[REFERENCE ONLY) Panasonic ALL DIGITAL SERVO AC SERVO DRIVER DV80X|/SERIES OPERATION MANUALable of cOnteO tS jeer pRnTOREa! FERNS pee e eee eee e tee T=1 After opening tho package ee 1-2 Attaching parts Dl eee eee eee 4-3 Confirmation of the applicable motor ++ sss 05577 see 31 Caution for 342 In order to use the driver properly ‘on transpor tation/handl inet Imtallation steerer ttt S1 Caution on wiring. +7755 * eae ‘5-1-1 Wiring to tho terminal board + Boao 5-1-2 Wiring to connector CN I/F + .. 51-3 ing to connector CH SIG + + Cee ring to cohnector CH SER + + fobbcoa S14 5-2. Selection of wiring equipment ++ = * ae TANS - settee be ooce G1 Configuration of input/output circuit ++ * pRab55 6-2 input/output signal s+ ett it tt Bases 6-3 Dynamic brake poece ese o 6-4 Auto-gain tuning * seeeeeeee eee _. 65) Protective fineti aoe ae Tel Outline of parameter voto t Tt 65566 7-2 Detail of user parameter ++0e 5 tite Ana a6 7-3 Outline of systen parameter «+75 47° a RAE ‘S-1 Key operation of the front panel ++ °° °° 8-2 Operation with comuter + * ‘1 Bofore runing ++ * 92 Trial mn sss? AX Riera 10-1 Voltage adjustment of ‘the rotary encode + + * 10-2 Gain adjustmnt -*-* °° eee eee HRMERSTIREREINEHSA «++ - 4 4 5 6 6 6 T a T 8 11 12 13 14 14 19 26 27 29 2 2 AA AS oa Bwow Bee aaa Coo OMSee Bea Obie eee 1-1 After opening the + Ploaso chock the followings: (1) Right ode! No, 2 (2 Any damage during the transportation 7 If you find any danage, plea: contact to your doaler/distributor Following shows how to read the model No, and its symbol: OVBOXI0TS: LO ‘ 3 He pole [Panasonic sonic | ated Inout voltand te teeny AC SERVO _ORIVER AC Servo driver = —J Rated cutout x , 80X series ane] : Output of the applicable motor Wortage X 0.1 ee: TSO" 075 Series No, of the applicable motor ——J ~ Design order Type of the encoder e.g: 5 + 2500P/r 1-2 Attaching parts Following parts are attached to this di © QISIG conmector (1) Model : WRZOLF (made by Honda Tsushin Kogyo) @ G1 I/F conmector (1) ode! : MRSOLF (nade by Hlonda Tsushin Kogyo) @ Operation manual 3 Confirmation of the applicable motor This driver is designed to be used with Panasonic AC servo motor. table for the correct combination of the d Ploaso refer the following, of the encodor pusises matches gach othor. * and tho motor, and make sure that tho nunborSuttix Aoplicablo Hotor Modo! No, of of driver drivor| Sories | — odol No Input | Rated | Encoder No. voltage | output | pulses : wy | caw | (P70) Dvsoxo20L05| A Meaoz0L05| 200 | 0.2 | 2500 ere ceaemos\et) 1b |uexovsrcs| 200 || 0 4 |. coon pvgoxo7SLos| A meao7Tstos| 200 [0.75 | 2500 Dvgox150L85| 8B MraisoLes| 200 | 1.5 | 2500 Lovsoxzaeres| 8 | ue |mrazzoves| 200 | 22 | 2500 Dvsoxa40Les| © fMraaaoces| 200 | 4.4 | 2500 pvaoxossmes| A | MFAOSSMB5| 200 |0. 55 | 2500 Dve0x100MB5| 28 MeAiooMes| 200 | 1.0 | 2500 pvsox150mss| 8 MFATSOMBS| 2500 oveoxieomes| © | |wraigomes 2500 lovaoxssomas| c_ [MFA350MB5 2500 pvsoxsoomes| C MFASOOMB5 2500 pveoxo6srys| 8 MFAOGSFYS 2500 DVBOX110FY5| 8 MFAI10FYS 2500 DVB8OX150FY5| 8 [MFAISOFYS 2500 Dvsoxz50FY5| C FY Vaeazsorvs 2500 Dvsox360FYs| C MFAS6OFYS| 2500 DVBOX500FYS| © MFASOOFYS 2500 driver has 3 types of dimensions, each followed by suffix AB, or C. 12 “Dimensions”.Mounting bracket LED Display(6 digit) Solecting switch for Selection Display and Execution Display Yodo selection switch Date changing axitch i Shift to upper teures G) : Dote change, selection of peranotor (D: Oate change, selection of paranoter Check pin PG i Monitor of supply voltage to Totery SPM: Speed renitor signal = IM. Torque monitor signal Adjusting voluve of supply voltage to Charge lero) Fotary encoder Torwinal_ board R. S, Tt Main power supply Inout fF. t Control power supply input 8: Torminal for additional regenerative P, U,V. W-: Coneetion to motor resistor E : Ground . Comector CN S1G Connection to rotary encoder Connector CN I/F Connection to signal at customer Conector CN SER Connection to computer —i—3... Ca. ustet ont eo Oe oe ee (1) Evon aftor tho ponor is turned off, inside of tho circuit is still chorgod with high voltage for a while, When you touch the terminals of the terminal board or inside off the driver, please externally turn off the main poner and contro! power input and wait about 5 min. to see the charge lanp(HAIN) is completely off. (2) Since a high frequoney switching current runs through the servo motor and a teakay curront is rolativoly high ploaso ground togethor tho grounding terminal (E) and the motor grounding terminal (E) without fail. Also ground the machine as well. (We recomend you to ground with 1009 or less, 4 1.6 = or larger.) (3) Please keep a enough distance from the motor and the machine when you turn on the poner. () While you do not use the motor and the machine for a long time, please turn off power. inal board (5) Please put on the cover to the tor ile using the driver. Panasonic driver is designed and manufactured through the highest qual ity control however, unexpectedly higher external noise or application of high static electricity, of wrong. wire connection may cause the misoperation, Please make extra caution for the safety of your chi (6) Please use the NonFuse Breaker as per the wiring example of section 5-1-1.3-2 In odor to use the driver properly (1) Misuse of tho drivor may loads to a wrong oporation or may damago tho drivor in tho worst case, Ploase read crofully the following cautions bofore oporation. (2) Plonse keop this manual and rofer anytime you encounter the questions. © Ploase do not apply a highor voltago than tho rating to the poor input torninals (RST, r,t). Also please do not input the power to other terminals than the power input terminals, (RST.4.0) in any case, Please rofer section S-I-1 for wiring © Inout power side is capacity input type, When you turn on the power, highor charging current runs and you may see the groat voltage drop. Me recosmand you to have independent power supply for the driver, O Rofer section 5-2 for the capacity of the power supply. @ Please instal! the driver at tho anbiont temperature of Ot ~ + 50%. If the temperature exceeds this, it may causo tho mal fucntion or damage of tho driver. 8 When you perform the dielectric strength test or megger test to the external circuit, please pull out all terminals of the driver so that no test voltage may be applied to the driver. © Please do not operate the driver with overcapacity condition (such as continuous overcurrent operation). © If you use a leakage current broaker, please uso that for tho “inverter” which withstands high frequency. Caution DvBOXx Life of the driver is greatly affected by an anbient temperature, Please arrange Noasuring point Measuring point the instal ling condition so Sa oe J<— 5a that the temperature may not exceeds the pernisible ten porature range, Please check the anbient terperature 5a at the point marked ©, + Measuring point Hox, temperature : + SOU4-1 Caution on tranportation/handling 1) Ploaso handle tho drivor carefully. 1. Plooso do not apply excess force to tho front panol or tho sido board, =2 Installation [Install driver vertically and ‘open space for 2 better ventilation. 0 Uso HS size screw or bolt to mount dri not apply foree which cause bending or Rofer to section 12{Dimension} for mounting pitch, L Avoid high temperature, humidity or dusty place. - [Please install driver at a stable place, Also avoid using at resonance point continwouly ov ~ #500. 6Wir ing 5-1 Caution on wiring fe -1) Wiring to [Tefmina (1) Ploase wire por the Fig, 1, “Hiring oxample to the torminal board”, (2) Ploaso refer to the section 5-2 “Saloction of the wiring scvipnent= for tho wires and lal tes thor wiring equipment to be o = 7 nan eft sod sow qo @) Please do not make the r6- Te vorse connection of the . main power terminals(R, ST) ‘ and the motor terminals - wy». we a (A) Please do not short the 2 motor output terminal to TT or YF ° vu the ground or each other. v_| . wre w (5) Please do not connect any- om thing to the terminals P and € From nro 8. Also please note that the high voltge is applied to those terminals when the power is turned on, (6) Please note that you cannot reverse the rotating di (aa ction of the servo motor by changing 3 phase (not like = the normal induction motor), Please match the colors of the motor lead wires to that of the output terminals Acerca Fig. 1. Wiring example to the terminal board (D) Please use the pre-insulated, solderless, crimp-on terminal on connecting to the terminals of the torminal board, (8) Please securely connect the motor ground terminal (E) and the driver ground terminal (€), and round together with the ground terminal of the noise filter. (9) After the wi ing, please put on the terminal cover to the terminal board, (10) Please insert the surge absorbing circuit betwoen magnetic contactor, contact of coil of the relay or broak winding of tho motor with brakein order to avoid the mal function, (11) Ploase install the non-fuse breaker and shut off the pow oxtornal ly in onorgoncy, (12) Ploase install tho noise filter to avoid tho malfunction and to reduce RFISo1-2 Wirinn to Connector CN 175) (1) Plosse rofor tho Fig.2, “Wiring oxample to connoctor CN I/F. (2) Please proparo tho poner supply for tho control signal (0CI2-24¥) at your side (2) Ploase wake tho longth of wiring botwoon the driver and other equipnont as short as ppossiblo(wi thin 3n). (A) Ploase separate the wiring of tho powor Tino(R. ST, f,1.ULV.9.E) a8 far as possible(30a or Jongor), And avoid wiing in tho sano duct or binding together. (6) Ploaso do not apply more than OC2AV, S0mA or reverse polarity to the control output terminals (S-ROY. ALM COIN, TLC, ZSP, DRK-OFF, EXOUT?, EXOUTI, EXOUTO). This may damage the driver. (6) thon you drive the relay directly with the control output terminal, install the diode 2 the Feva’shows. If you do pot install tho diodo ot install. in_caverse direction, it dansged she de (Please do not use the poner supply of #12¥, -12V for other purpose than the analog signal ¢ ‘apood, torque, torque linit) circuit, Permissible current is 209A for both (@) Ploase use the twisted and shielded ground the housing of the shielded Fig 2 shows, (Please make the housi wire for the signal line of CH I/F. Also please re to the signal ground (GND) at the driver side as the Jing of the other equipment wire open.) 5-1-3 Wiring to (1) Please refer the Fig.3, “Wiring example to connector CH SIG". (2) Please use the twisted and shielded pair for the encoder cable. with which conductor is greater than 0.18 »! @) Maxima length of the cable is 20m If the wire length is long. we recomend you 10 use double wiring considering the) voltage drop from the SY power supply. (4) Please ground the housing of the shielded wire to one of 1, 4. oF 5 pin(OV). Please make tho reeate ect the sotor wire open. (There are sone casos when you can expect higher, resis tii hoe ne foe if you ground the housing of the shielded wire of the driver... frase ground/20 pin of CN SIG.) (6) In case of the motor with Conon plug. terminal J is comected to the motor frame, Mako this ‘open normal ly. (Please separate from the wires of the power Line(R $.T. rte U.VEN) 25 great 28 possible (ada cr greater). And avoid wiring in the sane duct or binding topether.1 coun Sereda sa" @ oo ee ga: Tetivaed ot Fa 7 Preprtiena! goeration $n ge iE comand rat Tekapo ot SGI 3 incor speed oN. wo iH erm ot Se 2 E; on za G11 rdeade 5G @ a come Fir Norm clear at 5H e Fira Mate vee. os. an Fronbit st SY open a Fig cov drive prohibition {ENS om . bit ot 5 oom % “I x drive prohibition {EMS oe Servo tony cutout + SOAK 28 sor Ud a0 7 : an Fa - a Gd a9 BI ory Iitive toned shen a cou Gd 7 Tora cmt stp, s-— Gd ) raped detection sign 4 a Cw 7 ower : wa Ti iaeaw Error code eutut sipul 2 a Gd Error cade ovtput signal 1 0 = Hs Error cote outst sig! 0 —— : Oda B co 12¥ sorer neply Zot 340 8 a : av wt nn 1 a= ~I2V porer supply Zout 330) 6 > — “1a 4 so a aE Fig 2. Wiring example to the connector CN I/F—fa i |———— nigs1so2 MQ6SLI1 oF equivalent nal oo. ae Ob... oa ie a a Oe a 7 Bee 7 Opes in ee |_comatiin rs i O oe t ee = 4 | = {ee . je Spoed command input SAUSAL Zin 10K0 or wore (CON toveue Hiait ieput COM/TAOR Zin 10K0 or more Fig 2-2 Wiring oxanple to the connector CM I/F -10-Torminal_synbol Color of wat orn <” Fig. Rogula~ tor Wiring oxanplo to the connector CM SIG 15- Wiring to Connector CN SER (1) With the personal computer, you can operate this driver as fol lows: IL Sot/change oach parameter A Monitor of the contro! status I Rofer the error condition I Autorgain tuning IL Sovo/load of the paranetor data (Please refer section 8-2 for detail.) Manufacture Mode! a Usable computer - PC-g801N : Nec PC-S80INY PC-B801NS/E (2) Please use the optional connecting cable between the driver and the computer, (rofer section 8-2 for detail) please insert the 25-pin connector of the optional vable inte “ACZ32C connector back of Flee inserter, and ineert the S-pin connector to the “GH SER’ of the driver. After the insertion, fasten the anti-wnplueging screw. (pinase insect these connsator white the p for both the driver and computer is OFF.) —12—5-2 Soloction of wiring equipmont -13- Aoplicable rotor Poror consumption | Rating of | Contact of Yire gouge - —| Non-fuse | Magnotie Contactor | of tho main Sorios Output (at rated load) | Breaker circuit + Loy (LB) 200W] 0. SkVA 5A 4a 2 = Loy (LB) 400W] 0. 9KVA 10A 4a 2 mt Loy (LB) T50W 1. 3KVA 10A 4a 2 mt MB 550W MB 1 kW] 1, 8KVA 15A 4a 3.5 mt Ls 1. SkW 2. 3kVA 20A 4a, 1b SD eB 1, SkW LB 2. 2kW 3. 4KVA 30A 3P4+2a2b 3.5 ot MB 1. BkW MB 3. SkW] 4. SKVA 40A 3P4+2a2b 5 mt 4. 4kW MB 7. OKVA GOA 3P+2a2b 5.5 om 5 kW Please use the wire gauge of 25 mi of targer for the control input,6-1 Configuro of put/foutput circuit 6-1-1 Control input a cw lS . Les j— Servo-ON ‘on sausnll_G G Proportional operation oesecul [SI] comnt ae oo fF Tero-speed cramp Control signal_| power supply: ~~ 12.2av Control node selection [af Lo Lb Ld (Ee Alara clear a) COM drive prohibition @ CH drive prohibition Lf Lf Ld oN IVF Eid 1. Please prepare the power supply (se)for the control signal at your side, (OCIZV ~ 24V, 100nA oF more) 2, Please refer tho wiring oxample of tho Fig. 2 as woll, tafeed 2. fed 3. Control output Oy J F fs fg faster . ig er ter ToS] sy “J Briver side] flor fe f {5 Sorvo-roady Sorvoraloi Positioning finish “Krtive speed Torque controlling Zero-speed detection of brake aEttot_code @ bit) Ploaso watch carefully tho polarity of tho power supply Vee for the control signal. If you connect with the re When you drive the relay directly with tho above sigenal, in parallel as the abovo Fig. shows, rosed polarity, the driver will be damaged, ploase install the diode Please limit the current into each output lower than S0nA, isSPR/SPL input and CONTL/TROR input aco used separately por the control mode as follons: © SPR/SPL_ input ‘at the speed contro! mode ‘at the torque control modo ‘at the position control mode 8 command input speed limit inputCin absolute value) I invalid © CONTL/TROR input ‘at the speed,position control mode... CCH torque timit input at the torque control modo torque conmand input 1-4 Analog signal output (monitor output) __ check pin. IMCtorque monitor signal Motors Extornal circuit | Moters ternal circuit: ae dor Both SPM output and IM output has output impedance of 10 KO. Mhon you connect. these . qutputs to the moter of external circuit, use those with high impedance in ordor to Rhinimize the error(such as multimeter, oscilloscope etc. 16Command pulse input Deviation conunter clear inpur Command pulse input prohibition Ht input Bord 2. Pulse row command, Counter cloar, Commond pulse input prohibition input Twisted pair —J These comand pulse input, deviation counter clear rani tion input will respond to both line driver interface, but_we_ recommend in order to deliver the signal secure Coution on using open collector interface (0 Wire as por tho Fig, bolow(one circuit):@ Dotach tho sido board of tho driver and turn tho snap switch(SWl) located noar concodor cable connecting connector (CNS) on the control PCB toxard + Ploase turn off the power when dotaching the sido board of the driver. + Ploase do not touch tho POB by hand. (to avoid any malfunction duo to the static oloctricity) + hon attaching the side board, please make sure that any other wires are not pinched. opr transistor at the signal goneratii sso pull-up to 12V poer supply with the resistor from the collector of the output ig side, Please prepare 12V poor supply at your side. hin 1 a). @ Ploase make wiring length a3 short as possible! 9 Ploase pote that the maximum input pulse frequency becomes 200 keps in case of ‘the opon collector interface, while that of the line drivor interface is 500 kpps. S16 Cutput ceed back cules of (ousty sincode. | Division processing ated pair ferd 1. Output pulse of the rotary encoder inside of the driver is fed into the division processing circuit, and fod out with tho Tine drive (ANZ6LS31) after tho processing [Eid 2, Ploase uso tho lino rocoiver (AK26LS32 or equivalent) for receiving the outrut pulse. Also install tho appropriate rosistor. 186-2 Input/Output signal Type Title Symbot Pin No, Contonts/funct ion Control signal powor supply Control Control signal power supply Sorvo-O input © Connoct (+) of tho control signal power supply to pin 7, and(-) to pin 27 © Please propare tho control signal power supply. Capa- city varies depending on the control output circuit composition. Please allow extra capacity. © When you connect to (-) of the control signal power supply, dynamic brake will be released and turns to Servo-ON. © When you open the connection to (-), it turns to Servo- OFF and shuts off the current to the motor and a dyna~ mic brake will be activated, and the deviation count- er will be cloarod etd 1. Whon you shift from Servo-OFF to Servo-ON, pleaso rake sure that tho motor is at stall, [Eig 2 Please turn on or off the power at Sorvo-OFF . status in order to avoid transitional trouble 3. Please allow 50 msec or nore before ontoring the comand (spsed/pulse ete.) after shifting 10 Sorvo-0H. Proportional operation comand input ry © When you connect to (-) of the control signal power supply, operation of the speed amplifier becones. Proportional operation (P operation) only. © After finishing the positioning without composing a position loop and leave for a while, positioning point may shift due to a drift of an analog signal processing circuit. You can avoid the above or roduco the drift by shift~ ing the Pl-operation of the speed amplifier to P- operation only to reduce the loop gain of the control system (Wotor will surely stop with a friction load ) Internal speed ‘cormand selection input INTSPO ® You can select the Ist. internal preset speed and the 2nd. internal preset speed, when you choose the inter- nal speed comand through paraneter. Connecting to (-), tho 2nd. speed will be selected, ® You can also sot both the Ist, and the 2nd speed through paranoter, (please refer to section 1-2, (23). (25), (26)) -—19—Typo Title Symbol | Pin Contonts/function No, ® hon you open the connection to (-). external and in- ternal speed command wil! bo soparated, and O-spoed ‘command as 2 data will be ontered instead, ‘Speed z0r0 © Thorofore, you can exclude the varying factors such as crete input | zeroro | 2 | external speed comand signal ond the offset and Control drift of the succeeding A/D converter. cnt hi in cal at fo he a an Hating meio ‘the above INTSPD. (refer section 7-2, (23)) Tera car hn mt fioig 8 ton 228 ae Sth nse ne Q Position contro! mode, Bec fat ante mt 9 free Sa ee Control node @ Posi tion(Ist. )+Speed(2nd. ) control rede solection come | 49 | 9 Position(st. )-Torqve(2nd, control moder | conbina- input @ Speed (Ist. ) Torque (2nd. ) contro! mode tion 1 When you choose one of the above combination modes and ‘open the connection to (-), the Ist. sode willl be se lected ‘© When you connect to (-) , the alarm status will be cleared and returns to the runing mode. 4 The deviation counter will be cleared at this manent, You cannot clear the following status ith Marmclear | AcuR | 43 ‘this input ingut Overheat (0H), Overload(OL), Overcurrent (OC), Encoder error(ST), Rogenarative error, Systenerror, Paranoter error, CPU error and DSP error. In order to clear these, remove the factor of the error and turn off/on the power. > In case of such as the linear drive, connect to 8 Tieit switch of COM direction (viewed from the motor shaft) and conpose the ciruit so that tho linit switch con dri nay be closed at normal running. prohibition com. | 41 | then the switch becomes open exceodine the Tisit input pe torque for COW direction will be generated, © If you do rot use a limit switch please mask this input through paraneter (refer section 7-2, (10)) oF connect to(-) at all time. © You can activate the dynamic brake with this ineut. (refer section 6-3) 20Typo Title Symbol | Pin Contonts/funetion No. Control © You can prohibit tho generation of OH torque, input om. | 26 | Composition and function is as sane as previously input.* © Tho output transistor turns on whon the power is on Sorvo-roady | S-ROY | 28 | and tho drivor is not in Sorvo-alarm status. ‘output ‘Servo-ready output is ON even after the main power is turned off while the main capacitor is charged Sorvo-atarm | ALK | 38 | 0 The output transistor turns off when the protective output funetion is activated detecting the error. Control | Finish of posi © At tho position control mode, whan the reserved pulse tioning signal ‘anount of the daviation counter becomes within the output range of the preset finish of the positioning, the con | 37 | butpur transistor tums on. © At the speed or torque control mode, this signal be- output | Arrive spoed | ‘cones as an arrive spoed signal, When the motor speed signal output arrives at the preset speed through parameter, the ‘output transistor turns’ on. Torque limitt- a © At the spoed or position control mode, the output ing signal ne 5 | transistor turns on while the torque limiting func output tion is working. 0-speed dotect @ When the motor speed becones lower than O(lox) speed signal output | 2SP 4.| set through paranoter, the output transistor turns on. - © Output signal used for controlling the external moch- Release of anical brake. Please compose the circuit so that the extornal brake | BRX-OFF | 31 | brake may bo released when the output transistor turns on, © Pleaser rofer section 1-2, (15) for the timing sequence of this signal.Type Title Symbol | Pin Contonts/tune ion Control output Alarm code output exo | 40 © Outputs tho factor of the error at alarm status, detecting tho error and while the protective function is working. (outputs in 3 bit as follows:) Content of error Noreal ‘error, PU orto: EEPROM paranetor error. Reco 1 | 0 | parameter error, Comand pulse division orror 1 | 1. [Encoder error (Si), Drive prohibi error Dverdeviation(positionina) error, 0 | 0 |overdeviation error, Overspeed : error (0S) [8 6° | 1. [Lack of voltagedLv), Overvoi tage (OV), Regenerative error (RES) T [Of overToad(Ot), Overhoar (OH), Overcurrent (OC) T_L1 [other error 0 + output transistor Ot 1: Output transistor OFF Analog signal input Speed input Tt the epeed conttol rode © External analog speed conmand input > You can set the speed command input gain(rola- ‘tion between the comand input level and tho rotor speed) and polarity of the speed command input ‘Through paraneter. (rafer section 7-2, (20), (21)) Bi at the torque control sode ‘Speed limit command input. You can limit the sevet speed in response to the external input Si fal level @ Relation botween the input signal level and the: limited speed is as sano as that of the comand voltage level at Parameter Ho. "Speed command gain” and the speed, (refer section 7-2, 20) [etd 1. Polarity of the speed linit input (+/-) jis both valid, and you can limit the speed at both OX and CON. Feed 2 ts trout becones invalid at the position ‘control modo. ——-22——Type Title 3 Contents/fundtion OH torque Vimit input “4 45 COW torque imit input 4s © You can individual ly limit the torque(current ) for OF and CON direction in responce to the input signal lev ol externally at the speed/posi tioning control mode. © You can limit the ON torque by feoding a negative voltage to CITL(pin 4), and COW torque by feeding a positive voltage to CCWTL(pin 29). © Please sce the below for tho relation between the commanded vol tage and the torque tho rated current): 300K v/s rated current 200% 100% OW command ee Ch comand 8-3 6 9M) 1. Torque limitting function for both Of and Cot is masked at factory setting through Paranoter No. Please umask this ond give the comand vol- tago to CIT. and CCWTL to use this function (eofer section 1-28) etd 2 CH/COW torque limiting func valid at the torque control mode Torque command inout 29 45 © Torque comand irput at the torque control mode © You can set the polarity of the torque command input gain( relation between the comanded input level and ‘the motor torque) and the polarity of the torque command input through paraseter. (refer section 7-2. 21 and 28) [etd This inout is comon with CO tore input (COWTL) —~23-Type Title Syrbol Pin Contonts/funetion Inalog signal Speed neni toring signal 16 7 © Outputs the volt tho motor spood, with polarity in proportion with © You can choose 2 kinds for the full scale valun of the spood monitor Signal through parazoter. (rofor section 1-2. 9) [ER2_ onnput inoadance of the spved soni tor signal is 10 k0, Pleaso pay attention to the in- put impedance of the measuring instrument and circuit. Torque noni toring signal 32 7 © Outputs the voltage with polarity in proportion tho motor speed. +: ON torque =: OF toreo © Output ratio ist 3.V/ 100 X torque Retd Output impedance of the torque noni tor signal is 10 k0, Please pay attention to tho in put inpodanece of the reassuring instrument and cireuit Pulse- tom Command pulse input a Coomand sign input SiG 2 sige 10 © Input terminal of the commanded pulse(dif ferential input) Driver side wil! receive with the lino receiver ( ANZ6LS32) © You can choose anong the following 3 ways: (eofer section 7-2, 42) © 2 phase (A and 8) input © CHP) /0ON(SIGH) pulse irout © Command pulso(PULs)/sign(SIGN) input © You can solect/set the multiplier (1, 2 4) at 2-phase input and polarity of the input comand pulse. (rofer soction 1-2, 40) 7.Typo Title | Symbol | Pin Contonts/function to, Gt | 23 | Difterontial input. and tho driver side will receive with the lino rocoivor (AN26LS32). Deviation counter clear ® You can clear tho deviation counter inside of the ireut driver with (CLH)<(CL-), and prohibit the input of tho food-bock pulse from tho comand pulse and encoder, a- | Berd —rocossary cloar signal width is ain 30 3. Control inout at posi- tioning © Differential input. and the driver side will receive control mn | 13 rode | Comand pulse ‘th the line receiver ANZ6LS32). input prohibi- : # You can prohibit the input of the comand pulso(PULS, tion input ne | 12 | SIG) with (INH) > NE), ove | 33 A-phaso output © Output pulse of the rotary encoder, taken into the OA- | 34 | driver will be fed into the division processing cir Encoder ‘cuit and fed out with the line driver (AM26LS31). pulse w+ | 35 output | B-phaso output 03 - | 36 | You can choose the logic relation of A-phase pulse against B and Z-shase pulse through parameter, oz+ | 19 | Crofer section 7-2, 14) Z-phase output a- | 2 —25-6-3 Dynamic brako DVGOX sorios havo tho built-in dani brake for onorgoncy stop. Dynamic brake will bo activated at the following cases: (1) hon the main powor is turned off (oxcopt for tho model with the dinonsion with C) (2) Sorvo-OFF (@) Mhon tho protective function is working (4) hon tho Limit switch comwcted to the OOF drive prohibition input of the conmctor is turned Open, while the rotor is rurming at CN and the motor starts decelerating, (6) thon the linit exitch commcted to the Of drive prohibition input of tho connector is turned Spon, shile the rotor is rurming at COW and the motor starts decelerating, ER 1. You can cheno hothor of not to activate the dmanic brake through ParamaterNo-(OA) (refer section 7-2. 11) Parameter No. (O28) Dynanic brake at drive Dynamic brake 0 Brake works and the sotor stops. 1 Brake does not work and the sotor nakes free-rin stop fistd 2. Dynamic brake to be used for short duration and emergency only. Frequent use of Servo-ON and OFF may danage the brake resistor for brake inside of the driver. Please avoid such application. a66-4 uning You can adjust the most appropriate gain autonatically by runing the motor to calculato the load inertia, Pleas rofer soction 8-1 and 6-2 for how to oporat Auto-gain t 6-4-1 Outline 6-4-2 Applicab This function can be only applicable le range ih filfulling the following condi tions; (Ploase note even if the condition is met, this may not be applicable depending ‘on tho load condition. In this caso, please adjust manually. refer section 10.) Applicablo conditions Applicable MFAO020L05 (MFA020L85) motor MFAO4OLDS, (MFA040L85) MFAOTSLOS (MFAOT5LB5) MFA15O0LB85 ’ Not applicable to MFA220L85 other motors MFA440L85 Load inertial To be smatter than 5 times of that of the motor and to be stable eMechanical stiffness (including coupling) to be high (no belt drive recommended) eBacklash to be small sEccentric load to be smaller Load than 1/4th of the rated torque (especially at vertical axis). eViscos load to be smaller than 1/4th ofthe rated torque eSafoty measure to be taken even if resonance occurs6-4-3 Caution a) Du No, 1 through Parameter tho auto-gain tuning, you can expect the maximan torque pre (0.6) and the CM or CCH drive prohibition input becomes invalid, (2) You may oncountor tho oscillation Ploaso pay oxtra caution to the safety. ‘thon you encounter the oscillation turn to Sorvo-OFF immediately and init gain to tho factory setting through parameter () 11 you encounter any error or malfunction during the auto-rain tuning. please turn off tho main powor or turn to Sorvo- OFF. 6-4-4. Auto-gain tuning operation Select the machine stiffness No. ‘to activate the auto-gain tuning. ighor the nunber, stiffer the tuning set) and execute poration consists of 2 revolutions at CON and 2 revolutions at CH as one cycle and repeat this cycle maxinum 5 tines. Operation accoleration increases double at every one cycle from tho 3rd cycle. There aro sone occasions when the cycle finishes before § cycles or the acceleration does not inerease depending on the load. These are not abnormal operations. [EEd vachino stiffness No, (0 These nunbor represents the stiffness of the machine. Higher the runber, stiffer the achine and you can set the gain higher. (Number ranges fron 1 to 9.) o Noreally please start with the lower mnbor and ropeat the auto-gain tuning by ‘pereasing the runbers to find the optimm range before you encounter oscillation, 12 of vibration : 6-4-5 How to operate (Q) Shift the load where no problen can be seen while rotating the motor 2 revolutions. (2) Prohibit the command, (@) Turn to Servo-OW. (A) Activate the auto-gain tuning. (refer section 8-1-4, (1D) (5) If the result sees no problem write in to EEPROM If you encounter any error, Servo-OFF and deviation counter clear during the auto-gain tuning, the driver sees this as an auto gain-tining error, Rafer section 8-1-4, (1) for more detail. oi6-5 Protoctive functions 6-5- Outline IL 0VB0X sories have various protective functions. 11 one of these functions works, the driver trips, turning the alarm output signal (ALM) OFF from ON. IL In caso of tho trip (1) T-segeent LED on the front panol flashes. You can find the factor of the error with tho error coda(refer section 8-1-4, (4)) (2) Outputs the orror code to the commector, CN I/F (EXOUT2, 1,0) in 3 (3) If you use tho porsonal computer, you can monitor at the CRT screon as explained in section 8-1-4, (4)), [Control status monitor node) or [Error statas reference node). 6-5-2 List of protective functions ror [ea fom BGT = Content Check points moasures Voltage of tho converter has |sSet the dacoleration tine long Overvoltage | 12} 1 | 0 | 1 [risen to 400 VOC or higher Or loxer tho load inertia, protection uo to tho regenorative Do not use the rezone enerey. brake continuously. Wain powor supply voltage hag'Chock if the power supply vol- dropped or instantonaous | tago is within the rating. Lack of the owor shut-off or, th phase- voltage 13] 1 | 0 | 1 | lack(river with 'C-suffix | flotd Please pay attntion if protection type only) has occured, ‘the capacity of the power : supply is enough or not, of the voltage drop upon the power on and the phase-lack, \Chock if the wires of the moto: Excoss output current from | U,V," are shorted each other o the convereter not. IKCheck if the insulation ro tance beteen the motor wires, Overcurrent | 14) 1 | 1 | 0 ULV," and the motor ground E protection is getting lower of not. l'1f the overcurrent protection works even after checking the above, shut off the power sincd there are sone malfunction. Overbeat Excess overheat at the power |tChock tho ambient terperature protection | 15] 1 | 1 | 0 |dovico in the driver ‘or the cool ing condition around the driver, “2 9-—ror | Code output odo FXOUTZEXOUT IEXOUTI Contont Check point/ he. moosuros Ovortoad Driver has boon used with fake the accol/decol. tine 16) 1 1 0 | higher current than the rat longer of lower the load Or protection ing continuously. uso the larger capacity motor pees _ lor driver, a Check the wiring of the encode Jay malfunction such as | or connection of the comector, Encoder error wire disconmection of the SIG oo 1 1 | encoder. Check the power supply vol tago protection ‘at the encoder(5 Vt 5X) (espe Malfunction of the encoder. | cially when a longer cable is The motor rotates por Positioning deviation pulse | the ‘positioning command pulse. ‘exceeds the peremisible ranga+Check the output torque m! th ‘sot through Parameter No,|2:3| torque monitoring mode if it iq (Setting of over-posi tioning saturated Positioning deviation) Set Paronoter Ho. (GiB) .“Torat limit” to the maxieun (300%). overdeviatit a 0 oO ‘Check the gain adjustment per the instruction protection If you do not 200 any problen ‘through the above, sake the accel/decel. tine longer and Tower the load to reduce the speed. Positioning devia the sane as above. counter 29] 1 | 0 | 0 |is set more than 2 overflow 34217728) protection 7 Tho excess speed con Hotor speed exceeds the speed given of not, or check limit set through paraneter. | the ratio between division and Overspeed multiplication of pulse row 26 1 | 0] 0 input frequency and comand protection pulse, \Check if the overshoot occuret ‘at the acceleration due to the mis-adjustnent of the gain Tecamnection of the built-inGheck the disconnection of ‘the Tesistor for regenerative | regenerative resistor, and tho Regenerative |’ 18] 1 | 0 | 1 [energy processing oF nis connection of the connector. error plugging of the connector. lake the docel, tine longer. Or Duration of regenerative ope loner the inortia of the load. ration for nore than 1 secs. (Check any malfunction at tho Oriv Driver trips when both Cf and switches, wires of poxer sunp! prohibition | 38| 0 | 1 | 1 | CCW drive prohibition input Chock if the start-up of the input error curs off. (river sees this | power supply for the control protection as an error.) signal (24 VOC) is slow oF rot. 8 0eError | Code output -odo FXOUTASXOUTIFXOUT Contont Chock point/ moasuros Systen error protection | 98, 0 | 1 | 0 DSP error protection | 23) 0 | 0 | 1 (PY error protection | 30, 0 | 0 | 1 Other error protection | 99] 1 | 1 | 1 Cocrand pulsq Ratio of tho division and | Sot the ratio so that the com division 27] 0 | 1 | 0 |multiplication sot through | mand pulse after multiplication error Paranoter,No[Z5] [2-6] is | becanes lover thon the max. protection rot proper (eultiplication | input frequency (500 kpps). ratio, is sot too high). ee If the data is danaged when | Set all the paranoter again EEPROM para you read from EEPROM after | and write in to EEPROM sotor error | 36| 0 | 1 | 0 | tho power on it roprosents protection EEPROM paranoter error. Recoiving : Tain solt-diagnosis func} Turn off the power and turn on parameter tion:makes the driver trip, | again If the driver still error 8.4| 0 | 1 | 0 | judging any possible error of trips showing the dispaly of protection mul function. the loft, this may represent nal function ad 1. You can ratease tho trip by {urnen the power again or entoring alarm cle hot you carrot roteasa and reset tho tip wi ine protective function work * Overcurrent protection '# Overheat protection * Overload protectioin * Eeoder error protection © Regenerative error protection + Solf-diagnosis trip (36, 84, 98 23, 30 Please turn on the power again to_reset. turning off the poxer to renove any causes and jar signal (A~CLR). Please note ‘th A-CLR signal when the fol low » FEE 2. Represented in the column of “code output” of O: Output transistor ON 1: Output transistor OFF 31 the above table aro:7 T-1 Outline of paramotor Pa rame-t-e- (1) DVB0X series havo parameters through which you can set/adjust various features and functions, ‘and you can oporate with tho oporation panel in the front of tho drivor. (2) Parameters are classified as follows; () Usor parameter which you can sot and change the data @ System paranoter which you can refer but cannot set nor change the data Each parameter consists of 4 pages, and each page is divided by max. 16. () Following is the list of parameters, For detail of ch paranetor, please rofer section 7-2. Type | Paraneter Parameter Related | Adjustable | Factory No. control sorting Page + Ho nodot4 | range at 0 $0 | Name of axis LSP 0-9 0 oti Initial status of LED LSP 0-2 1 0 $2 | Setting of contro! mode oe o- 1 0 $3. | Speed loop gain TSP | 25 ~ 3500 2 14 | Speed loop integration tine constant “|r se | 1~ 10000) ] 32 we | Es | sod aection fier parame 0 16 | Torq linit setting Tse | 0 -4000)| 300 wr 0 $1 | Torque limit inout prohibition SP O41 1 ° ‘Speed monitor gain selection eo ° 0 Invalidation of drive prohibition input | T. | 0 1 1 ° 08 inactivation at drive prohi a 0 0 Numerator of pulse output division Tse | 1- 10000 | 10000 0 Denominator of pulse output division tsp] 1 10000 | 10000 0 Logic reversal of pulse output Tsar] 0-3 0 0 Aetivation of mechanical brake Tuse| 0-100 a | Cinternal use) TseTypo | Paranotor Paronotor lated | Adjustable | Factory i otto! setting are No hodot4 | range 1 : 0. | Accol/Doceloration tine s 0 ~ 5000 ° $1 | Zoro spood : VE ptoo00c/ainy | 50 £2 [Arrive spood T. S -10000r/ain) | 1000 3 | So0od comand input Rain Es [225/150 +3 | 4 | Reversal of spood comand input Ts) a4 ° 5 | Speod command of fsot 1s | zr 127 ° Sa see eee oes ea eae £7 [tmeatidation of speod-z0r0 crane rs] oat a 1 8 | 1st speed setting 1. $ |-1000- 7000 | 0 ca £9 | 2nd speed setting “Vrs | =r000 = 1000 7 . Toraie comand ineut gain tT | a 20] 4 Reversal of torque comand input T 0 1 ° Torque comand off [| ter = 1at 7] (ot in w30) = |_| ‘ Ginternal use) ae eee nn 10 [Positioning toop ein P fio roo0c/s)| t 11. | Speed feed forward : r | o-ww | o | Range of positioning finish pe | o- 32766) | 10 Setting of over-posi tioning deviation p | 1~ e166 | 30000 a Invalidation of over-positioning deviation | P. 4 ° parame error ter Numerator of comand division multiplication 1 = 10000 } 10000 1 = 10000 | 10000 Denoainator of command division ultiplication| P Setting of comand division multiplication Pp 1-4 4 Reversal of comand logos P ° Command pulse input mode setting Pp 0-3 i (rot in uso) Gnternal use)Typo | Paramotor Paranetor No, Pao To, Note Setting of oncodor pulso S/T cat Current proportion gain Sotting of the motor pole runbors Those paranoters are preset by us doponding on the applicable rotors and tho driver models. You cannot change these paranoters Syston Current integration gain paramo- ter Overtoad level \ internal use) 1. "Standard factory setting” may differ from the described values depending on the applicable motors. FEGd 2 Factory sorting differs model by model with rogard to the servorgain related paranotors. 3, Speed conmand input gain 225... when the pulse of encoder is 2500 P/r and the rated speed is 3000 ¢/ni 150... when the pulse of encoder is 2500 P/r and the rated speed is 2000 r/min TSid 4. Each Lotter in the colunn of “Related contro! sods” stands as fol lows: T + Torque control node $ : Spoed contro! mode P : Position control mode —34-7-2 Dotail of user paramotor (1) Paramotor No, (1) = Namo of axis : (adjustable range : 0 0 Whon you use personal computer to refer or monitor the parameter setting while control ling multi-axis, you can monitor which axis the conputer is accessing, © Sotting value matches tho part of promot( [] of PROMPT AXIS CX )which appoars at the initial screen when using serial communication. 0 This setting does not affect any servo operation. (2) Paranoter No. (Of) : Initial status of LD (adjustable range: 0, 1. 2) 0 You can select the type of data displayed at 7 segment LED, anong the fol lowings’ when you turn on the power. : 00" : Displays the reserved pulse anount of positioning deveiation counter. unit [PULSE] flatg 1. Range of display is -32767 ~ + 32767. If the reserved pulse amount exceeds this range, the display saturates at tho wnper or lower limit of this range, [eid 2 Polarity display @),: generates COW torque =": generates CH torave “1° : Displays the motor speed, wit [r/ain) Polarity @) : rotates at OOH ~ + rotates at CH Dispiays the motor torque. Rerd 1. Range of display is 0 ~ + 1500 (displayed value) X 0.2 represents the actual generated torquo( in X against the rated torque) [Eg] If the displayed value is + 1500, the motor generates 300K of the rated torave at OOK, ford 2. Polarity display (@) 1 generates COM torque =: generates OM torque flatd 1. This paranoter becomes invalid when you operate with compute 2 When the polarity is @ “# will not be displayed.(3) Paramotor No, [2] + Setting of control modo . (adjustable ranga : 0 ~ 5) 0 You ean solact tho contro! sode with which you use this driver among the followings: Position (pulso ron) control mondo Spood (analog) control mondo Torque (analog) contro! modo Position (1st.)+Spood (Znd.) control mode Position (Ist.)-Torque (Znd.) control mode Speed (Ist.)-Torque (2nd) control mode 0 You ean seloct oithor the Ist. of 2nd node with the control mode selection input (C-HO0E), snhon you choose ono of tho above “3°, “A” or “5” as follows: when CODE is “HT, Ist, mode will be selected TWhon C-HODE is “L', 2nd modo wil! bo solected oid Please enter C-MODE only when the comand signal te the shifting ‘control aodo is 0, Pease enter cxalls completely since this driver has rot interlocking function of a a rrenis control node solection input (C-M0OE) (accepts the input regardless cee ire eeince of input pulse fon comand, speed/terque comand), or botrean the Tesorved pulse anount of the deviation counter. (4) Parameter No, ‘Speed loop gain (adjustable range : 25 ~ 3500) Larger the value you s¢ 0 Proportional gain of the speed amp! ‘can set, . larger the gain you o tost appropriate valuo of the speed loop depends on the lead inertia a ‘the motor model. eee reer gection 10-2 "Gain adjustrent”, for the detail how to adjusr the gain. (5) Paranotor No, (GEA) : Speed loop integration time ‘constant, (adjustable rango : 1 ~ 1000 ms) © Integration tine constant of the speed anol ifi integration is made. .. Smaller the value you sot, faster the o Please refer section 10-2 “Gain adjustnent’, for the detail how to adjust the gain. [eGd When you set this 10 the maximm(1000), integration tine constant will be infinite (ro. integration). (6) Paranoter No. [BEB] : Speed detection filter (adjsutable range: 0 ~ 4) 0 You can select the type tive constant) of the digital filter for the speed dotection. tea pel value you set, higher the tine constant you can set and the nal lor the roise the motor generates. (0 We recommend you to set 1 paraneter to “4” unless you need high speed response,(1 trvanotor No, (QB) + Torewe tini sotting (edjustable rango : 0 ~ 400%) 0 This driver is dosignod to accept maxima 300 X of tho rated torque for short duration You can limit this maximum torque whon you oxpoct any mochanical problem with the motor load. 0 Sotting value represents porcontage valuo against the rated torque(100X). Fiz] hon you set to 200:pornisible output of 200 ¥(2 tines) of the rated torque [lid Yen you sot the maximum output torque with paranoter No. [Ji6} you camot set this sotting higher than the preset valuo at the factory setting. Even if yo set highor Sotting than tho max output torque, sotting will bo adjust to the maxima auto- matical ly. (8) Parameter No. Prohibition of torque limit input (adjustable range: 0, 1) 0 You can kill tho analog torque limit input (CHTL, COWTL) by sotting this to Wetd —Yhen you set this to “0° and the torque limit input (CHTL,CCHTL) is open, torque will not be generated (9) Parameter No. + Speed monitor gain selection (adjustable range : 0, 1) 0 You can set the full scale value of the speed monitor signal (SPH). "0" : 4095 r/ain full scale “17: 16383 r/ain full scale 0 Standard setting is "0" (4095 t/ain full scale), but if you need higher value, please sot wil. (© You can refer the relation between the motor speed and the monitor vol tage as below; speed monitor vol tage appr 8.20 wv sv 16383, motor spoed{r/nin} (10) Parameter No. : Unvalidation of drive prohibition inout (adjustable range: 0, 1) © You can kill the setting this to” drive prohibition input (CHL) , CCH drive prohi tion inpur(Cow) by [Haq 1 you sot this parameter to “0° and the OH drive prohibition input (CHL) is open, ro torque to Cf will be gonorated. Sano is applied to COX, If both of CCX and CH Grive prohibition is open, driver trips due to “drive prohibition input error”. -37-(11) Paranotor No. [O'A] = Inact ation of dynanic brake at“drive (adjustable range : 0. 1) ion prohibi: 0 You can soloct the dynaric brake while CM drive prohibition ineut(CHL) or CON drive prohi- bition (COWL) is working and the motor is docelerating anong the below: : Motor stops with dynanic brake being activated, Motor stops free-run without dynamic brake being activated, (12) Paranoter No. [0.6] : Numerator of pulse output division (adjustable : 1 ~ 10000) 10 You can set the mmerator of the feed back pulse from the rotary encoder. (13)' Parameter Ho. [OC] : Denominator pulse output division (adjustable : 1 ~ 10000) © You can set the denoninator the feed back pulse from the rotary encoder. v Ea] 1. Please make the division ratio lower than 1 after reducing to 2 common denominator. Numerator Division ratio = Denon tor [eR] Pleaso do not set the ratio to the extrone(tike 1/10000), Proper ratio is 1/32 § ratio $1. fords er is designed for the motor with 2500 P/r encoder as 2 standard. Foltouing table gives you example when you need to adjust to the necessary pulse runber based on the systen: Necessary ramber of feed back pulse t/a 500 1000 1500 2000 2500 Nunorator value 500 1000 1500 2000 2500(10000) Denominator value 2500 2500 2500 2500 2500(10000) se(14) Paramotor No. [O/B] : Logic revorsal of pulse output + (adjustable range : 0 ~ 3) 0 Phaso relation of the output pulse from the rotary encoder 1 D-phase pulse is behind of A-phase at CX B-phase pulse is ahoad of A-phase at COW (0 You can reverse the phase relation botwoen the above A and O phase through this parameter by reversing the logic of S-phase, You can do the same to Z-phase, 0 Tho tablo below represents each rolation(at CH) value of A paraneter | phase [ol logic nor-reverso logic non-reverse logic reverse logie non-reverse logic non-reverse logic reverse logic re 50 phase -39-(15) Paramotor No, + Aetivation of mochanical brako (adjustable range 100) VG0X sories have tho ouput signal which controls the brake of the motor. 6) You can sot tho tino, Ts botxoen tho extarnal brake release sisal (RCOF) off (ectivation Tt brake) and tho motor curront shut-off at tho motor stall (servo-lock). Sha ratotion botwoon setting value of this paramoter and Ts is described as below: sotting valuo = Ts [ns}/ 21 If the qurrent is shut off fo the moter when the protective function is activates HEIRS foal through this paranotar becooes invalid and brake will be activated as Te = 0. 0 If the current is shut off to the sotor due to OFF signal of the SEV-OFF, or hen the pro- ane Cfinetion is activated to become an alarn status, BRCOFF simal throw ‘this para- sete earer Gavalid and brake will be activated xhon the poter spood becomes lever ‘than Jprayain or 200 ma aftor the current is shut off to the motor, You can refer tho tining chart of this as below: SRV=ON —_———_____——_ tel apr am oH 7 motor shut off current : ->1 or 200ns after motor dynanic brake stops speed [r/min] GEiq_ Please aot Te throu this paramter so,that the motor any ot Oa SULTS tho brake Pa ee esgring the Cine delay of tho relay or external brake itself.(16) Paramoter No, [OF] : (internal use) You cannot use this parameter. (11) Parameter No. [FE] : Accel /Decel. ti 0 You can set the accel /decol. time at the spood control mode, sotting (adjustable range : 0 ~ 5000) 0 Relation between the setting value and the accel/dece!. ino is described as below: Accel. time from 0 r/ain to 1000 r/min (3) Sotting valuo = or x 500 Decel. time from 1000 r/min to 0 ¢/min {s) - Bg] start-up from 0 r/min to 3000 r/min in 6 socs. 0 t/nin * 1000 r/min in 2 socs. v setting value = 2 X 500 = 1000 |. Accel/dece!. limitting function is invalid at the position control and the torque contro! mode. When you use this driver at the speed control mode and compose the positioning contro! loop externally, please do not use the accel/doce!. limiting function(set this parameter to “0") to avoid the possible oscil lation. 2 Please note that you cannot set the accel. and decel. tine separately. (18) Parameter No. [FH] : Zero speed (adjustable range : 0 ~ 10000) 0 You can sot the detecting/judging level of the zero speed detection signal output (ZSP) with the motor speed [r/ain] directly. 0 ZS will turn ON when the motor speed becomes loxer than the preset value, (19) Parameter No. GEEZ]: Arrive speed (adjustable range : 0 - 10000) 0 You can set the detecting/judging level of the arrive speed signal output(COIN) at ‘the speed or torque contro! mode with the motor speed {r/min} directly. O COIN will turn ON when the motor speed exceods the preset value, etd 1. Output" COIN" canbe used differently per the control mode per the below: ‘speed signal [At the speed, torque control mode ....arrii i ioning finish signal [At the position contro! mode posi Please note that this parameter cannot be used at the position control mode. —a41—fletd 2 Rotation botreen Z5P, COIN and “Zero speed", “Arrive spood" is described as belox: Motor spood [r/ain) Zoro speed detection level a] time t zsP COIN (20) Parameter No. [TES]: Speed coamand input gain (adjustable range : 10 ~ 2°79) 0 You can set the input gain(rolation between the necessary motor speed and the voltage of | the speed comand) of the analog speed comand (SPR). 0 Please calculate the setting value por the fol lowing formula; Setting value = 0.00003 X nunbor of pulse of the encoder{P/r] X necessary speed{*/s ' 6V input in} at fg] whore: Number of the encoder .. 2500 [P/r] Necessary speed at 6 V input...... 3000[r/min] Setting value = 0.00003 X 2500 X 3000 = 225 When you use this driver at the speed contro! mode and compose the positioning control loop external ly, positioning gain of the servo system may vary due to the setting value of this paraneter. Please watch such as oscillation, (Ql) Parameter No, Reversal of speed conmand input (adjustable range: 0, 1) 0 You can reverse the polarity of the analog speed comand signal (SPR) through this paraneter. “7 - rotates CH with the speed connand of (+) rotates CCN with the speed command of (+) (22) Parameter No. + Speed comand of fset (adjustable range = -121 ~ 127) 0 You can make the offset adjustment of the analog speed comand input system through this parameter. 0 If you make the offset adjustment with driver alone, please proceed as fol lows; BW tnput ‘actly SV to the speed comand input (SPR) (or connect SPR to the signal GHD). Sot the value so that the motor may not turn through this paramoter.(23) Paramotor No, [16] : Soloction of internal/external spoed setting (adjustable range ay 25) 01) 0 You can separate tho analog speed comand input(SPR) by setting this parameter to “1”, and the internal speed comand set through tho aftormentioned Paraneter No. [1:8] (Ist. speed setting). and No, [1°9] (2nd, spood setting) becones effective. (0 You can select the motor stop, 1st speed and 2nd speed with the zero speed cramp input (ZEROSPO), and the intemal spoed comand selection input (INTSPO). 0 Tho following chart shows tho example of Z-step speed operation when selecting the internal spoed connand: SRV-ON input) L__——___________—__ ZEROSPD input t 1 . $ INTSPD input motor speed tine Parameter Wo. : Invalidation of speed-zoro eranp (edjustable range: 0, 1) (0 You can kill the speed-zero cramp input ZERSPD) by setting this to "1". As explained in section 6-2, the speed-zero cramp input(Pin 2 of ZEROSPD CN I/F) becones effective only after opening between the (-) porarity of the contro! signal poner supply(Z7 pin of COM). Therefore if you set this parameter to “O° and make ‘the ZEROSPD input open, the driver becones speed-zero cramp status at any time, and the motor will not run Parameter No. + Ist speed setting (adjustable range : -1000 ~ 7000) 0 When the internal speed command becomes valid(refer to section of Parameter No. (16). please calculate the 1st. speed[r/ain) per the following forma; Necessary 1st. speed{+/ain] X runbor of pulse of the encoder {P/r] Sotting value = 1140 Ez] When you nant to set tho Ist. speed to 1500[r/ain] and the runber of pulse of the encoder is 25001P/r], 1500{r/min] X 25001P/+ 1140 Setting value = = 825 [Eid Polarity of the sotting value of paraneter represents that of the internal speed cormand: 1: OOF rotation =: OF rotation(26) an (28) a) 30) an a Poramotor No, [TG] : 2nd spood sorting : (adjustable range : -1000 ~ 7000) 0 You can sot tho 2nd. spoed hon tho internal spood comand bocows of fective (sano as Paranotor he. (8) Parameter No, [EA] : Torque comand input gain (adjustable range : 25 ~ 7000) (0 You can sot tho input gain(relation between the motor torque and torque comand input voltage) * ‘of the torque comand (TROR) at the torque control mode, 0 Please use the folloxing formula to calculate tho setting value: 250 Torque comand input gain{V/100%] * 3X Setting value £2z] hon you want to obtaing tho rated torque at 1.5V torque comand input, 3X 250 Setting value * 500 S 1. 51/1008) \ Paranoter Ho, [TB] : Reversal of torque comand input (adjustable range: 0,1) (0 You can reverse the polarity(direction of the motor torque generated with the comand) of the analog torque command signal (TROR) through this paraneter. “Or: Torque tonard COM will bo gonorated with (4) torque comand “17: Torque tonard CH will be generated with (+) torque comand Paranoter No, [FG] : Offset of torque command input (adjustable range: -127 ~ 127) (0 You can make the offset adjustment of the analog torque command system through this para~ moter. 0 Please make the following procedure when you adjust with the driver alone: Sot to the torave control mode, then input exactly OV to the torque comand input CTROR). (or comect TROR to signal GYD.) Sot the value through this paranoter so that the motor may not turn. Parameter No, [50] : (do not use) Paronoter No. [EE] : (do not use) Parameter No, : Cinternal use/you can not use) a3) on Gs) 36) en Paramotor No. [20] : Position loop gain : (adjustable rango : 10 ~ 1000) 0 You can sot tho positioning gain at the position control mode, Unit is [1/3]. 0 Highor the sotting valuo, highor the positioning gain to obtain higher servo stif noss (stiffnoss of rigidnwss at Sorvo-lock). etd If you set too high of this value, it may cause the oscillation, Paranator No. [Zif] : Speed feed forward (djustabla range: 0 ~ 100) (0 When you need the high speed response, you can add the speed feed forward function at the position contro! mode. (refer section 10-2, "Gain adjustment”) 0 You can set the forward volume in [X] against the comand. [eed If you sot too high of this value, it may cause the oscillation. It is: recomonded to set this value to “0” unless you need the high speed response, Parameter No, Range of positioning finish (adjustable range: 0 ~ 32166) 0 You can set the detection level for judging the finish of the positioning with the runber of pulses. 0 Driver judges the finish of the positioning whon the runber of reserved pulses of the devi- ation counter reaches within the range of preset value(t), and outputs the signal of the positioning finish(COIN)... (and the output transistor turns on. ) Paranoter No, (223): Sati of over-positioning deviation (adjustable range: 0 ~ 32765) 0 You can set the detection level for judging the overpositioning deviation with the runber of the reserved pulses of the deviation counter. 0 Setting value’ can be calculated with the following formula: ‘Judging level for the overpositioning deviation{PULSE] Setting value = 16 0 Driver trips when the the reserved pulses of the deviation counter exceeds this level. Parameter No. Inval idation of overpositioning deviation error (adjustable range: 0, 1) 0 You can mask the protective function for overpositioning deviation error with this parameter. 0 Setting this parameter to “17, you can stop detecting the overpositioning deviation error, and the driver keops operating even though the nunber of the reserved pulses of the deviation countor exceods the preset value through Parameter No, [2'3] (setting of overpositioning deviation) without tripping. ae(GA) Parameter No, [ZB] : Mmerator of comand division/multipl ication (adjustable rango: 1 ~ 10000) 0 You can set the numerator at the comand input pusle division/multiplication, (0 You can sot any rember botwoon 1 and 10000, but tho driver may not follow the extromo division of multiplication Please for tho settable range to the note of the following parasotor Ho. (35) Paramoter No. [2G] : Denominator of command jion/mul tipl ication (adjustable range: 1 ~ 10000) 0 You can set the denominator at the comand input pulse division/mul itipl ication ford = You oe any rumber but we recosmend you to choose the following range of sion/ml i 1 ‘Sotting valuo of, pumarator s ~ — $20 50 Setting value of denoainator (36) Paramoter No. [Z3f] : Setting of comand pulse multiplication (adjustable range: 1 ~ 4) 0 You can select the comand pulse multiplication when you select “2-phase pulse input mode" through aftermentioned parageter No,(2:5](comand pulse input sade selection) 0 Relation botween the setting value and the multiplication is described as fol lows: sig multiplication of 1 z 2 °F or : 4 GD Parameter No. 2 Reversal of comand pulse logic (edjustable range 1-3) (0 You can reverse the logic of 2 coamand input systems (PULS, SIGY) as fol lows: <0"... “PUST signal logic/non reverse , “SIGT signal logic/non reverse wv . 7 reverse : . oa : Jeon reverse 7 1 reverse x . 7 reverse . 7 reverse = 46-(5) Paramotor No. [29] : Command pulso input modo lection (adjustable rango 0 ~ 3) 0 You can soloct the comand input modo {roa tho followings: Z-phaso pulso input with 90° differonco(A and B-phase) OF direction command pulse and CCW direction comand pulse input Pulse-row comand input and sign input 0 Following table describe the dotail: Sotting | Input pulse | i value | mode ve (CoH comand signal Pus. “0 | 2-phase or — | pulse with "2 | 90'difference (A+ Bphase) | SIG B phase is ahead of A phaso by 90° B phase is bohind of A phaso by 90° CH pulse ron | PULS ft a + CCH pulse row | SIGN Signal sia Open collector interface v 2 psec or longer 5 psec or longer ~ e 1 sec or longer 2.5 vse or longer e 1 psec or longer 2.5 psec or longer u 1 psec or longer 2.5 psec or longer v 1 psec or longer 2.5 psec or longer v 1 psec of longer 2.5 rsec or longer (43) Parameter No, [ZA] ~ [2 F] 0 (do not use oF internal use only)7-3 Outlino of Systom Paramotor IL Systoa paramoter is sot by factory based on the various factors such as type of the driver ‘and tho applicable motor. IL You can refor thoso paramotors but cannot change the value, Follosings are brief explanation ‘of hese paranotors; (1) Paramoter No. [30] : Sotting of umber of poles of the motor 0 Manbor of poles of the motor is calculated por the below: number of poles of the motor Setting value =| 2 be | thmbor of poles of LD'sories motor is 8 thorofore setting value is 4. (2 Parameter No. [E51] : Setting of umber of encoder pulses 0 Mamber of pulses of the encoder is calculated per the below; number of pulses of the encoder [P/R] Sotting value = 250 Ge] In-case of tho encoder with 2500 P/r, setting value is 10. ) Paramoter No. 2 WW ratio 0 Inertia/torqe ratio is calculated and set per the applicable motor. (@) Parameter No. Current proportional gain 0 Proportional gain of the current minor loop is calculated and set por the applicable motor. (5) Parameter No. [FH] : Current integration gain (0 Integration gain of the current minor loop is calculated and set per the applicable motor. (©) Parameter No. : Overspeed level 0 Detection. level of overspeed is set in (r/ain] directly. 0 Standard setting is 1.2 times of the maximum speed of each motor. In case of LD series motor, waximam speed is 4000r/ain. Therefore, setting value is 4800, —48-(D Parameter Ho. [EG] : Setting of maximum output torque 0 Maximum output torque of each motor is sot in percontago(s) against the rated torque(100X). Thorofore, if the permissible maximm torque is 300K setting value is 300, Heid As explained in Paramotor to. [G75] “Torque linit setting than Parameter No. tho setting valuo is automat is set through this parameter, if you set higher value ly becomes the one which (8) Parameter No. [3%]: Overload timo constant 0 Overload time constant is calculated and set per applicable motor. Unit is 10es). (9) Parameter No. [38] : Overload level 0 Detection level of overload protection is calculated and set per applicable motor in percer- tage (X) against the rated torque (100%). Bz] When the overload detection level (Paranoter No. (ZG) is set to 115K and the over~ load constant (Parameter No. [3/7] ) is set to 1000 X 10ms = 10s, torque chara~ ctoristics against time is described as below; operating 4, tieo(s} overload characteristics cold start © Mo, [3.7]: Time constant... 1000 X 10m 0 No, [3B]: Detection level ... 115% =) motor torquelX) . (10) Paramoter No.|3 9] ~ No,[3.£] : (Internal use only) 0 You camot use, Si8 ORE tat Von: (1) OVR0X sorios have various parameters through which you can adjust, set characteristics or functions. Please use these paraneters so that you can opera: ‘condi tion. (2) Among various functions of DVBOK series are: I Moni toring functions of such as ro: motor speed and gonorated torque, ved pulses of the deviation counter (positioning deviati Display of the control input/output signals connected to the connector CH I/F. I Display of the error factors and the histrory (3) You can monitor the driver running condition, sot adjust the parameters through the fol lowing way" I Key operation and the display of the front panel or, I Porsonal conputer display 8-1 Key operation of the’ front panel and display 8-1-1 Composition of the front panel-display DOWN. key wey (____r-gii} key 50Outline of operation IB You can oporato MONITOR modo, PARAVETER: ‘SETTING modo, EEPROM WRITE-IN mode and NUTO-GAIN TRING node with key and LED of the front pane!, and you can change the node with key. Each node has Eelection display] and Exosution display| and you can charter BET] koy. Solection and exocution of oach mode can bo mado with fa} YL FX keys. I You can change the data at tho column whore tho docimal point is flashing Without flashing, you cannot chango the data with fal EW] fa keys. E Switch | Validity condition Function Select the [Selection wooe] | display) Mode selection "Soloction between Beisction display’) and SET Valid at any tine ecution di Data chango, selection of the paraneter and aa ‘execution of the operation Valid at the column - where the decimal point is flashing & Shift to the upper figures 1 At the selection display of each mode, upper figures will consists of 2 alphabetical lottors + under-bar Hode, Upper figures at selection display Wonitor mode oP_ Parameter setting mode PRL EEPROM writte-on mode cE. ‘Auto-gain tuning modo AeL I Flashing of all the figures represents the trip Display Status of the motor Flashing of all the figures Trip Normal display Normal operation8-1-3 Examplo of operation Whon you turn on tho poror, LED display shows the exocution display(one of tho posi tioni doviation, motor spood or output torque), basod on tho sotting of parameter Wo. [0 i}( Ini _tianl status of LED") after tho display of LED chock(about 2s0e3).. iio to ao ExeCUNTOREGTSDISY) Weaning] Positioning deviation ‘ad 5 J G pulses of 8-1-4(1)} doviation ) Motor spood (1000/r/ain) — B-1-400) Ouiput torque (100K of ourpur B-1-4(1) torae Control mode Position 8-1-4) control odo) Input/Output signal (Input signal 8-1-4(3)] condition Wo.0, active) Error factor/Mistory Wo error) 8-1-4(4)) 7a. ] Internal ude ' f-e.0e) — — Tl proceeds as an arrow shors, and ees | ae i 1 (eaning] A. OD.) parameter No. TODD.) (1000: value 8-1-4(5)! T ‘of paranoter) 4 Eet}ey ER FF) FFL] Parameter No, EE] fe Pushing [i] proceeds as an arrow shons, and set with Gi) MW Ed kos. reverses. You cannot change the parameter decimal point is not flashing fet Parameter with ~ jed before ‘paranoter No. becones effective after resetting the power. b I to next page | oo| trom the previous page (eer, playa [IEEPROM wri tey oni model (EXeeutionidisplay)e:.] IEE SEE Shift to the execution display by pushing SET key when you write on the parameter ‘to EEPRON Bisptay exenpie] leaning] refer td oye I 4 [Fin 1Sh. start writing finish writing In case of HB and FY motors which you can- ot make auto-gain tuning When you execute writing keep pushing [Al until the display shows 1} = Machine Bent LJ stiffness No.1 (lox) t Machir ine - IR@E_ 1-9. stiffness No.9 i ing [MJ proceeds as an arrow shows, and Shift to the excecution display after setting the machine stiffness, by pushii key [etd refer section 6-4 for the machine stiffness Berkey [Auto ain. taninginods (Exetut on display) a Beaning] 81-40 keep pushing [A] 4 GER E start tuning t IF 1 1S.) finish wring When you execute tuning, keep pushing [i] until the display shows ee —s3—8-1-4 Detail of execution display (1) Display of the positioning deviation motor spoed and outpist torque P| «++ Positioning deviation * displays the reserved acount of pulsed of the deviation counter with polarity + polarity @) 33 the CCH torque =: generates the CW torque a Motor speed + displays the motor speed with polarity unit [+/min) + polarity (4) : CoH OF & Output torque + displays the motor torque with polarity + polarity (+) : COW = ok | Felation betwoen actual torque and the displayed value is described as bel = ‘output torque[X] = displayed value X @ + will not be displayed Plols}elalé PlolSiclolé sss Position control mode SlPlelcjalt ase Speed control mode e[efatelole Torque control sade ) Display of input/output signal [ Dispalys the status of the control input and output signal You can use for checking the right connection to the connector I/F Clel-lel le 17 ve tequt signal | se Active (Signal is valid) ok .++ Output signal ATT Anactive(singat is iowa signal No, (16 scale O-F) 4Brush (WO to sotoct tho desired signal No. (lowest No, of the input signal) (highest No, of the input signal) example of : shifting whan lé|-1a. (lowest Ho, of the output pushing Lal olé|-lF. (highest No, of the output signal) T Signal No, and its title Teput signal ‘Output signal Signet Tele Pin | Sienal Title Symbol [Pia No. Wo_| No. No, 0 Serer-oH, alo SY 2 8 1 [Alarm clear a3t71 a_—13-8 ‘Ch drive prohibitien —|_Cm G12 Terror code OCS) Bor _|- 25 3 [OCH drive prohibition [com [41] 3 [Error code 1 exon! | 40 4_[Control node selection | ¢-W00E | 49'| 4 | Error code 2 (SB) exouTZ [41 S| Zoro-speed cramp ZeROSPO|__2-| 5 [External brake release | Bm-O-F [31 6 [Internal speed comand | INTSPO | 3] 6 [Finish of positioning/ | COIN | 37 selection ive speed T [iro in use) = [77 Toraue Te Ei | Command pulse input Tir | TS] 8 | Zoro-speod detection | zs 4 prohibition wie | 12 [Proportional operation | P-cON [24] 9 | (rot in use) i command A [Ooviation counter clear | @1 [23] A | Got muse) a- {21 B_[ or in use) ee = Cc Trot =| = [nor in-use) = 1D [ot in-use) = 1 = 0 Mor in use) E_| (not in use) = [= TE Moot in use) = [= F [tet in-use) T= TF Tinternal_use. = [= 65GQ) Error factor and its history You can trace the error factor back to past 8 errors. él-le] 1-[- Een, coe Cuttent error E-O ... Error histiry 0 E= 1. error history 1 L Error code No. \ (G nill appear at : 0 error) €-7 Error history 7 You can trace by pushing [2] [yi {Gy pushing [¥} you can select older history.) a Note If the error occured which was stored as a history, sane erroo No. will be displayed for the current and the error history 0. I Relation of error code No. and its content Error Content Error Content ‘code No. code No. 12 | Overvoltage error 38 | Drive prohibition input error 13 | Lack of voltage error 14 | Overcurrent error 15 | Ovorheat error 23 | 0s? error 16 | Overload error 30 | CPU error i 18 | Regenerative error 36 | EEPROM error 22 | Encoder signal error 84 | Receiving parameter error 24 | Positioning overdeviation error 26 | Overspeed error 98 | System error 27 | Comand pulse division error 29. | Over deviation counter error 99 | Othre error eoG) Parsnotor setting [Soloction display] PlAL-f |o|a No, ( 16 scale) Changed data of the paramet shich [] is displayed in thi Column bocoses valid only after the reset(turn off tho Borer once) Trish [A] [¥f to select the paranoter which you want to ro FoF sot. fletd Please refer section 7-1, “Outline of the parameter” for the relation of Paraneter No, and its content. {Execution display] Parameter value You can change the figure in the column at which the decimal point flashes IL Set the parameter value by pushing [4] [i With [Al the value increases and decreases with (¥- [Shift the flashing decisal point with to the upper figures. [EE] Each paranotor has a limit for the shift. I Uson changing the paraseter value, tho content will be reflected to the control. fetd Please change the data little by little, instead of changing drastically if you are changing the parameters which affect the motor movenent(such as the ‘speed gain loop or positioning loop gain). —‘to EEPROM Boop pushing [Al until the display shors [SEAT E Keep pushing (i) 4 for about 5 secs, then the bar will TF increase 1 i | = Start of writing SlelAlele 4 Finish of writing [FT [ol [5 1h) (-lelsleleL] (€l-I-lel-I | i Finish of writing Writing error [When you change the parameter setting which becomes valid after the reset, the display shows [- [E[SE]E] -] at the finish of writing, Please turn off the power to resot. inish of wri IL If you keop pushing [J after the jing, you can still write in the parameter [5Eg 1. thon you encounter the error at writing, please re-write. If you still encountor ‘the error, this may be the driver’ $ malfunction. [td 2 Please do not turn off the power while writing. Wrong data may bo written, If this happens, please set all the paraneters and write-on again after the complete check. —s58—1) Aut in_tuni 1, Please read carefully section 6-4 before making the tuning. 2. At the auto-gain tuning mode, the motor turns 2 revolutions each to CW and OCW, Please allow your mechanism to accept such movenent, [Selection display] Internal use ——_—— Machine stiffness No. H Push [A] [¥] to select the machine stiffness No, (rofer to section 6-4 for the machine stiffness No, ) [Execution display] 11 Yon you execute the auto-gain tuning turn to Servo-N and keep pushing. [al until the display shows.oTe TA] | Keep pushing [@] t for about § sees, then the bar will ele t Start of the motor s[elAle[e inish of writing Fl Jel (shh) (Eel [ole Finish of tuning Tuning error You can restart by keep pushing [A] after the finish [tq Auto-gain tuning error occurs when: Hal function happens Q Being turned to Servo-OFF — while tuning. 9 Deviation counter being cleared @ Output torque is saturated due to the large inertia or load, 6 Tuning cannot be executed duo to the oscillation When the error occurs, each gain will return to the previous value befo: tuning. Please note that the driver will not trip due to this except the malfunction, and extra caution is required for safety at oscillation, 59—8-2 Operation with computer B-2-1 Outline DVG0x series have the function with which you can maka serial conmniction with the computer via $2326, and you can use this computer as a console, You can set/change the parameter or noni tor the control mode on the CRT scroen of the computer. Composition of using the computer is described as below: i go 8-2-2 Computer and software (1) (ppl ieabre computor] 1 PC-9801N, PC-9801NV oF PC-SB01NS made by NEC a) Computer (PC3B01) PANATERA (option) NG Servo motor . flatd If you use other 98 series, make sure the operation at your side, (2) (Software) nos + MS-D0S'* vor.3.0 or highor + Please conpose the control file for RS232C, “RS-DRV. SYS" as a device driver. I Software for communication (PANATERN **) p Part No, fort 3 Io propare the connecting cable betweon the connector (GH SER : 9 pin) on the front panel of the driver and the connector of R5232C(25 pin) as an option. 5 inch FD) I Part No. of this connecting cable_is DVOP( You camot uso this cable to other application. —60-