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    14 views28 pages

    Servo 8000 3

    Uploaded by

    gimen

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
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    No. 20342-0235 APPENDIX 5 AC SERVO DRIVER FUNCTION AS-1 No. 20342-0235 1, SERVO SYSTEM CONFIGURATION 1.1 Block Diagram Tighe vel cooler [pie] RS Fegeiiaistonase Command a san rndy cen ON 1 ‘Amplinier reagy Holding brake P ‘excitation timing Motor BP Remote operator Pigure AS-2 No. 20342-0235 1.2 External Connection Diagram externally connected regenerative resistor For preventing common mode noise and normal mode noise Preparation for operation Emergency ION Sea ue 1] motor 30, aczoov _¢3_f 23000 hoi 6 hier Holding brake me 13 Tenasae |— 10 m1 oie Oyster] 12 UL} v2 fron 2 — fee op |—— 12 ele 3 . M1 que |—— 13 14 (ofolefolcfofeleleleiciolelofola > MN Figure A5-3 10 a 12 43 4 1s No. 2342-0238 External thermostat input terminals (H1 and H2) Contact point *b" input -Amplifier-ready output terminals (RDY1 and RDY2) Establishes the control power supply and outputs signals when no alarm is generated. Contact point "a" output, 250 VAC 2A, 30 VDC 2A “Control power supply input terminals (1 and L) Single-phase 200 VAG/230 VAC power supply is connected. -Main circuit power supply input terminals (R, 3, and T) Three-phase 200 VAC/230 VAC power supply is connected. -Main circuit output terminals (U, V, and W) The main circuit cable of the servomotor is connected. - Grounding terminal (E) ‘The grounding cable of the servomotor is connected to provide grounding in accordance with all applicable legal reyuirements for medically used electrical equipment. -Regenerative resistor connection input terminals (X, COM, and Y) * When tho oxternally connected regenerative recictor is not used (an internal one is used). be sure to short between X and COM. * When the externally connected regenerative resistor is used, connect it between Y and COM and open X - Establishment of 5 V power supply (POWER) = 7-segment LED Indicates alarms and system status. Main circuit power supply charge (CHARGE) Indicates charging of the smuothing capacitor of the main circuit power supply. Rotary switch (SELECT) Used to monitor the alarm history or system status Connector (OP) for the remote operator Monitor terminals (M1, MZ, and SG) Outputs the monitor output selected by the remote operator. Two channels are provided. Connector (CN2) for the encoder Connector (CN1) for input signals ASS 1.4 LED Status Display No. 2D342-023E The POWER, CHARGE, and 7-segment LEDs indicate the status and alarms of the servo amplifier. Table A5S-1 Display Status ‘The “POWEK" LED Lights. Control power supply +5 V has been established. 7-segment LED 7-segment LED Control power supply (r and t) has been established and amplifier-ready (RDY) is ON. The main power supply (R, 8, and 7) is being turned ON or has been established: however. operation preparation completion signals are OFF. 7-segment LED The uuin power supply (R, 5, and T) has been eetabliched and operation preparation completion signals are ON. 7-segment LED The character "8" rotates. Servo ON status 7 cogment LED The external battery power supply voltage drops and is in battery warning etatue when the absolute encoder is used. (Replace the external battery power supply.) /-segment LED Over-travel status in the forward-rotation direction of the position- or speed-control- type amplifier. 7-segment LED b Over-travel status in the reverse-rotation direction of the position- or speed-control- type amplifier. ‘The "CHARGE" LED lights. ‘The emoothing capacitor at the main power supply section is being charged. A3-6 2, DESCRIPTION OF PARAMETER (REMOTE OPERATOR: 2.1 Outline of the Remote operator ‘The remote operator is shown in the figure below Weist strap Brightnese adjustment VR Gl U § ‘SANYO_DENKT "REMOTE OPERATOR Ge) (a) fa) ald Cat) to the amplifier Figure A5-4 As-7 Check pine Connector for connection No. 2342-0235 Liquid crystal —panel (16 characters x 2 Lines) — operating keys Ttem No. 2D342-023E Table 5-2 Specifications Power supply Supplied from the cervo amplifier Connection method Connected using the special cable (cable Length 2 m ‘Ambient temperature For operation (0°C to +50°C) For storage (-20°C to 470°C) Atmosphere Bo not operate the unit in an atmosphere containing oll mist, corrosive gas, or dust. panel may be Be careful not to drop the unit because the liquid crystal damaged. As-0 6-s¥ : No 0-1 No. 0. uswe@ueazy zeqewezed 7°Z Feed i eee | |towara ee ' 7 Horward |_| command ° ! gain low-pass. i i titer current ; No.0 commana i i No. 03 notch fter 7 | No 08 Noa No.0-9 No. 0-18 cesar Ne 0.17 inate Command } Hl | [Speee ___ [Proportion ae pulse Puse | | eiectronia Position acceleration gain ane coal _——Hiline [3 loop land ime bso comman Horm | |9°er ~F |gain = |deceteration| <7. Jeonstant for] “q__ow 2 period speed oop | 5 ota iter g Regreton |, 5 1 i i ' ‘ ie 5 No.1 i No. 1-1 a monitor Frequency 7 Mon2 ! output multiplication + (pe tt _Hretecton wa 7 i H Speed feedback i i Phere tebe ; i Poon devon No.0-/ i i i ap } lOutput ! Ae poles ! H division i i * No. “screen mode number’ - "page number’ = wezo-z7eqz 2.3 Parameter Chart No. 2D342-023E Table AS-3 Screen mode 0 (key input setting) Page Sanaara Cassiteation | P89° | abrevation Name stancara T Uni | seting ange | Remarks Normal ° Kp | Postion loop gain 4500) | eae | 400265 | The number Parameter 1 Kit | Feed forward gain ° % | 010100 | M ertheses 2 Kvp ‘Speed loop proportion | 1uu(/0) | Hz | 10to3000 | indicates the gain value when 2 Twi | Time constant for 15 (20) | ma | 2101000 speed loop integration 4 1nP_—| Positioning completion | 64 | Pulea | 4 to-266 signal width «® 5 OVE | Excessive deviation asa | v25e| 410 20787 value pulse 6 | EGER | Electronic gear ratio an | — | ar10000 10 32 (32s not Included) 7 | ENGR — | Output pulse aivision an |—] 1 ratio ver02 @ | PMoD | Command puise tine | 00000000] bit | 0,1 form Special 70 Ui | User VF function ‘o0000000| bt | 0,4 An internal parameter selection power supply 4 Funet Selection switch 1 onnnnan | bit O41 Pee exceeding 12 | Fune2 | Solection ewiteh2 | oot00000] bit | 0,1 IPAR cannot 8 Func3 | Selection switch 9 ‘0000000 | bit 0,4 Pee 7 4 tiem — | internat eutrent et 10 | % | sotosoo |bteof bie value and bit 4 of 16 FLPF Feed forward LPF 900 Hz 1 to 990 peut nee it changed after 7 Lr | Currentcommangpr | 450 | He | ttos90 | genset 18 IBEF ‘Current command BEF 500 Hz | 20010 990 power supply ‘stumed w ace | Speed acceteration and | 0 | ms | 0, 10to gues | Si deceleration period Table AS-4 Screen mode 1 (menu input setting) Classification | F29° | Abbreviation Name Stenionent "* | Seting range | Remarks Wormat ° wi___| Monitor 1 output Vmo2vikrpm | ésetings |i Parameter ht M2 ‘Monitor 2 output tom 2 VIR Bsettings | Roted armature 5 | PMUL | Command pulse Muttipication by 1 |S settings |Current rmultpication ‘System 6 TYPE | Control mode Position ‘Sssettings | The settings Pavanveter 7 | ENKD | Encoder mode! 3585 2settings | are changed 8 ENPL | Encoder pulse number sss 13 settings | control power 9 MoT | Motor model S885 652 and 68z | SUPPIY is. satice fumed OFF, §$$§: Differs depending on the specification at the time of shipment from the factory. 5-10 No. 20342-0235 2.4 Function Table The functions of the remote operator are listed in the table below. Table AS-5 Mode Screen number Function Setting mode 0 ‘The user parameter is directly input by key. 1 The user parameter is selected according to screen display. Monitoring mode 2 ‘The various monitored etatueee (valuee) are displayed on the screen. + Status + Input © Output * Speed command * Speed © Current command © Current, Position deviation counter value U-phase electrical angle Position command frequency + Absolute value Alarm trace mode 3 ‘The alarm history (up to 8 alarms) is displayed. Test mode 4 JOG operation or servo tuning can be performed. Table AS-6 Check pin functions Name Contents vemp | Speed command (CN1-pin 21 input) is monitored. Mt ‘Same output as monitor 1 output of the amplifier is monitored. M2 Same output ac monitor 2 output of the amplifier ic monitored. 56 Signal ground (common for 8G of the amplifier) DMi | The internal status is output for monitoring (motor excitation). DM2__|The internal status is output for monitoring (alarm). AS-11 No. 20342-0238 2.5 Basic Operating Procedures Power supply ON Remote Operator [Communication in Contro! method progress CPU version ‘Ampiiier capacity i Motor code +(e # #)-(# #)-[e #I-[I-[F + Push [MODE] Key initial seraen Mode Select * Push [0] to [41 Key Mode selection screen “a _pa_pe_ Pee emt [Selection soreen} [Monforng screen} cemiaeeaeh Teal sciean Teese [less ese. ese Selected fecreen display; [ ‘* Para, Set-— [ ‘Para, Select-- | [ +Monitor-—- If no operation is performed for approximately 3 minutes, the Liquid crystal display goes out. To reactivate the display, press the [MODE] key. Figure as-6 As-12 No. 2D342-023E 2.6 Parameter Setting Mode In this mode, two setting methods are available: the value is directly act by key of the value io selected. (2) To set the value directly by key (screen mode 0) *Para. Set [#] | Hscreen page number] #088) PEEEEEEEEED Parameter | [Set value labbreviation| [data Figure A5-7 Table AS-7 rll Abbreviation Name Setting range 0 Kp Position loop gain ito 255 1 KEE Feod-forvard gain 0 to 100 2 KVP ‘Speed loop proportion gain 10 ww 3000 3 Twi Time constant for speed loop 2 to 1000 integration 4 INP, Positioning completion signal 1 to 255 width OvF Excessive deviation value 1 to 32767 EGER Electronic gear ratio 1/10000 to 32 (32 is not included) 7 ENCR Output pulse division ratio 1/1 to 1/8192 LTG, Low speed 10 to 9999 PHOD Command pulse line form ae 10 UIF User I/F function selection il o,1 py Funcl Selection switch 1 o,1 12 Func2 _| Selection ewitch 2 0,2 3 Funes _| Selection switch 3 Ce 14 IILM Internal current limit value 0 to 400 45 FLPF Feed forward LPF i 1 to 990 16 VLPF Speed conmand LPF 1 to 900 a7 LPF current command LPF 1 to 990 18 IBEF Current command BEF 200 to 990 19 Tace Speed acceleration and 0, 10 to 9999 deceleration period AS-13 No. 2D342-023E (Example of setting) For example, Procedure 1. Procedure 2. Procedure 3 Procedure 4. Procedure 5. set the speed loop proportion gain to 100 Hz. Select page Z using (AJ or (VI- ‘Para. Set 2 xvp~ []T@T#] ne +. The cursor blinks. Move the cursor to the digit to be input using (}>] or [<{]- Input "100" continuously using [0] te [9] The value is saved in nonvolatile memory using [WR] and the unit is operated using the set value. When sett, dieplayed. is completed, Ue screen shown below is Completed 2 Kvp= 100 Hx If an attempt is made to save a value outside the setting range, the screen shown below is displayed and the value is not saved. Restart procedures from procedure 2. Invalid 2| Té an attempt is made to Kvp= 3200 He save 3200 Hz The screen can be returned to the initial screen using [MoDE}. To set the next page, return to procedure 1. AS-14 No. 2D342-023E * Test mode (screen mode 4) atest (7) | Screen pape nanber FtttE frest item labbreviation Figure 5-8 Table A5-8 Page number | abbreviation contents 0 Jos JOG operation is performed. 1 ‘Tune Servo tuning is performed. Before setting test mode a (2) ao “ @) Set bit 6 of Func 3 on page 13 of screen mode 0 to * Set command input to "0", Set servo ON (SON) signals to OFF. In test mode, these signals are forcibly set to ON by the remote operator and holding brake excitation timing signals are output. Establish the main cirewit power supply. In test mode, set servo ready signals to OFF when JOG or Tune set screen is selected. After completion of test a (2) When the screen is returned to the initial screen using the (MODE) key, an alarm indicating "excessive deviation” is generated because the deviation may remain at the controller side. (However, this alarm is not recorded in the alarm history.) Perform operation as usual after clearing the alarm. (For the position-control-type amplifier, input "deviation clear* as well.) Before performing operation as usual, confirm that command output of the controller is set to "0" because the deviation may remain in the user controller. (If the command 1s not set to "0", operation is performed suddenly.) 2.7 Jos aw Operation No. 2D342-023E Outiine of JOG operation The motor can be rotated in the forward or reversed direction according to the number of rotations set using the remote operator. Caution: a The motor is operated in speed control made during JOG operation even if another control mode is selected. The motor is rotated in the forward direction using the (2) key (Cow direction viewed from the load side, "Fwd Running" ic dioplayed) and it is rotated in the reverse direction using the [) or &- Input the desired number rotations using (Q) to (9). Press --+ Servo ready signals are act to OFF and servo ON signals are set to ON ATest 0 JOG ready screen JOG Ray [####H] rpm speed change io Servo OFF OG down. ic Hold down. TF an alarm letatus is *Teet o faetne at patente 0 JOG Fwd Running [soc crrors |JOG Rvs Running is displayed. C) release. CZ] tetenee. cas P\ Figure A5-9 AS-17 No. 20342-0235 Return the ccreen from the ready ecreen to the set screen using [0] and return it to the initial screen using [MODE]. When the screen is returned to the initial screen, an alarm indicating excessive deviation is generated. If JOG operation cannut be performed due to shutdown of the power cupply of the main circuit or an alarm, the following ecreen ic displayed. Test ° JOG Not Ready When JOG operation can be performed, the JOG set screen is displayed 5-18 No. 2D342-023E 2.8 Servo Tuning Function (2) outline of the servo tuning function The servo tuning function permite parameters to be adequately set automatically by operating the mater using the remote operator and assuming the load inertia from its operating status. Four parameters (position loop gain (Kp), speed loop gain (Kvp), time constant tor speed loop integration, and current command LPF (ILPF)) are set by this function. (2) Precaution regarding operating conditions and load conditions When the servo tuning function is actuated, the motor is rotated in the forward and reverse directions. Set the operating range of the motor so that the motor can be rotated more than one time in both directions. In addition, operate the motor ouly on the conditions that safety can be ensured and that the mechaniem will not be damaged even if the motor vibrates. In the cases listed below, parameters may not be set adequately by the servo tuning function or a tuning error ("Tune Error" is displayed) may be detected. + Tho load inertia ie greater than the allowable load inertia. * Fluctuation in the load inertia or load torque is large. * Backlash of the ball screw or gear is large. + Mechanical otiffncos (including couplings etc.) is weak and mechanical resonance is generated. + The remote operator is removed from the amplifier during servo tuning. (The power oupply of the remote operator is turned OFF.) * The power supply of the main circuit is shut down or an alarm status is detected during servo tuning. * The output current is limited due to current limit allowance input. (3) Servo tuning operation (a) Select the stiffness for tuning from among "low", "medium", and "high" according to the mechanical stiffness. (v) When servo tuning is performed, the motor 1s rotated in the forward and reveroc directions for approximately 0.5 seconds by the torque command (equivalent to the rated peak torque) of the approximately 60 Hz sinusoidal waveform. The operating range of the motor differs depending on the load status; however, as a standard range, set the operating range so that the motor can be rotated more than one time in both directions. (c) When servo tuning is completed normally, parameters are automatically set adequately using the assumed load inertia and saved in nonvolatile memory. (d) Deviation of the position loop may remain after servo tuning is performed. To return to normal operation, clear the deviation. AS-19 No. ZD34z-0235 2.9 Procedures for Servo Tuning Test screen Set page 1 using a or H xTest bY Tune Set [##### #| Tune set screen select the stiffness for tuning using (D) or (4)- (3 types: high, medium, and Low) Servo ready oignalo are cet to OFF and B serve ON signals are set ta ON. xTest 1 Tune Rdy Y=3, N=0 Tune ready screen SS EE ae C 6 Servo OFF a Test 1 Tune Running Y Tong ogee Blinks Completed Abnormal xTest 1 xTeat 1 Tune Completed Tune Error The buzzer beeps After completion, the buzzer beeps. (lwo short beeps). = During servo tuning, an abnormality ie generated. Figure A5-10 AS-20 No. 2D342-023E Return the screen from the ready screen to the set screen using [0] and return it to the initial screen using [MODE]. When the screen is returned to the initial screen, an alarm indicating "excessive deviation" is generated. If serve tuning cannot be performed due to shutdown of the power cupply of the main circuit or an alarm, the following screen is displayed. Toot 1 Tune Not Ready When servo tuning can be performed, the tune set screen is displayed. 3-21 No. 2D342-023E 3. TROUBLESHOOTING Lf an alarm is generated, the 7-segment LED blinks and an alarm code is output. Take corrective actions referring to the table below. The alarm history (up to seven alarms before the current one) can be displayed. Refer to table A5-15 for taking corrective action. (Note 1) Before replacing the servo amplifier, confirm that there is no external cause (to prevent repeat damage). Table AS-9 Taeoment | Cerpnne, | mak | Aumnane | Opting came Conscti acto, is aie sats couemenures o[o}o] 1] oc | roe | Uotisunente |. DetecherWa | « Reoace he sen Se Coment | ceuel power Seni, ii {KE ‘sonormalty | Supply only is me (Gvereurenp | tuned ON ns a cperaion pie. sfesaraon copiton Sigal are ON ater tteman owe supa le Eine On Lights when [+ Defectve motor. | « Reiace the motor. sono ON signals |" grunting eon. «Bateane power | #repace ne sero vtia arene (te 1) + Detecve cent Teeanecx oreut strooretcanctn | « Comet he Gime macros |” connections ‘atts wentne |e Incorect combination |» Reset ne metorcose fmotorisstated | "oft and ampir cretpped Ofo}+|o| a |ovenea | ugnswnenme |veteanerne |» Repace me sere nag cont power aot. Jar Spon ek tuned ON Lights during '« The motor is. '* Check the load. Iraorepeeton, |” operating beyond de ra toe ~Thefaling bakes | » Actuate te brake and reteset. tess ‘iteuphthe | «incorectcomecion |» Coret ne moor ates, | “otmntrmancreuts |” comecions Ereoretreach | «Ofmotor man cout trespecies” |” (VW) comectons, torque Sconthaty of Upnisaterthe | cenmctone fr one metorisoperted | prose fersometine. | «frcorect contnaton |» Checktne sor ond omc: |” orinaton Uignsameugn | +veteane rie | « Repace me sen beret are cpertes below ‘Sate rae AS-22 No. 2D342-023E Table A5-10 Tian code Tagament | cNtpinNo _| Mark | Alam name | Operating cause, rey ees countermeasures 0 | 0] 1 | 1 | AoW | Overheating | Lights when the | + Detective temperature | + Replace the servo \ 7 onme contro power |” sensor PWS ampiter. i i arpliiar | supply ontyle i tamed ON, LUghts during | « The temperature at] « Reduce the ‘motor operation. | "the sen ampier | ” temperature to below wrens 5. 3 += Oniy the servo “= Replace the servo srpliferis abnormal | ” ampli. heated. of] 1 [os] ov | overotage | Lichtswhentne | + Detective PB + Replace the sero \ - control power ampli in S i ‘supply ony is & turned ON Lights ater some | = Excessive input ine | = Adjust the ine votage tine has elapsed | "voltage to within the anerthe man | « Distotion ofthe input | specication. powersupplyis |” power supply tured ON. waveform LUants during | « Excessive oad inertia. | « Adjust the load inertia ‘ator operation to within the speuiication, oO} +] 1] 0] os | cverspeed | ugnts wren tne | « Detective PWS “= Replace the ser a ya contal power amplifier. ‘suppiyoniy is | « Defective motor + Replace the | | tured ON, encoder servorotor i Lights during | « incorrect setting of | « Reset the speed rau opcation. | "the speed scale seat, = Excessive epeed | « Adjust the command ‘command to vthin the specification, “= Defective motor + Replace the moter. encoder “Incorrect connections | « Correct the for metor encoder ‘connections, ignale Lights when the | » Excessive overshoot | » Reset servo tuning, motor is started, “Loosen the stating pattem. + Excessive load inetia.| » Adjust the load inertia to within the specification AS-23 No. 20342-0235 Table AS-11 ‘T-segment areal ean Operati Corrective actior ey pete, | von | aamrane | Szeto cae | Semmes afetets STi iit i Hi et cea uswwns| stecroc ti aca te ce ae cee Hl een || eee il saree WE abnormality | supply onlyis 70 specification JE eae evaaeeas| teams oe ipacaars | cream ne | ceomtes ere hee eternal | cen a pd Sells el ae ese nese ome eee — Sect | cree | eee Yak Serre tame aaa BF Fs eee no Stes cea Seo een a el Penis Snaaaear | caramel Deere (jee Seesrecneeg | emer eet a Sanco | onexciicaa aes comes emanmectall | ieeoesea ee a ae eee es Fat qiaciasesaaeanll| couicaed wacema (emcee cornet Sinaia | atomic inet | cece zee ese sao eiva|-eeet sonnets Soeeie re Tl ces i epee | ware a -|Q/- ‘supp is tumed 4 IN htt Tipeaseai | Osemoes IT | Saauenc arasel eel aah Pale come a rcieaeeatt emacs a oa Cnaecnees Samer esac jeanne | iota an co comevet alse eee a AS-24 No. 2342-0235 Table AS-12 Tait cone segment Operating Corrective action, CNtpiaNe | Marke | Alam name Cause . Leo eet as status countermeasures t[o[ +] o] FP | Mainpower | Lightswhen the | » Defective PWE “= Replace the servo Mi le ‘supply open- | contol power armpit. i i prs ‘snp timed ON, Ughts when the | + Thethree-shase | « Corect the power ‘main power ower supply is open | ” suppl. ‘suppiyistumed | phase. ON, “= The input terminalis | = Corect the probe. rot adequately (ecu the terminal secured, adequately) t[t[olo] se | Speed LUghts when the | « Defective PWB “= Replace the ser - contr ontel power wpe — abnormatty | supplyis tuned IN om a Lights when | « The motoris “= Perform servo tuning ‘servo ON signals | “osclatng (vibrating). | + Replace the servo ae ON ampli + Repiace the moto. LUahts when the | « Incorect connection | « Correct the problem. ‘speed command | ” or discontinuty of the | "(Secure the terminal 'smput. motor aequately,) ‘+ Encoder signals of ‘the motor + Incorrect connection tedliscantinty 1 [1 [0] +] ove | crcesske | Lightswhenthe | = The commend pulse | « Gtop input ofthe S| 7 eviaton | control power Is input ‘command putse and Mt d i ‘supply is tumed input “deviation clear”. On, 4 NS = Detective Fw “= Repace ine ser ampli Lights during | = The set maximum | « Check fr excessive ‘operation

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