AC SERVO DRIVES HIGH-ACCURACY QUICK-RESPONSE VS-800 SERIES C SERIES FOR SPEED/POSITIONING CONTROL y YASKAWACONTENTS 1. RATINGS AND SPECIFICATIONS / 5 1.4. RATINGS AND SPECIFICATIONS OF AC SERVOMOTORS / 5 1.2 RATINGS AND SPECIFICATONS OF SERVOPACK / 6 1.3. RATINGS AND SPECIFICATIONS OF POWER UNIT / 7 2. TYPE DESIGNATION / 7 3. LIST OF STANDARD COMBINATION / 8 3.1 COMBINATIONS OF POWER UNIT, SERVOPACK AND SERVOMOTOR 8 3.2 COMBINATION OF POWER UNIT WITH SERVOPACK IN MULTI-AXIS DRIVES / 8 4. CHARACTERISTICS / 9 4.1, TORQUE-SPEED CHARACTERISTICS / 9 42 OVERLOAD CHARACTERISTICS / 9 43 STARTING AND STOPPING TIME / 10 4.4 ALLOWABLE FREQUENCY OF OPERATION / 10 4.5 SERVOMOTOR FREQUENCY / 11 4.8 MOTOR SPEED-REFERENCE INPUT CHARACTERISTICS / 15 4.7 MOTOR MECHANICAL CHARACTERISTICS / 11 5. CONFIGURATION / 13 5.1. INTERNAL BLOCK DIAGRAM / 13 52 EXTERNAL TERMINALS / 15 53 CONNECTOR TERMINAL (ICN) FOR INUPUT/ OUTPUT SIGNAL/ 15 5.4 CONNECTOR TERMINAL (2CN) FOR OPTICAL ENCODER (PG) CONNECTION / 20 6. OPERATION / 22 6.1 POWER ON AND OFF / 22 62 SPEED REFERENCE (FOR TYPE CACR-SR) 23, 6.3 POSITIONING REFERENCE (FOR TYPE CACR-PR) / 24 6.4 CONFIGURATION OF INPUTIOUTPUT CIRCUIT / 26 65 BUILTIN FUNCTION / 27 6.6 PRECAUTIONS FOR APPLICATION / 37 6.7 PRECAUTIONS FOR OPERATION / 23 68 CONNECTION DIAGRAM OF SERVOPACK / 37 69 APPLICATION 41 7. INSTALLATION AND WIRING / 43 71 RECEIVING / 43 7.2 INSTALLATION / 43 7.3. WIRING / 45 8. DIMENSIONS in mm / 47 8.1 SERVOMOTOR 47 82 SERVOPACK / 49 83 POWER UNIT/ 50 8.4 PERIPHERAL EQUIPMENT / 50 9. TEST RUN / 51 9.1 CHECK ITEMS BEFORE TEST RUN / 51 92. TEST RUN PROCEDURES / 51 10. ADJUSTMENT / 52 10.1 SERVOPACK TYPE CACR-SR / 52 10.2 SERVOPACK TYPE CACR-PR / 55 11. INSPECTION AND MAINTENANCE / 59 11.1. SERVOMOTOR / 59 11.2 SERVOPACK AND POWER UNIT / 59 12, TROUBLESHOOTING GUIDE / 60 12.1 SERVOMOTOR / 60 122 SERVOPACK AND POWER UNIT / 61Yaskawa AC Servo Drives have been developed as the basic mechatronics drives for the most advanced FA and FMS including robots and machine tools. The extensive servo manufacturing technology accumulated through 30 years of servo drive applications has created and nurtured a new phase of AC servo drives. The AC Servo Drives consist prima- rily of AC servomotors and their control- lers, Servopacks. The AC servomotor features a high power rate for achiev~ ing quick response. Custom LSI and hybrid ICs packaged in Servopack re~ duce the unit size and simplify wiring. The additional feature of a highly accu~ rate pulse resolution offers stepless pulse flow. For your mechatronics systems, the flexible combination of our AC servomo~ tor and Servopack achieves stable con- trol operation with high accuracy, quick response control under any environmen- tal condition, and smooth, powerful operation even at low-speed range. Some outstanding features are as fol- lows. High accuracy and quick response for speed control + Compact design and high reliability + Light weight and high power + Highly reliable protective functions + Selectable drive to meet users’ requirements Application for multi-axis use [AC SERVOMOTORS and Their Controllers, SERVOPACKS ~ Essentials for Yaskawa AC Servo Drives, C Series1. RATINGS AND SPECIFICATIONS 4.1 RATINGS AND SPECIFICATIONS OF AC SERVOMOTORS 1.1.1 Ratings Time Rating: Continuous Vibration; 15 ym or below Insulation: Class B Finish in Munsell Notation: N1.5 Isolation Voltage: 1500 VAC, one minute Excitation: Permanent magnet Enclosure: Totally-enclosed self-cooled Mounting: Flange mounted Ambient Temperature: 0 to +40°C Drive Method: Direct drive 1.1.2 Characteristics Table 1.1 Ratings and Specifications of AC SERVOMOTORS Motor Type USACEN 7 T mm — ASAD": otAngcis | O2AAa 03a . Ww 50 100 200, 300 Rated Output | on (0.18) @2n_ | __ an . Nem] 0.16 032 064 0.96 Ss ioiny| ay | 8a) 63) (8.45) Rated Ourrent® ‘Arms 10 16 29 | 42 Rated Speed ei 3000 Instantaneous Max Speed ein 3000 . Nm] 058 1.00 280 458 Instantaneous Peak Torque (orin)| 548) (8:85) ee | a Nema] 0.028 0.025, 0.026 0.038, paca (ioriva)| (4.92) | _ (2.15) (2) | __ (3.26) Moment of rn kgeme| 006x104 | 0.1110" orix10# | 255x10" Inertia. (ibrims?x10)| (0.05) | __ (0.10) cosa) | “ean Power Rate" wis 42 92 130 “inertia Time Constant ms| 194 14a 128 Inductive Time Constant ms 18 338 _ , ia] 2 = T 33 J ete | es | 63 (528) (60) (2) Type __| MBS/20-3U6 I NGNB10-5 — | scFee0-2475T gene 0.005310" 0.0826x10 0623x104 Magnetic Inertia (Wbsines2x 103) (0.0084) _ (00717) (541) Brake cone: | State Fiction Nem 0.28 0.98 196 Specications? | Torque (wn 6) 66) (173) Vottage VOC: voc, 0 * Values when SERVOMOTOR is combined with SERVOPACK and Note: the armature winding temperature is 75. Other values ar for ‘An optical encoder (PG) is used as a detector. The PG output temperature of 20€. pulse is 1800 pulses / rev or 1000 pulses ev, but can be divided {Includes the detector. by requency Using the divider in the SERVOPACK. +} Brake specication of AC SERVOMOTOR with magnetic brake. ‘The standard is 1500 pulses / rev, but designate 1000 pulses / rev if any of the following are required: Pulse frequency dividing output: 40, 80 and 400 pulses / rev For details, rer to Table 6,6. When the optical encoder uses 11000 pulses / rev, SERVOMOTOR is type USACEM » AB21.2 RATINGS AND SPECIFICATIONS OF SERVOPACK Table 1.2 Ratings and Specifications of SERVOPACK SERIO pe CAO smu |B [pean [aaa [RRR Motor Output fy| in ot oh oe oe) Power Supply [Main Grout 10010 160 VOC (supplied by power unt) (Controt Circuit 24 VOC. 1A (supplied by power unt) Continuous Output Curent (RMS) A 10 16 29) 42 33 Max Output Current (RMS) a| 35 49 92 127 162 Control Method Transistorized PWM control Feedback (Optical encoder (PG), 1000 pulses J rev or 1500 pulses / rev Positioning Signal Output “LIN time (N=1 to 82) of PG pulses or 2/N time (N=2 to 32) 7 ‘Servo ON, P dive, reverse / forward running prohibit, external current cee lint detection Pen | Output Signal ‘Servo alarm, current limit detecting, TG ON 7 F ‘Overvoltage, overcurrent, overload, heatsink overneal, blown fuse, eee overrun, regeneration trouble © [Ambient Temperature (0 fo +85 (0 10 +551 in panel) vironmental cana [Storage Temperature 20 to +60 Humidity {20% or less (non-condensing) Mounting Siructure* ack mounted (Panel mounted or base mounted) ‘Applicable Load Inertia: Up 10 5 times motor inertia Tipe Cac ‘gpasaa [| snoran[saooaa | Shonen | shauna Seed Conta Range 7000 Lone Repsaion 01 1005 0.55 sa 5000 rin, * 005% oes at Trin Speed otane Reguation = 10% 0.1% or less 900011 £0028 rss at r/min 5 Temperature Regulation 25 “35 "20.5% of loss at $000 r/min, 20.4% or less at 3 /min E | requoney Response Chaacorses Sone oF mor =k) oo S606 9200 ane oi na | Seteence [imput ipedanco Approx 301 @ | Input Circuit Time Constant Approx 35 1.2 posay [Pali Rarooe votage 7210 =10VDC a S000; in (Famerd running seers) fatrerce [epi impedance Approe 5 KV Inputs Circuit Time Constant Approx 22 ws or less Power Supa lr Relerence (Buin 25V00 =5%, = 10mA ae > [te cach. prasea | _pRovaa | PAOGRA | PROGAA | PROSAA '§ 5 Max Input Pulse Frequency 200 kpps (max motor speed or less), 12V/ SV switching 2 & nou Puls To Sign signal Coward unning, "Levers unnng, use Wan © positioning Completion Signal Output ‘Output transistor ON at less than set value of deviation * Mounted on the base during shipping 4 When load inertia J exceeds applicable range, be sure to refer to 6.6.2, "Load Inertia’ {Used for application at rated reference voltages other than = 6V. Notes: 41m the speed control range, the lowest speed is defined as the condition in which there is 100% load variation, but not stopped. 2. Speed regulation is generally defined as follows: 'No load speed ~ Rated speed x4 Rated speed a Motor speed may be changed by voltage variation or operational ampilior arf du to tamperature. Tho rato ofthis speed change tothe rated speed represents the speed regulation due to votage or temperature change 2. When housed in a panel, the inside temperature must not exceed ambjent temperature range ‘Speed regulation =1.3 RATINGS AND SPECIFICATIONS OF POWER UNIT Table 1.3 Ratings and Specifications of Power Unit Power Supply | votage Single-phase 100 / 110 VAC *igx . 50 / 60Hz Capacity (Rated Outputy> 154A awa _ Main Crean [Comtinuous Output Votage 10010 160 VG Continuous Output Current 7 ADC 15ADG 20 ADC _ Control Circuit Continuous Output Voltage Protective Function Gireuit breaker ~ [ambient Temperature [010 +60 (010 +40 inpanel) - Envionmontal Strago Temperature | -2010 +85 _[Humiity {90% oF less (non-condensing) _ Mounting Structure Base mounted - OO OV _ | Detecis main-crcut vervoltage (OV) and outputs OV signal to SERVOPACK. Builtin Function PR _ | Detects main-cicuit deficient voltage and outputs PR signal to SERVOPACK. MP | When power is tuned on, green LED [MPJiights, - ‘Applicable eas a a Range Tota Output ot SERVOMOTORS | "BREA ™ oR _ | ane * For 200VAC power supply, power transformers are required. + Convertible to panel mounting type by changing metal iting, 2. TYPE DESIGNATION + AC SERVOMOTOR M-02AA20)~ ‘AC SERVOMOTORS — _______opposite-drve-end Spectcations © Series Blank : Standard Totally-enclosed Selt-cooled Type J 8: With brake | ___pyivo-ena Speciiations Motor Construction Rare earth magnet, Blank: Standard ©: Standard (with brake on opposite crive end) Capacity XK: With Reyway As: Sow S: With oi seal 7: With Keyway and oil seal 02: 200W cae 03: 300W | Main Mechanical Stucture 05: S00W 2: Flange-mounted, straight shaft Design Revision Order oe Detector Specifications (B,C...) ‘N: Optical encoder (PG) with 1500 pulses / rev B Optical encoder (PG) with 1000 pulses / rev + SERVOPACK + Power Unit ca CR SALA AZ AH JUSP-ACPCOIAA senvoack 1 | | Cor spoasto be s2led peepee povene | “T ] Tose even nr {AC Servo Drive) | H: © Series ripheral Devices ae \—_petector (Optical Encoder) _f0F SERVOPACK eee enol lI a teao pee er Pewor Unt —Usage Input Form ates Capaciy — | 209 input a5. 20W ] 2: Analog int {output Power Supply o¥: 100" | Pcsteysiiclh 07: 7ADC oe: 200W \| ree 15: 18ADC 93: s00W (bosttonng contro, 20: 2006 05: S00W for 100, . C Series. . Design Revision Order (A.B,C...)3. LIST OF STANDARD COMBINATION 3.1 COMBINATION OF POWER UNIT, SERVOPACK AND SERVOMOTOR Table 3.1 Combination of Power Unit, SERVOPACK and SERVOMOTOR Power Unit Applicable SERVOPACK Type Applicable SERVOMOTORS nese cornea CACR- Motor Type USACEM. | wiBli3) | Optical Encoder pulses/rev SRAGAAZLH |____ASAA2 50 1500 ACPOTAA PRABAAG TH ABAB2 (679) 1000) 700W — ee — SROTAA2 TH O1AA2 100 1500 — o1as2 | oso 1000) - ACP1SAA SROZAAQ IH O2AK2 200 1500 1500W PROZAAG 2a82 (268) 1000) — SSAOBAAQ | H O3AA2 00 1500 PROSAAAI IH osase (402) 1000) ACP20AA ——}—— + enor SAOBAAZH OSAA2 500 1500 PROSAA4 “1H ‘O5AB2 ~ | (670) 4000 Note : SERVOPACK type is indicated in” as follows: ‘Motors with BG of 1500 pulsesirev' B: Motors with PG of 1000 pulsesrrev 3.2 COMBINATION OF POWER UNIT WITH SERVOPACK IN MULTI-AXIS DRIVES In multi-axis drives, up to 4 Servopacks(4-axis) combination for speed control is shown in can be connected to one power unit within a range Table 3.2. of total outputs of servomotors. Example of Table 3.2 Combinations of Power Unit with SERVOPACK in Multi-axis Drives eat Taplcabe SERVOPAGK Power Aes 1 Axis. | 2 Axes ‘3 Axes 4 Axes Unt ype Jus (onoused) | cwousedinpara | ee used parle) | (Four sed npaat) SF san @ 58 onal 5 ooan o SA ees cana @ SF cana) Sozan © SF conn Acroran SF osak | SR osan @ SF gaan [PR MAS PAO) a et sa 5 gaan oF ) @ pp ozaa |@eF conn @ FF O1AA ‘a ae an © Sosa | S osna 0 osan ACPISAA pp OSAA | SOSAA © BR SAA Pe 4 sa "00% a 05 op - 0%) © Sessa |aSF aaaa oS coxa Sano Foaanl Hosan oF , osm @ Sf conn] SH osnn 0 5 oan Sem |s PR O5M & pp O5AA| CEMA © pr Acra0KA Shotan (5% osaa oS osaa , a ‘SR SR sR foo ‘Goow © Sessn ja osnn o M osaa Notes: 1. For one-axis operation, oad factor is 100%; for two-, three- and four-axis operation, 80%. 2. Combinations other than those shown inthe table above are also avallable depending on load factors.4. CHARACTERISTICS 4.1 TORQUE-SPEED CHARACTERISTICS © Type USACEM-ASA, © Type USACEM-01A @ Type USACEM-02A 06 Nm) ‘oem? 5 + $— wind Moin) FMS TORQUE AMS TORQUE AMS TORQUE © Type USACEM-03A, © Type USACEM-05A [Bl Continuous Duty Zone [B} Intermittent Duty Zone (a 75°0) i ° © 01020 30 40 50.N-m oo tid O10 2a 35a ond Fig. 4.1 FMS TORQUE FMS TORQUE Torque-Speed Characteristics 4.2 OVERLOAD CHARACTERISTICS 1000 ‘The allowable conduction time of Servopack is i restricted by the built-in overload protective circuit. Its overload detection level is set pre~ cisely by the hot start conditions at ambient temperature of 60°C and cannot be changed. 100 NOTE, aurowaste 5° oR BeFON Hot start is the overload characteristics when the TIME Servopack is running at the rated load and thermally saturated, 0 5 tyre cher. ‘hess cobs aggre (SEAMS 10 20 sr unre ___S 2 B shazan Fig. 42 Allowable Conduction Curent ey a a 23 eat of SERVOPACK 5 (3raata 35 Wwe a (BRBSAA 94,3 STARTING AND STOPPING TIME The starting time and stopping time of servomotor under a constant load is shown by the formula below. Viscous or friction torque of the motor is neglected. Starting Time: tr = 104.7, NAGM +I) og) Kt-ln (af) Stopping Time: Na Gut 1) 6, tye 104.7 x =) Kt-ln @aA) Where, Nei Rated motor speed (r/min) Jy: Motor inertia (kg-m?) Moment of inertia of motor (kg-m!) ki: Torque constant of motor (N-m/A) Tr Motor rated current (A) a= Ip/laz_ Acceleration /deceleration current constant In: Acceleration /deceleration current (Acceleration /deceleration current a times the motor rated current) (A) Balint Ini Current equivalent to load torque (Load current f times the motor rated current) (A) Load current constant motor | CURRENT se Fig. 4.3 Timing Chart of Motor Armature Current and Speed 4.4 ALLOWABLE FREQUENCY OF OPERATION The allowable frequency of operation of the ser~ vomotor varies depending upon the load and the operating condition. The following show the allow- able frequency of operation in typical operations. + When the motor repeats rated-speed operation and being at standstill (Fig. 4. 4) Cycle time(T) should be determined so that RMS value of motor armature current is lower than the motor rated curren rate lirspalite. g) Where cycle time(T) is determined, values Ip, tr, tf satisfying the formula above, should be’ specified. 10 rte [ola ve ‘ieee | Eras wert Fig. 4. 4 Timing Chart of Motor Armature Current and Speed + When the motor remains at standstill between cycles of acceleration and deceleration without continuous rated speed running (Fig. 4. 5) The timing chart of the motor armature current and speed is as shown in Fig.4.5. The allowable frequency of operation “n* can be calculated as follows: ktew 1 n= 206.5 < ye (a (times min) 1 woror motor le SPEED Fig. 4.5 Timing Chart of Motor Armature Current and Speed + When the motor accelerates, runs at constant speed, and decelerates in a continuing cycle without being at standstill (Fig. 4. 6) ‘The timing chart of the motor armature current and speed is as shown in Fig.4.6. The allowable frequency of operation "n' can be calculated as follows. , KtaIn__( 18 n= 286.5% R (ie ey (ae) (times /emin) Me Fig. 4.6 Timing Chart of Motor Armature Current and Speed4.5 SERVOMOTOR FREQUENCY In the servo drive consisting of Servopack and servomotor, motor speed amplitude is restricted by the maximum armature current controlled by Servopack. The relation between motor speed amplitude (N) and frequeney(£) is shown by the formula below: eR (at I) (x/min) CURRENT Fig. 4.7 Timing Chart of Motor Armature Current and Speed 4.6 MOTOR SPEED - REFERENCE INPUT CHARACTERISTICS. 4.6.1 Speed Control (Type CACR-SR'-}AA) Fig.4.8 shows motor speed and input voltage curve when speed reference input terminals 1CN- ® and @_ are used. With auxiliary input terminals, 1CN-@ and , motor speed can be set to the rating by adjusting [IN-B] poten- tiometer as long as input voltage is within + 2V to + 10V. See Fig. 4.9. The forward motor rotation(+) means coun- terclockwise rotation when viewed from the drive end. SPEER LY INPUT vouTage ws ATED SPEED (-1 Fig. 4.9 Speed-Input Voltage Characteristics when Auxiliary Input Terminals 1CN-1 and (are used Fig. 4.8 Speed-input Voltage Characteristics ADJUSTABLE WITH [IE 4.6.2 Positioning Control (Type CACR-PR!-AA) In Type CACR-PR, the speed is determined by parameters such as the reference pulse frequency and multiplier (output). Fig. 4.10 shows speed- reference pulse frequency characteristics. sreeD 1 5 200kpps —2-MULTIPLIERS SMULTIPLIERS 4. | __aerenence puise FREQUENCY Fig. 4. 10. Speed-Reference Pulse Frequency Characteristics 4.7 MOTOR MECHANICAL CHARACTERISTICS 4.7.1. Mechanical Strength AG servomotors can carry up to 5008 of the rated momentary maximum torque at output shaft. 4.7.2 Allowable Radial Load and Thrust Load Table 4.1 shows allowable loads according to AC servomotor types. Table 4.1 Allowable Radial Load and Thrust Load ‘aoc | ee | ae “o1AA2—s | —=seaa7)~—«dYS=Cté‘“«*é‘é I) | 248 5) 98 22) “OSAA2 2s 65) OTS [302 «eer 147 3 ‘Maximum values ofthe load apalying to the shat extension "4.7.3. Mechanical Specifications Table 4.2 Mechanical Specifications in mm ‘Aeouracy (TRI * Reference Diagram Flange surface perpendicular to shatt @| —— —|___ oy a) hr Flange diameter concentric t0 shatt @ L srattrnot@ | TR (Total Indiestor Reading) 4.7.4 Direction of Rotation AC servomotors rotate counterclockwise viewed from drive end when motor and detector leads are connected as shown below. + Motor lead connections Red: Phase U White: Phase V Blue: Phase W Black: Magnetic brake lead (2 leads) + Detector lead connections Red: +5 VDC Black: OV Blue: Channel A output White(Blue): Channel A output Yellow: Channel B output White(Yellow): Channel B output Green: Channel Z output White(Green): Channel Z output Orange: Channel U output Purple: Channel V output White(Purple): Channel V output Grey: Channel W output White(Grey): Channel W output Green(Yellow): Frame ground 12 4.7.5. Impact Resistance When mounted horizontally and exposed to verti~ cal shock impulses, the motor can withstand up to two impacts with impact acceleration of 10 G. vernon —— FORIZONTAL Fig, 4. 11. Impact Resistance 4.7.6 Vibration Resistance With mounted horizontally, the motor can withstand the vibration (vertical, lateral, axial) with vibra~ tion of 2.5 [verticar arena] xia ttf Fig. 4.12. Vibration Resistance 4.7.7 Vibration Class Vibration of the motor running at rated speed is 15ym or below. Position FoR CHECKING VIBRATION Fig. 4. 13. Vibration Checking5. CONFIGURATION 13 4g 614 WVEIUS-HOVO PUR YE ]dOW-dSN SEGAL Jo WesbeIG YOOIK 1e4 ‘axqvo paprauys pais J sxsporm- TP wuviy onW3s Lv Nado navy ongss NO OnkaS awn] lanai a I ma) } wamoat— | -— OBINOD | TSANG it rs] rae howiyoe ae easy [| anna omg é & g & & é 2 z 3 8 i i & ow TouiNnoo & Anaino oa No (uouv708) “aah I wSnluo 388 WviIas-4OvO aaal NOvAONNIS soaans amos Figs. 5.1 and 5.2 show internal block diagrams 5.1 INTERNAL BLOCK DIAGRAM of Servopack.5.1.2 Positioning Control (Type CACR-PRI-}AA) reavay onaas WE IHd-HOVO pur VWEdOV-dSNP SedKy Jo WesbeIG YooIg IeUIBIU Z°S “BLS 909 pops posi eve som JT wuviv onuas Ly N30 @ osgaeans -——-) "15 onus SBT eto 2 19 wuos Une! on |, ain i a aonaiaass oa ‘canooas ano xStidav wos o70H No ‘@O-ems wavy waMOa A (=e) Cer (ern) (eva G 5 i i=) sib 83% loc U sonsvasel EL 128) - 482 hounootThouyon amie TRSEURB POM NR raragar) s9augg fonoHy fel“ cL [eivion Wiel noe “naan |] awe : 8 20 ——— om | B19 Tr ns T ~ nash iow —wa WW MS-HO¥O adAL HOVEORUSS jOW-aSMP BAL LINN UBMOd gg sve 3 saan amos 145.2 EXTERNAL TERMINALS 5.2.1 External Terminals for Power Unit Table 5.1 shows the specifications of external terminals for power unit. Table 5.1. External Terminals for Power Unit Types JUSP-ACPO7AA to -ACP20AA "Terminal Name Description _ Symbol aa ‘AG Power Single phase BO |inpurtermina —_| 1O0/T10VAC +18 %, SOK6OHZ Main Circuit 0C | Connects to terminals ® and @® | Output Terminal _| fof SERVOPACK. = Winen 1 MCCB inthe power > Unt tips the output contact ©e of 250V 1A opens. MCCB Trp Out Terminal Connects io terminals @ and @ of SERVOPACK and outputs 2avoc. Contr Circuit DC ©® | Output Terminal 5.3 CONNECTOR TERMINAL (1CN) FOR INPUT/ OUTPUT SIGNAL For Servopack Types CACR-SRiJAA and -PREJAA, the connectors for input/output signals used are ‘Type MR-50RMA made by Honda Tsushin Co., Lid. The applicable receptacles are as shown in Table 5.3. Note that the input/output signals and the connector terminal number differ in part between Types CACR-SR and CACR-PR. For connection to connectors ICN, be sure to use the recepta- cle listed in Table '5.3. Table 5.3 Specifications of Applicable Receptacles for SERVOPACK Input/Output Signal “T ‘Applicable Receptacle sempontcfconnecs| enna Tye __Twe Type | Simeal| semvSrnck | Man [aed Cala] cane toaer| ype" | pe Connects 1g terminal @ of PR Output rial © of @ | Tema SERVOPACK and cups PR lovroucu | Soanesistotemninal@ of © [Renna SERVOPAGK and outputs OV signal Frame ground terminal Must be securely grounded. @© | Ground Terminal * High voltage is applied because of internal connection tothe ‘main circuit. + 0V means overvottage. 5.2.2 External Terminals for SERVOPACK Table 5.2 shows the specifications of external terminals for Servopack. Table 5.2. External Terminals for SERVOPACK ‘Types CACR-SR |) AA and -PR «AA Terminal ‘Symbol Name Description Connects to terminals ® and ol power unt Main Circuit DC © ® | input Terminal Connects terminal © to motor Motor Connection | terminal U (red lead), © 10 ove Terminal V (white lead) and @ to W (blue lead), _ ~ ‘Connects to terminals @ and Control Circuit, ¢ ower unit and inputs o@ |fpultemnar — | @efpower untand — Connect o rminal @ o ao [Bei Foner ar an np [Borst o [Mme | Somer and nas OF signal ; Frame ground terminal @ _|Sround Terminal | hfsst be securely grounded * High voltage is applied because of internal connection to the main circu. +0V means overvoltage. sr | 10N we-SOPOA lrerde| we. | ago (Fight angle fisusin | Sor | SoFO1 Pat 50°) (Go: tta, 10N Attached to each applicable receptacle (soldered and caulking types). + Attached to SERVOPACK when shipping. 15,5.3.1. Speed Control (Type CACR-SR A) The terminal layout of the Servopack Type CACR-SRi}AA input/output signal connectors (LCN) is shown in Table 5.4, The terminal specifications are shown in Table §.5, and ex- ternal connection and external signal processing, in Fig. 5-3 on page 15. ‘Table 5.4 Connector 1 CN Layout of SERVOPACK Type CACR-SR: | AA Tle>s[*ts[el7 [ele [w[n[ we) e[u[ sl wl w]e ow | wv | ov curs | eur-| +227] son Joson wa [sca] me (sce) sev | so | re OV for PG Output ‘Garett [xnpl Sono OW Speheeerce|Ausiiay | «6V [Frame signa cectan Out | Powe | ok vo ino” | otto Broun vo | | | | 2 | | | 6 | | | | | 1 | a peo e200) (TEONTEONeconlorcon) wor ]owor) | wat [senor] -av | so Output GON |POrve Reese Reverse Cuners|] ev Sigal output Signa | put oe nie | Opn we] [a | || «| o | | a | | | | a | 6 | a7 | 48 | a8 | 50 pao |+pa0| p60 [+0] — [atm | au potloror| pct |scra| -av| so | sav | so | Fo Ouipar | Qupur Sen Alarm te Fad. Curent | _—8V sav | Fane Sgral_| Sohal ‘Suiput = Uimiinpet | Output | output _[Groune Tabale 5.5 Connector 1CN Specifications of SERVOPACK Type CACR-SR ["! AA Connector] Signal [Connector] Sonal mecer] Signal Description moor] Sina Deserption 5 va | area ei speed [20007 at TOY : -e | Sument nt deteston ouput Gen is Reverse rated speed (3000r/min) at -6V tens cy External relay 3Ry (+24V) ON during current limit rong | sca | Sa ov (v signal tons | cL | ovotexermalponer +24”) Relerance to abian the ated speed eaten acento ron-t4 | ine | Goocdmnin) by avotlage (22 to sT0V) other | 10N-22 | ToONe | Exeral relay Fy (424V) ON at motor Shan ho road torence volage 26. speed of more than ain, rons | S68 | scov (ov signa son2a | TGON- | OV of external power (+24V) ize | wou | Used pp) a ors ore Fon ease : «| Exernal olay SRy (280) OFF al Seve ued NCL | “100%/+4.5V input tenga | ALM trouble detection. ren-a0 | sGNcL | $c ov (ov signa) 1en-29 | ALM | ov otexternal power (+24v) ‘Used to apply a forward current limit from outside. 1CN Control power supply +8V, +10mA outy oe PCL +100%/-1.5V input 16, 48 ay possible. Pew ad 1cN ronas | serci | sv ov signa iia | sa | saov (ov sional 3248 TCN Gente! power soppy BY, TOMA outpur ron-7 | 2avin | 26v 21 VOC input ton, | av _ | Sento po mi Seno ON input oy pon) SON | Servo ON at external relay 1Ry ON 418,50 iS Frame ground rene | (oson) | (exowy ren2a | PAO | Phase-A pulse output (PAO) row-2e | P-CON | BSNEROM at oxtaalrolay anyon | TONS | PAO | Phase-A puse output PAO) 1on25 | (con | (exovy ren-as | P20 | Prase-8 pulse ouput (PBO) ron2s | wor | Reverse running pron at reverse mit | ycu.a5 | «P60 | Pace. pulse ouput (PEO) ren27 | non | exove ron-19 | PCO | Phase-c (orginal point) pulse output PCO} roar | por | Fonward running pronibt at ward tnt T y.29 | =pco | Phase-T puse ouput (P00) 4CN-42 | (O-POT) | (EX OV) oy ov OV signal of PG output FNot usualy used 16SERVOPACK ; ‘SPEED FEEDBACK 7 E ‘v/a00or/min [ yOpE, ine ‘SPEED INPUT REFERENCE nes (RATED SPEED AT + 6, 3000¢/min) SoA AUX. SPEED REFERENCE INPUT (RATED SPEED AT 270 = 10, 3000¢/min) (QUBRENT LIMIT AT REVERSE N-cL RUNNING (100% AT-F15V 177 INPUT sono. | a Curent unar aT FORWARD - Funning (IMao Pt input) +24 VIN OV aekn 5 SERVO ON AT Bart Tay ON zev ge™ | ¥2K |= Servo on fr sow gee [aoa 5 fl PROPORTIONAL :) PROPORTIONAL ABrROX | CONTROL, 2RY p.con, “Sma | ¥2K'—= CONTROL AT 2Ry ON R al 1“\~ @ river (PI DRIVE AT OFF) o-rconyg 48K Rep ag |_— Seven REVERSE RUNNING [NLS Bea" | JK — Bunning PROHIBIT ATIN-LS OFF [OS 1 PROMIErT FORWARD —— RUNNING FORWARD RUNNING PROHIBIT AT P-LS OFF PROMIEIT Say ON AT : CURRENT LIMIT Mire je : DETECTION DETECTION A afy toons 4Ry ON AT ie TSON | toon - jP fi! a sry aus | ‘Shy OFF AT. SERVO ALARM a * + SERVOALARH Notes: 1. Each capacity of output circuits is 24 VDC, 100mA or less. 2. fp ~ Twisted cable. 3. 24V power should be supplied by user. Fig. 5.3. Input/Output Signals and Connectors of Speed Control of Type CACR-SR5.3.2 Positioning Control (Type CACR-PR™’ AA) ‘The terminal layout of the Servopack Type CACR- in Table 5.7, and external connection and exter- A input/output signal connectors (ICN) is nal signal processing, in Fig. 5.4. shown in Table 5.6. The terminal specifications Table 5.6 Connector 1 CN Layout of SERVOPACK Type CACR-PR I AA. +pe[sl*[slel7lel[s[of[n],e[a[u[wl we] 7 [ ie ov | ov | ov | ov | ov | ov | Yi | S-on json) INH | ov Fv | so | FG OwiePSouna [PAS [SGN] OL | Sky Kadi inn | NA BN | Fame ‘Signal ‘Ov _| OV _| Fewer | Input Input | ov. utput_—_|Grouna v9 | 20 | 21 | 22 | 23 | 2a | 25 | 26 | a7 | 28 | 29 | 30 | ot | 32 P00 |+rco| puts | sian] GC |p-conforcon] not |onor| lovers oven. Quo | Be | BS, | ear [Pome i Overtow Signal tnput_| inpu_| Input | Input Inoue Output 2) | 3 | 6 | a7 | se | se | ao | a | | | ma | a | | a7 | a8 | a | 80 Pao | +pa0| p20 | +80 uM | ALM pot lorot) — [coie|con- Fo ‘Output ‘Output ‘Servo Alarm Fa Postioneg Frame Sohal Signal Surput S comp Daedion Groune Table 5.7 Connector 1CN Specifications of SERVOPACK Type CACR-PR | AA. Comecor] Sarl Deseripton Pongscor] Sara Desoipton 7 Fama Tanap pon a Toward Tai 1CN-21 | PULS | Reterence pulse input 1CN-41 Pot | Oe SORe 1CN-4 ov Digital OV 4ON-42 | (O-POT) | (EXOV) scope ; ——T sinal taay SRY ER) OFF a sono 10N22 | sian | Peteronce sign mut owas | am | PEt feey. SAY wens | ov | Ogiaov 1eNa9 | ALM | OV ot exemal power supp (26%) Far Releronoo pee aT apt Ereral clay ay (28) ON at Hera TOn-13 | INF | Reference pulse innit at Low level ten-29 | OVER+ | Counter overlow detaetion TCN-14 ov Digital OV 1CN-30 | OVER | OV of external power supply (+24V) Fe) Bevalon cone cea opa [| Eieial lay Shy (2280) ON at postonng senza | CL _| Deviation counter reset at LOW level ten-44 | COINS | Completion detection rons | ov | detalov 1oN45 | CON | OV ofexerna power sup +28) Wout ich wen te id Analog voltage output proportional to motor speed | -18, -50_ i) Frame ground TON-17 SG4N | SG OV (OV Signal) 1CN-33 PAO Phase-A pulse output (PA) ACN-7 ++424V IN | 24 # 1VDC input 1CN-34 *PAO Phase-A pulse output (PA) Seno OH pt rene | Son | SNOW np tay 1ny ON renas | P80 | Phase-B pulse output P80) 1CN-9 (@-SON) | (EXovy' 1CN-36 PBO | Phase-B pulse output (P80) B give Rpt ron-24 | POON | BOAMEIOBH Ls cematrlayanyon | TON48 | FCO | Phase-C (original pon) puse output PCO) ron25 | (ocon) | exov) ‘oN20 | *FC0 | Phase puce oxo (Po) ron-26 | Nor | Reverse unning prohibit at reverse limit] 10h ov | ov signal ot PG ouput ren-27 | (anon | exovy + Not usually used, 18SERVOPACK REFERENCE PULSE* = a (200 Kops nan ov ; REFERENCE SIGN* Hwa’) 1 SIGN VPs | i REFERENCE PULSE ‘OV | says INHIBIT SIGNAL? a9 — a eat {ACTIVE LOW), iN fos} ERROR COUNTER ov eam CLEAR SIGNAL® fa) cyreznt <| active Lows Ee re me Spee aH) foNivon vourmer meet : fv — Connection between cable esa . and the optical encoder lad i 6 ~ Connection between connectors Fig. 5.6 Connector 2CN Connection and 1CN Output Processing (when using Connection Cable DE&400093) 216. OPERATION Note that operation differs in part between POWER SUPPLY, Servopack types CACR-SR{JAA and -PRUIAA. ro0;tsowac 2 38% Ay Power HOLD ESR 6.1 POWER ON AND OFF ices») Bere” SAPEROK TSEC) imc. The sequence configuration for turning main~ = circuit power on and off should be as shown in eter Fig. 6-1 and6.2. s MUST BE SECURELY to2i] GROUNDED. | TYPE SJUSP-ACP + Turn on or off the power unit for switching on or off Servopack. ees “EEE power will be cut off by a servo alarm signal. ces. 3 SERVOPACK Type (In a multi-axis drives, make connection so pavooy: Ti CACR-SR OF CACR-PR + When the power is turned on, the normal signal copra’ Sein is set in the control circuit’ after a maximum ENCODER of 1 second. Hold the main-circuit power ON signal for approximately 1 second. Fig.6.1 Power Sequence Example NOTE when using one SERVOPACK When the power is turned on, a servo alarm signal continues for approximately 1 second (normally 200 to 300 ms) to initialize the SERVOPACK. + Since the power unit is of a capacitor input type, a large recharging current flows when POWER SUPPLY ‘OPEN AT SEFVO ALARM the main-circuit power is turned on. If the 10/10vAc* 12% a Nee es na power is turned ‘on and off frequently, the {0/80 | AS Pecharging-current limit resistor ‘may be de- amocet) 4 COWER Feet enon tc) ane graded and a malfunction may occur. The power ON and OFF sequence should be activated less than 3 times p th er hour(less than 20 to [rte escel coke [ae 5 umes por day) Note roriaeiee For sting the moter on oF of turn the speed ret trance on af. bovtet tara the power Supply on - Before turning power on or off, turn off the al reer OR Power to'waid' woubles result fh ae ing from transient current. is inte + Depending on the power unit, select the power | eM WY ON/OFF switch as shown in Table 6.1. | Tl L Table 6-1. Power ON/OFF Switch on Elen 7 ss Power Unit Powe ON/OFF | ___ Rate (Contact ~ M24 voc FYaskawa contactor typ ACPOTAA | 'HL-AIS or equivalent oad ACPISAA Fig. 6.2 Power Sequence Example FYaskawa contactor type! cont in Multi-axis Drives HPA25 or equivalent Yaskawa contactor type HI-A3S or equivalent ACP20AA TSA 226.2 SPEED REFERENCE (FOR TYPE CACR-SR) 6.2.1 Speed Reference Circuit From the Servopack built-in control power(ICN ®, @: +8, 1CN-D, @. @, @: OV, ICN- @), @: “8 V) or the external power, ‘the speed reference voltage is given to ICN-@ and @ or to 1CN-() and @®. When the Servopack built-in contro! power is used, the motor speed in the range of 228 of the speed’ set ‘The method for giving speed reference voltage is described below. (2) For accurate(inching) speed setting |: SERvoPACK 3300 (5 W OF OVER) 25H-108 type: Muliple-rotation type, wir wound variable res tor wih sist MOIO-908) made by Sakae Tevshin Inco (a) When Multiple-rotation Type, Wire Wound Variable Resistor is used 150(4WOR OVER) 1 kn (4 OR OVER) ‘eon vw seeeo) | ISERVOPACK vl detatintnn owen [BVAOYN type: Carbomfim variable resistor made by Tokyo Cosmos Ect Low-and high-speed relays: Reed relay (PG series) made by Nippon Electric or equivalent, oF low-level relay (GiA-432) ‘made by Tateish Elector equivalent Note: when a carbon resistor is used, @ great residual resistance Femain, snd £0 the speed control range becomes approximately 00:1 (b) When Carbon Variable Resistor is used Fig. 6.3 Method for Giving Speed Reference Voltage (for Accurate Speed Setting) (2) For relatively rough speed setting 39003 W OR OVER) 190-181 «+ Parenneses are tor aunary input Note: When carbon resis used, 8 great resis! cesistance ‘omains. nn 9 he sped contra range beteres about S001 Fig. 6.4 Method for Giving Speed Reference Voltage (for relatively Rough Speed Setting as compared with Fig, 6. 4) 6.2.2 Stop Reference Circuit When commanding a stop, do not open the speed reference circuit (1CN-@ or 1CN-@), but set to OV. a200 (2 OR OveR) Eseavorack avy awison azarae 2a (a) When Muttipte-rotation Type, Wire Wound Variable Resistor is used (aw On over) STOP OFF {E-senvopack (b) When Carbon Variable Resistor is used * parentheses are for auxiiery input. Fig. 6.5 Method for Giving Stop Reference 6.2.3 Handling of Speed Reference Input Terminal The unused terminals, out of the speed reference terminal ICN- @®, @®’ and the auxiliary input terminal 1CN- 9 , @ must be short-circuited. 6.2.4 Auxiliary Input Circuit (+ 2 to + 10) Auxiliary input circuit is used for application at rated reference voltage other than #6V. + Adjustment procedures Between 1CN-@ and @( @ is 0V), input the voltage to be used to set the rated speed, and adjust the potentiometer (IN=B) so that the rated speed is achieved. 236.3. POSITIONING REFERENCE (1) Reference pulse mode (FOR TYPE CACR-PR) Only for 2-phase signals as shown in Table G12 set switches SW3-nos, 1, 2 and 3 accord- 6.3.1 Input Reference Pulse ing’ to the relerence pulse ‘modes and the "HY level is effective for input INH (abbreviation of INHIBIT) signal. Three types of signals can be input as reference pulses. Table 6.1 Reference Pulse Mode Reference Pulse Taput Forward Running Reverse Running inpat]__ Ss Mode Pin No. Reference of Motor Reference of Motor _| Mutipier* |G oe icN-@ ign + Pulses Sign + PA cites 90° Phase Difference |, cN-® 2-phase Pulses (4,2 oF 4 Times) ee cw Pulses + 10N-@) COW Pulses. sen | * Detines the methad of counting the input pulse waves in Notes: 'SERVOPACK, Table 6.2 shows the forward running reference 4. Circles in SW3 show the postions for installing the setting {or 90° phase difference 2-phase pulses when phase A plugs on the pins. phase B = (pps), 2. The multiplier can be set for 90° phase difference, 2-phase pulse input Table 6.2 Counting Method of Reference Pulse Multiplier Content of Pulse Counting of SERVOPACK — | Reference Fee Frequency of SERVOPACK Couns only the teading edi phase-A pulse input (1CN-@). ouceanan do LS LAST | Hons) x4 en a [Ne/mine} SERVOPACK | ee | Counts the leading and trailing edges of phase-A pulse Gaunt a muase anand LISI 2 ttpes) ee Beticas [2x Nr/min] SERVOPACK series fuses SLL. Counts the leading and traling edges of phase-A pulse OO _ input (1CN-G)) and phase-B pulse input (1CN-2) a ouseanand LS LS LIL 4x f (pps) muses FTF LS L_ | [4xNe/min} Sees Suuses UU UU UU COUNTING PULSES Motor speed 24(2) Reference pulse voltage and timing The applicable voltage level of reference pulse is *12V and +5V and set as follows, using switch SW3-no.4, SW3-@, without short-circuit pin (open) 5°V level SW3-@, with short-circuit pin (shorted): +12 V level The applicable voltage level and timing are detailed in Table 6.3 (3) Input circuit SIGNAL GENERATOR [2 cenvorack. UENGTH com Ooo eV. Theeshold Voltage Fig. 6.6 Input Circuit Table 6.3 Applicable Voltage Level and Timing Item Electrical Specifications | Remarks Ta Tied [Toavie Fiav Level 2 | +5V level or +12 V level Voltage Level Clee | eve + 12v votes = ioe LGN ost J roy toa exes : er Hove Taavevsy Se Level L Level OVt0o+08V - — | sign + Pulse input ly | a (SIGN + PULSE signal) cn Ile 78 ce nerenence||onerenence | L—onerenence eiuiq ¢ | Reference . mussel \_f\_mee JL | £0: Phase oiterence Pulse 20" Paso 0 | | Matos ose i et by oor hase Pulse z | falter poke So Mode | (Phase A+ Phase 8) ounsee v ane o AHEAD OF PHASE A BEHIND | EEA j cow puss + ow SET |p | ow Pulses @nerenence “|| OnereRENce Hodes Extosson | Note: Maximum roterence frequency fe 200 Kops. 256.3.2 Other Input Signals Other input signals are CL (abbreviation of CLEAR) and INH, The voltage level of these signals are the same as that of the reference pulse (the volt age level set by SW3-no.4 can operate CL and INH). (Q) & signal When CL signal goes “L", the content of the posi: tioning error counter is cleared and returns to 0, and positioning loop does not function. This signal is usually held at H level during operation. (2) INH signal When INH signal goes L, the reference pulse in put gate closes, and the error counter does not Count, but the positioning error counter is not Cleared, so the servo is clamped. This signal is usually held at H level during operation. 6.3.3 Other Output Signals See 6.4.2 Output Circuit for the output circuit configuration. (1) Overflow detection signal(OVER) ‘This signal is output when No. of lag pulses In error counter becomes abnormally large. No. of lag pulses in error counter > 20 bits When overflow occurs, the servo alarm is also output because of an error similar to a servo (2) Positioning completion signal(COIN) This signal is output when the lag pulses in error counter fall within the set values. The lag pulses in error counter are set by switch SW3-nos. 5, 6, Tand & Table 6.4 Setting of Lag Pulses Item swa Se [S| Remarks — Data Dr] Da} Os] 1 | 2 | 4 | setting of To To [0 | las culses ‘Note: When al switches above are ehort-ircultod wit pins fetting value is =? pulse No, of lag pulses = ($1 Dx) X Do No. of lag pulses is converted to angle of rotation. N : ' spre % (BDH) X Do (rev) P: No. of pulses from optical encoder (pulse/ rev) N: Pulse frequency dividing ratio M: Multiplier ratio NOTE ‘SW3 is located inside the SERVOPACK. Set SW3 by removing the side cover from the SERVOPACK. For details, see 6.7.2, ‘Operation of Setting Switches." 26 6.4 CONFIGURATION OF INPUT/OUTPUT CIRCUIT The built-in functions in the Servopack differ in types CACR-SR and CACR-PR: for proportion~ al drive, Overtravel, Serve ON, Servo alarm output (for types SR and PR), Current limit detec tion output, TG ON output (for type SR), OVER, and COIN(for type PR), each input/output circuit 5 composed of non-contact circuit insulated with optical couplers, The external circuit must be constructed with the speci and current. 6.4.1. Input Circuit (For Types SR and PR) Input signals are Servo ON input, proportional drive circuit, overtravel protection circuit to prevent further rotation of motor in forward or reverse direction. Construct the input circuit using 24 V power supply. Typical circuits are shown in Figs. 5.3 and 5.4. NOTE The user must provide the 24 V power supply, 24\V £1 VDC, 20 mA or more (approx 5 mA/circuit) 6.4.2 Output Circuit The content of output differs in types SR and PR. There are three output signals each, for types SR and PR. Type SR: Current limit detection, TG ON, and Servo alarm Type PR: Large deviation (OVER), Positioning completion (COIN), and Servo alarm These output circuits are non-contact, employing transistors, Voltage and current specifications are: Applied Voltage (VMax) $30 V Conduction Current (Ip) $100 mA NOTE ‘The output circuit requires a separate power supply. It is recommended to use the same 24V power supply used for the input circuit (Fig. 6. 7). : SERVOPACK OPTICAL (oe courte _| roo A 7] tse P| yee pa. ne Ip_TRANSISTOR Seow Sseevo FLYWHEEL DIODE | 8 6.7 Output Circuit6.5 BUILT-IN FUNCTION Built-in functions differ in part between Servo- pack types CACR-SR and CAGR-PR. 6.5.1. External Current Limit Reference Circuit IP-CL, N-CL] (For Type CACR-SR) Current can be limited from the outside as well as within Servopack. The external current limit, is used for the following cases: + To protect the motor from overload current when an abnormal load lock occurs in the load. To change the current limit value according to the external sequenc The current can be limited by multi-stage setting by the use of relays(Fig. 6.8). The same effect can be obtained by giving voltage signals making analog change. = | constant] Vvourace SPR, | LT Relay: Low-lval relay ype G2A-422A ma Fig. 6.8 Multistage Switching of Current Value at Forward Side by Tateshi Electric Co, () Method of giving external current limit Forward current and reverse current can be controlled independently. The forward current can be controlled by giving a reverse voltage (0 to =4.5 V) between Servopack terminals 1CN @ and @; the reverse current by a forward voltage(0 to +4.5V) between terminals 1CN-@ and. The relation between the rated current of the motor and current limit values is approximately 1,5V/1008 of rated current for applicable motor. The power supply must use an internal resistance less than 2k0, The input resistance at Servopack side must be greater than 5k, When external current is not restricted, contacts between ter- minals 1CN-@ and @ and between 1CN-@ and @ are opened. (2) Set voltage and current limit values The relationship between set voltages of 0 to £4.5V and current limit values are shown in Fig. 6.9. ROSA, 183.A0me SAOUAA, 127 Ame 5 Sams (8) Current Lint at Forward Side | i 163Arms sr eae SET VOLTAGE v) (b) Current Limit at Reverse Side Fig. 6.9 Set Voltage — Current Limit Characteristics (3) Current limit when motor is locked When locking a motor by applying a current limit, determine the current’ limit value less than the rated current of the motor. If the load condition requires a current limit exceeding the rated motor current, refer to 6.5.6 (2) overload detec~ tion level and make sure to unlock the motor before reaching the trip level Note that when the speed reference voltage is less than tens or so millivolts (affected by setting of potentiometers (P=GAIN] and (L=GAIN) the motor lock current sometimes pulsates. If this is not desirable, the current pulsation can be removed by increasing the speed reference voltage. 276.5.2 Proportional Drive Reference Circuit (P-CON} (For Types CACR-SR and -PR) (1) Type CACR-SR If a position loop is not set for positioning, and after completion of positioning, has been left for quite a long time, the positioned point may have moved due to preamplifier drift. To avoid this, switch the speed amplifier from PI drive to P drive after the positioning and the loop gain in the control system drops and the drift decreases. With several percent of friction load, the motor stops completely. Input the proportional drive reference according to 6.4.1 Input Circuit. (2) Type CACR- PR There is usually no need for using the propor- tional drive reference circuit. 6.5.3. Overtravel Prevention Circuit (P-OT, N-OT] (For Types CACR-SR and -PR) The overtravel prevention circuit is used to stop the forward running of the motor(counterclock- wise viewed from the drive end of the motor) and reverse running. This circuit stops output voltage to drive the motor. Therefore, the motor will coast to a stop. If braking is required, set the speed reference voltage to 0V or use the dynamic braking circuit(generator control). For the dynamic braking circuit, see 6.9.1 Emergency Stop Dynamic Braking Circuit. Supply power to the overtravel prevention circuit according to 6.4.1 Input Circuit, and Figs. 5.3 and 5.4. When the overtravel preven- tion circuit is not used, connect ICN-@) and @ to the OV terminal of the external 24 V power supply. 6.5.4 Servo ON Input Circuit [S-ON1 (For Types CACR-SR and -PR) This circuit is used to turn on the main-circuit power-drive circuit of the Servopack. When the signal of the circuit is not input (Servo OFF state), the motor cannot be driven. If this signal is appli- ed during motor running, the motor will coast to stop. NOTE Before turning power on or off, turn off the "Servo- ON” switch to avoid troubles resulting from transient current. 6.5.5 Optical Encoder(PG) Output Circuit [PAO, *PAO, PBO, *PBO, PCO, *PCO} (For Types CACR-SR and -PR) Phases A, B, and G(original point) signals for the optical encoder, PG(1500 pulses/rev or 1000 pulses /rev). Use these signals as the positioning signals. ‘The output signal specifications are as follows: (1) Signal form : Two-phase pulse with 90° pulse difference (phase A and B) + Original point pulse(phase C) 28 (2) Example of output circuit and receiver circuit vee eed oo BE once Pha dyy ome Fig. 6. 10 Output Circuit (3) Output phase FORWARD RUNNING Pans, pgse__REVERSE RUNNING LSS puase_ piso = 5 PHASE. LS f) PHASE, n 1 puase, n c Pa Note: Phase C (original point pals) is synchronized with phase A. 6.11 Output Phase (4) Pulse resolution ‘The PG outputs 1500 pulses/rev or 1000 pulses/ rev, The pulse frequency can be further divided into 1/N(N=1 to 32) of 1500 pulses/rev or and 2iN(N=2 to 32) of 1000 pulses/rev, by using the divider in the Servopack. The phase relation is the same in (3), above. Set the pulse frequency dividing ratio according to Table 6.6. The dividing ratio must be able to divide the pulses of the optical encoder. For example, in an optical encoder of 1000 pulses/rev, 1/3, 1/6, or 1/7 cannot be used. Fig. 6.12 shows the opti- cal encoder output waveform under the divided pulse frequency. FREQUENCY panse® I __ J as RATION/3 Fig. 6.12 Output Waveform of Optical Encoder(5) Output multiplier circuit(for type CACR-PR) According to the combination of switch SW2-nos. 7 and 8 in the Servopack, the number of optical encoder frequency(output) can be multiplied by the user. See Table 6.5. Four multiplier should be set when all edges of 2 phases of the PG output are useds 2- multiplier when all edges of 1 phase are used; and 1-multiplier when one edge of 1 phase is used. NOTE ‘SW2 is in the SERVOPACK. To set SW2, remove the side cover from the SERVOPACK and follow detailed handling instructions listed in 6.7.2 Operation of Setting Switch, Table 6.5 Setting of Output Multiplier Circuit ‘swe ole oTo xt o xt o x2 x4 Notes 1 Gicesindeat he positon of short ceut pins 2. For type CACR SR spare shor-ercul pis ae insored in a. The. rlalonshin of puse eque Telalonship of pulse frequency diving rato (\), multi (M) and rotation angle per puso se alone Rotation angio perpulse = 5 (rev) NN: Pulse requency dividing ratio Me Multiples no? Svsing P Number ot PG puses(pulsestev) Table 6.6 Setting of PG Pulse Frequency Dividing Ratio Aue We Sarg SWF — ma"! OT @ TOTO] © | © [1500prrev) 1000prrev|™en“ TD] @ | @ | ©] © | © [1600p/rev| 1000prrev + TopPotopolotoy isa | tac | [ 1 OLOLOLOLeL 760} woo 372 OLOloTS ¥500"~|“o0by Dz oO OTOToTo 500 x 2/3 oO OoToTo 1000 x 174 OTOPOLTO | 3580 | 27a OLOLo 750 | oor 1 SOLO, [O[olol 30 |e [2st otot pete ‘600—| “007 7 OLTLOTO TOL 250—| x — 278 OL [ore 300 | x TS olopol «fx aS Ole => * V7 OO Lote | was] a OTe x [867 we TOlOlo, Lolo, xp «p27 olotor po xx 70 OLOL Lope 180 aooarr0 Olorl to 300 | “007 im TOL pot [olet x) «ator porte x x We oO Oto 125 x 22 Oo oO 250 * w3 TOO OTo x x 23s |OlO oO x x vid © OTOl_~x x [arta o o x x ws [TO Oto 100 x 2s | O oO 200 x q6 OTo x * 216 oO x x v7 [OTOTO|O OT x x BAT TOTOLOLO x x 78 Ofolto O,™x x 28 oOfelto * Ey Wg oO Oto oS x x 2/9 oO O10 x x 1720 O[O Oo 7 (50) 2/20 olo 150 100) 1721 TOO. oO. Ol_x x | 2a Tole oO x x 1722 OL pop pot pepe otf x 1723} 6 OL OPOL oe ees 3S xx ee OL Op re 5 xpos V2 [OTOlO oO 60 (40) 25 |OTOTS 120 (60) 1/26 Oto Oo x x 2/26 O19 x x at LOL To Of [ep eer fot TS eo 1728 5 O>ox po [ers © co wea TOTS oO x x 229 |OlO x x 1/30 oO 3 50 x 2/30 oO 100 x Wai Of ex eat xp W732 OLX [ae ex Notes “ype GAGR-SA, SW2 ~ Type CAGRPR, SW2 2 Thopussteniene eusng aonaciiey amie. Seals) [olelalelslelaa 5 ppl aPC 1500 pre oncop or pulse heauncy aveieg 4 The conentsot Sie Band. afer beween types CacASA ~ RRSTRARE RES and CACHE FRESINE one FESEU Sone sonar sausage” 29