[V] — 2.5[V]
R [kΩ] =
10
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
PO1 Line Driver (Differential Output) Output
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
B
OZ+
OZ-
23
24
Z
Connections and Settings in
Torque Control Mode
• Provides differential outputs of encoder signals (A, B and
Z phases) that come from the scalar.
• Receive these signals with a line receivers. In this case,
install a resistor of approx. 330Ω between the inputs.
• These outputs are non-insulated signals.
AM26LS32
or equivalent
GND 25
shows a pair of twisted wires.
Connect the signal
grounds between the controller and driver.
PO2 Open Collector Output
• Outputs Z-phase signals among those from the encoder.
The outputs are non-insulated.
• 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
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
AO Analogue Monitor Output
43 SP
1kΩ
• This output is the speed monitor signal (SP) or torque moniMeasuring
tor signal (IM).
instrument
or external
• The signal range is approx. 0 to ± 9V.
42 IM 1kΩ
circuit
• The output impedance is 1kΩ. Pay attention to the input
17 GND
impedance of your measuring instruments and external
circuits connected.
<Resolution>
1) Speed 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%)
135
CN X5 Connector
Input signal (common) assignment to CN X5 connector pins
Input Signals (Common) and their Functions
Signal
Pin No.
Symbol
Control signal
power (+)
7
COM +
Control signal
power (–)
41
COM –
Servo-ON
29
SRV-ON
Function
I/F circuit
• Connect to (+) of an external power supply (12VDC to
–
24VDC).
• Use source voltage of 12V±10% – 24V±10%.
• Connect to (–) of an external power supply (12VDC to
24VDC).
• The required
capacity depends on the I/O circuit
configuration. 0.5A or larger is recommended.
• When this signal is connected to COM-, the dynamic brake
SI
will be released and the driver is enabled. (Servo-ON).
page 134
<Notes>
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 page
46 "Dynamic Brake" in Preparations.
• Allow at least 50ms delay after the driver is enabled before any command input is
entered.
• By opening the connection to COM– , the driver will be disabled(Servo-OFF) and
the current flow to the motor will be inhibited.
• Operation of the dynamic brake and clearing action of the position error counter can
be selected using Pr69 (Sequence under Servo-OFF).
Control mode
switching
32
C-MODE
Pr02 value
3
4
5
CW overtravel
inhibit
CCW overtravel
inhibit
Counter clear
• When Pr02 (Control Mode Selection) = 3, 4 or 5, the control
SI
mode is selected per the table below.
page 134
Connection with COM–
open (1st)
closed (2nd)
Speed control mode
Position control mode
Position control mode
Torque control mode
Speed control mode
Torque control mode
• If COM– is opened when the movable part of the machine
SI
has moved to CW exceeding the limit, the motor does not page 134
generate torque.
• If COM– is opened when the movable part of the machine
CCWL
9
SI
has moved CCW exceeding the limit, the motor does not page 134
generate torque.
• If you set 1 to Pr04 (Overtravel input inhibited invalid), CWL/CCWL
input will be disabled. A factory setting is Disable (1).
• With Pr66 (DB deactivate when driving is inhibited), you can
activate dynamic brake when CWL/CCWL input is enabled.
According to a factory setting, dynamic brake operates
(Pr66 is set to 0).
The function differs depending on the control mode.
CL
30
SI
page
134
Position control • Clears the position error counter.
8
CWL
Connect to COM– to clear the counter.
• Use Pr4D to select the clear mode.
Speed control
Pr4D value
Meaning
0(Factory-setting)
LEVEL
1
EDGE
• With speed setting of the 2nd selection input, you can set 4
speeds in combination with INH.
• For details, see Pr05 (Speed Set-Up Switching) description.
Torque control
136
• Invalid
[Connections and Settings in Torque Control Mode]
Signal
Command pulse
input inhibit
Pin No.
Symbol
33
INH
Position control
Function
The function differs depending on the control mode.
• Enter command pulse input inhibit.
• You can disable this input with Pr43
(disable command pulse input inhibit).
I/F circuit
SI
page 134
Pr43 value
Meaning
1(Factory-setting) The INH signal (input) is disabled.
0
• With COM– closed, the pulse
command signal (PULSE SIGN) is
enabled.
• With COM– open, the pulse
command signal (PULSE SIGN) is
inhibited.
Speed control
Torque control
Speed zero clamp
26
• With speed setting of the 1st selection input, you can set 4
speeds in combination with CL input.
• For details, see Pr05 (Speed Set-Up Switching) description.
• Invalid
ZEROSPD
• With COM– open, the speed command is considered zero.
SI
• This input can be made disabled using Pr06.
page 134
• With factory setting, disconnecting this pin from COM– sets
the speed to zero.
Gain switching
27
GAIN
• This is setting of Pr30 (2nd gain setting) and has the
SI
following 2 types of functions:
page 134
Connection
Function
to COM0
Speed loop: PI (Proportional / Integral) action
Open
(Factory-setting)
Speed loop: P (Proportional) action
Close
• 1st gain selected (Pr10, 11, 12, 13 and 14)
Open
1
• 2nd gain selected (Pr18, 19, 1A, 1B, 1C)
Close
To use the second gain, set Pr31 to “2”.
Pr30 value
Alarm clear
31
A-CLR
• No.2 Gain change Funcutions, see page 202 "Adjustments ".
• If the COM- connection is kept closed for more than 120
SI
ms, the alarm status will be cleared.
page 134
• For details about not cleared alarm, see page 216
"Protective Functions".
137
Connections and Settings in
Torque Control Mode
Pr06 value
Meaning
0 (Factory-setting) ZEROSPD is disabled.
1
ZEROSPD is enabled.
CN X5 Connector
Input signal assignment to CN X5 connector pins - designation(logic)
Input Signals (Speed Control) and their Functions
Signal
Pin No.
Symbol
14
SPR/TRQR
(15)
(GND)
16
CCWTL/
TRQR*
(17)
(GND)
18
CWTL
Battery +
(17)
44
(GND)
BATT +
Battery -
45
BATT -
Speed (torque)
command
CCW torque limit
CW torque limit
Function
I/F circuit
< At speed control >
AI
• This becomes speed command input (analogue) 0–±10V
page 134
• You can set-up the relationship between the command
voltage level and the motor speed, with Pr50 (Speed
Command Input Gain) .
• Use Pr51 to inverse the polarity of the command input.
< At torque control >*
• This becomes torque command input (analogue) 0–±10V
• You can set-up the relationship between the command
voltage level and the motor torque, with Pr5C (Torque
Command Input Gain) .
• Use Pr5D to inverse the polarity of input signals.
• Use Pr56 (4th Speed Set-up) to adjust the speed limit in
torque control.
< Note >
SPR/TRQR are invalid in position control mode.
< At speed and position control >
AI
• You can limit the motor torque in the CCW direction by page 134
entering positive voltage (0 to +10V) to CCWTL.
• You can limit the motor torque in the CW direction by
entering negative voltage (-10 to 0V) to CWTL.
• The torque limit value is proportional to the voltage with a
factor of 100%/3V.
• CCWTL and CWTL are valid when Pr03 (Torque Limit Input
Inhibit) = 0. They are invalid when Pr03 = 1.
< At torque control >*
• Both of CCWTL and CWTL are invalid.
• Use the 4th speed set-up(Pr56) to limit the speed.
• Connect a backup battery for absolute encoder (polesensitive !).
• If the battery is connected directly to the driver, it is not
necessary to connect a battery to this terminal.
–
* When the torque control mode is selected at the speed/torque switching mode (Pr02 = 5), the
No.16 pin (CCWTL/TRQR) becomes the torque command input (analogue). You can set-up the
relationship between the command voltage level and the motor torque with Pr5C (Torque Command Input Gain).
Output signal assignment to CN X5 connector pins - designation(logic)
Output Signals (Common) and their Functions
Signal
Pin No.
Symbol
Servo alarm output
37
36
35
34
11
10
ALM +
ALM –
S-RDY +
S-RDY BRK-OFF +
BRK-OFF –
Servo-ready output
Mechanical brake
release output
138
Function
I/F circuit
• This output(transistor) turns OFF, when the driver detects
SO1
and error(trip).
page 135
• This output(transistor) turns ON, when the main power is
SO1
on(for both the driver and the motor) and no alarm is active.
page 135
• This is used to release the electromagnetic brake of the motor.
SO1
• Turn the output transistor ON when releasing brake.
page 135
• Refer to “Timing Chart” on page 40, on Preparations.
• This output(transistor) turns ON , when the brake is released.
• See page 40 "Timing Chart".
[Connections and Settings in Torque Control Mode]
Signal
Zero speed
detection
Torque in-limit
In-position/
At-speed
Pin No.
Symbol
ZSP
Z-phase output
Z-phase output
Speed monitor
output
Torque monitor
output
21
22
48
49
23
24
19
OA +
OA –
OB +
OB –
OZ +
OZ –
CZ
43
SP
(17)
(GND)
42
IM
(17)
(GND)
• Provides differential outputs of the encoder signals (A, B
and Z phases) that come from the driver (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)
• Not insulated
• Outputs the motor speed, or voltage in proportion to the
commanded speed with polarity.
+ : CCW rotation
– : CW rotation
• Use Pr07 (Speed Monitor Selection) to switch between
actual and commanded speed, and to define the relation
between speed and output voltage.
• Outputs the output torque, or voltage in proportion to the
position error with polarity.
+ : Fgenerating CCW-torque
– : Fgenerating CW-torque
• Use Pr08 (Torque Monitor Selection) to switch between
torque and positional error, and to define the relation
between torque/positional error and output voltage.
PO1
page 135
PO2
page 135
AO
page 135
AO
page 135
Output Signals (Others) and their Functions
Signal
Signal ground
Frame ground
(Not in use)
Pin No.
Symbol
13, 15
17, 25
50
1, 2, 20
46, 47
GND
FG
–
Function
• Signal ground in the driver
• Internally isolated from the control power (COM -).
• Internally connected to the earth terminal.
• No connections should be made.
I/F circuit
–
–
–
139
Connections and Settings in
Torque Control Mode
• In-position output
• Output(transistor) turns ON when the position error is below
the preset value by Pr60 (In-Position Range).
• At-speed output
• Output(transistor) turns ON when the motor speed reaches
the preset value by Pr62 (At-Speed ).
Speed and
torque
B-phase output
I/F circuit
• Signal which is selected at Pr0A (ZSP Output Selection) will
SO2
be turned on.
page 135
Pr0A value
Function
Output(transistor) turns ON during the In-toque limiting.
0
Output(transistor) turns ON when the motor speed becomes
1
(Factory-setting) lower than that of the preset speed with Pr61(Zero speed).
Output(transistor) turns ON when either one of
over2*
regeneration, overload or battery warning is activated.
Output(transistor) turns ON when the over-regeneration (more
3*
than 85% of permissible power of the internal regenerative
discharge resistor) warning is activated.
Output(transistor) turns ON when the overload (the effective torque is
4*
more than 85% of the overload trip level) warning is activated.
Output(transistor) turns ON when the battery (the voltage of the
5*
backup battery becomes lower than approx. 3.2V at the
encoder side) warning is activated.
* When the setting is a value between 2 and 5, the output transistor will be turned on
for at least 1 second upon detecting an alarm condition.
• Signal which is selected by Pr09 (TLC Output Selection) will
SO2
40
TLC
be turned ON. Factory-setting: 0
page 135
• See the above ZSP signal for the set-up of Pr09 and functions.
• Function changes at control mode.
SO1
39
COIN +
page 135
38
COIN –
12
Position
A-phase output
Function
Trial run at Torque Control Mode
Operation with CN X5 Connected
1) Connect CN X5.
2) Connect the control signal (COM+/COM–) to the power supply (12 to 24 VDC) .
3) Turn the main power (driver) ON.
4) Check the defaults of the parameters.
5) Connect between SRV-ON (CN X5 pin 29) and COM- (CN X5 pin 41) to make Servo-On active. The motor
will be kept excited.
6) Apply an appropriate DC voltage between Torque command input TRQR (CN X5 pin 14) and GND (CN X5
pin 15) and verify the motor rotating direction (CW/CCW) and then reverse the voltage polarity and then
verify reversed motor rotation. Also check the speed set by Pr56.
7) To change torque Pr5C, direction Pr5D and speed limit Pr56 in response to the command voltage,
modify the following parameter.
Pr56: 4th speed
See page 144 "Parameter setting" in Torgue control mode.
Pr5C: torque command input gain
Pr5D: torque command input inversion
Wiring Diagram
7
29
DC
12V – 24V
26
41
COM+
SRV-ON
ZEROSPD
COM–
ZEROSPD switch
Close: Run
Open: Stop
Parameters
PrNo.
Pr02
Pr04
Pr06
Pr56
Pr5C
Pr5D
Parameter description
Control mode set-up
Overtravel input inhibit
ZEROSPD input selection
4th internal speed
Torque command input gain
Torque command input inversion
Value
2
1
0
Set as
required
• Use the controller to send command pulses.
14
DC
10V
15
SPR/TRQR
GND
One way
operation
For multi direction
(CW and CCW)
operation, use a
bipolar power
source.
140
Input Signals Status
No.
0
2
3
5
Input signal
Servo-ON
CW overtravel inhibit
CCW overtravel inhibit
Speed zero clamp
Monitor
display
+A
–
–
–
[Connections and Settings in Torque Control Mode]
MEMO
Connections and Settings in
Torque Control Mode
141
Real time auto gain tuning
Outline
Load inertia of the machine is estimated
at real time, and the optimum gain is set
up automatically based on the estimated
result. A load, which has a resonance, also
can be handled owing to the adaptive filter.
Gain auto
setting
Position/speed
command
Filter auto
tuning
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Operation command under
actual operation conditions
Resonant frequency estimate
Load inertia estimate
Real time auto
gain tuning
Motor
speed
Encoder
Servo driver
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning
(see page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
• When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
• When the load inertia fluctuates
• When the machine stiffness is extremely low
Load
• When any unsecured part resides in such as backlash, etc.
• In case of a continuous low speed operation under 100 [r/min].
Operation pattern
• In case of soft acceleration/deceleration under 2000 [r/min] per 1 [s].
• When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 – 6.
Set up value before shipment is1.
Setting value
Real-time auto tuning
0
Not used
[1]
Changing degree of load inertia during operation Adaptive filter
–
No
Little change
2
Change slowly
3
Change s haply
Used
Yes
4
Little change
5
Change slowly
No
6
Change s haply
–
Yes
7
Not used
When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.
When the influence of resonance is conceivable, select “adaptive filter YES”.
[3] Set 0 – 2 to Pr22 (real-time auto tuning machine stiffness).
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time
auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
142
[Connections and Settings in Torque Control Mode]
Parameters, which are set up automatically
The following parameters
are tuned automatically.
Parameter No.
11
12
13
14
19
1A
1B
1C
20
The following parameters are also set up
to the following fixed values automatically.
Name
Name
Parameter No.
1st speed loop gain
27
Disturbance torque observer filter selection
1st speed loop integration time constant
30
2nd gain action set-up
3A
Torque control switching mode
1st speed detection filter
1st torque filter time constant
2nd speed loop gain
2nd speed loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Set value
0
1
0
Caution
Connections and Settings in
Torque Control Mode
[1] Immediately after the first servo ON at startup or when Pr22 (machine stiffness at real-time auto tuning)
is increased, abnormal noise or oscillation may be generated before load inertia is determined. This is
not anomaly if it is stabilized shortly. However when such problems as oscillation or noise that continues
for 3 reciprocal operations or longer is encountered frequently, take the following measures:
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
[2] After abnormal noise or oscillation, Pr20 (inertial ratio) may be changed to an extreme value. In such a
case, also take the above measures.
[3]
Among results of real-time auto gain tuning, Pr20 (inertia ratio) is programmed into EEPROM every 30 minutes. When you turn on the power again, auto tuning will be executed using the data as initial value.
143
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 – 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
• At power on, settings of the rotary switch ID on the front panel (0 – F) will be
programmed into parameters of the driver.
• Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display at
power up
0 – 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Flashing during initialization
(about 2 seconds)
Setting of Pr01
See page 56 "Front Panel Key Operations and Display".
02
Control mode
0 – 14
144
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Select the control mode of the servo driver.
Control mode
The 1st Mode
The 2nd Mode*1
0
–
Position control
[1] Speed control
–
2
–
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control –
7
–
Full-closed control
8
–
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
–
position control
Low-stiff equipment
12
–
position control
Low-stiff equipment
13
–
speed control
14
Second full-closed control –
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
*1 A special control mode focused on the full-closed
specification. For details, refer to “Full-Closed
Control” volume on Page 000.
*2 When composite mode (Pr02 = 3,4,5,9,10) is set,
you can switch the 1st and 2nd modes with the
control mode switch input (C-MODE).
C-MODE
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
]
[Connections and Settings in Torque Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
04
Overtravel input
inhibit
Setting
range
0–1
]
Function/Description
In the case of linear driving, in particular, to prevent mechanical damage due to
overtraveling of work, you should provide limit switches on both ends of the axis, as
shown below, whereby driving in a direction of switch action is required to be
inhibited.
CW direction Work
CCW direction
Driver
Servo Motor
Limit
Switch
Limit
Switch
CCWL
CWL
Setting
value
CCWL/CWL
Input
Input
Enable
[1]
Disable
Action
Normal condition in which the limit switch on
CCW side is not operating.
CCW direction inhibited, CW direction allowed
Open
Normal condition in which the limit switch on
CWL
Connected
CW side is not operating.
(CN X5-8 pin)
CW direction inhibited, CCW direction allowed
Open
Both CCWL and CWL inputs are ignored and they normally operate as no
overtravel inhibit being set.
CCWL
(CN X5-9 pin)
0
Connection with COMConnected
06
ZEROSPD input
selection
0–1
This sets switching of enable and disable of speed zero clamp input (ZEROSPD,
CNX5 26-pin).
Setting value
[0]
1
07
Speed monitor
(SP) selection
0–9
Function of ZEROSPD Input (26-pin)
ZEROSPD input being ignored, it is determined that it is not speed
zero clamp state at all times.
ZEROSPD input has been enabled. If connection with COM- is
opened, speed command will be regarded as zero.
The parameter selects/sets a relationship between voltage output to the speed
monitor signal output (SP: CN X5 43-pin) and the actual motor speed or command
speed.
Setting value
0
1
2
[3]
4
5
6
7
8
9
SP Signals
Motor Actual
Speed
Command
Speed
Relationship between Output Voltage Level and Speed
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
145
Connections and Settings in
Torque Control Mode
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to “abnormal overtravel
input inhibit“.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
08
Torque monitor
(IM) selection
Setting
range
0 – 12
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value IM Signals Relationship between output level and torque or number of deviation pulses
Torque
[0]
3V / rated (100%) torque
1
3V / 31Pulse
2
3V / 125Pulse
No. of
3
3V / 500Pulse
Deviation
4
3V / 2000Pulse
Pulses
5
3V / 8000Pulse
6 – 10
Enabled under full-closed control (See P156 –.)
11
3V / 200% torque
Torque
12
3V / 400% torque
09
TLC output
selection
0–5
ZSP output
selection
0–5
Absolute encoder
set up
0–2
0C
Baud rate of
RS232C
0–2
0D
Baud rate of
RS485
0–2
0A
0B
146
The parameter allocates functions of output in torque limits (TLC: CN X5 40-pin).
Remarks
Functions
Setting value
Output in torque limit
[0]
For functional deOutput of zero-speed detection
1
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
The parameter allocates functions of zero speed detection output (ZSP: CN X5 12-pin).
Remarks
Functions
Setting value
Output in torque limit
0
For functional deOutput of zero-speed detection
[1]
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
Listed below are settings when you use the absolute encoder:
Description
Setting value
To use the absolute encoder as absolute.
0
To use the absolute encoder as incremental.
[1]
To use the absolute encode as absolute. In this case, multi-rotation
2
excess counter is ignored.
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
]
[Connections and Settings in Torque Control Mode]
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
Default setting is shown by [
Parameter
Parameter Name
No.
11
1st Velocity loop
gain
Setting
range
1 – 3500
[35]*
Function/Description
Hz
• The parameter defines responsiveness of the speed loop. You need to
set this speed loop gain high so as to improve responsiveness of the
entire servo system by increasing position loop gain.
• This parameter is an integration element of a speed loop and acts to
drive quickly the subtle speed deviation into zero. The smaller the
setting is, the faster deviation will be zeroed.
• Setting of “1000” will remove effects of integration.
• The parameter sets in 6 phases (0 to 5) a time constant of the low-pass
filter inserted after the block of converting an encoder signal into a
speed signal.
• Setting this parameter high would increase a time constant, thereby
reducing noise of the motor. However, usually use the factory setting (0).
• The parameter sets a time constant of the primary delay filter inserted
into the torque command unit.
• It effects the control of vibration because of the torsion resonance.
• A position loop, speed loop, speed detection filter, and torque command
filter, respectively, has 2 pairs of gains or time constants (the 1st and
2nd).
• Each function/content is similar to the 1st gain/time constraint, described
earlier.
• For details on switching of the 1st and 2nd gains or time constants, refer
to Adjustment volume on page 186.
* Pr11 and Pr19 will be set in terms of (Hz) when Pr20 inertia ratio has
been set correctly.
• The parameter sets frequency of the resonance suppression notch filter.
• You should set it about 10% lower than the resonance frequency of the
mechanical system that has been found by the frequency characteristics
analysis facility of the setup assisted software “PANATERMR®”.
• Setting this parameter ”1500” would disable the function of notch filter.
• The parameter sets width of the resonance suppression notch filter in 5
steps. The higher the setting is, the greater the width is.
• Normally, use a factory setting.
12
1st Velocity loop
integration time
constant
13
1st speed
detection
filter
14
1st torque filter
time constant
19
2nd Velocity loop 1 – 3500
Hz
gain
[35]*
ms
2nd Velocity loop inte- 1 – 1000
[1000]*
gration time constant
–
0–6
2nd speed
[0]*
detection filter
0 – 2500 0.01ms
2nd torque filter
[65]*
time constant
1A
1B
1C
1D
1st notch
frequency
1E
1st notch width
selection
1 – 1000
[16]*
ms
0–6
[0]*
–
0 – 2500
[65]*
0.01ms
100 – 1500
[1500]
Hz
0–4
[2]
–
Connections and Settings in
Torque Control Mode
Unit
]
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
147
Parameter Setting
Parameters for real time auto gain tuning
Default setting is shown by [
Parameter
Parameter Name
No.
20
Inertia ratio
Setting
range
0 – 10000
[100]*
Unit
%
Function/Description
• Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
• When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
21
Real time auto
tuning set up
0–7
–
Setting value
0
[1]
2
3
4
5
6
7
• Defines the operation mode of real-time auto tuning. Increasing the set
value (3, 6,...) provides higher response to the inertia change during
operation. However, operation may become unstable depending on the
operation pattern. Normally, set this parameter to "1" or "4".
• If you set this parameter to any value other than 0, Pr27 disturbance
observer filter selection will be disabled (0). In addition, if you set the
adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
• When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
In the torque control mode, the adaptive notch filter is always invalid.
Real-time Auto Gain
Tuning
Not used
Used
Not used
Degree of Changes
in Load Inertia
–
Hardly changes.
Changes moderately.
Changes sharply.
Hardly changes.
Changes moderately.
Changes sharply.
–
Adaptive Filter
Absent
Present
Absent
Present
• Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
22
Machine stiffness
at auto tuning
0 – 15
[4]
–
• Defines the machine stiffness during execution of real-time auto tuning.
Low Machine stiffness High
Low
Servo gain
High
Pr22
0 , 1- - - - - - - - - - - - 14, 15
Low Responsiveness High
• If the parameter value is rapidly changed, the gain significantly changes,
applying a shock to the machine. Be sure to set a small value first, and
increase it gradually, while monitoring the operating condition.
25
Normal auto
tuning motion
set up
0–7
–
• Defines the operation pattern of the normal mode auto tuning.
Set value Number of revolutions
[0]
1
2[revolution]
2
3
4
5
1[revolution]
6
7
Revolving direction
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
Example) Setting this parameter to "0" provides two CCW revolutions and
two CW revolutions.
148
]
[Connections and Settings in Torque Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
27
Disturbance
torque observer
filter selection
Setting
range
0 –255
Unit
–
]
Function/Description
• Cut-off frequency of the filter for disturbance torque observer is set.
Set value
[0]*
1 – 255
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
100 – 1500
[1500]
Hz
29
2nd notch width
selection
0–4
[2]
–
• Select the notch width of the second resonance suppression notch filter.
• Increasing the set value enlarges the notch width.
2A
2nd notch depth
selection
0 – 99
[0]
–
• Select the notch depth of the second resonance suppression notch filter.
• Increasing the set value reduces the notch depth and the phase delay.
2F
Adaptive filter
frequency
0 – 64
[0]*
–
• Table No. corresponding to the frequency of the applied filter is displayed. (See page 196)
• When the applied filter is enabled (when Pr21 (real time auto tuning
mode setting) is 1-3,7), this parameter is set automatically and can not
be altered.
0: Filter disabled 1 - 64: Filter enabled
Before using this function, see page 196 “Disabling of auto tuning function” in adjustments.
• When the applied filter is enabled, the parameter is stored in the EEPROM every 30 minutes. And when the applied filter is enabled at turning ON the power next time, the data stored in the EEPROM is used as
the initial value to adapt the operation.
• When clearing the parameter to reset the adapted operation due to unsatisfactory operation, once set the applied filter disabled (set Pr21 (real
time auto tuning mode setting) to other than 1 - 3, 7), and make it enabled again.
• Refer to “Control of Vibration Damping” of Adjustment volume on page 211.
• Defines the notch frequency of the second resonance suppression notch
filter.
• The unit is [Hz]. Match the notch frequency with the machine's resonance frequency.
100 to 1499: Filter enabled 1500: Filter disabled
Connections and Settings in
Torque Control Mode
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
149
Parameter Setting
Parameters for Switching to 2nd Gains
Default setting is shown by [
Parameter
Parameter Name
No.
30
2nd gain action
set up
Setting
range
0–1
Unit
Function/Description
–
• The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
]
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*1 Switching of 1 PI/P operation is done through gain switching input
(GAIN CN X5 27-pin).
GAIN input
Open with COM–
Connect to COM–.
Operation of speed loop
PI operation
P operation
*2 For conditions of switching between the 1st and 2nd gains, refer to
“Adjustment upon switching gain” of Adjustment volume on page 202.
3A
Torque control
switching mode
0–3
–
• The parameter selects conditions for switching between the 1st and 2nd
gains in torque control mode.
• This is same as Pr31 except parts related to position and speed control.
Conditions for Switching Gains
Setting value
[0]* Fixed to the 1st gain.
1
Fixed to the 2nd gain.
With the gain switching input (GAIN) turned ON, 2nd gain is
2
selected. (Pr30 should be set to 1.)
With much variation of torque command, the 2nd gain is
3 *1
selected.
*1 For details on levels to be switched, refer to “Adjustment upon switching
gain” of Adjustment volume on page 202.
3B
3C
3D
Torque control
switching delay time
Torque control
switching level
Torque control
switching hysteresis
0 – 10000 x 166µs
[0]
–
0 – 20000
[0]
–
0 – 20000
[0]
• This is same as content of:
Pr32: Switching delay time
Pr33: Switching level
Pr34: Hysteresis at switching”
in position control mode.
Parameters for Position Control
Default setting is shown by [ ]
Parameter
Setting
Parameter Name
Function/Description
No.
range
44
Output pulses per 1 – 16384 The parameter sets number of pulses per one revolution of encoder pulse to be outsingle turn
[2500] put to the host device. The pulse will be set in dividing.
You should directly set in this parameter the number of pulses per revolution needed
for your device/system in terms of [Pulse/rev].
45
Pulse output
logic inversion
0–1
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
A pulse(OA)
[0]
1
150
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
IWhen Motor is Rotating
in CW direction
[Connections and Settings in Torque Control Mode]
Parameters for Speed Control
Default setting is shown by [
Parameter
Parameter Name
No.
52
Velocity
command
offset
Setting
range
–2047
– 2047
[0]
Unit
Function/Description
0.3mV
• This parameter adjusts offset of external analog speed command system
including the host device.
• Offset volume will be approximately 0.3mV per a set value “1”.
• To adjust offset, there are 2 ways of (1) manual adjustment and (2) automatic adjustment.
]
1) Manual adjustment
• When you make offset adjustment with the driver only:
Using this parameter, set a value that prevents the motor from rotating, after you have correctly input 0V in torque command input
(SPR/TRQR) (or connected to signal ground).
• When the host device establishes a position loop:
With servo locked, using this parameter, set a value so that deviation
pulse will be zero.
2) Automatic Adjustment
• For details on operating instructions in automatic offset adjustment
mode, refer to “Details of Execution Display of Auxiliary Function
Mode” of Preparations volume on page 66.
• When you execute automatic offset adjustment, result will be reflected in this parameter Pr52.
56
4th internal
speed
r/min
The parameter directly sets the 1st to 4th speed of internal command
speed of when setting of internal speed has been enabled with the parameter “speed setting internal/external switching” (Pr05), to Pr53 to Pr56,
respectively, in the unit of [r/min].
<Caution>
Polarity of settings shows that of internal command speed.
+
–
CCW direction viewed from the edge of axis for (+) command
CW direction viewed from the edge of axis for (-) command
Pr56 is a value of speed limits in torque control mode.
57
JOG speed set up
0 – 500
[300]
r/min
5C
Torque command
input gain
10 – 100
[30]
0.1V/
100%
You should set this parameter in a range of rotational speeds of the
motor to be used.
The parameter directly sets JOG speed in JOG run in “motor trial run
mode” in terms of [r/min].
For details on JOG function, refer to “Trial Run (JOG)” of Preparations volume on page 68.
The parameter sets a relationship between voltage applied to the torque
command input (TRQR: CN X5 14-pin) in torque control mode and generated torque of the motor.
• Setting is in the unit of [0.1V/100%]
and used to set a value of input voltage necessary for calculating rated
torque.
• At a factory setting of 30, the relationship will be 3V/100%.
Torque CCW
Setting of
300[%]
Shipment
Time
Rated 200
Torque
100
-10V -8 -6 -4 -2
2
4
100
6
8 10V
Command
Input Voltage
200
300[%]
CW
5D
Torque command
input inversion
0–1
–
The parameter inverts polarity of the torque command input signal
(TRQR: CN X5 14-pin).
In speed/torque switching mode (when Pr02 is 5), torque command input
under torque control will be 16-pin of the connector CN X5.
Direction of Generation of Motor Torque
Setting value
CCW direction viewed from the edge of axis for (+) command
[0]
CW direction viewed from the edge of axis for (+) command
1
151
Connections and Settings in
Torque Control Mode
–20000
– 20000
[0]
Parameter Setting
Parameters for Torque Control
Default setting is shown by [
Parameter
Parameter Name
No.
5E
Torque limit
Setting
range
0 – 500
Unit
Function/Description
%
• This function limits maximum torque of the motor through setting of
parameters within the driver.
• In normal specifications, torque about 3 times higher than the rated is allowed for an instant. This parameter limits the maximum torque, however, if the triple torque may cause a trouble in the strength of motor
load (machine).
• Setting should be given as a %
value to rated torque.
• The right figure shows a case
in which the maximum torque
is limited to 150%.
• Pr5E limits maximum torque in
both CW and CCW directions
simultaneously.
]
Torque [%]CCW
300 (Max.)
200
When Pr5E=150
100
(Rated)
Speed
100
(Rated) (Max.)
200
300
CW
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM® and panel manipulation) “Maximum Output
Torque Setting”. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to “Pr5E Setting of
Torque Limit” of Preparations volume on page 55.
Parameters for various sequences
Default setting is shown by [
Parameter
Parameter Name
No.
61
Zero speed
Setting
range
0 – 20000
[50]
Unit
Function/Description
r/min
• The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
• A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
• Setting of Pr61 acts on both
CW and CCW directions, irrespective of the rotating direction of the motor.
Speed
CCW
Pr61
Pr61
CW
ON
ZSP
62
At-speed
0 – 20000
[1000]
r/min
• The parameter sets timing to output a at-speed signal (COIN;CN X5 39pin) in speed control and torque control modes in terms of rotational
speed [r/min].
• When the motor speed exceeds setting of this parameter Pr62, at-speed
signal (COIN) will be output.
Speed
• Setting of Pr61 acts on both
CW and CCW directions, irrespective of the rotating direction of the motor.
Pr62
CCW
CW
Pr62
COIN
152
OFF
ON
]
[Connections and Settings in Torque Control Mode]
Default setting is shown by [
Parameter
Parameter Name
No.
65
Undervoltage
error response
at main power-off
Setting
range
0–1
Unit
Function/Description
–
The parameter sets whether to enable the “protection against main power
source under-voltage” function when you shut down the main power of
main and control power supplies.
Setting value
0
[1]
66
Dynamic breke
inhibition at
overtravel limit
0–1
–
[0]
1
Error response
at main power-off
0–7
–
Main Power Source Under-voltage Protection Action
In this case, if you shut off the main power during Servo ON, it
will be SERVO-OFF without a trip. Then, when the main power supply turns ON again, it will be recovered to Servo ON.
Shutting off main power during Servo ON will activate abnormal main power supply under-voltage (alarm code
No.13) and cause a trip.
Refer to the timing chart “At Power ON” of Preparations volume on page 40.
The parameter sets driving conditions at decelerated operation after overtravel input inhibit (CCWL: connector CN X5 9-pin or CWL: connector CN
X5 8-pin) has been activated and enabled.
Setting value
67
]
Driving Conditions from Deceleration to Stop
The motor decelerates and stops as the dynamic brake (DB) is
operated. The motor will be in free condition after it stops.
Free running, the motor decelerates and stops. The motor
will be in free condition after it stops.
Setting
value
[0]
1
2
3
4
5
6
7
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
DB: Activation of dynamic brake
68
Error response
action
0–3
–
The parameter sets driving conditions during deceleration or following
stop, after any of protective functions of the driver has been activated and
alarm has been generated.
Setting
value
[0]
1
2
3
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
(DB: Activation of dynamic brake)
See also “When Abnormality (Alarm) Occurs (Serve ON Command State)”
of the timing chart, Preparations volume on page 41.
69
Sequence at
Servo-OFF
0–7
[0]
–
• The parameter sets:
1) Driving conditions during deceleration or after stop
2) Processing to clear the deviation counter
following Servo off (SRV-ON signal: CN X5 29-pin turns On ‡ Off).
• A relationship between setting of Pr69 and driving conditions/deviation
counter processing conditions is similar to that of Pr67 (Sequence at
Main Power Off).
• See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
153
Connections and Settings in
Torque Control Mode
The parameter sets:
(1) Driving conditions during deceleration and after stopping; and
(2) Processing to clear content of the deviation counter
after the main power source is shut off.
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
6A
Mechanical brake
delay at
motor standstill
Setting
range
0 – 100
[0]
Unit
Function/Description
2ms
The parameter sets time till non-energization of motor (servo free) after
the brake release signal (BRK-OFF) turns off (brake retained), at Serve
Off while the motor stops.
• In order to prevent minor
movement/drop of the motor
(work) due to operation delay time of the brake (tb):
> tb.
Setting of Pr6A =
• See “Serve On/Off Operation
When the Motor Stops” of
the timing chart on page 42.
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
]
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 43.
6B
Mechanical brake
delay at
motor in motion
0 – 100
[0]
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
• This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
revolutions of the motor.
Release
• At Servo off while the motor is rotating, time tb in the right figure Motor Energized
Energization
will be either set time of Pr6B or
time till the motor rotational
Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
• See “Serve On/Off Operation When the Motor is
Rotating” of the timing chart of on page 43.
OFF
Retention
tb
Nonenergization
30 r/min
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
6C
External
regenerative
resister set up
0–3
–
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
1
External resistance
2
Built-in resistance
3
External resistance
Protection against Regeneration
Resistance Overload
According to built-in resistance, (about
1% duty) protection against regeneration resistance overload works.
This is activated with operating limits of
the external resistance at 10% duty.
This is activated with operating limits of
the external resistance at 100% duty.
Regeneration resistance does not
work, and a built-in condenser accommodates all regenerated power.
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
154
Main power-off
detection time
0 – 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
[Full-closed control mode]
page
Outline of Full-closed control .............................. 156
What is Full-closed control ........................................................ 156
Selecting among full-closed modes .......................................... 157
Full-closed control block diagram ....................... 159
CN X5 Connector ................................................... 160
Functional selection of interface connector CN X5 by control mode ... 160
Interface Circuit ......................................................................... 162
Connector CN X4 ..................................................................... 164
Connector CN X5 ...................................................................... 164
Connections to external scale CN X4 .................. 168
External scale interface specification ........................................ 168
External scale connection CN X4 .............................................. 168
Parameter Setting ................................................. 170
Parameters for Function Selection ............................................
Parameters for Switching to 2nd Gains .....................................
Parameters for Position Control ................................................
Parameters for Speed Control ..................................................
Parameters for Torque Control ..................................................
Parameters for various sequences ...........................................
Parameters for Full-closed Control ...........................................
170
175
175
179
180
180
184
155
Outline of Full-closed control
What is full-closed control
Full-closed control detects the position of the machine to be controlled directly using an external linear scale
and feeds it back to perform position control. Full-closed control provides control that is free from influence
of positional fluctuation due to, for example, an error of ball screw or temperature etc.
By building full-closed control system, a high precise positioning of sub-micron order can be obtained.
(Speed
detection)
Position
command
Controller
Position
detection
Linear scale
< linear scale division ratio <
For division ratio of a linear scale, we recommend 1/16 =
=32.
Control mode
Full-closed control of the AIII series provides four control modes as listed below.
In order to maintain compatibility with the Matsushita A-series, full-closed control, hybrid control and external encoder control modes are given.
In AIII series, it is recommended to use second full-closed control mode. For each control mode, see also
“Block Diagram by Control Mode” of Preparations volume on page 298.
Control mode
Position
control
Speed
control
Full-closed control
External
scale
Encoder
Hybrid control
Encoder/
external
scale
Encoder
External encoder
control
External
scale
External
scale
Second full-closed
control
External
scale
Encoder
156
Characteristics
A control in which external scale position is used as feedback for
position control, and encoder (motor) speed is used as feedback for
speed control.
Be careful that the unit of the ordinary position control and the unit of
position loop gain are different from each other.
A mixed control mode of full-closed control and semi-closed control.
When the full-closed control mode is used, in case of low machine
stiffness, compared to semi-closed control mode, there may be a case
that sufficient control gain can not be obtained resulting in a failure in
obtaining required operation.
Hybrid control is a control mode that provides both of response
performance of the semi-closed control mode and accuracy of fullclosed control mode in which, while the semi-closed control is always
performed, position command is corrected on the basis of a deviation
between the encoder and the external scale at predetermined timing
when the machine comes to a stop.
A control mode in which both position control and speed control uses
external scale position/speed as feedback data.
Although second full-closed control mode is the same as the full-closed
control mode in the point that external scale position is used as
feedback for position control and encoder (motor) speed is used as
feedback for speed control, the unit of the position loop gain is
the same as that of the ordinary position control mode. Torsion
correction function using Pr7B and Pr7C and status feedback function
using Pr7C-Pr7E are available.
Corresponding
Encoders
2500 P/r
17-bit
2500 P/r
17-bit
2500 P/r
17-bit
Only 17-bit
[Full-closed control mode]
Selecting among full-closed modes
Semi-closed control mode: second control mode of Pr02=06 or Pr02=10
Speed control and position control is performed on the basis of the feedback of the encoder.
A part of the function of the interface connector CN X5 is different from the ordinary position control mode.
Input the command pulse based on the encoder.
<Caution>
(1) If you set control mode setting parameter Pr02 = 9, 10, and switch to speed control, functions of I/
O ports will also be switched simultaneously. Thus, refer to “List of Function Switching by Control
Mode of Interface Connector CN X5” on page 160 and be careful in using.
Full-closed control mode: Pr02=7
Speed control is performed based on the feedback of the encoder, and position control is performed based
on the feedback of the external scale.
Input the command pulse based on the external scale.
<Caution>
(1) Command 1 pulse equals to 1 pulse of the external scale. Be careful that the setting of the command division scale ratio is different from that of the semi-closed control mode.
(2) With respect to the setting value of the position loop gain (Pr10, 18), the value, which is actually
used for control, is obtained by:
Particularly, be careful that the actual position loop gain becomes larger than the set value when
the number of external scale pulses is larger than the number of the encoder pulses per 1 rotation
of the encoder.
Number of external scale per 1 rotation of motor
Position loop gain (Pr10,18) x
Number of feedback pluses of encoder
During normal operation at the reference speed (Pr70) or higher speed, both speed control and position
control are based on the encoder's feedback signal (as in the semi-closed control mode). If the reference
speed or lower speed continued for the specified period (Pr71), high-precision positioning is performed
through position correction based on the external scale's feedback signal for the specified control period
(Pr72).
Normally, even if the mechanical stiffness between the motor and external scale is low, stable operation is
ensured as in the semi-closed control mode. During positioning control, the servo driver corrects position
data through the external scale, enabling high-precision positioning.
Set Pr70 (hybrid switching speed) and Pr71 (hybrid switching time) so that correction will start when vibration of the motor at setting deadens.
Input a command pulse based on the external scale's reference signal.
<CAUTION>
(1) Note that the command multiply division ratio of full-closed specification differs from that of semiclosed control mode because command 1 pulse is one pulse of an external scale.
(2) If the ratio of the encoder pulse to the external scale pulse is large (x20 or more), or the ratio cannot
be defined by Pr74 to Pr76, particularly when moving distance is long, the internal position error
data may overflow, resulting in a position error. Adjust the mechanical and control systems so that
the position error for each encoder does not exceed 32767.
157
Full-closed control
mode
Hybrid control mode: Pr02 = 8
Outline of Full-closed control
External encoder control mode: Pr02 = 9 (Second control mode)
Execute full-closed control by using speed.
Input a command pulse according to the external scale standard.
<CAUTION>
(1) Note that the command multiply division ratio of full-closed specification differs from that of semiclosed control mode because command 1 pulse is one pulse of an external scale.
(2) In the external encoder control mode or the speed control mode in combination with the external
encoder control mode, the gain switching function cannot be used. Be sure to set up the relevant
parameters as listed below.
Pr30 2nd gain operation setup
1
Pr31 Position control switching mode
Pr36 Speed control switching mode
1
0
With the above parameter settings, the gain for the speed control mode, and the gain for the
external encoder control mode are fixed to "Gain 1" (P10 to Pr14) and "Gain 2" (Pr18 to Pr1C),
respectively.
(3) When the control mode is switched between the external encoder control mode and the speed
control mode, speed data may rapidly change. To prevent a trouble during the switching time, stop
the motor before switching the control mode. (Mode switching time: 1 to 5 ms)
Although speed loop gain (Pr19) when the external encoder control is selected is actually used in
the control to setting [Hz], it differs from:
Speed Loop Gain (Pr19) x
Number of External Scale Pulses per Revolution of Motor
Number of Encoder Pulses per Revolution of Motor
Be careful because oscillation may take place, in particular, when the number of external scale
pulse is greater than that of encoder pulses per revolution of the motor, or when it is too small.
(4) If you set control mode setting parameter Pr02 = 9, 10, and switch to speed control, in particular,
functions of I/O ports will also be switched simultaneously. Thus, refer to “List of Function Switching by Control Mode of Interface Connector CN X5” and be careful in using.
2nd full-closed control mode: Pr02 = 14
The 2nd full-closed control mode is same as normal full-closed control in that speed control is executed
through feedback of the encoder, while position control is done through feedback of external scale. An
improvement is that conversion of a position loop gain that needs correction can be made at the driver. A
user can select the 2nd full-closed control mode only when a 17-bit absolute/incremental shared encoder is
used.
Input a command pulse based on the external scale's reference signal.
158
Pr 49
Pr 4A
Pr 4B
4th
numerator
Numerator
magnification
Denominator
Pr 42
Selection
Denominator
Pr 45
Denominator
Pr 7A
Division
Pr 79
Numerator
Inverse
+
–
Pr 75
Pr 76
Numerator
magnification
External scale
correction
Numerator Pr 74
Pr 4C
Smoothing
Selection
Division
Division Pr 44
Position
deviation monitor
Pr 78
Output
selection
Pr 48
3rd
numerator
Pr 41
Inverse
Mode
Command
speed monitor
Pr 47
2nd
numerator
Pr 40
Input setting
Division gradual
increase
1st
numerator Pr 46
Gradual
increase
Feedback pulse
OA / OB / OZ
Pulse
string
PULS
SIGN
+
–
1st
2nd
Pr 18
Pr 10
Position
control
Full-closed
deviation monitor
Pr 16
Full-closed control
mode
Input via external
scale unit
Pr 15
Gain
Filter
Speed feed
foreword
Pr 1B
Speed detection
1st
Speed
detection filter
2nd
Pr 13
+
+ +
–
Actual speed
monitor
Pr 20
Pr 1A
2nd
differential
Inertia
ratio
Pr 19
Pr 12
1st
differential
2nd ratio
Pr 11
Speed control
1st ratio
Pr 2A
External scale
receive processing
Encoder
receive
processing
Pr 29
2nd width
Pr 5E
Pr 1C
Pr 14
EXA / EXB / EXZ signal
PS / PS
signal
Limit
2nd time
constant
Pr 1E
Pr 28
1st time
constant
Torque filter
Pr 1D
2nd depth
2nd
frequency
1st width
1st
frequency
Notch filter
External
scale
Encoder
Motor
Torque command
monitor
Full-closed control block diagram
[Full-closed control mode]
• Control mode set-up: when Pr02 is [7]
*As the output from the external scale deviation counter drops down within the range set by the Pr60, the
position complete output is turned on.
159
CN X5 Connector
Functional selection of interface connector CN X5 by control mode
Input Circuit
Signal
Pin
(symbol)
No.
SPR/TRQR
14
CCWTL/T
16
7:
6:
circuit Semi-closed Full-closed
control
control
–
–
AI
AI
RQR
CWTR
Control mode setting (Pr02)
I/F
18
AI
8:
Hybrid
control
–
9:
Parameter
10:
14:
Speed/external Speed/semi- the 2nd
encoder control closed control full-closed
Speed
Speed
command
command
–
CCW
CCW
CCW
CCW
CCW
CCW
torque limit
torque limit
torque limit
torque limit
torque limit
torque limit
CW
CW
CW
CW
CW
CW
torque limit
torque limit
torque limit
torque limit
torque limit
torque limit
PULS1.2
3,4
PI
Command pulse Command pulse Command pulse –/Command pulse –/Command pulse Command pulse
SIGN1.2
5,6
PI
Command sign Command sign Command sign –/Command sign –/Command sign Command sign
SRV-ON
29
SI
Servo on
Servo on
Servo on
Servo on
Servo on
Servo on
GAIN
27
SI
P action
P action
P action
1st gain
P action
P action
(2nd gain)
(2nd gain)
(2nd gain)
changeover changeover changeover
fixed
/2nd gain
fixed
DIV
28
SI
ZEROSPD
26
SI
CL//INTSP
30
SI
Command div/
Command div/
Command div/
Command div/
related to port
setting
Speed command
enabled with
Pr05=0.2
CCW torque limit
enabled with
Pr03=0
CW torque limit
enabled with
Pr03=0
Pr30=0 : P
(2nd gain) action changeover
(2nd gain)
Pr30=1 and
changeover changeover
Pr31= 2, Pr36=2,
Pr3A=2 : 2nd gain
change over
Command div/
–
multi changeover 1 multi changeover 1 multi changeover 1 multi changeover 1 multi changeover 1
D2
Speed zero Speed zero Speed zero Speed zero Speed zero
clamp
clamp
clamp
Counter
Counter
Counter
clear
clear
clear
Command
Scale error
clamp
Speed zero clamp
enabled with Pr06=1
Counter
Counter clear input :
level/edge selection
with Pr4D
clamp
Internal speed Internal speed
selection 2/
–
selection 2/
clear
counter clear counter clear
INH/INTS
33
SI
pulse
PDI/SC-
input disable
ERR
C-MODE
32
CWL/SMO
8
OTH
Scale error Internal speed Internal speed Command Command pulse
selection 1/
input disable is
selection 1/ command pulse
pulse
scale error input disable input disable active with Pr43=0
Control mode
changeover
–
Smoothing
Smoothing
SI
filter
filter
filter
/smoothing filter /smoothing filter
disable
SI
Command div/
Command div/
Command div/
CCW drive disable/ CCW drive disable/
command div/
command div/
multi changeover 2 multi changeover 2
CCW drive
Alarm clear Alarm clear
Alarm clear
SI
–
Control mode
changeover
Control mode
changeover
Smoothing CW drive disable CW drive disable
–
CW drive
CCWL/DI
9
V2
3
A-CLR
1
SI
Alarm clear
35,34
SI
Servo ready Servo ready Servo ready Servo ready Servo ready Servo ready
S-RDY+,-
multi changeover 2 multi changeover 2 multi changeover 2
Alarm clear Alarm clear
disable
Set to: Pr30=1,
Mode specific
Pr31=1,
precautions
Pr36=0
Precautions common
to modes
1) In the above control modes, you cannot use frequency characteristics
analysis from auto gain tuning or PANATERM®.
If you wish to use it,
execute the control mode at 0: position control mode. In this case, be careful
because functions of the above ports will also be switched.
2) Pr50, 51 can set speed command input gain/reverse and Pr5C/5D can set
torque command input gain/reverse.
3) Pr77=1 disables scale error input.
160
CW drive disable is
active with Pr04=0
CCW drive disable is
active with Pr04=0
[Full-closed control mode]
Output Circuit
Signal
(symbol)
ALM+,COIN+,-
Pin
Control mode setting(Pr02)
I/F
6:
No. circuit Semi-closed
control
37,36 SO1 Servo alarm
39,38 SO1 Positioning
complete
BRKOFF+,ZSP
TLC
IM
SPM
Positioning
complete
12
40
42
43
SO2 Zero speed
detect
SO2
AO
AO
21,22 PO1
48,49 PO1
complete
related to port
setting
Servo alarm Servo alarm Servo alarm
positioning
positioning
complete
complete
complete
Pr60 sets
positioning compte;
Pr62 sets
reached speed
19
PO2
Zero speed Zero speed Zero speed Pr0A selects
output type
detect
detect
detect
Torque
Torque
Torque
Torque
Torque
Torque
limited
limited
limited
limited
limited
limited
Torque
Torque
Torque
Torque
Torque
Torque
monitor
monitor
monitor
monitor
monitor
monitor
Speed
Speed
Speed
Speed
Speed
Speed
monitor
monitor
monitor
monitor
Encoder
Encoder phase A Encoder phase A Encoder phase A
Encoder
Phase A
(external encoder (external encoder (external encoder
Phase A
phase A)
phase A)
Encoder
Encoder phase B Encoder phase B Encoder phase B
Encoder
Phase B
(external encoder (external encoder (external encoder
Phase B
phase B)
phase B)
Encoder
Encoder phase Z Encoder phase Z Encoder phase B
Encoder
Phase Z
(external encoder (external encoder (external encoder
Phase Z
phase Z)
phase B)
Encoder
Encoder phase Z Encoder phase B Encoder phase Z
Encoder
Phase Z
(external encoder (external encoder (external encoder
Phase Z
phase Z)
phase Z)
phase Z)
monitor
Pr09 selects
output type
Pr08 selects the range
of command torque/
positional deviation/
external scale deviation
Pr07 selects the range
of actual speed/
command speed
Encoder phase A Pr78 selects
(external encoder between encoder/
external encoder
phase A)
Encoder phase B Pr78 selects
(external encoder between encoder/
external encoder
phase B)
Pr45 adjusts phase
Encoder phase B Pr78 selects
(external encoder between encoder/
external encoder
phase B)
Encoder phase Z Pr78 selects
(external encoder between encoder/
external encoder
phase Z)
1) In the above control modes, you cannot use frequency characteristics analysis
from auto gain tuning or PANATERM®. If you wish to use it, execute the
control mode at 0: position control mode. In this case, be careful because
functions of the above ports will also be switched.
161
Full-closed control
mode
23,24 PO1
Precautions common
to modes
Speed/external Speed/semi- the 2nd
encoder control closed control full-closed
detect
phase Z)
CZ
14:
detect
phase B)
OZ+,-
Parameter
10:
Positioning Speed reached/ Speed reached/ Positioning
Zero speed Zero speed
phase A)
OB+,-
9:
11,10 SO1 External brake External brake External brake External brake External brake External brake
release
release
release
release
release
release
monitor
OA+,-
7:
8:
Full-closed
Hybrid
control
control
Servo alarm Servo alarm
CN X5 Connector
Interface Circuit
Input Circuit
SI SI Connecting to
sequence input signals
12–24V
7 COM+4.7kΩ
Servo-ON or
other input
• 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.
• Lower limit of the power supply (12 to 24V) should not be
less than 11.4V in order to secure the appropriate level
of primary current of the photo coupler.
PI PI Command pulse
input circuit
VDC
R value
1kΩ 1/2W
24V
2kΩ 1/2W
12–24V
7 COM+4.7kΩ
Servo-ON or
other input
1)
AM26LS31or equivalent
3 PULS1
4
1) Line Driver I/F
• This is a good signal transmission method that is less
sensitive to noises. We recommend you to use this to
maintain the reliability of signals.
2) Open Collector I/F
• This uses an external control power supply(VDC).
• This requires a current-limiting resistor (R) corresponding to the capacity of the VDC value.
12V
Relay
220Ω
PULS2
5 SIGN1
6 220Ω
13 SIGN2
GND
2)
3 PULS1
R
4 PULS2
220Ω
5 SIGN1
R
VDC
VDC – 1.5 .
=. 10mA
R + 220
6 SIGN2
220Ω
GND
13
Max. input voltage DC24V
shows a pair of twisted wires. Rated current 10mA
AI AI Analogue Command Input
• There are three analogue command inputs of SPR/RTQR
(14 pins), CCWTL (16 pins) and CWTL (18 pins).
• The maximum permissible input voltage is ±10V. For the
input impedance of these inputs, see the right figure.
• If you make a simplified circuit comprising a variable resistor (VR) and resistor (R), refer to the right figure.
When the variable range of each input is -10V to +10V,
the VR should be a B type resistor of 2kΩ (min.1/2W).
The R should be 200Ω (min.1/2W).
• The A/D converters for these inputs should have the following resolution.
SPR/TRQR 14
+12V
VR
-12V
R
1) ADC1 (SPR and TRQR)
: 16 bits (including one bit for sign)
2) ADC2 (CCWTL and CWTL) : 10 bits (including one bit for sign)
162
20kΩ
R
15
+
ADC
1
GND
CCWTL 16 10kΩ
17 GND
CWTL 18 10kΩ
+
10kΩ
+
10kΩ
ADC
2
[Full-closed control mode]
Output Circuit
SO1 SO2 Sequence output circuit
• This comprises a Darlington driver with an open collector.
This is connected to a relay or photo coupler.
• There exists a collector-to-emitter voltage VCE(SAT) of
approx. 1V at transistor ON, because of Darlington connection of the out put transistor. Note that normal TTLIC
can't be directly connected since this does not meet VIL
requirement.
• This circuit has an independent emitter connection, or an
emitter connection that is commonly used as the minus
(–) terminal (COM–) of the control power.
• Calculate the value of R using the formula below so as the
primary current of the photo coupler become approx. 10mA.
Install as per the fig. Shows
without fail
SO1
ALM+
or other signal
ALM–
or other signal
12–24V
VDC
SO2
ZSP, TLC
41 COM–
Maximum rating: 30V, 50mA
VDC[V] — 2.5[V]
R [kΩ] =
10
For the recommended primary current value, check the data sheet on the equipment and photocoupler used.
PO1 Line Driver (Differential Output) Output
• Provides differential outputs of encoder signals (A, B and
Z phases) that come from the scalar.
• Receive these signals with a line receivers. In this case,
install a resistor of approx. 330Ω between the inputs.
• These outputs are non-insulated signals.
AM26LS32
or equivalent
OA+
OA-
AM26LS31
or equivalent
21
A
22
OB+
OB-
48
49
B
OZ+
OZ-
23
24
Z
GND 25
shows a pair of twisted wires.
Connect the signal
grounds between the controller and driver.
• Outputs Z-phase signals among those from the encoder.
The outputs are non-insulated.
• 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.
Full-closed control
mode
PO2 Open Collector Output
Maximum rating:
30V, 50mA
19 CZ
25 GND
High-speed
photo coupler
(Equivalent to Toshiba TLP554)
AO Analogue Monitor Output
43 SP
1kΩ
• This output is the speed monitor signal (SP) or torque moniMeasuring
tor signal (IM).
instrument
or external
• The signal range is approx. 0 to ± 9V.
42 IM 1kΩ
circuit
• The output impedance is 1kΩ. Pay attention to the input
17 GND
impedance of your measuring instruments and external
circuits connected.
<Resolution>
1) Speed 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%)
163
CN X5 Connector
Connector CN X4
Power supply for the external scale should be prepared by the user. Alternatively, encoder power supply
shown below can be used (250 mA max.).
Application
Encoder power supply output
Connector
pin No.
1, 2
3, 4
Function
7-Wire
E0V
+5V power source
5
Battery (+)
Battery (+)
(for absolute encoder)
Battery (–)
(for absolute encoder)
Encoder/external scale signal input
(phase A)
Encoder/external scale signal input
(phase B)
Encoder/external scale signal input
(phase Z)
Encoder signal I/O
(Serial signal)
6
Battery (–)
7
8
9
10
11
12
17
18
EXA
EXA
EXB
EXB
EXZ
EXZ
PS
PS
Frame ground
20
FG
<NOTE>
"0 V" of the encoder power supply output is connected to the ground terminal of the control circuit that
is connected to Connector X5 .
<Requests>
1) Pins Nos. 13, 14, 15, 16 and 19 (not listed above) must not be connected.
2) When you use the absolute encoder or absolute/incremental-shared encoder as an incremental
encoder, you do not have to connect battery between 5- and 6-pin.
Connector CN X5
When the Pr02 control mode is set to one of 6-10 and full-closed control mode is selected, some pin functions are changed. For pin function changes, see the table below and pages 160 and 161 "Functional
selection of interface connector CN X5 by control mode".
Input Signals and their Functions
Signal
Pin No.
Symbol
7
41
13,15
17,25
50
29
COM +
COM –
GND
FG
SRV-ON
Control mode
changeover input
32
C-MODE
Alarm clear input
31
A-CLR
Control signal
power supply
Signal ground
Frame ground
Serve on input
164
Function
Positive terminal of control signal power supply (12 ~ 24 V)
Negative terminal of control signal power supply (12 ~ 24 V)
Driver circuit signal ground.
This is a signal ground internal to the driver.
Enables Servo-on when it is connected to COM–.
I/F circuit
–
–
–
SI
page 162
With Pr02 (control mode setting) set to 3, 4, 5, 9, and 10,
SI
when connection with COM- is open and then the 1st control page 162
mode shorts, the 2nd control mode will be selected.
Clears the alarm condition and returns to operation mode
SI
when connected to COM–. (This pin is active only when there page 162
is an alarm that can be cleared.)
See page 216 "Protective functions" in "Encountering
Difficulties?"
[Full-closed control mode]
Signal
Pin No.
Symbol
9
CCWL/
DIV2
CCW drive disable
input
CN X5 connector pin No.
Function
I/F circuit
Serves as the command div./multi. changeover 2 input with
SI
selection of semi-closed control, full-closed control, hybrid page 162
control or external encoder control. For selection of command
div./multi., see the table "Command div./multi. numerator
selection" shown below.
Command div./multi.setting
Pin 28 DIV
Pin 9 DIV2(CCWL)
Open
Open
1st command div./multi. numerator
(Pr46)
Open
2nd command div./multi. numerator
(Pr47)
Short circuit
3rd command div./multi. numerator
(Pr48)
x2
command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
Short circuit
x2
command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
Open
x2
command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
Short circuit
Short circuit
4th command div./multi. numerator
(Pr49)
x2
2 command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
8
CWL/
SMOOTH
Gain changeover
input
27
GAIN
Reserved for
manufacturer
CW torque limit
input
CCW torque limit
input
1
2
18
–
16
CCWTL
/TRQR
Speed zero clamp
input
26
ZEROSPD
Speed command
input
14
SPR/TRQR
CWTL
Not available for user
Leave this pin open (NC).
Limits the CW torque in proportion to the negative input (0 to
–10 V). (Rated torque at approx. –3 V)
Limits the CCW torque in proportion to the positive input (0 to
+10 V). (Rated torque at approx. +3 V).
With the speed/torque control is selected (Pr02 (control mode
setting) is set to 5, torque control), this pin serves as the
torque command input (approx.+3 V/rated torque).
Speed command is set to zero when this pin is disconnected
from COM–.
Active when Pr06 (ZEROSPD input select) is 1.
External speed command input for speed control.
The gain and polarity of the command are set by the Pr50
(speed command input gain) and Pr51 (speed command
input reverse), respectively. The input is the torque command
when torque control or position torque control is selected.
The gain and polarity of the command are set by the Pr5C
(torque command input gain) and Pr5D (torque command
input reverse), respectively.
–
SI
page 162
SI
page 162
SI
page 162
SI
page 162
165
Full-closed control
mode
CW drive disable
input
When performing auto gain tuning, frequency response
analysis by PANATERM®, functions as CCW drive disable
input regardless of setting of Pr02 (control mode setting).
When this pin is disconnected from COM–, CCW torque is
not generated in any mode other than above-mentioned.
(Active only when Pr04 is set at 0.)
Enables or disables Smoothing filter while the control is either
SI
semi-closed control, full-closed control, hybrid control or page 162
external encoder control - enables the smoothing filter when
connected to COM–.
When performing auto gain tuning, frequency response
analysis by PANATERM®, functions as CW drive disable
input regardless of setting of Pr02 (control mode setting).
When this pin is disconnected from COM–, CW torque is not
generated in any mode other than above-mentioned.
(Active only when Pr04 is set at 0.)
Input of the gain changeover timing when the gain
SI
changeover function is active.
page 162
Connecting this pin to COM– while the gain changeover
function is not active (Pr30, 2nd gain operation setting), the
speed driver operates only in proportional mode (P action).
CN X5 Connector
Signal
Pin No.
Symbol
28
DIV
Command
dive./multi.
changeover input
Function
I/F circuit
For the semi-closed control, full-closed control, hybrid control
SI
and external encoder control, refer to the table, "Command page 162
div./multi. numerator selection" shown below.
CN X5 connector pin No.
Command div./multi.setting
Pin 9 DIV2(CCWL)
Pin 28 DIV
Open
Open
1st command div./multi. numerator
(Pr46)
Short circuit
2nd command div./multi. numerator
(Pr47)
Open
3rd command div./multi. numerator
(Pr48)
x2
command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
Open
x2
command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
Short circuit
x2
command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
Short circuit
Short circuit
4th command div./multi. numerator
(Pr49)
x2
2 command div./multi. numerator scale factor
(Pr4A)
Command div./multi. denominator (Pr4B)
Command pulse
input disable
33
INH/
INTSPD1
/SC-ERR
CN X5 connector pin No.
Pin 33 INTSPD1
(INH, SC-ERR)
Open
Short circuit
Open
Short circuit
Counter clear
30
CL/
INTSPD2
CN X5 connector pin No.
Pin 30 INTSPD2
(INH, SC-ERR)
Open
Open
Short circuit
Short circuit
166
When this pin is connected to COM–, command div./multi.
numerator is changed from Pr46 (1st command div./multi.
numerator) to Pr47 (2nd command div./multi. numerator).
Scale error input during full-closed control, hybrid control or
SI
external encoder control. Disconnecting this pin from COM- page 162
causes trip due to scale error (Err28). When designing an
external protection circuit, use this input. Pr77=1 ignores
scale error input. Disconnecting this pin from COM– during
semi-closed control or position control ignores the position
command pulse. This is active when Pr43 (command pulse
input disable) is 0.
During the speed control mode, this pin acts as the internal
speed select 1 input. See the table "Internal speed selection"
below.
Pr05 set value
0
1
Analog speed command Speed setting 1st speed
(CN X5 pin 14)
(Pr53)
Analog speed command Speed setting 2st speed
(CN X5 pin 14)
(Pr54)
Analog speed command Speed setting 3st speed
(CN X5 pin 14)
(Pr55)
Analog speed command Speed setting 41st speed
(CN X5 pin 14)
(Pr56)
2
Speed setting 1st speed
(Pr53)
Speed setting 2st speed
(Pr54)
Speed setting 3st speed
(Pr55)
Analog speed command
(CN X5 pin 14)
Connecting this pin to COM– clears the deviation counter.
SI
Pr4D (counter clear input mode) selects the level and falling page 162
edge. This pin serves as the internal speed select 2 input
during speed control mode. See the table below, "Internal
speed selection".
Pr05 set value
0
1
Analog speed command Speed setting 1st speed
(CN X5 pin 14)
(Pr53)
Analog speed command Speed setting 2st speed
(CN X5 pin 14)
(Pr54)
Analog speed command Speed setting 3st speed
(CN X5 pin 14)
(Pr55)
Analog speed command Speed setting 41st speed
(CN X5 pin 14)
(Pr56)
2
Speed setting 1st speed
(Pr53)
Speed setting 2st speed
(Pr54)
Speed setting 3st speed
(Pr55)
Analog speed command
(CN X5 pin 14)
[Full-closed control mode]
Signal
Command pulse
input
Command sign
input
Absolute encoder
battery
Pin No.
Symbol
3
PULS1
4
PULS2
5
SIGN1
6
SIGN2
44
BATT+
45
BATT–
Function
I/F circuit
Enter a position command pulse. The driver receives the
PI
pulse through a high-speed photo-coupler.
page 162
Input impedance is 220Ω.
Through Pr42, one of three input formats is selected: 1) 2phase input (phase A (PULS)/phase B (SIGN)); 2) CW
(PULS)/CCW (SIGN) pulse input; and 3) command pulse
(PULS) input/sign (SIGN) input.
Connect the absolute encoder backup battery to this pin.
Leave this pin open when the battery is directly connected to
the driver.
Recommended battery: ER6V 3.6 V (Toshiba Battery)
–
Function
I/F circuit
Output Signals and their Functions
Pin No.
Symbol
Servo alarm
output
Servo ready output
37
36
35
34
39
38
ALM+
ALM–
S-RDY+
S-RDY–
COIN+
COIN–
11
10
BRK-OFF+
BRK-OFF–
40
(41)
12
(41)
21
22
48
49
23
24
19
43
TLC
(COM–)
ZSP
(COM–)
OA+
OA–
OB+
OB–
OZ+
OZ–
CZ
SP
Torque motor
signal
42
IM
Reserved
for manufacturer
Reserved
for manufacturer
46
47
20
TX+
TX–
–
Positioning
complete
/speed achieved
output
External brake
release output
Torque limiting
output
Zero speed detect
output
Pulse
Phase A
output
Phase B
Phase Z
Phase Z
Speed monitor
signal
Turns off as the error is detected and protection starts.
SO1
page 163
Turns on as control/main power supply are established
SO1
without alarm condition.
page 163
In full-closed control/hybrid control/external encoder control,
SO1
the output signal turns ON when a value of the external scale page 163
deviation counter falls within the range set by Pr60
(positioning completion range). It also turns ON when a
value of the deviation counter falls within the range set by
Pr60 in semi-closed control/position control.
In speed control, the signal turns ON when the motor actual
speed reaches speed set by Pr62 (Reached Speed).
This output signal controls the external mechanical brake.
SO1
Configure the external circuit which releases the brake when page 163
this signal turns on.
Selects the signal output by Pr09 (TLC output select).
SO1
With the default setting, outputs this signal at 0.
page 163
Selects the signal output by Pr0A (ZSP output select).
SO1
With the default setting, outputs this signal at 1.
page 163
• Output the divided encoder differential output or external
PO1
scale differential output pulse through the line driver.
page 163
• Logical relationship between phase A pulse and phase B
PO1
pulse can be selected by Pr45 (pulse output logic reverse). page 163
PO1
page 163
Open collector signal output with respect to common GND.
PO1
Selects the analog signal to be monitored by using Pr07
AO
(speed monitor select).
page 163
Factory setting is 3 which outputs motor actual speed in
approx. 6 V/3000 rpm/min.
Positive voltage is for CCW and negative voltage for CW.
The output impedance is 1 kΩ.
Selects the analog signal to be monitored by using Pr08
AO
(torque monitor select).
page 163
Factory setting is 0 which outputs command torque of
approx. 3 V/rated torque to the motor.
Positive voltage is for CCW and negative voltage for CW.
The output impedance is 1 kΩ.
Not available for the user.
–
Leave this pin open.
Not available for the user.
–
Leave this pin open.
167
Full-closed control
mode
Signal
Connections to external scale CN X4
External scale interface specification
CN X4
DS26C32ATM
or equivalent
External scale
2kΩ
EXA
220Ω
EXA
2kΩ
8
43kΩ
Twisted pair
cable
2kΩ
EXB
EXB
43kΩ
9
220Ω
2kΩ
10
43kΩ
Twisted pair
cable
2kΩ
EXZ
EXZ
43kΩ
7
43kΩ
11
220Ω
2kΩ
12
Twisted pair
cable
43kΩ
1,2
*Connect a signal land to pin 1 or 2.
External scale connection CN X4
Connect the signals from the external scale to the encoder connector CN X4.
1) Use shielded twisted pair cable of 0.18 mm2 conductors for connecting to the encoder and external
scale.
2) The maximum length of the cable must be 20 m. If 5 V supply is to be fed through a longer cable,
additional cable should be connected in parallel to reduce voltage drop.
3) Connect together the shields (sheathes) of the lead wires from the motor and those from encoder. The
sheath of the driver lead wires must be connected to the FG (pin 20) of the CN X4.
4) In the case of Cannon plug specification, connect a sheath of shield on the motor side of the encoder
cable to terminal J.
5) Signal cables must be well separated (30 cm or more) from power lines (L1, L2, L3, L1C (r), L2C (t), U,
V, W and ). Do not run these signal wires in a duct together with power cables.
6) Leave blank pins on the CN X4 NC.
7) Power supply for the external scale should be prepared by the user. Alternatively, encoder power
supply can be used (250 mA max.).
168
[Full-closed control mode]
Example: 7-core absolute encoder (motor connector: Tyco Electronics AMP)
Junction cable
Motor
8
White
7
Red
Pink
1
2
Light blue
Violet
Yellow/green
4
5
3
1
2
3
4
5
6
7
8
9
10
11
12
17
18
20
172161-1
172169-1
Servo motor (Tyco Electronics AMP) (Tyco Electronics AMP)
E0V
E0V
E5V
E5V
BTP-0
BTN-0
EXA
EXA
EXB
EXB
EXZ
EXZ
PS
PS
FG
0V
+5V
Regulator
Black
Driver
Twisted
pair cable
External scale
Power supply to
external scale
*Prepare a power supply necessary for external scale, or
use power output (3- or 4-pin) for the encoder (no more
than 250mA).
Note: Pins 5 and 6 should be left unused the encoder is incremental type.
Example: 7-core absolute encoder (Motor Connector: Cannon Plug)
Full-closed control
mode
Junction cable
Motor
Driver
Pin No. of Cannon Plug
G
T
S
K
L
J
Straight plug
MS3106B20-29S
Cable clamp
MS3057-12A
(Japan Aviation
Servo motor Electronics Industry)
E0V
E0V
E5V
E5V
BTP-0
BTN-0
EXA
EXA
EXB
EXB
EXZ
EXZ
PS
PS
FG
0V
+5V
Regulator
H
1
2
3
4
5
6
7
8
9
10
11
12
17
18
20
Twisted
pair cable
External scale
Power supply to
external scale
*Prepare a power supply necessary for external scale, or
use power output (3- or 4-pin) for the encoder (no more
than 250mA).
Note: Pins 5 and 6 should be left unused the encoder is incremental type.
169
Parameter Setting
Parameters for Function Selection
Default setting is shown by [
Parameter
Parameter Name
No.
00
Axis address
Setting
range
0 – 15
[1]
Function/Description
In communications with a host device such as a personal computer that uses
RS232C/485 with multiple axes, you should identify to which axis the host accesses
and use this parameter to confirm axis address in terms of numerals.
• At power on, settings of the rotary switch ID on the front panel (0 – F) will be
programmed into parameters of the driver.
• Settings of Pr00 can be changed only by means of the rotary switch ID.
01
LED display at
power up
0 – 15
In the initial condition after turning ON the control power, the following data displayed
on the 7-segment LED can be selected.
Setting
value
Power ON
Flashing during initialization
(about 2 seconds)
Setting of Pr01
See page 56 "Front Panel Key Operations and Display".
02
Control mode
0 – 14
170
Positional deviation
Motor revolving speed
Torque output
Control mode
I/O signal status
Error cause/record
Software version
Alarm
Regenerative load ratio
Overload load ratio
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale deviation
External scale feedback pulse sum
Motor auto recognition
Select the control mode of the servo driver.
Control mode
The 1st Mode
The 2nd Mode*1
0
–
Position control
[1] Speed control
–
2
–
Torque control
3
Speed control
Position
4
Torque control
Position
5
Torque control
Speed
6
Semi-closed control –
7
–
Full-closed control
8
–
Hybrid control
9
External encoder control
Speed
10
Semi-closed control
Speed
High-stiff equipment
11
–
position control
Low-stiff equipment
12
–
position control
Low-stiff equipment
13
–
speed control
14
Second full-closed control –
Setting
value
Description
0
[1]
2
3
4
5
6
7
8
9
10
11
12
13
14
15
*1 A special control mode focused on the full-closed
specification. For details, refer to “Full-Closed
Control” volume on Page 000.
*2 When composite mode (Pr02 = 3,4,5,9,10) is set,
you can switch the 1st and 2nd modes with the
control mode switch input (C-MODE).
C-MODE
Open
The 1st
Closed
The 2nd
10 ms or longer
Open
The 1st
10 ms or longer
<Caution>
Enter a command after 10ms or longer have passed
since C-MODE was entered.
Do not enter any command on position, speed or
torque.
]
[Full-closed control mode]
Default setting is shown by [
Parameter
Parameter Name
No.
03
Torque
limit selection
Setting
range
0–1
[1]
]
Function/Description
The parameter is used to disable analog torque limit input (CCWTL, CWTL) signals.
0: Enabled
1: Disabled
If you do not use torque limit functions, set “1” to Pr03.
With Pr03 set to “0” and torque limit input (CCWTL, CWTL) open, no torque will be generated, and thus the
motor does not rotate.
04
Overtravel input
inhibit
0–1
In the case of linear driving, in particular, to prevent mechanical damage due to
overtraveling of work, you should provide limit switches on both ends of the axis, as
shown below, whereby driving in a direction of switch action is required to be
inhibited.
CW direction Work
CCW direction
Driver
Servo Motor
Limit
Switch
Limit
Switch
CCWL
CWL
Setting
value
CCWL/CWL
Input
Input
Enable
[1]
Disable
Action
Normal condition in which the limit switch on
CCW side is not operating.
CCW direction inhibited, CW direction allowed
Open
Normal condition in which the limit switch on
CWL
Connected
CW side is not operating.
(CN X5-8 pin)
CW direction inhibited, CCW direction allowed
Open
Both CCWL and CWL inputs are ignored and they normally operate as no
overtravel inhibit being set.
CCWL
(CN X5-9 pin)
0
Connection with COMConnected
07
Speed monitor
(SP) selection
0–9
The parameter selects/sets a relationship between voltage output to the speed
monitor signal output (SP: CN X5 43-pin) and the actual motor speed or command
speed.
Setting value
0
1
2
[3]
4
5
6
7
8
9
SP Signals
Motor Actual
Speed
Command
Speed
Relationship between Output Voltage Level and Speed
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 187 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
171
Full-closed control
mode
<Cautions>
1. When you set 0 to Pr04 and do not connect both CCWL and CWL inputs to COM(off), abnormal condition in which limits are exceeded in both CCW and CW
directions is detected, and the driver will then trip due to “abnormal overtravel
input inhibit“.
2. You can set whether or not to activate the dynamic brake when slowdown occurs
because CCW or CW overtravel input inhibit has been enabled. For details, refer
to descriptions on Pr66 (DB deactivation at overtravel input inhibit).
3. Work may repeat vertical motion as a result of absence of upward torque after you
turned off the limit switch on the upper side of work on the vertical axis. In such a
case, you should not use this function, and instead execute limit processing on the
host controller side.
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
08
Torque monitor
(IM) selection
Setting
range
0 – 12
Function/Description
The parameter selects/sets a relationship between voltage output to the torque
monitor signal output (IM: CN X5 42-pin) and generated torque of the motor or
number of deviation pulses.
Setting value
[0]
1
2
3
4
5
6
7
8
9
10
11
12
09
TLC output
selection
0–5
ZSP output
selection
0–5
Absolute encoder
set up
0–2
0C
Baud rate of
RS232C
0–2
0D
Baud rate of
RS485
0–2
0A
0B
172
IM Signals Relationship between output level and torque or number of deviation pulses
Torque
3V / rated (100%) torque
3V / 31Pulse
No. of
3V / 125Pulse
Deviation
3V / 500Pulse
Pulses
3V / 2000Pulse
3V / 8000Pulse
3V / 31Pulse
No. of
3V / 125Pulse
full-closed
3V / 500Pulse
deviation
3V / 2000Pulse
pulse
3V / 8000Pulse
3V / 200% torque
Torque
3V / 400% torque
The parameter allocates functions of output in torque limits (TLC: CN X5 40-pin).
Remarks
Functions
Setting value
Output in torque limit
[0]
For functional deOutput of zero-speed detection
1
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
The parameter allocates functions of zero speed detection output (ZSP: CN X5 12-pin).
Remarks
Functions
Setting value
Output in torque limit
0
For functional deOutput of zero-speed detection
[1]
tails of respective
Output of an alarm due to either of overoutputs listed left,
2
regeneration/overload/absolute battery
refer to "Wiring to
Output of over-regeneration alarm
3
Connector CN X5"
Output of overload alarm
4
on page 78.
Output of absolute battery alarm
5
Listed below are settings when you use the absolute encoder:
Description
Setting value
To use the absolute encoder as absolute.
0
To use the absolute encoder as incremental.
[1]
To use the absolute encode as absolute. In this case, multi-rotation
2
excess counter is ignored.
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
Setting value
0
1
[2]
Baud Rate
2400bps
4800bps
9600bps
]
[Full-closed control mode]
Default setting is shown by [
Parameter
Parameter Name
No.
10
1st position loop
gain
11
1st Velocity loop
gain
Setting
range
0 – 32767
[63]*
1 – 3500
[35]*
Function/Description
1/s
• The parameter defines responsiveness of the position control system.
Higher position gain would shorten time of positioning.
• The parameter defines responsiveness of the speed loop. You need to
set this speed loop gain high so as to improve responsiveness of the
entire servo system by increasing position loop gain.
• This parameter is an integration element of a speed loop and acts to
drive quickly the subtle speed deviation into zero. The smaller the
setting is, the faster deviation will be zeroed.
• Setting of “1000” will remove effects of integration.
• The parameter sets in 6 phases (0 to 5) a time constant of the low-pass
filter inserted after the block of converting an encoder signal into a
speed signal.
• Setting this parameter high would increase a time constant, thereby
reducing noise of the motor. However, usually use the factory setting (0).
• The parameter sets a time constant of the primary delay filter inserted
into the torque command unit.
• It effects the control of vibration because of the torsion resonance.
• The parameter defines volume of speed feed forward under position
control. Setting it to 100% would make positional deviation in operation
at a constant rate almost 0. When you set it higher, positional deviation
will decrease and responsiveness will be improved. Be careful, however,
as overshooting is apt to occur.
• The parameter sets a time constant of the primary delay filter inserted
into the speed feed forward unit.
• Inclusion of the feed forward function would cause speed overshooting/undershooting. Thus, this filter may make improvement when a positioning completion signal is chattering.
• A position loop, speed loop, speed detection filter, and torque command
filter, respectively, has 2 pairs of gains or time constants (the 1st and
2nd).
• Each function/content is similar to the 1st gain/time constraint, described
earlier.
• For details on switching of the 1st and 2nd gains or time constants, refer
to Adjustment volume on page 186.
* Pr11 and Pr19 will be set in terms of (Hz) when Pr20 inertia ratio has
been set correctly.
Hz
12
1st Velocity loop
integration time
constant
13
1st speed
detection
filter
14
1st torque filter
time constant
15
Velocity feed
forward
16
Feed forward
filter
time constant
18
2nd position loop 0 – 32767
1/s
gain
[73]*
2nd Velocity loop 1 – 3500
Hz
gain
[35]*
2nd Velocity loop 1 – 1000
ms
integration time
[1000]*
constant
–
2nd speed
0–6
detection filter
[0]*
2nd torque filter
0 – 2500 0.01ms
time constant
[65]*
100 – 1500
1st notch
Hz
frequency
[1500]
19
1A
1B
1C
1D
1E
1st notch width
selection
1 – 1000
[16]*
ms
0–6
[0]*
–
0 – 2500
[65]*
0.01ms
–2000
– 2000
[300]*
0 – 6400
[50]*
0–4
[2]
0.1%
0.01ms
–
• The parameter sets frequency of the resonance suppression notch filter.
• You should set it about 10% lower than the resonance frequency of the
mechanical system that has been found by the frequency characteristics
analysis facility of the setup assisted software “PANATERM®”.
• Setting this parameter ”1500” would disable the function of notch filter.
• The parameter sets width of the resonance suppression notch filter in 5
steps. The higher the setting is, the greater the width is.
• Normally, use a factory setting.
173
Full-closed control
mode
Unit
]
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
20
Inertia ratio
Setting
range
0 – 10000
[100]
Unit
%
]
Function/Description
• Defines the ratio of load inertia to the motor's rotor inertia.
Pr20 = (rotor inertia / load inertia) x 100[%]
• When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
26
*1
Disturbance
torque
compensation
gain
0 – 200
[0]
%
• When the control mode is HP, LP, LS or UPF, a gain, in which the torque
command is multiplied by a disturbance torque estimate value, is set.
• By setting 100 [%], a torque compensation that clears the disturbance
torque is applied.
• When Pr21 real time auto tuning mode setting is altered, Pr26 changes
to 0 (disabled).
27
*1
Disturbance
torque observer
filter selection
0 –255
–
• Cut-off frequency of the filter for disturbance torque observer is set.
Set value
[0]*
1 – 255
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
28
2nd notch
frequency
100 – 1500
[1500]
Hz
29
2nd notch width
selection
0–4
[2]
–
• Select the notch width of the second resonance suppression notch filter.
• Increasing the set value enlarges the notch width.
2A
2nd notch depth
selection
0 – 99
[0]
–
• Select the notch depth of the second resonance suppression notch filter.
• Increasing the set value reduces the notch depth and the phase delay.
• Defines the notch frequency of the second resonance suppression notch
filter.
• The unit is [Hz]. Match the notch frequency with the machine's resonance frequency.
100 to 1499: Filter enabled 1500: Filter disabled
*1: Enabled only in the 2nd full-closed control
Parameters for Switching to 2nd Gains
Default setting is shown by [
Parameter
Parameter Name
No.
30
2nd gain action
set up
Setting
range
0–1
Unit
Function/Description
–
• The parameter selects switching of PI/P operation and the 1st/2nd gain
switching.
Setting value
0
[1]*
Gain Selection/Switching
The 1st Gain (Possible to switch PI/P) *1
Possible to switch the 1st/2nd gain *2
*1 Switching of 1 PI/P operation is done through gain switching input
(GAIN CN X5 27-pin).
GAIN input
Open with COM–
Connect to COM–.
Operation of speed loop
PI operation
P operation
*2 For conditions of switching between the 1st and 2nd gains, refer to
“Adjustment upon switching gain” of Adjustment volume on page 202.
174
]
[Full-closed control mode]
Default setting is shown by [
Parameter
Parameter Name
No.
Position control
31
switching mode
Setting value
0
1
2
3
4
5
6
7
8
9
[10]*
*3
*3
*3
*3
*3
*3
*3
*3
Setting
range
0 –10
Unit
Function/Description
–
• The parameter selects conditions of switching the 1st and 2nd gains in
position control mode.
]
Conditions for Switching Gains
Fixed to the 1st gain.
Fixed to the 2nd gain.
The 2nd gain is selected with gain switching input (GAIN) turned ON (Pr30 needs setting of 1).
Torque command variation is greater than setting of Pr33 (position control switching level) and
Pr14, and the 2nd gain is selected.
Fixed to the 1st gain.
Command speed is greater than setting of Pr33 (position control switching level) and Pr14,
and the 2nd gain is selected.
Positional deviation is greater than setting of Pr33 (position control switching level) and Pr14,
and the 2nd gain is selected.
Position command is present and the 2nd gain is selected.
The 2nd gain is selected when the command pulse is 1 or higher in 166ms.
The 2nd gain is selected with positioning not complete.
The 2nd gain is selected when a value of the positional deviation counter is greater than Pr60
(positioning completion range).
Motor actual speed is greater than setting of Pr33 (position control switching level) and Pr34,
and the 2nd gain is selected.
Switching to the 2nd gain with position command present.
Switching to the 1st gain when absence of position command continues for Pr32 (x 166ms) and
speed falls below Pr33 - Pr34 [r/min].
*3 For levels to be switching and timing, refer to "Adjustment upon switching gain" of Adjustment volume on page 202.
32
33
34
0 – 10000 x 166µs
[30]*
0 – 20000
–
[50]*
0 – 20000
–
[33]*
• The parameter sets delay time of deviation from switching conditions set
with Pr31 to actual return to the 1st gain.
• The parameter is enabled when Pr31 is set to 3 – 8, and sets a determination level when No.1 and No.2 gain are switched.
• The parameter sets width of hysteresis to be provided above and under
the judgment level set with Pr33 mentioned above.
• The following figure shows definitions of the above-mentioned Pr32 (delay), Pr33 (level) and Pr34 (hysteresis).
Pr33
Pr34
0
1st Gain
2nd Gain
1st
Pr32
<Caution>
Settings of Pr33 (level) and Pr34 (hysteresis) are enabled as an absolute
value (positive/negative).
35
Position gain
switching time
0 – 10000 (Setting +1) • The parameter sets stepped switching time only for position loop gain
upon switching gains when the 2nd gain switching function has been en[20]* x 166µs
abled.
166
166µs
(Example)
Kp1(Pr10)<Kp2(Pr18)
166
166
Kp2(Pr10)
3
2
Pr35= 0
1
0 Thick solid line
1
2
3 Thin solid line
Kp1(Pr18)
1st Gain
2nd Gain
1st Gain
• Switching time should be provided only when a small position loop gain
is switched to a large position loop gain (Kp1 ––> Kp2). (This is to alleviate impact on the machine due to rapid change of gain.)
• You should set a value smaller than a difference of Kp2 and Kp1.
175
Full-closed control
mode
Position control
switching delay time
Position control
switching level
Position control
switching
hysteresis
Parameter Setting
Parameters for Position Control
Default setting is shown by [
Parameter
Parameter Name
No.
40
Command pulse
multiplier set up
Setting
range
1–4
Function/Description
• The parameter sets a multiply when “2-phase pulse input” has been selected as a
command pulse form with Pr42 (command pulse input mode setting).
Multiply when 2-phase pulse is input
x1
x2
x4
Setting value
1
2
3 or [4]
41
Command pulse
logic inversion
0–3
• Each of logics of 2 pulse command input (PULS, SIGN) systems can be individually
set inside the driver.
Setting value
[0]
1
2
3
42
Command pulse
input mode
“SIGN” Signal Logic
Non-inverting
Non-inverting
Inverting
Inverting
“PULS” Signal Logic
Non-inverting
Inverting
Non-inverting
Inverting
0–3
• The parameter sets an input form of a command pulse to be given from the host
device to the driver. Three types of forms listed in the following table can be set.
Make selection in accordance with specifications of the host device.
Command
CW Command
Setting value
Signal Name CCW Command
pulse form
t1
0 or 2
PULS
SIGN
CW pulse train
+
CCW pulse train
PULS
SIGN
Pulse train
+
symbols
PULS
SIGN
3
t1
t1
t1
Phase A
90˚ phase difference
Two-phase pulse
(Phase A + Phase B)
[1]
Phase B
t1
t1
t1
Phase B advances 90˚
ahead of phase A.
t1
Phase B delays 90˚
from phase A
t3
t2 t2
t2 t2
t4 t5
t4 t5
“L”
“H”
t6
t6 t6
t6
Allowed maximum input frequency and required minimum time width of command pulse input signal
Input I/F of
PULS/SIGN signals
Allowed maximum
input frequency
Required minimum time width [µs]
t6
t5
t4
t3
t2
t1
Line driver interface
500kpps
2
1
1
1
1
1
Open collector interface
200kpps
5
2.5
2.5
2.5
2.5
2.5
Pulse rise/fall time of command pulse input signal should be set to no more than 0.1µs.
43
Command pulse
inhibit input
invalidation
0–1
• The parameter selects enable/disable of command pulse inhibit input INH: CN X5
33-pin).
Setting value
0
[1]
INH Input
Enable
Disable
With INH input, connection with COM- will be open, and command pulse input will
be inhibited. If you do not use INH input, set 1 to Pr43. You no longer need to
connect INH (CN 1/F 33-pin) and COM- (41-pin) external to the driver.
176
]
[Full-closed control mode]
Default setting is shown by [ ]
Parameter
Setting
Parameter Name
Function/Description
No.
range
44
Output pulses per 1 – 16384 The parameter sets number of pulses per one revolution of encoder pulse to be outsingle turn
[2500] put to the host device. The pulse will be set in dividing.
You should directly set in this parameter the number of pulses per revolution needed
for your device/system in terms of [Pulse/rev].
45
Pulse output
logic inversion
0–1
In a relationship of phases of output pulse from the rotary encoder, Phase B pulse is
behind pulse A when the motor rotates in CW direction. (Phase B pulse advances
ahead of phase A pulse, when the motor rotates in CCW direction.)
Inversion of logic of phase B pulse with this parameter could invert a phase
relation of phase B pulse to phase A pulse.
IWhen Motor is Rotating
in CCW direction
Setting value
IWhen Motor is Rotating
in CW direction
A pulse(OA)
[0]
1
46
47
48
49
4B
Related to command pulse multiply division function (Pr46 to 4B)
1 – 10000 Command pulse multiply division (electronic gear) function
[10000] Purpose of Use
1) To arbitrarily set rotation/movement of the motor per unit input command pulse.
1 – 10000 2) In the case predetermined motor speed cannot be achieved because of limited
pulse oscillation capacity (highest possible output frequency) of the host device,
[10000]
multiply function should be used to increase seeming command pulse frequency.
• Block Diagram of Multiply Division Unit:
1 – 10000
[10000]
1 – 10000
[10000]
Command
Pulse
f
*1 The 1st Numerator (Pr46)
*1 The 2nd Numerator (Pr47)
*2 The 3rd Numerator (Pr48)
*2 The 4th Numerator (Pr49)
x2
Scale Factor (Pr4A)
Denominator (Pr4B)
0 – 17
[0]
Internal
Command
F
+
–
Feedback
Pulse
(Resolution)
To Deviation
Counter
10000P/rev
or 217P/rev
• An upper limit of computed value of a numerator will be 2621440. Note that even
when you set a value higher than this, it will become invalid and 2621440 will be a
numerator.
*1: Select the 1st or 2nd numerator by means of command multiply division switch1 – 10000
ing (DIV:CN X5 28-pin).
[10000]
DIV Off
Select the first numerator (Pr46).
DIV ON
Select the second numerator (Pr47).
*2: 3rd and 4th numerators are used for special specifications such as full-closed
specification. For further information, refer to “Full-Closed Control” volume on
page 156.
<Examples of Setting>
• It is basic to have a relation “a motor rotates once with command input (f) for resolution of an encoder” when the multiply division ratio is 1.
Therefore, to rotate the motor once as an example of the case in which the encoder
has resolution of 10000P/r, f=5000Pulse at multiply of 2 and f=40000Pulse at 1/4
division should be input.
• Pr46, Pr4A and Pr4B should be set so that internal command after multiply division
will be equal to resolution of the encoder (i.e., 10000 or 217).
F = f x Pr46 x 2 Pr4A = 10000 or 217
Pr4B
F: Number of internal command pulses for one revolution of the motor
f: Number of command pulses for one revolution of the motor
177
Full-closed control
mode
4A
1st numerator of
command
pulse ratio
2nd numerator of
command
pulse ratio
3rd numerator of
command
pulse ratio
4th numerator of
command
pulse ratio
Multiplier of
numerator of
command pulse
ratio
Denominator of
command pulse
ratio
B pulse(OB)
Non-inverting
B pulse(OB)
Inverting
Parameter Setting
Parameter
Parameter Name
No.
46
(Continued) 1st numerator of
command
pulse ratio
2nd numerator of
47
command
pulse ratio
3rd numerator of
48
command
pulse ratio
4th numerator of
49
command
pulse ratio
Multiplier of
4A
numerator of
command pulse
ratio
Denominator of
4B
command pulse
ratio
4C
Smoothing filter
Default setting is shown by [
Setting
Function/Description
range
Related to command pulse multiply division function (Pr46 to 4B)
1 – 10000 (Continued)
[10000]
Resolution of Encoder
217 (131072)
10000 (2500P/r x 4)
Example 1:
1 – 10000
Pr4A 17
Pr4A 0
When command input (f)
Pr46 1 x 2
Pr46 10000 x 2
[10000]
is set to 5000 per
Pr4B 5000
Pr4B 5000
revolution of the motor]
1 – 10000
Example 2:
[10000]
Pr4A 15
Pr4A 0
When command input (f)
Pr46 1 x 2
Pr46 2500 x 2
is set to 40000 per
Pr4B 10000
Pr4B 10000
1 – 10000
revolution of the motor]
[10000]
0 – 17
[0]
1 – 10000
[10000]
0–7
A smoothing filter is a primary delay filter inserted after command multiply division
unit of command pulse input unit.
Purpose of Smoothing Filter:
• Basically, it is to alleviate stepped movement of the motor when a command
pulse is rough.
• Following are the specific examples in which a command pulse becomes rough:
1) When a multiply ratio is set for command multiply division (10 times or higher)
2) When command pulse frequency is low in some cases
• A time constant of the smoothing filter should be set in 8 steps with Pr4C.
4D
Counter clear
input
0–1
Setting value
0
[1]
Time constant
No filter function
Small time constant
7
Great time constant
The parameter sets clear conditions of counter clear input signal for clearing the deviation counter (CL: CNX5 30-pin).
Setting value
[0]
1
Clear Conditions
Clear at level (*1).
Clear at edge (falling edge).
*1: Minimum time width of CL signal
CL (30-pin)
178
100µs or longer
]
[Full-closed control mode]
Parameters for Speed Control
Default setting is shown by [
Parameter
Parameter Name
No.
57
JOG speed set up
Setting
range
0 – 500
[300]
Unit
r/min
]
Function/Description
The parameter directly sets JOG speed in JOG run in “motor trial run
mode” in terms of [r/min].
For details on JOG function, refer to “Trial Run (JOG)” of Preparations volume on page 68.
Parameters for Torque Control
Default setting is shown by [
Parameter
Parameter Name
No.
5E
Torque limit
Setting
range
0 – 500
Unit
Function/Description
%
• This function limits maximum torque of the motor through setting of
parameters within the driver.
• In normal specifications, torque about 3 times higher than the rated is allowed for an instant. This parameter limits the maximum torque, however, if the triple torque may cause a trouble in the strength of motor
load (machine).
• Setting should be given as a %
value to rated torque.
• The right figure shows a case
in which the maximum torque
is limited to 150%.
• Pr5E limits maximum torque in
both CW and CCW directions
simultaneously.
]
Torque [%]CCW
300 (Max.)
When Pr5E=150
200
100
(Rated)
Speed
100
(Rated) (Max.)
200
300
CW
179
Full-closed control
mode
<Caution>
You cannot set this parameter to a value above a factory setting of the
system parameter (i.e., a factory set parameter that cannot be changed
through of PANATERM® and panel manipulation) “Maximum Output
Torque Setting”. A factory setting may vary depending on a combination
of an driver and motor. For further information, refer to “Pr5E Setting of
Torque Limit” of Preparations volume on page 55.
Parameter Setting
Parameters for various sequences
Default setting is shown by [
Parameter
Parameter Name
No.
60
In-position range
Setting
range
0 – 32767
[131]
Unit
Function/Description
Pluse
• The parameter sets timing to output a positioning completion signal
(COIN: CN X5 39-pin) when movement of the motor (work) is complete
after input of a command pulse ends.
• A positioning completion signal (COIN) is output when the number of pulses of the deviation counter is within ± (setting).
• A basic unit of deviation pulse is “resolution” of an encoder you will
use. Thus, be careful because it varies depending on an encoder, as
shown below:
1) 17-bit encoder: 217 = 131072
2) Encoder of 2500 P/rev: 4 x 2500 = 10000
<Cautions>
Deviation
1.Setting Pr60 too small might exPulse
Pr60
tend time till COIN signal is output or cause chattering upon
output.
2.Setting of “Positioning CompleON
Pr60
COIN
tion Range” will have no effect
on final positioning precision.
61
Zero speed
0 – 20000
[50]
r/min
• The parameter directly sets timing to an output zero speed detection output signal (ZSP: CN X5 12-pin) in terms of [r/min].
• A zero speed detection signal (ZSP) is output when motor speed falls
below the speed set with this parameter Pr61.
• Setting of Pr61 acts on both
CW and CCW directions, irrespective of rotating direction
of the motor.
• There is hysteresis of 10rpm.
The parameter should be set to
10 or greater.
63
Position error
set up
1 – 32767
[25000]
–
CCW
Speed
Pr61
Pr61
CW
ZSP
ON
The parameter sets a detection level of “protection against excessive
positional deviation” function when it is determined that positional deviation is excessive, by using the number of residual pulses.
• Calculate a setting value following the expression shown below:
Setting value =
Positional deviation excess determination level [PULSE]
256
<Note>
Note that setting this Pr63 too small, in particular, when positional gain
is set low might activate protection against excessive positional deviation even though there was no abnormality.
64
Position error
invalidation
0–1
–
This parameter disables “protection against excessive positional deviation”.
Setting value
[0]
1
180
Protection against excessive positional deviation
Enabled
Disabled. Operation will continue without determining abnormality, even though positional deviation pulses exceed
the judgment level set with Pr63.
If you make a mistake in phase sequence or wiring of the
encoder, runaway may occur. You should install a safeguard against runaway in the device.
]
[Full-closed control mode]
Default setting is shown by [
Parameter
Parameter Name
No.
65
Undervoltage
error response
at main power-off
Setting
range
0–1
Unit
Function/Description
–
The parameter sets whether to enable the “protection against main power
source under-voltage” function when you shut down the main power of
main and control power supplies.
Setting value
[0]
1
]
Main Power Source Under-voltage Protection Action
In this case, if you shut off the main power during Servo
ON, it will be SERVO-OFF without a trip. Then, when the
main power supply turns ON again, it will be recovered to
Servo ON.
Shutting off main power during Servo ON will activate abnormal main power supply under-voltage (alarm code
No.13) and cause a trip.
Refer to the timing chart “At Power ON” of Preparations volume on page 40.
66
*1
Dynamic breke
inhibition at
overtravel limit
0–1
–
The parameter sets driving conditions at decelerated operation after overtravel input inhibit (CCWL: connector CN X5 9-pin or CWL: connector CN
X5 8-pin) has been activated and enabled.
Setting value
[0]
1
67
Error response
at main power-off
0–7
–
Driving Conditions from Deceleration to Stop
The motor decelerates and stops as the dynamic brake (DB) is
operated. The motor will be in free condition after it stops.
Free running, the motor decelerates and stops. The motor
will be in free condition after it stops.
The parameter sets:
(1) Driving conditions during deceleration and after stopping; and
(2) Processing to clear content of the deviation counter
after the main power source is shut off.
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
Retention
Retention
Retention
Retention
DB: Activation of dynamic brake
68
Error response
action
0–3
–
The parameter sets driving conditions during deceleration or following
stop, after any of protective functions of the driver has been activated and
alarm has been generated.
Setting
value
[0]
1
2
3
Driving Conditions
During Deceleration After Stopped
DB
DB
DB
Free Run
Free
DB
Free
Free Run
Content of Deviation
Counter
Clear
Clear
Clear
Clear
(DB: Activation of dynamic brake)
See also “When Abnormality (Alarm) Occurs (Serve ON Command State)”
of the timing chart, Preparations volume on page 41.
*1: Enabled only in the 2nd full-closed control
181
Full-closed control
mode
Setting
value
[0]
1
2
3
4
5
6
7
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
69
Sequence at
Servo-OFF
6A
Mechanical brake
delay at
motor standstill
Setting
range
0–7
[0]
0 – 100
[0]
Unit
–
2ms
]
Function/Description
• The parameter sets:
1) Driving conditions during deceleration or after stop
2) Processing to clear the deviation counter
following Servo off (SRV-ON signal: CN X5 29-pin turns On ‡ Off).
• A relationship between setting of Pr69 and driving conditions/deviation
counter processing conditions is similar to that of Pr67 (Sequence at
Main Power Off).
• See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
The parameter sets time till non-energization of motor (servo free) after
the brake release signal (BRK-OFF) turns off (brake retained), at Serve
Off while the motor stops.
• In order to prevent minor
movement/drop of the motor
(work) due to operation delay time of the brake (tb):
> tb.
Setting of Pr6A =
• See “Serve On/Off Operation
When the Motor Stops” of
the timing chart on page 42.
SRV-ON
BRK-OFF
Actual Brake
OFF
ON
Release
tb
Retention
Retention
Release
Motor Energized
Energization
Nonenergization
Pr6A
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 43.
6B
Mechanical brake
delay at
motor in motion
0 – 100
[0]
2ms
Unlike Pr6A, the parameter sets time till brake release signal (BRK-OFF)
turns off (brake retained) after motor non-energization (servo-free), at Servo off while the motor is rotating.
• This should be set to prevent de- SRV-ON
ON
terioration of the brake due to
BRK-OFF
Release
revolutions of the motor.
• At Servo off while the motor is ro- Motor Energized
Energization
tating, time tb in the right figure
will be either set time of Pr6B or
time till the motor rotational Motor Speed
speed falls below approximately
30r/min, whichever is smaller.
• See “Serve On/Off Operation When the Motor is
Rotating” of the timing chart of on page 43.
OFF
Retention
tb
Nonenergization
30 r/min
See also “Serve On/Off Operation When the Motor Stops” of the timing
chart of Preparations volume on page 42.
182
[Full-closed control mode]
Default setting is shown by [
Parameter
Parameter Name
No.
6C
External
regenerative
resister set up
Setting
range
0–3
Unit
Function/Description
–
This parameter is set depending on whether to use regeneration resistance built in the driver, or to provide a regeneration resistance in the external (connect between RB1 and RB2 of connector CN X 2 in types A to
D, and between terminal blocks P and B2 in types E - G).
Setting
value
[0]
Regeneration
Resistance to Use
Built-in resistance
1
External resistance
2
Built-in resistance
3
External resistance
]
Protection against Regeneration
Resistance Overload
According to built-in resistance, (about
1% duty) protection against regeneration resistance overload works.
This is activated with operating limits of
the external resistance at 10% duty.
This is activated with operating limits of
the external resistance at 100% duty.
Regeneration resistance does not
work, and a built-in condenser accommodates all regenerated power.
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing
abnormal heat generation and burnout.
<Caution>
Be careful not to touch an external regeneration resistance.
While you are using an external resistance, it may become hot and scald
you. For type A, only external regeneration resistance is used.
6D
Main power-off
detection time
0 – 32767
[35]
2ms
The parameter sets time to detect shut-off when shut-off of main power
supply continues.
Default setting is shown by [
Parameter
Parameter Name
No.
70
Hybrid switching
*2
speed
Setting
range
1 – 20000
[10]
Unit
Function/Description
r/min
• Speed for determining the timing of switching from ordinary semi-closed
control to hybrid control after stoppage is set.
• When a status that the speed is less than a value set by Pr70 (hybrid
switching speed) continues for a period longer than the time set by this
parameter, the mode shifts to hybrid control.
• Cycle for adding correction pulse of the hybrid control is set.
71
*2
Hybrid shifting
delay time
0 – 10000
[0]
2ms
72
*2
Hybrid control
period
1 – 10000
[10]
2ms
73
Hybrid error limit
excess
74
Numerator of
external ratio
1 – 10000 Resolution • Defines the allowable difference between the current motor position and
the current position of the external scale, when an external scale is used
[100] of external
for control.
scale
• Defines the numerator of the ratio of encoder pulse to external scale pulse.
1 – 10000
–
• The actual numerator is the nth power of the numerator of the external
[1]
scale pulse ratio (Pr74) multiplied by 2. (n = Set value)
• The upper limit of the actual numerator calculation is 131072. If the
calculated value exceeds this limit, it becomes invalid, and the actual
numerator is set to 131072.
This parameter must be changed during Servo-OFF.
*2: Enabled only in the Hybrid control
183
Full-closed control
mode
Parameters for Full-closed Control
]
Parameter Setting
Default setting is shown by [
Parameter
Parameter Name
No.
75
Multiplier of
numerator of
external scale
ratio
76
77
Denominator of
external scale
ratio
Scale error
cancel
Setting
range
0 – 17
[17]
Unit
Function/Description
2n
• Defines the numerator of the ratio of encoder pulse to external scale pulse.
• The actual numerator is the nth power of the numerator of the external
scale pulse ratio (Pr74) multiplied by 2. (n = Pr75 Set value)
• The upper limit of the actual numerator calculation is 131072. If the
calculated value exceeds this limit, it becomes invalid, and the actual
numerator is set to 131072.
• This parameter must be changed during Servo-OFF.
1 – 10000
[10000]
–
0–3
–
• Defines the denominator of the ratio of encoder pulse to external scale
pulse.
• This parameter must be changed during Servo-OFF.
• The parameter sets enable/disable of scale error input (X5 SC-ERR:33pin) and EXZ input disconnection detection in full-closed control, hybrid
control, external encoder control mode, and the 2nd full-closed control.
Setting value
0
[1]
2
3
EXZ disconnection
Enabled
Enabled
Disabled
Disabled
–
• In full-closed control, hybrid control, external encoder control, or 2nd fullclosed control mode, original signal for the pulse output signal (X5 0A+:
21-pin, 0A-: 22-pin, 0B+: 48pin, 0B-: 49-pin) is selected.
0: External scale (EXA, EXB, EXZ-phase) 1: Encoder (A, B, Z-phase)
In a control mode other than the above, this parameter is disabled and
encoder (A, B, Z-phase) outputs pulses.
Numerator of
1 – 10000
external scale
[10000]
pulse output ratio
–
• Defines the numerator of the pulse output scale ratio when Pr78 (Pulse
output selection) is set to "0".
• Set up this parameter so that the scale ratio is "1" or less.
7A
Denominator of
1 – 10000
external scale
[10000]
pulse output ratio
–
• The parameter sets a denominator of division ratio of pulse output when
Pr78 pulse output selection is 0.
• Set up this parameter so that the scale ratio is "1" or less.
7B
*1
Torsion
correction gain
–2000
– 2000
[0]
1/s
• Difference (torsion amount) between the motor and load position is filtered
through a high-pass filter detemined by Pr7C; and the obtained value is
multiplied by this gain and is sbtracted from the speed command.
Note) When using Pr7B, set Pr7D and Pr7E to 0.
7C
*1
Torsion/
Differential speed
detection filter
0 – 255
[0]
3.7Hz
• Defines the high-pass filter's response to the torsion multiplied by the Pr7B
set value, and the low-pass filter's response to the differential speed
multiplied by the Pr7E set value.
0: Disabled 1 to 255: Enabled
• The filter's cutoff frequency is (Set value x 3.7 [Hz]).
7D
Torsion feedback
gain
–2047
– 2047
[0]
–
• Difference (torsion amount) between the motor and load position is
multiplued by this gain/256; and the obtained value is added to the torque
command (2000 = rated torque).
Note) When using Pr7D and Pr7E, set Pr7B to 0.
7E
Differential speed
feedback gain
–2047
– 2047
[0]
–
• Difference (differential speed) between the motor and load speed is filtered
through a low-pas filter determined by Pr7C; and the obtained value is
multiplied by this gain/2 and is added to torque command (2000 = rated
torque).
Note) When using Pr7D and Pr7E, set Pr7B to 0.
78
Pulse output
selection
79
0–1
[0]
*1: Enabled only in the 2nd full-closed control
*2: Enabled only in the Hybrid control
184
SC-ERR
Enabled
Disabled
Enabled
Disabled
]
[Adjustments]
page
Gain Tuning............................................................ 186
Real Time Auto Gain Tuning................................. 188
Fit gain function ......................................................................... 190
Nomal Mode Auto gain tuning ............................. 193
Operation on front panel ........................................................... 195
Disabling of auto tuning function ........................ 196
Manual gain tuning (Basic) .................................. 197
Tuning of position control mode ................................................
Tuning of speed control mode ...................................................
Tuning of torque control mode ..................................................
Tuning of full-closed control mode ............................................
Setting for hybrid control ...........................................................
Adjustment upon switching gain ................................................
To Reduce the Mechanical Resonance .....................................
Gain auto setting function .........................................................
198
200
200
201
201
202
204
206
Manual gain tuning (Application) ........................ 207
Instantaneous speed observer .................................................. 207
Command follow-up control ...................................................... 208
Vibration suppression control ..................................................... 211
Resonance ratio control ............................................................ 212
Disturbance observer ................................................................ 213
Torsion correction / Status feed back control ............................ 214
185
Gain tuning
Gain Adjustment
Purposes of
The motor is required to act per any command without any time delay, or without missing any commands.
To provide the motor operation more resemble to the command pulse and obtain the best performance of
the machine, perform gain adjustment.
<Example: ball screw>
Gain set-up: low
Gain set-up: high
+Feed forward set-up
+2000 +2000
0
0
Command
Speed
Actual velocity
-2000 -2000
(r/min) (r/min) 0.0
125
250
Position loop gain
Speed loop gain
Speed loop integration time constant
Speed feed forward
Inertia ratio
375
:
:
:
:
:
20
100
50
0
100
0.0
125
250
Position loop gain
Speed loop gain
Speed loop integration time constant
Speed feed forward
Inertia ratio
375
:
:
:
:
:
0.0
100
50
50
0
100
125
250
Position loop gain
Speed loop gain
Speed loop integration time constant
Speed feed forward
Inertia ratio
375
:
:
:
:
:
100
50
50
50
100
How to Adjust Gain
Tuning start
Is auto tuning
executed?
Yes
(
Is command input
possible?
Yes
Setting before
shipment
No
No
)
Normal mode auto
gain tuning
Real time auto
gain tuning
Adaptive filter
Fit gain function
Is operation OK?
No
Yes
Is operation OK?
No
Yes
Manual gain tuning
Does load
characteristics
fluctuate?
Yes
(Basic)
Basic procedure
(Application)
Instantaneous speed observer
Gain switching function
Command follow-up control
Mechanical resonance suppression
Damping control
Automatic gain setting function
Resonance ratio control
No
Disturbance observer
Auto tuning function
release
Torsion correction/status feedback
Is operation OK?
No
Yes
Write to EEPROM
Tuning completion
186
Make contact with Matsushita.
[Adjustments]
Function
tuning
Manual
tuning
Refaerence
Page
P.188
P.189
P.190
P.193
P.196
P.197
P.198
P.200
P.200
P.201
P.201
P.202
P.204
P.206
P.207
P.207
P.208
Adjustments
This function estimates machine's load inertia in real time, and automatically specifies the optimum gain according to the result.
This function estimates resonance frequency from the frequency component appearing in motor speed in actual operating condition, and reAdaptive filter
duces vibration at resonance point by automatically specifying the
coefficient of the notch filter that eliminates resonance component from
torque command.
To improve accuracy of real-time automatic gain tuning for position
control, this function automatically searches for the gain that provides
Fit gain function
the shortest stabilization time when operation of a specified pattern is
repeatedly input.
When the motor is operated based on a command pattern automatically generated by the driver, this function estimates load inertia from the
Normal mode automatic gain tuning
torque required for the operation, and automatically specifies the optimum gain.
This function indicates precautions for executing real-time automatic
Disabling of auto tuning function
gain tuning with default settings, or for disabling the adaptive filter.
If automatic gain tuning cannot be executed because of limitation on
Manual gain tuning (Basic)
control mode or load condition, or to ensure the maximum response
according to each load, manual tuning should be executed.
For position control
For speed control
Basic procedure
For torque control
For full-closed control
For hybrid control
By switching gain based on internal data or external signal, this funcGain switching function
tion can reduce vibration at stop, shorten stabilization time, and improve command follow-up performance.
When mechanical stiffness is low, resonance due to axial torsion may
generate vibration or sound, disabling higher gain setting. In such a
Mechanical resonance suppression
condition, this function can suppress resonance by using two types of
filters.
This function initializes control parameter or gain switching parameter
Automatic gain setting function
to the value defined depending on automatic tuning stiffness parameter
before execution of manual tuning.
When specifications cannot be satisfied through basic tuning, the folManual gain tuning (Application)
lowing application tuning functions are available to improve performance.
This function improves the speed detection accuracy by estimating the
Instantaneous speed observer
motor speed with a load model, to ensure balance between high response speed and reduction in vibration at stop.
This control method maintains position error at nearly "0", and sets the
positioning stabilizing time to "0" by improving position command folCommand follow-up control
low-up performance through position integration and feedforward control.
When vibration occurs with the end of the machine, this function elimDamping control
inates vibration frequency component from command to suppress vibration.
When resonance vibration occurs, this function estimates the axial torque between the motor and load, and corrects the motor torque so that
Resonance ratio control
the torsion can be reduced, thus lowering the resonance peak to suppress vibration.
Using disturbance torque value estimated by the disturbance observer,
Disturbance observer
this function reduces influence of disturbance torque to suppress vibration.
Through addition or subtraction of encoder position and external scale
Torsion correction/status feedback position data with speed command or torque command, this function
reduces the torsion between the motor and load to suppress vibration.
Real time automatic gain tuning
Automatic
Description
P.211
P.212
P.213
P.214
<Note>
• Pay extra attention to safety.
• If the machine enter to oscillation ( abnormal sound and vibration) , shut off the power immediately, or
change to Servo-OFF.
187
Real time auto gain tuning
Outline
Load inertia of the machine is estimated
at real time, and the optimum gain is set
up automatically based on the estimated
result. A load, which has a resonance, also
can be handled owing to the adaptive filter.
Position/speed
control
Torque
command
Applied
filter
Motor
Current current
control
Motor
Operation command under
actual operation conditions
Resonant frequency estimate
Load inertia estimate
Real time auto
gain tuning
Real-time auto gain tuning is applicable to
the following control modes:
Pr02=0: Position control
Control
Pr02=1: Speed control
Modes
Pr02=2: Torque control
Filter auto
tuning
Gain auto
setting
Position/speed
command
Motor
speed
Encoder
Servo driver
Pr02=3:Position/speed control
Pr02=4: Position/torque control
Pr02=5: Speed/torque control
Pr02=6: Speed control
Pr02=10: Speed/semi-closed control
Application range
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning(see
page 197 "Adjustments").
Conditions under which the real time auto gain tuning is prevented from functioning
• When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
Load inertia
• When the load inertia fluctuates
• When the machine stiffness is extremely low
Load
• When any unsecured part resides in such as backlash, etc.
• In case of a continuous low speed operation under 100 [r/min].
Operation pattern
• In case of soft acceleration/deceleration under 2000 [r/min] per 1 [s].
• When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.
How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 – 6.
Set up value before shipment is1.
Setting value
Real-time auto tuning
0
Not used
[1]
–
No
Little change
2
3
Changing degree of load inertia during operation Adaptive filter
Change slowly
Used
4
Yes
Change s haply
Little change
5
Change slowly
No
6
Change s haply
–
Yes
7
Not used
When the degree of changes in load inertia is large, set 3 or 6 to Pr21.
When the influence of resonance is conceivable, select “adaptive filter YES”.
[3] Set 0 – 2 to Pr22 (machine stiffness at real-time auto tuning)
[4] Turn the servo ON to operate the machine ordinarily.
[5] To improve responsiveness, gradually increase Pr22 (machine stiffness at real-time auto tuning). When
you encounter with any abnormal noise or oscillation, however, immediately reset it to a lower value.
[6] To store the result, write the data into the EEPROM.
188
[Adjustments]
Description of the adaptive filter
By setting Pr21 (Real-time auto tuning set-up) to 1 – 3 or 7, the adaptive filter is enabled.
In an actual operation state, resonance frequency is estimated based on the vibration component, which
appears in motor speed, and resonance point vibration is reduced by removing resonance component from
the torque command by the adaptive filter.
The adaptive filter may not function normally under the following conditions. In such a case, take anti-resonance measures using the 1 st . notch frequency (Pr1D and 1E) or second notch filter (Pr28 ~ 2A) in accordance with the manual tuning procedure.
For further information on the notch filter, refer to “To Reduce the Mechanical Resonance” on page 204.
Conditions under which the adaptive filter is prevented from functioning
• When the resonance frequency is 300 [Hz] or less
Resonance point
• When resonance peak is low, or control gain is low; and its influence does not appear on the motor speed
• When plural resonance points reside in
Load
• When a motor speed fluctuation having a high frequency component is caused due to a non-linear element such as backlash etc
Command pattern
• When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s]
Parameters, which are set up automatically
The following parameters
are tuned automatically.
Parameter No.
10
11
12
13
14
18
19
1A
1B
1C
20
2F
Name
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Adaptive filter frequency
In addition, the following parameters
are also automatically set.
Parameter No.
15
16
17
1F
27
30
31
32
33
34
35
36
3A
Name
Velocity feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
Disturbance torque observer filter selection
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Speed control switching mode
Torque control switching mode
Set value
300
50
0
0
0
1
10
30
50
33
20
0
0
Caution
189
Adjustments
[1] Immediately after the first turning the servo ON at start up, or when Pr22 (Machine stiffness at real-time
auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is
determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there is no
problem. But, when such problem as vibration or noise continues during a period of 3 reciprocal operations, etc occurs frequently, take the following measures.
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
* 3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
* 4) Set up the notch filter manually.
* When disabling he real time auto tuning, see page 196 "Disabling of auto tuning function" in Adjust
ments.
[2] After a noise or vibration has occurred, Pr20 (Inertia ratio) and/or Pr2F (Adaptive filter frequency) may
have been changed into an extreme value. In such a case also, take the above measures.
[3]
Among results of real-time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are programmed into EEPROM every 30 minutes. When you turn on the power again, auto tuning will be executed
using the data as initial value.
Real time auto gain tuning
Fit gain function
Outline
The MINAS-AIII series is equipped with the fit gain
Position command
Motor
Torque
Position
(Trapezoid speed waveform
current
command
function, whereby optimization fitted to devices is fur- reciprocate command) + deviation Position/speed
Applied
Current
Motor
control
control
filter
–
ther conducted when real-time auto gain tuning is
Resonant frequency estimate
used in position control. Through repetition of cerLoad inertia estimate
Real time
tain reciprocal operations in position control, optimal
Motor
auto gain tuning
speed
Encoder
gain setting will be searched full automatically.
Rigidity/gain table
(Vibration detection)
(Tuning time)
auto setting
In the fit gain function, a user can select 2 ways of
Fit gain function
Level 1: Rigidity search
Level 2: Optimum gain search
searching. In level 2 (stiffness) search, gain will be
Servo driver
further fine-tuned so that the shortest settling time
will be achieved, after automatic search of optimal real-time stiffness No. with less vibration.
Level 1 Search
Real-time Stiffness No. Search
Level 2 Search
Real-time Stiffness No. Search
Fine-tuning of Optimal Gain
Applicable range
This function cannot be applied unless the following conditions, in addition to those for applying real-time
auto gain tuning conditions, are met.
Real time auto gain
tuning operation
Control mode
Operation pattern
Others
Conditions under which the fit gain function works.
Real time auto gain tuning works normally.
• Position control mode or semi-closed control mode is selected.
Pr02 = 0: Position control
Pr02 = 3: First control mode of position/speed control
Pr02 = 4: First control mode of position/torque control
The 2nd control mode of Pr02 =6 or Pr02=10: Semi-closed control
• Position command that performs reciprocate operation.
• One position control should continue for 2 revolutions of the motor or longer.
• Period of one position command is 50 [ms] or more.
• Time interval from completion of a position command
accel/decel speed (3000r/min/0.1s)
to a next position command should be 1[s].
1 [s] or more
Command
• Acceleration/deceleration should be not more than
waveform
3000r/min/0.1s.
ON 50 [ms] or more
• The lowest frequency of a position command should
Positioning
completion
OFF
0 [s] or more
be 1 [kpps] or more.
(Necessary for starting and ending of a command)
• Should be servo ON state.
Before Use
Before starting the fit gain function, set the following with parameter set mode on the front panel or setup
assisted software “PANATERM®”:
Parameter
Pr21
(Real-time auto tuning mode
setting)
Pr22 (Real-time auto tuning
machine stiffness selection)
Pr23
(Fit gain function mode setting)
Pr23
(Positioning completion range)
190
Set value
Any of 1 to 3:
1: Almost no change in load inertia and the adaptive filter enabled.
2: Moderate change in load inertia and the adaptive filter enabled.
3: Sharp change in load inertia and the adaptive filter enabled.
0: Real-time stiffness No.0
1: Level 1 (stiffness) search
2: Level 2 (optimal gain) search
In the case of a 17-bit encoder, it shall be 20 pulses or more.
In the case of a 2500 P/r encoder, it shall be 10 pulses or more.
Remarks
The parameters shown to
the left can also be set in
execution display of the
real-time auto gain tuning
screen on the front panel.
(See page 63)
[Adjustments]
Operating Instructions
Operating Procedures
1) Change the display on the front panel to execution display of real-time auto gain tuning
screen. (For details on manipulations on the
front panel, see pages 57 and 65.)
2) Holding down
on the front panel for about
3 seconds, start the fit gain function.
3) Give a position command that satisfies operating pattern condition of scope on page 190.
(Caution 1)
In the fit gain operation, there will be about 50
reciprocal operations at the maximum in level
1 search, and about 250 operations at the
maximum in level 2 search. Normally, the fit
gain function ends when searching of optimal
real-time stiffness No. and fine-tuning of gain
are completed.
Example of Display on Front Panel
Selection Display
Execution Display
(When Pr23=1)
Real-time Auto Gain
Tuning Screen
SET button
Execution Display of Real-time
Auto Gain Tuning Screen
With the above display
(with “ . ” flashing at the
right end), hold down
for about 3 seconds.
The display on front panel
will change to 000.000.
Fit gain function
started
With operations of the
machine, the display on
front panel will change.
4) When the fit gain function normally ends,
appears. If it abnormally ends,
is displayed. (You clear display of
through manipulation of some key.)
(Caution 2)
is displayed in the following cases:
Level 1 search: Real-time stiffness No. with no vibration and minor
vibration could not be found.
Level 2 search: Settling time has not fallen below 1 second.
Others: There was key manipulation on the front panel during fit gain
operation, or conditions for application were not met.
When the fit gain function normally ends, data on real-time stiffness No. and gain will be saved in Pr24 (fit
gain function tuning result). If you wish to apply the result obtained through fit gain after power reset,
program it into EEPROM (See the description below).
If you do not apply the result, program into EEPROM after clearing the fit gain result with the following
procedures:
[Execution Display] Programming or Clearing Result on Real-time Auto Tuning Screen
If you hold down
on the front panel for about 3 seconds with “n.”
displayed, fit gain result and current setting will be programmed into
EEPROM.
If you hold down
on the front panel for about 3 seconds with “F.”
displayed, fit gain result will be cleared (Set “0” to Pr23).
191
Adjustments
Result of Fit Gain
Real time auto gain tuning
Parameters, which are set up automatically
The following parameters
are tuned automatically.
Parameter No.
10
11
12
13
14
18
19
1A
1B
1C
20
22
2F
33
34
Name
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Machine stiffness at auto tuning
Adaptive filter frequency
Position control switching level
Position control switching hysteresis
In addition, the following parameters
are also automatically set.
Parameter No.
15
16
17
1F
27
30
31
32
35
36
3A
Name
Velocity feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
Disturbance observer filter setting
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position loop gain switching time
Speed control switching mode
Torque control switching mode
Set value
300
50
0
0
0
1
10
30
20
0
0
Cautions
During fit gain operation, some sound or vibration may be generated. Normally, they will cause no problem,
because gain will be lowered automatically. However, sound or vibration continues, press any button on the
front panel to suspend fit gain.
In addition, if abnormal behavior occurs after execution fit gain, change Pr23 (fit gain function mode setting)
to “0” (disable) or clear the result of fit gain on the fit gain screen.
192
Nomal mode auto gain tuning
[Adjustments]
Fit gain function
Outline
Motor Acceleration
Position Command
The motor is operated using a command pattern, which is
automatically generated by the driver to estimate the load
inertia based on the required torque, and proper gain is
set up automatically.
Normal Mode
Auto Gain Tuning
Load Inertia
Estimation
Generation of
Internal Position
Command
Gain Automatic
Adjustment Torque
Position/Speed Command
Control
Motor
Electric Current Motor
Current
Control
Motor Toque
Motor
Speed
Applicable range
Servo Driver
Encoder
This function operates under the following conditions:
Conditions under which the nomal auto gain tuning works.
• Control mode set-up (Pr02) is any one of the following conditions.
Pr02 =0: Position control
Pr02 =1: Speed control
Control mode
Pr02 =2: Torque control
Pr02 =3: Position /speed control
Pr02 =4: Position /torque control
Pr02 =5: Speed /torque control
The 2nd control mode of Pr02=6 or Pr02=10: Semi-closed control
Others
• Servo-ON status
• Deviation counter clear signal is not inputted.
Cautions
Under the following conditions, normal mode auto gain tuning may not function normally.
In such case, set up the data in manual gain tuning mode.
Conditions under which normal mode auto gain tuning is prevented from functioning.
• Load inertia is smaller/larger than the rotor inertia
Load inertia
(Less than 3 times, or larger 20 times)
• Load inertia fluctuates
Load
• Extremely low machine stiffness
• Unsecured part such as backlash etc resides in
Be very careful of the safety. If vibration occurs, turn OFF the power or the servo
promptly, and return the gain to the set value before shipment with the parameter.
193
Adjustments
• When an error, servo-OFF or deviation counter clear has occurred during auto gain tuning operation, it
results in a tuning error.
• Even when the auto gain tuning has carried out, when it has failed in estimating the load inertia value, the
gain value is not changed and the previous data remains as it was.
• Motor output torque during auto gain tuning operation is permitted up to the maximum output torque that
has been set up by Pr5E (torque limit set-up), and CW/CCW drive prohibition input is ignored.
Nomal mode auto gain tuning
Auto gain tuning operation
[1] In
the normal mode auto tuning, the response performance is set up by means of machine stiffness number.
Machine stiffness numbers
• Machine stiffness numbers are for setting the degree of machine stiffness of the user machine.
Setting range is 0-15.
• A machine, which has higher machine stiffness, allows setting a larger value to obtain a higher
gain.
• Usually, repeat auto gain tuning by increasing stiffness No. in ascending order and stop it
when you reach a level in which no oscillation/abnormal noise/vibration will be generated.
[2] Operation pattern set by Pr25 (normal mode auto tuning set-up) is repeated up to 5 cycles. Operation
acceleration increases by 2 times per 1 cycle from the third cycle. Depending on the load status, the
operation may be terminated without performing 5 cycles, or the operation acceleration may not change.
It is not an error.
How to oprate
[1] Set the operation pattern to Pr25.
[2] Move
the load to a position where is safe even when the motor performs a operation pattern set up by Pr.25.
[3] Prohibit the command.
[4] Turn the servo ON.
[5] Start the auto gain tuning operation.
Start the operation using the front panel or PANATERM®.
For operating instructions of the front panel, refer to the next page.
[6] Adjust the machine stiffness number so that a desired response is obtained within a level in which any
vibration does not occur.
[7] When no problem is found in the result, write the data into the EEPROM.
Parameters, which are set up automatically
The following parameters are
tuned automatically.
194
The following parameters are also set up to the following
fixed values automatically.
Pr No.
Name
Pr No.
Pr10
Pr11
Pr12
Pr13
Pr14
Pr18
Pr19
Pr1A
Pr1B
Pr1C
Pr20
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Pr15
Pr16
Pr17
Pr1F
Pr30
Pr31
Pr32
Pr33
Pr34
Pr35
Pr36
Pr3A
Pr7B
Pr7C
Pr7D
Pr7E
Name
Velocity feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
2nd gain action set up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Velocity control switching mode
Torque control switching mode
Torsion correction gain
Torsion and Differential speed detection filter
Torsion feedback gain
Differential speed feedback gain
Set value
300
50
0
0
1
10
30
50
33
20
0
0
0
0
0
0
[Adjustments]
Operation on front panel
1) Select the Normal Auto Gain Tuning Mode.
Press SET button once and press MODE
switching button three times.
See page 56 "Operating procedure" in
Preparations.
Motor speed display (initial display)
Mechanical stiffness value
2) Press
or
button to select the
stiffness of the machine.
Mechanical stiffness (higher)
Press
, and machine stiffness No.
will change in the arrow direction.
Press
, and it will change in the
opposite direction.
Driving method
Machine Stiffness No.
8 – 14
Ball screw direct connection
6 – 12
Ball screw + timing belt
4 – 10
Timing belt
2–8
Gear, or rack & pinion
2–8
Other machines with low stiffness
Mechanical stiffness (lower)
3) Press
button to turn to the
monitor/execution mode.
4) Operation at the monitor/execution mode:
Keep pressing
button until
appears.
• The connector CN X5 29-pin is in servo ON state.
• Pr1D (notch frequency) is set to 1500.
Keep pressing
button
(approx. three seconds).
The horizontal bar increases as shown in the right figure.
Adjustments
The motor has started rotating.
Then, for about 15 seconds, the motor rotates twice in
CCW/CW directions, which will be regarded as one cycle.
The motor rotates up to 5 cycles. Even when it stops
before reaching 5 cycles, it will not be abnormality.
5) Program a gain value into EEPROM so that it will not be
lost during shutoff of the power source.
<Caution>
DDo not use the motor driver alone for normal mode auto gain tuning. Pr20 (inertia ratio) will be 0.
<Notes>
Symptom
Error message
displayed
Cause
Either one of Alarm, ServoOff or Position Error Counter
Clear activated.
The load inertia cannot be
calculated.
Values such as Pr10
related to gain, etc.
remains same as a
value before execution.
CL (30pin) of CN X5 is input.
Motor does not rotate
Remedy
• Avoid operation near the limit switch or home position sensor.
• Turn to Servo-ON.
• Cancel the Position Error Counter Clear.
• Retry by changing Pr10 to 10, and Pr11 to 50.
• Execute the manual adjustment.
• Turn on CL (30pin) of CN X5.
195
Disabling of auto tuning function
Outline
Following are the points to note when you disable real-time auto gain tuning of factory setting or adaptive filer.
Cautions
When you disable the auto adjustment function, do so while the motor stops its operation
(servo off).
Disabling of the real time auto gain tuning
By setting Pr21 (Real-time auto tuning set-up) to 0 or 7 (adaptive filter only enabled), the auto estimate of
Pr20 (Inertia ratio) is terminated and the real time auto gain tuning is disabled.
(However, this change will become valid once the servo turns OFF and then ON again.)
In case that the parameter get an apparently incorrect value due to the remaining estimate result of Pr20
(Inertia ratio), set up an appropriate value manually using the normal mode auto tuning or calculating the
value.
Disabling of the adaptive filter
By setting Pr21 (real-time auto tuning set-up) to 0 or to 4-6 (real time auto gain tuning only enabled), the
adaptive filter function, which automatically follows up the load resonance, stops.
If the adaptive filter is disabled during operating properly, influence of the suppressed resonance may appear resulting in a noise or vibration etc.
Therefore, when you disable the adaptive filter, on the fit gain screen of the front panel (refer to “Fit Gain
Screen” of Preparations volume on page 65), copy frequency of adaptive filter setting (Pr2F) to the 1st notch
filter (Pr1D), and disable after suppressing resonance with the 1st notch filter (see page 65) or manually
setting Pr1D (the 1st notch frequency) from Pr2F (adaptive filter frequency) by means of the table below.
However, when you execute copy function, Pr1E (first notch selection) will be set to "2".
Pr2F
The 1st Notch Frequency [Hz]
Pr2F
The 1st Notch Frequency [Hz]
Pr2F
The 1st Notch Frequency [Hz]
0
1800 (1499)
22
766
44
326
1
1731 (1499)
23
737
45
314
2
1666 (1499)
24
709
46
302
3
1602 (1499)
25
682
47
290
4
1541 (1499)
26
656
48
279
5
1482
27
631
49
269
6
1426
28
607
50
258
7
1372
29
584
51
248
8
1319
30
562
52
239
9
1269
31
540
53
230
10
1221
32
520
54
221
11
1174
33
500
55
213
12
1130
34
481
56
205
13
1087
35
462
57
197
14
1045
36
445
58
189
15
1005
37
428
59
182
16
967
38
412
60
175
17
930
39
396
61
169
18
895
40
381
62
162
19
861
41
366
63
156
20
828
42
352
64
150
21
796
43
339
* By executing the copy function when Pr2 Fis set up to 0-4, the frequency within the ( ) is set up
196
Manual gain turning (Basic)
[Adjustments]
MINAS- AIII series provides the above d escribed auto gain tuning function. However, theremay be a case
that fine tuning is required when it is failed to obtain a desired gain aftercarrying out the auto gain tuning due
to the load conditions etc; or in a case that the optimumresponse performance or stability is required in
accordance with the respective loads, and soon.
In this section, the steps of manual gain tuning will be described on each control mode andfunction.
Before Adjustment
Although adjustment is possible with the motor (machine) behavior or sound, you can achieve quick and
reliable adjustment by observing analog waveforms using the monitor function.
1. Analog Monitor Output
You can measure motor actual speed, command speed, torque and number of deviation pulses by using
the oscilloscope at analog voltage level. Use Pr07 (speed monitor selection) and Pr08 (torque monitor
selection) to set a type of signal to be output or output voltage level.
For further information, refer “Wiring to Connector CN X5” and “Parameter Settings” for each control mode.
2. Waveform Graphic Function of PANATERM®
You can measure command to the motor and behavior of the motor (speed, torque, and deviation pulse)
as waveforms on the display of personal computer. For details, refer to “Outline of Setup Assisted Software PANATERM®”of Reference volume on page 236.
RS-232C cable
1kΩ
42
IM
1kΩ
* Note
Connect to
CN X6
(not CN X7)
43
SP
17
CN X5
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.
Position loop gain
Pr10
Ball screw
100
Timing belt
50
Rack & pinion
50
Machine
Speed loop gain
Pr11
50
25
25
Speed loop integration time constant
Pr12
50
50
200 – 500
Adjustments
Adjust the
1) Speed loop gain Pr11.
< 2 x speed loop gain Pr11 as guidance of operation.
2) Position loop gain, Pr10 =
3) Once the position loop gain Pr10 > 5 x speed loop gain Pr11, hunting or oscillation may occur.
<Note>
You cannot adjust the current loop gain.
Functions of Each Control Mode
In each control mode, you can use the functions listed in the following table:
Command
Position
Speed
Torque
Full
closed
loop
Control mode
Instantane Command Vibration Resonance Disturbance Torsion
Gain
ous speed follow-up suppression ratio control observer correction Status FB
switching observer
control
control
Position
Semi-closed
Position for high-stiffness equipment
Position for low-stiffness equipment
Speed
Speed forlow-stiffness equipment
Torque
Full closed loop
Hybrid
External encoder
Second full-closed
197
Manual gain tuning (Basic)
Tuning of position control mode
Position control system of the MINAS-AIII series is as shown in the following block diagram (see page 72).
In this section, the basic tuning procedure circled with double frame, in which parameter is used but gain
switching is not used, will be described.
[1] Initial setting of parameter
Return the parameter to the preset value before shipment.
• In case that vibration occurs with the preset value before shipment, reduce the 1st speed loop gain
(Pr11) and the 1st position loop gain (Pr10) by the same value.
[2] Setting of inertia ratio
Set up the inertia ratio (Pr20).
• When the inertia ratio (Pr20) has been obtained by the real time auto gain tuning, use the Pr20 set
value as it is.
• When the inertia ratio is known by means of calculation etc, input the calculated value.
• When the inertia ratio is unknown, execute the normal mode auto gain tuning to measure the inertia.
After the measurement, since the control gain also has been altered, return to the step [1] and carry out
initial setting of the parameter.
[3] Upper limit search of speed loop gain
Increase the 1st speed loop gain (Pr11) by 10-increment.
• At this time, increase the 1st position loop gain (Pr10) also to the same value as the 1st speed loop gain
(Pr11).
• When vibration begins to be generated, proceed to the step [4] Setting of notch filter.
• When vibration occurs, decrease the 1st speed loop gain (Pr11) promptly, and then decrease the 1st
position loop gain (Pr10) to the same value as Pr11, and proceed to the step [4].
[4] Setting of notch filter
Measure the vibration frequency of the torque command using the waveform graphic function
or frequency characteristics measurement function etc of the monitor output / Set up support
software PANATERM®.
• Based on the measured vibration frequency, carry out one of the steps (A)-(C).
• After the step above, since the upper limit of the 1st speed loop gain (Pr11) may have been change,
carry out the step [3] again to check the upper limit.
Compare the values before and after the above step, continue the tuning using the setting by which the
1st speed loop gain (Pr11) increases more largely.
(A) When the vibration frequency is 1.5 kHz or more
Set up a larger 1st. torque filter time constant (Pr14)
• For the absolute encoder (7-core 17-bit) , set up Pr14 to approx. 25; for the incremental encoder (5core 2500P/r), set up Pr14 to approx. 63 as a reference target, increase the value until the vibration
falls in allowable range.
• When the 1st torque filter time constant (Pr14) is set up too large, vibration of lower frequency may
become large. In this case, reduce the value of the 1st speed loop gain (Pr11).
198
[Adjustments]
(B) When the vibration frequency is 600 Hz – 1500 Hz
Set up the 1st notch frequency (Pr1D) to the value of vibration frequency.
• When the vibration is not reduced, slightly change the value of Pr1D and 1E.
• Resonance peak can be measured using the frequency characteristic function of the set up support
software PANATERM®. Set up the notch filter so as to reduce the resonance peak.
• When vibration of 600Hz or more is still generated, set up the 1st torque filter time constant (Pr14) to
a larger value.
(C) When the vibration frequency is 400 – 600Hz
• Measure the resonance frequency using the frequency characteristic function etc of the set up
support software PANATERM®.
Set up the 1st notch frequency (Pr1D) to the value of resonance frequency.
• Measure the frequency characteristics again and check that the resonance peak is reduced.
• When the resonance peak is not reduced, adjust the 1st notch width selection (Pr1E) and the 1st
notch frequency (Pr1D) so that the resonance peak is reduced.
• As for vibration of which resonance peak is in low frequency and is lower than the anti- resonance
frequency, set the 1st speed loop gain (Pr11) to a smaller value.
• When the resonance frequency falls in approx. 350 – 450 Hz, increase the value of the 1st speed
loop gain (Pr11) and set the notch filter at a point that vibration begin to be generated. The vibration
may be reduced.
• When the vibration is not reduced, disable the notch filter. Determine the value of the first speed loop
gain as the upper limit value.
[5] Setting of torque filter time constant
When any operation noise is heard, gradually increase the value of the 1st torque filter time
constant (Pr14).
To increase the response, gradually reduce the value of the 1st torque filter time constant
(Pr14) and increase the value of the 1st speed loop gain (Pr11).
• As a reference value of the minimum value, it is recommended to set the value, for the absolute encoder (7-core 17-bit), to10; for the incremental encoder (5-core 2500P/r), to 25.
[6] Setting of 1st speed detection filter (Pr13)
[7] Setting of 1st position loop gain (Pr10)
Input a value of approx. the value of the first speed loop gain (Pr11) x 1.5 to the 1st position
loop gain (Pr10). Then, roughly set up the value of Pr10 so that the positioning setting time is
shortened at a certain degree.
• To change the parameter, execute it at a timing of which positional deviation is small.
199
Adjustments
To increase the response, gradually reduce the value of the 1st speed detection filter (Pr13)
and increase the value of the 1st speed loop gain (Pr11).
In the case that high frequency noise is generated when the value of the 1st speed detection
filter (Pr13) is reduced, measure the resonance frequency using the waveform graphic function
etc of the Matsushita set up support software PANATERM® and adjust the notch filter in step [4]
or the torque filter in step [5].
Manual gain tuning (Basic)
[8] Setting of 1st speed loop integration time constant (Pr12)
Lower the 1st speed loop integration time constant (Pr12) from the following initial values:
• We recommend that you use an initial value of Pr12=15000/(2p x Pr11).
> 30 by 10.
• Lower Pr12 =
> 15 by 5.
Lower 30 > Pr12 =
Lower Pr12<15 by 1.
• By setting the first speed loop integration time constant to a smaller value, although it is possible to
make the deviation at the positioning closer to 0, the time to reach to the stabilization range may
become slower.
• In such a case, by setting the value of the 2nd speed loop integration time constant (Pr1A) during
operation to 1000 (disabled) using the gain switching function, it may be increased.
[9] Setting of speed feed forward (Pr15)
Set the speed feed forward (Pr15) to 500 (300 – 700).
• When the value of the speed feed forward (Pr15), although the positional deviation during operation is
reduced and the positional deviation after completion of command output is converged sooner, overshoot or vibration becomes to occur more frequently.
• When the operation noise has become larger after setting this parameter, set the feed forward filter
setting (Pr17) and the smoothing filter setting (Pr4C) to a larger value respectively.
Tuning of speed control mode
Speed control system of the MINAS- AIII series is as shown in the f ollowing block diagram (see page 106).
The tuning steps in speed control is almost the same as that of the position control mode in page 198.
Excluding the setting of [7] position loop gain and [9] speed feed forward, follow the steps [1] – [6] and [8] t
carry out the tuning.
Tuning of torque control mode
Torque control system of the MINAS-AIII series is as shown in the f ollowing block diagram (page 132).
The torque control system is structured based on the speed control loop using Pr56: 4th internal speed as
the speed limit. In this section, the setting procedure of the speed limit value will be described.
• Setting of speed limit value
Set up a speed limit value to the 4th Internal speed (Pr56)
• When the motor speed becomes closer to the speed limit value, the control is switched from the torque
control mode, in which the control follows up the analogue torque command, to the speed control
mode, in which the speed limit value depending on the 4th internal speed (Pr56) is used as the command.
• To obtain an stable operation in the speed limit mode, it is necessary to carry out control gain and filter
setting in accordance with the tuning of the speed control mode described above..
• In the case that the speed limit value = 4th internal speed (Pr56) is too low, the speed loop gain is too
low or the speed loop integration time constant is set up to 1000 (disabled), since the input to the
torque limit shown in the above diagram becomes smaller, there may be a case that torque according
to the analogue torque command is not obtained.
200
[Adjustments]
Tuning of full closed loop control mode
Full-closed control system of the MINAS-AIII series is as shown in the following block diagram (see page 159).
In the full-closed control mode, excluding the cautions (difference in command unit, unit conversion of the
position loop gain is necessary and difference in command division scale ratio etc) as described in page 156
"Full-closed control", the tuning can be carried out by following the same steps as "Tuning of position control
mode" in page 198.
In this section, the setting of the external scale ratio, the hybrid error and the hybrid control in the initial
setting of the full-closed control will be described.
• Setting of external scale ratio
Set up the external scale ratio using the numerator of external scale ratio (Pr74), the multiplier
of numerator of external scale ratio (Pr75) and the denominator of external scale ratio (Pr76).
• Check the number of encoder pulses per motor rotation and the number of external scale pulses per
motor rotation, set up the numerator of external scale ratio (Pr74), multiplier of numerator of external
scale ratio (Pr75) and denominator of external scale ratio (Pr76) so that the following formula is fulfilled.
Pr75 17
Pr74 1 x 2
Pr74 5000
=
Number of encoder pulses per motor rotation
Number of external scale pulses per motor rotation
• If the ratio is incorrect, the difference between the position calculated from the encoder pulse and the
position calculated from the external scale pulse is increased. Particularly, when it is driven a long
distance, a hybrid error (Err25) occurs.
• Setting of hybrid error
Set up the hybrid error (Pr73) in a range of minimum value in which the difference between the
motor (encoder) position and the load (external scale) position is determined as "too-large".
• Check an excessive hybrid error (Err.25) as in addition to the above-mentioned factor, reverse connection or loose connection between the motor and load, etc. may also cause it.
Setting for hybrid control
Setting for hybrid control at Pr02 = 8 is as shown in the block diagram below (see page 298).
In this section, the setting of hybrid correction switching will be described.
201
Adjustments
• Hybrid control is a control mode intended to ensure the response performance during operation and the
external scale accuracy during a stop, in which, while constantly operating in semi-closed control mode,
and after a motor stop, the difference between the external scale position and the encoder position is
calculated at a specific period and is added to the position command as the correction command.
• In a state that the command pulse is not fed, as shown in the diagram below, from a point of time when a
state of Pr70 (hybrid switching speed) or less has
passed the point of Pr71 (hybrid shifting delay time),
Speed
A
Correction timing
the above-described correction is applied at period
of Pr72 (hybrid control period).
B
• The following diagram shows a case in which speed
changes smoothly A . However, as a case of B , Pr.70
when the hybrid correction is applied before the hybrid
switching
0
vibration is converged, a large correction amount speed
Time
may cause vibration resulting in an oscillation adversely. In such a case, set up the Pr71(hybrid shifting delay time) longer to start the correction operaPr71
Pr72
hybrid switching
hybrid
tion later.
delay time
control period
Manual gain tuning (Basic)
Adjustment upon switching gain
You can set not only the 1st gain but also 2nd gain manually.
You can utilize the function of switching from the 1st to 2nd
gain in a machine with higher responsiveness.
<Example>
This is the example in which you reduce noise by switching to low
gain setting after the motor stops (servo lock), when you feel uneasy about sound during stoppage of the motor.
Parameter No.
Pr10
Pr11
Pr12
Pr13
Pr14
Pr18
Pr19
Pr20
Pr30
Pr31
Pr1A
Pr1B
Pr1C
Parameter
Guideline
Action Command speed
Status
Gain
Stop
(Servo-Lock)
Low gain
(1st gain)
Run
Stop
(Servo-Lock)
High gain
(2nd gain)
1ms
2ms
Time
Low gain
(1st gain)
Suppress the vibration
by lowering the gain.
How to adjust
–
1st position Loop Gain Same as 2nd position loop gain
If the motor does not generate abnormal sound when it stops
1st speed
Same as 2nd speed
(servo lock), the parameter setting is acceptable. If the motor
loop gain
loop gain
generates abnormal sound, reduce the set value.
If the motor normally operates, the parameter setting is acceptable.
1st speed
50
Reducing the set value provides improved motor response.
integration time
However, if the parameter setting is too low, oscillation occurs.
constant
0
Fixed
1st speed detection filter
If the motor does not generate abnormal sound when it stops
Same as 2nd torque filter
1st torque filter
(servo lock), the parameter setting is acceptable. If the motor
constant
time constant
generates abnormal sound, change the set value.
If the motor normally operates, the parameter setting is acceptable.
2nd position
50
Increasing the set value provides improved motor response.
loop gain
However, if the parameter setting is too high, oscillation occurs.
If the motor does not generate abnormal sound during operation,
2nd speed
30
the parameter setting is acceptable. If the motor generates
loop gain
abnormal sound, reduce the set value.
Set up this parameter correctly at first.
Inertia ratio
1
–
2nd gain action set-up
–
Position control
7
switching mode
–
2nd speed integration
1000
time constant
0
Fixed
2nd speed detection filter
If the motor does not generate abnormal sound during operation,
2nd torque filter
50
the parameter setting is acceptable. If the motor generates
time constant
abnormal sound, change the set value.
Gain Switching Conditions
• Position Control Mode
( : the parameter valid, – : invalid)
Gain switching conditions
Pr31
0
1
2
3
4
5
6
7
8
9
10
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 speed commanded
Large position error
Position command existing
Positioning incomplete
Speed
Presence of a command + speed
Figure
Parameters for position control
Delay time *1
Level
Hysteresis *2
Pr32
Pr33
Pr34
––
––
––
––
––
––
––
A
––
C
D
E
F
A
G
––
––
*3
[0.05%/166µs]
––
[r/min]
[pulse]*4
––
––
[r/min]
[r/min]*6
*3
[0.05%/166µs]
––
[r/min]
[pulse]*4
––
––
[r/min]
[r/min]*6
• Speed Control Mode
Gain switching conditions
Pr36
0
1
2
3
4
5
202
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
2nd gain selected with a large
speed command differential
Large speed command
Figure
Parameters for speed control
Delay time *1
Level
Hysteresis *2
Pr37
Pr38
Pr39
––
––
––
––
––
––
––
A
B
C
––
––
*3
[0.05%/166µs]
*5
[10(r/min)/s]
[r/min]
*3
[0.05%/166µs]
*5
[10(r/min)/s]
[r/min]
[Adjustments]
• Torque Control Mode
Gain switching conditions
Pr3A
0
1
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
2
3
Figure
Parameters for speed control
Delay time *1
Level
Hysteresis *2
Pr3B
Pr3C
Pr3D
––
––
––
––
––
––
––
––
*3
[0.05%/166µs]
*3
[0.05%/166µs]
––
A
*1 Delay time (parameters Pr32, Pr37 and Pr3B) become effective when returning from 2nd gain to
1st gain.
*2 For the definitions of hysteresis parameters (Pr34, Pr39 and Pr3D), see the right figure.
*3 Set the value 200 in the case that 10% torque-fluctuation happens within 166µs.
10% / 166µs = Setting value 200 x [0.05% / 166
µs]
*4 Resolution of encoders
*5 Set the value 1 in the case that 10r/min speed changes within 1s.
*6 When Pr31=10, delay time, level and hysteresis have different meaning than usual (See Figure G).
Hysteresis
H
Level
(Pr33.38.3C)
L
0
A
Speed N
Speed command S
Speed command S
C
E
Level
delayed
delayed
Torque T
1st
2nd Gain
1st
1st
2nd Gain
1st
∆T
Level
D
Speed N
Position error
Delay
1st
2nd
2nd
1st Gain
1st
2nd
2nd
1st
F
Speed N
COIN
Level
1st
delayed
delayed
B
1st
2nd Gain
command pulse is on
∆S
Level
2nd Gain
1st
1st
command pulse is off
x Pr32
motor in standstill
motor in motion
1st Gain
2nd Gain
motor in fixed
2nd Gain
| actual speed | < Pr33
Adjustments
Speed command S
1st
G
motor in about standstill
2nd Gain : only speed integral calculus
1st Gain : others
| actual speed | < (Pr33 Level – Pr34 Hysteresis)
delayed
1st
2nd
1st Gain
2nd
1st
| actual speed | < (Pr33 Level – Pr34 Hysteresis)
<Notes>
The figures above do not reflect the gain switching timing delay caused by hysteresis
(parameters Pr34, Pr39 and Pr3D) .
203
Manual gain tuning (Basic)
To Reduce the Mechanical Resonance
If the machine is not stiff, vibration and noise may be generated due to the resonance by shaft torsion, which
may interfere 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 a filter time constant so that attenuation takes place around resonance frequency. You can determine cutoff frequency with the following expression:
Cutoff Frequency (Hz) fc = 1/(2p x parameter set value x 0.00001)
2. Notch filter
• Adaputive filter (Pr21 and Pr2F)
In MINAS-A III series, vibration at load that is difficult to accommodate with the conventional notch
filter or torque filter, for instance, because a resonance point varies for every device can be controlled
by using an adaptive filter. You can enable the adaptive filter by setting 1-3 or 7 to Pr21 (real-time
auto gain tuning mode setting).
Pr21
Real time
auto tuning
set up
1~3 and 7 : adptive filter actived
Pr2F
Adaptive
filter
frequency
disply the table number of
adaptive filter frequency
(can not change)
• 1st and 2nd notch filter (Pr1D, Pr1E, Pr28, Pr29 and Pr2A)
MINAS-AIII series is equipped with 2 normal notch filters: the 1st notch filter makes it possible to
adjust frequency and width, while the 2nd notch filter makes it possible to adjust by frequency, width,
and depth parameters.
Pr1D 1st notch
frequency
Pr1E 1st notch
width
selection
204
Set this about 10% lower than the
resonance frequency measured
by the frequency characteristics
analysis function of PANATERM®.
Setting by the resonance
frequency characteristics.
Set this about 10% lower than the
resonance frequency measured
by the frequency characteristics
analysis function of PANATERM®.
Setting by the resonance
Pr29 2nd notch
width selection frequency characteristics.
Pr2A 2nd notch
depth selection
Pr28
2nd notch
frequency
[Adjustments]
width
width
After
filtering
Torque
command
Torque
command
depth
(
automatically
following freqency
freqency
freqency
Adaptive filter
1st notch filter
2nd notch filter
Suppress resonance
points in an instance
)
(
Present adaptive filter
setting is copied to the first
notch filter. (See page 196)
)
(
Adjastable freqency,
width and depth
)
Applications
gain
gain
gain
freqency
freqency
freqency
responce
Machine chenges resonance
points by difference of each
machine or machine aging
Machine have some resonance points
Machine has a little peak
near the responce point
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 for
reference only.
• Decrease the value of Pr11 (1st speed 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 speed detection information, and run the
motor in one-way rotation).
• Polarities: (+) for CCW and (–) for CW.
• Set the sampling rate to 1 (from a range between 0 and 7).
3) Start the frequency characteristics analysis function.
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 designed with high stiffness for servo motors.
3) The timing belt should have a larger width. The tension of the timing belt should be adjusted according
to the allowable axial load of the motor.
4) The gears should have a smaller backlash.
• 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.
205
Adjustments
<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 Pr22 (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.
Manual gain tuning (Basic)
Gain auto setting function
Outline
Gain auto setting function is for initializing the control parameter/gain switching parameter to a gain setting
of the auto tuning corresponding to the stiffness before carrying out manual tuning.
Cautions
Before executing the gain auto setting function, terminate the operation.
How to use
Refer to “Real-time Auto Gain Tuning Screen” of Preparations volume on page 65.
[1] Once stop the operation.
[2] Start gain automatic setting function on the real-time auto gain tuning screen.
appears. If it abnormally ends,
[3] When gain automatic setting normally ends,
displayed. (You can clear these displays through some key manipulation.)
Parameters, which are set up automatically.
The following parameters are tuned automatically.
Parameter No.
Pr10
Pr11
Pr12
Pr13
Pr14
Pr18
Pr19
Pr1A
Pr1B
Pr1C
Pr20
Parameters for position control
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
The following parameters are also set up to the following fixed values automatically.
Parameter No.
Pr15
Pr16
Pr17
Pr1F
Pr30
Pr31
Pr32
Pr33
Pr34
Pr35
Pr36
Pr3A
Pr7B
Pr7C
Pr7D
Pr7E
206
Parameters for position control
Velocity feed forward
Feed forward filter time constant
1st position integration gain
2nd position integration gain
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Speed control switching mode
Torque control switching mode
Torsion correction gain
Torsion and Differential speed detection filter
Torsion feedback gain
Differential speed feedback gain
Set value
300
50
0
0
1
10
30
50
33
20
0
0
0
0
0
0
is
Manual gain tuning (Application)
[Adjustments]
Instantaneous speed observer
Outline
Instantaneous speed observer is a function in which the
speed detection accuracy is increased by estimating motor
speed using a load model to increase the response performance and to reduce the vibration after a stop.
Speed
command
Torque
command
Speed
control
Speed
estimate
value
Motor
current
Motor
Load
Instantaneous
speed observer
Load model
(Total inertia)
Motor
position
To position
control
Applicable range
Current
control
Encoder
Servo driver
This function is applicable under the following condition.
Conditions under which the instantaneous speed observer functions
Control mode
• Any one of the position control for high-stiffness equipment, speed control forlow-stiffness
equipment or second full-closed control.
• The combined motor encoder shall be a 17-bit absolute/increment.
Pr02 = 11: position control for high-stiffness equipment
Pr02 = 13: speed control for low-stiffness equipment
Pr02 = 14: second full-closed control
Cautions
Under the following conditions, the function may not work normally, or the intended effect may not be obtained.
Conditions under which the effect of the instantaneous speed observer is prevented
• Compared to the inertia load including the motor and load as a unit, error is too different from that
of the actual equipment .
Load
• Example) A large resonance point resides in the frequency zone of 300 [Hz] or less; A non-linear
factor such as large backlash etc resides in, and so on.
• Load inertia changes
• An external disturbance torque of large high frequency component is applied
Other
• Positioning setting range is too narrow
How to use
[1] Setting of inertia ratio (Pr20)
Set up an inertia ratio as precise as possible.
207
Adjustments
• When an applicable inertia ratio (Pr20) has been already obtained through the real time auto gain
tuning during an ordinary position control etc, use it as the setting value of Pr20 as it is.
• When the inertia ratio is known via calculation etc, input the calculated value.
• When the inertia ratio is unknown, once change to the ordinary position control (Pr02 = 0) to carry out
the normal mode auto gain tuning and measure the inertia.
[2] Tuning in ordinary position control
• See page 198 "Tuning of position control mode".
[3] Setting of the 1st/2nd speed detection filter (Pr13 and Pr1B)
• Setting 6 to the 1st/2nd speed detection filter (Pr13 and Pr1B) switches the speed detection method to
instantaneous speed observer.
• Then, if variations in torque waveforms or operating sound increases, immediately reset to original
setting and recheck cautions and (1) described above.
• If some effects such as decreased torque waveforms variations or operating sound, etc., have been
achieved, find setting where variations are minimized, by fine-tuning inertia ratio (Pr20) while observing position deviation waveforms or actual speed waveforms. In addition, since an optimal value of
inertia ratio (Pr20) may change when you have made a change to a position loop gain or speed loop
gain, execute fine-tuning again.
• If you use gain switching, change in ascending order of operating time of the 1st/2nd gain. As sound
may be generated at timing of switching, select setting that is used for both as far as possible.
Manual gain tuning (Application)
Command follow-up control
Outline
Command follow-up control is a control mode in which, by utilizing the position integration function and the
feed forward function, the follow-up performance to the position command is increased, and by controlling
the position error so as to become close to 0, the stabilizing time is made zero.
Changes in position deviation
Position command differential value
(Command speed)
Position
command
Speed feed
foreword
Positional
+ deviation Position
control (PI)
–
Changes in position deviation
Command
Positional speed
deviation
0
0
+
–
Motor
Torque
current
command
Current
Speed control
Motor
control
(PI)
Gain switching function
Speed
detection
Motor
speed
Encoder
Position command completion point
Servo driver
Applicable range
This function is applicable to the following condition.
Condition under which the command follow-up control functions
Control mode
• Position control for high-stiffness equipment
• The combined motor encoder shall be a 17-bit absolute/increment.
Pr02 = 11: position control for high-stiffness equipment
Cautions
Under the following conditions, the function may not work normally, or the intended effect may not be obtained.
Command pattern
Load
Condition under which the effect of the command follow-up control is prevented
• A command pattern in which the command speed comes to 0 before the positionerror is
converged during deceleration
Example) a small shift amount;
a large command acceleration/deceleration, etc
• Stiffness of the load is low
Example) A large resonance point resides in the frequency band of 300 [Hz] or less, etc
• In the command follow-up control, a positional deviation is always around 0 even during operation.
Thus, COIN (positioning completion signal) may continue to be ON. Determine on completion of
positioning in terms of command pulse output signal of the host controller.
How to use
[1] Tuning in ordinary position control
• See page 198 "Tuning of position control mode".
[2] Gain switching setting
• Referring to sect.11-6-5, set up the following items.
Pr18 – 1C (2nd gain) = Pr10 – 14 (1st gain)
Pr17 (1st position integration gain) = 0
Pr1F (2nd position integration gain) = 0
Pr30 (2nd gain action set-up) = 1
Pr31 (Position control switching mode) = 7
Pr32 (Position control switching delay time) = 0
Pr33 (Position control switching level) = 0
Pr34 (Position control switching hysteresis) = 0
Pr35 (Position loop gain switching time) = 0
[3] Setting of speed integration gain
• Set up Pr12 (1st speed loop integration time constant) using the following formula as a reference.
Pr12 = 50000/(Pr11 x 2 π)
• Enable the Pr1A (2nd speed loop integration time constant).
Pr12 = 1000
208
[Adjustments]
Example 1) By carrying out the tuning up to this point, the response waveform during trapezoid drive
be comes as shown below.
actual speed [r/min]
Torque [%]
5000
500
540
400
480
300
420
2000
200
360
1000
100
300
0
240
–100
–200
–300
–400
–500
180
Command speed/
actual speed
4000
Position
deviation
3000
0
–1000
–2000
–3000
–4000
–5000
Torque
command
0.06
0.08
0.1
0.12
0.14
Command speed [r/min]
[s]
120
60
0
–60
Position deviation [pulse]
[4] Setting of FIR filter 1
• Check the position command input using the command speed monitor etc of the Matsushita set up
support software PANATERM®, and check that the command speed changes smoothly at every sampling.
• When the fluctuation of the command waveform are too large, measure the cycle of the fluctuation and
turn the servo OFF once. Then, set up Pr4E (FIR filter 1 setting) so as to fulfill the following formula, and
reset the control power.
< fluctuation cycle [s]
(Pr4E (FIR filter 1setting) setting value + 1) x 166.6 [
µs] =
[5] Setting of speed feed forward
• Set up Pr15 (Speed feed forward) to 1000.
• In the case that operation noise becomes larger again when inputting a command, turn the servo OFF
once. Then, set up Pr4F (FIR filter 2 setting) to a larger value and reset the control power to check for
operation noise.
Example 2) By carrying out the tuning up to this point, the response waveform during trapezoid drive
becomes as shown below.
actual speed [r/min]
Torque [%]
Position
deviation
500
540
400
480
3000
300
420
2000
200
360
1000
100
300
0
240
–100
–200
–300
–400
–500
180
5000
4000
Command speed/
actual speed
0
–1000
–2000
–3000
–4000
–5000
Torque
command
0.06
0.08
0.1
0.12
0.14
Command speed [r/min]
[s]
120
60
0
–60
Position deviation [pulse]
Adjustments
[6] Setting of position integration gain
• Set up Pr1F (2nd position integration gain) using the following formula as a reference.
Pr1F = (Pr18 x 2)/30
Example 3) By carrying out the tuning up to this point, the response waveform during trapezoid drive
becomes as shown below.
actual speed [r/min]
Torque [%]
Position
deviation
500
540
400
480
3000
300
420
2000
200
360
1000
100
300
0
240
–100
–200
–300
–400
–500
180
5000
4000
Command speed/
actual speed
0
–1000
–2000
–3000
–4000
–5000
Torque
command
Command speed [r/min]
0.06
0.08
0.1
0.12
0.14
[s]
120
60
0
–60
Position deviation [pulse]
209
Manual gain tuning (Application)
[7] Fine-tuning of Pr1F (2nd position integration gain)
• Tune Pr1F (2nd position integration gain) to con- Changes in position deviation
verge the position error to 0 swiftly.
Pr1F is optimum
Pr1F is too large
• Gradually increase Pr1F to set it up so as to
Position
converge the position command without fluc- command
tuation like the waveform shown in the right dia- differential value
gram before the position command completes.
If Pr1F is too large, a fluctuation is caused like
Position command
Position command
completion point
completion point
the waveform shown in the right diagram.
• When the viscous friction is too large, the convergence value of the position error deviates from 0. In such
case, as shown in "the case of too-large viscous friction", tune Pr1A (2nd speed loop integration time
constant) so that the convergence value is 0.
[8] Fine-tuning of Pr18 (2nd position loop gain)
• When position error during operation converges Changes in position deviation
to a target value too late, tune Pr18 (2nd posiPr18 is optimum
Pr18 is too large
tion loop gain).
Position
• By setting Pr18 and Pr1F (2nd position integra- command
tion gain), the position error converges to the differential value
target value swiftly. However, too-large value
causes vibration as shown in the right diagram.
Position command
Position command
completion point
completion point
Set up them to an appropriate value free from
vibration. Also, tune Pr1A (2nd speed loop integration time constant) so that the convergence value of the
position error becomes 0.
[9] Fine-tuning of gain switching timing
• To reduce fluctuation during setting, tune the gain switching timing.
• After setting Pr31 (Position control switching mode) to 5 (switching via command speed), increase or
decrease Pr33 (Position control switching level) to tune the timing of the gain switching. While gradually
increasing Pr31 from approx. 20 by10 increments, and set it to a value at which the vibration becomes
minimum.
Changes in position deviation
Position
command
differential value
Changes in position deviation
Position
command
differential value
Position command
completion point
Position command
completion point
[10] Fine tuning of Pr1A (2nd speed loop integration time constant)
When the viscous friction is too large, the convergence value of the position error immediately before the
position command completes varies as shown in the right diagram. In this case, the convergence value
can be adjusted via Pr1A (2nd speed loop integration time constant). Adjust Pr1A so that the convergence
value of the position error immediately before the position command completes become 0. The larger
viscous friction requires the smaller value of Pr1A.
Changes in position deviation
Viscous friction is too large
Adjust Pr1A.
Position
command
differential value
Position command
completion point
210
Position command
completion point
[Adjustments]
Vibration suppression control
Outline
Vibration at
the front end
Vibration is
measured by
displacement
sensor.
Vibration suppression control is a function by which,
when the front end of a tool vibrates, the vibration is
reduced by removing vibration frequency component
from the command.
Vibration frequency at the front end is set.
Driver
Motor
Position
command
Torque
command
Vibration
reducing filter
Position/ speed
control
Current
control
Motor position
Applicable range
Shift
Coupling Movable Ball
part
screw
Sequencer
Motor
current
Motor
Machine
table
Load
Encoder
Servo driver
This function is applicable to the following conditions.
Command under which the command slave control functions
• Any one of the position control, semi-closed control or position control for low-stiffness equipment
Pr02 = 0: position control
Control mode
Pr02 = 3: first control mode of position / speed control
Pr02 = 4: first control mode of position / torque control
second control mode of Pr02 = 6 or Pr02 = 10: semi-closed control
Pr02 = 12: position control (for low stiffness load)
Cautions
Before changing parameter setting, make sure to stop the operation.
• Under the following conditions, the function may not work normally, or the intended effect may not be
obtained.
Conditions under which the effect of the vibration suppression control is prevented
• When vibration is generated by a cause (external force etc.) other than the command
Load
• When the ratio between the resonance frequency and anti-resonance frequency is too large
• Vibration frequency is too high (100 [Hz] or more).
How to use
[2] Setting of vibration suppression filter setting (Pr2C)
First, set up the value to 0.
By setting a large value, although the stabi- Pr2C is optimum.
lizing time can be shortened, torque ripples
increase at the changing point of the command as shown in the diagram below. Set up
the value within a range that torque saturation does not occur under actually used conTorque command
ditions. If torque saturation occurs, the vibration suppression performance is decreased.
Position deviation
Vibration frequency
is calculated
Pr2C is too large
Torque saturate
211
Adjustments
[1] Setting of vibration suppression frequency (Pr2B)
Measure the vibration frequency at the front end of the tool.
Command
When the vibration can be directly measured using a laser displace- speed
ment meter etc, read the vibration frequency [Hz] from the measured
waveform and input to the vibration suppression frequency (Pr2B).
When there is no measuring equipment, read the frequency [Hz] of
the residual vibration from position error waveform as shown in the
diagram below using the waveform graphic function of the Matsushita
set up support software PANATERM®, and set up the value.
Manual gain tuning (Application)
Resonance ratio control
Outline
Resonance ratio control is a function by which, when vibration is caused
by resonance, the resonance peak and vibration are reduced by estimating shaft torque between the motor and the load, and the motor
torque is corrected so that the torsion becomes small.
Two-inertia system
External
disturbance torque +
Load
+
Axis torque
+
Correction
–
Spring
rigidity
–
+
+
Motor
–
Subtract in the
direction that axis
torque decreases
Motor
speed
Torque
command
+
–
Motor model
Gain
Set by Pr.26
0 ~ 200
Filter
Set by Pr.27
0 ~ 255
Axis torque estimate
Applicable range
Axis torque estimate
value
This function is applicable to the following conditions.
Conditions under which the resonance ratio control functions
• Any one of the position control for low-stiffness equipment, speed control for low-stiffness
equipment or second full-closed control
Control mode
• The combined motor encoder shall be a 17-bit absolute/increment.
Pr02 = 12: position control for low-stiffness equipment
Pr02 = 13: speed control for low-stiffness equipment
Pr02 = 14: second full-closed control
Cautions
Under the following conditions, the function may not work normally, or the intended effect may not be obtained.
Conditions under which the effect of the resonance ratio control is prevented
Load
• Vibration frequency is too high (200 [Hz] or more)
• Plural resonance points reside in a low frequency zone.
How to use
[1] Setting of disturbance torque observer filter selection (Pr27)
Measure the frequency [Hz] at the resonance point using the frequency characteristics measurement
function of the Matsushita set up support software PANATERM®, and set up the disturbance torque observer filter selection (Pr27) so that the cutoff frequency [Hz] of the filter is larger than that value.
Cutoff frequency [Hz] = disturbance torque observer filter selection (Pr27) x 3.7[Hz]
> frequency [Hz] at the resonance point
=
Cutoff frequency [Hz]
A larger filter setting value provides an estimation of shaft torque with smaller delay resulting in an enhanced resonance suppression performance, but operation noise is increased.
[2] Setting of disturbance torque compensation gain (Pr26)
While operating the actual machine, check the position error and torque waveform etc and gradually
increase the disturbance torque compensation gain (Pr26). A larger value of the gain provides an enhanced resonance suppression performance, but operation noise is increased. In this case, alter the
disturbance torque observer filter setting (Pr27) to search the optimum setting in which well-balance is
obtained.
212
[Adjustments]
Disturbance observer
Outline
Disturbance observer is a function by which, using a disturbance
torque estimate value which is estimated by the disturbance
observer, influence of disturbance torque and vibration are reduced.
External disturbances torque
–
Torque command
+
+
Motor + load
+
Addition in the direction
that external disturbance
decreases.
Torque command
+
Motor speed
–
Load model
Gain
Set by Pr26
0 ~ 200
Filter
Set by Pr27
0 ~ 255
External disturbance
Applicable range
External disturbance
torque estimate value
This function is applicable to the following conditions.
Conditions under which the disturbance observer functions
Control mode
• Any one of the position control, speed control, semi-closed control or position control for
high-stiffness equipment
Pr02 = 0: position control
Pr02 = 1: speed control
Pr02 = 3: both of position and speed control
Pr02 = 4: first control mode of position / torque control
Pr02 = 5: first control mode speed /torque control
Second control mode of Pr02 = 6 or Pr02 = 10: semi-closed control
Pr02 = 11: position control for high-stiffness equipment
Cautions
Under the following conditions, the intended effect may not be obtained.
Conditions under which the effect of the disturbance observer is prevented
• In a control mode other than Pr02 = 11: position control for high-stiffness equipment, when the
Command pattern
motor speed [r/min] is less than the following values
For 17bit (131072 resolution 7-serial) encoder: 50 [r/min]
For 2500P/r (10000resolution 5-serial) encoder: 600 [r/min]
Load
• When the resonance point resides under the cutoff frequency estimated by disturbance observer
• High frequency component is included in the disturbance torque
[1] Setting of disturbance torque observer filter selection (Pr27)
While operating the actual machine, in a state that influence of an disturbance appears, gradually increase the setting value of the disturbance torque observer filter selection (Pr27).
Cutoff frequency [Hz] = Disturbance torque observer filter selection (Pr27) x 3.7 [Hz]
By setting a larger filter setting value, a disturbance torque with less delay can be estimated resulting in
an enhanced suppression performance against the influence of the disturbance, but operation noise is
increased. Search a well-balanced setting.
[2] Setting of disturbance torque compensation gain (Pr26)
(Position control for high-stiffness equipment (Pr02 = 11) only requires to be set up)
For position control for high-stiffness equipment (Pr02 = 11), after setting the disturbance torque observer
filter selection (Pr27), set a larger value to the disturbance torque compensation gain (Pr26).
By setting the gain to a larger value, an enhanced suppression performance against the external disturbance, but operation noise is increased. In combination with the disturbance torque observer filter selection (Pr27), search a well-balanced setting.
213
Adjustments
How to use
Manual gain tuning (Application)
Torsion correction / Status feed back control
Outline
Status feed back control is a function in which, by adding the difference (torsion) between the encoder
position and the external scale position from speed command or torque command, torsion between the
motor and the load is reduced to reduce the vibration.
Applicable range
This function is applicable to the following conditions.
Condition under which the torsion correction/ status feedback control functions
• Second full-closed control mode
Control mode
• The combined motor encoder shall be a 17-bit absolute/increment.
Pr02 = 14 : second full-closed control
Cautions
Under the following conditions, the intended effect may not be obtained.
Conditions under which the torsion correction/status feedback control is prevented from functioning
Load
• When resonance point resides in a frequency zone of 200 [Hz] or more
• Torsion is too small
The torsion correction and the status feedback control commonly use Pr7C as the filter setting. Therefore,
use the respective functions separately.
How to use [1] : Torsion correction
[1] Setting of torsion and Differential speed detection filter (Pr7C)
Set the initial value for the torsion and Differential speed detection filter (Pr7C) in accordance with the
following formula:
Torsion and Differential speed detection filter (Pr7C) = 1st position loop gain (Pr10) x 2
[2] Setting of torsion correction gain (Pr7B)
While driving in the second full-closed control mode, gradually increase the torsion correction gain(Pr7B),
check the changes in response of the full-closed position error.
When the response performance is increased, while tuning the torsion and differential speed detection
filter (Pr7C), search an appropriate combination that the optimum repose is obtained.
How to use [2] : Status feedback control
[1] Setting of torsion and differential speed detection filter (Pr7C)
Set up the initial value using the following formula:
Torsion and Differential speed detection filter (Pr7C) = 1st position loop gain (Pr10) x 2
[2] Setting of torsion feedback gain (Pr7D) and differential speed feedback gain (Pr7E)
While driving in the second full-closed control, scale ratio the values of torsion feedback gain (Pr7D) and
the differential speed feedback gain (Pr7E), check the changes of the response of the full-closed position
error.
When the response performance is increased, while tuning the torsion and differential speed detection
filter (Pr7C) also, search an appropriate combination that the optimum repose is obtained.
214
[Encountering Difficulties?]
page
Identifying Problem ............................................... 216
Check Points ............................................................................. 216
Protective Functions (What are Alarm codes?) ......................... 216
Protective Functions (Details of Alarm Codes) ......................... 217
Troubleshooting .................................................... 221
The motor does not rotate. ........................................................ 221
The rotation is not smooth. / The motor rotates slowly even
if the target speed is zero in the speed control mode. .............. 221
Positioning accuracy is bad. ...................................................... 222
The initial (home) position varies. ............................................. 223
The motor produces an abnormal sound and/or vibration. ....... 223
Overshoot or undershoot / The motor overheats (burnt) .......... 224
The motor speed does not increase up to the specified value. /
The speed (movement) is too large or small. ............................ 224
Parameter values change to the former value. ......................... 224
PANATERM®, a message "communication port or
driver cannot be detected" appears. ......................................... 224
215
Identifying Problem
Check Points
The voltage of the
power is correct?
Alarm Code No. displayed?
Is the power fed?
Power line
connections
firmly secured?
Parameter
values correct?
L2
L1
X7
X6
L2C
Controller
RB1
X5
CN X5 connections
correct?
Not loosened?
U
V
The magnetic brake
improperly activated?
RB2
RB3
Abnormal sound
from the motor?
DL2
DL1
Aren’t short lines
disconnected?
L1C
L3
Are connectors
firmly secured?
W
X4
Machine
CN X4 connections
correct?
Not loosened?
Motor
Coupling
loosened?
Loosened connections (wire break,
ill contact)? Wiring correct?
Protective Functions (What are Alarm codes?)
The driver has various protective functions. When one of the protections is activated, the motor trips according to the timing chart shown in page 41, and the Servo Alarm Output (ALM) is turned off.
Actions to be taken after trip events
• After a trip event, the LED touch panel displays an alarm code no., and no Servo-ON occurs.
• Any trip status is cleared by keeping A-CLR (Alarm Clear Input) on for at least 120 ms after A-CLR off.
• The overload protective (protection against overload) function is activated based on the time limit characteristic when effective current reaches or exceeds 115% of rated current. Ensure that effective current
does not exceed rated current of the servo driver. You can clear alarm with an alarm clear signal (A-CLR)
10 seconds or longer after the alarm has occurred, when the overload protective (protection against
overload) function has been activated. When control current of the driver between L1C and L2C or r and
t is turned off, the time limit characteristic is cleared.
• The alarms mentioned above can also be cleared with the LED touch panel. See page 66 "Alarm Clear".
• 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.
• these alarm will not be recorded.
Control power undervoltage
(Alarm code No.11)
Main power undervoltage
(Alarm code No.13)
EEPROM parameter error
(Alarm code No.36)
EEPROM check code error
(Alarm code No.37)
Overtravel inhibit input error
(Alarm code No.38)
Motor automatic recognition error protection
(Alarm code No.95)
Motor auto recognition error
(Alarm code No.97)
216
[Encountering Difficulties?]
Protective Functions (Details of Alarm Codes)
Alarm
Code No.
Cause
Control power
undervoltage
11
Overvoltage
12
The P-N voltage of the control power converter is
lower than the specified value. Or the control
voltage is too low due to an instantaneous outage
or shortage of power capacity.
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 condensive load or
UPS (Uninterruptible Power Supply).
1) The internal regenerative discharge resistor is
disconnected.
Protection
2) The external regenerative discharge resistor is
not suitable so that regenerative energy cannot
be absorbed.
3) The driver (circuit) failed.
Main power
undervoltage
13
The P-N voltage of the main power converter is
lower than the specified value during Servo-ON.
1) The main power line voltage is too low, an
instantaneous outage occurred, the power
source is too small, the main power is turned
off, or the main power is not fed.
2) Shortage of power source: the line voltage
dropped due to the inrush current at power on.
3) Lack of phase
Power source has been operated at single
phase.
4) Servo-on at main power source off.
5) driver damage (circuit damage)
* Overcurrent
and ground fault
14
6) With the short line (short bar) between the
connector X2 or DL1 – DL2 (B1-B2)
disconnected, a user turned the servo ON.
The current flowing in the converter is larger than
the specified value.
1) The driver failed (due to defective circuits or
IGBT parts).
2) Motor wires (U, V and W) are shorted.
3) Motor wires (U, V and W) are grounded.
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 driver.
8) The timing of the pulse input and servo-on is
the same, or the pulse is faster.
1) Measure the P-B1 resistance of the driver using
a circuit tester. If it read ∞, the connec-tion is
broken. Replace the driver. Insert an external
regenerative discharge resistor between the P
and B2 terminals.
2) Use a resistor having the specified resistance
for specified Watt.
3) Replace with a new driver (that is working
correctly for another axis).
Measure the terminal-to-terminal voltages
(between L1, L2 and L3).
1) Increase the capacity supply voltage. Change
power source. Remove the source that caused
the electromagnetic contractor to drop, and turn
the power on again.
2) Increase the capacity of the main power. For the
required capacity, see page 30 "List of drivers
and Combatible Peripheral Equipment".
3) Correct the phase (L1, L2 and L3) connections
of the main power. If the main power is signlephase 100V. use L1 and L3.
4) Check the timing of power-on (for both the main
power and control power).
After the servo ready signal is output, activates
servo-on.
See page 40 the “Timing Chart”.
5) Replace to a new driver (which is operated at
another axis)
6) Ensure that the short line (short bar) between
the connector CN X2 or DL-DL2 is not
disconnected.
1) Disconnect the motor wires, and enter ServoON. If this trouble happens immediately,
replace the driver with a new one (that is
working correctly).
2) Check if the U. V and W wires are shorted at
the connections. 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 driver with a new one. Do not start
or stop the motor by entering Servo-ON or OFF.
7) Check the capacity of the motor and driver on
the nameplate. If the motor is not compatible
with the driver, replace it with a correct one.
8) Input the pulse at least 50 ms after servo-on.
See page 41 the “Timing Chart”.
217
Encountering
Difficulties?
4) Motor burned
Countermeasures
Measure the P-N voltage to check whether the
voltage is correct or not. Modify the control voltage
to an acceptable value, and/or increase the power
capacity.
Measure the terminal-to-terminal voltages
(between L1, L2 and L3). Remove the causes,
and input the correct voltage.
Identifying Problem
Protection
Alarm
Code No.
Cause
* Motor and/ or
Drive Overtemp.
15
Overload
(Discharge)
16
The radiator is heated up to exceed the limit
temperature. The power elements of the driver is
overheated.
Overload.
Overload protection is activated based on the
specified time limiting operation when the
integration of a torque command exceeds the
specified overload level. Caused by a long
operation with a torque that exceeds the specified
torque limit. (table of characteristics)
1) Long operation with more load and torque than
the rating.
Countermeasures
2) Vibration or hunting due to incorrect gains.
Cause vibration and/or abnormal sound.
3) Motor wires connected wrong or broken
4) The machine is hit against a heavy thing, or
suddenly becomes heavy in operation. The
machine is entangled.
5) The electromagnetic brake is ON.
1) Increase the capacity of the driver and motor.
Lengthen the ramp time of
acceleration/deceleration. Reduce the motor
load.
2) Readjust the gains.
3) Correct the motor wiring per the wiring
diagrams. Replace cables.
4) Free the machine of any tangle.
Reduce the motor load.
5) Measure the voltage at the brake wiring
connections. Turn off the brake.
6) Correct the motor and encoder wiring to eliminate
the mismatching between the motors and axis.
6) In a system of multiple drivers, some motors
are wired incorrectly to other axis.
Time(sec)
Check the ambient temperature and cooling
conditions. Check the load rate. Make the
environment under
which the driver operates. Reduce the load.
Monitor the torque (current wave) using an
oscilloscope to check whether the torque is
surging or not. Check the load factor and overload
alarm messages.
Overload Protection: Time Limiting Characteristic
100
MAMA
MSMA
MAMA
MSMA
MDMA
MHMA
MFMA
MGMA
10
1
115
100
150
200
250
300
350
400
100W
30W – 100W
200W – 750W
200W – 5kW
750W – 5kW
500W – 5kW
400W – 4.5kW
300W – 4.5kW
450
500
550
Torque(%)
* Regenerative
resistor overload
18
The regenerative energy is larger than the
capacity of the regenerative discharge resistor.
1) When the load inertia is too large,the converter
voltage increases due to the large energy
regenerated during deceleration, and increases
more due to the shortage of energy
consumption by the regenerative discharge
resistor.
2) When the speed of the motor is too high, the
regenerative energy cannot be consumed
within the specified deceleration time.
218
Check the load rate of the regenerative resistor in
the Monitor mode. The driver should not be used
with continuous regenerative braking.
1) Check the operation pattern (using the velocity
monitor). Check the load rate of the
regenerative resistor and the over-regeneration
alarm on display.
Increase the capacity of the driver and motor.
Increase the deceleration time. Use an external
regenerative resistor. Check the connection
wire between DL1 – DL2 (B1 and B2) terminals.
2) Check the operation pattern (using the speed
monitor). Check the load rate of the
regenerative resistor and the over-regeneration
alarm on display.
Increase the capacity of the driver and motor.
Increase the deceleration time. Reduce the
motor speed. Use an external regenerative
resistor.
[Encountering Difficulties?]
Cause
* Encoder
communication
error
21
* Encoder
communication
data error
23
Position
deviation error
24
Due to communication breakdown between the
encoder and driver, the detective function for
broken encoder wires is activated.
<Caution>
If the above has occurred before power-on, be
careful as the motor automatic recognition of and
protection against abnormality (alarm code No.95)
will be activated.
The encoder sends an erroneous data mainly due
to noises. The encoder is connected correctly,
though the data is not correct.
<Caution>
If the above has occurred before power-on, be
careful as the motor automatic recognition of and
protection against abnormality (alarm code No.95)
will be activated.
The position error pulse is larger than Pr63
(position error limit). The motor operation does not
respond to the commands.
* Hybrid
deviation error
25
When the driver of the full-closed version is under
the full-closed and hybrid control with an external
encoder, the load position detected by the external
encoder and the motor position detected by the
motor encoder are beyond the limit specified by
Pr73 (hybrid error limit).
Overspeed
26
The motor speed exceeds the specified limit.
Command
scaling error
27
* External scale
communication
data error
28
Deviation
counter overflow
29
The command pulse is larger than 500 kpps at the
entrance of the position error counter. The scale
ratios set by Pr46 through Pr4B (numerator of 1st
to 4th command scale) are not correct.
When Pr76 (scale error invalidation) = 0, and the
driver is operated under the full-closed and hybrid
control with an external encoder, the scale error
input is OFF.
The value of the position error counter is over 227
(134217728).
* External scale
communication
error
* EEPROM
parameter error
35
The external scale is disconnected, or the scale
fails.
36
The data contained in the parameter storage area
of the EEPROM is broken, so erroneous data is
retrieved.
* EEPROM
check code error
37
The check code of the EEPROM is broken, so
erroneous data is retrieved.
Overtravel inhibit
input error
38
Both the CW and CCW over-travel limits are not
active.
Countermeasures
Correct the encoder wiring per the wiring diagram.
Correct the connection of the pins.
Make sure that the power of the encoder is 5VDC
± 5% (4.75 to 5.25V). Especially when the wire
length is long, it is important to meet this
requirement. You should not bundle the encoder
wires and motor wires together. Connect the
shield to FG. See the encoder wiring diagram.
Check whether the motor operates per the
position command pulse or not. See the torque
monitor to check if the output torque is saturated.
Readjust the gains. Maximize the value of Pr5E
(torque limit set-up). Correct the encoder wiring
per the wiring diagram. Increase the acceleration
and deceleration time. Reduce the load and
speed.
Check the connection between the motor and
load. Check the connection between the external
encoder and driver. Correct the values of the
external scale numerator and denominator
regarding parameters Pr74, Pr75, Pr 76 and Pr77.
Increase the value of Pr73 Increase the value of
Pr71 (hybrid switching time).
Decrease the target speed (command values).
Decrease the value of Pr50 (speed command
input gain). Adjust the scale ratio so that the
frequency of the command pulse is 500 kpps or
less. If an overshoot occurs, readjust the gains.
Correct the encoder wiring per the wiring diagram.
Reduce the multiplication factor by adjusting the
values of Pr46 through Pr4B, and then adjust the
scale ratios so that the command pulse frequency
is 500 kpps or less.
Check the reason why the CN X5 Pin 33 is OFF.
Check that the motor operates per the position
command pulse. See the torque monitor to check
that the output torque does not get saturated.
Readjust the gains. Maximize the value of Pr5E
(torque limit set-up). Correct the encoder wiring
per the wiring diagram.
Check the power supply for the external scale.
Properly connect the external scale cable and the
CN X4 cable according to the wiring diagram.
Set all the parameters again. If this error occurs
frequently, the driver may have been broken.
Replace the driver with a new one. Return the old
driver to the sales agent for repair.
The driver may have been broken. Replace the
driver with a new one. Return the old driver to the
sales agent for repair.
Check if the switch, cable and power supply for
the CW/CCW overtravel inhibit input are normal.
Check that the control power (12 to 24VDC) can
be established without delay. Check the value of
Pr04. Correct the wiring, if necessary.
219
Encountering
Difficulties?
Alarm
Code No.
Protection
Identifying Problem
Protection
Alarm
Code No.
40
Voltage of the battery for the absolute encoder
has dropped below a specified value.
* Absolute
encoder counter
overflow
Absolute
encoder
overspeed
* Absolute encoder
single-rotation
counter error
* Absolute encoder
multi-rotation
counter error
41
The data of the multi-turn counter of the encoder
exceeds the specified limit.
42
The encoder rotates faster than the specified rate
when it is battery-powered.
44
The encoder detects an error of the single-turn
counter.
45
Absolute
encoder status
error
* Encoder
Z-phase error
47
2500P/r The encoder has detected abnormality
of the single rotation counter.
17 bit
The encoder has detected abnormality
of the multi-rotation counter.
The encoder detects an internal status error. After
the control power on, the encoder rotates faster
than the specified rate.
Pulse dropouts in phase Z of 2500 [P/r] 5 serial
encoders have been detected.
The encoder is defective.
* Encoder
commutation
signal error
49
* Motor auto
recognition error
95
* Control mode
setting error
97
48
* Other errors
* Other errors
220
Cause
Absolute
encoder system
down error
Numbers
other
than
the
above
Countermeasures
Check the voltage of the battery. Connect to the
battery, and then clear the encoder using the
absolute encoder clear mode contained in the
auxiliary function (see page 231 "Setup of the
absolute encoder (initialization)" in Appendix).
Limit the movable range to ±32767 revolutions (15
bits) from the initial position. Adjust the value of
Pr0B.
Connect the power to the encoder and then make
sure that the encoder voltage is 5V±5%. Correct
CN X4 connections, if necessary.
Turn off the power and turn it on again. If the error
cannot be eliminated, the motor and/or driver may
be broken. Disconnect the power supply of these
equipment, and replace them with new ones.
Return the old equipment to the sales agent for
repair.
Prevent the motor from rotating before output of
servo ready (S-RDY) since control power supply
of the driver turned on.
Turn off the power and turn it on again. If the error
cannot be eliminated, the motor and/or driver may
be broken. Disconnect the power supply of these
equipment, and replace them with new ones.
Return the old equipment to the sales agent for
repair.
Abnormal logic of CS signal of 2500 [P/r] 5 serial Turn off the power and turn it on again. If the error
cannot be eliminated, the motor and/or driver may
encoders have been detected.
be broken. Disconnect the power supply of these
The encoder is defective.
equipment, and replace them with new ones.
Return the old equipment to the sales agent for
repair.
(1) Replace the motor with one that matches the
(1) The motor is not compatible with the servo
servo driver.
driver.
(2) Check connection of the encoder.
(2) When power is turned on, the encoder has not
been connected.
<Cautions>
Before power-on, if (1) the encoder line has been
disconnected, or (2) data from the encoder has
caused abnormal communications, be careful as
the motor automatic recognition of and protection
against abnormality (alarm code No.95) will be
activated, after power is turned on.
In the case of (1) or (2) above, execute processing
of alarm codes No.21 and 23.
Set up Pr02 (Control mode setup) properly.
The selected control mode cannot be used in
combination with the encoder. The control mode
does not support use of the encoder.
Turn off the power and turn it on again. If the error
The control circuit operates incorrectly due to
cannot be eliminated, the motor and/or driver may
large noises or any other reasons.
be broken. Disconnect the power supply of these
equipment, and replace them with new ones.
Return the old equipment to the sales agent for
The driver's self-diagnosing function is activated,
repair.
because an error happens in the driver.
Troubleshooting
[Encountering Difficulties?]
The motor does not rotate.
Category
Parameters
Causes
The control mode selected is not
correct.
The internal speed command (switching
between internal and external
commands) does not work.
The torque limit inhibition setting is not
correct.
The torque limit has been set to 0.
The zero speed clamp is ON, so the
motor does not operate.
Wiring
Installation
The internal speed setting parameter is
not input.
CW/CCW overtravel inhibit input of CN
X5 is open.
CN X5 Servo-ON signal is not received.
CN X5 Counter clear is ON (shorted).
CN X5 command pulse input inhibit is
active, so the motor does not operate.
Bearing lock
Countermeasures
Check the value of Pr02 (control mode set-up).
0: position control, 1: speed control, 2: torque control
Check the value of Pr05 (Internal speed swiching).
0: At analogue speed command set-up,
Change the value to 1 or 2.
Check the value of Pr03
(Analog torque limit inhibit).
0: torque cannot be produced, so the motor does not rotate.
Change the value to 1.
Check the value of Pr5E (torque limit set-up).
Change the value to 300 (default).
Check the value of Pr06 (ZERPSPD input selection).
Change the value to 0. If the value is 1, the zero clamp 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.
Check the Pr53 ~ 56.
Set to the speed desired.
Check the value of Pr04. If the value is 0, connect between CN
X5 pins 9 and 41, and 8 and 41.
Connect (short circuit) between CN IX5 pins 29 and 41.
Disconnect between CN IX5 pins 30 and 41.
Check the value of Pr43 If the value is 0, connect between CN
X5 pins 33 and 41. If the value is 1, the command pulse input
inhibition is disregarded, so the motor will rotate according to
command pulses.
Turn off the power. Disconnect the motor. Rotate the motor shaft
by hand to make sure that the motor rotates freely. If the motor is
fitted with an electromagnetic brake, rotate the shaft by hand
while applying a voltage
(24VDC) to the brake. If the motor does not rotate, consult the
sales agent to repair it.
The rotation is not smooth.
The motor rotates slowly even if the target speed is zero in the speed control mode.
Category
Causes
Parameters
The control mode selection is not
correct.
Adjustment
The gains are not appropriate.
Speed and position commands are not
stable.
CN X5 signals are chattering.
1) Servo-ON signal
2) CW/CCW torque limit input signal
3) Counter clear input signal
With the position control mode selected, if Pr02 is set to other
than 0, the motor will rotate slowly because speed command
offset governs the operation of the motor. Change the value of
Pr02 to 0.
Increase the value of Pr11 (1st speed loop gain). Insert a torque
filter (Pr14) and then further increase the value of Pr11.
Check the condition of the motor using the check pin on the LED
touch panel and the wave form graphics function of
PANATERM®. Check the wiring and its connections. Check the
controller.
1) Check the wiring and connections between CN X5 pins 29 and
41 by monitoring the display of input and output signals status.
Modify the wiring so that Servo-ON signals can be made
active correctly. Check the controller.
2) Check the wiring and connections between CN X5 pins 17 and
18, and 16 and 17 using a circuit tester and/or oscilloscope.
Modify the wiring so that CW/CCW torque limit input can be
made active correctly. Check the controller.
3) Check the wiring and connections between CN X5 pins 30 and
41 by monitoring the display of input and output signals status.
Modify the wiring so that Position Error Counter input can be
made active correctly. Check the controller.
221
Encountering
Difficulties?
Wiring
Countermeasures
Troubleshooting
Category
Wiring
Causes
4) Speed zero clamp signal
5) Command pulse input inhibit signal
Speed commands contain noises.
Improper offset
Speed commands contain noises.
Countermeasures
4) Check the wiring and connections between CN X5 pins 26 and
41 by monitoring the display of input and output signals status.
Modify the wiring so that Zero Speed Clamp input can be
made active correctly. Check the controller.
5) Check the wiring and connections between CN X5 pins 33 and
41 by monitoring the display of input and output signals status.
Modify the wir-ing so that Command Pulse Input Inhibit can be
made active correctly. Check the ontroller.
Use shielded cables for connection to CN X5. Power and signal
cables should be separated by at least 30 cm and put in duct.
Measure the voltage between CN X5 pins 14 and 15 (speed
command inputs) using a circuit tester and/or oscilloscope. Adjust
the value of Pr52 so that the motor can stop.
Use shielded cables for connection to CN X5. Power and signal
cables should be separated by at least 30 cm and put in duct.
Positioning accuracy is bad.
Category
System
Adjustment
Parameter
Wiring
Installation
222
Causes
Countermeasures
Count the number of feedback pulses while repeating to travel
back and forth within a fixed distance. If the number of feedback
pulses varies, adjust the controller. Take measures to reduce the
noise on the command pulse.
Reading of in-position signals occurs at Use the check pin (IM), to monitor the position error when the inposition signals are received. Read the in-position signals at a
the edge.
mid point on the time span, not at the edge.
If the command pulses are deformed or narrowed, adjust the
The form and width of the command
pulse generation circuit. Take measures to reduce the noise on
pulses deviate from the specified
the command pulse.
values.
Check the amount of position error in the monitor mode. Increase
The position loop gain is too small.
the value of Pr10 to the extent that no oscillation occurs.
Decease the value of Pr60 (in-position range) to the extent that
The setting of in-position detection
the in-position signals do not chatter.
range is too large.
The command pulse frequency exceeds Decrease the command pulse frequency. Change the values of
Pr46 through Pr4B (numerator of 1st to 4th command scale).
500 kpps.
Check the repetition accuracy. If repeated without fluctuation,
The scale is not appropriate.
increase the capacity of the motor and driver.
CN X5 signals are chattering:
1) Check the wiring and connections between CN X5 pins 29 and
1) Servo-ON signals
41 by monitoring the display of input and output signals status.
Modify the wiring so that Servo-ON signals can be made
active correctly. Check the controller.
2) Check the wiring and connections between CN X5 pins 30 and
2) Counter clear input signal
41 by monitoring the display of input and output signals status.
Modify the wiring so that Position Error Counter input can be
made active correctly. Check the controller.
3) Check the wiring and connections between CN X5 pins 17 and
3) CW/CCW torque limit input signal
18, and 16 and 17 using a circuit tester and/or oscilloscope.
Modify the wiring so that CW/CCW torque limit input can be
made active correctly. Check the controller.
4) Check the wiring and connections between CN X5 pins 33 and
4) Command pulse input inhibit signal
41 by monitoring the display of input and output signals status.
Modify the wiring so that Command Pulse Input Inhibit can be
made active correctly. Check the controller.
Check the overshoot at stop using the wave form graphics
Load inertia is large.
function of PANATERM®. Adjust the gains. If this is not effective,
increase the capacity of the driver and motor.
Position commands (amount of
command pulses) are not correct.
[Encountering Difficulties?]
The initial (home) position varies.
Category
System
Wiring
Causes
When calculating the initial (home)
position, the Z-phase output is not
detected.
Creep speed to initial position is too
high.
The output of the initial (home) position
proximity sensor (Proximity dog sensor)
is chattering.
Noise on encoder wires
Z-phase signal is not output.
The circuit for Z-phase signal is not
correct.
Countermeasures
Check that the Z-phase accords to the center of the proximity
dog. Perform initialization correctly according to the controller.
Decrease the return speed near the initial (home) position, or
lengthen the initialization sensor.
Check the input to the sensor using an oscilloscope. Modify the
wiring around the sensor. Take measures to reduce the noise.
Take measures to reduce the noise (noise filters, ferrite cores,
etc.). Properly connect the shield wires of I/F cables. Use twistpaired wires. Separate the signal and power wires.
Monitor the Z-phase signal using an oscilloscope. Check that CN
X5 Pin 13 is connected to the ground terminal of the controller.
Connect the open collector to the ground of the driver. Replace
the driver and controller, or repair them.
Check that the line driver is connected at the both sides. If the
controller does not have a differential input, use CZ output (open
collector).
Check that the line driver is connectdt at the both sides.
The motor produces an abnormal sound and/or vibration.
Category
Wiring
Causes
Speed commands contain noises.
The gains are too large.
Adjustment
The speed detection filter is not correct.
Installation
Resonance between the machine and
motor occurs.
Motor bearing
Electromagnetic sound, gear sound,
braking sound, hub sound, rubbing
sound from the encoder, etc.
Countermeasures
Check the wiring between CN X5 Pins 14 and 15 (speed
command inputs) using an oscilloscope. Take measures to
reduce the noise (noise filters, ferrite cores, etc.). Properly
connect the shield wires of I/F cables. Use twist-paired wires.
Separate the signal and power wires.
Decrease the values of Pr10 (speed loop gain) and Pr11 (position
loop gain).
Increase the value of Pr13 (speed detection filter) until the sound
decreases to an acceptable level, or return the value to 4
(default).
Adjust the value of Pr14 (torque filter). Check the mechanical
resonance using the frequency characteristics analysis program
in PANATERM®. If a resonance occurs, set Pr10(notch
frequency).
Operate the motor without load in order to check the sound and
vibration near the bearing. Replace the motor and operate it to do
the same checks. Repair the motor, if necessary.
Operate the motor without load in order to check the sound.
Repair the motor, if necessary.
困
っ
た
と
き
223
Troubleshooting
Overshoot or undershoot
Category
Adjustment
Installation
The motor overheats (burnt)
Causes
Countermeasures
Gains are not correct.
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. Adjust the gains
correctly. Increase the wattage of the motor and the driver.
Reduce the inertia ratio. Use gears.
Rattling or slip of the machine
Check the coupling between the motor and machine.
Environment (ambient temperature, etc.) If the ambient temperature is higher than the specified value,
install a cooling fan.
The cooling fan does not work. The air
Check the cooling fans of the driver and machine. The cooling
intake is dirty.
fan of the driver should be replaced at regular cycles. This
replacement should be done by a service engineer of the sales
agent.
Mismatch between the driver and motor Check the nameplates of the driver and motor. For available
combinations between driver 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 (failure Check the voltage at the brake terminal. Apply 24VDC to release
to release the brake).
the brake.
The motor fails (due to oil, water, etc.).
Avoid high temperature/humidity, oil, dust and iron powders.
The motor is operated by external forces Check the operation pattern, use and working status. This kind of
while the dynamic brake is activated.
operation should be avoided.
The motor speed does not increase up to the specified value.
The speed (movement) is too large or small.
Category
Parameter
Adjustment
Causes
The speed command input gain is not
correct.
The position loop gain is too small.
The scale is not appropriate.
Countermeasures
Check that the value of Pr50 (speed command input gain) is 500
(i.e. 3000r/min/6V).
Adjust the value of Pr10 (position loop gain) to approximately
100.
Correct the values of Pr46 (numerator of 1st command pulse
ratio), Pr4A (Multiplier of numerator of command pulse radio) and
Pr4B (denominator of pulse command scale). See "Parameter
settings" for the mode in topic.
Parameter values change to the former value.
Category
Parameter
Causes
Parameter values are not downloaded
into EEPROM before power off.
Countermeasures
See page 63 "Writing parameter into EEPROM" in Preparations.
PANATERM®, a message "communication port or driver cannot be detected" appears.
Category
Wiring
224
Causes
The communication cable (RS232C) is
connected to CN X7.
Countermeasures
The communication cable (RS232C) must be connected to CN
X6.
[Appendix]
page
Absolute System .......................................................................
Set up support software PANATERM® ......................................
Communication .........................................................................
Description on Command Pulse Ratio for Parameter Setup.....
Conformance to EC Directives and UL Standards ....................
Acceptable Loads on Output Axes ............................................
Optional Parts ............................................................................
Recommended Parts .................................................................
Dimensions ................................................................................
Driver Block Diagra ...................................................................
Control block diagrams..............................................................
Specifications (Driver) ...............................................................
Motor characteristics .................................................................
Index ..........................................................................................
226
236
238
264
266
269
270
282
284
296
298
304
306
314
225
Absolute System
Outline
An absolute system based on an absolute encoder eliminates the necessity of origin return upon power up.
This is an advantageous feature when the application includes operation of robot etc.
When the MINAS-AIII of absolute and/or incremental is connected to a motor containing an encoder fed by
dedicated battery and the parameter Pr0B is set to 0, the upper unit (host controller) can obtain accurate
positioning information once the absolute system is powered up.
After initial connection of the battery, return the system to its origin, and then reset the absolute encoder to
clear revolution data. In the subsequent operation, absolute position is detected without first returning to the
home position.
The upper device can connect up to 16 MINAS-AIII units and acquire current position data through RS232C
or RS485 serial communication links; and then, based on the data, can determine the absolute position of
individual shafts.
Components of absolute system
Drivers and motors
Driver
Model
M*MA***S**
M*DC******
Motor
Resolutions of encoder
17 bits
(131072)
Lead wire
7 conductors
Absolute specification
The MINAS-AIII driver can be connected to the upper unit (host) in one of the three ways shown below,
based on specification of the host interface and the number of MINAS-AIIIs connected together, if any. When
two or more MINAS-AIIIs are to be connected to a single host through a communication line, allocate the
module ID to each RSW.
Module ID (RSW)
F01
45
67
AB
23
CD E
• Up to 16 MINAS-AIII can be connected to the host though RS232C interface by allocating unique ID (0 to
F) to them.
• When a MINAS-AIII connected to the host through RS232C is also connected to other MINAS-AIIIs through
RS485, it must be given an ID 0, while the remaining devices from 1, 2,,,(F).
• Alternatively, up to MINAS-AIIIs can be connected to the host through RS485 interface. If this is the case,
module ID 0 is allocated to the host and 1 ,,, (F) to MINAS-AIIIs. (Up to 15 units can be connected.)
89
RSW
MBDC Driver
226
[Appendix]
Configuration of the absolute system using the RS232C interface
RS232C
Switching device
Host
Host
RS485
RS485
RS485
• • • Up to 16 axes
RSW(ID)=0
Host controller
CN X6
RS232C interface
TXD
RXD
GND
5
3
4
SN751701 or
equivalent
RXD
TXD
GND
CN X5
3
Positioning
controller
*
CN X4
Motor
44
BTP-0
45
BTN-0
Battery
1
RSW(ID)=1
RSW(ID)=2
RSW(ID)=3
Servo driver
* To store revolutions data in the encoder,
a backup battery is required which should
be connected to:
1. When installed on the upper controller,
Connect to 1 .
2. When installed on the driver, Connect to
2 . See page 228 "Battery installation".
3. When the control system is separated from
the mechanical system, e.g. robot, Connect to 3 .
5
6
*
2
*
* For battery connecting procedure, see "Battery installation" described on the next page.
Configuration of the absolute system using the RS485 interface
RS485
Module ID = 0
Host
• • • Up to 15 axes
RSW(ID)=1
Host controller
RS485 interface
RS485+
RS485GND
RSW(ID)=2
RSW(ID)=3
Servo driver
CN X7
ADM485 or
equivalent
7
RS485+
8
RS4854
GND
Set the RSW (ID)
on individual
panels to 1 to (F).
CN X6
7
The
RS485+
downstream 8 RS4854
driver
GND
CN X5
3
* To store revolutions data in the encoder,
a backup battery is required which should
be connected to:
1. When installed on the upper controller,
Connect to 1 .
2. When installed on the driver, Connect to
2 . See page 228 "Battery installation".
3. When the control system is separated from
the mechanical system, e.g. robot, Connect to 3 .
*
Appendix
Positioning
controller
RSW(ID)=4
CN X4
Motor
44
BTP-0
45
BTN-0
Battery
1
*
2
*
* For battery connecting procedure, see "Battery installation" described on the next page.
227
Absolute System
Battery installation
Initial installation
Connect the lead wire from the battery unit top to its own connector. Wait for 5 minutes and then install the
battery to the servo driver which should have been turned on for at least 1 hour. (This is because excessive
charging current rushes to the encoder internal capacitor after the power to the driver is first turned on.) After
installing the battery by following the procedure shown below, set up the absolute encoder in accordance
with page 231 "Setup of the absolute encoder (initialization).
Keep the battery in good condition by turning on the main power daily for appropriate period.
Replacing the battery unit
The battery unit must be replaced with a new one upon a battery alarm.
Follow one of the replacement procedures described below.
1) Replace the battery while keeping the driver control power supply turned on.
2) Turn on the driver control power supply and then off after it fully charges the encoder internal capacitor
(for at least 1 hour); and then start the replacement procedure.
Because the internal capacitor has limited capacity, replacement according to step 2) above must be finished within the period as described below.
• Data retention time with the internal capacitor:
New capacitor: 1
Note that the life expectancy of the capacitor depends on working and storage temperature.
After battery replacement, reset the battery warning.Refer to P.235, "How to Reset the Battery Warning".
If the battery unit replacement is not finished before the backup capacitor discharges to a low voltage level,
an absolute system down error occurs. Should this happen, the absolute encoder must be initialized again.
See page 231 "Setup of the absolute encoder (initialization).
• AIII Series Type B ~ Type D
1) Refresh the new battery unit. Connect the
upper lead connector of the battery unit to
CN601, and leave it for 5 minutes. After 5
minutes, remove the connector from
CN601.
2) Remove the battery cover by sliding it downward.
Battery cover
CN601
After 5 minutes, remove the
connector from CN601.
228
[Appendix]
3) Mount the new battery unit to the panel with attention not to catch the lead wire, and mount the battery
cover. (After inserting the battery cover from the bottom of the panel, slide the cover upward.)
Insert the lead wire into
theinnermost of the panel.
battery unit
• AIII Series Type E ~ Type G
1) Remove the battery cover.
Press and hold the cover at
and then open.
Battery covor
2) Insert the battery into the battery holder,
connector
1. Press the tab while
inserting the battery.
2. Plug the connector
into socket.
Battery holder
3) Mount the battery cover.
229
Appendix
<Warning>
1. For Type A, a battery unit is specified to be externally attached. Connect it to Connector CN X5 (44- and
45-pin) or connect it on the host controller side.
2. If battery is installed on both the upper controller and drive, confliction of two power circuits leads to
dangerous malfunction.
3. Battery and battery connector must be positively engaged to avoid loose connection.
4. Use the following battery:
Lithium ER6V 3.6 V 2000 mAh, Toshiba Battery Co., Ltd. Part No.: DVOP2990
Absolute System
<Reference>
The below calculates the expected lift of a lithium battery, taking Toshiba Battery Co., Ltd. ER6V 3.6 V 2000
mAh as an example.
Since the battery life depends on the application (in this example, robot) and working/storage conditions, the
calculated life below may not be guaranteed.
(1) 2 cycles/day operation
Mon.- Sat. 313 of 365 days
Sun. 52 of 365 days
24h
24h
10h
2h
10h
2h
a
bc
a
bc
ON
Power
OFF
c
a: current consumption in the normal mode, 3.6[µA]
b: current consumption in interruption timer mode, 280[µA]
[Interruption timer mode: the unit can response up to the maximum revolutions for 5 seconds
after power is turned off]
c: current consumption in interruption mode, 110[µA]
Amount of discharges per year = (10h x a + 0.0014h x b + 2h x c) x 2 x 313days + 24h x c x 52days
= 297.8[mAh]
Battery life = 2000[mAh] /297.8 [mAh/year] = 6.7 (6.7159) [year]
(2) 1 cycle/day operation
The life expectancy of the battery as shown in 1) above, but the 2nd cycle is not employed.
Amount of discharges per year = (10h x a + 0.0014h x b + 14h x c) x 313days + 24h x c x 52days
= 630.6[mAh]
Battery life = 2000[mAh] /630.6[mAh/year] = 3.1(3.1715) [year]
230
[Appendix]
Setup of the absolute encoder(initialization)
Set up the absolute encoder in the following cases:
• When the machine is first started
• Absolute system down error (alarm 40) is generated
• Encoder cable is disconnected
To do so, return to the machine to the origin, clear the absolute encoder to release the encoder error and
reset the revolution data to 0. The absolute encoder can be cleared from the front control panel or PANATERM®.
Turn off the control power to store the data and then turn it again.
Setting up the absolute encoder
(Auxiliary function mode)
Execute
Mode selection
1) Turn power on. Return the
machine to the home position.
Automatic offset adjust mode
2) Set control on the front panel
to the auxiliary function mode.
Display "Absolute encoder
clear mode" on the execution
screen. See page 56 "Setting
parameters and mode".
Automatic offset
adjust mode
Motor test run mode
Alarm clear mode
Absolute value
encoder clear mode
3) On the execution screen, operate the keys as follows:
Press and hold
for
approx. 3 seconds until
the screen indicates
"- - - - -" and "Start".
The absolute encoder clearing
operation starts.
In a moment, the screen indicates
that the encoder is cleared.
Note: If the encoder is not an absolute encoder but an incremental type,
the screen will display
.
Appendix
4) Turn off the driver control power supply and then turn it on again.
231
Absolute System
Absolute data delivery sequence
Approx. 2 seconds after turning on of the control power supply, servo ready is turned on. While the servo
ready is on, turn motor servo off, and keep the motor locked by using the brake (the motor fully stops).
Transfer the absolute data by following the procedure below.
Communications through RS232C interface
For the transmitting and receiving procedure, see the instruction manual for the upper device.
Transmission
starts
The data marked with * 1 and * 2
are defined by setting RSW (ID) on
the servo driver front panel.
05h Transmission
04h
Reception
Data
transmission
request to
servo
driver
RSW (ID)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
N
Y
00h Transmission
01h Transmission *1
D2h Transmission
2Dh Transmission *2
06h Reception
N
Y
05h Reception
N
Y
Absolute
data
reception
from servo
driver
04h Transmission
Receiving
absolute data
(15 charact ers)
Check sum OK
Data *1
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Data*2
2Eh
2Dh
2Ch
2Bh
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
20h
1Fh
If the low-order 8 bits of the sum of
the received absolute data (15 characters) are "0", the check sum is
judged acceptable.
N
Y
06h Transmission
15h Transmission
Transmission
ends
On the host, enter the RSW value of the destination driver into axis(data *1) of the command block and
send the command according to the RS232C transfer protocol. For further information on the communications, see page 238 "Communication".
To read data on two or more axes, wait for at least 500 ms before accessing
the next axis data.
232
[Appendix]
Communications through RS485 interface
For the transmitting and receiving procedure, see the instruction manual for the upper device.
The below illustrates communication sequence between RSW(ID) 1 and driver.
Transmission
starts
The data marked with * 1, * 2 and *
3 are defined by setting RSW (ID)
on the servo driver front panel.
81h Transmission *1
05h Transmission
RSW (ID) Data *1 Data *2 Data *3
The RS485 interface cannot be used.
0
1
81h
01h
2Dh
2
82h
02h
2Ch
3
83h
03h
2Bh
4
84h
04h
2Ah
5
85h
05h
29h
6
86h
06h
28h
7
87h
07h
27h
8
88h
08h
26h
9
89h
09h
25h
A
8Ah
0Ah
24h
B
8Bh
0Bh
23h
C
8Ch
0Ch
22h
D
8Dh
0Dh
21h
E
8Eh
0Eh
20h
F
8Fh
0Fh
1Fh
*1
81h Reception
04h Reception
Data
transmission
request to
servo
driver
N
Y
00h Transmission
01h Transmission *2
D2h Transmission
2Dh Transmission *3
06h Reception
N
Y
80h Reception
05h Reception
N
Y
Absolute
data
reception
from servo
driver
80h Transmission
04h Transmission
If the low-order 8 bits of the sum of
the received absolute data (15 characters) are "0", the check sum is
judged acceptable.
Receiving
absolute data
(15 characters)
Check sum OK
N
Y
06h Transmission
15h Transmission
Transmission
ends
From the host, send the command to the destination driver by following transfer protocol of RS485.
For further information on the communications, see page 238 "Communication".
Appendix
To read data on two or more axes, wait for at least 500 ms before accessing
the next axis data.
233
Absolute System
Structure of Absolute Data
The absolute data consist of:Single-turn data that defines the absolute position of the motor, and Multi-turn
data that counts the number of turns after the latest clearing operation of the encoder.
131071 0,1,2 • • • 131071 0,1,2 • • • 131071 0,1,
Single-turn data
-1 0
Multi-turn data
01
12
Origin
CW
Motor rotating direction
CCW
The single- and multi-turn data consist of 15-character data (hexadecimal binary code) from the RS232C or
RS485 communication interface.
0Bh
RSW (ID) value defined on the front panel
RSW (ID)
D2h
Maker code
Maker code
Encoder status (L)
Absolute data
(15 characters)
received
See "Encoder status" on the next page.
Encoder status (H)
Single-turn data (L)
Single-turn data
Single-turn data (M)
= Single-turn data (H) x 10000h + Single-turn data (M) x 100h + Single-turn data (L)14
Single-turn data (H)
Multi-turn data
Multi-turn data (L)
= Multi-turn data (H) x 100h + Multi-turn data (L)
Multi-turn data (H)
(Data: 0-65535, Range: -32767 to 32767)
00h
After communication is executed,
this value is 0. If not 0, read again
the absolute data from the driver.
Error code
Checksum
• Multi-turn data timing
65535
Multi-turn data
Absolute counter
over protection
CW
0
CCW
NG
GOOD
NG
Note: If the multi-turn data in the figure above is from 32768 to 65535, subtract 65536 and convert
the result to signed data.
• Encoder status (L) (1 means the occurrence of an error)
Bit 7
Bit 6
Encoder status (L)
Bit 5 Bit 4 Bit 3 Bit 2
0
Bit 1
Bit 0
Over-speed
Full absolute status
Count error
Counter overflow
Multi-turn counter error
Battery error
Battery alarm
234
Err42
(absolute over-speed error)
Err47
(absolute status error)
Err44
(absolute single-turn counter error)
Err41
(absolute counter overflow error)
Err45
(absolute multi-turn counter error)
Err40
(absolute system down error)
Battery alarm
[Appendix]
• Encoder status (H) (1 means the occurrence of an error)
Bit 7
0
Bit 6
0
Encoder status (H)
Bit 5 Bit 4 Bit 3 Bit 2
0
0
Bit 1
0
Bit 0
0
Battery error
Occurrence of battery alarm, multi-turn counter error,
counter over, counter error, full absolute status or
over-speed
Note: For details of encoder errors refer to "Protective Functions" in "Encountering Difficulties?",
on page 216. For details of warning, see "Battery warning display" shown below.
Battery warning display
From the front panel, select monitor mode, alarm, execution.
The alarm as shown below will be displayed.
...Not occurred,
...Occurred,
Over-regeneration alarm: over 85% regeneration overload
alarm level
Overload alarm: over 85% overload alarm level
Battery alarm: absolute encoder battery voltage is below
the alarm level (approx. 3.2 V)
How to Reset the Battery Warning
When the battery alarm is generated, replace the absolute encoder battery by seeing page 228 "Battery
installation". After replacement, reset the battery warning in the following 3 methods.
(a) "CN X5" Connecting Alarm clear input (A-CLR) to COM– for more than 120ms.
(b) Executing the alarm clear function in auxiliaty function mode by using the console (option).
(c) Click the "Battery warning" Clear button, after select the "Absolute encoder" tab in the monitor display
window by using the PANATERM® (option).
Appendix
235
Set up support software PANATERM®
How to Connect
Connecting Cable
DVOP1960
RS-232C
*Note (DOS/V)
Connect to
CN X6.
<Note>
* Do not connect to CN X7. Otherwise an error message meaning
that “PANATERM®”cannot detect
the communication port or driver
will appear.
Setup disc of Set up support software “PANATERM®”
DV0P3170 (Japanese version)
OS : Windows®95, Windows®98, Windows®NT,
Windows®2000, Windows®Me
(Japanese version)
DV0P3180 (English version)
OS : Windows®95, Windows®98, Windows®NT,
Windows®2000, Windows®Me
(English version)
Installing PANATERM® on a hard disc
<Notes>
1. The memory capacity of the hard disc should be 15MB or more. Prepare Windows®95 (or 98, NT, 2000,
Me) as OS.
2. Install “PANATERM®”with setup discs, otherwise the software does not work.
3. Product No. of “PANATERM®”may change in response to version upgrade. For the latest product numbers, refer to the catalogue.
Installation Procedure
1) Turn on the power of personal computer and start corresponding OS.
2) Insert the “PANATERM®”Setup Disc 1 into the floppy disc drive.
3) Start Explorer, and switch to (select) the floppy disc drive. (For the procedure for starting the Explorer
program, see the instructions for corresponding OS.)
4) Double click on "Setup.exe" (“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.
(Prompted to change to the setup disk 2 along the path, follow it.)
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.
236
[Appendix]
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 driver, 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 corresponding OS.
2) Turn on the driver.
3) Click on the start button of Windows® (see the corresponding OS 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.
237
Appendix
* Windows®, Windows®95, Windows®98, Windows®NT, Windows®2000, Windows®Me are the trademarks of
Microsoft Co., Ltd.
Communication
Outline of Communication
When a PC or host NC is connected with up to sixteen MINAS-AIII drivers via the RS232C and RS485 serial
interfaces, the following functions are provided:
1) Parameter change
2) Alarm data and history browse/clear
3) Control monitor including status and I/O monitor
4) Absolute data browse
5) Parameter save/load
Advantages
• All parameters can be loaded from a host at machine start-up.
• Since machine's operating conditions are displayed, maintainability can be improved.
• Multi-axis absolute position control system can be configured with simple wiring.
For the MINAS-AIII series, the following PC application software and cables are available. For the PANATERM®
operating procedures, refer to the PANATERM® Operation Manual.
PANATERM® (Japanese version)
PANATERM® (English version)
PC (DOS/V) connection cable
DV0P3170
DV0P3180
DV0P1960
DV0P1970 (200[mm])
DV0P1971 (500[mm])
DV0P1972 (1000[mm])
driver connection cable
DV0P1960
DV0P1970
Host
238
DV0P1970
DV0P1970
[Appendix]
Communication Specifications
Connection of Communication Line
The MINAS-AIII series provides two communication ports, enabling the following three types of connections
between the host and individual drivers.
• RS232C Communication
For communication according to the RS232C transmission protocol, a host is connected to a MINAS-AIII
driver via the RS232C interface.
Switching device
RS232C
Host
X6
X6
RSW(ID)=1
X6
RSW(ID)=1
X6
RSW(ID)=1
RSW(ID)=1
A MINAS-AIII module ID is assigned to the RSW on the front panel. In the above case, specify any
code between "0" and "F" for the module ID. If there is no particular problem on host control, the same
module ID can be assigned to several MINAS-AIII drivers.
• RS232C and RS485 Communications
When a host communicates with several MINAS-AIII drivers, the host is connected to the driver's [X6]
connector via the RS232C interface, and several MINAS-AIII drivers are connected with each other via
the RS485 interface. "0" is assigned to the RSW on the MINAS-AIII front panel directly connected to the
host, and different codes between "1" and "F" are assigned to other MINAS-AIII drivers.
RS232C
Host
RS485
RS485
RS485
X7
X7
X7
X6
X6
X6
RSW(ID)=0
RSW(ID)=1
RSW(ID)=2
X6
• • • Up to 16 axes
RSW(ID)=3
• RS485 Communication
A host is connected to several MINAS-AIII drivers via the RS485 interface, and any code between "1" and
"F" is assigned to the RSW on each MINAS-AIII front panel.
RSW(ID)=1
RSW(ID)=2
RSW(ID)=3
RSW(ID)=4
RS485
Module ID = 0
Host
X7
X7
X7
X6
X6
X6
Module ID = 2
Module ID = 3
• • • Up to 15 axes
Appendix
Module ID = 1
X6
Module ID = 4
To read multi-axis data, provide 500 ms or longer axis-switching intervals.
239
Communication
Communication Connector Interface
• Connecting Host via RS232C Interface
MINAS-AIII
Host
X6
1
RTS
2
SN751701 or equivalent
CTS
3
TXD
RXD
4
G
G
5
RXD
TXD
6
FG
7
RS485+
DTR
8
RS485–
DSR
ADM485 or equivalent
FG
X7
1
2
3
4
G
5
Connectors X6 and X7:
MD-S8000-10 (JST) or equivalent
6
7
RS485+
8
RS485–
FG
X6
1
2
3
TXD
4
G
5
RXD
6
7
RS485+
8
RS485–
FG
240
Note)
1. Pin Nos. 1, 2 and 6 of Connector X6,
and Pin Nos. 1, 2, 3, 5 and 6 of
Connector X7 must be unused.
2. Connector X7 cannot be used for
RS232C communication.
[Appendix]
• Coonecting Host via RS485 Interface
MINAS-AIII
X6
1
2
Host
SN751701 or equivalent
3
TXD
RS485+
4
G
RS485–
5
G
RXD
6
FG
7
RS485+
8
RS485–
ADM485 or equivalent
FG
X7
1
2
3
4
G
5
Connectors X6 and X7:
MD-S8000-10 (JST) or equivalent
6
7
RS485+
8
RS485–
Note)
1. Pin Nos. 1, 2 and 6 of Connector X6,
and Pin Nos. 1, 2, 3, 5 and 6 of
Connector X7 must be unused.
FG
X6
1
2
3
TXD
4
G
5
RXD
6
7
RS485+
Appendix
8
RS485–
FG
241
Communication
Communication Method
RS485
Half-duplex, start-stop transmission
2400/4800/9600 bps
8 bits
None
1 bit
1 bit
RS232C
Full-duplex, start-stop transmission
2400/4800/9600 bps
8 bits
None
1 bit
1 bit
Baud rate
Data
Parity
Start bit
Stop bit
• To set up the RS232C and RS485 communication baud rates, use "Pr0C" and "Pr0D" respectively. Changes
in these parameters become valid after the control power supply is turned ON. For details, refer to the
communication parameter list below.
Communication Parameter List
Pr No. Parameter name Setting range
00
Axis name
0 – 15
0C
RS232C
baud rate setup
0–2
0D
RS485
baud rate setup
0–2
Function/Description
Used to conform the ID assigned to the front panel RSW at power-ON of the control
power supply. This value indicates the axis number for serial communication.
This parameter setting has no influence on the servo motor's operation.
Used to define the RS232C communication speed.
0: 2400 (bps), 1: 4800 (bps), 2: 9600 (bps)
A change in this parameter becomes valid after the control power supply is turned ON.
Used to define the RS485 communication speed.
0: 2400 (bps), 1: 4800 (bps), 2: 9600 (bps)
A change in this parameter becomes valid after the control power supply is turned ON.
• The data transmission time per byte is calculated from the following formula: Example) When the baud
rate is 9600 (bps): (1000/9600) x (1+8+1) =1.04 [ms/byte]
Start bit
Stop bit
Data
When the baud rate is 2400 (bps) and 4800 (bps), the data transmission time per byte are 4.17 [ms/byte]
and 2.08 [ms/byte], respectively.
Note) For calculation of the actual communication time, received command processing time and the line
and transmission/receiving control switching time are additionally required.
• Handshaking Control Code
For line control, the following codes are used:
Name
ENQ
EOT
ACK
NAK
Code
(Target module identification byte)05h
(Target module identification byte)04h
06h
15h
Function
Transmission request
Ready to receive
Acknowledgement
Negative acknowledgement
ENQ: When a module contains transmission data, it will send ENQ.
EOT: When a module is ready to receive a command block, it will send EOT. When a module receives
EOT after sending ENQ, it will enter the transmission mode. When a module sends EOT after
receiving ENQ, it will enter the receiving mode.
ACK: When a received block is judged valid, ACK will be returned.
NAK: When a received block is judged invalid, NAC will be returned. The validity is judged by checksum
and timeout.
<NOTE>
For RS485 communication, the following module identification byte (one byte) is added to the ENQ and
EOT. Module identification byte: The value assigned to the front panel RSW indicates the module ID.
The module identification byte is the data whose bit 7 is set to "1".
bit7
1
bit6
0
bit5
0
bit4
0
bit3
bit2
bit1
Module ID
bit0
Module ID: For RS485 communication, the MINAS-AIII front panel RSW setting must be any code
between "1" and "F", because the host module ID is "0".
242
[Appendix]
Transmission Sequence
• Transmission Protocol
<RS232>
Host
MINAS-AIII
1) ENQ(05h)
2) EOT(04h)
3) Data block
Received
data
4) ACK(06h)
(or NAK (15h))
5) ENQ(05h)
6) EOT(04h)
7) Data block
Transmission
data
8) ACK(06h)
(or NAK (15h))
<RS485>
Host
Module ID: 0
1) 81h, ENQ(05h)
MINAS-AIII
Module ID: 1
2) 81h, EOT(04h)
3) Data block
Received
data
4) ACK(06h)
(or NAK (15h))
5) 80h, ENQ(05h)
6) 80h, EOT(04h)
7) Data block
Transmission
data
8) ACK(06h)
((or NAK (15h))
• Line control
Direction of transmission and priority at conflict are defined.
Receiving mode: When a module sends EOT after receiving ENQ, it enters the receiving mode.
Transmission mode: When a module receives EOT after sending ENQ, it enters the transmission mode.
At conflict between transmitting and receiving modules: When a slave receives ENQ when waiting for
EOT after sending ENQ, priority is given to ENQ sent from a master, and the slave enters the receiving mode.
• Transmission control
A module in the transmission mode continuously sends command blocks, and then waits for ACK. When
the module receives ACK, the transmission mode is completed. If a command byte number transmission
error occurs, ACK may not be returned. When ACK is not returned within the T2 period, or when NAC or
any code other than ACK is returned, transmission retry will be executed.
Transmission retry will be started with ENQ.
243
Appendix
• Receiving control
A module in the receiving mode continuously receives command blocks. It obtains a command byte
number from the first byte, and receives command blocks as many as the specified byte number +3.
When the sum of the received data becomes "0", it judges that the receiving mode is normally completed, and
returns ACK. If a checksum error or character transmission timeout error occurs, NAK will be returned.
Communication
• Configuration of Data Block
The data block transmitted on physical phase is configured as follows:
1 byte
N
axis
mode
command
Parameter
(N bytes)
check sum
N:
Command byte number (0 to 240), which indicates the number of parameters required for a
command.
axis:
Defines the value (0 to 15) assigned to the RSW on the driver front panel.
Module ID can be confirmed via Pr.00 (axis address).
command: Control command (0 to 15)
mode:
Command execution mode (0 to 15).
The set value varies depending on the command to be executed.
checksum: Two's complement of the total number of bytes, ranging from the first byte to the byte imme
diately before the checksum byte.
• Protocol Parameters
The following parameters are used for block transmission control. For these parameters, a desired value
can be specified with the INIT command described later.
Name
T1
T2
RTY
M/S
Function
Character transmission timeout
RS232C
Protocol time out
RS485
Retry limit
Master/Slave
Initial value
5 (0.5 sec)
10 (10 sec)
2 (2 sec)
1 (Once)
0 (Slave)
Setting range
1 to 255
Unit
0.1 sec
1to 255
1 sec
1 to 8
0, 1 (Master)
Once
T1: • Allowable wait time between module identification byte and ENQ/EOT reception, or for receiving
the next character code after receiving a character code in a data block. If the specified time is
exceeded, it is judged as a timeout error, and NAK is returned to the transmitting module.
T2: • Allowable wait time for receiving EOT after sending ENQ. If the specified is exceeded, it means that
the receiving module is not ready to receive data, or that the ENQ code cannot be received for any
reason. In this case, the ENQ code is re-sent to the receiving module. (Retry number)
• Allowable wait time for receiving the first character after sending EOT. If the specified time is
exceeded, NAK is returned, and the receiving mode ends.
• Allowable wait time for receiving ACK after sending checksum byte. If the specified time is ex
ceeded, the ENQ code is re-sent to the receiving module, as in the case with NAK reception.
RTY: Maximum retry number. If this number is exceeded, it is judged as a transmission error.
M/S: Master/Slave switching parameter. If ENQ transmission conflicts, this parameter determines which
is given priority. (0 = Slave mode, 1 = Master mode) Transmission priority is given to the module
defined as master.
244
[Appendix]
Example of Data Communication
• Browsing Absolute Data (Example)
This section describes an example of communication data flow for acquisition of absolute data on Model
ID = 1, wherein a host is connected to a MINAS-AIII driver via the RS232C interface and the MINAS-AIII
driver is connected to several drivers via the RS485 interface.
Configuration
RSW(ID)=0
RS232C
Host
RSW(ID)=1
RSW(ID)=2
RS485
RS485
RS485
X7
X7
X7
X6
X6
X6
RSW(ID)=3
X6
Example of Absolute Data Acquisition
This following is the time-series communication data flow for absolute data acquisition. Data are expressed by hexadecimal numbers.
RS232C communication
Host
05
(ENQ)
00
01
D2
2D
04
(EOT)
MINAS-AIII(0)
04
(EOT)
06
(ACK)
05
(ENQ)
0B
01
D2
Data acquisition via
RS485 (See * below.)
Host
MINAS-AIII(0)
*
06
(ACK)
03
11
00
00
D8
FF
01
00
01
D2
00
00
00
00
36
RS485 communication
MINAS-AIII(0)
81
05
(ENQ)
2D
80
04
(EOT)
MINAS-AIII(1)
80
04
(EOT)
06
(ACK)
80
05
(ENQ)
MINAS-AIII(0)
MINAS-AIII(1)
0B
01
D2
MINAS-AIII(0)
MINAS-AIII(1)
03
11
00
00
D8
FF
01
00
00
06
(ACK)
00
00
36
To read multi-axis data, provide 500 ms or longer axis-switching intervals.
245
Appendix
Note) The acquired data are expressed as follows:
For the data configuration, see page 251 <Reading Absolute Encoder> on "Communication
Command Details" .
Multi-revolution data : 0000h = 0
Single-revolution data :01FFD8h = 131032
Communication
• Example of Parameter Change
The following is the time-series communication data flow for parameter change.
Generally, communication is conducted in the following sequence:
1) Request for execution right acquisition,
2) Parameter individual writing,
3) Writing parameter into EEPROM (if parameter must be saved), and
4) Execution right release.
This example shows that a MINAS-AIII driver (User ID = 1) is directly connected to a host via the
RS232C interface. The data are expressed by hexadecimal numbers.
1) Request for execution right acquisition
Host
05
01
01
71
01
8C
04
(ENQ)
(EOT)
04
MINAS-AIII(1)
(EOT)
Host
06
2) Parameter individual
writing
06
05
03
05
01
01
00
D9
71
(ACK) (ENQ)
01
18
0B
00
(ACK) (ENQ)
MINAS-AIII(1)
00
8D
04
06
(EOT)
Host
04
06
(EOT)
MINAS-AIII(1)
05
05
01
01
48
01
18
00
E6
01
01
71
04
(EOT)
B7
06
MINAS-AIII(1)
00
(ACK) (ENQ)
(ENQ)
Host
(ACK)
3) Writing parameter into EEPROM
04
06
(EOT)
(ACK)
05
01
01
48
00
B6
4) Execution (ACK) (ENQ)
right release
Host
05
01
01
71
00
8D
04
(ENQ)
(EOT)
04
MINAS-AIII(1)
06
(EOT)
Host
05
(ACK) (ENQ)
06
(ACK)
MINAS-AIII(1)
00
8D
Note) For details on the commands, see page 245 "Communication Command Details".
246
[Appendix]
Status Transition Chart
• RS232C communication
Transmitting module
EOT is received
Size <
–– Command byte
number + 3
T2 stop
Waiting for EOT
One character is
received
Size <
–– Command byte
number - 1
Block transmission
ENQ is received (in slave mode)
ENQ is returned to receiving
buffer (––> Receiving processing)
T2 timeout
One retry count
T2 stop
Transmission
buffer clear
Transmission
request (Within
retry number)
Sending ENQ
T2 start
Size = "0"
T2 start
Waiting for ACK/NAK
Transmission request
(Beyond retry number)
One retry reset
Transmission request
clear
NAK is received, or
T2 timeout
One retry count
T2 stop
Transmission buffer
clear
ACK is received
Retry number reset
T2 stop
Transmission
request clear
Idling
T1 timeout or
checksum error
(when size = "0")
NAK is sent, T1 stop
T2 timeout
NAK is sent, T2 stop
ENQ
EOT is sent
T2 start
Waiting for command byte number
Successful reception
(Sum check is OK
when size = "0")
NAK is sent, T1 stop
Receiving remaining block
Command byte number is received
One character is received
Size <
–– Command byte number + 3
Sum <
–– Command byte number
T1 start, T2 stop
Size <
–– Command byte number -1
Sum <
–– Sum + Received character
T1 start
Receiving module
Appendix
247
Communication
• RS485 communication
Transmitting module identification byte
= Target module ID | 80h
Transmitting module
EOT is received
Size <
–– Command byte number + 3
T2 stop
Target module ID
T1 start
Waiting for ID
Transmission
request
(Within retry
number)
Module
identification
byte and ENQ
are sent
T2 start
Different module ID is
received (in slave mode)
ENQ is returned to
receiving buffer.
( ––> Receiving processing)
Transmission request
(Beyond retry number)
One retry reset
Transmission request
clear
Waiting for EOT
One character is
received
Size <
–– Size - 1
Block transmission
Size = "0"
T2 start
T2 timeout
One retry count
T2 stop
Transmission buffer
clear
Preparation of error
transmission data
(when module ID = "0")
Waiting for ACK/NAK
T1 timeout
One retry count
T1 stop
Transmission
buffer clear
Preparation of error
return data
(when module ID = "0")
ACK is received
Retry number
reset
T2 stop
Transmission
request clear
NAK is received, or
T2 timeout
One retry count
T2 stop
Transmission buffer
clear
Preparation of error
return data
(when module ID = "0")
Idling
Module
identification
byte
Received
T1 timeout
T1 stop
ENQ is received
(Module identification
byte is different from
target module ID)
T1 stop
Successful reception
(Sum check is OK when size =
"0", and Module identification
byte = target module ID)
ACK is sent, T1 stop
T2 timeout
NAK is sent (Module
identification byte =
target module ID)
T2 stop
Module identification byte is
different from target module ID
T1 timeout, or checksum error
(when size = "0")
NAK is sent
(Module identification byte =
target module ID)
ACK is sent, T1 stop
Waiting for ENQ or EOT
ENQ is received
(when module
identification byte
= Module ID)
Module
identification byte
and EOT are sent
T2 start
EOT is received
T2 start
Waiting for command byte number
Command byte number is received
Size <
–– Command byte number + 3
Sum <
–– Command byte number
T1 start, T2 stop
Receiving remaining block
One character is received
Size <
–– Size -1
Sum <
–– Sum + Received
character
T1 start
Receiving module
248
[Appendix]
Communication Timing
• RS485 communication (Same as for RS232 communication)
T3
T4
T3
T5
T4
Host ––> Driver
Data block
Transmission request
Driver ––> Host
ACK/NAK
Permit to send
0 ~ 2ms
0 ~ 2ms
0 ~ 2ms
0 ~ 2ms
Dedicated to
RS485 bus
T3
T5
T3
T4
T5
Host ––> Driver
Permit to send
ACK/NAK
Driver ––> Host
0 ~ 2ms
Transmission request
0 ~ 2ms
0 ~ 2ms
Data block
0 ~ 2ms
Dedicated to
RS485 bus
Name
Code
T3
Continuous character transmission time
T4
Driver response time
T5
Host response time
Minimum
Stop bit length
4ms
2ms
Maximum
Protocol parameter T1
Protocol Parameter T2
Protocol Parameter T2
<CAUTION>
The specified time indicates the period from the stop bit rising edge.
Appendix
249
Communication
Communication Command List
command
0
1
2
8
9
B
Description
mode
1
2
5
6
1
2
7
0
1
2
4
5
6
7
8
9
A
D
0
1
4
0
1
2
3
4
B
0
1
2
NOP
Reading CPU1 Version
Reading CPU2 Version
Reading Driver Model
Reading Motor Model
INIT
RS232C Protocol Parameter Setup
RS485 Protocol Parameter Setup
Execution Right Acquisition/Release
POS, STATUS, I/O
Reading Status
Reading Command Pulse Counter
Reading Feedback Pulse Counter
Reading Current Speed
Reading Current Torque Output
Reading Current Error Counter
Reading Input Signal
Reading Output Signal
Reading Current Speed/Torque/Error Counter
Reading Status/Input Signal/Output Signal
Reading Absolute Encoder
PARAMETER
Parameter Individual Reading
Parameter Individual Writing
Writing Parameter into EEPROM
ALARM
Reading Current Alarm Data
User Alarm History Individual Reading
User Alarm History Batch Reading
User Alarm History Clear (from EEPROM)
Alarm Clear
Absolute Encoder Clear
PARAMETER
User Parameter Individual Reading
User Parameter Page Reading
User Parameter Page Writing
Be sure to use the above commands only. If unspecified commands are used, the driver's
operation cannot be guaranteed.
Communication Command Details
command
0
mode
1
• Reading CPU 1 Version Information
• Be sure to use the above commands only. If unspecified commands are used, the driver's operation
Received data
Transmission data
cannot be guaranteed.
0
3
axis
1
axis
0
1
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
0
Version (High-order)
(Low-order)
Error code
checksum
3
2
1
0
• The version information (Ver. X.XX) is divided into high-order data and low-order data. (The decimal point is expressed by
"0" in the least -significant 4 bits of the high-order data.)
• The version information is expressed by numbers between "0" and "9". (Example: "Version 3.13" is expressed by "30h"
(high-order data) and "13h" (low-order data).)
• The version information indicates the CPU1 version No.
250
[Appendix]
command
0
mode
2
• Reading CPU 2 Version Information
Transmission data
3
axis
Received data
0
axis
2
0
2
Error code
bit7
0 : Normal
1 : Error
6
0
Version (High-order)
(Low-order)
Error code
checksum
checksum
5
4
Command error RS485 error
3
2
1
0
• The version information (Ver. X.XX) is divided into high-order data and low-order data. (The decimal point is expressed by
"0" in the least -significant 4 bits of the high-order data.)
• The version information is expressed by numbers between "0" and "9". (Example: "Version 3.13" is expressed by "30h"
(high-order data) and "13h" (low-order data).)
• The version information indicates the CPU2 version No.
command
0
mode
5
• Reading Driver Model
Transmission data
0Dh
axis
Received data
0
axis
5
0
5
0
Driver model (High-order)
checksum
Driver model (Low-order)
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
2
1
0
• Driver model is expressed by twelve characters (ASCII codes).
Ex. "MSDCT1503***"
command
0
mode
6
• Reading Motor Model
Received data
0
axis
6
Transmission data
0Dh
axis
6
0
Motor model (High-order)
0
checksum
Motor model (Low-order)
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
2
1
0
Appendix
• Motor model is expressed by twelve characters (ASCII codes).
Ex. "MSMA012S1**"
251
Communication
command
1
mode
1
• RS232C Protocol Parameter Setup
Transmission data
1
axis
Received data
3
axis
1
1
1
1
T1
T2
M/S
Error code
checksum
RTY
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
RTY error
2
T2 error
1
T1 error
0
M/S error
• The previous protocol parameter setting remains valid until execution of this command is completed. After execution of this
command is completed, the updated parameter setting becomes valid when the next command is executed.
M/S =0 indicates "SLAVE" mode, and M/S = 1 indicates "MASTER" mode.
• The RTY code is 4 bits, and the M/S code is 1 bit.
• The units of T1 and T2 are "0.1 sec" and "1 sec", respectively.
command
1
mode
2
• RS485 Protocol Parameter Setup
Received data
3
axis
2
Transmission data
1
axis
1
2
1
T1
T2
M/S
Error code
checksum
RTY
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
RTY error
2
T2 error
1
T1 error
0
M/S error
• The previous protocol parameter setting remains valid until execution of this command is completed.
After execution of this command is completed, this parameter setting becomes valid when the next command is executed.
M/S =0 indicates "SLAVE" mode, and M/S = 1 indicates "MASTER" mode.
• The RTY code is 4 bits, and the M/S code is 1 bit.
command
1
mode
7
• Execution Right Acquisition/Release
Transmission data
1
axis
Received data
1
axis
7
1
7
mode
checksum
Error code
bit7
0 : Normal
1 : Error
6
00
5
4
Command error RS485 error
3
mode error
2
• Before writing parameter (into EEPROM), the execution right acquisition request is executed.
completed, the execution right release request is executed.
• mode =1: Execution right acquisition request
mode =0: Execution right release request
• If the execution right acquisition request ends in failure, the "Used" error code is transmitted.
252
1
Error code
checksum
1
0
Used
After writing parameter is
[Appendix]
command
2
mode
0
• Reading Status
Received data
0
axis
0
Transmission data
3
axis
2
0
2
checksum
Status
bit7
Error code
bit7
0 : Normal
1 : Error
6
5
CCW
torque output
6
5
4
Command error RS485 error
Control mode
Status
Error code
checksum
4
CW
torque output
3
CCW
revolution
3
2
CW
revolution
1
0
Under DB
Torque
permission speed limitation
2
1
0
• The control modes are defined as follows:
0
1
2
3
4
5
6
command
2
Position control mode
Speed control mode
Torque control mode
Semi-closed control mode
Hybrid control mode
Full-closed control mode
External encoder control mode
mode
1
Position control (for high stiffness)
Position control (for low stiffness)
Speed control (for low stiffness)
2nd full-closed control mode
7
8
9
10
• Reading Command Pulse Counter
Received data
0
axis
1
Transmission data
5
axis
2
1
checksum
2
Counter value L
H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
2
1
0
• The current command position is expressed by the absolute coordinates from the starting point.
(Cumulative sum of command pulse numbers)
• The counter value is 32 bits.
• For the counter value, "-" indicates CW, and "+" indicates CCW.
Appendix
253
Communication
command
2
mode
2
• Reading Feedback Pulse Counter
Received data
0
axis
2
Transmission data
5
axis
2
2
2
Counter value L
checksum
H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
6
3
5
4
Command error RS485 error
2
1
0
• The current position of the feedback pulse counter is expressed by the absolute coordinates from the starting point.
• For the counter value, "-" indicates CW, and "+" indicates CCW.
• The feedback pulse counter indicates a cumulative sum of the position detector's pulse numbers, which corresponds to the
actual motor position.
command
2
mode
4
• Reading Current Speed
Received data
0
axis
4
Transmission data
3
axis
2
4
2
Data (Current speed) L
H
Error code
checksum
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
2
1
0
• This command is used to read the current speed. (Unit: r/min)
• The output value is 16 bits.
• For the speed value, "-" indicates CW, and "+" indicates CCW.
command
2
mode
5
• Reading Current Torque Output
Received data
0
axis
5
Transmission data
3
axis
2
5
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
2
Data (Torque) L
H
Error code
checksum
3
2
• This command is used to read the current torque output. (Unit: conversion from rated torque = 2000)
• The output value is 16 bits.
254
1
0
[Appendix]
command
2
mode
6
• Reading Current Error Counter
Received data
0
axis
6
Transmission data
5
axis
2
6
checksum
2
Data (Error) L
H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
6
3
5
4
Command error RS485 error
2
1
0
• This command is used to read the current value of the error counter. (Unit: pulse)
• The output value is 32 bits.
• "+" indicates that the encoder is in the CW direction, and "-" indicates that the encoder is in the CCW direction relative to the
position command.
command
2
mode
7
• Reading Input Signal
Received data
0
axis
7
Transmission data
5
axis
2
7
checksum
2
Data L
Data H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
2
1
0
Data
bit7
Command pulse
ratio switching 2
6
Command pulse
ratio switching 1
5
Speed zero
clamp
bit15
Scale error
14
Reserve
bit23
Reserve
bit31
Reserve
4
Control mode
switching
3
CCW drive
inhibited
2
CW drive
inhibited
1
Alarm clear
0
Servo ON
13
12
11
Internal speed
Internal speed
Reserve
command selection 2 command selection 1
10
Counter clear
9
Gain switching
8
Command pulse
input inhibited
22
Reserve
21
Reserve
20
Reserve
19
Reserve
18
Smoothing
selection
17
Reserve
16
Reserve
31
Reserve
29
Reserve
28
Reserve
27
Reserve
26
Reserve
25
Reserve
24
Reserve
• For the "CCW drive inhibited", "CW drive inhibited", "Speed zero clamp" and "Command pulse input inhibited" input signals,
"1" indicates the open status. For other input signals, "0" indicates the open status.
Appendix
255
Communication
command
2
mode
8
• Reading Output Signal
Received data
0
axis
8
Transmission data
7
axis
2
8
checksum
Data H
Alarm data L
H
Error code
checksum
Alarm data
bit 7 Overload
bit 5 Over-regenerative
bit 0 Battery
Error code
bit7
0 : Normal
1 : Error
6
2
Data L
5
4
Command error RS485 error
3
2
1
0
Data
bit7
Reserve
6
Reserve
5
Torque
limitation
4
Zero speed
detection
3
Mechanical
brake reset
2
In-position
1
Servo alarm
0
Serve ready
bit15
Reserve
14
Reserve
13
Dynamic
brake ON
12
Reserve
11
Reserve
10
9
Full-closed
At-speed
positioning complete
8
Reserve
bit23
Reserve
22
Reserve
21
Reserve
20
Reserve
19
Reserve
18
Reserve
17
Reserve
16
Reserve
bit31
Reserve
31
Reserve
29
Reserve
28
Reserve
27
Reserve
26
Reserve
25
Reserve
24
Reserve
• The following table shows the relation between each signal and operation.
Signal name
Servo ready
Servo alarm
In-position
Mechanical brake OFF
Zero speed detection
Torque limitation
At-speed
Dynamic brake ON
command
2
mode
9
0
Not ready
Normal
Not finished
ON
Not detected
Not limited
Not reached
OFF
1
Ready
Error
Finished
OFF
Detected
Limited
Reached
ON
• Reading Current Speed/Torque/Error Counter
Transmission data
9
axis
Received data
0
axis
9
2
9
Error code
bit7
0 : Normal
1 : Error
(Error) H
Error code
checksum
6
5
4
Command error RS485 error
3
2
• The speed and torque output values are 16 bits, and the error output value is 32 bits.
• The unit and sign of the output data are same as those for Command Nos. 24, 25 and 26.
256
2
Data L
(Speed) H
Data L
(Torque) H
Data L
checksum
1
0
[Appendix]
command
2
mode
A
• Reading Status/Input Signal/Output Signa
Received data
0
axis
A
Transmission data
0Dh
axis
A
2
2
Control mode
Status
Input signal L
checksum
Input signal H
Output signal L
Output signal H
Alarm data L
Alarm data H
Error code
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
2
1
0
• For control mode, status, input signal, output signal and alarm data, the meanings of individual bits are same as those for
Command Nos. 20 (command=2, mode=0), 27 (mode=7) and 28 (mode=8).
command
2
mode
D
• Reading Absolute Encoder
Received data
0
axis
D
Transmission data
0BH
axis
2
D
2
Encoder ID (L)
(H)
Status (L)
(H)
(L)
Single-revolution data
(H)
Multi-revolution data (L)
(H)
0
Error code
checksum
checksum
17-bit absolute encoder
Status (L)
bit7
Battery alarm
6
Battery error
Encoder ID (L)
3
5
Multi-revolution 0
error
Encoder ID (H)
0x11
4
3
Counter
overflow
2
Count error
1
Full absolute
status
0
Over-speed
Status (H)
• bit 4: Battery error
• bit 5: OR signal of Battery alarm, Multi-revolution error, Counter overflow, Count error, Full absolute status and Over-speed
6
5
4
Command error RS485 error
3
2
1
Appendix
Error code
bit7
0 : Normal
1 : Error
0
• bit 5: When received data are not matched or the encoder is set in incremental mode
257
Communication
command
8
mode
0
• Parameter Individual Reading
Received data
1
axis
0
Transmission data
3
axis
8
0
Parameter No.
checksum
Error code
bit7
0 : Normal
1 : Error
command
8
6
mode
1
5
4
Command error RS485 error
3
No. error
2
1
1
Transmission data
1
axis
1
8
8
Error code
checksum
Parameter No.
Parameter value L
H
checksum
6
Data error
0
• Parameter Individual Writing
Received data
3
axis
Error code
bit7
0 : Normal
1 : Error
8
Parameter value L
H
Error code
checksum
3
No. error
5
4
Command error RS485 error
2
1
0
• This command is used to change a parameter setting only temporarily. To save the changed parameter into the EEPROM,
execute the <Writing Parameter into EEPROM> command (mode=4).
• For unused parameters, be sure to set "0": Otherwise, data error will occur.
command
8
mode
4
• Writing Parameter into EEPROM
Received data
0
axis
4
Transmission data
1
axis
8
4
checksum
Error code
bit7
0 : Normal
1 : Error
6
Data error
5
4
Command error RS485 error
8
Error code
checksum
3
2
1
Control LV
0
• This command is used to write a parameter setting into the EEPROM.
• After the parameter setting is written into the EEPROM, the transmission data will be returned.
Writing parameter may take approx. 5 seconds max. (if all parameters are changed).
• If writing parameter ends in failure, data error will occur.
• When control power supply LV is detected, the "Control LV" error code will be returned, and parameter writing is disabled.
258
[Appendix]
command
9
mode
0
• Reading Current Alarm Data
Received data
0
axis
0
Transmission data
2
axis
0
9
Error code
bit7
0 : Normal
1 : Error
6
9
Alarm No.
Error code
checksum
checksum
5
4
Command error RS485 error
3
2
1
0
• When no alarm is raised, Alarm No. is set to "0".
(For details on Alarm No., refer to "Protective Functions (Alarm Codes)" on p. 216.)
command
9
mode
1
• Alarm History Individual Reading
Received data
1
axis
1
Transmission data
3
axis
9
1
History No.
checksum
Error code
bit7
0 : Normal
1 : Error
6
9
History No.
Alarm No.
Error code
checksum
5
4
Command error RS485 error
3
No. error
2
1
0
• History Nos. 1 to 14 indicates the 1st to 14th previous alarm history, respectively.
command
9
mode
2
• Alarm History Batch Reading
Received data
0
axis
2
Transmission data
0Fh
axis
9
2
1st previous
2nd previous
checksum
14th previous
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
9
Alarm No.
Alarm No.
~
Alarm No.
Error code
checksum
2
1
0
• This command is used to read 14 previous alarm events.
Appendix
259
Communication
command
9
mode
3
• User Alarm History Clear
Received data
0
axis
3
Transmission data
1
axis
3
9
Error code
bit7
0 : Normal
1 : Error
6
Data error
9
Error code
checksum
checksum
5
4
Command error RS485 error
3
2
1
Control LV
0
• This command clears the history of alarm data.
• If alarm clear processing ends in failure, data error will occur.
• When control power supply LV is detected, the "Control LV" error code will be returned, and parameter writing is disabled.
command
9
mode
4
• Alarm Clear
Received data
0
axis
4
Transmission data
1
axis
9
4
checksum
Error code
bit7
0 : Normal
1 : Error
6
9
Error code
checksum
5
4
Command error RS485 error
3
2
1
0
• This command clears the current alarm. (Only applicable to the alarms that can be cleared)
command
9
mode
B
• Absolute Encoder Clear
Received data
0
axis
B
Transmission data
1
axis
9
B
checksum
Error code
bit7
0 : Normal
1 : Error
6
5
4
Command error RS485 error
3
• This command clears absolute encoder's error and multi-revolution data.
260
9
Error code
checksum
2
1
0
[Appendix]
command
B
mode
0
• User Parameter Individual Reading
Received data
1
axis
0
Transmission data
9
axis
B
0
Parameter No.
checksum
Attribute
bit7
Unused
parameter
6
Display
inhibited
bit15
14
Error code
bit7
0 : Normal
1 : Error
command
B
6
mode
1
5
Privileged user
13
4
Change at
initialization
12
5
4
Command error RS485 error
3
System-related
2
1
11
10
9
3
No. error
2
1
0
8
Read only
0
• User Parameter Page Reading
Received data
1
axis
1
Transmission data
82h
axis
B
1
Page No.
checksum
B
Page No.
Parameter value L
(No.0) H
MIN value L
(No.0) H
MAX value L
(No.0) H
Attribute L
(No.0) H
Parameter value L
(No.0fh) H
MIN value L
(No.0fh) H
MAX value L
(No.0fh) H
Attribute L
(No.0fh) H
Error code
checksum
Attribute
bit7
Unused
parameter
6
Display
inhibited
bit15
14
6
Data error
5
Privileged user
13
4
Change at
initialization
12
5
4
Command error RS485 error
3
System-related
2
1
11
10
9
3
No. error
2
1
0
8
Read only
0
Appendix
Error code
bit7
0 : Normal
1 : Error
B
Parameter value L
H
MIN value L
H
MAX value L
H
Attribute L
H
Error code
checksum
• For designation of page No., set a value between "0" and "7". With each page No. setting, 16 parameters can be read out.
261
Communication
command
B
mode
2
• User Parameter Page Writing
Transmission data
00
axis
Received data
33
axis
2
2
B
Error code
bit7
0 : Normal
1 : Error
6
Data error
5
4
Command error RS485 error
3
No. error
• 16 parameters are written at once.
• For unused parameters, be sure to set "0": Otherwise, data error will occur.
262
B
Page No.
Error code
checksum
Page No.
Parameter L
(No. 0 value) H
Parameter value L
(No.1 value) H
~
Parameter value L
(No.0th value) H
checksum
2
1
0
[Appendix]
MEMO
Appendix
263
Description on Command Pulse Ratio for Parameter Setup
Relation between Positional Resolution/Moving Speed and Command Pulse Ratio
Servo driver
Command pulse ratio
Pulse string
position command
D=
Move distance: P1 [P]
Moving speed: F [PPS]
Pr46 x 2
Pr4B
Pr4A
Motor rpm: N [r/min]
+
Servo
motor
–
Gear
Machine
Reduction ratio: R
Encoder
Ball Thread Drive Using Servo Motor (Example)
Number of encoder pulses: E [P/r]
* 10000 (= A/B phase 2500 [P/r] x 4)
* 131072 (=17 bit)
As an example of a machine, a ball thread driving system is described here.
When the lead of the ball thread is L [mm], the actual move distance of the ball thread (M [mm]) according to
the move distance command (P1 [P]) is expressed by Formula (1):
M = P1 x (D/E) x (1/R) x L ....................................... (1)
Therefore, the positional resolution (move distance ∆M per command pulse) is expressed by Formula (2):
∆M = (D/E) x (1/R) x L
....................................... (2)
Through transformation of Formula (2), command pulse ratio D is calculated from Formula (3):
D = (∆M x E x R) / L
....................................... (3)
The actual moving speed of the ball thread (V [mm/s]) according to the moving speed command (F) is
expressed by Formula (4), and the corresponding motor rpm (N) is calculated from Formula (5):
V = F x (D/E) x (1/R) x L ....................................... (4)
N = F x (D/E) x 60
....................................... (5)
Through transformation of Formula (5), command pulse ratio D is calculated from Formula (6):
D = (N x E) / (F x 60)
....................................... (6)
<Note>
1) Set the positional resolution (∆M) at approx. 1/5 to 1/10 of the machine's positioning accuracy (∆ ), in
view of mechanical errors.
2) For Pr46 and Pr4B, set any value between 1 and 10000.
3) The command pulse ratio can be freely specified depending on the denominator and numerator settings.
However, if an extremely high or low pulse ratio is specified, the motor operation cannot be guaranteed.
The command pulse ratio should be specified in the range of 1/50 to 20.
4)
n
2
20
21
22
23
24
25
26
27
28
29
210
211
212
213
214
215
216
217
264
Decimal number
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
65536
131072
[Appendix]
Command pulse ratio
Lead of ball thread: L= 10 mm
Reduction ratio: R = 1
Positional resolution: ∆M=0.005 mm
Number of encoder pulses: 2500 P/r
(E = 10000 P/r)
Lead of ball thread: L=20mm
Reduction ratio: R = 1
Positional resolution: ∆M=0.0005 mm
Number of encoder pulses: 2500 P/r
(E = 10000 P/r)
When 17-bit encoder is
used (E=217 P/r)
0.005 x 10000 x 1
=5
10
500000 x
N=Fx
1 x 2 15
x
10000
D=
=
2000 x 2 17
500000 x 60
=
D=
Pr46 x 2 Pr4A
Pr4B
Pr46 = 10000
Pr4A = 0
Pr4B = 2000
Because D <1, "D=1" is the
17-bit encoder requirement for the
should be used. minimum resolution.
0.0005 x 2 17 x 1
1 x 2 17
1 x 2 2 x 2 15
=
= 2
20
40000
2 x 10000
Pr46 = 1
Pr4A = 15
Pr4B = 10000
D
x 60
E
1
1
x 60 = 50 x 60 x 2 = 750
17
2
2
Command pulse ratio
To set the motor speed at
2000 r/min under the above
conditions:
∆M x Ex R
L
10000 x 2˚
2000
0.0005 x 10000 x 1
= 0.25
20
Motor rpm (r/min)
Lead of ball thread: L = 20 mm
Reduction ratio: R = 1
Positional resolution: ∆M=0.0005 mm
Line driver pulse input: 500 kpps
When 17-bit encoder is used
D=
D=
NxE
F x 60
2 1 x 1000 x 2 17
30000000
1 x 2 15
1 x 2 3 x 2 15
=
3750
2 3 x 3750
D=
Pr46 x 2P Pr4A
Pr4B
Pr46 = 1
Pr47 = 15
Pr48 = 3750
Move distance per command pulse (mm)
(Positional resolution)
D
1
∆M =
x
xL
E
R
1
20
2 15
1
1
20
x
x 20 =
x
x
= 0.00133mm
17 x
2
3750
2
1
3750
2
3750 x 4
Appendix
265
Conformance to EC Directives and UL Standards
EC Directives
The EC Directives apply to all such electronic products as those having specific functions and directly sold
to general consumers in EU countries. These products are required to meet the EU unified standards and to
be furnished with CE Marking.
Our product, AC servo, has specific functions, but is not sold directly to general consumers, i.e. this product
is regarded as a component that constitutes a machine or equipment. Therefore, the product (AC servo) is
not required to be furnished with CE Marking.
However, our AC servos meet the EC Directives for Low Voltage Equipment so that the machine or equipment comprising our AC servos can meet relevant EC Directives.
EMC Directives
Our servo systems can meet EMC Directives and related standards. However, to meet these requirements,
the systems must be limited with respect to configuration and other aspects, e.g. the distance between the
servo driver and motor is restricted, and some special wiring conditions must be met. This means that in
some cases machines and equipment comprising our servo systems may not satisfy the requirements for
wiring and grounding conditions specified by the EMC Directives. Therefore, conformance to the EMC Directives (especially the requirements for emission noise and noise terminal voltage) should be examined
based on the final products that include our servo drivers and servo motors.
Applicable Standards
Subject
Motor
Motor
and
driver
Applicable standard
IEC60034-1 IEC60034-5
EN50178
IEC61800-3
EMC Requirements for Variable Speed Electric Power Driven Systems
EN55011
Radio Disturbance Characteristics of Industrial,
Scientific and Medical (ISM) Radio-Frequency Equipment
IEC61000-4-2 Electrostatic Discharge Immunity Test
IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test
IEC61000-4-4 Electric High-Speed Transition Phenomenon - Burst Immunity Test
IEC61000-4-5 Lightning Surge Immunity Test
IEC61000-4-6 High Frequency Conduction - Immunity Test
IEC61000-4-11 Instantaneous Outage- Immunity Test
Standards referenced by
Low-Voltage Directive
Standards referenced by
EMC Directives
IEC: International Electrical Commission
EN Europaischen Normen
EMC: Electromagnetic Compatibility
Configuration of Peripheral Equipment
Installation environment
Use the servo driver in an environment corresponding to Pollution Degree 1 or 2 prescribed in IEC60664-1.
(Example: Install the servo driver in a control panel with IP54 protection structure.)
Control panel
Controller
Insulated
interface power
supply
Noise filter for
signal line
Power
supply
Circuit
breaker
Ground-fault
circuit breaker
(RCD)
L1
L2
L3
Noise filter
Surge
absorber
CN X5
AC servo
driver
Zero-phase
reactor
Noise filter for
signal lines
AC servo
motor
U
V
W
M
L1C(r)
L2C(t)
RE
CN X4
Protective earth (PE)
266
[Appendix]
Power supply
+10%
+10%
– 115V –15% 50/60Hz
–15%
+10%
+10%
200V system: Single-phase / Three-phase 200V –15% – 240V –15% 50/60Hz
(Type A – TypeD)
+10%
+10%
200V system: Single-phase / Three-phase 200V –15% – 230V –15% 50/60Hz
(Type E – TypeG)
100V system: Single-phase 100V
(1) Use the power supply in an environment corresponding to Overvoltage Category III prescribed in IEC60664-1.
(2) For the interface, use a 12 to 24 VDC insulated power supply conforming to the CE Marking or EN
standard (EN60950).
Circuit Breaker
Be sure to connect a circuit breaker conforming to the IEC and UL standards (LISTED /
between the power supply and the noise filter.
mark applied)
Noise Filter
To provide a noise filter for the power supply when several servo drivers are connected, consult the noise
filter manufacturer.
A±4.0
B±1.5
C±1.0
D±1.5
H±1.5
I±1.5
M±1.5
Circuit diagram
R
N
L A B E L
L
Cx
4
Cx
5
2
G±1.5
F±1.0
E±1.5
O±1.5
1
3
6
Cy
2-øL
6-J
Optional Part No.
A
2-øK
B
C
D
E
F
G
H
I
DV0P1441
188 160 145 130 110 95 70
55
25
DV0P1442
228 200 185 170 110 95 70
60
30
DV0P1443
272 240 220 200 140 110 70
80
40
M
N
O
Manufacturer's Product No.
M5 4.5 ø4.5 x 7 10
M4
17.5
3SUP-A10H-ER-4
M6 4.5 ø4.5 x 7 10
M4
17.5
3SUP-A30H-ER-4
M6 6.5 ø6.5 x 8 15
M4
20
SSUP-A50H-ER-4
J
K
L
A±3.0
B
C±4.0
D
2-øJ
I
Circuit diagram
4
Cx2
2
(C)
L A B E L
B
C
D
E
I
J
K
3
F±1.0
E
(H)
L
A
Okaya Electric Industries Co., Ltd.
1
2-øK
L
Optional Part No.
Manufacturer
R
Cx1
5
L2
L1
Cy
R
Cx3
6
Cy
L Manufacturer's Product No.
F
G
H
DV0P3390
246 230 215 200 100
85
13
18 140 5.5 x 7 5.5 M4
3SUP-HL30-ER-6B
DV0P3410
286 270 255 240 120
90
13
18 150 5.5 x 7 5.5 M6
3SUP-HL50-ER-6B
Manufacturer
Okaya Electric Industries Co., Ltd.
Surge Absorber
11±1
5.5±1
Connect a surge absorber in the noise filter's primary side.
28.5±1
ø4.2±0.2
3
1
2
3
Manufacturer
Optional Part No. Manufacturer's Product No.
DV0P1450
R · A · V-781BXZ-4 Okaya Electric Industries Co., Ltd.
<NOTE>
To conduct a withstand voltage test for a machine or equipment, be sure to remove the surge absorber.
Otherwise, the surge absorber may be damaged.
267
Appendix
41±1
UL-1015 AWG16
4.5±0.5
2
28±1
1
+30
200 -0
Circuit diagram
Conformance to EC Directives and UL Standards
Noise filter for signal line
Attach noise filter for signal line to every cable (power cable, motor cable, encoder cable, interface cable).
For frame-D, attach three noise filters to the power line.
39±1
34±1
30±1
13±1
Weight: 62.8 kg
Optional Part No. Manufacturer's Product No.
DV0P1460
ZCAT3035-1330
Manufacturer
TDK Corporation
Grounding
(1) To prevent an electric shock, be sure to connect the servo driver's protective earth terminal ( ) with
the control panel's protective earth terminal (PE).
(2) The servo driver provides two protective earth terminals. Do not connect these terminals together.
Ground-fault circuit breaker
Install a type B ground-fault circuit breaker (RCD) on the primary circuit.
Zero-phase reactor
Attach a zero-phase reactor to the secondary side of the noise filter.
For the Type A: 2 turns; for Type B, C, E, F and G: 7 turns
The Type D does not use any zero-phase reactor.
3
7
12.5
25
95±1.0
20
4.5
6
7.2
65.5±1.0
2-ø5.5
31.4±1.0
110±1.0
2-ø4.2
Manufacturer
Optional Part No. Manufacturer's Product No.
DV0P3400
RZR-6020N
Okaya Electric Industries Co., Ltd.
Peripheral Devices Applicable to Drivers (EC Directives)
Please see page 26 – 29 "System Configuration and Wiring".
Conform to UL Standards
The noise filters conform to UL508C (File No. E164620) to satisfy the following conditions.
1) The servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housing the
driver in an IP54 control box).
2) Install a circuit breaker or fuse between the power supply and noise filter. The circuit breaker or fuse
should be a UL listed
marked) type. The current rating of the circuit breaker or fuse should be per the
table in page 30 "List of Drivers and Compatible Peripheral Equipment".
268
Acceptable Loads on Output Axes
Radial load (P)
[Appendix]
Thrust load (A and B)
L
A
M
B
L/2
P
Unit: N (1 kgf = 9.8 N)
Motor
series
MSMA
MAMA
MSMA
MDMA
MHMA
MFMA
MGMA
Motor capacity
30W
50W, 100W
200W, 400W
750W
100W
200W, 400W
750W
1kW
1.5kW ~ 3.5kW
4kW ~ 5kW
750W
1kW ~ 2kW
2.5kW, 3kW
3.5kW, 4kW
4.5kW, 5kW
500W ~ 1.5kW
2kW ~ 5kW
400W
750W, 1.5kW
2.5kW ~ 4.5kW
300W ~ 600W
900W
1.2kW
2.0kW
3kW ~ 4.5kW
Radial load
Design
Thrust load
A direction
B direction
147
88
117.6
392
686
147
392
686
686
147
294
88
147
294
392
196
392
117.6
196
392
490
980
588
686
686
392
490
980
588
686
1666
784
980
980
1666
588
784
686
980
980
588
1862
686
980
588
1666
784
980
2058
980
1176
686
Acceptable during operation
Thrust load
Radial load (A or B direction)
49
68.6
245
392
68.6
245
392
392
490
784
392
490
29.4
58.8
98
147
49
68.6
68.6
147
196
343
147
196
784
343
490
784
392
490
784
490
686
784
1176
1470
196
343
147
196
294
196
343
490
Appendix
269
Optional Parts
Motor connectors and plugs
MSMA 30W ~ 750W, MQMA 100W ~ 400W
• Plug specification
• Motor
AMP plug 172167-1
Pin
170360-1
• Brake (option)
AMP plug 172165-1
Pin
170360-1
• 17-bit absolute encoder
AMP plug 172169-1
Pin
170359-1
• 2500P/r incremental encoder
AMP plug 172168-1
Pin
170359-1
• Connector specification
FG BTN-0 BTP-0
V U
PS
PS
E W
FG
E0V E5V
NC
NC
PS PS
Brake
Brake
NC E0V E5V
NC: No connection - leave the pin open
MSMA 1kW– 5.0kW, MDMA 750W– 5.0kW, MFMA 400W– 4.5kW,
MHMA 500W– 5.0kW, MGMA 300W– 4.5kW
• Encoder connector specification
• Motor brake connector specification
(Common to MSMA, MDMA, MFMA, MHMA, MGMA)
G
M
B
N
L
K
A
P
T
S
J
H
R
G
M
C
D
E
F
B
N
L
Detector:
MS3102A
20-29P
A
J
P
S
H
A
B
I
F
R
G
D
E
F
E
Detector:
MS3102A
20-29P
B
D
* Leave pins S and T unconnected
when the encoder is incremental.
• Connector pins and compatible models
Motor
MSMA
MDMA
(kW)
1.0 – 2.5 3.0 – 5.0 0.75 – 2.5 3.0 – 5.0
Brake
D
C
C
E
G
Motor(w/brake; w/o brake)
JL04V-2E20-18PE-B(JAE)
or equivalent
Description
Pin No.
G
w/Brake (wo/Brake) NC
H
w/Brake (wo/Brake) NC
A
NC
F
U phase
I
V phase
B
W phase
E
E-GND
D
E-GND
C
NC
• 2500P/r incremental encoder • 17-bit encoder
specification
specification
Pin No. Description
Pin No. Description
NC
A
A
NC
NC
B
B
NC
NC
C
NC
C
NC
D
D
NC
NC
E
E
NC
NC
F
F
NC
E0V
E0V
G
G
E5V
E5V
H
H
Frame GND
Frame GND
J
J
PS
PS
K
K
L
L
PS
PS
NC
NC
M
M
NC
NC
N
N
NC
NC
P
P
NC
R
R
NC
BTP-0 *
S
S
NC
T
T
BTN-0 *
NC
270
A
F
C
T
K
H
D
A
C
B
H
I
Motor(w/brake; w/o brake)
JL04V-2E24-11PE-B(JAE) or equivalent
JL04V-2E22-22PE-B(JAE) or equivalent
Description
Pin No.
A
w/Brake (wo/Brake) NC
B
w/Brake (wo/Brake) NC
C
NC
D
U phase
E
V phase
F
W phase
G
E-GND
H
E-GND
I
NC
Description
U phase
V phase
W phase
E-GND
Pin No.
A
B
C
D
Motor(w/o brake)
JL04V-2E20-4PE-B(JAE) or equivalent
JL04V-2E22-22PE-B(JAE) or equivalent
MFMA
MHMA
MGMA
0.4 – 1.5
2.5 – 4.5
0.5 – 1.5
2.0 – 5.0
0.3 – 0.9
1.2 – 4.5
Yes
20-18P
24-11P
20-18P
24-11P
20-18P
24-11P
20-18P
24-11P
20-18P
24-11P
No
20- 4P
22-22P
20- 4P
22-22P
20-18P
24-11P
20-4P
22-22P
20-4P
22-22P
[Appendix]
Junction cables for MINAS-AIII series
Motor type
MSMA 30 – 750W
MAMA 100 – 750W
(*)
MGMA 300W
(*)
MSMA 1.0 – 2.5kW
MDMA 750W – 2.5kW
MHMA 500W – 1.5kW
MGMA 600 – 900W
(*)
MSMA 3.0 – 5.0kW
MDMA 3.0 – 5.0kW
MHMA 2.0 – 5.0kW
MGMA 1.2 – 4.5kW
MFMA 400W
(*)
MFMA 750W – 1.5kW
(*)
MFMA 2.5 – 4.5kW
Junction cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Part No.
fig No.
MFECAO * * OLAA
1-1
MFECAO * * OEAC
2-1
MFMCAO * * OEEB
MFMCBO * * OGET
3-1
4-1
MFECAO * * OLSA
1-2
MFMCDO * * 2ECB
MFMCAO * * 2FCC
3-6
4-2
MFECAO * * OLSA
1-2
MFMCDO * * 2ECT
MFMCAO * * 2FCT
3-2
4-3
MFECAO * * OLSA
1-2
MFMCAO * * 3ECT
MFMCAO * * 3FCT
3-4
4-4
MFECAO * * OLSA
1-2
MFMCAO * * 2ECB
MFMCAO * * 2FCC
3-5
4-2
MFECAO * * OLSA
1-2
MFMCAO * * 2ECT
MFMCAO * * 2FCT
3-3
4-3
MFECAO * * OLSA
1-2
MFMCDO * * 3ECT
MFMCAO * * 3FCT
3-7
4-4
(*) D type driver
Motor type
MSMA 750W
MAMA 750W
MSMA 1.0 – 1.5kW
MDMA 750W – 1.5kW
MHMA 500W – 1.5kW
MGMA 300 – 900W
Part No.
fig No.
MFECAO * * OLAA
1-1
MFECAO * * OEAC
2-1
MFMCAO * * OEEB
MFMCBO * * OGET
3-1
4-1
MFECAO * * OLSA
1-2
MFMCDO * * 2ECB
MFMCAO * * 2FCC
3-6
4-2
MFECAO * * OLSA
1-2
MFMCAO * * 2ECB
MFMCAO * * 2FCC
3-5
4-2
271
Appendix
MFMA 400W – 1.5kW
Junction cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Encoder cable (17 bits, 7 wires)
for absolute/incremental encoders
Encoder cable (2500 pulses, 5 wires),
incremental encoders
Motor cable
Brake cable
Optional Parts
Encoder junction cable
fig 1-1
MFECA0 * * 0LAA
(4)
(14)
3M
10320
(16)
(ø7)
L
(4)
Part No.
MFECA0030LAA
MFECA0050LAA
MFECA0100LAA
MFECA0200LAA
L (m)
3
5
10
20
Part No.
MFECA0030LSA
MFECA0050LSA
MFECA0100LSA
MFECA0200LSA
L (m)
3
5
10
20
Part No.
MFECAO030EAC
MFECAO050EAC
MFECAO100EAC
MFECAO200EAC
L (m)
3
5
10
20
Part No.
MFECAO030ESA
MFECAO050ESA
MFECAO100ESA
MFECAO200ESA
Sumitomo 3M
Tyco electronics AMP
fig 1-2
L (m)
3
5
10
20
MFECA0 * * 0LSA
3M
10320
ø37.3
(ø7)
L
Japan Aviation
Electronics Industry, Ltd.
fig 2-1
Sumitomo 3M
MFECA0 * * 0EAC
L
(4)
(14)
3M
10320
(9.8)
(ø9.2)
(20)
(4)
Tyco electronics AMP
fig 2-2
Sumitomo 3M
MFECA0 * * OESA
Japan Aviation
Electronics Industry, Ltd.
272
3M
10320
(ø9.2)
ø37.3
L
Sumitomo 3M
[Appendix]
Motor junction cable (Robotop® , 600V . DP)
fig 3-1
Robotop® is the trademark of Sumitomo Denso.
MFMCA0 * * 0EEB
(50)
(50)
(ø11)
(12.0)
(4)
L
(10.0)
(4)
L (m)
3
5
10
20
Part No.
MFMCA0030EEB
MFMCA0050EEB
MFMCA0100EEB
MFMCA0200EEB
L (m)
3
5
10
20
Part No.
MFMCD0032ECT
MFMCD0052ECT
MFMCD0102ECT
MFMCD0202ECT
L (m)
3
5
10
20
Part No.
MFMCA0032ECT
MFMCA0052ECT
MFMCA0102ECT
MFMCA0202ECT
L (m)
3
5
10
20
Part No.
MFMCA0033ECT
MFMCA0053ECT
MFMCA0103ECT
MFMCA0203ECT
L (m)
3
5
10
20
Part No.
MFMCA0032ECB
MFMCA0052ECB
MFMCA0102ECB
MFMCA0202ECB
L (m)
3
5
10
20
Part No.
MFMCD0032ECB
MFMCD0052ECB
MFMCD0102ECB
MFMCD0202ECB
L (m)
3
5
10
20
Part No.
MFMD0033ECT
MFMD0053ECT
MFMD0103ECT
MFMD0203ECT
Tyco electronics AMP
fig 3-2
MFMCD0 * * 2ECT
(50)
(ø12.5)
ø37.3
L
Japan Aviation Electronics Industry, Ltd.
fig 3-3
MFMCA0 * * 2ECT
(50)
(ø12.5)
ø37.3
L
Japan Aviation Electronics Industry, Ltd.
fig 3-4
MFMCA0 * * 3ECT
(50)
(ø14)
ø40.5
L
Japan Aviation Electronics Industry, Ltd.
fig 3-5
MFMCA0 * * 2ECB
(50)
(ø12.5)
ø37.3
L
Japan Aviation Electronics Industry, Ltd.
fig 3-6
MFMCD0 * * 2ECB
(50)
(ø12.5)
ø37.3
L
Japan Aviation Electronics Industry, Ltd.
MFMCD0 * * 3ECT
(50)
Japan Aviation Electronics Industry, Ltd.
273
Appendix
(ø14)
L
ø43.7
fig.3-7
Optional Parts
Motor (with Brake) junction cables (Robotop® , 600V • DP)
fig 4-1
MFMCB0 * * 0GET
(Brake cable)
(40)
(ø9.8)
(12.0)
(10.0)
(5.6)
fig 4-2
(50)
L
L (m)
3
5
10
20
Part No.
MFMCB0030GET
MFMCB0050GET
MFMCB0100GET
MFMCB0200GET
L (m)
3
5
10
20
Part No.
MFMCA0032FCC
MFMCA0052FCC
MFMCA0102FCC
MFMCA0202FCT
L (m)
3
5
10
20
Part No.
MFMCA0032FCT
MFMCA0052FCT
MFMCA0102FCT
MFMCA0202FCT
L (m)
3
5
10
20
Part No.
MFMCA0033FCT
MFMCA0053FCT
MFMCA0103FCT
MFMCA0203FCT
Tyco electronics AMP
MFMCA0 * * 2FCC
(50)
Japan Aviation Electronics
Industry, Ltd.
(ø9
.8 )
ø37.3
(ø12.5)
L
L
(50
)
fig 4-3
MFMCA0 * * 2FCT
(50)
Japan Aviation Electronics
Industry, Ltd.
(ø9
.8 )
ø37.3
(ø12.5)
L
L
(50
)
fig 4-4
MFMCA0 * * 3FCT
(50)
Japan Aviation Electronics
Industry, Ltd.
(ø9
.8)
ø43.7
(ø14)
L
L
(50
)
Communication Cables (for connection to personal computer)
1) Part No. DV0P1960 (for DOS/V)
+200
2000 0
"D" subconnector 9P,
eight clamp terminals
274
Mini DIN8P, MD connector,
eight clamp terminals
[Appendix]
Communication Cables (for RS485)
L
Part No.
DVOP1970
DVOP1971
DVOP1972
L [mm]
200
500
1000
Mini DIN8P, MD connector,
eight clamp terminals
Set up support software PANATERM®
1) Part No. DV0P3170(Japanese version), DV0P3180(English version)
2) Supply Media: 3.5 inch floppy disc (2 disks)
<Note>
For the operating environment and other details, see the Instructions for PANATERM®.
Connector Kits for Motor and Encoder
• Used for:
MSMA 30W – 750W
MAMA 100W – 750W
1) Part No. DV0P2110
2) Components
Item
Connector
Connector cover
Connector (9P)
Connector pin
Connector (4P)
Connector pin
3) Recommended tool to
fix socket
(Prepare by customer)
• Used for:
Manufacturer's Part No.
10120-3000VE
10320-52A0-008
172161-1
170365-1
172159-1
170366-1
Item
For encoder cable
For motor cable
MSMA 30W – 750W
MAMA 100W – 750W
1) Part No. DV3430
2) Components
Item
Connector
Connector cover
Connector (6P)
Connector pin
Connector (4P)
Connector pin
Quantity
1
1
1
9
1
4
Manufacturer
Sumitomo
3M
Tyco electronics
AMP
Manufacturer's Part No.
755330-1
755331-1
Remarks
For CN X4
(20pin)
For encoder cable
(9 pins)
For motor cable
(4 pins)
Manufacturer
Tyco electronics AMP
with a 2500-pulse,
5-wire incremental encoder
Manufacturer's Part No.
10120-3000VE
10320-52A0-008
172160-1
170365-1
172159-1
170366-1
Item
For encoder cable
For motor cable
Quantity
1
1
1
6
1
4
Manufacturer
Sumitomo
3M
Tyco electronics
AMP
Manufacturer's Part No.
755330-1
755331-1
Remarks
For CN X4
(20pin)
For encoder cable
(6 pins)
For motor cable
(4 pins)
Appendix
3) Recommended tool to
fix socket
(Prepare by customer)
with a17-bit absolute encoder
Manufacturer
Tyco electronics AMP
275
Optional Parts
• Used for:
MSMA 1.0kW – 2.5kW
MDMA 750W – 2.5kW
MHMA 500W – 1.5kW
MGMA 300W – 900W
1) Part No. DV0P0960
2) Components
Item
Connector
Connector cover
Straight plug
Cable clamp
Straight plug
Cable clamp
with a 17-bit absolute/incremental encoder
without brake
or 2500-pulse incremental encoder
Manufacturer's Part No.
10120-3000VE
10320-52A0-008
MS3106B20-29S
MS3057-12A
MS3106B20-4S
MS3057-12A
MSMA 3.0kW – 5.0kW
MDMA 3.0kW – 5.0kW
MHMA 2.0kW – 5.0kW
MGMA 1.2kW – 4.5kW
1) Part No. DV0P1510
2) Components
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
For encoder cable
For motor cable
• Used for:
Item
Connector
Connector cover
Straight plug
Cable clamp
Straight plug
Cable clamp
• Used for:
MSMA
MDMA
MHMA
MGMA
with a 17-bit absolute/incremental encoder
without brake
or 2500-pulse incremental encoder
Manufacturer's Part No.
10120-3000VE
10320-52A0-008
MS3106B20-29S
MS3057-12A
MS3106B22-22S
MS3057-12A
1.0kW – 2.5kW
750W – 2.5kW
500W – 1.5kW
300W – 900W
MFMA 0.4kW – 1.5kW
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
For encoder cable
For motor cable
with a 17-bit absolute/incremental encoder
without brake
or 2500-pulse incremental encoder
with a 17-bit absolute/incremental encoder
or 2500-pulse incremental encoder
without brake
with brake
1) Part No. DV0P0690
2) Components
Item
Connector
Connector cover
Straight plug
Cable clamp
Straight plug
Cable clamp
276
Manufacturer's Part No.
10120-3000VE
10320-52A0-008
MS3106B20-29S
MS3057-12A
MS3106B20-18S
MS3057-12A
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
For encoder cable
For motor cable
[Appendix]
• Used for:
MSMA
MDMA
MHMA
MGMA
3.0kW – 5.0kW
3.0kW – 5.0kW
2.0kW – 5.0kW
1.2kW – 4.5kW
MFMA 2.5kW – 4.5kW
with a 17-bit absolute/incremental encoder
with brake
or 2500-pulse incremental encoder
with a 17-bit absolute/incremental encoder
or 2500-pulse incremental encoder
without brake
with brake
1) Part No. DV0P0970
2) Components
Item
Connector
Connector cover
Straight plug
Cable clamp
Straight plug
Cable clamp
Manufacturer's Part No.
10120-3000VE
10320-52A0-008
MS3106B20-29S
MS3057-12A
MS3106B24-11S
MS3057-16A
Quantity
1
1
1
1
1
1
Manufacturer
Sumitomo
3M
Remarks
For CN X4
(20pin)
Japan Aviation
Electronics
Industry, Ltd.
For encoder cable
For motor cable
<Notes>
1. For components such as a connector, connector cover, etc., you may use products of other manufacturers
equivalent to item numbers mentioned above.
2. Pin Arrangement of Connector CN X4 (20-pin)
2500P/R
11
NC
13
NC
12
NC
1
0V
15
NC
14
NC
3
5V
2
0V
17
PS
16
NC
5
NC
4
5V
19
NC
18
PS
7
NC
6
NC
17bits
11
NC
20
FG
(Shield)
9
NC
8
NC
13
NC
12
NC
1
0V
10
NC
15
NC
14
NC
3
16
NC
19
NC
4
5V
20
FG
(Shield)
18
PS
5
7
BTP-0 NC
5V
2
0V
17
PS
6
8
BTN-0 NC
9
NC
10
NC
Notes>
1. The tables above show the pins alignment, looking from where the plugs are soldered.
Also check pin No. imprinted on the connector body and be sure that there is no wrong wiring.
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 cable connections, see page 36 "System Configuration and Wiring: CN X4 Connector (For Encoder)"
in Preparations.
Appendix
277
Optional Parts
Connector Kits for External Equipment
1) Part No. DV0P0980
2) Components
Item
Connector
Connector cover
Manufacturer's Part No.
10150-3000VE
10350-52A0-008
Quantity
1
1
Manufacturer
SUMITOMO
3M
Remarks
For CN X5
(50 pins)
3) Alignment of CN X5 (50 pins) (Looking from where the plug is soldered)
26
28
30
32
34
36
38
40
42
44
46
ZERO DIV
CL
CSALM
COIN TLC
IM
BATT NC
SPD
MODE RDY
27
29
31
33
35
37
39
41
43
45
GAIN SRV
AINH
SALM
COIN COM SPM BATT
-ON
CLR
RDY
1
3
5
7
9
11
13
15
17
19
21
NC
PULS1 SIGN1 COM CCWL BRK- GND GND GND CZ
OA
OFF
2
4
6
8
10
12
14
16
18
20
NC
PULS2 SIGN2 CWL BRK- ZSP
SPR
CCWTL CWTL NC
OFF
TRQR / TRQR
48
OB
47
NC
50
FG
49
OB
23
OZ
22
OA
25
GND
24
OZ
<Notes>
1. Before making connections, check the Pin Numbers stamped on the plugs.
2. For the symbols that indicate the above signal names and the signal functions,see "CN X5 connector
wiring" for the specific control mode.
3. Pins marked with NC should be left unconnected.
Interface Cables
1) Part No. DV0P2190
2) Dimension
Connector cover 10350-52A0-008
(Sumitomo 3M) or equivalent
50
12.7
39
25
2000+200
0
1
26
52.4
50 +10
0
Connector cover 10150-3000VE
(Sumitomo 3M) or equivalent
3) Wire table
Pin No. Wire color Pin No.
Orange
1
11
(Red 1)
Orange
2
12
(Black1)
Gray
3
13
(Red 1)
Gray
4
14
(Black 1)
White
5
15
(Red 1)
White
6
16
(Black 1)
Yellow
7
17
(Red 1)
Pink
8
18
(Red 1)
Pink
9
19
(Black 1)
Orange
10 (Red2)
20
278
Wire color Pin No.
Orange
21
(Black 2)
Yellow
22
(Black 1)
Gray
23
(Red 2)
Gray
24
(Black 2)
White
25
(Red 2)
Yellow
26
(Red 2)
Yellow (Black1)
27
Pink (Black 2)
Pink
28
(Red 2)
White
29
(Black2)
––
30
Wire color Pin No.
Orange
31
(Red 3)
Orange
32
(Black3)
Gray
33
(Red 3)
Gray
34
(Black 3)
White
35
(Red 3)
White
36
(Black3)
Yellow
37
(Red 3)
Yellow
38
(Black3)
Pink
39
(Red 3)
Pink
30
(Black 3)
Wire color Pin No.
Orange
41
(Red 4)
Orange
42
(Black4)
Gray
43
(Red 4)
White
44
(Red 4)
White
45
(Black4)
Yellow
46
(Red 4)
Yellow
47
(Black4)
Pink
48
(Red 4)
Pink
49
(Black 4)
Gray
50
(Black 4)
18
Wire color
Orange
(Red 5)
Orange
(Black5)
Gray
(Red 5)
White
(Red 5)
White
(Black5)
Yellow
(Red 5)
Yellow
(Black5)
Pink
(Red 5)
Pink
(Black 5)
Gray
(Black 5)
<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.
[Appendix]
Brackets for Mounting the Driver
2-M3 Countersinking
17
9.5
11±0.2
11±0.2
2
R1
2
10
19±0.2
2-M3 Countersinking
19±0.2
5
2-M3 Countersinking
17
9.5
.2
10
2
15
ø5
10
29
29
5
7
5.2
2
7
15
2
21
21
17
9.5
M3 x 8
pan head
screw
x 4 pcs.
7
R2 5.2
15
2
.
ø5
7
5
Type B
lower brackets
2-M3 Countersinking
17
9.5
M3 x 8
pan head
screw
x 4 pcs.
7
DV0P
3000
Upper brackets
2
DV0P
3050
Outer dimension
Screws
15
Type A
Part No.
10
Driver
type
34±0.2
34±0.2
2-M4 Countersinking
5
17
9.5
20
20
5.2
.2
44
50
17
9.5
15
2
10
5
2-M4 Countersinking
ø5
.2
52
50
74
2-
40
2-M4 Countersinking
17
9.5
10
26
2
10
15
Type D
M4 x 6
pan head
screw
x 4 pcs.
40
.6
44
26
DV0P
3270
R2
20
2
10
2
10
15
R1
15
M4 x 6
pan head
screw
x 4 pcs.
ø5
Type C
DV0P
3010
17
9.5
2-M4 Countersinking
74
.2
M4 x 6
pan head
screw
x 4 pcs.
18
30
DV0P
2102
5.2
22.5
Type E
Type F
ø5
5.2
7.5
38
7.5
76
50±0.2
13
40±0.2
2.3
2-M4 Countersinking
<Notes>
The driver in Type G can be installed on both front and rear by replacing ancillary L-shaped brackets.
Appendix
279
Optional Parts
External Regenerative Discharge Resistor
57
ø4.3
300
52
DV0P3630
DV0P3631
DV0P1980
DV0P1981
DV0P1982
DV0P1983
DV0P3630, DV0P3631
Model
Product
Internal thermal fuse
number Specifications Resistance melting temperature
130 ±2˚C
10W
50Ω
45M03
130 ±2˚C
10W
100Ω
45M03
Non
90W
50Ω
RH150M
Non
90W
100Ω
RH150M
Non
120W
30Ω
RH220M
Non
300W
20Ω
RH500M
60
Part.No.
ø4.3
Female terminal
5556PBTL
(or 5556PBT)
65
t0.6
10
Manufacturer: IWAKI MUSEN KENKYUSHO CO., LTD.
Input Supply Voltage
Single-phase
Type
Single-phase 200V/Three-phase 200V
100V
DV0P3631 1 unit
DV0P3630
A
B
DV0P1980 1 unit
DV0P1980
C
Arrange 2 DV0P 1982 in a line
D
or
––
E
place 1 DV0P 1983.
F
Arrange 2 – 3 DV0P 1982 in a line or
––
G
place 1 DV0P 1983.
3.5
E
DV0P1980, DV0P1981, DV0P1982
B
A
D
4.5
C
ø4.5
Lead wires : 300mm
A
B
C
D
DV0P1980 212 180 202 44
DV0P1981
DV0P1982 230 200 220 60
E
30
20
DV0P1983
4.5
250
234
3
60
80
2·M3
Lead
wires
2·ø4.5
218
40
<Caution>
Be careful not to touch the external regeneration resistance.
It may be hot and scald you while using.
Lead wires : 450mm
Take preventions against a fire and burn.
Do not mount the regenerative discharge resistor near an inflammable object, or
in a place where an operator may touch it by hand.
<Request>
When you use an external regeneration, you must install external safeguards such as a temperature fuse, etc.
Otherwise, as protection of regeneration resistance would be lost, causing abnormal heat generation and burnout.
Battery and Battery Holder for Absolute Encoder
Battery (for driver types B to G)
72
Lead wire: 50 mm
1) Part No. DV0P2990
2) Lithium battery, Toshiba Battery make
ER6V, 3.6V, 2000mAh
<Notice>
Type A: connect ER6V using battery pins
on the interface connector.
280
DV0P2990
00090001
14.5
18
W/insulation paper
[Appendix]
Reactor
fig 1
fig 2
X Y Z
NP
R S T
6-I
2-I
E
C
D
C
D
E
A
4-H
(mounting dimension)
(mounting dimension)
G
B
B
fig 1
fig 2
A
F
(mounting dimension)
4-H
G
Part No.
A
B
C
D
E
F
G
H
I
DV0P220
DV0P221
DV0P222
DV0P223
DV0P224
DV0P225
DV0P226
DV0P227
DV0P228
DV0P229
65
60
60
60
60
60
55
55
55
55
125
150
150
150
150
150
80
80
80
80
83
113
113
113
113
113
68
68
68
68
118
137
137
137
137
137
90
90
90
90
145
120
130
140
145
160
90
90
95
105
70
60
70
79
84
100
41
41
46
56
85
75
95
95
100
115
55
55
60
70
W7 x L12
W7 x L12
W7 x L12
W7 x L12
W7 x L12
W7 x L12
ø7
ø7
ø7
ø7
M4
M4
M4
M4
M4
M5
M4
M4
M4
M4
• Agency of Natural Resources and Energy of Ministry of International Trade
and Industry at the time, established a
higher harmonics suppression guidelines in Sept. 1994.
1) Drivers rated 4 kW or below are
subject to "Higher harmonics suppression guidelines for home electric and general purpose appliances".
2) Drivers rated more than 4 kW are
subject to "Higher harmonics suppression guidelines for high voltage
and special customers".
• Ministry of Economy, Trade and Industry strongly supports enforcement of
the harmonics preventing measure.
To meet the suppression level requirements, connect a power-factor improvement reactor (L) for drivers rated
4 kW or below. As for drivers rated over
4 kW, determine the harmonics level
according to the guideline, and if necessary, design and install a suitable
suppression measure.
F
(mounting dimension)
Inductance Rated current
(A)
(mH)
6.81
3
4.02
5
2
8
11
1.39
16
0.848
25
0.557
6.81
3
4.02
5
2
8
1.39
11
MSMA Single-phase
Reactor Motor
Reactor
Voltage
Rated
Product
Product
Series Specifications
Output
No.
No.
30W–100W DVOP227 MGMA
900W, 1.2kW
MSMA
200W–400W DVOP228 MSMA
Motor
Voltage
Series Specifications
100V
Rated
Output
MSMA
30W–200W
MDMA
MAMA
100W–200W
MHMA
MHMA
500W
DVOP220 MFMA
MFMA
400W
MSMA
MGMA Single-phase
300W
MDMA
MSMA
400W–750W
MHMA
MAMA
400W–750W
MGMA
MDMA
750W
MFMA
750W
MDMA
MGMA
600W
MFMA
100V
30W–400W
MSMA
MAMA
100W–400W
MDMA
MGMA
300W
DVOP220 MHMA
400W
MGMA
500W
MSMA
600W
MDMA
MFMA
MGMA
Three-phase
200V
MSMA
MAMA
MFMA
1.5kW
DVOP222
1.5kW
2.0kW
DVOP223
2.0kW
DVOP221 MSMA Three-phase
MSMA
MHMA
1.0kW
200V
2.5kW
3.0kW
DVOP224
3.5kW
MFMA
750W
DVOP221 MSMA
MDMA
4.0kW
DVOP225
MFMA
Appendix
<Reference>
[Harmonics suppression technical guideline], JEAG 9702-1995, Japan Electric Association
[Harmonic current calculation procedure for general-purpose inverter at special customers], JEM-TR201-1996, Japan
Electrical Manufacturers' Association
[Servo driver (input current 20 A or lower) harmonic current suppression procedure guideline], JEM-TR199, Japan
Electrical Manufacturers' Association
281
Recommended Parts
Surge Absorber for Motor Brake
Motor
MSMA
MAMA
MHMA
MGMA
MSMA
MDMA
MDMA
MFMA
MGMA
MDMA
MFMA
MFMA
MHMA
MGMA
30W – 1.0kW
100W – 750W
2.0kW – 5.0kW
600W – 2.0kW
1.5kW – 5.0kW
750W
3.5kW – 5.0kW
750W – 1.5kW
3.0kW – 4.5kW
1.0kW – 3.0kW
400W
2.5kW – 4.5kW
500W – 1.5kW
300W
Surge absorber for brake
• C-5A2 or Z15D151
Ishizuka.co.
• C-5A3 or Z15D151
Ishizuka.co.
• TNR9G820K
NIPPON CHEMI_CON CO.
• The recommended parts are those specified for measurement of brake release time.
Peripheral Equipment Manufacturers
1.2002.present
Manufacturer/agent
Matsushita Electric Works, Ltd.
Automation Controls Company
IWAKI MUSEN KENKYUSHO Co., Ltd.
NIPPON CHEMI_CON CORPORATION
Ishizuka Electronics Corporation
HITACHI Semiconductor and Devices Sales
TDK Corporation
Okaya Electric Industries Co., Ltd.
Japan Aviation Electronics Industry, Ltd.
Sumitomo 3M
Tyco electronics AMP
Molex Incorporated
WAGO Company of Japan., Ltd.
SUMITOMO Denso
282
Tel
81-6-6908-1131
81-44-833-4311
Kantou Area 81-3-5436-7608
Chubu Area 81-52-772-8551
Kansai Area 81-6-6338-2331
Kantou Area 81-3-3621-2703
Chubu Area 81-52-777-5070
Kansai Area 81-6-6391-6491
81-6-6263-2031
Kantou Area 81-3-5201-7229
Chubu Area 81-52-971-1712
Kansai Area 81-6-6245-7333
East Japan 81-3-3424-8120
West Japan 81-6-6392-1781
Kantou Area 81-3-3780-2717
Chubu Area 81-52-953-9520
Kansai Area 81-6-6447-5259
Kantou Area 81-3-5716-7290
Chubu Area 81-52-322-9652
Kansai Area 81-6-6447-3944
Kantou Area 81-44-844-8111
Chubu Area 81-565-29-0890
Kansai Area 81-6-6533-8232
046-261-4500
Tokyo
03-5627-2050
Nagoya 052-701-7171
Osaka
06-6386-5573
Fukuoka 092-762-1141
81-6-6229-1960
Equipment
No-fuse breaker
magnetic contact
surge absorber
Regenerative discharge resistor
Surge absorber for Brake
Diode for Brake
Noise filter for signal line
Surge absorber for Brake
Noise filter
Reactor
Connector
Cable
[Appendix]
MEMO
Appendix
283
Dimensions
MSMA Series 30W – 750W
LL
220
LR
LF
LC
200
3
LH
øLA
LBh7
øSh6
4-øLZ
LW
LK
RH
KH
KWh9
(Keyed version)
• Encoder specifications
without brake
M
S
M
A
with brake
284
Model
MSMA3AZP1
MSMA5AZP1
MSMA01 P1
MSMA02 P1
MSMA04 P1
MSMA082P1
MSMA3AZS1
MSMA5AZS1
MSMA01 S1
MSMA02 S1
MSMA04 S1
MSMA082S1
MSMA3AZP1
MSMA5AZP1
MSMA01 P1
MSMA02 P1
MSMA04 P1
MSMA082P1
MSMA3AZS1
MSMA5AZS1
MSMA01 S1
MSMA02 S1
MSMA04 S1
MSMA082S1
Output(W)
30
50
100
200
400
750
30
50
100
200
400
750
30
50
100
200
400
750
30
50
100
200
400
750
LL
65
73
103
94
123.5
142.5
82
90
120
109
138.5
157.5
97
105
135
127
156.5
177.5
114
122
152
142
171.5
192.5
P 2500 P/r incremental encoder
S 17 bits absolute/incremental encoder
S
7
8
11
14
19
7
8
11
14
19
7
8
11
14
19
7
8
11
14
19
LB
LF
LR
LA
LC
LH
LZ
30
6
25
45
38
32
3.4
50
7
30
70
60
34
4.5
70
8
35
90
80
53
6
30
6
25
45
38
32
3.4
50
7
30
70
60
34
4.5
70
8
35
90
80
53
6
30
6
25
45
38
32
3.4
50
7
30
70
60
34
4.5
70
8
35
90
80
53
6
30
6
25
45
38
32
3.4
50
70
7
8
30
35
70
90
60
80
34
53
4.5
6
LW
13
LK KW KH
12
2
RH
5.8
14
12.5
3
6.2
20
13
18
22.5
22
12
4
5
6
2
8.5
11
15.5
5.8
14
12.5
3
6.2
20
13
18
22.5
22
12
4
5
6
2
8.5
11
15.5
5.8
14
12.5
3
6.2
20
13
18
22.5
22
12
4
5
6
2
8.5
11
15.5
5.8
14
12.5
3
6.2
20
18
22.5
22
4
5
6
8.5
11
15.5
25
25
25
25
Weight(kg)
0.27
0.34
0.56
1.0
1.6
3.2
0.33
0.40
0.62
1.1
1.7
3.3
0.47
0.53
0.76
1.4
2.0
3.9
0.53
0.59
0.82
1.5
2.1
4.0
[Appendix]
MSMA Series 1.0 – 5.0kW
MSMA1.0 – 2.5kW
4.0 – 5.0kW
MSMA3.0 – 3.5kW
LC
LL
LR
LC
LF LE
D
øSh6
L Bh7
LG
LH
4-øLZ
øL
ø135
ø145
øL
D
øL
A
LZ
LW
LK
RH
KH
KWh9
(Keyed version)
• Encoder specifications
without brake
M
S
M
A
Output(W)
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
LL
175
180
205
230
217
237
240
260
280
175
180
205
230
217
237
240
260
280
200
205
230
255
242
262
265
285
305
200
205
230
255
242
262
265
285
305
S
19
LB
80
LE
LF
7
LR
LA
100
LC
90
LD
120
95
3
10
55
115
100
135
120
162
145
130
165
118
9
100
90
120
98
6.6
115
100
135
103
9
120
162
145
130
165
118
9
100
90
120
98
6.6
115
100
135
103
9
120
162
145
130
165
118
9
100
90
120
98
6.6
115
100
135
103
9
120
162
130
165
22
110
24
6
95
65
7
3
10
55
22
110
24
6
95
65
7
3
10
55
22
110
24
6
95
65
7
3
10
55
22
110
24
103
9
LW
LK
KW
KH
42
6
6
8
7
6
6
8
7
6
6
8
7
6
6
8
7
45
111 Wide9
41
84
55
51
42
45
111 Wide9
41
84
55
51
42
45
111 Wide9
41
12
80
19
LZ
6.6
12
80
19
84
LH
98
12
80
19
LG
84
55
51
42
45
111 Wide9
41
12
6
65
145
118
9
55
51
RH Weight(kg)
4.5
5.1
15.5
6.5
7.5
9.3
18
10.9
12.9
20
15.1
17.3
4.5
5.1
15.5
6.5
7.5
9.3
18
10.9
12.9
20
15.1
17.3
5.1
6.5
15.5
7.9
8.9
11.0
18
12.6
14.8
20
17.0
19.2
5.1
6.5
15.5
7.9
8.9
11.0
18
12.6
14.8
20
17.0
19.2
285
Appendix
with brake
Model
MSMA102P1
MSMA152P1
MSMA202P1
MSMA252P1
MSMA302P1
MSMA352P1
MSMA402P1
MSMA452P1
MSMA502P1
MSMA102S1
MSMA152S1
MSMA202S1
MSMA252S1
MSMA302S1
MSMA352S1
MSMA402S1
MSMA452S1
MSMA502S1
MSMA102P1
MSMA152P1
MSMA202P1
MSMA252P1
MSMA302P1
MSMA352P1
MSMA402P1
MSMA452P1
MSMA502P1
MSMA102S1
MSMA152S1
MSMA202S1
MSMA252S1
MSMA302S1
MSMA352S1
MSMA402S1
MSMA452S1
MSMA502S1
P 2500 P/r incremental encoder
S 17 bits absolute/incremental encoder
Dimensions
MAMA Series 100W – 750W
LL
LR
LF
LC
200
220
LE
LH
LBh9
øSh6
4-øLZ
øLA
LW
LK
RH
KH
KWh9
(Keyed version)
• Encoder specifications
with brake
286
without brake
M
A
M
A
Model
MAMA012P1
MAMA022P1
MAMA042P1
MAMA082P1
MAMA012S1
MAMA022S1
MAMA042S1
MAMA082S1
MAMA012P1
MAMA022P1
MAMA042P1
MAMA082P1
MAMA012S1
MAMA022S1
MAMA042S1
MAMA082S1
Output(W)
100
200
400
750
100
200
400
750
100
200
400
750
100
200
400
750
LL
110.5
111
139
160
127
126
125
175
138
139
167
192.5
154.5
154
182
207.5
S
8
11
14
19
8
11
14
19
8
11
14
19
8
11
14
19
P 2500 P/r incremental encoder
S 17 bits absolute/incremental encoder
LB
22
50
70
22
50
70
22
50
70
22
50
70
LE
2
LF
7
3
8
2
7
3
8
2
7
3
8
2
7
3
8
LR
24
LA
48
LC
42
LH
34
LZ
3.4
30
70
60
43
4.5
35
24
90
48
80
42
53
34
5
3.4
30
70
60
43
4.5
35
24
90
48
80
42
53
34
5
3.4
30
70
60
43
4.5
35
24
90
48
80
42
53
34
5
3.4
30
70
60
43
4.5
35
90
80
53
5
LW
14
20
25
14
20
25
14
20
25
14
20
25
LK KW KH
12.5
3
18
4
22.5
5
20
6
12.5
3
18
4
22.5
5
20
6
12.5
3
18
4
22.5
5
20
6
12.5
3
18
4
22.5
5
20
6
RH Weight(kg)
6.2
0.65
8.5
1.1
11
1.5
15.5
3.3
6.2
0.71
8.5
1.2
11
1.6
15.5
3.4
6.2
0.85
8.5
1.5
11
1.9
15.5
4.0
6.2
0.91
8.5
1.6
11
2.0
15.5
4.1
[Appendix]
MDMA Series 750W – 5.0kW
MDMA 750W
LL
MDMA 1.0 – 5.0kW
LC
LR
LC
LF LE
LH
D
øSh6
L Bh7
LG
4-øLZ
øL
ø135
ø145
øL
D
øL
LZ
A
LW
LK
RH
KH
KWh9
(Keyed version)
• Encoder specifications
without brake
M
D
M
A
Output(W)
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0.75
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
LL
147
150
175
200
225
250
222
242
205
225
147
150
175
200
225
250
222
242
205
225
172
175
200
225
250
275
247
267
230
250
172
175
200
225
250
275
247
267
230
250
S
19
22
LB
LE
3
LF
LR
LA
LC
120
LD
162
145
130
165
LG
LH
LZ
LW
111 Wide9
55
110
6
12
45
24
118
130
165
150
190
128
11
200
176
233
143
13.5
120
162
111 Wide9
70
3
55
110
6
12
45
145
130
130
165
118
165
150
190
128
11
70
200
176
233
143
13.5
120
162
111 Wide9
3
55
110
6
12
50
10
8
42
6
6
8
7
50
10
8
42
6
6
8
7
10
8
55
45
145
130
130
165
118
41
9
51
165
150
190
128
11
200
176
233
143
13.5
120
162
111 Wide9
70
3
55
110
6
55
18
114.3
19
12
45
145
130
165
24
118
41
9
84
65
130
3.2
35
7
84
3.2
28
8
41
9
65
22
6
51
24
35
8
6
18
114.3
19
28
10
42
84
3.2
22
50
55
65
35
7
51
24
28
8
41
18
114.3
19
22
KH
6
84
3.2
35
KW
6
9
65
28
LK
42
114.3
51
165
150
190
128
11
200
176
233
143
13.5
55
18
70
50
RH Weight(kg)
15.5
4.8
6.8
18
8.5
10.6
12.8
20
14.6
16.2
24
18.8
21.5
30
25.0
15.5
4.8
6.8
18
8.5
10.6
12.8
20
14.6
16.2
24
18.8
21.5
30
25.0
15.5
6.5
8.7
18
10.1
12.5
14.7
20
16.5
18.7
24
21.3
25.0
30
28.5
15.5
6.5
8.7
18
10.1
12.5
14.7
20
16.5
18.7
24
21.3
25.0
30
28.5
287
Appendix
with brake
Model
MDMA082P1
MDMA102P1
MDMA152P1
MDMA202P1
MDMA252P1
MDMA302P1
MDMA352P1
MDMA402P1
MDMA452P1
MDMA502P1
MDMA082S1
MDMA102S1
MDMA152S1
MDMA202S1
MDMA252S1
MDMA302S1
MDMA352S1
MDMA402S1
MDMA452S1
MDMA502S1
MDMA082P1
MDMA102P1
MDMA152P1
MDMA202P1
MDMA252P1
MDMA302P1
MDMA352P1
MDMA402P1
MDMA452P1
MDMA502P1
MDMA082S1
MDMA102S1
MDMA152S1
MDMA202S1
MDMA252S1
MDMA302S1
MDMA352S1
MDMA402S1
MDMA452S1
MDMA502S1
P 2500 P/r incremental encoder
S 17 bits absolute/incremental encoder
Dimensions
MHMA Series 500W – 5.0kW
LL
LC
LR
LF LE
øSh6
L Bh7
LG
LH
4-øLZ
øL
D
øL
A
LW
LK
RH
KH
KWh9
(Keyed version)
• Encoder specifications
without brake
M
H
M
A
with brake
288
Model
MHMA052P1
MHMA102P1
MHMA152P1
MHMA202P1
MHMA302P1
MHMA402P1
MHMA502P1
MHMA052S1
MHMA102S1
MHMA152S1
MHMA202S1
MHMA302S1
MHMA402S1
MHMA502S1
MHMA052P1
MHMA102P1
MHMA152P1
MHMA202P1
MHMA302P1
MHMA402P1
MHMA502P1
MHMA052S1
MHMA102S1
MHMA152S1
MHMA202S1
MHMA302S1
MHMA402S1
MHMA502S1
Output(W)
0.5
1.0
1.5
2.0
3.0
4.0
5.0
0.5
1.0
1.5
2.0
3.0
4.0
5.0
0.5
1.0
1.5
2.0
3.0
4.0
5.0
0.5
1.0
1.5
2.0
3.0
4.0
5.0
LL
150
175
200
190
205
230
255
150
175
200
190
205
230
255
175
200
225
215
230
255
280
175
200
225
215
230
255
280
P 2500 P/r incremental encoder
S 17 bits absolute/incremental encoder
S
LB
LE
LF
LR
LA
LC
LD
22
110
6
12
70
145
130
165
35
114.3
3.2
18
80
200
176
22
110
6
12
70
145
35
114.3
3.2
18
80
22
110
6
12
35
114.3
3.2
22
110
35
114.3
LG
LH
LZ
LW
LK
KW
KH
118
9
45
41
8
7
233
143
13.5
55
50
10
8
130
165
118
9
45
41
8
7
200
176
233
143
13.5
55
50
10
8
70
145
130
165
118
9
45
41
8
7
18
80
200
176
233
143
13.5
55
50
10
8
6
12
70
145
130
165
118
9
45
41
8
7
3.2
18
80
200
176
233
143
13.5
55
50
10
8
84
84
84
84
RH Weight(kg)
5.3
18
8.9
10.0
16.0
18.2
30
22.0
26.7
5.3
18
8.9
10.0
16.0
18.2
30
22.0
26.7
6.9
18
9.5
11.6
19.5
21.7
30
25.5
30.2
6.9
18
9.5
11.6
19.5
21.7
30
25.5
25.5
[Appendix]
MFMA Series 400W – 4.5kW
LL
LR
LF
MFMA 400W – 1.5kW
MFMA 2.5 – 4.5kW
LC
LC
LE
4-øLZ
4-øLZ
D
50
LH
ø2
øLA
LBh7
LG
øSh6
øL
øLA
øLD
4-M 12 tap for
motor removal
LW
LK
RH
KH
KWh9
(Keyed version)
• Encoder specifications
without brake
M
F
M
A
Output(W)
0.4
0.75
1.5
2.5
3.5
4.5
0.4
0.75
1.5
2.5
3.5
4.5
0.4
0.75
1.5
2.5
3.5
4.5
0.4
0.75
1.5
2.5
3.5
4.5
LL
120
125
145
139
147
163
120
125
145
139
147
163
145
150
170
166
174
194
145
150
170
166
174
194
S
19
22
35
LB
110
LE
6
LF
12
114.3
3.2
18
200
4
16
LR
55
LA
145
LC
130
LD
165
LG
LH
118
200
176
233
235
220
268
145
130
165
118
200
176
233
143
235
220
268
145
130
165
118
200
176
233
143
235
220
268
145
130
165
118
200
176
233
143
235
220
268
LW
LK
42
41
KW
6
8
KH
6
7
55
50
10
8
45
42
41
6
8
6
7
55
50
10
8
45
42
41
6
8
6
7
55
50
10
8
45
42
41
6
8
6
7
55
50
10
8
45
143
84
65
LZ
9
13.5
164
70
19
22
35
110
6
12
114.3
3.2
18
200
4
16
55
84
65
9
13.5
164
70
19
22
35
110
6
12
114.3
3.2
18
200
4
16
55
84
65
9
13.5
164
70
19
22
35
110
6
12
114.3
3.2
18
200
4
16
55
84
65
70
9
13.5
164
RH Weight(kg)
15.5
4.7
18
8.6
11.0
14.8
30
15.5
19.9
15.5
4.7
18
8.6
11.0
14.8
30
15.5
19.9
15.5
6.7
18
10.6
14.0
17.5
30
19.2
24.3
15.5
6.7
18
10.6
14.0
17.5
30
19.2
24.3
289
Appendix
with brake
Model
MFMA042P1
MFMA082P1
MFMA152P1
MFMA252P1
MFMA352P1
MFMA452P1
MFMA042S1
MFMA082S1
MFMA152S1
MFMA252S1
MFMA352S1
MFMA452S1
MFMA042P1
MFMA082P1
MFMA152P1
MFMA252P1
MFMA352P1
MFMA452P1
MFMA042S1
MFMA082S1
MFMA152S1
MFMA252S1
MFMA352S1
MFMA452S1
P 2500 P/r incremental encoder
S 17 bits absolute/incremental encoder
Dimensions
MGMA Series 300W – 4.5kW
MGMA 300W – 3.0kW
LL
LC
LR
4-øLZ
øSh6
L Bh7
LG
LF LE
øL
D
øL
A
MGMA 4.5kW
LL
LC
LR
eyebolt call 10
LF LE
L Bh7
øSh6
LH
4-øLZ
øL
øLD
A
LW
LK
RH
KH
KWh9
(Keyed version)
• Encoder specifications
without brake
M
G
M
A
with brake
290
Model
MGMA032P1
MGMA062P1
MGMA092P1
MGMA122P1
MGMA202P1
MGMA302P1
MGMA452P1
MGMA032S1
MGMA062S1
MGMA092S1
MGMA122S1
MGMA202S1
MGMA302S1
MGMA452S1
MGMA032P1
MGMA062P1
MGMA092P1
MGMA122P1
MGMA202P1
MGMA302P1
MGMA452P1
MGMA032S1
MGMA062S1
MGMA092S1
MGMA122S1
MGMA202S1
MGMA302S1
MGMA452S1
Output(W)
0.3
0.6
0.9
1.2
2.0
3.0
4.5
0.3
0.6
0.9
1.2
2.0
3.0
4.5
0.3
0.6
0.9
1.2
2.0
3.0
4.5
0.3
0.6
0.9
1.2
2.0
3.0
4.5
LL
125
150
175
162.5
182.5
222.5
300.5
125
150
175
162.5
182.5
222.5
300.5
150
175
200
187.5
207.5
271
337.5
150
175
200
187.5
207.5
271
337.5
P 2500 P/r incremental encoder
S 17 bits absolute/incremental encoder
S
LB
LE
LF
LR
LA
LC
LD
22
110
6
12
70
145
130
165
114.3
3.2
18
80
200
176
233
24
113
12
70
18
80
24
113
12
70
18
80
24
113
12
70
18
80
24
113
LG
LH
LZ
LW
LK
KW
KH
118
9
45
41
8
7
143
13.5
55
50
10
96
90
12
45
41
8
55
50
10
96
90
12
45
41
8
55
50
10
96
90
12
45
41
8
55
50
10
96
90
12
84
35
42
22
110
6
114.3
3.2
145
130
165
200
176
233
118
9
143
13.5
8
7
84
35
42
22
110
6
114.3
3.2
145
130
165
200
176
233
118
9
143
13.5
8
7
84
35
42
22
110
6
114.3
3.2
145
130
165
200
176
233
118
9
143
13.5
8
7
84
35
42
8
RH Weight(kg)
5.1
18
6.8
8.5
15.5
30
17.5
25.0
37
34.0
5.1
18
6.8
8.5
15.5
30
17.5
25.0
37
34.0
6.7
18
8.4
10.0
19.0
30
21.0
28.5
37
39.5
6.7
18
8.4
10.0
19.0
30
21.0
38.5
37
39.5
[Appendix]
MEMO
Appendix
291
Dimensions
Driver Type A
Approximate weight : 1.0 kg
21
40
11
5
MODE
Nameplate
C DE
F01
789
SP
SET
456
AB
23
456
SET
789
IM
IM
SP
G
L1
L1
G
L3
L3
L2
X7
L2
X7
DL1
160
172
182
L2C
L1C
X8
DL2
DL2
DL1
160
180
190
L2C
L1C
X8
U
RB2
RB3
RB1
X5
V
V
U
RB2
RB3
RB1
X5
X4
W
X4
W
R
Mounting bracket
(optional: DV0P3050)
ID
23
C DE
22
ø5
.2
MODE
ID
F01
AB
170
20
15
5
.2
ø5
7
2.6
5.2
R
2.6
5.2
7
Mounting bracket
(optional: DV0P3050)
20
Front panel mount type
Back panel mount type
(optional: front panel mount)
(standard: back panel mount)
Mounting bracket
(standard)
* When using mounting bracket for an optional
part, see page 279 "Brackets for Mounting the
Driver" in "Optional Parts".
Driver Type B
Approximate weight : 1.1 kg
29
55
170
SET
C DE
C DE
AB
789
IM
Nameplate
SP
G
L3
L3
L2
X7
L2
X7
160
172
182
DL2
DL1
180
190
L2C
L1C
X8
RB1
RB1
DL2
DL1
160
L2C
L1C
X8
V
U
RB2
RB3
X5
W
W
V
U
RB2
RB3
X5
X4
6
5.2
2.
2.6
X4
5.2
R
R
7
27.5
Front panel mount type
Back panel mount type
(optional: front panel mount)
(standard: back panel mount)
* When using mounting bracket for an optional
part, see page 279 "Brackets for Mounting the
Driver" in "Optional Parts".
292
Mounting bracket
(optional: DV0P3000)
L1
789
L1
G
456
456
SP
SET
F01
23
23
AB
MODE
ID
F01
IM
11
5
2
ø5
.
15
ø5
.
MODE
ID
22
5
27.5
2
7
Mounting bracket
(optional: DV0P3000)
Mounting bracket
(standard)
[Appendix]
Driver Type C
Approximate weight : 1.4 kg
44
70
170
MODE
ID
SET
C DE
SP
5
G
AB
L1
IM
L3
L3
L2
X7
L2
X7
DL2
RB1
V
U
RB2
RB3
X5
W
W
V
U
RB2
RB3
X5
182
160
L2C
L1C
X8
DL1
190
160
DL1
DL2
RB1
180
L2C
L1C
X8
172
C DE
789
L1
Nameplate
SET
F01
789
G
456
456
SP
Mounting bracket
(optional: DV0P3010)
23
23
AB
MODE
ID
F01
IM
11
ø5
.2
2
.
ø5
22
5
20
15
20
X4
X4
5.2
20
R
5.2
2.6
20
Mounting bracket
(optional: DV0P3010)
Front panel mount type
Back panel mount type
(optional: front panel mount)
(standard: back panel mount)
Mounting bracket
(standard)
* When using mounting bracket for an optional
part, see page 279 "Brackets for Mounting the
Driver" in "Optional Parts".
Approximate weight : 3.8 kg
MODE
50
5.2
SET
B CD
EF
IM
Nameplate
SP
G
L1
L2
L3
L3
L2
X7
160
L2C
L1C
X8
RB1
DL2
DL1
190
160
DL1
DL2
X5
RB2
U
V
W
W
V
U
RB2
RB3
X5
RB3
RB1
180
L2C
L1C
X8
X4
X4
.6
R2
R2
.6
.6
R2
.6
R2
10
182
89A
X7
172
67
L1
G
SET
012
89A
SP
Mounting bracket
(optional: DV0P3270)
345
IM
MODE
ID
012
170
22
2-ø
345
B CD
ID
EF
10
5
2-ø
5.2
5
50
67
10
Air (outward)
100
15
74
11
Driver Type D
5.2
50
10
50
5.2
Air (outward)
Back panel mount type
(optional: front panel mount)
(standard: back panel mount)
Mounting bracket
(standard)
Appendix
Front panel mount type
Mounting bracket
(optional: DV0P3270)
* When using mounting bracket for an optional
part, see page 279 "Brackets for Mounting the
Driver" in "Optional Parts".
Air flow
293
Dimensions
Approximate weight : 4.2 kg
85
76
50
205
13
22.3
2.3
38
5.2
2
15
.
ø5
345
67
B CD
SET
012
IM
SP
G
89A
X7
X6
250
220
235
X5
Nameplate
Nameplate
2.3
X4
Fan wind direction (upward)
MODE
ID
EF
7.5
5.2
2.3
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
2.3
Driver Type E
5.2
ø5.2
5.2
Terminal block
cover
38
Battery cover
50
13
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
* When using mounting bracket for an optional
part, see page 279 "Brackets for Mounting the
Driver" in "Optional Parts".
Driver Type F
Approximate weight : 8 kg
100
76
50
205
13
38
5.2
SP
G
89A
X7
X6
250
220
Nameplate
2.3
X4
5.2
ø5.2
5.2
Terminal block
cover
235
X5
Battery cover
38
50
13
* When using mounting bracket for an optional
part, see page 279 "Brackets for Mounting the
Driver" in "Optional Parts".
294
Nameplate
76
67
B CD
345
IM
Fan wind direction (upward)
SET
012
2.3
2
15
.
ø5
MODE
ID
EF
7.5
5.2
2.3
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
22.3
2.3
Mounting bracket
(standard)
Mounting bracket
(optional: DV0P2102)
[Appendix]
Driver Type G
Approximate weight : 18 kg
150
100
25
75
275
5.2
22.3
2.3
.
ø5
2.3
2
MODE
ID
SET
456
AB
23
C DE
F01
IM
SP
Mounting bracket
(standard)
Mounting bracket
(Change to the bracket
for back panel mounting)
2.3
5.2
G
2.5
789
Fan wind direction (Front to rear)
X7
Nameplate
X6
250
220
235
X5
Nameplate
100
Mounting bracket
(standard)
Mounting bracket
Battery cover
75
25
(Change to the bracket
for back panel mounting)
76
Terminal block
cover
5.2
ø5.
2
5.2
2.3
2.3
X4
Appendix
295
Driver Block Diagram
Internal Block Diagram of MINAS-AIII Driver
DL1
DL2
(Types A, B, C, D)
U
P
L1
L2
L3
V
+
M
W
N
Voltage
detection
L1C
RE
Fan (Type D only)
fuse
+
±12V
+5V
Gate drive power supply
RE power supply
DC /
DC
L2C
Gate drive
RB1
RB3
RB2
Front panel
Error
detection
Sequence control
Parameter control
Operator interface
Protective
circuit
EEPROM
X7
X6
X5
Alarm signal
Pulse
command
Analogue
speed
command
Control
(input)
Scale
+
-
A/D
Position error
Position error
counter
counter
External
Position
16 bits
Internal speed
command
Speed
error
driver
+
-
Speed
Speed
detection
Internal
Speed
Torque
limit
Current
control
PWM
circuit
Torque
A/D
Control
(output)
X4
Processing
encoder
signals
Pulse
output
Scaling
CN BAT
For battery
connection
Internal Block Diagram of MINAS-AIII Driver
(Types E, F)
U
P
fuse
L1
L2
L3
V
+
fuse
M
W
N
Voltage
detection
r
Fan
fuse
+
t
DC /
DC
RE
Gate drive
±12V
+5V
Gate drive power supply
RE power supply
P
B1
B2
Front panel
Error
detection
Sequence control
Operator interface
Parameter control
Protective
circuit
EEPROM
X7
X6
X5
Alarm signal
Pulse
command
Analogue
speed
command
Control
(input)
Scale
A/D
16 bits
+
-
Position error
Position error
counter
counter
External
Position
+
-
Speed
error
driver
Speed
Torque
limit
Speed
Internal speed
command
Internal
Speed
detection
Processing
encoder
signals
For battery
connection
296
PWM
circuit
A/D
Control
(output)
Pulse
output
Current
control
Torque
Scaling
X4
CN BAT
[Appendix]
Internal Block Diagram of MINAS-AIII Driver
(Type G)
U
P
L1
L2
L3
fuse
V
+
fuse
M
W
N
Voltage
detection
r
DB
Fan
fuse
+
DC / DC
t
RE
Gate drive
±12V
+5V
Gate drive power supply
RE power supply
P
B1
B2
Front panel
Error
detection
Sequence control
Operator interface
Parameter control
Protective
circuit
EEPROM
X7
X6
X5
Alarm signal
Pulse
command
Analogue
speed
command
Control
(input)
Scale
A/D
16 bits
+
-
Position error
Position error
driver
counter
External
Position
+
Speed
Internal speed
command
Internal
–
Speed
detection
Speed
error
driver
Speed
Torque
limit
PWM
circuit
A/D
Control
(output)
Processing
encoder
signals
Pulse
output
Current
control
Torque
Scaling
X4
CN BAT
For battery
connection
Appendix
297
Control block diagrams
Semi-closed control block diagram
• Control mode set-up: when Pr02 is [6]
Speed feed
foreword
Pulse
string
PULS
SIGN
Gain
Pr 15
Filter
Pr 16
Input setting
Division gradual
increase
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Frequency
Pr 2B
Mode
Pr 42
3rd
numerator
Pr 48
Filter
Pr 2C
4th
numerator
Pr 49
Numerator
magnification
Pr 4A
Denominator
Smoothing
Pr 4C
+
—
Torque command
monitor
+
+ +
—
Position
control
Pr 10
1st
Pr 18
2nd
Speed control
1st ratio
Position
deviation monitor
Speed
detection filter
Command
speed monitor
Pr 4B
1st
Pr 13
2nd
Pr 1B
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
+
—
Notch filter
Pr 44
Inverse
Pr 45
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Filter
Pr 27
Speed detection
Division
Division
Motor
Pr 1D
1st time
constant
Disturbance
observer
Actual speed
monitor
Feedback pulse
OA / OB / OZ
Torque filter
1st
frequency
Encoder
receive
processing
PS / PS
signal
Hybrid control block diagram
• Control mode set-up: when Pr02 is [8]
* The positioning complete output is turned on as the output from the external scale deviation counter is
equal to or below the value set by Pr60.
Speed feed
foreword
Input via external
scale unit
Pulse
string
PULS
SIGN
Input setting
Division gradual
increase
Smoothing
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Mode
Pr 42
3rd
numerator
Pr 48
4th
numerator
Pr 49
Numerator
magnification
Pr 4A
Denominator
+
—
Pr 4C
Hybrid
correction
setting
Speed
Pr 71
Pr 4B
Cycle
+
—
Division
Pr 44
Division
Feedback
pulse
OA / OB / OZ
selection
Output
Selection
Pr 78
Inverse
Pr 45
Division
Pr 79
Numerator
Denominator
298
Pr 70
Pr 7A
Gain
Pr 15
Filter
Pr 16
External scale
correction
Numerator Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
Command
speed monitor
Pr 72
+—
+
—
External scale
correction
Numerator Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
Full-closed
deviation monitor
Torque command
monitor
Position deviation
monitor
Position
control
1st
2nd
Pr 10
Pr 18
+
+ +
—
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
Speed control
Pr 11
1st ratio
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
Notch filter
Torque filter
Motor
1st
frequency
Pr 1D
1st time
constant
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Actual speed
monitor
Speed detection
Encoder
PS / PS signal
receive
processing
External scale
receive processing
EXA / EXB / EXZ signal
External
scale
[Appendix]
Speed/external encoder control mode - Speed control block diagram
• Control mode set-up: when Pr02 is [9] (case 1)
• Gain changeover function is not available in this mode.
To use 1st gain [Pr10]-[Pr14], set [Pr30] to 1 and [Pr36] to 0. Do not change these settings.
Command speed
monitor
Analog
speed
command
16bitA/D
SPR
Input setting
Command
selection
Pr50
Gain
Inverse
Pr51
Offset
Pr52
Pr05
Selection
Pr58
Deceleration
Pr59
S-shape
Pr5A
Internal speed setting
1st
speed
2nd
speed
3rd
speed
4th
speed
Feedback pulse
OA / OB / OZ
+
—
Accel./decel. limit
Acceleration
Torque command
monitor
control Speed
1st ratio
Pr53
Speed
detection filter
Pr54
1st
Pr13
Pr55
2nd
Pr1B
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
+
—
Actual speed
monitor
Pr56
Notch filter
Torque filter
Motor
1st
frequency
Pr1D
1st time
constant
1st width
Pr1E
2nd time
constant
Pr 1C
2nd
frequency
Pr28
Limit
Pr 5E
2nd width
Pr29
2nd depth
Pr2A
Pr 14
Encoder
Disturbance
observer
Filter
Pr27
detection Speed
Division
Division
Pr44
Inverse
Pr45
Encoder
receive
processing
PS / PS
signal
Speed/external encoder control mode - External encoder control block diagram
• Control mode set-up: when Pr02 is [9] (case 2)
• Gain changeover function is not available in this mode.
To use 2nd gain [Pr18]-[Pr1C], set [Pr30] to 1 and [Pr31] to 1. Do not change these settings.
* The positioning complete output is turned on as the output from the external scale deviation counter is
equal to or below the value set by Pr60.
Speed feed
foreword
Input via external
scale unit
Pulse
string
PULS
SIGN
Gain
Pr 15
Filter
Pr 16
Input setting
Division gradual
increase
Smoothing
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Mode
Pr 42
3rd
numerator
Pr 4C
+
—
Torque command
monitor
Position control
1st Pr 10
+
+ +
—
Speed control
Pr 11
1st
differential
Pr 12
Pr 48
2nd ratio
Pr 19
4th
numerator
Pr 49
2nd
differential
Pr 1A
Numerator
magnification
Pr 4A
Inertia ratio
Pr 20
Denominator
External scale
correction
Pr 4B
2nd
Pr 18
Full-closed
deviation monitor
Numerator
Pr 74
Speed
detection filter
Numerator
magnification
Pr 75
1st
Pr 13
Denominator
Pr 76
2nd
Pr 1B
Command
speed monitor
Position
deviation monitor
Numerator
Pr 79
Denominator
Pr 7A
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Speed detection
Encoder
receive
processing
Pr 45
Division
Motor
Pr 1D
1st time
constant
PS / PS
signal
Appendix
Inverse
Torque filter
1st
frequency
Actual speed
monitor
+
—
Division
Division Pr 4 4
Feedback
Output selection
pulse
OA / OB / OZ Selection Pr 78
Notch filter
1st ratio
Full-closed
speed detection
External scale
receive
processing
EXA / EXB / EXZ signal
External
scale
299
Control block diagrams
Speed/semi-closed control mode - Speed control block diagram
• Control mode set-up: when Pr02 is [10] (case 1)
Command speed
monitor
Analog
speed
command
16bitA/D
SPR
Input setting
Gain
Pr50
Inverse
Pr51
Offset
Pr52
Command
selection
Acceleration
Pr58
Deceleration
Pr59
S-shape
Pr5A
Pr05
Selection
Internal speed setting
1st
speed
2nd
speed
3rd
speed
4th
speed
Feedback pulse
OA / OB / OZ
+
—
Accel./decel. limit
Torque command
monitor
control Speed
Pr53
Speed
detection filter
Pr54
1st
Pr13
Pr55
2nd
Pr1B
1st ratio
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
+
—
Actual speed
monitor
Pr56
Notch filter
Torque filter
Motor
1st
frequency
Pr1D
1st width
Pr1E
2nd time
constant
Pr 1C
2nd
frequency
Pr28
Limit
Pr 5E
2nd width
Pr29
2nd depth
Pr2A
1st time
constant
Pr 14
Encoder
Disturbance
observer
Filter
Pr27
detection Speed
Division
Division
Pr44
Inverse
Pr45
Encoder
receive
processing
PS / PS
signal
Speed/semi-closed control mode - Semi-closed control block diagram
• Control mode set-up: when Pr02 is [10] (case 2)
Speed feed
foreword
Pulse
string
PULS
SIGN
Gain
Pr 15
Filter
Pr 16
Input setting
Division gradual
increase
Gradual
increase
Pr 40
1st
numerator
Pr 46
Selection
Inverse
Pr 41
2nd
numerator
Pr 47
Frequency
Pr 2B
Mode
Pr 42
3rd
numerator
Pr 48
Filter
Pr 2C
4th
numerator
Pr 49
Numerator
magnification
Pr 4A
Denominator
Smoothing
Pr 4C
+
—
Torque command
monitor
Position
control
1st
2nd
Pr 10
Pr 18
+
+ +
—
Position
deviation monitor
Command
speed monitor
Pr 4B
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
Speed control
1st ratio
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
+
—
Division
300
Division
Pr 44
Inverse
Pr 45
Torque filter
Motor
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
1st time
constant
Filter
Pr 27
Speed detection
Encoder
receive
processing
Pr 14
Encoder
Disturbance
observer
Actual speed
monitor
Feedback pulse
OA / OB / OZ
Notch filter
1st
frequency
PS / PS
signal
[Appendix]
Position control for high-stiffness equipment block diagram
• Control mode set-up: when Pr02 is [11]
Speed feed
foreword
Pulse
string
PULS
SIGN
Input setting
Smoothing
Division gradual
increase
Gradual
increase
Pr 40
FIR
Filter
1st
numerator
Pr 46
Inverse
Pr 41
2nd
numerator
Pr 47
Pr 42
Numerator
magnification
Pr 4A
Mode
Pr 4E
Denominator
+
—
Gain
Pr 15
FIR
Filter
Pr 4F
Position control
1st ratio
Command
speed monitor
+
+ +
—
Speed control
Pr 11
1st ratio
1st
differential
Pr 12
Pr 18
2nd ratio
Pr 19
Pr 1F
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
1st
differential
Pr 17
2nd ratio
2nd
differential
Pr 4B
Pr 10
Torque command
monitor
Position deviation
monitor
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
+
—
Motor
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Gain
Pr 26
Encoder
Filter
Pr 27
Speed detection
Division
Division
Pr 44
Inverse
Pr 45
OA / OB / OZ
Torque filter
1st time
constant
Disturbance observer
Actual speed
monitor
Feedback pulse
Notch filter
1st
frequency
Encoder
receive
processing
PS / PS
signal
Position control for low-stiffness equipment block diagram
• Control mode set-up: when Pr02 is [12]
Speedfeed
foreword
Pulse
string
PULS
SIGN
Input setting
Smoothing
Division gradual
increase
Gradual
increase
Pr 40
Selection
Pr 4C
Numerator
Pr 46
Inverse
Pr 41
FIR
Filter
Pr 4E
Numerator
magnification
Pr 4A
Mode
Pr 42
Frequency
Pr 2B
Denominator
Pr 4B
Filter
+
—
Pr 2C
Gain
Pr 15
Filter
Pr 16
Position control
1st
Pr 10
2nd
Pr 18
Torque command
monitor
+
+ +
—
Position deviation
monitor
Command speed
monitor
Speed
detection filter
1st
Pr 13
2nd
Pr 1B
Speed control
1st ratio
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
+
+
Division
OA / OB / OZ
Division
Pr 44
Inverse
Pr 45
Torque filter
Motor
1st
frequency
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
1st time
constant
Axis torque observer
Actual speed
monitor
Feedback pulse
Notch filter
Gain
Pr 26
Filter
Pr 27
Pr 14
Encoder
Speed detection
Encoder
receive
processing
PS / PS
signal
Appendix
301
Control block diagrams
Speed control for low-stiffness equipment block diagram
• Control mode set-up: when Pr02 is 13
Torque command
monitor
Command speed
monitor
Analog speed
command
16bitA/D
SPR
Input setting
Filter
FIR
Filter
Pr 5B
Pr 50
Gain
Command
selection
Selection
Inverse
Pr 51
Offset
Pr 52
Pr 05
Deceleration
Pr 59
S-shape
Pr 5A
Internal speed
setting
Speed control
1st ratio
1st
speed
Pr 53
Speed
detection filter
2nd
speed
Pr 54
1st
Pr 13
3rd
speed
Pr 55
2nd
Pr 1B
4th
speed
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
+
—
Notch filter
Torque filter
1st time
constant
Motor
1st
frequency
Pr 1D
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Encoder
Axis torque observer
Pr 56
Actual speed
monitor
Gain
Pr 26
Filter
Pr 27
Speed detection
Division
Feedback pulse
OA / OB / OZ
+
—
Accel./ decel.limit
Acceleration Pr 58
Division
Pr 44
Inverse
Pr 45
Encoder
receive
processing
PS / PS
signal
Second full-closed control block diagram
• Control mode set-up: when Pr02 is 14
Speed feed
foreword
Full-closed
deviation monitor
Pulse
string
PULS
SIGN
Input setting
Smoothing
Pr 40
Selection
Pr 4C
Numerator
Pr 46
Inverse
Pr 41
FIR
Filter
Pr 4D
Numerator
magnification
Pr 4A
Mode
Pr 42
Frequency
Pr 2B
Denominator
Pr 4B
Filter
+
—
Division gradual
increase
Gradual
increase
Pr 2C
Gain
Pr 15
Filter
Pr 16
Torque command
monitor
Position control
1st
Pr 10
2nd
Pr 18
+
+
—
Speed control
External scale
correction
Numerator
Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
Command speed
monitor
Twist correction
Gain
Filter
Position deviation
monitor
Pr 7B
+
—
Inverse
Pr 11
1st
differential
Pr 12
2nd ratio
Pr 19
2nd
differential
Pr 1A
Inertia
ratio
Pr 20
1st
Pr 13
2nd
Pr 1B
Pr 7A
Notch filter
Torque filter
Motor
1st
frequency
Pr 1D
1st time
constant
1st width
Pr 1E
2nd time
constant
Pr 1C
2nd
frequency
Pr 28
Limit
Pr 5E
2nd width
Pr 29
2nd depth
Pr 2A
Pr 14
Actual speed
monitor
Filter
Pr 7C
Gain1
Pr 7D
Gain2
Pr 7E
Encoder
Speed detection
Encoder
receive
processing PS / PS signal
External scale
correction
Division
Numerator Pr 79
+
+
State feedback
Pr 45
Feedback pulse Output selection
OA / OB/ OZ Selection Pr 78
Denominator
1st ratio
Speed
detection filter
Pr 7C
Division
Division Pr 44
302
+
—
Numerator
Pr 74
Numerator
magnification
Pr 75
Denominator
Pr 76
+
—
Torsion amount
External scale
receive
processing
EXA / EXB / EXZ
signal
External
scale
[Appendix]
MEMO
Appendix
303
Specifications (Driver)
100 – 115V
Control circuit
power
Single-phase
100 – 115V
Type A – D
Single/three-phase
200 – 240V
Type E – G
Three-phase
200 – 230V
Type A – D
Single-phase
200 – 240V
Type E – G
Single-phase
200 – 240V
Main circuit
power
Single-phase
200Vline
Control
circuit power
Input power supply
100Vline
Main circuit
power
Operation
conditions
–15%
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%
50 / 60 Hz
50 / 60 Hz
50 / 60 Hz
50 / 60 Hz
50 / 60 Hz
Operation temperature :
Operation/storage humidity
Height above the sea
Height above the sea level : 1000 m or less
Vibration
5.88 m/s2 or less, 10 – 60 Hz (Continuous operation at resonance point is not allowed)
–20 – 80 ˚C
17 Bit (resolution : 131072) absolute encoder / incremental encoder
2500 P / r (resolution : 10000) incremental encoder
External scale feedback
Input
Control
signal
Output
Input
Output
Linear scale / encoder signal can be input for outputting 2-phase (A/B) square-wave to line driver.
10-input
[1] Servo-ON [2] Control mode select [3] Gain select [4] Alarm clear
Other inputs depend on the control mode.
6-output
[1] Servo alarm [2] Servo ready [3] External brake release signal [4] Zero-speed detection
[5] In torque control
Other outputs depend on the control mode.
3-input (16 bit A / D 1 input, 10 bit A / D 2 input)
2-output (for monitor)
[1] Speed monitor (Actual speed of the motor or command speed can be monitored.
Contents of the monitor and scale is selected by parameter.)
[2] Torque monitor (torque command (approx. 3 V / rated torque), deviation counter, or full closed deviation can bemonitored. Contents of the monitor and scale is selected by parameter.)
Input
2-input
Both of the line driver I / F and open collector I / F are available by means of photocoupler input
Output
4-output
Encoder pulse (A / B / Z-phase) or external scale pulse (EXA / EXB / EXZ-phase) is output by
the line driver. For Z-phase or EXZ-phase pulse, an open collector output is also available.
Pulse signal
Communication RS232C
function
RS485
Front panel
Regeneration
Storage temperature :
90 % RH or less (no condensation)
IGBT PWM method, sinusoidal drive
Encoder feedback
Basic specifications
+10%
50 / 60 Hz
Humidity
Control method
304
–15%
Temperature
Analogue
signal
0 – 55 ˚C
+10%
1:1 communication is available using a device having an RS232C interface as a host.
1:n communication up to 15 axes is available using a device having an RS485 interface as a host.
[1] 5 keys (MODE, SET, UP, DOWN. SHIFT) [2] LED 6 figures
Type A : No internal regenerative resist (external only)
Type B – G : internal regenerative resist (external is also available)
Dynamic brake
Internal
Control mode
Selectable from the following 15 mode using parameters : [1] position control
[2] speed control [3] torque control [4] position / speed control [5] position / torque control
[6] speed / torque control [7] semi-closed control [8] full-closed control [9] hybrid control
[10] speed / external encoder control [11] speed / semi-closed control
[12] position control for high-rigidity equipment [13]*position control for low-rigidity equipment
[14]*speed control for low-rigidity equipment [15]*second full-closed control
For a motor of which encoder specification is 17-Bit (131072 resolution).
For a motor of 2500 p / r (resolution : 10000, 5 - serial), 11 modes only excluding item
marked with ( * ) are available.
[Appendix]
Control input
[5] CW drive prohibition [6] CCW drive prohibition [7] Deviation counter clear
[8] Command pulse input prohibition [9] Command dividing gradual increase switching
Control output
[6] positioning completion
Torque control
500 kpps (when line driver I / F is used)
Input pulse string mode Differential input. Selectable with parameters. ( [1]CCW / CW [2]A / B-phase [3]Command / direction)
Pulse
input
Command pulse
division gradual
increase (electronic
gear ratio setting)
Applicable setting range : (1 – 10000 x 2 (0 – 17) ) / (1 – 10000)
Smoothing filter
Primary delay filter is applicable to command input.
R-type filter is selectable for [12]
position control for high-rigidity equipment and [13] position control for low-rigidity equipment.
Analogue
input
Torque limit command input
Command follow-up control
Instantaneous speed observer
Vibration reducing control
Resonance ratio control
Torque can be limited separately in CW / CCW direction (3 V / rated torque)
Applicable to [12] position control for high-rigidity equipment
Applicable to [12] position control for high-rigidity equipment
Applicable to [13] position control for low-rigidity equipment
Applicable to [13] position control for low-rigidity equipment
[5] CW drive prohibition [6] CCW drive prohibition [7] Internal command speed selection 1
Control input
[8] Internal command speed selection 2 [9] Speed zero clamp
Control output
[6] Rached speed
Scale setting and command polarity
Speed command Speed command can be input with analogue voltage
Analogue input
depend on the parameter. (Standard setting before shipment : 6 V / rated revolving speed)
input
Torque limit
Torque can be limited separately in CW / CCW direction. (3 V / rated torque)
command input
Internal speed command
Internal speed is selectable from 4 steps by control input
0 – 10 s / 1000 r / min acceleration / deceleration can be set separately.
Soft start/down function
S-acceleration/deceleration is also available.
Internal speed command can be clamped to zero by speed zero clamp input
Zero speed clamp
Instantaneous speed observer Applicable to [14] speed control for low-rigidity equipment
Resonance ratio control
Applicable to [14] speed control for low-rigidity equipment
Speed command FIR filter Applicable to [14] speed control for low-rigidity equipment
Control input
[5] CW drive prohibition [6] CCW drive prohibition [7] speed zero clamp
Control output
[6] Reached speed
Torque command can be input by analogue voltage.
Scale setting and command polarity
Analogue Torque
command input
input
depend on the parameter. (Standard setting before shipment : 3 V / rated torque )
Speed limit value can be set using parameters
Speed limit function
Control input
Full-closed related
Control output
Max.command
pulse frequency
Pulse
input
500 kpps (when line driver I / F is used)
Input pulse string mode Differential input Selectable with parameter. ( [1] CCW / CW [2] A / B-phase [3] Command / direction)
Smoothing filter
Analogue Torque limit
input
command input
Real time
Auto
tuning
[5] Smoothing filter switching [6] Scale error input [7] Deviation counter clear
[8] Command pulse input prohibition [9] Command division gradual increase switching 1
[10] Command division gradual increase switching 2
[6] full-closed positioning completion
Command pulse division
gradual increase (electronic Applicable setting range : (1–10000 x 2(0 – 17) ) / (1–10000)
gear ratio setting)
External scale division
gradual increase setting range
Twist amount correction function
Status feedback function
Common
Function
Speed control
Position control
Max.command
pulse frequency
Normal mode
Fit gain function
Division function of encoder feedback pulse
Protection Hardware error
function Software error
Alarm data trace back function
Torque cab be limited separately in CW / CCW direction (3 V / rated torque).
Ratio between the encoder pulse (denominator) and the external scale pulse (numerator)
can be set within the
setting range : (1 – 10000 x 2(0 – 17) ) / (1 – 10000)
Applicable to [15] 2nd full-closed control
Applicable to [15] 2nd full-closed control
Load inertia is determined at real time in the state of actual operation and gain corresponding
to the rigidity is set automatically. Applicable to the follwing seven modes : [1] position control
[2] speed control [3] torque control [4] position / speed control [5] position / torque control
[6] speed / torque control [7] semi-closedd control
Load inertia is determined by driving the equipment with operation command within the
driver and gain corresponding to the rigidity is set automatically.
Applicable to [1] position control or [7] semi-closed control
Optimum gain setting is seached automatically by repeating reciprocating operation in
position control mode
Applicable to [1] position control or [7] semi-closed control .
The following control input signal can be masked : [1] drive prohibition input
[2] torque limit input [3] command pulse prohibition input [4] speed zero clamp input
1 P / r ~ 16384 P / r (at the maximum encoder pulse)
Overload, undervoltage, overspeed, overload, overheat, over current, encoder error, etc.
Large positional deviation, command pulse division, EEPROM error, etc.
Tracable up to 14 alarm data reversely including present alarm data.
305
Appendix
Unnecessary wiring mask function
Primary delay filter is applicable to command input
Motor characteristics
• Motor characteristics depend on whether the oil seal and/or brake is used or not used.
• Continuous torque vs ambient temperature characteristics are measured with our standard aluminum L
flange (angle approx. twice the motor flange size) installed.
MSMA series (30 W – 100 W)
Without oil seal
With oil seal
• MSMA3AZ***
• MSMA3AZ***
Driver power supply: 100/200 VAC
0.15
0
Instantaneous
operating range
*Continuous torque vs
ambient temperature
100
0.3
50
Continuous
operating range
[%] 0
10
20
30 40
1000 2000 3000 4000 5000
Ambient temperature: [˚C]
Speed: [r/min]
• MSMA5AZ***
0.15
0
Instantaneous
operating range
With brake
50
0.25
With brake
50
0.5
With brake
100
75
70
50
Continuous
operating range
10
20
30
40
1000 2000 3000 4000 5000 [%] 0
Ambient temperature: [˚C]
Speed: [r/min]
Driver power supply: 200 VAC
*Continuous torque vs
ambient temperature
With brake
*Continuous torque vs
ambient temperature
Torque
[N• m]
100
95
1.0
50
0.5
Continuous
operating range
[%] 0
1000 2000 3000 4000 5000
10
20
30
40
Ambient temperature: [˚C]
Speed: [r/min]
0
Instantaneous
operating range
Without brake
Rated torque ratio
Rated torque ratio
0
Instantaneous
operating range
0
Instantaneous
operating range
Without brake
• MSMA012***
Driver power supply: 200 VAC
0.5
*Continuous torque vs
ambient temperature
Torque
[N•m]
1.0
• MSMA012***
1.0
With brake
Driver power supply: 100 VAC
(Dotted line: when the supply voltage drops by 10%)
100
95
Continuous
operating range
[%] 0
10
20
30
40
1000 2000 3000 4000 5000
Ambient temperature: [˚C]
Speed: [r/min]
Torque
[N• m]
100
70
60
50
Continuous
operating range
10
20
30
40
1000 2000 3000 4000 5000 [%] 0
Ambient temperature: [˚C]
Speed: [r/min]
Rated torque ratio
0
Instantaneous
operating range
*Continuous torque vs
ambient temperature
Rated torque ratio
0.5
0
Instantaneous
operating range
Without brake
• MSMA011***
Driver power supply: 100 VAC
(Dotted line: when the supply voltage drops by 10%)
1.0
Torque
[N• m]
0.5
• MSMA011***
Torque
[N• m]
*Continuous torque vs
ambient temperature
100
90
Continuous
operating range
[%] 0
1000 2000 3000 4000 5000
10
20
30
40
Ambient temperature: [˚C]
Speed: [r/min]
0
Continuous
operating range
1000 2000 3000 4000 5000 [%] 0
10
20
30
40
Ambient temperature: [˚C]
Speed: [r/min]
Rated torque ratio
0.25
With brake
60
50
45
Driver power supply: 100/200 VAC
*Continuous torque vs
ambient temperature
Rated torque ratio
0.5
Instantaneous
operating range
Without brake
100
• MSMA5AZ***
Driver power supply: 100/200 VAC
Torque
[N• m]
*Continuous torque vs
ambient temperature
Torque
[N• m]
Rated torque ratio
0.3
Rated torque ratio
Torque
[N• m]
Driver power supply: 100/200 VAC
100
75
70
50
With brake
Continuous
operating range
1000 2000 3000 4000 5000 [%] 0
10
20
30
40
Ambient temperature: [˚C]
Speed: [r/min]
* Information on this page is subject to change: for the latest design, consult us. * Rated torque ratio is 100% at 40˚C without oil seal and brake.
306
[Appendix]
MSMA series (200 W – 750 W)
Without oil seal
• MSMA021***
• MSMA021***
Driver power supply: 100 VAC
(Dotted line: when the supply voltage drops by 10%)
*Continuous torque vs
ambient temperature
1.0
Instantaneous
operating range
Continuous
operating range
0
1000 2000 3000 4000 5000
Speed: [r/min]
2.0
50
1.0
[%] 0
10
20
30
40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
0
1000 2000 3000 4000 5000
Speed: [r/min]
[%] 0
10
20
30
40
Ambient temperature: [˚C]
1000 2000 3000 4000 5000
Speed: [r/min]
50
2.0
[%] 0
10
20
30
40
Ambient temperature: [˚C]
1000 2000 3000 4000 5000
Speed: [r/min]
2.0
[%] 0
10
20
30
40
Ambient temperature: [˚C]
1000 2000 3000 4000 5000
Speed: [r/min]
75
50
10
20
30
40
Ambient temperature: [˚C]
0
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
75
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
Torque
[N• m]
8.0
4.0
50
[%] 0
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
10
20
30 40
Ambient temperature: [˚C]
0
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
Appendix
0
100
[%] 0
Rated torque ratio
100
Continuous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
• MSMA082***
Rated torque ratio
4.0
Instantaneous
operating range
Torque
[N• m]
50
*Continuous torque vs
ambient temperature
Instantaneous
operating range
10
20
30
40
Ambient temperature: [˚C]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
4.0
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
8.0
0
100
90
• MSMA082***
Torque
[N• m]
[%] 0
Rated torque ratio
Continuous
operating range
0
Rated torque ratio
2.0
100
80
70
*Continuous torque vs
ambient temperature
Without brake
With brake
• MSMA042***
*Continuous torque vs
ambient temperature
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
Torque
[N• m]
4.0
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
4.0
10
20
30
40
Ambient temperature: [˚C]
Driver power supply: 100 VAC
(Dotted line: when the supply voltage drops by 10%)
100
90
• MSMA042***
Torque
[N• m]
0
Instantaneous
operating range
Rated torque ratio
Continuous
operating range
0
Rated torque ratio
2.0
[%] 0
With brake
• MSMA041***
*Continuous torque vs
ambient temperature
Instantaneous
operating range
Torque
[N• m]
1.0
50
Driver power supply: 100 VAC
(Dotted line: when the supply voltage drops by 10%)
4.0
100
80
70
50
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
2.0
90
• MSMA041***
Torque
[N• m]
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
Rated torque ratio
Continuous
operating range
Rated torque ratio
1.0
Instantaneous
operating range
0
Instantaneous
operating range
*Continuous torque vs
ambient temperature
Without brake
• MSMA022***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
2.0
Torque
[N• m]
100
90
• MSMA022***
Torque
[N• m]
Driver power supply: 100 VAC
(Dotted line: when the supply voltage drops by 10%)
Rated torque ratio
2.0
Rated torque ratio
Torque
[N• m]
With oil seal
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
* Information on this page is subject to change: for the latest design, consult us.
307
Motor characteristics
MSMA series (1 kW – 5 kW)
With oil seal
• MSMA102***
• MSMA152***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
*Continuous torque vs
ambient temperature
5
0
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
100
15
50
7.5
[%] 0
10
20
30 40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
Without brake
With brake
100
85
70
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
0
1000 2000 3000 4000 5000
Speed: [r/min]
Without brake
With brake
100
90
85
50
[%]0
1000 2000 3000 4000 5000
Speed: [r/min]
30
100
90
85
50
[%] 0
0
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
Rated torque ratio
25
Without brake
With brake
100
90
85
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
Without brake
With brake
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
50
25
10
20
30
40
Ambient temperature: [˚C]
0
100
70
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
* Information on this page is subject to change: for the latest design, consult us.
308
Instantaneous
operating range
Continuous
operating range
0
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
Instantaneous
operating range
*Continuous torque vs
ambient temperature
Torque
[N• m]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
50
10
20
30
40
Ambient temperature: [˚C]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
• MSMA502***
Torque
[N• m]
[%] 0
Instantaneous
operating range
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
*Continuous torque vs
ambient temperature
Rated torque ratio
0
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
With brake
70
50
• MSMA452***
Rated torque ratio
20
Instantaneous
operating range
Without brake
100
Instantaneous
operating range
0
10
20
30
40
Ambient temperature: [˚C]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
40
（23.8）
20
15
• MSMA402***
Torque
[N• m]
*Continuous torque vs
ambient temperature
Rated torque ratio
Continuous
operating range
Rated torque ratio
Instantaneous
operating range
10
20
30
40
Ambient temperature: [˚C]
• MSMA352***
*Continuous torque vs
ambient temperature
15
[%] 0
Torque
[N• m]
Continuous
operating range
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
30
50
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
10
• MSMA302***
Torque
[N• m]
（3500）
1000 2000 3000 4000 5000
Speed: [r/min]
Rated torque ratio
0
Continuous
operating range
1000 2000 3000 4000 5000
Speed: [r/min]
Rated torque ratio
10
Instantaneous
operating range
With brake
• MSMA252***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
20
Instantaneous
operating range
0
Without brake
100
85
Continuous
operating range
• MSMA202***
Torque
[N• m]
*Continuous torque vs
ambient temperature
Torque
[N• m]
Rated torque ratio
10
Rated torque ratio
Torque
[N• m]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
100
85
70
50
[%] 0
Without brake
With brake
10
20
30
40
Ambient temperature: [˚C]
[Appendix]
MAMA series (100 W – 750 W)
Without oil seal
• MAMA022***
• MAMA012***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Instantaneous
operating range
0.5
(0.19)
0
Continuous operating range
2000
4000 (5000)
*Continuous torque vs
ambient temperature
Torque
[N• m]
2.0
(1.91)
100
1.0
(0.38)
50
[%] 0
Speed: [r/min]
10
20
30 40
Ambient temperature: [˚C]
• MAMA042***
0
2.0
(0.76)
Continuous operating range
0
2000
4000 (5000) 6000
Speed: [r/min]
100
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
Torque
[N• m]
8.0
(7.16)
100
50
[%] 0
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Instantaneous
operating range
4.0
(1.43)
10
20
30 40
Ambient temperature: [˚C]
0
Continuous operating range
2000
4000 (5000) 6000
Speed: [r/min]
Rated torque ratio
Instantaneous
operating range
Rated torque ratio
4.0
(3.82)
Continuous operating range
2000
4000 (5000) 6000
Speed: [r/min]
*Continuous torque vs
ambient temperature
• MAMA082***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
Instantaneous
operating range
Rated torque ratio
1.0
(0.95)
Rated torque ratio
Torque
[N• m]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
MDMA series (750 W – 2.0 kW)
With oil seal
• MDMA082***
• MDMA102***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
10
5
Instantaneous
operating range
Continuous
operating range
1000
0
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
Torque
[N• m]
100
15
Instantaneous
10 operating range
50
5
[%] 0
10
20
30
40
0
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
3000
Speed: [r/min]
100
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
100
30
Instantaneous
15 operating range
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
0
Continuous
operating range
1000
（2200）
2000
3000
Speed: [r/min]
Rated torque ratio
Rated torque ratio
10
Instantaneous
operating range
（2200）
2000
*Continuous torque vs
ambient temperature
• MDMA202***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
20
1000
Ambient temperature: [˚C]
• MDMA152***
Torque
[N• m]
Continuous
operating range
Rated torque ratio
Rated torque ratio
Torque
[N• m]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
* Information on this page is subject to change: for the latest design, consult us.
Appendix
309
Motor characteristics
MDMA series (2.5 W – 5 kW)
With oil seal
• MDMA252***
• MDMA302***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
40
Torque
[N• m]
100
(35.5)
Instantaneous
20 operating range
0
*Continuous torque vs
ambient temperature
Continuous
operating range
1000
2000
50
Instantaneous
25 operating range
50
[%] 0
3000
Speed: [r/min]
10
20
30 40
Ambient temperature: [˚C]
• MDMA352***
Continuous
operating range
1000
2000
0
*Continuous torque vs
ambient temperature
Without brake
With brake
100
90
85
50
Torque
[N• m]
(56.4)
50
0
[%] 0
3000
10
20
30
40
Ambient temperature: [˚C]
Speed: [r/min]
Continuous
operating range
2000
1000
2000
*Continuous torque vs
ambient temperature
Without brake
With brake
100
85
70
50
[%] 0
3000
Speed: [r/min]
10
20
30
40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
Without brake
With brake
100
90
85
50
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
*Continuous torque vs
ambient temperature
Rated torque ratio
Rated torque ratio
Instantaneous
operating range
1000
10
20
30 40
Ambient temperature: [˚C]
• MDMA502***
Torque
[N• m]
60
Instantaneous
operating range
Continuous
operating range
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
0
50
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
25
• MDMA452***
30
100
[%] 0
3000
Speed: [r/min]
Rated torque ratio
Instantaneous
25 operating range
*Continuous torque vs
ambient temperature
• MDMA402***
Rated torque ratio
50
Continuous
operating range
1000
2000
0
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
Rated torque ratio
Rated torque ratio
Torque
[N• m]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
70
35
Instantaneous
operating range
Continuous
operating range
[%] 0
3000
10
20
30
40
Ambient temperature: [˚C]
Speed: [r/min]
0
1000
2000
Without brake
With brake
100
90
85
50
[%] 0
3000
Speed: [r/min]
10
20
30
40
Ambient temperature: [˚C]
MFMA series (400 W – 2.5 kW)
With oil seal
• MFMA042***
• MFMA082***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
2.5
Instantaneous
operating range
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
100
Torque
[N• m]
10
50
5
[%] 0
10
20
30 40
Ambient temperature: [˚C]
0
Torque
[N• m]
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
3000
Speed: [r/min]
100
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
100
Instantaneous
operating range
50
[%] 0
Continuous
operating range
10
20
30 40
Ambient temperature: [˚C]
* Information on this page is subject to change: for the latest design, consult us.
310
2000
Rated torque ratio
Rated torque ratio
10
1000
*Continuous torque vs
ambient temperature
• MFMA252A***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Instantaneous
operating range
Instantaneous
operating range
Continuous
operating range
• MFMA152A***
20
Rated torque ratio
Rated torque ratio
5
*Continuous torque vs
ambient temperature
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
0
1000
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
[Appendix]
MFMA series (3.5 kW – 4.5 kW)
With oil seal
• MFMA352***
• MFMA452***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
50
Instantaneous
25 operating range
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
Torque
[N• m]
*Continuous torque vs
ambient temperature
100
Rated torque ratio
Rated torque ratio
Torque
[N• m]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
50
Instantaneous
operating range
25
50
Continuous
operating range
[%] 0
10
20
30 40
Ambient temperature: [˚C]
0
1000
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30 40
Ambient temperature: [˚C]
MHMA series (500 W – 5 kW)
With oil seal
• MHMA052***
• MHMA102***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Rated torque ratio
5.0
Instantaneous
operating range
2.5
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
Torque
[N• m]
*Continuous torque vs
ambient temperature
15
100
10
5
50
10
20
30
0
40
0
1000
2000
3000
Speed: [r/min]
15
50
0
10
20
30 40
Ambient temperature: [˚C]
1000
(2200)
2000
3000
Speed: [r/min]
10
20
30 40
Ambient temperature: [˚C]
*Continuous torque vs
ambient temperature
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
• MHMA402***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
*Continuous torque vs
ambient temperature
100
Rated torque ratio
3000
Speed: [r/min]
Instantaneous
operating range
Continuous
operating range
[%] 0
Rated torque ratio
Instantaneous
25 operating range
Continuous
operating range
0
1000
2000
0
100
30
100
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
50
[%]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
*Continuous torque vs
ambient temperature
• MHMA302***
Torque
[N• m]
3000
Speed: [r/min]
50
Rated torque ratio
Continuous
operating range
2000
100
• MHMA202***
Rated torque ratio
10
Instantaneous
operating range
1000
*Continuous torque vs
ambient temperature
Ambient temperature: [˚C]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
20
Continuous
operating range
(2200)
[%] 0
• MHMA152***
Torque
[N• m]
Instantaneous
operating range
Rated torque ratio
Torque
[N• m]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
50
Instantaneous
operating range
50
25
Continuous
operating range
[%] 0
10
20
30
40
Ambient temperature: [˚C]
0
1000
2000
3000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
85
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
• MHMA502***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
35
Instantaneous
operating range
Continuous
operating range
0
1000
2000
3000
Speed: [r/min]
100
85
Appendix
Rated torque ratio
70
*Continuous torque vs
ambient temperature
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
* Information on this page is subject to change: for the latest design, consult us.
311
Motor characteristics
MGMA series (300 W – 4.5 kW)
With oil seal
• MGMA032***
• MGMA062***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
Continuous
operating range
0
1000
2000
Speed: [r/min]
100
15
50
[%] 0
Torque
[N• m]
10
20
30
40
Ambient temperature: [˚C]
• MGMA092***
10
Instantaneous
operating range
5
Continuous
operating range
0
Torque
[N• m]
0
1000
2000
Speed: [r/min]
*Continuous torque vs
ambient temperature
100
50
[%] 0
10
20
30
40
Ambient temperature: [˚C]
Instantaneous
15 operating range
Continuous
operating range
0
[%] 0
1000
2000
Speed: [r/min]
100
50
10
20
30 40
Ambient temperature: [˚C]
0
[%] 0
100
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
50
10
20
30
40
Ambient temperature: [˚C]
0
[%] 0
power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
Torque
[N• m]
Rated torque ratio
*Continuous torque vs
ambient temperature
Instantaneous
50 operating range
Continuous
operating range
0
[%] 0
*Continuous torque vs
ambient temperature
Instantaneous
35 operating range
Continuous
operating range
70
• MGMA452***
100
50
10
20
30
40
Ambient temperature: [˚C]
* Information on this page is subject to change: for the latest design, consult us.
312
*Continuous torque vs
ambient temperature
Rated torque ratio
Rated torque ratio
*Continuous torque vs
ambient temperature
Instantaneous
25 operating range
Continuous
operating range
1000
2000
Speed: [r/min]
10
20
30
40
Ambient temperature: [˚C]
• MGMA302***
Torque
[N• m]
100
[%] 0
Torque
[N• m]
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
1000
2000
Speed: [r/min]
50
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
30
• MGMA202***
50
100
Rated torque ratio
Continuous
operating range
Rated torque ratio
10
Instantaneous
operating range
*Continuous torque vs
ambient temperature
• MGMA122***
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
20
1000
2000
Speed: [r/min]
Rated torque ratio
2.5
Instantaneous
operating range
Rated torque ratio
5.0
*Continuous torque vs
ambient temperature
Driver power supply: 200 VAC
(Dotted line: when the supply voltage drops by 10%)
1000
2000
Speed: [r/min]
100
50
10
20
30
40
Ambient temperature: [˚C]
[Appendix]
MEMO
Appendix
313
Index
A
item
word
Adjustments
Real time auto gain tuning at Position Control Mode ......................................... 88
Real time auto gain tuning at Speed Control Mode ............................................ 88
Real time auto gain tuning at Torque Control Mode ........................................... 88
Gain Adjustment ................................................................................................ 186
Fit gain function ................................................................................................. 190
Nomal Mode Auto gain tuning ........................................................................... 193
Disabling of auto tuning function ....................................................................... 196
Manual gain tuning (Basic) ............................................................................... 197
1st notch filter .................................................................................................... 204
2nd notch filter .................................................................................................. 204
Adaputive filter .................................................................................................. 204
Gain auto setting function ................................................................................. 206
Instantaneous speed observer ......................................................................... 207
Command follow-up control .............................................................................. 208
Vibration suppression control............................................................................ 211
Resonance ratio control .................................................................................... 212
Disturbance observer ........................................................................................ 213
Torsion correction / Status feed back control .................................................... 214
page
Driver
Check the Model of Driver .................................................................................. 14
Check the Combination of Driver and Motor....................................................... 16
Parts Description ................................................................................................. 20
Dimensions ....................................................................................................... 284
Driver Block Diagra ........................................................................................... 296
Specifications .................................................................................................... 304
B
item
word
Block diagram
(Control block
diagrams)
Position control block diagram ............................................................................ 72
Speed control block diagram ............................................................................ 106
Torque control block diagram ............................................................................ 132
Full-closed Control block diagram .................................................................... 159
Semi-closed Control block diagram .................................................................. 298
Hybrid control block diagram ............................................................................ 298
Speed/external encoder control mode - Speed control block diagram ............. 299
Speed/external encoder control mode - External encoder control
block diagram .................................................................................................... 299
Speed/semi-closed control mode - Speed control block diagram .................... 300
Speed/semi-closed control mode - Semi-closed control block diagram ........... 300
Position control for high-stiffness equipment block diagram ............................ 301
Position control for low-stiffness equipment block diagram .............................. 302
page
Brake
Holding Brake ..................................................................................................... 44
Dynamic Brake (DB) ........................................................................................... 46
C
item
word
Command Pulse Ratio
Description on Command Pulse Ratio for Parameter Setup ............................ 264
Communication
Protocol
Outline of Communication................................................................................. 238
Communication Specifications .......................................................................... 239
314
page
[Appendix]
C
(Continued)
item
word
Communication
Protocol
Communication Connector Interface ................................................................ 240
Communication Method .................................................................................... 242
Transmission Sequence ................................................................................... 243
Configuration of Data Block .............................................................................. 244
Protocol Parameters ......................................................................................... 244
Status Transition Chart ..................................................................................... 247
Communication Timing ..................................................................................... 249
Communication Command List ......................................................................... 250
page
Control mode
Position control mode ......................................................................................... 71
Speed control mode .......................................................................................... 105
Torque control mode ......................................................................................... 131
Full-closed control mode ................................................................................... 155
Semi-closed control mode ................................................................................ 157
Hybrid control mode .......................................................................................... 157
External encoder control mode ......................................................................... 158
2nd integrated full-closed .................................................................................. 158
Position control (for high stiffness) .................................................................... 197
Position control (for low stiffness) ..................................................................... 197
Speed control (for low stiffness)........................................................................ 197
D
item
word
Display (monitor)
Monitor mode ...................................................................................................... 60
Parameter setup mode ....................................................................................... 63
EEPROM writing mode ....................................................................................... 63
Auto gain tuning mode ........................................................................................ 64
Auxiliary function mode ....................................................................................... 66
page
E
item
word
Encoder
Incremental type encoder: 2500P/r ..................................................................... 16
Absolute/Incremental type encoder: 17bit .......................................................... 18
page
Error codes
Protective Functions (What are Alarm codes?) ................................................ 216
I
item
word
Initialization
Initialization (Precautions) ................................................................................... 48
page
M
word
Check Name plate .............................................................................................. 15
Check Model Designation ................................................................................... 15
Check the Combination of Driver and Motor....................................................... 16
Parts Description ................................................................................................. 22
Acceptable Loads on Output Axes .................................................................... 269
Driver Block Diagrams ...................................................................................... 296
Motor characteristics ......................................................................................... 306
page
315
Appendix
item
Motor
Index
O
item
word
Option
Noise Filter ........................................................................................................ 267
Surge Absorber ................................................................................................. 267
Noise filter for signal line ................................................................................... 268
Zero-phase reactor ........................................................................................... 268
Motor connectors and plugs.............................................................................. 270
Junction cables for MINAS-AIII series .............................................................. 271
Encoder junction cable...................................................................................... 272
Motor junction cable (Robotop® , 600V . DP) .................................................... 273
Motor (with Brake) junction cables (Robotop® , 600V . DP) ............................. 274
Communication Cables (for connection to personal computer)........................ 274
Communication Cables (for RS485) ................................................................. 275
Set up support software PANATERM® .................................................................................................................. 275
Connector Kits for Motor and Encoder ............................................................. 275
Connector Kits for External Equipment ............................................................. 278
Interface Cables ................................................................................................ 278
Brackets for Mounting the Driver ...................................................................... 279
External Regenerative Discharge Resistor ....................................................... 280
Battery and Battery Holder for Absolute Encoder ............................................. 280
Reactor.............................................................................................................. 281
page
Over sea standard
EC Directives .................................................................................................... 266
EMC Directives ................................................................................................. 266
Configuration of Peripheral Equipment ............................................................. 266
Applicable Standards ........................................................................................ 266
Peripheral Devices Applicable to Drivers (EC Directives) ................................ 268
P
item
word
PANATERM®
Set up support software PANATERM® .............................................................. 236
Panel Key Operations
Configuration of the operation and display panel ............................................... 56
Operating procedure ........................................................................................... 57
Parameter
Parameter Groups and Listing ............................................................................ 50
Position Control Mode......................................................................................... 90
Speed Control Mode ......................................................................................... 118
Torque Control Mode ........................................................................................ 144
Full-closed Control Mode .................................................................................. 170
Peripheral Equipment
List of Drivers and Compatible Peripheral Equipment ........................................ 30
Magnetic contactor .............................................................................................. 30
Wiring on connector ............................................................................................ 30
Circuit Breaker .................................................................................................. 267
Noise Filter ........................................................................................................ 267
Surge Absorber ................................................................................................. 267
Power supply .................................................................................................... 267
Noise filter for signal line ................................................................................... 268
Grounding ......................................................................................................... 268
Ground-fault circuit breaker .............................................................................. 268
Zero-phase reactor ........................................................................................... 268
Peripheral Equipment Manufacturers ............................................................... 282
316
page
[Appendix]
R
item
word
Recommended Parts
Surge Absorber for Motor Brake ....................................................................... 282
page
S
item
word
Safety Precautions
Safety Precautions ................................................................................................ 8
Maintenance and Inspections ............................................................................. 12
page
T
item
word
Time Limiting
Characteristic
Overload Protection: Time Limiting Characteristic ............................................ 218
page
Timing Chart
After Power ON (receiving Servo-ON signal) ..................................................... 40
After an Alarm event (during Servo-ON) ............................................................. 41
After an Alarm is cleared (during Servo-ON) ...................................................... 41
Servo-ON/OFF operation when the motor is stopped ........................................ 42
Servo-ON/OFF operation when the motor is in operation .................................. 43
Trial Run (JOG)
Inspections before Trial Run ............................................................................... 68
Motor trial run ...................................................................................................... 69
Trial run at Position Control Mode ...................................................................... 86
Trial run at Speed Control Mode ....................................................................... 114
Trial run at Torque Control Mode ...................................................................... 140
Trouble
Troubleshooting ................................................................................................ 221
W
item
word
Wiring
Installation of Driver ............................................................................................ 23
Installation of Motor ............................................................................................. 23
General Wiring Diagram ..................................................................................... 26
Main Circuits ....................................................................................................... 32
Wiring Diagrams ................................................................................................. 34
Connection for Encoder ...................................................................................... 36
Connection for Personal Computer/Host Controller ........................................... 38
Connection for High order control equipment ..................................................... 39
Connecting cables to the terminal block ............................................................. 70
Circuits Available for Position control mode ........................................................ 73
Circuits Available for Speed control mode ........................................................ 107
Circuits Available for Torque control mode ....................................................... 133
Circuits Available for Full-closed control mode ................................................. 160
page
Appendix
317
MEMO
318
Reference
Motor Company, Matsushita Erectric Industrial Co.,Ltd.Marketeing Group
Tokyo:
Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031
TEL (03)3538-2961
FAX (03)3538-2964
Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044
TEL (072)870-3065
FAX (072)870-3151
319
After-Sale Service (Repair)
Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased, consult to the manufacture
or the dealer of the machine or equipment.
Cautions for Proper Use
• This product is intended to be used with a general industrial product, but not designed or manufactured to be
used in a machine or system that may cause personal death when it is failed.
• Install a safety equipments or apparatus in your application, when a serious accident or loss of property is
expected due to the failure of this product.
• Consult us if the application of this product is under such special conditions and environments as nuclear
energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which
require a lesser air contamination.
• We have been making the best effort to ensure the highest quality of the products, however, application of
exceptionally larger external noise disturbance and static electricity, or failure in input power, wiring and components may result in unexpected action. It is highly recommended that you make a fail-safe design and
secure the safety in the operative range.
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending
on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking
and verification by customer is required.
• Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into
consideration when the application of the machine is clean room related.
• Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as
sulphuration can lead to disconnection from the chip resistor or a poor contact connection.
• Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply
of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or
a fire and other trouble.
Technical information
Electric data of this product (Instruction Manual, CAD data) can be downloaded from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
MEMO (Fill in the blanks for reference in case of inquiry or repair.)
Date of
purchase
Model No.
M
DC
M
MA
Dealer
Tel : (
)
-
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan
Tel : (81)-72-871-1212
© 2004 Matsushita Electric Industrial Co., Ltd. All Rights Reserved.
IMC41
S0904-3066