Mo001621B DC SERVO SYSTEMS DA2 Instruction Manual SANYO DENKICONTENTS PRECAUTIONS + Precautions at the time of Unpacking * Special Precautions on Operation .. HOW TO READ MODEL NO. * Upon receipt of the system * Table of Standard Combinations of DA2 Series SERVO SYSTEM CONFIGURATION... © Block Diagram. + Extemal Mounting and Wiring Diagram + Names of Parts of Servo Amplifier... WIRING.. (1) Applicable Connectors (2) Applicable Wire Sizes... (3) Position Control Type Extemal Connection Diagram * Connector Terminal Arrangement Input/Output Signal Table. + Rough Specification of CN1 Input/Output Signals .. (4) Velocity Control Type Exteral Connection Diagram * Connector Terminal Arrangement Input/Output Signal Table. + Rough Specification of CN1 Input/Output Signals .. (5) Torque Control Type Extemal Connection Diagram * Connectors Terminal Arrangement Input/Output Signals Table * Outline Specifications for CN1 /O Signals .. (6) Input/Output Interfaces [Position Signal Output] [Monitor Output] [Position Control Type]. [Velocity Control System] [Torque Control Type] (7) Wiring Method. * Caution on Wiring ..INSTALLATION... (1) Servo Amplifier... « Installation Place.. Installation Procedure... (2) Servomoter.... * Installation Place.. . * Installation Procedure .... * Disconnection of Cable.... OPERATION... (1) Operation Sequence (2) Indication. (3) Adjsutment.. + Offset Adjustment of Velocity Command (Velocity Contr! Type) (4) Gain Setting Mode. + Selection of Gain Setting Method . © Setting of Gain with Rotary Switch, REMOTE OPERATOR... * Outline of Remote Operator (Option) © Function Table..... * Basic Operating Procedure: * Parameter Setting Mode (Screen Mode 0) .. * Parameter Select Mode (Screen Mode 1). * Monitor Mode (Screen Mode 2) .. «Alarm Trace Mode (Screen Mode 3). * Test Mode (Screen Mode 4) .....- (JOG Operation) . (Servo tuning function) * Gain Setting Mode (Screen Mode 5). EXPLANATION OF PARAMETERS.. 1) Position Control Type. Parameter Arrangement Drawing . * Parameter Summary Table.. *. Parameters List. 2) Velocity Control Type10. 11. + Parameter Arrangement Drawing * Parameter Summary Table... «Parameters List. 3) Torque control type ...... * Parameter Arrangement Drawing * Parameter Summary Table... * Parameters List... MAINTENANCE (1) Troubleshooting (2) Maintenance .. SPECIFICATIONS .. (1) Servo Amplifie * Common Specification . * Power Supply Capacit * Leakage Current from Servo Amplifier or Servomotor.. * Calorific Value... (2) Servomotor «Mechanical Specification of Motor> . . (3) Standard Combination Specification... (4) Outline Drawing ...... * Servo Amplifier... ¢ = Servomotors . * Remote Operator (Option) 11-1 PARAMETER SHEETS .. iiiPRECAUTIONS This servo system is designed to be used for general industrial apparatus. For this reason, the system is not available for home appliances and medical apparatus. As general industrial apparatus, for example, robots, transfer units and chip mounters can be metioned. Be sure to read the User's Manual carefully before installation, operation, maintenance, inspection, etc. to handle them correctly, Get well versed in knowledge, safety information and precautions concerning these unit before operation, After reading the manual, be sure to keep it at hand so that you can refer to it anytime. Meaning of Warning In This chapter explains how warnings are indicated, Please understand the details of indications before reading Cautions on Safety. @®: Rank of cautions on safety @: Symbolic indication @: Meaning of each symbolic indication 1. The amplifier inside Rank of Cautions on Safety Cautions are divided into the following four ranks: © Incorrect operation may result in such a dangerous situation co) DANGER as death or serious injury. © Incorrect operation may result in such a dangerous situation AV CAUTION as medium or slight injury or may result in only physical damage. oONote that some indications with ‘A\ caution may lead to serious results depending on situations. Since any indications are important, be sure to observe them. 21 BAN ® | @ compursion Symbolical Indication What should not be done are indicated. What should be done by all means are indicated. Symbolic indications are divided into the following eight kinds: Kinds of symbols Examples of symbols t ‘Symbolic indications of danger > © DANGER, ELECTRIC INJURY SHOCK Symbolic indications calling attention A AY A. ‘CAUTION FIRE BURN Symbolic indications prohibiting actions S ® BAN BAN OF DISASSEMBLING ‘Symbolic indication urging actions ® COMPULSION1. GENERAL DANGER SOOO OF (General) 1 Don’t use the system in an explosive atmosphere. Use an explosion- proof motor, otherwise it will result in injury, fire, ete. Only those who have special knowledge are allowed to do transport, installation, piping, wiring, operation, system control, maintenance and inspection operations. Non-observance of this requirement will result in an electric shock, injury, fire, etc. Don't touch the rotating part of the motor during operation, otherwise it may result in injury. Don’t perform operations in a hot-line status. Be sure to tur off the power supply beforehand, otherwise it may result in an electric shock. Don’t touch the inside of the amplifier in any case, otherwise it may result in an electric shock. Don’t blemish cables, give excessive stress to them, put a heavy material on them or have them nipped, otherwise it may result in an electric shock.A CAUTION > PR BPRBPE BP & (General) L Be sure to read the instruction manual carefully before starting installation, operation, maintenance and inspections, and observe the instructions described in it, otherwise it may result in an electric shock, injury, or fire. Don’t use the system with any specification other than the amplifier specification, otherwise it will result in an electric shock, injury, damage, etc. Don’t use an amplifier if it is damaged, otherwise it will result in injury, fire, etc. Any modification that may be made on the user side will not be covered in our warranty range. We shalll not be responsible for it. Don’t remove the nameplate. Use an amplifier and a driver in a specified combination, otherwise it will result in a fire or failure. Note that the temperatures of the amplifier/motor and peripheral units will rise. Be careful about a burn. (Transportation) Be careful not to cause the system to fall or turn over during transport, otherwise it will invite danger. 2. Don’t hold cables or motor shafts during transport, otherwise it will result ina failure or injury. (Disposal) 1 When disposing of an amplifier, treat it as general industrial waste.2. S om (Storage) L. Don’t store the system in a place exposed to rain or waterdrops or in a place where noxious gas or liquid exists. Qe COMPULSION ® (Storage) 1 Store the system in a place that is not exposed to direct sunlight and in a specified temperature and humidity range (~20°C to +65°C, 90%RH or less without condensation), If the system must be stored for a long time, please ask us for information. Long-time storage will lower the capacity of the electolytic capacitor. (Transportation) 1 Product overloading will lead to a collapse of cargo. Observe the indication. UNPACKING AY CAUTION A A Check the up side and the down side of the package, then perform unpacking. There is a possibility of injury. Check if the article in the package is as you ordered. Installing a wring product may cause injury, damage, etc. 0-53. INSTALLATION A CAUTION >>> PEPE & Don’t place such an obstacle around the amplifier as prevents ventilation. Cooling is deteriorated by it, so that overheating may cause explosion, ignition or bum. Don’t block the suction or exhaust port. Don’t admit a foreign material into it, otherwise a fire may be caused. Be sure to observe the direction of installation in any case, otherwise a failure will be caused. Allow an clearance between the main body and the inside surface of the control panel or another unit according to the instruction manual. Don’t install the system in a place exposed to water, in a corrosive atmosphere, in an inflammable gas atmosphere, or on the combustible material side in any case. Non-observance of this requirement will lead toa fire or failure. Don't climb the top of the system or don’t put a heavy material on it, otherwise it may cause injury. Don’t give a strong shock to the system, otherwise it will cause a failure init. ‘When installing the system, take special care not to cause it to fall or tum cover. 0-64, WIRING DANGER oS See Don’t bend the power cable or motor lead wire with force, or don't pull them or have them nipped, otherwise it may result in an electric shock Be sure to ground the amplifier and motor ground terminals to prevent an electric shock. ‘When performing wiring or inspection, turn off the power supply and start it after the lapse of one minute to prevent an electric shock. Carry out connections with the power cable in accordance with the connection diagram or the instruction manual, otherwise it will result in an electric shock or fire. AY CAUTION > > > Don’t measure the insulation resistance and insulation dielectric strength, otherwise it will result in damage. Perform wiring correctly and securely, otherwise it will cause the motor to run away or it may cause injury. Conduct wiring in accordance with the technical standards for electric facilities and the stipulations for extensions, otherwise it will may result in a burn-out or fire. o75. OPERATION DANGER ® 7 Don’t approach or touch terminals and others in any case while power is supplied. Don’t remove the terminal unit cover, otherwise it may result in an electric shock. Don’t touch the rotating part of the motor during operation in any case, otherwise it may cause injury. 0-8AN CAUTION PREP BP EP PEER BP 10. Don’t touch the amplifier radiator, regenerative resistor, motor, etc. while power is supplied or for a while after tuning off the power supply, otherwise it may cause a burn. In case any abnormality occurs, stop the system operation at once to prevent an electric shock, injury, fire, ete. Don’t make an extreme adjustment or change in any case because it will result in an unstable operation, otherwise it may cause injury. At trial operation, fix the motor and make an operation check after disconnecting it from the mechanical system, then install it on the machine, otherwise it may cause injury. ‘The holding brake is not a stop unit to secure the safety of the machine. Tastall a stop unit to secure safety on the machine side, otherwise it may cause injury. ‘When an alarm occurs, remove the cause of the alarm and secure safety. ‘Then, restart the operation after resetting the alarm, otherwise it may cause injury. ‘After a recovery from momentary power interruption, the system may be restarted suddenly. So don’t approach the machine, otherwise it may cause injury. (The machine should be designed so as to secure safety for the operator even if it is restarted.) Check that the power supply specification is normal. otherwise it will cause a failure. Check the direction of rotation before coupling with the machine, otherwise it may cause injury or system damage. Operate the system after checking the settings of the motor or amplifier to be used, otherwise it may cause a burn-out or fire 09OS BAN ‘The brake incorporated in the motor is dedicated for holding. Accordingly, don’t use it for ordinary braking. Qe COMPULSION e Install an emergency stop circuit externally so that the system operation can be stopped at once and the power supply can be cut off. 6. MAINTENANCE DN CAUTION > & Fore repairs, make contact with us, If the system is disassembled on the user side, it may result in an operation disable status. ‘The capacity of the capacitor of the power supply line will be lowered for the reason of deterioration. To prevent the secondary accident due to any failure, we recommend the user to replace the capacitor after the lapse of about 10 years, in order to prevent such a failure. The temperature of the amplifier frame will rise. Take care about the temperature at maintenance and inspection to prevent a burn, © BAN Don’t disassemble of repair the system, otherwise it will cause a fire or electric shock. 0-101. PRECAUTIONS Please operate this system correctly paying enough attention to the following precautions. ‘A misoperation will result in an unexpected accident or a damage to the system. ¢ Precautions at the time of Unpacking 1. When unpacking the servo amplifier, never touch the printed circuit boar 2. After unpacking, check carefully if the appearances of the servomotor and the servo amplifier are irregular. 3. Check if parts on the printed circuit boards of the servo amplifier are remarkably bent. 4. Check that the models numbers of the motor and the amplifier are exactly the same as those of your order. « Special Precautions on Operation 1. When installing, do not shock the servomotor and the servo amplifier. Especially, the servomotor has a built-in encoder, so never shock it. Fig. 1-1 2. Select the controlled supply voltage of 24VDC +10%/~15% or the main circuit supply voltage of I40VDC +10%/-15% as the power supply. If any power supply other than the above is used, it may cause an accident. If a surge voltage is produced in the power supply, connect a surge absorber between the power supplies to absorb the surge voltage prior to operation. When driving the motor V402- O11, select the main circuit supply voltage of SOVDC +10%/-15%.Before turning on and off the power for maintenance and inspection, carefully check the load condition and safety of the system. ‘Never operate the system in any place under the influence of corrosive (acid, alkaline, etc.) flammable or explosive liquid or gas. Fig, 1-2 ‘Make sure that the servomotor and the servo amplifier have been earthed by Class 3 earthing (1002 or Jess) or up. Operate this system within the ambient temperature range from 0 to 40°C (or 0 to 55°C for the servo amplifier) and within the relative humidity limit of 90% 127. Atrange so that the system is kept away from water, cutting fluid and rainwater. Leak or electric shock will result from splash of water, cutting fluid or rainwater on the system. Fig. 1-4 8. Never conduct a withstand voltage test and a megger test. Earth the section between 0 V and the body with capacitor. If such a test is necessary, consult SANYO. Fig. 1-5 9. Miswiring may damage the servomotor and the servo amplifier. Be sure to distribute wires correctly referring to the section of wiring. 1310. DA2 Series servo motors will run away when the phase connection is reversed. Always use the remote operator when reversing the direction of rotation. cN4 Fig. 1-62. HOW TO READ MODEL NO. e Upon receipt of the system Be sure to check the model numbers of the servo amplifier and the servomotor. ‘The servo amplifier cannot be operated together with a motor of different mode! number. { Upon receipt of the system, be sure to check that the model number of the servo amplifier agree with the one of the servomotor. © How to Read Model No. © x Model No. of Servomotor vOOOOOO-OO0 ho 2, Approximate Outside Dimensions of Motor Approximate Output of Motor | 02... 23W 04. 40W 06... 60W | | 1L.. HOW 20... 200W 30... 300 W 40... 400W 50... 500 W 4, Equipmenmt of Holding Brake B... with brake Blank... without brake 5.__ Equipping of the gear | GO... with gear (a standard motor cannot be equipped with the gear.) Blank... without gear External Structure of Motor Ol... Lead wire pulling out type 00... Connector type encoder 61... with seal (option) | 7. Voltage Specification of Motor 24V Series 2... 75 V Series | 8. _ Type of Encoder | EL... Incremental Line Drive Type 9.__Number of Code Divisions with Encoder | 8... 1000P/R 21‘x Model No. of Servo Amplifier Series Name 2. Type of Power Unit: D.. 140 VDC E.. 50 VDC 3. Amplifier Capacity: 030... 30 A 4, Type of Hardware: D... Tneremental 5._ Applicable Motor Example: V3... V406-012EL8 6.__ Type of Sensor 7... Incremental encoder (1000P/R) 7. Interface Specification paz QOOOSOOAVOO 5... Velocity control type Position control type Torque control type Discrete Specification 00... Standard amplifier 22« Table of Standard Combinations of DA2 Series Table 1-1 Standard Combinations Table Model No. of Servo Amplifiers Model No. of Servomotors DA2E020DV17S00 V402-011EL8 1 DA2D020DV27S00 V404-012EL8 DA2D020DV37S00 V406-012EL8 DA2D020DV47S00 V506-012EL8 DA2D020DV57S00 V511-012EL8 DA2D020DV67S00 V720-012EL8 DA2D030DV77S00 V730-012EL8 DA2D030DV87S00 V840-012EL8 {0 - DA2D030DV97S00 ‘V850-012EL8 DA2E020DV17P00 v402-011EL8 DA2D020DV27P00 V404-012EL8 DA2D020DV37P00 V406-012EL8 DA2D020DV47P00 V506-012EL8 DA2D020DV57P00 V511-012EL8 DA2D020DV67P00 V720-012EL8 DA2D030DV77P00 V730-012EL8 DA2D030DV87P00 V840-012EL8 DA2D030DV97PO0 V850-012EL8 DA2E020DV17T00 V402-011EL8 DA2D020DV27T00 V404-012EL8, | DA2D020DV37T00 V406-012EL8, DA2D020DV47T00 V506-012EL8 DA2D020DV57T00 V511-O12EL8 DA2D020DV67T00 V720-012EL8 DA2D030DV77T00 V730-012EL8 DA2D030DV87T00 ‘V840-012EL8 DA2D030DV97T00 V850-012EL8 233. SERVO SYSTEM CONFIGURATION With this amplifier, the main power circuit and the control circuit are not insulated. Pay great attention not to suffer electrification, ‘When connecting the SG of the control circuit to FG, always insert an insulated transformer in the main circuit as otherwise it will get broken. « Block Diagram Upper controler “Amplifier Command ‘Start ready complete output ‘Servo ON Motor Power supply Fig. 3-1 341External Mounting and Wiring Diagram Fita surge killer to the electromagnetic contactor retay (equivalent to CR-50500 or Okaya Electric Industries Co, Lid) Stan oady Stat ready oN OFF 5, ° _ ‘System Emergency Amplifier ‘Motor err ta 7} [ed CNA!) Green/| voiow | 53400 elf fis. | Holding brake ae | rites) votage Encoder - one sor Contratler ont [— Ns * The dotted line denotes an option Fig. 3-2 32. Names of Parts of Servo Amplifier RwnNs jlo Er) oo ba I) fipt i [= ° ° >, (eI TU 1 v co} ° Fig. 3-3 33 1.....5V power supply set-up (POW) indicates that the internal 5V power supply has been set up. 2... Alarm pilot lamp (ALMA, ALM2, ALM4) indicates that the system has been in an alarmed condition. ‘Servo ON (SON) indicates that the servo system has been ON. 4.....Gain setting switch (RSW) is the rotary switch to be used for setting various gains on the body. 5 .....Input/output signal connector (CN1) is connected to the upper controller Encoder connector (CN2) is used to connect encoder signals. Power connector (CN3) is used to connect to the control power supply and the main circuit power supply. ‘Servomotor connector (CN4) is used to connect the power line and the earth cable of the servomotor. ‘Remote controller connector (CNS) is used to connect the optional remote controller.4. WIRING (1) Applicable Connectors Model names of applicable connectors are shown in the table below: Table 4-1 Model Names of Applicable Connectors Connector No. Model names: ‘Maker names NI Plug: 10126-3000VE. ‘Sumitomo 3M Led. Shell : 10326-52A0-008 cn? Plug: 10114-3000VE. ‘Sumitomo 3M Lid. Shell : 10314-52A0-008 cN3 Housing : 1-178288-5 ‘AMP (Japan), Ld. Contact: 175218-2 CNS Housing : 1-178288-3 ‘AMP (Japan), Ltd. Contact : 175218-2 Note 1: Prepare connectors at your end. For purchase of connectors, contract directly to the makers or contact SANYO. (2) Applicable Wire Sizes Wire sizes applicable to each connector are shown in the table below: Table 4-2 Applicable Wire Sizes Applicable wire sizes (0.2 mm? or more (Twisted pair lump shielded wire is partly used.) 0.2 mm? or more twisted pair lump shielded wire AWG #16 (Finished O.D. : 2.8mm max.) AWG #16 (Finished O.D.:2.8mmmax.) (Note 3) Note 1: When wiring harness or putting wires in a duct, take into account the allowable When the ambient temperature is high, thermal In that case, use a heat resistant vinyl current reduction ratio of the wire. degradation will shorten the life of the wire. cable (HIV). Note 2: Separate the main circuit line from the signal line as far as possible, but noise trouble will occur. Note 3: When the wire length between CN4 and the motor is over Sm, relay the wire halfway with another wire of AWG#14. 41(3) Position Control Type External Connection Diagram —Srevestezn) oir es ‘3A0006-82101 Bi Supers L_owpeoona | onoceva wren 7 incina were Nowwoo ant ACES dino eras Kp LEIS op iss weSlUURIY INOS NOMS NOOd ——jovoog (Geen 19 ep uoHOREG q\5 Kans ny sans rate ui a au 3Connector Terminal Arrangement Input/Output Signal Table cN2 Bi IP [| RST [282.0] CLR WON SRD | SON | PCON | pA ibc| 2 | 1 | 16 | 14 s@__[NoPs [ PoPr mal | “This figure shows the view from the connector connection part. Fig. 4-2 This figure shows the view from the connector connection part. Fig. 4-3 43Rough Specification of CN1 Input/Output Signals e Table 4-3 Signal na Codes | PinNo, | Cteuit Rough specifications signal name odes | Pin No, | vra cough specifica Forward revolut PoP fi6 | Type? | inputs command pulse trans to revolt forward pulsetaincommand | PCP {17 (15) Backward revolution | NCP+ [18 | Type2 |1tinputs command pulse trains to revolt backward. pulse train command_|_NCP- |19 20) Deviation clear CLE | 20) | Typet [itis input for 10ms or more to clear contents of the deviation counter. Ponto ~andard) | PCON | 30) | Type! |icis input to bring the speed loop under the proportional control Command pulse INH Ieprohibit command pulse inputs inhibited Servo ON SON | 5G) Typet | tmakes the system servo ON and waits for pulse tains when the contact is closed ‘Alarm reset RST | 6) _| Typet [is input to reset alarm, input sequence power | 510 al power unit for CLE supply 24 voc - nect the external power units for FCONAINH. Tteonnects the enteral power unis for SON and RST. Start ready complete | SRDY | 7@) | Typed |itis turned on when servo ON signals canbe received output after the main ciruit power is turned on. ‘Alarm code output | ALMi | _12_| Type 6 |itoutputs various alarms by 3-bit binary code ‘ALM2 | 11.13) | Type | (Meanwhile, the ALM! only can be switched over tothe ‘acs | 10 alarm contact) Deviation ze ouput | INP | 8@) | Typed |Ttis ured on when the deviation counter indicates values within the set ange [Encoder signal TEA | 22,21 | Types | Itis output from te line driver (261531) after dividing Bp | 24.23 encoder pulse cc | 26,25 Receive the signal wih the line receiver (261832). Note 1: Pin Numbers in( Not ) indicate the ground or common sides of relevant signals. For type of circuit, see the section concerning input/output interface.(4) Velocity Control Type External Connection Diagram 1 "wreves-azcol UNS va veo cee ‘sAg00e-92108 Omg pr we fa enon STEVES PEON Se ave Daa ot | -aevar seus Tiss nod TT aes 9s es pubisuoo anon eno NowWoo OEY) eins a9 shou ie aad a aw rey? indo wey NonWoo Sur AGES indo e1aiduco Apea: wes su wesley Nos Noowos aH ‘anoz dure o1ez (este sanveasy = N20, Aedns 5 .esSd aie wen N 10 $2 _ Adds 10808 fstd0O way

~ & 49« Rough Specifications of CN1 Input/Output Signals Table 4-5 Mne- | Pin | Circuit Signal name ee | umber | type Brief specification ‘Torque command | VCMD | 14 (15) | Type3 [3 V inpats causes the rated current (Maxi, input voltage : +10 V). Zero clamp ZCMD | _3(1)_| Type! [It is input to make the velocity command zero. Servo on SON | 5(4) | Type! |Theservo motor goes to the servo-on state by closing the contact and waits forthe velocity command (VCMD), ‘Alarm reset RST | _6(4) | Type [An alarm is reset by inputting this signal Input sequence power | Sto 1 ‘An external power supply for ZCMD is connected. supply 2avoc| 4 —_[Anexternal power supply for SON or RST is connected, Start ready output | SRDY | 7(9) | Type4 | This output is tured on when the servo-on signal can be received after the main circuit power supply is supplied. ‘Alarm code output | ALMI | 12 _ | ‘Type6 | outputs various alarms by 3-bit binary code. ‘ALM? | 11 (13) | Type4 | (Meanwhile, the ALMI only can be switched over to the ALMs | 10 alarm contact.) Low speed output LTG | 8(9) | Typed |Itis turned on when the motor speed is reduced below the set point Encoder signal 22,21 | TypeS |Itis output from the line driver (26LS31) after dividing 24,23, ‘optical encoder pulse. 26,25 Receive the signal with the line receiver (26L$32), Note 1: Pin numbers in parentheses show the ground side pin or plus common side pin for each signal. Not 2: For circuit types, see the description of /O interfaces. 4-10(6) Input/Output Interfaces Input Circuit Configuration 1) Type 1 (Input to Photocoupler) This type of input circuit consists of non-contact circuits like the one shown in Fig. 4-10. ‘Type 1 input signals are Servo ON, Alarm Reset, Deviation clear and P Control. ‘The applicable power ranges from 5 V to 24 V. Prepare the power unit at your end. Specification of Power Unit to be prepared : 5024 VDC 10%, 100 mA minimum 2) Type 2 (Input to Line Receiver) This type of input circuit consists of circuits like the one shown in Fig. 4-10. The applicable line receiver is equivalent to AM26LS32. ‘This type covers only the position control type command pulse inputs. This type can be connected to open collector outputs as well. <> <> Connection example | Forward revolution pulse Backward revolution pulse el | 3) Type 3 (Analog Input) This type of input circuit consists of circuits like the one shown in Fig. 4-10. ‘Type 3 input signals are only analog velocity commands.‘Output Circuit Configuration] 1) Type 4 (Open Collector 1 Output)) This type of output circuit consists of circuit like the one shown in Fig. 4-10. Type 4 signals are Low Velocity Output, Deviation Zero Output, Start Ready Complete Output, Alarm Output and Alarm Code Output. 2) Type 5 (Driver Output) This type of output circuit consists of circuits like the one shown in Fig. 4-10. The applicable line driver is equivalent to AM26LS31. Type 5 output signals are Encoder Signal A,B and C Phases 3) Type 6 (Open Collector 1 Output) Output circuits of this type consist of a circuit shown in Fig. 4-10 below. ‘The alarm output is a type 6 signal. Type 1 Type 4 235K ~ iOma snack of 2avoe 30x nox | Sy omy __] { 6 L_ Type 2 ‘Type 5 50.mA, ° — ae ae Type 3 Type 6 Fig. 4-10[Position Signal Output] 90° phase difference two-phase pulse (Phases A and B) and origin pulse (Phase C) are output from the contacts (CN1-21 to 26). Control ee Phase A __ Indefinite > ew PhaseB Indefinite i l 4 Phase Indefinite \\ Phase A is advanced by 90° from Phase B. Note I: These signals are indefinite for 0.2S approx. after the control power supply starts. Note 2: The forward rotation is the counterclockwise one viewed form the load side. 413‘Output Dividing Function ‘The pulses of the optical encoder signals can be divided to N/8,192 (N = 1 to 8,191), I/N (N= 1 to 64) or 2/N (N = 3 to 64) before being output by settings through the remote operator. Although the phase relations remain the same, division 2/5 will not be with 90° phase difference. Refer to the section explaining the parameters when setting the division ratio of the encoder signals. Meanwhile, the division ratio must be an aliquot part of the number of pulses of the optical encoder. For example, 1/3, 1/6, 1/7, etc. are not an aliquot part of the number of pulses of a 1,000 pulse/rev optical encoder and these division ratios are not usable with this optical encoder. Indicated below are examples of divided encoder output waveforms. Phasea | |_| | T Division ratio an Phase B Phase A L aor Divison rato Phase B Phase A | [ Division ratio 215 Phase B — Examples of encoder signal waveforms (forward rotation)[Monitor Output] ‘Speed monitor outputs and current monitor outputs can be measured using the remote operator. Velocity Monitor Output Output voltage A Current Monitor Output Output voltage A ily iwlL—y Forward Forward 1000 min"? Feyolution sr revolution Backovard (01000 mint Backward 0 IR Armature revolution revolution “vent | (Rated current ——-1Vv ——|-1V of armature) £1.0 V +10%/1000min" Speed monitor output (M1) **++ Current monitor output (M2) ***++++** ‘The maximum monitor output is +4 V. 1.0 V 420%/rated current Current monitor Velocity monitor SG Rs tkQs1% 415 of armature[Position Control Type] ‘Three forms of signal can be input as command pulses, (1) Command pulses ‘Command pulse form Input pin No. Motor forward ‘Motor backward revolution command | revolution command Backward revolution pulse train + Forward revolution cn @® cn @ @ AAD |v vo pls train Code con® SLL J tL + oo Palse train > f or ®@ @ Fig. 4-11 Command Pulse Types 4-16(2) Command pulse timing pulse ‘Command Backward revolution pulse train + Forward revolution Max. command frequency: second pulse train 600 kpulses/ tt, 120.1 ps Code Max. command frequency second Pulse train 600 kpulses!| 1, 2s 0.1 us nit 2 13,142 0.8 us #15, 190.1 ps | 16,17, 1822n8 Fig. 4-12 Command Pulse Timing (For the display mode 0-9 (PMOD), digital filter DFC1, 0= ‘00°) 417| [Velocity Control System] * Specifications of Input Command * Velocity Command Input ‘The characteristics of velocity command voltage and motor revolving speed are shown in Fig. 4-13. The velocity command voltage is the one input from the velocity command input terminals CN1-@ and ©. ‘The motor forward revolution (+) means the counterclockwise one viewed from the load side. ‘The speed scale can be modified using bit 0 of the SSW2 of the parameters with the Scale polarity. Revolution speed | Fig. 4-13 Velocity Command/Revolving Speed Characteristics 418[Torque Control Type] Specifications of Input Commands ‘Torque Command Input Fig. 4-14 below show the torque command voltage-output torque characteristics. ‘The torque command voltage means the voltage being input through the torque command input terminals CN1-@ and ©. Forward rotation torque (+) is the torque which works to make counterclockwise rotation when viewed from the load side. ‘The torque scale can be modified using bit 0 of the SSW2 of the parameters with the Scal polarity, Output torque Rated torque(Kg-em) [~ Torque command voltage (V) Backward revolution - {Rated torque(Kg-om) Fig. 4-14 Torque Command vs Output Torque Characteristics 419(7) Wiring Method ‘The servo amplifier is a control unit to process signals of several mV or less. So, distribute wires for it observing the following: Dy) 2) 3) 4) 5) 6) For input/output signal lines and encoder signal lines, use twisted wires and multi- conductor twisted lump shielded wires. ‘The wire length is 3 m or less for command input lines and is 20 m or less for encoder signal lines. Distribute wires as short as possible, and separate the main circuit lines from signal circuit lines. Do not distribute main circuit lines on the side of the amplifier or near other amplifiers. Use earth wires shown in Table 4-2 for one-point earthing. Perform class 3 earthing (earth resistance value 100 © or less). Be sure to connect the servomotor frame (earth tap) to the servo amplifier (CN4 Pin 3). ‘When the power line (between CN4 and the motor) extends 5m or more, relay it halfway with a wire of AWG#14. ‘Take measures to prevent malfunction due to noise. @® Arrange a noise filter, the servo amplifier and the upper controller as close as possible. ® Besure to fit surge absorbing circuits to coils of relay, electromagnetic contactor, induction motor and brake solenoid. @® Donot arrange the main circuit and signal lines in a same duct and do not bind them together. @ When a large noise source such as electric welding machine or electric discharge machine exists in the vicinity, insert noise filters in the power line and input circuits. Also, be careful not to bind the primary and secondary lines of noise filters nor to make the earth wire long. ® Arrange analog input signal wires so that their ends are not left open. Measures Against Radio Interference Since the servo amplifier is one of industrial equipment, no measure against radio interference has been provided to it. So, when radio interference is feared, insert a line filter in the power line input side. 4-20Caution on Wiring ‘Measures to Remove Noise FET (IGBT) has been used for PWM control in the main circuit of the servo amplifier. When switching on the FET (GBT), influences of di/dt and dv/dt (switching noise) may occur depending on earthing method in distributing wires. Also, because the servo amplifier has built-in electronic circuits like CPU, it is necessary to distribute wires for it so as to strictly prevent external noises from entering the circuits. To prevent noise troubles, be sure to arrange wiring and earthing correctly. (1) Earthing of Motor Frame When the motor is earthed to the ground through the frame on the machine side wires, the current of Cf x dv/dt flows out from the PWM power unit of the servo amplifier through the motor stray capacitance (Cf). To prevent influence of this current, be sure to connect the motor earth tap (motor frame) to CN4 Pin 3 of the servo amplifier and earth CN3 Pin 5 of the servo amplifier directly to the ground. (2) Earthing of Wires When wires to the motor are place ina metal conduit or a metal box, be sure to earth the metal section, Earth it at a point, Miswiring Miswiting to the servo amplifier and the servomotor may damage them. So, carefully check wiring to them. Protection of Power Line (1). For inputs to the servo amplifier, itis necessary to protect the power line by using a circuit breaker or a fuse. Also, even though the motor frame is earthed as specified, leak current flows through the input power line. When selecting leakage detection type circuit breakers, refer to the section of specification and be careful not to cause oversensitive operation due to high frequency leakage current. (2) When a surge voltage has occurred in the power supply, connect a surge absorber in the section up to the power supply to absorb the surge voltage in advance. 421Shielding Method of Connectors CN1 and CN2 ‘The following shows the shielding methods of connectors for CN1 and CN2: a) Clamping method 1 ‘Remove the cable sheath. Sheath 2 ‘Stick a tape or fit a compression insert to Tape or compression insert | the cable (when the cable diameter is Jess than QA.) ‘At the time, the tape or the compression —————| ‘ngert should be on the cable sheath 3 Fold back the drain wire, Drain wire 4 Tighten the cable clamp to secure the Cable clamp | cable together with he drain wit. Tn this ease, tighten it about 1 mm inside from the end face ofthe tape oF the J + compression inser, _ || 1mm approx. Fig. 4-15 Note: Fit a compression insert to a cable before soldering the cable to a connector. 4-22b) Soldering method Drain wire Stamp a circle here. Ground plate 1mm | Bring the drain wire close to the ground plate rotating the cable. Solder the drain wire, 5 {either from the left or right side) Ground plate | a 5 Fig. 4-16 ) Table 4-6 Connector No ameter eu 15.010 165 mm nz 10,5 10 12.0 mn 4-23Compression Insert Our recommended compression inserts are as follows: Table 4-7 Compression Insert for CN2 pars. | PRIS HS Tatsuo roar $000 50.m tor. ¢501060nm 10607-CO78 96.0 to 7.0 mm ‘Sumitomo 3M Ltd. 10607-C088 97.0 to 8.0 mm 10607-CO98 98.0 to 9.0 mm Note 1: The above inserts apply to CN2 connectors. Note 2: When purchasing them, contact the maker directly or contact SANYO.© Wiring Method of CN3 and CN4 ‘The following explains how to connect wire to CN3 and CN4: {When a crimping tool is available:] Use the following crimping tool for the wiring. Maker Name : AMP product Contact 2 1-175218-2 Standard tool Economical tool 919602-1 914596-3, 90684-1 Economy type) (if a crimping tool is unavailable: © Prato we ‘Sateen trong Som te vt © mesa we © pepe Ss Sedona Prose tr © very zee Prostate seven een ° Carne tesbectn oe @ tte rote fterng Venton (ronan wee — ‘ene vcore cuaniepace So comeson sro Fig. 4-17 4-25Ifa connection error has been made while handling the CN3 and CN4, the erroneous connection can be released using the releasing tool shown below. Maker Name : AMP product This is a tool to use when releasing the contacts from the wire type tubs / ‘connector housings. _ ‘Type No. 914677-1 [How to use the releasing tool] © netperdattnreerateontos se Tren dng tis, make se ert ‘eotmetat ache) @ Then te conta can be plla ane. Fig. 4-18 4-265. INSTALLATION (1) Servo Amplifier oO Installation Place When the servo amplifier is installed in a box, the temperature in the box may be increased over outside temperature depending on power loss of the servo amplifier and the size of the box. So, take into the account the box sizes, cooling method and arrangement so that the temperature around the servo amplifier is always kept below 55°C. For longer life and higher reliability, we recommend you to operate the servo amplifier at temperatures below 40°C in the box. ‘When there is a vibration source nearby, install it on a base together with a shock absorber so that vibrations may not be directly transmitted to it ‘When there is a heat generating source nearby, be sure to keep the temperature around the servo amplifier below 55°C even though there is the possibility that convection or radiation increases the temperature. When the servo amplifier is influenced by corrosive gas, there is the possibility that contact failures will surely occur to contact parts (like connectors) over a long period of operation. When the servo amplifier is influenced by explosive gas or flammable gas, relays or contactors which generates arc (spark) or parts like regenerative brake resistor which is heated to high temperature become ignition source and may cause fires or explosions. When the servo amplifier is influenced by dusts or oil mist, they will adhere to and gather on the servo amplifier and will reduce insulation or cause leakage between conductive portions of parts and will finally damage the servo amplifier. SsInstat ion Procedure Direction Install the servo amplifier in the direction shown in Fig. 5-1 and do not put it sideways. Since it is cooled by natural convection, be sure to install it in this direction. t Servo amplifier t Draft Fig, 5-1 Board Arrangement Conditions Provide a space of 100 mm or more above the servo amplifier and a space of 50 mm or more below it, so that air from the radiator can flow out smoothly. If hot air gathers above it, arrange to stir the air with a fan, Also, provide a space of 25 mm or more between amplifiers. 4100 mm or more Servo || Servo || Servo lampiitier| Jamplifier| Jamplitier 50 mm or more ‘50 mm or more, 25 mm or more Fig, 5-2 52® Installation Method The installation method is shown below: 100 mm or more 50 mm or more a Servo amplifier 120 Amplifier capacity 20 A Amplifier capacity 30 A, Housing board Fig. 5-3(2) Servomotor Installation Place The servomotor has been designed to be operated indoors, so try to operate it in the following environment: 8698680 Ambient temperature : 0°C to 40°C Storage temperature : -20°C to 80°C Ambient humidity: 20% to 90% RH Well-ventilated place free from corrosive gas and explosive gas. Place free from dust and dirt. Place allowing easy inspection and cleaning. Do not operate the servomotor where the oil seal lip is always exposed to oil and where lot of water drop, oil drop or cutting fluid splash over the servomotor. The servomotor can be protected from slight splashes by the measure taken on the motor side. Installation Procedure @® Direction of installation The servomotor can be installed horizontally or so that the shaft end faces upward or downward. Install the servomotor so that the cable faces downward. ‘When installing the servomotor vertically, provide a cable trap to prevent oily water from flowing to the motor. - Cable trap q [RS Cl Lead wire Fig. 5-4 54Prevention of Wetting Face the connector (lead outlet) downward within the angle range shown below. * Set the cover on the side of water (or oil) splash. * Incline the cover so that water (or oil) does not gather in it. © Try to keep the cable above water (or oil). * Slacken the cable even outside the cover so that water (or oil) is not led to the motor. Water (cl) pool Fig, 5-5 Seal here with a sheet packing. -- o ¢ je | o o || 4 m ¢ [| Sensor Motor p 55If the connector (ead outlet) cannot be fitted downward by any means, slacken the cable so that water (or oil) is not led to the motor. ¢ ¢ yee * o eo oe es >) Oo oO ‘Slack ic) O o Fig. 5-7 Keep the oil level in the gear box below the oil seal lip. Provide a vent to the gear box so that the pressure in the box does not rise. Shaft diameter of shaft Oillevel Oil seal ip Gear go Motor 1 _— Fig. 5-8 5-6Connection to Opposite Machine © Center the motor to the opposite machine accurately as shown in Fig. 5-9. Note that slight misalignment will result in damaging the output shaft when a rigid coupling is used. © When fitting a coupling to the motor, fit it in the center groove of the shaft so as not to shock the motor. Also, the motor has a built-in optical encoder, so do not shock the motor as well from this point. Measure the circumference at four points, and the difference between the maximum size and the minimum size shall be less than 3/100 mm (turning the coupling together). Measure the circumference at four points, and the difference between the maximum size and the minimum size shall be less than 3/100 mm (turning the coupling together). Fig.5-9 Centering © When driving the motor with belt, make sure that the shaft-converted value of the belt tension does not exceed the allowable values shown in Table 5-1 57@® Allowable Load of Bearing ‘The loads to be applied to the servomotor are as shown in Table 5-1. Note: Do not apply excessive thrust loads or radial loads to the motor. These thrust loads and radial ones are the allowable ones to be applied indi shaft, Table 5-1 V Series Allowable Radial Loads and Thrust Loads ‘When assembling During operation Motor model | Radial load, ‘Thrust load, ke Radial load, [Thrust load, Fakg. Fdirection | Fy dizeotion Fuk. ke v4 10 10 10 8 2 V5 15 20 15 10 3 V7 25 50 20 20 3 vs 50 50 20 35 7 The loads during operation were set taking into account the bearing life obtained from motor speed and load and the shaft strength. 2/30 Fig. 5-10 Radial Loading Point Disconnection of Cable ® @ Use care that cables are not stressed nor damaged. ‘When the motor and cables are moved with cable bearer, determine the bending radius of each cable taking into account the necessary flexure life and type of cable. Also, we recommend you to structure moving section cables so as to be easily replaced periodically. 5-86. OPERATION (1) Operation Sequence Power ON 200 mS or more! Control! power i ‘supply ON Start ready (External switch) Main circuit power supply 7 —___— ON OFF y Start ready ‘complete output (SRDY) Fita surge killer to the electromagnetic contactor relay {equivalnt to GF-50500 or Okaya Electic Industries Co, Lic) Suen snr ole system Emergency] | apter Motor can ge au es = ct onl3l Been Yetou! | Es ons Holding brake ‘s L Paes ie one vi ome Controller Nt ‘Ns * The dotted line denotes an option. Note : When SG of the control circuit is wired to FG, add an insulation transformer between the AC power supply and the power unit. Fig. 6-1 1Stop| (1). Stop by inputting emergency stop signal and recovery Start ready ON (External switch) Emergency stop (Extemal switch) Main circuit power supply Start ready complete output (SRDY) Servo ON Input (SON) Motor excitation —q (Note 1) The contact opens. ON ON ‘ON (Note 1) Release "Emergency Stop" signal before inputting "Start Ready" signal, (Note 2) The motor will coast if "Emergency Stop" signal is input during a high speed rotation. Also, note that the vertical axis will fall freely without its counterbalance. 62(2) Stop due to internal error and recovery stat acy ON A Extemal swten) | Emergency stop The (External-switch) contact | ow: | (Note 1) Main circuit | power supply ‘System error Thecontactopens. No signal is Alarm output No signal is ()¢\ signals are being output. being output (ALM) being output. (Note 2) Start ready ‘complete output (SRDY) Servo ON Input (SON) Motor excitation (Note 1) In case of internal error, inputting "Emergency Stop” signal has no effect. But, be sure to remove the error before inputting "Start Ready" signal. (Note 2) Refer to the Alarm Reset Sequence. 63Alarm Reset ‘Alarm reset (RST) ‘Alarm output (ALM) Start ready complete output (sRDY) (Note 1) 40 ms or more ; OFF ON No signal isch Signals are being output. being output ON OFF alarm output that no alarm has occurred. (Note 2) "Alarm Reset" signal is input. So, be sure to turn off the "Alarm Reset" after 40ms passes. “--- Display/alarm output clear For the upper controller, do not turn off the reset input until making sure by watching the Unless causes of alarm are removed, "Alarm Output” signal will not be cleared even ifHolding Brake Exciting Timing Brake power supply Control power supply Main circuit power supply Servo ON input (SON) Command (Velocity or Position) Zero command ue Q: 13: 4: 2.10 50 ms, Brake release time x 1.5 Motor stop time x 1.2 Braking delay time x 1.5 6-5 Zero command(2) Indication LEDs] are used to display statuses of the servo amplifier and alarms. 1. Status Display Table 6-1 Status Indication Display Status explanation TED [POW] ison [The intemal power supply of 5 V has been setup LED [SON] is on. The motor is being excited. (Servo ON Status) 2. Alarm display For alarm display, refer to the paragraph of troubleshooting in the section of "Maintenance." Fig, 6-2 66(3) Adjustment Offset Adjustment of Velocity Command (Velocity Control Type) When the motor rotates slowly even though the velocity command input is reduced to OV by offsetting the internal circuit, adjust the motor as follows: 1. Make sure that the velocity command voltage is reduced to OV while the servo is on. 2. Call the screen mode 1-4 V zero (zero adjustment) through the remote operator and make the adjustment using the 67(4) Gain Setting Mode * Selection of Gain Setting Method ‘To set three gains of Position Loop Gain (Kp), Velocity Loop Proportional Gain (Kvp) and Velocity Loop Integration Time Constant (Tvi), there are two methods: Direct Setting with Remote Operator and Setting by selecting preset gain combinations with rotary switch on the body. Make the above selection setting the bit 7 of the SSW1 on page 10 of the screen mode 0 to “1”. The table below shows relations between the select switch (SW) and actual gains. Table 6-2 Relationship between Selector Switch and Operation Gain (Kp, Kvp, and Tvi) 1: Set points such as Kp=0, Kvp=0 and Tvi=0 were set in the screen mode 5 (gain setting mode) of the remote operator. Select wich Change in ‘Actual gains (tobe disp Say | osinseing | Attesine be dily | tmodeo. | Senotaning Sswi | switch (RSW) ofremeae operate | support function | 5 bit7 Kp Kyp | Tui 0 #1 “tL +1 Kp:0 | Kvp:0 | Tvi:0 | i Kpil | Kyp:t | Tvl 6 0 impossible | Impossibie | F Kp:F | Kyp:F | Tick | 2 2 #2, “4 1 Independent |_Kp | Kv | Tw | Possible Possible "2: Kp, Kvp and Tvi were set in the screen mode 0 (setting mode) of the remote operator. *3: Parameters other than Kp, Kvp and Tvi can be changed. 84: Results of servo tuning are automatically set to parameter values to be set in the screen mode 0.Setting of Gain with Rotary Switch ‘The gain setting procedures with the gain setting switch (RSW) afe as follows: 1, Make sure that the power unit or the servo has been turned off. 2. Make sure the bit 7 of the select switch (SSW1) on page 10 of the screen mode 0 is, “or. 3. Reset the gain with the gain setting switch (RSW). For the scale allocation of the gain setting switch (RSW), refer to the sections of "Remote Operator” and "Explanation of Parameters." Setting of Gain with Remote Operator The gain setting mode can be called by setting the bit 7 of the select switch 1 (SWW1) on page 10 of the screen mode 0 to “1”, For the gain setting method with remote operator, refer to the sections of "Remote Operator" and "Explanation of Parameters." 697. REMOTE OPERATOR e Outline of Remote Operator (Option) The following figure shows the remote operator. OO SANYG DENKT | | Ld] hae ent panel i (16 characters x2 lines) err |Z Brightness control knob eniaaiey) i-— Operation keys Jee) Mes @ejfe) IE & SSS] ———— > erie Connectorto | amplifier I! Check pins Fig. 7-1 Remote OperatorTable 7-1 Remote Operator Item Specifications Power supply Supplied from the servo amplifier Connection method [Connector connection using an exclusive cable (cable length: 2 m) Ambient temperature | Operating status (0°C_ to 450°C) [Storage status (-20°C_ 10 +70°C) Working atmosphere _| Free from oil mist, corrosive gas and dust Note: Handle the remote operator carefully because its liquid crystal panel may be damaged if it is dropped. * Function Table Table 7-2 Functions of Remote Operator Mode | Screen No. Function Setting 0 Directly enters user parameters by key-in operations. mode 1 Selects user parameters according to the sereen display. Monitor 2 Displays various monitors on the screen, mode /* Status monitor '* Input monitor /* Output monitor * Velocity commmand Je Velocity ‘© Current command + Positional deviation counter value ‘Alarm trace 3 Displays data of both the current alarm and the last 7 alarms. mode Test mode 4 Permits JOG operation and servo tuning. Gain setting 3 To set gains (Kp, Kvp and Tvi) to be selected withthe rotary switch on the mode front of the amplifier. Table 7-3 Functions of Remote Operator Check Pins ‘Name Contents YVCMD _ [For monitoring of the command input voltage (inputs through the 14 Pin of the CN1). MI__ | For monitoring of the same output as the speed monitor output from the amplifier. M2_ | For monitoring of the same output as the torque monitor output from the amplifier. 'SG__| Signal ground. (Common to amplifier SG) DMI__[Notused DM2___[Notused. Basic Operating Procedure Power ON a ‘Communication status Initial screen [Mode selection [screen @ Contro! CPU method [Remote Operator Vert i> ‘Motor code AMP capacity 1 « (EeeeeH) ~ (Fa) - @ - Ea * Push [MODE] Ki * Mode Select Push [0] to [5] Key Monitor Pas Test [Gain sexing] oa) = ae) [ease] [eee ‘Selecied screen display Fig. 7-2. Basic Operation of Remote Operator disappears. For a restart, press the 13 Note: However, if a no-operation status continues for about 3 minutes, the liquid crystal displaye Parameter Setting Mode (Screen Mode 0) This mode allows value setting by direct input from the keyboard. *Para. Set [# |_[Seeen eae [Hetea|[Redeeenanee ‘Abbreviated parameter name Set value data Table 7-4 Parameters of Screen Mode 0 PageNo. | Abbreviation Name Setting range ) 0 Kp Position loop gain 110255 1 Kit Feed forward gain O10 100 2 Kvp Velocity loop proportional gain 10 3000 3 Ti ‘Velocity oop integration time constant 210 1000 4 INP Positioning end signal width 1t0 9999) | 5 OVF Deviation over value 11032767 7 ENGR. [Quiput pulse frequency dividing ratio Vi to 18192 8 LTG Low velocity 10 to 9999 9 PMOD [Command pulse ain form om | 10 | svi [set wish a 2 VLPF___| Velocity command LPF 110 500 1B ILPE [Curent command LPF 110 500 4 Tace | Velocity command 010250 acceleration/deceleation time 15 Tpem [Position command 010 100 acceleration/deceeration time constant 16 Seal Speed scale 900 t0 6666 1A(Setting practice) To set the velocity loop proportional gain to 100. Step 1 ‘The cursor flickers. Step 2 he c to the position corresponding to the desired number of input digits Step 3 Continuously enter 100 by| Step 4 The set value is stored in nonvolatile memory by operates with the set value. and the remote operator After completion of the setting, the following is displayed. Completed 2) Kyp= 100 Ifa value out of the setting range is to be stored in memory, the following is displayed and no store operation is performed. Invalid 2 | Anexample where 3200 Hz is Kyp= 3200 to be stored in memory ‘The above indication appears indicating that the storage is invalid. Therefore, repeat settings starting from the above Step 2. Step 5 Press (MODE) to return to the initial screen. To set the next page, start with step 1. NOTE: When the select switch (SW) on the front of the amplifier has been set to the upper, it is not possible to set the parameters (Kp, Kvp and Tvi) for Page Nos. 0, 2 and 3 with the remote operator. Parameters to be set at the time are values to be set with the gain setting switch (RSW) on the front of the amplifier. (Refer to the explanation of the Gain Setting Mode (Screen Mode 5).) 1-5« Parameter Select Mode (Screen Mode 1) This mode is for selecting parameters according to screen display. “Para, eeeees|[Reeeeeavae “Abbreviated Contents to be paramter name selected Table 7-5 Parameters of Screen Mode 1 Page No, ‘Abbreviation Name Selecting range 0 TYPE [Control mode 3 ranges ) L ENKD [acoder type range 2 ENPL [Encoder pulse number range 3 MOT. Motor ype Veseries 4 Veero__| Zero adjustment =127 19 4127 (Setting practice) To change the amplifier control method from "Position" to "Velocity." Step 1 Select screen mode 1. Step 2 Select page “0” using the using the >) an keys before choosing the “Velocity” “Para. Select, ° TYPE: Velocity Step 3 Press the (WR) key, and the message will change as follows: - * Completed 0 | TYPE : Velocity Step 4 Press the ey, and the initial screen will appear on the panel. To select the next page, repeat the procedures from Step 2. 16NOTE: « Set Bit 7 (SPC bit) of SSW2 (Mode 0-11) to 1 first, but Mode 1-0 and 3 cannot be changed. Even after a setting is changed, turn off the power, but the change will not become valid. © Pages 1 and 2 are for monitoring present set points and not for resetting. « Afier making zero adjustment under the screen mode 1-4 (zero adjustment) using and keys, be sure to press the © Monitor Mode (Screen Mode 2) ‘Monitor F | {Seren page No] eeveaae| (HoH E RED | | ~ _— wnrane | [Pa Abbreviated Table 7-6 Screen Mode 2 | Page No.[ Abbreviation Contents | 0 STATUS [Indicates the internal status of the amplifier. Power OFF(Main circuit power supply OFF), servo ready(Start ready complete), | servo ON(Motor excitation), alarm(Alarm) INPUT | Indicates the input status of CN1 in "1" or "0", bt 7 6 5 4 3 2 1 0 rst | son Jcnr3] cee | o | o | 0 | 0 1" indicates input active status (The photocoupler is on.) 2 OUTPUT _ [Indicates the output status of CN1 in "1" or "0". bt 7 6 5 4 3 2 1 0 o | o | o | o | © Jsrpy} tro | au “1” indicates output active status (The photocoupler is on.) VEMD __ [Indicates the velocity command. [min''] VEBK _ [Indicates the velocity feedback. (min) ICMD __ | Indicates the current command. [PAR x 100%) Pos.E [Indicates the position deviation counter value. [pulse] (Monitoring method) Select a page to be monitored by Press (MODE) to return to the initial screen. to see ite Alarm Trace Mode (Screen Mode 3) This mode permits displaying an alarm history and clearing all the alarm history. (1) Alarm trace back Alarm #] | | [Seren ase Ne] teeeaee|[eeae History | [ Abbreviated No. alarm name Table 7-7 Screen Mode 3 Page No. | History No. | Abbreviation Name 0 Now [Current alarm None | Noalarm OC | Power element error OL | Overload Ov | Overvoltage Os | Overvetocity PE | Control power supply error DE —_| Sensor error OVF | Deviation over MEME _|Memory error 1 Lastl The last alarm, Lasi2 The last alarm but one Last The last alarm but two 4 Last ‘The last alarm but three 5 Last [The last alarm but four 6 Last6 The last alarm but five 7 Last? The last alarm but six 18(Trace method) The alarm history can be seen by Press the (MODE) to return to the initial screen. (2) Allhistory clearing (Clear method) Select page 1 by Alarm 1 | This example shows that the Last Last 1 ov Lis OV Overvoltage). ) Press both{ 0 } and{<) at the same time. After completion of all history clearing (Last] to Last7), is displayed. to return to the initial 1-9Test Mode (Screen Mode 4) [#] | /{ersen pase No Table 7-8 Screen Mode 4 Page No. “Abbreviation Contents 0 JOG Performs JOG operation. 1 Tune Performs servo tuning, ‘Operations before starting the test mode’ Oo ® ® ® ® © [ Operations after completion of test: ® @ Set SSW2 bit 6 on page 11 in Screen mode 0 to " Set SSW1 bit 7 on page 10 in Screen mode 0 to "1". Nullify the command input to zero. Turn "OFF" the servo on (SON) signal. Under the test mode, execute a forced servo-on through the remote operator. Set up the main circuit power. When selecting the JOG and Tune under the test mode, turn "OFF" the ready-for-operation output. ‘After the initial screen is displayed again by the key, cause the "deviation over" alarm to occur considering that a deviation may be left on the controller side. (However, no alarm history is left.) After performing alarm clearing, put the remote operator into normal operation. ‘Supposing that a deviation may be left on the user controllet, check that the command output of the control is zero, before starting normal operation. (If the command is not zero, a sudden operation will be caused.)(JOG Operation) (J) Outline of JOG operation ‘The motor can be revolved forward or backward with the revolution speed set by the remote operator. (2) Precautions ® @ } Regardless of the control mode, JOG operation is performed in the velocity contro! mode. Regarding the motor revolution, forward revolution is performed by pressing the key ("Fwd Running" is displayed when the motor revolves counterclockwis from the load side) and backward revolution is performed by pressing the (“Rvs Running" is displayed when the motor revolves clockwise). Secure an enough motor operating range. In particular, when the load inertia or the set revolution speed is large, operate the motor in consideration of the deceleration time. During JOG operation, current limitation is automatically performed at 120%. Accordingly, when the load inertia or load torque is large, the response speed is reduced. If slow up/down is necessary for the motor speed, set the acceleration/deceleration time by page 14 of special parameters in Screen mode 0. As a position loop deviation may sometimes be left by JOG operation, perform "deviation cleat" before retuming to normal operation. (3) Operating procedure for JOG operation Set bit 6 of the SSW2 to "I", Set bit 7 of the SSW1 to "1 Return to the mode select screen and choose screen mode 4. Til[ie st screen ‘Sot page Oby "Test 0 JOG set sereen joo st [####] min ~ JOG ready screen Test 9 T Joo Ray [## ee . Flickers, “Move the cursor tothe position corresponding tothe number of input digits by or Enter the motor speed for operation by CO.) to (2). Press ‘The servo ready signal is tured off and the servo is turmed on. Velocity change Continue to @® : Ser OFF Continue to press jr @ ' - on 5 “Test 0 | eer enceey | TTest o| JOG Fwd —_ Running Gnalarm.at0G | JOG Rvs — Running rors displayed. Release Release Fig. 7-3 Operating Procedure for JOG Operation On the ready sereen, press 0 )to retum it to the set screen and then return it to the initial screen When the initial screen is displayed again, the alarm “deviation over" occurs. When JOG operation is not workable such as when the main circuit power is being interrupted, when an alarm is being issued or when the select switch (SW) on the front panel of the amplifier is not being tured downward, the following indication appears on the display. "Test JOG Not Ready When JOG operation is enabled, the JOG set screen appears. 7-12(Servo tuning function) Qo Q) @) 4 Outline of servo tuning function This servo tuning function operates the motor through the remote operator and estimates load inertia from its operating status. With this, proper parameters are automatically set The 4 parameters of position loop gain (Kp), velocity loop gain (Kvp), velocity loop integration time constant (Tvi) and current command LPF (ILPF) are set by this function Unless bit 7 of the select switch 1 (SSW1) is set to "1", servo tuning is not workable and be careful about this point. Precautions on working condition and load condition When this servo tuning function is executed, forward/backward revolution is performed. Accordingly, secure two turn or more for each of forward and backward revolutions as the motor operating range. Use this function only when safety is secured in a vibrating condition, without giving damage to the machine. In the following cases, proper parameters may not be set by the servo tuning function or a tuning error may occur ("Tune Error" is displayed). If.a tuning error has occurred, check the setup parameters for an error. © The load inertia is much larger than the allowable load inertia. ‘+ The variation in load inertia or load torque is large. © The backlash of ball screws and gears is large. © The machine rigidity including couplings is low, causing machine resonance. ‘+ While the servo tuning function is executed, the remote operator is dismounted from the amplifier proper. (Remote operator power OFF) * While the servo tuning function is executed, the main circuit power supply is cut off or an alarm occurs. Servo tuning operation @® As the rigidity to be tuned, select one of Low, Middle and High according to machine rigidity. @ _ When servo tuning is executed, forward/backward revolution is performed for about 0.5 sec with a torque command (equivalent to the rated torque at the peak) of an about 60 Hz sine waveform. As the motor operating range at this time, secure two turn or more as a standard though it depends on the load condition. ® When servo tuning is normally terminated, proper parameters are automatically set from the estimated load inertia and stored in nonvolatile memory. @® After execution of this servo tuning, a deviation of the position loop may be left. For this reason, clear the deviation before returning to normal operation. Servo tuning procedure © Set bit 6 of the SSW2to"1."_ Set bit 7 of the SSW] to "I". © Return to the mode select screen and choose screen mode 4. 113screen Set page by Selet the rigidity fr tuning by 1 se PRR RE (High, Middle or Low) ‘The servo ready signal i turned off and the servo is tuned on Tune ready soreen “Test Tune Rdy Y=3, 1 @: servo OFF Execution 5 3 @ Test 1 Tune Running =] During tuning t Flickers | compieon | enor Test | Srptein, | *Test 1] the baie Tune Completed thebucer | Tune Error sounds tke sounds ike shor bleep, bleep @®: sewooFF onDaring servo tuning, Fig. 7-4 Servo Tuning Procedure On the ready sereen, press to retum it to the set screen and then return it to the initial screen by (MODE) . When the initial screen is displayed again, the alarm "deviation over" occurs. ‘The following message is displayed if the servo tuning has failed due to the main circuit power failure, alarm occurrence, bit 7 of the SSW1 not set to "1", or others. Test Tum Not Ready ‘When servo tuning is enabled, the Tune set screen appears. 7-14e Gain Setting Mode (Screen Mode 5) *Gain Set = Setting data —{ Gain setting switch (RSW) value] 0 to F Parameter type ILPE, Kvp, Tvi Under this gain setting mode, parameters (3 types of ILPF, Kvp and Tvi) corresponding to the settings of the rotary switch (gain setting switch) located on the front panel of the amplifier can be changed to optional values. Relations between the gain setting switch and parameters to be set are shown in the table below: Table 7-9 Gain Setting Switch and Gain Set Points (Values in () are set at the time of shipment.) Gain Setting Switch Kp Kyp Ti 0 Kp:0 GO |Kyp:0 (20) | Tvi:0 60 1 Kp:1 00) [Kyp:1_ (20) | Tvi:1 GO) 2 Kp:2 @0)_[Kvp:2_( 35) | Tvi:2 50) 3 Kp:3 0) |Kvp:3_ (35) | Ti:3 2D 4 Kp:4 30 [Kvp:4 (50) | Tvi:4 60) 3 Kp:5 G0) |Kyp:5 (50) [ Tvi:5 @0) 6 Kp:6 (30) |Kvp:6 ( 70) | Tviz6 60) 7 Kp:7 G0) |Kvp:7_( 70 | Tvi:7 2) 8 Kp:8 45) [Kvp:8 (100) | THi:8 60) 9 Kp:9 (45) _[Kvp:9 (100) | Tvi:9 20) A Kp: A (45)_|Kvp:A (140) | Ti: AGO) B Kp:B 45) _|Kvp:B (140) | Ti: BO) c Kp:€ (60) _[Kvp:€ (200) | vi: C60) D Kp:D (60) _[Kvp:D_(200) | Tvi:D@0) E Kp:E (60) [Kyp:E (280) | Ti: B60) F Kp:F (60) [Kvp:F (280) | Tvi:F 20)Example) Make settings of Kp:1 = SOrady, Kvp:1 = 140, and Tvi:1 = 30mSec under the gain setting mode, tun the gain setting switch (RSW) t Now, if the gain setting by use of the rotary switch (Refer to Section 6-9) has been selected, SOrad/s will be preset for the Kp (positional loop gain), 140 will be preset for the Kvp (proportional gain) and 30ms will be preset for the Tvi (integral time constant) NOTE: | Before selecting the gain setting mode,|set Bit 7 of SSW2 (Mode 0-11) to "1." (Setting practice) For example, To set Tvi : 1 to 50 msec. Step 1 Set Bit 7 of SSW2 to "1." ‘The mode select screen will appear, then select Screen Mode 5 Step 2 Gain Set av{li): 0-[ The cursor Micke, Step3 Move the cursor to the desired value of the gain set <<) key and select "1" by pressing the #[H] msec “The eusor lickers. Step4 Mo 0 the digit where the setting data are input by pressing the key. Step 5 Continuously enter "50" by 0} to(_9) .Step 6 Press the (WR) key to store the data in the nonvolatile memory. After the setting ends, the following message will appear: Completed Twi -[i]= 50m see 2 ‘The cursor flickers, When any value outside the setting range is going to be stored, the following ‘message will appear and the value will not be stored: ‘An example in which 5300 m Sec ito be stored in memory. Step 7 Press the key, and the initial screen will appear. To set the next data, repeat the procedures from Step 2.8. EXPLANATION OF PARAMETERS (1) Position Control Type ¢ Parameter Arrangement Drawing “ON @pow e808, ON , eee ne + wos fount | ane snd) av TN + sorinn 206 | | woy uaa seal” [send SOON GOON GOON Fig. 8-1 Block Diagram of Position Control Typee Parameter Summary Table Table 8-1 Screen Mode O (key-in setting) Senge Rage] Abbrevia: Name veto | unit | S2tiME Rens shipment 0 | kp [Peston oop ann 30] nae | 10255 1 | Kit fest orn sin | % | ovs00 2 | Kop Velo top prepoions ein zo} = | 10%03c00 3} Tw |Vetosiy ney negation sine 20] ms | 2101000 «| xe Posonin nd sin! with 22 | pusetsy | 1109999 5 | ove |peviaion over vaue 128 | 1056 pus | 110 32767 6 | eGER feltone esr rio a |= | snoo00%0 sesh 32 7 [vcr Jouipu ps dvsing ato mu] = | seis 9 | rmop [command pus rain tom — | ooononen | wt | o,t 10 | sswi|setctenich coooo000 } we | ont | ssw |setstsnien2 coneo000 | ve | ont 13. | tupe |caent command Le so] me | 110500 15 | tem | psn command 0} x1ons } 010100 | 0. 1000m trclerondecseraton tine contr Table 8-2 Screen Mode I (menu entry setting) Ine |_ aon Name wane) | rane Reo 0 TYPE | Control mode Position Branges | Set values become 1 | ENKD [Encoder type Inc.& | trange | elec ony ae te 2 | ENPL encoder pulse name vooo ee | ange 3 | mor _| Motor ispe ssss_|_vacies $888: This value varies with the specification at the time of shipment from the factory. 82° Parameters List Table 8-3-1 Screen Mode 0 (key-in setting) i Settings i Page | Abbrevi- Name and Explanation before | unit | S&F | Remarks No. | ation range shipment 0 | Kp [Position toop gain 30 | rads | 110255 | When the bit? Proportional gain of the position controller, of the SSWI is being set to 0, revisions through the remote operator are not workable. Kit [Feed forward gain 0 % | 01 100 ‘© Feed forward gain ofthe position loop. ‘© When this parameter is set to 100%, the number of waiting pulses becomes 0 at constant-speed operation. ‘© The response of the position loop can be improved. However, ifthe value is increased too much, vibration may be caused O81 x kif dt OL Position loop |* gainkP_|* Position| ET velocity ‘command command Position feedback 0 2 | Kyp_ | Velocity loop proportional gain 70 = | 1010 3000 | When the bit Proportional gain ofthe velocity controller ofthe SsWI (proportional integration contro) a being se to through the remote operator are not workable. 83Table 8-3-2 Screen Mode 0 (key-in setting) Settings Page | Abbrevi- ‘ Setting nee | Ae "Name and Explanation before | uni | Soyget_ | Remake shipment 3 | Tei _ | Velocity oop integration ime constant 20 | mS | 2101000 [When the bit Integration time constant of the velocity of the SSW1 controler (proportional integration is being set to controle). 0, revisions through the Velocity Current remote deviation 1 command ‘operator are Kup (1+ &t)} ——* not workable. Wi % | INP | Positioning end signal (in-position) width 32 | pulse | 1109999 * Set the number of waiting pulses of the @ deviation counter that outputs the positioning end signal + ‘The standard setting is the fourfold ofthe encoder pulses regardless ofthe electronic gear function, encoder frequency dividing ratio, (Example) ‘When the signal pulse is set to 32 pulses by using a 1000-pulse encoder and comes in the following range from the goal position, the deviation zero output signal will be turned on. 1 32x “jogo na 360" = 2.88" 5 | OVE | Deviation over value 128 | 256 | 11032767 © When the deviation counter exceeds the pulse setting range, a deviation over alarm occurs. B4Table 8-3-3 Screen Mode 0 (key-in setting) Settings Bape Abbrev Name and Explanation veto | Unit | SE | Remarks o. | ation shipment Be © | EGER |Eteetronic gear ratio ai | — | 171000000 |The Jess than 32 |eletronic | fl N 2 gear ratio is D intended to where change N magnification Ne1t0 10000 etix ratio ofthe D: 1 t0 10000 command ube. N However, 1/10000 S qj” <32 The : =o resolution of the position ‘©The parameter becomes effective when the F/B isnot pulse pitch ofthe encoder is different from changed by . the pitch ofthe ball screw. changing the (Example) setting me ss ‘Note that the resolution for [Em pestionng L_] sl le depends on 1000P/R ‘ the encoder to uy 6mm ‘be used. fem t000Pm ate 40mm , + When only ball screw pitch changed, any other change is not required except thatthe clectronie goa ratio i st to (4/1) X (6/10) = 24/10. 7 | ENCR [Output pulse frequency dividing ratio. 1 [= | tt 18192 [Note thatthe frequency + The frequeney dividing ratio ofthe encoder quency iviing ratio inal (phase A, phase B) can be set signal (ph is ) can be s should be Frequency dividing ratio = Bier able to divide where a: 110 64,8192 the encoder Bi (when a1 0 64) pulse number. 2 (when 0t=3 to 64) 1 to 8191 (when o=8192) 85Table 8-3-4 Screen Mode 0 (key-in setting) Setings Page| Abrei Name ard Explanation vetoe | Unit | S28 | pena Yo. | ation shipment ee 9 | PMOD | Position command pulse train form 0000000¢ bit Ot ‘The minimum | + The poston command pulse train can be pulse width entered in the 3 kinds of form, namely, how on forward revolution pulse train + backward Shovel seri revolation pulse tn, code + pulse tain, for both the and 90° phase difeence two-phase pulse tet tain, and the "L? Also the edge rsefll command andthe period Girecton of revolution can be specified. Setonly 0% bits 2 and 3 in 7 6 5s 4 3 2 1 0 case of 90° pwop (0 [evi [Pv | Rv | ncP [ Per [brCi [RCD phase at _ ‘two-phase _—— pulse tran or FC DFC] Command pate npg er ——] [Poe snc 10 [itax. frequency [Min. pulse width train, [a To [e00k pues | 08 ps che 1/1 [150K pulse’ | 3.2 us direction of OL [Senin nib revolution (Lo ening mies may change.) PoP Designations ep [Pa ts de seientn Desig 0 | Comntat tie ise ine command 1 [Count at the fall time pulse type (PMI, PMO), BN [Ran deco ince] of gia 0 | Standard (See abe) | pro) oFtie 1 [Reverse command le pa, ‘Command pulse ‘Motor forward ‘Motor backward | jand of the ) Pati | PMO orm’ | revolution command | revolution command ise an Backward edge (PCP, ae NCP) will clo (saas. | | L_ become ali a 5 only when the ehition L power supply —| als _ ‘is once turned Cae + pase of tain ifo ‘A memory | i 7 failure alarm — — will be issued oy Shen v[a Inhibit arose asthe ~ ~ command pulse type (PMI, PMO). 86Table 8-3-5 Sere ‘en Mode 0 (key-in setting) sae ° ae shipment bd 2 6 5 4 3 2 1 9. external signals effective or sswi Geox 6 Toa To To TON] fing nie Here, select if you are ‘making the gain seuing ising th lary swith ori (0 [Making external signals B Making ot ping hon ive _ Sting through the remote T | orsible uring on sd seine 0 [RSW eect T | Remote operator eft { | Ti | Sowa | Select switch 2 Jooooooe tiv | 0.1 ]Reseemis A desired funtion an bese by digital and 710°0" oie. afer te Test mode has aio ss 3 2 1 0 been ssw2[spc [Test] 0 Jeni-3] cao JALOG] SER T_0 executed. — parm ouput ypes They are kept [i [0 [Code output the power is 7 |[Comprekensve ala eotact ouipad | | sures of. Alarm output logic (Only when the contact output has been selected) 0 [OFF at alarm 1 [ON at alarm Deviation clear method with motor excitation OFF (0 | Clear deviation. [Not clear deviation. Selecting CN1-3 pin selection (0 [PCON @ control) INH (Command pulse inhibited) Test mode executed [0 [Not executed 1 [Execute ‘System parameter re-writing 0 [Ineffective Effective 87Table 8-3-6 Screen mode 0 (key-in setting) ‘Settings Page | Abbrevi- Setting [Name and Explanation before | Unit Remarks No. | ation chpwent| range 13 | IPP [Curent command LPF 500 | Hz | 11500 + tis used to set the primary low-pass filter cutof frequency for curent command in the velocity loop. 15 | “Tpem | Position command acceleration/eceleration 0 | xi0ms [010 100. |The time time constant constant can ‘© It is used to set time constant in setting the be set at primary delay filter for position command intervals of pulse. 10 ms inthe ‘When the st points 0, the filter wll not be range from 0 to 1000 ms. fitted 88Table 8-4 Screen Mode | (menu entry setting) Setting Page | Abbre- Name and Explanation at | Seung Remarks delivery | "8 0 | TYPE |Controt mode Position | 3 ranges | This seting cannot be changed unless SSW? Bit +° Position cdatol, Velocity controt i ” 7 of Mode 0-11 is st t0 Display Contents a Position [Postion contol ype 7 | ENKD [Encoder type INC.E | I range | This parameter cannot be + Type of encoder tobe used ehanged. Display Contents INC.E | Wiresaving incremental 2 | ENPL | Bncoder pulse number 1000 | 1 range | This parameter cannot be + Pulse numberof encoder to be used. PR changed. Display Contens ToOOP/R | Ensoder of 1000 pulses per revolution 3 | Mor. |Mororiype 3695. | (V402) | The setting cannot be ; ange unless SSW2 Bit7 ‘© Motor to be used (in the series) vaos 6 " texanpty 404 fof Mode 0-11 is et.0"1 ‘v506 Display Contents || (es) has been selected vi20 v730 vsi0 S885: This value varies with the specification Vaso at the time of shipment from te factor 103 choices corre- sponding tothe type of the amplifier proper. 89(2) Velocity Control Type ¢ Parameter Arrangement Drawing av eos ‘uBuiven ‘| ped aren Fig. 8-2 Block Diagram of Velocity Control Type 8410« Parameter Summary Table Table 8-5 Screen Mode 0 (key-in setting) Settings i Page | Abbrevia- Name before unit | Set | Remarks No. | tion f range shipment 2 | Kyp | Velocity loop proportional gain 70 | — | 10103000 3 | Ti _ | Velocity toop integration time 20 | mS | 210 1000 constant 7 | ENCR | Output pulse frequency dividing nm} - | to weisz ratio 8 | LIG |Low velocity 50 | mia’ | 10t0.9999 10 | sswi | Select switeh 1 00000000 | bit ot 11 | ssw2 [Select switch 2 00000000 | bit ot 12 | VLPF | Velocity command LPF soo | Hz 1 t0 500 > 13 | LPF |Current command LPF 500 | He 110.500 14 | Tace | Velocity command 0} x1oms | 010250 | 010.2500 ms acceleration/deceleration time 16 | Scal__| Speed seate 3000 | mV/ | 90010 6666 1000 min“! | Table 8-6 Screen Mode 1 (menu entry setting) | Page| Abbre- Setting at | Setting fam e marks No. | _viation Name delivery | range Remark 0 | TPE |Contro!mode Velocity | 3ranges | After resetting, tur off 1 | ENKD |Bncoder type INC.E | 1eange he power to make the 2 | ENPL | Encoder pulse number 1000 PR | Irange |W Sing effective 3. | Mor. | Motor type 388s | Vseries 4 [Veer _| Zero adjustment of the speed o |r. +127 $888: This value varies with the specification at the time of shipment from the factory.« Parameters List Table 8-7-1 Screen Mode 0 (key-in setting) Settings '* The revolution speed of low-speed output is set ‘© When the revolution speed becomes below the set level, "Low velocity" (LTG) is ‘output. wage | Abbrev Name and Explanation before | Unit | SelB] Remarks ° ‘shipment | e 2 | Kup | Velocity op proportional gain 70 | — | 10103000 | When the bt? Proportional gain of the velocity controller of the SSWI (proportional integration control). is being set to 0, revisions through the remote operator are not workable, 3 | Ta _| Velocity top integration time constant 20 | mS | 2101000 [When he bic Integration time constant of the velocity of the SSWI controller (proportional integration is being set to controle) 0, revisions through the Velocity Current remote deviation 1 command ‘operator are Kyp (1 +f = dt) ——> not workable. Tyi 7 | ENCR | Output pulse fequency dividing rato wu | - [resis +The frequency dividing ratio ofthe encoder signal phase A phase B) canbe set Frequency dividing ratio= Bla where a: 11064, 8192 B: 1 (when at 164) 2 hen a=3 10 64) 110 8191 (when o=8192) 8 LTG | Low velocity 50 min | 10109999Table 8-7-2. Screen Mode 0 (key-in setting) Sang Page| Abe ane and Bain vatae | uc | S88 | Raman i = shipment} ee io | SaWi |Saccovich boooooce) ta | ats desired functions. jused to select ang 1 6 5 4 3 2 1 0 . carl aigas fet sow: canto [0 [9 To ERT 508] [icc amine one TI rte, ery re mgt un stig 5 Wag SRE Sng eons ori aa youre ips en {ete tinh ee — 0 | RSW effect 7 femme oer | | { TT] Saw? [caer boomed oe | OT [Res 1 sail itch s sd tour mee Used ncn ster Tat ata rie6 s 4 3 2 4 © ret ssw2[ spc [Test[_0Jeni-3] 0 _JALoc] ser | REV | executed. - ‘They are kept Polarity of velocity command fowenten ‘orward revolution by "+" Power is ° rd tution by "+ turned off. 1] Rowand evoion by ‘ium ouput ss oa sap (Comprehensive alarm (contact output) ‘Alarm output logic (Only when the contact output has been selected) (0 [OFF at alarm 1/ONat alarm Selecting CN1-3 pin selection (0 [PCON (P control) 1 |ZCMD (zero clamping) ‘Test mode executed (0 [Not executed 1 | Execute System parameter re-writing 0 [Ineffective | Effective 8-13Table 8-7-3 Screen mode 0 (key-in setting) Settings ‘Name and Bxplanation before | Unit shipment| 12 | VLPF | Velocity command LPF 500 Hz 1 t0 500 It is used to set the primary low-pass filter cutoff frequency for the velocity command input. Setting range Page | Abbrevi- No. | ation Remarks 13 | LPF [Curent command LPF 500 Hz 110500 ‘© Its used to set the primary low-pass filter cutoff frequency for current command in the velocity loop. 14 | Tace | Velocity command acceleration/deceleration| — 0 x10ms | 0t0250 |The time parameter can be set at intervals of| 10 ms in the range from 0 t0 2500 ms. © Tis used to set the acceleration/deceleration time for changing the velocity command voltage 10 1000 min It is used to limit the velocity command inside the servo amplifier within the ‘acceleration set by the acceleration! deceleration time even if the velocity ‘command voltage changes quickly. Velocity command voltage Internal oo velocity }\ command 41000 mint =~ o mint ) Note: © When arranging the position loop outside the servo amplifier, it may vibrate. So, set this value 10 °0." 16 | Scat [Speed scale 3000 [ mv [90010 6666 +The analog input speed command scale 1000 min can be modified. 814Table 8-8 Screen Mode I (menu entry setting) Seting Page| Abbre Name and Explanation at | Setting Remarks . ion delivery | "8° 0 | TYPE [Control mode Velocity | 3 ranges [This setng cannot be © Vetocty contol changed unless SSW2 Bit 17 of Mode 0-11 i eto Display Conteris “1 Veloity | Velocity control ype | 1 | ENKD [Encoder type INC.E | 1 range | This parameter cannot be. + Type of encoder tobe wed changed. | Display Contents INC. E | Wiresaving incremental 2 | ENPL | Bocoder pase number 1000 | + range | This parameter cannot be + Pulse numberof encoder to be used PR changed | Display. ‘Contents TOOOPIR | Ensoder oF 1000 palses per revolution 3. | MOT. | Motor type ‘$$8$__| (V402) |The setting cannot be ‘© Motor to be used (in the series) ‘vaos \} Shanged uness SSW? Bit / of Mode 0-11 i set to (Example) vaos |} 506 Display Conteris 2 remem || (vn) been selected. vo, vr30 vedo $885: This value varies with the specification 850. ) at the time of shipment rom the factory. 1103 choices corre- sponding tore type of the amplifier proper. 4 | Veero [Zero adjustment ofthe speed 0 |-276 4127(3) Torque control type e Parameter Arrangement Drawing soon WON oB2d, - ,/ON epoui uesi98, “ON. ‘sid nano TON es03no) ome jpeeauoo)* ono. orooN Pusu nbiot sory Fig. 8-2 Block Diagram for the Torque Control Type 8-16¢ Parameter Summary Tabie Table 8-7 Screen Mode 0 (key-in setting) Settings i Page | Abbrevia- Name before Unit Seting | Remarks No. | tion ‘i range shipment 7 | ENCR | Output pulse frequency dividing wl = | 1to were ratio 8 | LTG [Low velocity 50 | min | 10t0.9999 10 | sswi | Select switeh 1 0000000 | bit Ot 11 | ssw2 |select switeh 2 00000000 | bit ot 12 | VLPF | Speed command LPF 500} He - 13 | ILPF | Torque command LPF 500 | Hz 110 500 14 | Tace | Torque command acceleration 0] x1oms | 010250 | 0102500 ms and deceleration time 16 | Seal | Torque scale 3000 | mv/ | 90010 6666 rated torque Table 8-6 Screen Mode I (menu entry setting) Page | Abbre- fame Selting at | Setting ema No. | __viation Ne delivery | range Remarks 0 | T¥PE | Controt mode Torque | ranges | These parameter setting acoder type SCR range | changes will become 1] ENKD _ | Encoder typ INCE | 1 1998° | vatid only when the 2 | ENPL | Encoder pulse number 1000PR | Irange | power supply is once 3 | Mor. |Motortype S885 V series | turned off. 4 | Vzero _|Zer0 adjustment of the torque o | -1270H127 $888: This value varies with the specification at the time of shipment from the factory. S17« Parameters List Table 8-1-1 Screen Mode 0 (key-in setting) Pag | Abr Sune nd Explanation wotae | ic | S85 | ems 7 shipment| inge 7] ENGR [Oui pe apy Aigo wh Teas «Th equeneydviing ato of the rote | signal (phase A, phase B) can be set. Treen dviing a= Bl vee @: 110648192 | Be en at 0 2 (when 0=3 to 64) To siot (wien 8192) | . 8 | LG [Low velocity 50 | min? | 10109999 ) © The revolution speed of low-speed output is = «Vien eolion ped eons bet testi tow wbeiy" CTO oar 8-18Table 8-11-2 Screen Mode 0 (key-in setting) taze|atie| Nana pain woe] une | Sette | rena | aon shipment bd 10 | SW fae noee) x] 0.1 Yn desired functions. used to select wate = 2 5 3 2 1 o external signals effective or sow eon oTo [2 To To Tenis S08] fie monies TT 0 | Making external signals effective T | Forcible turning on inside 0 [RSW effect T | Remote operator effect Here, select if you are ‘making the gain setting using the rotary switch or if ‘you are inputting the gain Setting through the remote ‘operator. 11 | ssw2 Select switch 2 desired functions. 4 3 fooooo0o0] bit © This digital switch is used to set your 16s ssw2 [spc [rest] 0 [ent=3] 0 0,1 [Reset Bits 6 and 710 alter the Test mode has 21 0 been TALOG] SER [REV executed — They are kept Polarity of velocity command a ee 0 [Forward revolution by "+" te power 1 | Forward revolution by ‘Alarm output types 0 [Code output 1 | Comprehensive alarm (contact output) Alarm output logic selected) (Only when the contact output has been (0 [OFF at alarm TON at alarm Selecting CN1-3 pin selection O|PCON (Not used) 1 |ZCMC (zero clamping) Test mode executed O[ Not executed T [Execute ‘System parameter re-writing 0 [Ineffective 1 | Effective 819Table 8-11-3 Screen mode 0 (key-in setting) ‘© Ttis possible to vary the analog input torque command scale. Settings sett Fase | Abbrev Name and Explanation before | Unit Sewing | Remarks 0. | ation range shipment 12 | VLPF | Speed command LPF 500 We — [Always set + Unworkable 500. 13 | ILPF [Torque command LPP 500 Hz 110 500 ‘© This is to set the cutting-off frequency of the primary side low-pass filter against the current command inside the speed loop. 14 } Tace [Torque command acceleration and 0 | xtoms | 010250 |The deceleration time parameter can ‘© his used to set the be sotat acceleration/dceleration time for intervals of changing the velocity command vollage 10 ms in the to 1000 min“ oes. fon 10 2500 n + Its used to limit the velocity command ms inside the servo amplifier within the acceleration set by the acceleration! deceleration time even if the velocity ‘command voltage changes quickly. Torque command input Internal torque command Note: * When making a loop outside the servo amplifier, vibrations can be feared and its necessary 10 set t0"0" 16 | Seat | Torque scale 3000 | mv/ | 90010 6666 rated torque 8-20Table 8-12 Screen Mode | (menu entry setting) seine | seas ae ee Name and Explanation at | Seting Remarks delivery a 0 | TYPE |Contof mode Torque | 3 ranges | This sting cannot be + Velocity controt changed unless SSW2 Bit 7 of Mode 011i set to Display Contents a Torque] Torque contol pe T | ENKD |Bnooder ype ING.E | range [This parameter eanot be © Type of encoder to be used. changed. Display Contents INCE | Wresaving incremental 2 | ENP. | Encoder pulse number 1000 | range | This parameter eanot be © Pulse number of encoder to be used. PR jchanged. [__ Display Contents To00PIR | Enoader of 1000 pases per revolution 3 | MOT. |Moworope 5885. | (402) |The seting cannot be ‘* Motor to be used (in the series) ‘vans | changes unless SSW? Bit 7 of Mode 011i sto (Example) vvaos ||." a - 1506 Dispay Contes [aod | V sie 40W moror as (vst) been selected. ‘v720. v730 v840 $838: This value varies with the specification veo. arth me of shipment from the factor 1103 choices sponding tothe ‘ype ot the amplifier proper. 4 | Veero | Zero adjustment ofthe torque 0 |= +127 8-219. MAINTENANCE (1) Troubleshooting ‘When an alarm occurs, an alarm and alarm code will be output and the alarm pilot lamp on the front of the body will light. ‘Take into account statuses of the alarm pilot lamp and alarm code and take proper measures mentioned in the table below: Note 1: When replacing the servo amplifier, be sure to make sure that it has not been influenced by external factors. (Prevention of double damage) Note 2: "©" in the alarm pilot lamp column denotes "lighting" and "1" in the alarm code column means that the output transistor is ON. Note 3: Resetting the alarm ‘Alarms other than DE and MEME can be reset by a reset signal. The DE alarm can be reset by turning on the control power supply again. Table 9-1 Troubleshooting “olamp | Alatm code | — Corrective Alarm pilot lamp} CN pin No.| Abbre- | Alarm name| Operating Cause ‘measure or “ALM4| ALM2| ALMI} 10| 11 | 12] viation ‘stats Processing © [0] oO] 1] OC | Power The lamp lights [+ ‘The printed [+ Replace the clement only by uming | circutboard | servo error onthe controt | isdefective. | amplifier. (over- | power supply. current) The lamp lights [+ The printed | Replace the afer the main | circuit board | servo circuit power | is defective. | amplifier. supply is ted on and the "Start Ready Complete Ourput" signal is tumed on, ‘The lamp lights [+ The motor |» Replace the when the carthis motor. "servoON" | defective. signal is tumed = The power |» Replace the elementis | servo defective. amplifier. + Miswiring to |» Correct the the motor | wiring, main circuit The am + Improper | Correct the when the motor | combination | combination. starts or stops. | of motor and amplifier 9-1Table 9-2. Troubleshooting ‘Alarm code Comrective ‘Alarm pio lar PilotlamP | cNt pin No.| Abbre- | Alarm name| Operating Cause measure or ALMA] ALM2] ALMi| 10 | 11 | 12 | _viation status processing 3 O11 [0] Ob | Overtoad [The tamp lights [> The printed [+ Replace the only by turing | circuit board | servo ‘onthe control | isdefective. | amplifier. power supply. ‘The lamp lights | The motor is [+ Review the while the motor | loaded over | load. is operated the rated torque during operation. ‘The holding |» Excite the brake has not | brake to bbeen released | release it. yet. [The motor |e Improper |» Review the rotates butno | combination | combination. torque occurs. | of motor and ‘The lamp will | amplifier light after the motor operates, for a while. ‘The lamp lights |» The printed | Replace the even if the circuit board } servo motor is isdefective. | amplifier. ‘operated with load below the rated torqueTable 9-3 Troubleshooting ‘Alarm code Corrective Alarm pilot lamy pilot lamp | CN1 pin No.| Abbre- | Alarm name} Operating Cause measure or ALMA] ALM2] ALM] 10] 11 | 12| viation status processing of o Jofi}i] os Over- |The lamp lights |* The printed | Replace the velocity only by turning | circuit board | servo fon the control | isdefective. | amplifier. power supply. © The motor | Replace the encoder is | servomotor. defective. ‘The lamp lights |» The velocity [+ Correct the while the motor | command is | command to is operated, too large. the one within the specification. © Themotor [+ Replace the encoder is | servomotor. defective, Incorrect |* Correct the wiring for | wiring. motor encoder signal. The lamp lights |* The © Reset the: When the motor | overshoot is | servo wning, starts. toolarge. |. Make the start pattern slow. © Theload — | Correct the inertia is too | load inertia to| large. the one within the specification.Table 9-4 Troubleshooting ‘Alarm code Corrective ‘Alarm pilot lamp CNI pin No.| Abbre- | Alarmname| Operating Cause measure or ALMA] ALM2[aLMi| 10] 11] 12 viation status Processing Oo 1} o]o DE_ | Sensor error The lamp lights |* The motor | * Replace the. only by wring | encoderis | servomotor. onthe contro! | defective power supply. © Wiring for |» Correct the the encoder | wiring, signal is not correct or is disconnected. ‘The printed J+ Replace the circuit board | servo isdefective. | amplifier. ‘The lamp lights |» The motor | Replace the when the motor | encoderis | servomoter. rotates abit. | defective. Wiring for [+ Correct the the encoder | wiring, signal is not correct or is disconnected. 04Table 9-5 Troubleshooting “Alan code Conective Alarm pilot lame | C1 pin No.| Abbre- | Alarmname| Operating Cause measure or ALMA] ALM2[ ALM1| 10 | 11 | 12 | viation status processing oO oO 1}o]t PE Control |The lamp lights |* The input © Correct the power only by ning | supply supply supply enor [onthe control. | voltage is | voltage tthe power supply. | outside the | one within speciticaion | the ase. specification The pred | Replace the circuit boxed | servo isdefecive. | amplife. ‘The lamp lights [+ The input | Correct he while the motor | power supply isoperaing, | fluctuates | voltage tothe abnormally. | one within the speciticaton Gv | Over |The amp lights fo The primed |» Replice the voltage only by turning | cirut board | servo ontheconuol | isdefective. | amplifier power supply -The lamp lights |» The inpat | Correct the when the main. | supply oaply Circuit power | volageistoo| voltage tothe supply tuned | high, one within on the ‘The input specification, power supply waveforms distorted The lamp ighs |» The load |» Conect he while the motor | inertia istoo | Toad inertia to TBoperaing. | lage the one the within te regenerative | sPesifcation processing |» Review the Capacity S| main circuit notsufficent| power supply. PE and OV can be discriminated by referring to the record of the remote operator. 9-5Table 9-6 Troubleshooting ‘Alarm code Conectve Alarm pilot lamp | CN pin No.| Abbre- | Alarmname| — Operating Cause measure ot ALM@[ALM2[ALMi| 1011] 12] viation status processing oO oO 1] 1] 0] OVE | Deviation |The lamp lights }* Command | Stop over | wien te puise has | inputing control power | been input. | command supply is turned pulse and on inpat Deviation Clear sigoa + The printed > Replace the circuit board | servo isdefective. | amplifier Tie lamp lighs J» The deviation» Review the wile te motor | over value | deviation isoperating. | hasbeenset | over vale or 7 smaller. the position Toop sain + Theload |e Recheck he inertiais to | converted large. inertia ofthe motor shaft @ The motor | Unlock the hasbeen” | motor. locked *Inconect |e Conectthe wiring for | wiring encoder signa + The > Lower the command |” frequency. frequency is high } © | Oo | O |i] 11] 1 | Meme | Memory [The lamp lights [+ The printed |» Replace the error when the circuit board |” servo control power | is defective. | amplifier supply is turned | combination ‘motor with of motor and | the amplifier amplifier. | comet, * Command | Make some pulse ype | other setting eror 9-6 | | |Table 9-7 Troubleshooting Alarm pilot lamp ‘Alarm code CNI pin No. | Abbre- ALMA] ‘ALM2[ ALI] 10 [11 | 12 | viation Alarm name| Operating, status Cause Corrective measure or processing ° Of 0 [ifa]a| cpus CPU ertor The lamp Tights when the control power supply is turned ‘The SV power supply has dropped. ‘Check with ‘wiring around| the encoder. Replace the amplifier ‘The printed circuit board is defective, Replace the amplifier “Malfunction | of the internal circuit ‘Tum off the control power| supply, then tum iton again, + Ifthe sume again, replace| the servo amplifier. The lamp lights while the motor is operating. ThesV power supply has dropped. The printed circuit board is defective. Check the ‘wiring around} the encoder. Replace the amplifier. Replace the servo amplifier. Malfunction of the internal circuit ‘Turn off the ‘control power supply, then tum iton again, J Ifthe same ‘error occurs again, replace the servo amplifier. * CPU error is not recorded in the alarm record and alarm output undefined. Note that a CPU error sets off no alarm when the alarm output logic is set to turn on at alarm occurrence (bit 2 of the SSW2 is set to "!"). 97(2) Maintenance Since the servo amplifier does not contain consumable parts, daily simple inspections are enough for maintenance. Inspection items, times and procedures are as follows: 1. Megger test may damage the servo amplifier, and we recommend you to conduct continuity tests with tester. 2. Do not remove the detector cover from the servomotor nor disassemble the motor. 3. _ It is necessary to periodically check abrasion of the servomotor brush. Table 9-8 Inspection Procedure Check conditions Check point| Timing | Operating | Stop status | Checkitem | Check method | Corrective measure status Servo | Routinely | O Vibration | Check if vibration motor is larger than usual. | Contact our ‘company. Routinely | O Noise Check if abnormal noise occurs unlike the normal status, Oppor- © [Cleaning Check the ‘Clean the outside tunely appearance for dirt | witha cloth or by and dust blowing air.(*1) Yearly [Insulation Contact our company. resistance measurement Every three Inspect abrasion| Take out the brush | Replace the brush, ‘months ‘ofthe brush, [and measure the length Servo | Oppor- O [Cleaning Check ifdust is [Clean them by amplifier | tunely accumulated on | blowing ar. (*1) equipped pars Yearly © [Looseness of [Check ifexternal [Tighten loose serews terminals and | terminals or connectors CN1__ | connectors I and CN? ae loose. *1: Perform cleaning after making sure that air does not include oil and water. 9-810. SPECIFICATIONS (1) Servo Amplifier « Common Specification Table 10-1 Common Specification Model No._DA2 OmooooG. Doseo000 (Control function Velocity control or position control Control system PWM control Tnput power | Control power suppl 24 WDC +10%/=15%, supply (*1)__ [Main circuit power supply 140 VDC +10%/-15% (Note 1) ‘Working ambient temperature (*2) _[0°C to 55°C ‘Storage temperature =20°C to +65°C ‘Working/storage humidity ‘90%RH max. (without dew condensation) Basie specifications Environment Vibration 0.5G, Frequency range from 10 to 55 Hz for testing in each of X, and Z directions for two hours. ‘Shock 2G ‘Structure fitted with a rear face fiting type power supply on the outside. ‘Weight 400 900 ‘Velocity control range (3) 13000 Load variation (@ to 100%) 40.1% max maximum revolving speed Velocity [ Voltage variation variation | (within the specified (4) | range) specification [40.1% max /maximum revolving speed "Temperature variation (010 55°C) Performance For velocity control [40.5% max maximum revolving speed Frequency characteristics 50 Hz GL=IM) 2) Protective functions (Overcurent, vend, overapeed, power Fall, sensor eran main g circuit supply voltage drop, deviation over, memory error, control : power flue and CPU error. ‘= [apa Tnteral sas display, alam Sp [2 | Monitor | Welociy monitor ouput (| 1.0-V#10% (ar 1000min) 3 | ouput eS) [Current monitor ouput (M2) [1,0-V#20%5 (arated curent oF armature) Velocity ‘Command voltage |£3.0VDC (at 10min.’ command, Motor forward revolution with command plus command, maximum input voltage £10V) 12 KQ approx. Sequence input si ‘Servo ON, Alarm Reset, P control or Zero Clamp ‘Sequence output signal Low velocity output, Start Read Complete Output, Alarm Code Output (Alarm output) Velocity control specification Position output signal N/B192 (Nel to 8191), IZN (NeI to 68) or JIN (N=3 to 64) (Pulse frequency division) Position [Maximum Input command pulse frequen; ‘600 K pulselsecond Tnput pulse form Forward + backward revolution command pulse or Code + pulse train command, Tapa output signal Electronic gear [NID (N=1 to 10000, D=I to 10000) but 1/10000_ SN/D<32. ‘Sequence input signals ‘Servo ON, Alarm Reset, P Control or Command pulse inhibit, Deviation Clear. ‘Sequence output signals Deviation Zero Output, Start Ready Complete Output, Alarm Code Output Position contral specification Position output signal (Pulse frequency division) IN/B192 (N=I to 8191), 1/N (NaI to 64) or IN (N=3 to 64) Note 1: Incase of DA2EO20DV17 LIC, the voltage is 50 VDC +10%/~15%. 10-1“1: #2: 3: 4: Velocity variation = *5: ‘Arrange so that the control power supply voltage does never rise over 24 VDC +10% (26.4 V). ‘The main circuit power supply voltage is 50 VDC+10% (55 V) for 50 VDC type or 140VDC +10% (154 V) for 140 VDC type. Be sure to arrange so that the above voltages should never be exceeded. In case of models to be stored in box, the temperature in the box should not exceed this range. ‘The lower limit revolving speed in the velocity control range is determined on the condition that the amplifier does not stop for the load (full load) equivalent to the maximum continuous torque. ‘The velocity variation (load variation) is generally defined by the following expression : Full load revolving speed ~ No-load revolving speed speed Maximum revolving speed % 100 (%) Also, the velocity variation due to variations of the input power supply voltage and of ambient temperature is defined and specified by the change of revolving speed and the maximum revolving speed ratio, Measurement can be made through the remote operator. ‘The method to calculate revolving speed (N) and load torque (T,) from each monitor (Example) ‘* Revolving speed (N):_ N= 1000 x M1 voltage (V) © Load torque (T,):T, = TR x M2 voltage (V) 10-2 ‘The servo amplifier has a built-in overload protection circuit to protect it from overload. So, the allowable flowing time of armature current is limited with the circuit protection circuit. The overload detection characteristics of the servo amplifier are as follows: 1000 1000 100 100 3 5 z a = = 2 2 3 3 © 40 ° 10 1 1 100 200 300 100 200 300 Load factor (%) Load factor (%) Overload characteristics of the Overload characteristics of the v506-OXO0ELO and down. VS11-OOGELD and up. Fig. 10-1 Overload Characteristics 10-3 ‘The acceleration time (t,) and the deceleration time (t,) of the motor under a constant load status are calculated by the following expression. But the expression ignores the viscosity torque and friction torque of the motor and is limited to speeds within the rated revolving speed. 1 yy. 2 Acceleration time: t,= Jy +1) * Go Deceleration ti g,+5)+ 2 eceleration time: t,= (y+ J.) * “Gy where t, = Acceleration time, (sec.) T, = Acceleration torque, (N * m) t, = Deceleration time, (sec.) T, = Deceleration torque, (N * m) J,,= Motor inertia, (kg * m*) T,, = Load torque, (N * m) J, = Load inertia, (kg * m’) T,, = Momentary maximum stall torque, (N * m) N, N, = Motor revolving speed, (min") No Ni ne —> Time tat re Fig. 10-2 Time Chart of Motor Revolving Speed In case of actual calculation, you are recommended to determine ta and th a bit smaller as shown below to give some allowance to the load: TT) = 08T,, To repeat operation and stop is limited with the servomotor. So, it is necessary to consider how to satisfy the conditions for both the servomotor and the servo amplifier at the same time. “Allowable Repetition Frequency for Motor ‘The frequency to repeat operation and stop depend on load conditions, operating time and other motor operating conditions. So, the frequency cannot be specified uniformly, and the method will be explained by showing a few typical examples: (1) When the motor repeats constant speed rotations and stops, ‘When the motor operates as shown in Fig, 10-3, the operable range can be expressed as follows supposing that the operating cycle is "t": Tet? tet? TATE ETS ou) Tae Load torque T= Effective torque T, = Rated torque When the cycle time (1) has already been fixed, find Ts, Tp, ta and th which satisfy the above expression. Tn case of actual calculation, you are recommended to determine the driving mode of, the system a bit smaller as shown below to give some allowance to the load: Ta © 077, | Motor shatt Lt Time torque a Motor revolving t ‘ etme speed Fig. 10-3 Time chart of Motor Shaft Torque and Revolving Speed 10-5