Panasonic AC Servo Driver Technical Reference

MESSRS.

TECHNICAL REFERENCE MODEL

Product name: AC Servo Driver Product number: MINAS A4

(Limited Model for Pulse Input Use)

Issued on October 7, 2005

(Revised on )

Received by:

Date:

Motor Company., Matsushita Electric Industrial Co., Ltd. 7-1-1, Morofuku, Daito, Osaka, Japan 574-0044

Dept.

manager Checked Checked Designed

No. SR-DSV09521

No. SR-DSV09521

A4 Standard Motor Company, Matsushita Electric Industrial Co., Ltd.

REVISIONS

Date Page Sym REVISION Signed

No. SR-DSV09521


Contents

1. Model Designation Code ...................................................................................................................................... 1

2. Outer dimensions .................................................................................................................................................. 1

3. Appearance and Part Names ................................................................................................................................. 2

4. Configuration of Connectors and Terminal Block 4-1 Power Connectors X1 , X2 , and Terminal Block.................................................................................. 5

4-2 Encoder Connector X6 .......................................................................................................................... 6

4-3 Interface Connector X5 ......................................................................................................................... 7

4-4 RS232C Communication Connector X4 ............................................................................................. 18

4-5 RS485 Communication Connector X3 ................................................................................................ 18

4-6 External Code Connector X7 .............................................................................................................. 18

5. Wiring 5-1 Cable Specifications and Maximum Cable Length .................................................................................... 19

5-2 I/O Connector, Encoder Connector and External Scale Connector ............................................................ 19

5-3 Precautions for Wiring................................................................................................................................ 20

6. Parameters .......................................................................................................................................................... 34

7. Operation Timing 7-1 Operation Timing after Power-ON............................................................................................................. 49

7-2 Servo-ON/OFF Operation Timing during Motor Stop (Servo Lock) ....................................................... 50

7-3 Servo-ON/OFF Operation Timing during Motor Run................................................................................ 50

7-4 Operation timing chart at the time of errors (alarm) (with the Servo-ON command activated)................. 51

7-5 Operation timing chart at the time of the clearance of an alarm (with the Servo-ON

command activated) ................................................................................................................................... 52

8. Functions 8-1 Protective Functions ................................................................................................................................... 53

8-2 Trial Run..................................................................................................................................................... 58

8-3 Automatic Offset Adjustment..................................................................................................................... 58

8-4 Warning function........................................................................................................................................ 58

8-5 Software limit function............................................................................................................................... 59

9. Operations 9-1 Front Panel Key Operations and Display ................................................................................................... 61

10. Absolute Encoder and External Scale 10-1 Absolute Encoder ....................................................................................................................................... 79

10-2 External Scale............................................................................................................................................. 81

10-3 Mounting the Absolute Data Battery.......................................................................................................... 81

10-4 Absolute Encoder Clear.............................................................................................................................. 81

10-5 Absolute Data Transmission....................................................................................................................... 81

No. SR-DSV09521


11. Tuning 11-1 Real time Auto Gain Tuning....................................................................................................................... 86

11-2 Normal Mode Auto Gain Tuning................................................................................................................ 90

11-3 Fit Gain Function ....................................................................................................................................... 93

11-4 Disabling of Auto Tuning Function............................................................................................................ 96

11-5 Gain Auto Setting Function........................................................................................................................ 97

11-6 Manual Gain Tuning................................................................................................................................... 97

12. Control Block Diagrams ................................................................................................................................... 110

13. Conformity with EC Directive / UL Standard 13-1 EC Directive............................................................................................................................................. 111

13-2 Configuration of Peripheral Equipment ................................................................................................... 112

13-3 List of Servo Drivers and Compatible Peripheral Equipment .................................................................. 116

13-4 Conformity with the UL Standard ............................................................................................................ 117

14. SEMI Compliance with F47 momentary power failure standard .................................................................. 117

No. SR-DSV09521 (117-1)


1. Model Designation Code

Notation of the machine designation code is as follows:

1 2 3 4 5 6 7 8 9 10 11 12

M A D D T 1 2 0 5 0 0 3

2. Outer dimensions

Refer to "Delivery Specifications" (SR-DSV09520).

For the purpose of this specification, the direction of motor revolution is defined as CW for clockwise

motion and CCW for anti-clockwise motion in relation to the end of the load-side axis.

Type A: A4 Series Type A B: A4 Series Type B C: A4 Series Type C D: A4 Series Type D E: A4 Series Type E F: A4 Series Type F

Custom specification Pulse Input Use

Maximum continuous output current

05: 5A 07: 7.5A 10: 10A 20: 20A 30: 30A 40: 40A 64: 64A 90: 90A A2: 120A

Power supply voltage 1: Single-phase 100 V 2: Single-phase 200 V 3: 3-phase 200 V 5: Single-phase/3-phase

200 V

AC servo driver D: A4 Series

Maximum instantaneous output current

T1: 10A T2: 15A T3: 30A T5: 50A T7: 75A TA: 100A TB: 150A

Attention

No. SR-DSV09521 - 2 -


3. Appearance and Part Names

A4 Series Type A, B

ID: Rotary Switch

IM: Torque Monitor SP: Velocity Monitor

X1: Power Input Connection

X2: Motor Connection

Earth Terminal

X6: Rotary Encoder Connection

(MOLEX)

X5: Parallel I/O Connection

X7: External scale connector

G: signal ground

Name Label

X3: RS485 Interface Connection


Front panel

Main power supply input terminal

Control power supply input terminal

Regenerative discharge resistor connection terminal

(RB3 is unused.)

Motor connection terminal

X1 Power supply input

X2 Motor output

(MOLEX)

You cannot use.

529865079 (MOLEX)

53460-0629 (MOLEX)

No. SR-DSV09521 - 3 -


A4 Series Type C, D

ID: Rotary Switch


X1: Power Input Connection

X2: Motor Connection

Earth Terminal


(MOLEX)

(MOLEX)


X7: External scale connector

G: signal ground

Name Label



(MOLEX)

Regenerative discharge resistor connection terminal (RB3 is unused.)


Front panel



X1 Power supply input

X2 Motor output

You cannot use.

529865079 (MOLEX)

53460-0629 (MOLEX)

No. SR-DSV09521 - 4 -


A4 Series Type E, F

529865079 [MOLEX]

ID: Rotary Switch



X7: External scale connection

Name Label



G: signal ground


53460-0629 [MOLEX]

[MOLEX]


Regenerative discharge resistor connection terminal (Normally, B1 and B2 are short-circuited.)


Earth Terminal

Front panel


You cannot use.

No. SR-DSV09521 - 5 -


4. Configuration of Connectors and Terminal Block

4-1 Power Connectors X1 , X2 , and Terminal Block

① Type A & B of 100V and 200V

Connectors

Terminal Block

Name Description

+10% 4 L1 100 V Single-phase 100 to 115 V

-15% , 50/60 Hz input

+10% 3 L3

Main power supply input

terminal 200 V Single-phase 200 to 240 V -15%

, 50/60 Hz input

+10% 2 L1C 100 V Single-phase 100 to 115 V

-15% , 50/60 Hz input

+10%

X1

1 L2C

Control power supply input


, 50/60 Hz input

6 RB1

5 RB3

4 RB2

Regenerative discharge resistor

connection terminal

Normally,RB3 and RB2 need not to be short-circuited, since Type A & B are only intended to connect an external regenerative discharge resistor. If the circuit trips due to the regenerative discharge resistor overload protection error (No.18), connect an external regenerative discharge resistor between RB1 and RB2. When an external regenerative discharge resister is used, parameter No.6C (External regenerative resistor set up) (the parameter number shall be hereinafter referred to as Pr.) to other than 0.

3 U

2 V

X2

1 W


Connect each phase of the motor winding. U: U phase V: V phase W: W phase

Ground terminal Connected to the motor's earth terminal for grounding.

② Type C of 100V and 200V ,& Type D of 200V

Connectors

Terminal Block

Name Description

+10% 5 L1 100 V Single-phase 100 to 115 V

-15% , 50/60 Hz input

4 L2 Single-phase/3-phase 240 to 300 V +10% -15% , 50/60 Hz input

3 L3


terminal 200 VSingle-phase input should be connected to the L1 and L3 terminals.

+10% 2 L1C 100 V Single-phase 100 to 115 V

-15% , 50/60 Hz input

+10%

X1

1 L2C



, 50/60 Hz input

6 RB1

5 RB3

4 RB2


connection terminal

Normally, short-circuit RB3 and RB2. If the circuit trips due to the regenerative discharge resistor overload protection error (No. 18), open RB3 and RB2, and connect an external regenerative discharge resistor (prepared by the user) between RB1 and RB2. When an external regenerative discharge resister is used, parameter No.6C (External regenerative resistor set up) ( the parameter number shall be hereinafter referred to as Pr.) to other than 0.

3 U 2 V

X2

1 W




No. SR-DSV09521 - 6 -


③ Type E & F of 200V

Connectors

Terminal Block

Name Description

1 L1 2 L2 3 L3


terminal 3-phase 200 to 230V

+10% -15% , 50/60 Hz input

4 r

5 t


terminal Single-phase 200 to 230 V

+10% -15% , 50/60 Hz input

6 P

7 B1

8 B2


connection terminal

Normally, short-circuit B2 and B1. If the circuit trips due to the regenerative discharge resistor overload protection error (No. 18), open B2 and B1, and connect an external regenerative discharge resistor (prepared by the user) between P and B2. When an external regenerative discharge resister is used, parameter No.6C (External regenerative resistor set up) ( the parameter number shall be hereinafter referred to as Pr.) to other than 0.

9 U 10 V

Term

inal

Blo

ck

11 W




4-2 Encoder Connector X6 (Molex 53460-0629)

Application Connector pin No. Function

1 E5V Encoder power supply output 2 E0V (NOTE 1)

Not yet determined 3 Do not connect Not yet determined 4 Do not connect

5 PS Encoder signal I/O (Serial signal) 6 PS

Frame ground Shell FG

NOTE 1) The EV0 of the encoder power supply output is connected with the control circuit ground linked to the connector X5 .

No. SR-DSV09521 - 7 -


4-3 Interface Connector X5 (Molex 529865079)

Common input signals and their functions

Application Code Connector pin No. Function I/O signal

interface

COM+ 7 - Connected to the [+] terminal of an external DC power supply (12

to 24 V) - Use a 12 V (±5%) to 24 V (±5%) power supply.

-

Control signal power supply

COM− 41

- Connected to the [-] terminal of an external DC power supply (12 to 24 V).

- The power supply capacity varies depending on the configuration of the I/O circuits. 0.5 A or higher capacity is recommended.

-

Servo-ON input SRV-ON 29

- Connecting this signal to COM- provides the Servo-ON status (motor is energized).

- After transition to the Servo-ON status, wait for at least 100 ms until pulse command input.

- If the connection to COM- is opened, the system goes to the Servo-OFF status. (Power to the motor is interrupted.)

- The dynamic brake action and the clearance operation of the deviation counter in the Servo-OFF status can be selected by Pr. 69 (sequence at Servo-OFF) .

<CAUTION> 1. The Servo-ON input becomes valid approx. 2 seconds after

power-on. (See the timing chart.) 2. Do not start or stop the motor by using the Servo-ON/OFF

signal. 3. Do not input the pulse command for at least 100ms after

Servo-ON.

i-1

CW overtravel inhibit input

CWL 8

- CW overtravel inhibit input (CWL). - Connect so as to open COM-connection when movable part of the

equipment exceeds the movable range in CW direction. - When this input is open, torque in CW direction is not generated. - When Pr.04 (overtravel input inhibit) is set to 1, CWL input is

disabled. Setting value before shipment: Disabled (1) - Pr.66 (error response at overtravel limit) can be used to select the

operation when CWL input is enabled. The default value at the time of delivery is set to the quick stop by means of the dynamic brake (Pr.66 is 0).

i-1

No. SR-DSV09521 - 8 -



interface

CCW overtravel inhibit input

CCWL 9

- CCW overtravel inhibit input (CCWL). - Connect so as to open COM-connection when movable part of the

equipment exceeds the movable range in CCW direction. - When this input is open, torque in CCW direction is not generated. - When Pr.04 (overtravel input inhibit) is set to 1, CCWL is disabled.

Setting value before shipment: Disabled (1) - Pr.66 (error response at overtravel limit) can be used to select the

operation when CCWL input is enabled. The standard value before shipment is set to the quick stop by means of the dynamic brake (Pr.66 is 0).

i-1

Deviation counter clear

or Internal command speed selection 2 input

CL

INTSPD2

30

- Function varies depending on the control mode.

i-1

Command pulse input inhibit input

or Internal command speed selection 1 input

INH

INTSPD1

33


i-1

Position control

- Command pulse input inhibit (INH). - By disconnecting from "COM-", position

command pulse is ignored. - By setting to "Pr.43" (command pulse inhibit

input invalidation), it is disabled.

Speed control

- Internal command speed selection 1 input (INTSPD1).

- Internal 8-step speed can be set in combination with CL/INTSPD2 input and DIV/INTSPD3 input. Refer to Internal speed selection for setting procedure.

Torque control - Disabled

Position control

- Deviation counter and full-closed deviation counter are cleared (CL).

- By connecting with "COM-", the deviation counter and full-closed deviation counter are cleared

- Clear mode can be selected via Pr.4E (counter clear input).

1[standard value

before shipment]

Speed control

- Internal command speed selection 2 input (INTSPD2).

- Internal 8-step speed can be set in combination with INH/INTSPD1 input and DIV/INTSPD3 input. Refer to Internal speed selection for setting procedure.


Pr.43 Function 0 INH is enabled

1 [standard value before shipment] INH is disabled

Pr.4E Function

0

While CL is connected to COM-, the deviation

counter and full-closed deviation counter are

cleared.

When the connection of CL is changed from Open to COM-, the

deviation counter and full-closed deviation

counter are cleared only once.

2 CL is disabled.

No. SR-DSV09521 - 9 -



interface

Speed zero clamp input

or Vibration suppression switching control input

ZEROSPD

VS-SEL

26


i-1

- Pr.03 (torque limit selection) and Pr.30 (2nd gain action set up) are used to change the function.

Pr. 03 Pr. 30 Connection to COM- Function

Opened Speed loop: PI (proportional/integral) action

0

Connected Speed loop: P (proportional) action When Pr. 31, Pr. 36 is set to "2":

Opened 1st gain selection (Pr. 10, 11, 12, 13, 14)

Connected 2nd gain selection (Pr. 18, 19, 1A, 1B, 1C)

When Pr. 31, Pr. 36 is not set to "2":

0 - 2

1

Disabled

3 ×

- Torque limit switching input is on. - Pr.5E (1st torque limit) becomes enabled when this

input is open, and Pr.5F (2nd torque limit) becomes enabled when the input is connected to COM-.

Gain switching input

or

Torque limit switching input

GAIN

TL-SEL

27

- For details of the 2nd gain switching function, refer to Section 11.

i-1

Alarm clear input A-CLR 31

- Connecting this signal to COM - at 120 ms or longer intervals cancels the alarm condition.

- The deviation counter is cleared when the alarm is cleared. - Some alarms cannot be cancelled with this input. For details, refer to

Section 8.

i-1

Command scaling switching input

or Input of internal command speed selection 3

DIV

INTSPD3

28

Function varies depending on the control mode. <Caution> Do not input any command pulse for 10 ms before/after switching.

i-1

Speed control

- The zero speed clamp input (ZEROSPD) is on. - In the case of torque control, ZEROSPD does

not operate when Pr.06 is 2.

Position control

- The vibration suppression control switching input (VS-SEL) is on.

- In case Pr.24 (vibration suppression filter switching selection) is 1, the 1st vibration suppression filters (Pr.2B, Pr.2C) become enabled when this input is open, and the second vibration suppression filters (Pr.2D, Pr.2E) become enabled when this input is connected to COM-.

Pr.06 Connection with COM- Function

0 X ZEROSPD input does not operate.

Open Speed command is 0. 1 Connected Normal operation

Open Speed command direction is CCW. 2

Connected Speed command direction is CW.

Speed control

- The input of internal command speed selection 3 (INTSPD3) is on.

- The internal speed can be set at 8 different speeds in combination with INH/INTSPD1 input and CL/INTSPD2 input. For details, refer to the internal speed selection.


Position control

- Numerator of the command pulse ratio can be switched.

- By connecting with "COM-", the command division gradual increase numerator is switched from Pr.48 (1st numerator of command pulse ratio) to Pr.49 (2nd numerator of command pulse ratio).

As for selecting the command division - Gradual increase 2, refer to Selecting numerator of

command pulse ratio.

No. SR-DSV09521 - 10 -


Selecting numerator of command pulse ratio

- Position control

X5 Pin 28:

DIV Command pulse ratio setup

Opened 4B) (Pr. ratio pulse command ofr Denominato248) (Pr. ratio pulse command1st ofNumerator 4A) (Pr. ratio pulse command

ofnumerator of Multiplier× or

(Pr.4B) revolutionper pulses command ofNumber *resolutionEncoder

*Automatically set by setting Pr.48 to 0.

Short- circuited 4B) (Pr. ratio pulse command ofr Denominato

2 49) (Pr. ratio pulse command 2nd ofNumerator 4A) (Pr. ratio pulse command ofnumerator of Multiplier

× or (Pr.4B) revolutionper pulses command ofNumber

*resolutionEncoder

*Automatically set by setting Pr.49 to 0.

Internal speed selection

X5 connector pin No. Pr. 05 (Internal/speed switching) Pin 33

INTSPD1 (INH)

Pin 30 INTSPD2 (CL)

Pin 28 INTSPD3

(DIV) 0 1 2 3

Opened Opened Opened 1st internal speed (Pr. 53)

1st internal speed (Pr. 53)

Short-circuited Opened Opened 2nd internal speed (Pr. 54)

2nd internal speed(Pr.54)

Opened Short-circuited Opened 3rd internal speed (Pr. 55)

3rd internal speed(Pr.55)

Short-circuited Short-circuited Opened 4th internal speed (Pr. 56)

4th internal speed(Pr.56)

Opened Opened Short-circuited 1st internal speed(Pr.53)


Short-circuited Opened Short-circuited 2nd internal speed(Pr.54)


Opened Short-circuited Short-circuited 3rd internal speed(Pr.55)


Short-circuited Short-circuited Short-circuited

Do not set Pr.05 to “0”.


Do not set Pr.05 to “2”.


No. SR-DSV09521 - 11 -


Input signals (pulse train commands) and their functions The most suitable interface can be chosen from 2 different interfaces in the specification of a command pulse. A. Pulse train interface dedicated to line driver


interface

PULSH1 44 Command pulse

input 1 PULSH2 45

SIGNH1 46

Command sign input 1

SIGNH2 47

- Means an input terminal for the position command pulse. It can be selected by setting Pr.40 (command pulse input selection) to 1.

- Becomes disabled in the control modes, for which no position command is required, such as the speed control.

- The maximum allowable input frequency is 2 Mpps. - Pr.41 (command pulse direction of rotation set up) and Pr.42

(command pulse input mode) can be used to select 6 different input modes for a command pulse. For details, refer to the command pulse input mode stated below. 1) 2-phase (A-phase/B-phase) input 2) CW (PULS)/CCW (SIGN) pulse input 3) Command pulse (PULS)/Sign (SIGN) input

Di-2

B. Pulse train interface


interface

OPC1 1

PULS1 3 Command pulse input 2

PULS2 4 Di-1

OPC2 2

SIGN1 5 Command sign input 2

SIGN2 6

- Means an input terminal for the position command pulse. It can be selected by setting Pr.40 (command pulse input selection) to 1.

- Becomes disabled in the control modes, for which no position command is required, such as the speed control.

- The maximum allowable input frequency is 500kpps at the time of the line driver input, and 200kpps at the time of the open collector input.

- Pr.41 (command pulse direction of rotation set up) and Pr.42 (command pulse input mode) can be used to select 6 different input modes for a command pulse. For details, refer to the command pulse input mode stated below. 1) 2-phase (A-phase/B-phase) input 2) CW (PULS)/CCW (SIGN) pulse input 3) Command pulse (PULS)/Sign (SIGN) input

No. SR-DSV09521 - 12 -


Command pulse input mode

Pr.41

(command pulse

direction setup)

set value

Pr.42 (Comman

d pulse input

mode ) set value

Command pulse mode

Signal name CCW command CW command

“0”

or

“2”

2-phase pulse with 90° phase difference (Phase A + Phase B)

PULS

SIGN

“0” “1” CW pulse train + CCW pulse train

PULS

SIGN

“3” Pulse train

+ Sign

PULS

SIGN

“0”

or

“2”

2-phase pulse with 90° phase difference (Phase A + Phase B)

PULS

SIGN

“1” “1” CW pulse train + CCW pulse train

PULS

SIGN

“3” Pulse train

+ Sign

PULS

SIGN

Pulse train is taken in by the rising edge when Pr.42 is 1 or 3. Pulse train is taken in by the every edge when Pr.42 is 0 or 2.

* As for the polarity of PULS and SIGN, also refer to the Pulse Train Command in item 5-3, Precautions for

Wiring. B. Pulse train interface A. Pulse train interface

dedicated to line driver Line driver interface Open-collector interface t1 500 ns or more 2 µs or more 5 µs or more t2 250 ns or more 1 µs or more 2.5 µs or more t3 250 ns or more 1 µs or more 2.5 µs or more t4 250 ns or more 1 µs or more 2.5 µs or more t5 250 ns or more 1 µs or more 2.5 µs or more t6 250 ns or more 1 µs or more 2.5 µs or more

t1 t1 t1

Phase A

Phase B

Phase B delays from Phase A by 90°. Phase B precedes Phase A by 90°. t1

t1 t1 t1 t1

t3 t2 t2

t2 t2

‘H’‘L’

t6 t6 t6 t6

t5 t5 t4 t4

t2 t2 t3

t2 t2

t1 t1 t1

Phase A

Phase B

Phase B precedes Phase A by 90°. Phase B delays from Phase A by 90°. t1

t1 t1t1 t1

‘H’ ‘L’t6 t6 t6t6

t5 t5 t4 t4

No. SR-DSV09521 - 13 -


Common output signals and their functions


interface

Servo alarm output ALM+ ALM-

37 36 The output transistor turns OFF at occurrence of an alarm. o-1

Servo ready output S-RDY+ S-RDY-

35 34

This output turns ON when the control/main power supply is activated and no alarm occurs. o-1

Brake release signal BRK-OFF

+ BRK-OFF-

11 10

- Defines the timing to activate the electromagnetic brake for the motor.

- When the electromagnetic brake is released, the output transistor turns ON.

- Output timing of this signal can be set by Pr.6A (mechanical break delay at motor standstill) and pr.6B (Mechanical break delay at motor in motion). For details, see the timing chart.

o-1

Zero speed detected signal

ZSP (COM-)

12 (41)

- Select the output signal by setting Pr. 0A (ZSP output selection). - The standard default setting is "1". (The zero speed detection signal is

output.) - See TLC, ZSP output selection.

o-2

Torque limited signal output

TLC (COM-)

40 (41)

- Select the output signal by setting Pr. 09 (TLC output selection). - The standard default setting is "0". (The torque limit control signal is

output.) - See TLC, ZSP output selection.

o-2

In-position

or At-speed output

COIN+ COIN-

AT-SPEED+AT-SPEED-

39 38

Function varies depending on the control mode.

Position control

- Positioning completion output (COIN). - When the absolute value of the position

deviation pulse is less than a set value of Pr.60 (in-position range), output transistor turns ON.

- Pr.63 (in-position output set up) can be used to select an input method.

Internal speedcontrol

- Achieved speed output (AT-SPEED). - When actual speed of motor exceeds a set

value of Pr.62 (at-speed), output transistor turns ON.

o-1

No. SR-DSV09521 - 14 -


TLC, ZSP output selection Value of

Pr.09,Pr.0A X5 TLC: output of 40-pin X5 ZSP: output of 12-pin

0 Torque limited output (Standard value before shipment: X5 TLC Pr.09)

The output transistor is turned on when the torque limit restricts a torque command at servo-on.

1 Zero speed detection output (Standard value before shipment: X5 ZSP Pr. 0A)

The output transistor is turned on when a motor speed is lowered to a value less than that set by Pr.61.

2 Alarm signal output

When any over regeneration alarm, overload alarm, battery alarm, fan lock alarm or external scale alarm is raised, the output transistor is turned on.

3 Over regeneration alarm

The output transistor is turned on when an over regeneration load reaches 85% or more of the protective alarm level.

4 Overload alarm

The output transistor is turned on when an overload reaches 85% or more of the alarm level.

5 Battery alarm

The output transistor is turned on when the voltage of an absolute encoder battery reaches about 3.2V or less.

6 Fan lock alarm

The output transistor is turned on when the fan stops for 1 second or more.

7 Do not set Pr.09 and Pr.0A to “7”.

8

Speed conformance output (V-COIN) The output transistor is turned on when the difference between a speed command before acceleration or slowdown and the speed of a motor falls within the set value of Pr.61. It is enabled at the time of the speed control only.

Output signal (pulse train) and function

Application Code Connector

pin No. Function I/O signal interface

OA+ 21 A-phase output

OA- 22

- Division-processed encoder signal or external scale signal (A/B/Z-phase) is output in differential mode. (RS422)

- Pr.44 (numerator of output pulse ratio) and Pr.45 (denominator of output pulse ratio) can be used to set the division ratio.

OB+ 48 B-phase output

OB- 49

- Pr.46 (pulse output logic inversion) can be used to select the logic relation of phase B with regard to the pulse of phase A, and its output source.

- When using an external scale signal as its output source, Pr.47 (Z-phase of external scale setup) can be used to set the interval periods of outputs for phase Z pulse.

Do-1

OZ+ 23 Z-phase output

OZ- 24

- Ground of line driver of the output circuit is connected to signal ground (GND); not insulated.

- The maximum output frequency is 4 Mpps (after being multiplied by 4).

Z-phase output CZ 19 - Open collector output of Z-phase signal. - Emitter side of the transistor of the output circuit is connected to signal

ground (GND); not insulated. Do-2

- Phase Z is output in synchronization with phase A when encoder resolution multiplied by is in

multiples of 4, but otherwise, the width of phase Z is narrower than that of phase A as it is output based on encoder resolution, and does not synchronize with phase A.

ｴﾝｺｰﾀﾞ分解能× が 4の倍数Pr.44

Pr.45ｴﾝｺｰﾀﾞ分解能× が 4の倍数でないPr.44

Pr.45

A

B

Z 同期非同期

A

B

Z

Note) In the case of 5-core 2500P/r incremental encoder, the pulse position may be displaced until the first

phase Z is output. When using phase Z as a control signal, use the second signal or others available thereafter.

45.Pr44.Pr

When encoder resolution multiplied by

45.Pr44.Pr is in multiples of 4


45.Pr44.Pr is not in multiples of 4

Synchronized Out of synchronization

No. SR-DSV09521 - 15 -


Output signal (analogue) and function

Application Code Connector

pin No. Function I/O signal interface

Speed monitor Signal output

SP 43

Meaning of the output signal varies depending on Pr.07 (speed monitor (SP）selection) .

Pr.07Meaning of

signal Function

0 - 4Motor rotation

speed

- Voltage proportional to the rotation speed of the motor is output with polarity. +: rotate in CCW direction -: rotate in CW direction

- Scaling can be set via a value of Pr.07.

5 - 9 Command speed

- Voltage proportional to the rotation speed of the motor is output with polarity. +: rotate in CCW direction -: rotate in CW direction

- Scaling can be set via a value of Pr.07.

Ao-1

Torque monitor Signal output

IM 42

Meaning of the output signal varies depending on Pr.08 (torque monitor (IM) selection).

Pr.08Meaning of

signal Function

0, 11, 12

Torque command

- Voltage proportional to the torque generated by the motor or position deviation is output with polarity. +: torque is generated in CCW direction. -: torque is generated in CW direction.

- The value of Pr.08 can be used to set the scaling.

1 - 5Position deviation

- Voltage proportional to the number of position deviation pulses is output with polarity. +: position command is in CCW direction of

the motor position. -: position command is in CW direction of the

motor position. - Scaling can be set via a value of Pr.08.

6 – 10

Full-closed deviation

Do not set Pr.08 to 6-10.

Ao-1

Others


interfaceFrame ground FG 50 - Internally connected to the ground terminal. -----

Signal ground GND 13, 15, 17, 25

- Signal ground - Internally insulated from the control signal power supply (COM-). -----

No. SR-DSV09521 - 16 -


I/O signal interface

i – 1

o – 1

o – 2 Ai – 1

Ai – 2

Ao – 1

Di – 1

Do – 1

Do – 2

220

GND13

4.6

3.5

SIGN

PULS

H/LH/L

220

GND13

4.6

3.5

10mA

RVp

12-24VSIGNPULS

L/H

ON/OFF

1.22.2k

220

GND13

4.6

3.5

24V

SIGNPULS

L/H

ON/OFF

1.22.2k

Vp-1.5 R+220 ≈ 10mA

＜Line driver＞

+: Pins 21, 48 and 23 −: Pins 22, 49 and 24

-+

GND

1K

25

±10V MAX

GND

10K

17

-+

3.83K

VDC

12-24V

50 mA or lessＲ＋

-

+: Pins 37, 35, 39 and 11 −: Pins 36, 34, 38 and 10

NOTE) To activate the relay directly, connect a diode in parallel with the relay, in the direction shown above.

VDC

12-24V

50 mA or lessＲ＋

41

+: Pins 40 and 12 NOTE) To activate the relay directly, connect a diode in

parallel with the relay, in the direction shown above.

CZ

VDD 30V MAX

50mA MAX

GND 17

19

GND

-+

±10V MAX

SPR/TRQR 20K14

15

7

12-24V

VDC

4.7K

12-24V

VDC

4.7K

Or

7

The maximum of output signal amplitude is ±10V.

GND13

＋

－

AM26LS31or equivalent

① 12V to 24v power supply with external resistors

② 24v power supply without an external resistors

＜Open-collector＞

No. SR-DSV09521 - 17 -


Di – 2

AM26C32相当品

43K

43K

2K

2K220

ﾂｲｽﾄﾍﾟｱ

H/L

13GND

4446

4547

H/L

PULS

SIGN

AN26C32 or equivalent

Twisted pair cable

No. SR-DSV09521 - 18 -


4-4 RS232C Communication Connector X4 (JST MD-S8000-10 or equivalent)

4-5 RS485 Communication Connector X3 (JST MD-S8000-10 or equivalent)

Parameter setting/alteration, control status monitoring, error status/record reference and parameter saving/loading etc. are available by means of a serial communication with a PC or upper NC via RS232C /RS485 or equivalent. Also, setup support software PANATERM and communication cable are available. As for information on operation of the setup support software PANATERM, refer to the user's manual of the PANATERM.

- PANATERM (WIN98/NT/2000/XP) DVOP4230 (Japanese)

DVOP4240 (English) - PC connection cable (for DOS/V) DVOP1960 - PC connection cable (for PC98) DVOP1160

4-6 External scale connector X7

You cannot use the connector X7 .

No. SR-DSV09521 - 19 -


5. Wiring

5-1 Cables Specifications and Maximum Cable Length

Name Code Maximum cable length Specifications

Main power supply L1, L2, L3 ----- Conforms to "Specifications by Model" on separate sheets.

Control power supply L1C, L2C/r, t ----- HVSF 0.75mm2

Motor connection cable U, V, W 20 m Conforms to "Specifications by Model" on separate sheets. (NOTE)

Ground cable 1 m Conforms to "Specifications by Model" on separate sheets.

Encoder connection cable X6 20 m

I/O cable X5 3 m

Shielded twisted pair cable Core wire: 0.18 mm2 or more

NOTE) To use the connector (172167-1 or 172159-1) manufactured by Tyco Electronics AMP as a motor intermediate connector, the maximum cable size is 1.3 mm2.

5-2 I/O Connector, Encoder Connector and External scale connector

Connector code Part name Part No. Manufacturer

X6 Connector 55100 – 0600

or 55100 – 0670

Solder plug (Solder-mounting type)

54306 – 5011 or

54306 – 5019 X5

Shell kit 54331 – 0501

Molex

Use the above or equivalent parts.

No. SR-DSV09521 - 20 -


5-3 Precautions for Wiring

(1) Connecting cables to the power connectors and the terminal block

Type A to Type B

Built-in thermal protector ofexternal regenerativedischarge resistor

ON OFF ALM

MC

MC

NFB

MC

Red

White

Black

Green

1 1

2 23 3

4 4

172159-1

172167-1

DC12 - 24V(±10%)

ALM37

36

L

主電源

制御電源

L1

L3

L1CL2C

X1

ALM+

ALM-

モータ接続

X2

X5

V

W

RB1

RB3

RB2

U

Noi

se fi

lter

Main power supply Control power supply

External regenerative discharge resistor

Motor connections

Manufactured by Tyco Electronics AMP


Surge absorber

Single-phase

No. SR-DSV09521 - 21 -


Type C to Type D

Ｂ

ＡＤ

Ｃ

Ａ

Ｂ

ＣＤＥ

Ｆ

ＧＨ

Ｉ

ＡＢＣ

ＤＥＦ

ＧＨＩ

JL04V-2E20-4PE-B JL04HV-2E22-22PE-B JL04V-2E20-18PE-B JL04V-2E24-11PE-B

PIN

ＡＢＣＤ

用途

Ｕ相

Ｖ相

Ｗ相

アース

PIN 用途

Ｇ

Ｈ

Ａ

Ｆ

Ｉ

Ｂ

Ｅ

Ｄ

Ｃ

ブレーキブレーキＮＣ

Ｕ相

Ｖ相

Ｗ相

アースアースＮＣ

ブレーキ

ブレーキ

ＮＣ

Ｕ相

Ｖ相

Ｗ相

アース

アース

ＮＣ

PIN 用途

Ａ

Ｂ

Ｃ

Ｄ

Ｅ

Ｆ

Ｇ

Ｈ

Ｉ

モータ部

ON OFF ALM

MC

ALM37

36

L1

L2

L3

ALM+

L1C

L2C

U

V

W

RB1

RB3RB2

L

ALM-

X1

X2

X5

MC

NFB Red

White

Black

Green

1 1

2 23 3

4 4

172159-1

172167-1

DC12 - 24V(±10%)

MC

通常接続

外付回生抵抗

Built-in thermal protector of external regenerative discharge resistor

Single-phase

- To use a single-phase power supply, be sure to connect the power supply between the L1 and L3 terminals.

3-phase

Noi

se fi

lter

Surge absorber

Main power supply

Control power supply


Motor connections



Normally connected

* To use with servo motor other than MSMD, MAMA and MQMA refer to the table below.

Motor connectors

PIN Usage PIN Usage PIN Usage

A U-phase G Brake A Brake

B V-phase H Brake B Brake

C W-phase A NC C NC

D Ground F U-phase D U-phase

I V-phase E V-phase

B W-phase F W-phase

E Ground G Ground

D Ground H Ground

C NC I NC

No. SR-DSV09521 - 22 -


Type E to Type F

Ｂ

ＡＤ

Ｃ

Ａ

Ｂ

ＣＤＥ

Ｆ

ＧＨ

Ｉ

ＡＢＣ

ＤＥＦ

ＧＨＩ

JL04V-2E20-4PE-BJL04HV-2E22-22PE-B JL04V-2E20-18PE-B JL04V-2E24-11PE-B

PIN

Ａ

Ｂ

Ｃ

Ｄ

用途

Ｕ相

Ｖ相

Ｗ相

アース

PIN 用途

Ｇ

Ｈ

Ａ

Ｆ

Ｉ

Ｂ

Ｅ

Ｄ

Ｃ

ブレーキ

ブレーキ

ＮＣ

Ｕ相

Ｖ相

Ｗ相

アース

アース

ＮＣ

ブレーキ

ブレーキ

ＮＣ

Ｕ相

Ｖ相

Ｗ相

アース

アース

ＮＣ

PIN 用途

Ａ

Ｂ

Ｃ

Ｄ

Ｅ

Ｆ

Ｇ

Ｈ

Ｉ

ON OFF ALM

MC

MC

NFB

VDC12～24V

ALM37

36

L1

L2

L3

ｒ

ｔ

Ｐ

B1

B2

Ｕ

Ｖ

Ｗ

ALM+

ALM-

MC

Red

White

Black

Green

L

Built-in thermal protector ofexternal regenerativedischarge resistor

PIN Usage PIN Usage PIN Usage

A U-phase G Brake A Brake

B V-phase H Brake B Brake

C W-phase A NC C NC

D Ground F U-phase D U-phase

I V-phase E V-phase

B W-phase F W-phase

E Ground G Ground

D Ground H Ground

C NC I NC

Motor connectors

3-phase N

oise

fil

ter

Surge absorber

Main power supply

Control power supply


Motor connect-ions

Normally connected

Built-in thermostat of external regenerative discharge resistor.

No. SR-DSV09521 - 23 -


1) When using the servo driver in type C and D by using a single phase power input, connect it with L1 and L3 of the main power input terminal. Do not make any connection with L2 terminal.

2) To connect a cable to each terminal on the terminal block, be sure to use crimp terminals with insulation shield.

3) The terminal block cover is screw-mounted. To connect cables to the terminal block, remove the screws, and open the cover.

4) If an external regenerative discharge resistor is not used, short-circuit the RB2 (B1) and RB3 (B2) terminals. If the circuit trips due to the regenerative discharge resistor overload protection error (Err. 18), an external regenerative discharge resistor must be connected. To connect an external regenerative discharge resistor, remove the cable between the RB2 (B1) and RB3 (B2) terminals, and connect an external regenerative discharge resistor between the RB1 (P) and RB2 (B2) terminals. Normally with A4 Series Type A and Type B, RB3 and RB2 need not to be short-circuited, since Type A and Type B are only intended to connect an external regenerative discharge resistor. However, if the circuit trips due to the above error, connect an external regenerative discharge resistor between RB1 and RB2. To use an external regenerative discharge resistor, set the Pr.6C(External regenerative resistor set up) to other than 0.

5) A voltage indicated on the identification plate should be applied to the power supply.

6) Do not connect the power supply input terminals (L1, L2 and L3) and the motor output terminals (U, V and W) in reverse.

7) Do not ground or short-circuit the motor output terminals (U, V and W).

8) Never touch the power connectors X1 , X2 and terminal block, because a high voltage is applied to these connectors. Otherwise, you may get an electric shock.

9) Suitable for use on a circuit capable delivering no more than 5000A rms symmetrical amperes, 240 volts maximum for models of 750W or more, when protected by a circuit breaker with a maximum rating of 20A.

10) The AC servo motor's rotating direction cannot be changed by exchanging its three phases like induction motors. Be sure to match the servo driver's motor output terminals (U, V and W) with its cable colors (or pin numbers, if cannon plugs are provided).

11) Connect the motor's ground terminal with the servo driver's ground terminal securely to provide one-point grounding together with the noise filer's ground terminal. Also, the machine body must be grounded. Ensure Class 3 grounding (ground resistance: 100Ω or less). (To avoid electrolytic corrosion, make sure that aluminum and copper are not in contact with each other.)

12) To prevent noise interference, insert a surge absorber circuit into the electromagnetic contactor, relay contacts, coils and brake wiring of the motor with brake located around the servo driver.

13) Be sure to provide a non-fuse breaker to interrupt the power outside the servo driver in emergency. If an earth leakage breaker is used, select a breaker that withstands microwave noise.

14) To reduce a noise voltage on each terminal, provide a noise filter.

15) The brake power supply for the motor with brake should be prepared by the user.

16) After completion of the wiring, apply a voltage to the power supply.

(*) As for external regenerative resist, it is recommended to use the following resist. Input power voltage

type Single-phase 100V Single-phase 200 V /three-phase 200 V

A DV0P4280 DV0P4281 B DV0P4283 DV0P4281 C DV0P4282 DV0P4283 D DV0P424

E ――

DV0P4284:2(parallel) or

DV0P4285 F DV0P4285:2(parallel)

Manufacturer: Iwaki Radio Laboratory Co., Ltd.

No. SR-DSV09521 - 24 -


Specifications Built-in Built-in Option Manufacturer Rated power(reference) Thermal protector temperature

part code model Resist Free Temperature of operation fuse value air Fan use[W] Temperature of operation Ω W 1m/s 2m/s 3m/s

DV0P4280 RF70M 50 10 25 35 45 140±5 DV0P4281 RF70M 100 10 25 35 45 B-contact DV0P4282 RF180B 25 17 50 60 75 Open/close capacity 219±3 DV0P4283 RF180B 50 17 50 60 75 (Resistive load) DV0P4284 RF240 30 40 100 120 150 4A 125VAC 10,000times

DV0P4285 RH450F 20 52 130 160 200 2.5A 250VAC 10,000times

For safety reasons, the external regenerative resistor has a built-in temperature fuse and a thermal protector.

The built-in temperature fuse may be disconnected depending on heat dissipation conditions, range of use

temperatures, supply voltage, and load variations. Please set the driver on the machine and be sure to check

the operations in the bad conditions (high power supply voltage, high load inertia, or short slowdown time)

that it is easy to regenerate so that the surface temperature of the regenrative resistor becomes 100 or less.

Compose such a power supply as to turn the power off when the thermal protector is off.

No. SR-DSV09521 - 25 -


<Connecting cables to the terminal block>

Connect cables to the power connectors X1 and X2 according to the following the procedure.

Wiring procedure

1. Unsheathe the cable to be used.

2. Plug the cable in the connector. To plug the cable, the following two methods are available: (a) Insert the cable by using the supplied operation lever. (b) Insert the cable by using either a flat-blade screwdriver (blade tip width: 3.0 - 3.5 mm) or the

dedicated screwdriver (210-120J, 210-350/01, 270-258J, manufactured by WAGO JAPAN).

(a) When using the operation lever

1) Push the operation lever

located in the upper operation slot with your finger to lower the spring.

2) While pressing the operation lever, insert the cable into the cable insertion hole (round hole) until it reaches the innermost of the hole.

3) Releasing the lever completes the cable connection.

(b) When using a screwdriver (II)

1) Put the dedicated

screwdriver in the upper operation slot, and push it to lower the spring.

2) Insert the properly-unsheathed cable into the cable insertion hole (round hole) until it reaches the innermost of the hole.

3) Releasing the lever completes the cable connection.

* The cable can be disconnected from the connector in the same manner as the above procedure. CAUTION

- Unsheathe the cable exactly by the specified length. - Before connecting a cable into the connector, remove the connector from the servo driver. - Only one cable can be inserted into one insertion hole of the connector. - Be careful of injury when using a screw driver.

8 - 9 mm

No. SR-DSV09521 - 26 -


(2) Connecting cables to connector X5

1) The 12 to 24 V DC control signal power supply connected between the COM+ and COM- terminals should be prepared by the user.

2) Place the servo driver and peripheral equipment at the shortest distance as possible (3 m or less), to minimize the connection cable length.

3) Place the control signal cables away from the power cables (L1, L2, L3, L1C(r), L2C(t), U, V, W and Ground) as far as possible (at 30 cm or longer distance). Do not place the control signal cables in the same conduit as the power cables, or bundle these cables together.

Control input

VDC 12-24V

COM+

INH

CL

SRV-ON

ZEROSPD

C-MODE

A-CLR

CCWL

CWL

GAIN

DIV

33

30

7

27

28

29

32

31

26

9

8

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k

CN X5

Servo driver side

No. SR-DSV09521 - 27 -


Control output

4) Be careful of the polarity of the control signal power supply. Connecting the power supply with reverse polarities will damage the servo driver. (See the figure above).

5) To activate the relay directly with each output signal, be sure to connect a diode in parallel with the relay, in the direction shown below. If the diode is not connected or connected in the reverse direction, the servo driver will be damaged.

6) If each output signal is received by a logic circuit such as a gate, pay attention to prevent noise interference.

7) Make sure that the current of each output signal does not exceed 50 mA.

VDC 12～24V

CN X5

S-RDY- 34

35 S-RDY+

ALM- 36

37 ALM+

COIN- 38

39 COIN+

BRK-OFF- 10

11 BRK-OFF+

40 TLC

12 ZSP

41

S-RDY

ALM

COIN

BRK-OFF

TLC

ZSP

COM-

MAX 50mA

MAX 50mA

MAX 50mA

MAX 50mA

MAX 50mA

MAX 50mA

Servo driver side

(Standard default setting)

(Standard default setting)

12 - 24 V

No. SR-DSV09521 - 28 -


Pulse train command

A. Pulse train interface dedicated to line driver

13

PULSH2 45

44PULSH1

SIGNH2 47

46SIGNH1

ツイストペア

220

220

PULS

SIGN

43K43K

43K43K

2K

2K

2K

2K

H/LH/L

サーボアンプ側

B. Pulse train interface

The pulse train command input is applicable to both the line driver interface and the open-collector interface. However, we recommend that the input signal should be connected to the line driver interface, to increase the signal transmission reliability. Note that the cable connections to the servo driver are different depending on whether the line driver or open-collector interface is used.

• Line driver interface


13

PULS2 4

3PULS1

PULS

SIGN2 6

5SIGN1

SIGN

ツイストペア

CN X5

220

220

H/LH/L

Servo driver side

Twisted pair cable

Servo driver side

Twisted pair cable

No. SR-DSV09521 - 29 -


• Open-collector interface


13

PULS

4

3

CN X5

6

5 SIGN

220

220

R

R

Vp

12～24V

ON/OFF

L/H

L/HON/OFF

NOTE) Precautions for connecting command pulse input to the open-collector interface

- Set the cable length as short as possible (1 m or less). - With the open-collector interface, the maximum input pulse frequency is 200 kpps, which is smaller

than the pulse frequency for the line driver interface (500 kpps).

Servo driver side

Vp-1.5 R+220 ≈10mA

13

PULS

4

1

CN X5

6

2 SIGN

220

220

Vp24V

ON/OFF

L/H

ON/OFF

2.2k

2.2k

L/H

サーボアンプ側Servo driver side

No. SR-DSV09521 - 30 -


Rotary encoder feedback pulse

CN X5

19

22

21

49

48

24

23

25

46

CZ

OZ

OB

OA OA+

OA-

OB+

OB-

OZ+

OZ-

GND

Z

B

A

47

NOTE) 1) Only the Z-phase signal will be output through the line driver interface, and also output from Pin 19

(CZ) of the open-collector interface. To use the CZ signal, pay attention to prevent noise interference. 2) To receive output pulses, use the line receiver (AM26C32 or equivalent). To do so, provide a proper

termination resistor (approx. 330Ω) between the line receiver's input terminals. 3) Note that the logic of the Z-phase signal of the line driver output (OZ) is reverse to that of the

open-collector output (CZ). 4) Set the maximum output frequency to 4Mpps or less (after being multiplied by 4).

Servo driver side

Twisted pair cable

AM26C32 or equivalent AM26C31 or equivalent

Sca

ling

circ

uit

No. SR-DSV09521 - 31 -


(3) Connecting cables to connector X6

1) For the encoder cable, use a shielded twisted pair cable with strand core size of 0.18 mm2 or more. 2) The allowable cable length is 20 m max. To use a long cable for the 5 V power supply, double-wiring

is recommended to reduce the influence of a voltage drop. 3) Connect the sheath of the shielded cable in the motor side to the shield terminal for the shielded cable

from the encoder. Be sure to connect the sheath of the shielded cable in the servo driver side to the shell of X6 (FG).

4) If the cannon plug is provided, connect the encoder's shielded cable in the motor side to the J terminal. 5) Place the encoder cables away from the power cables (L1, L2, L3, L1C(r), L2C(t), U, V, W and

Ground) as far as possible (at 30 cm or longer distance). Do not place the encoder cables in the same conduit as the power cables, or bundle these cables together.

6) Do not connect a cable to the unused pins of X6 . 7-core absolute encoder

E5V

E0V

PS

PS

8

7

1

2

4

5

1

3

4

5

6

2

+5V

0V

172169-1

172161-1

3

電池

Connect the absolute encoder battery (Recommended item: 3.6V ER6V made by Toshiba Battery) between 1P and 2P of the relay connector. Users shall prepare the battery holder and the cables shown in the connection chart.

電池

H

T

S

K

L

J

1

3

5

6

2

4

0V

+5V

E5V

E0V

PS

PS

G

Connect the absolute encoder battery (recommended item: 3.6V ER6V made by Toshiba Battery) between T and S of Cannon plug. Users shall prepare the battery holder and connection cables.

White Black

Red

Pink Light blue

Purple Yellow/Green


Manufactured by Tyco Electronics AMP Servo motor

Twisted pair cable

Motor side R

egul

ator

Intermediate cable Servo driver side

Motor side Intermediate cable

Servo driver side

Servo motor

Twisted pair cable

Reg

ulat

or

Cannon plug Pin No.

Straight plug MS3106B20 29SCable clamp MS3057-12A Manufactured by Nihon AMP

Battery

Battery

No. SR-DSV09521 - 32 -


5-core incremental encoder

E5V

E0V

PS

PS

3

6

5

4

1

3

5

6

2

4

172168-1 172160-1

2

0V

+5V

G

H

K

L

J

1

3

5

6

2

4

0V

+5V

E5V

E0V

PS

PS

Black

White

Light blue

Purple



Servo motor

Twisted pair cable

Motor side

Reg

ulat

or

Intermediate cable Servo driver side

Motor side Intermediate cable

Servo driver side

Servo motor

Twisted pair cable

Reg

ulat

or

Cannon plug Pin No.

Straight plug MS3106B20-29SCable clamp MS3057-12A Manufactured by Nihon AMP

Shielded cable

No. SR-DSV09521 - 33 -


<Battery replacement procedure>

The data read by the absolute encoder include the single-revolution data that indicate the motor position per revolution, and the multi-revolution data that indicate a pulse count per revolution. Since the multi-revolution data are electrically counted, they will be backed up with a battery. Leave the control power supply on during battery replacement.

[Precautions for using the absolute encoder backup battery]

A battery voltage drop results in the absolute encoder error. Battery voltage drop is caused by exhausted service life of the battery, and voltage delay.

1) The battery's service life will be reduced depending on the ambient condition. We recommend that the

battery should be replaced annually. 2) Since the voltage delay phenomenon occurs with the lithium battery due to the minimum transient

voltage, a temporary voltage drop may occur when the battery starts discharging. Therefore, the battery must be refreshed before use.

Before using the battery unit for the first time

Connect the upper lead wire of the battery unit to its connector. After leaving it for 30 minutes, mount the battery unit to the servo driver.

After mounting the battery unit

We recommend that the control power supply should be turned ON/OFF about once a day.

(*) We recommended that the battery is refreshed if an external battery is used. Consult the battery maker regarding the method of refreshing the battery.

<Caution> [1] Air transportation

It is necessary to file an application for air transportation of dangerous items. (UN package is required in both passenger planes and cargo planes). Transport companies are requested to submit necessary documents (parameter sheet, MSDS, etc.) for air transportation of dangerous materials. These documents should be requested from the dealer.

[2] UN package Inquire at a transport company for detailed information.

[3] When disposing of a removed battery unit, make sure to insulate its terminal with a tape, etc. and follow the ordinance by local governments.

No. SR-DSV09521 - 34 -


6. Parameters

Parameter No. Parameter Name Related

control mode Setting range Function/Description

00 * Axis address All 0 - 15

Defines the RSW (ID) value on the front panel at power-on of the control power supply. This value is used as the axis address for serial communication. The set value of this parameter has no influence on the servo operation.

01 *

LED display at power up

All 0 – 12 15,17

In the initial condition after turning ON the control power, the following data displayed on the 7-segment LED can be selected. 0: Positional deviation 1: Motor revolving speed 2: Torque output 3: Control mode 4: I/O signal status 5: Error cause/record 6: Software version 7: Warning 8: Regenerative load ratio 9: Overload load ratio 10: Inertia ratio 11: Feedback pulse total 12: Command pulse total 13: You cannot set. 14: You cannot set. 15: Motor auto recognition 16: You cannot set. 17: Causes of no revolution Refer to sect.9-12 for detailed information of the display.

02 *

Control mode All 0 - 1

Select the control mode of the servo driver. Altered data is enabled when the control power is turned ON.

Pr.02 setting value

Control mode Code

0 Position control P 1 Speed control S

2-6 You cannot set. -

Note 1) As for item having parameter No. marked with (*), altered data is enabled after resetting of the control power.

Note 2) As for item having parameter No. marked with (RT), data is altered automatically during executing real time auto gain tuning. When altering data manually, set Pr.21 (real time auto tuning set up) to 0 to disable the real time auto gain tuning, and then enter new data.

No. SR-DSV09521 - 35 -


Parameter

No. Parameter

Name Related control

mode Setting range Function/Description

03 Torque limit

Selection

P, S 1 - 3

Defines whether to enable or disable the CW/CCW torque limit input (X5 CWTL: Pin 18, CCWTL: Pin 16).

Set value CCW CW 0 You cannot set. 1 Pr.5E is se to the limit value in CCW and CW directions. 2 Set by Pr.5E. Set by Pr.5F.

3 When GAIN/TL-SEL input is open: set by Pr.5E. When GAIN/TL-SEL input is short-circuited, set by Pr.5F.

04 *

Overtravel input nhibit All 0 - 2

Defines whether to enable or disable the CW/CCW overtravel input inhibit (X5 CWL: Pin 8, CCWL: Pin 9). 0: In the case of the overtravel input inhibit, will become the sequence set by Pr.66 (Error response at overtravel limit). 1: The overtravel input inhibit is disabled. 2: When the connection of either CW or CCW input inhibit with COM- becomes open, Err38 (overtravel input inhibit protection) occurs. The changes become enabled when the control power is turned on.

05

Internal/ external speed

switching

S 1,3

Select the speed command for the speed control mode. 0: You cannot set. 1: Speed setting (1st to 4th speed) (Pr. 53 to Pr. 56) 2: You cannot set. 3: Setting of 1st through eighth speed (Pr.53 to 56 and Pr.74 to 77) To use this parameter, refer to Section 4.

06 ZEROSPD input selection S 0 - 2

Select the function of the speed zero clamp input (X5 ZEROSPD: Pin 26). 0: Inactivated 1: Speed zero clamp 2: Speed command code Refer to the item 4 before use. In torque control, the set value 2 means no activation.

07 Speed monitor (SP) selection All 0 - 9

Select the output of the analog speed monitor (X5 SP: Pin 43, Front panel). The value given in ( ) indicates the monitor value at approx. 6 V. 0 to 4: Actual motor speed (0:47, 1:188, 2:750, 3:3000, 4:12000[r/min]) 5 to 9: Command speed (5:47, 6:188, 7:750, 8:3000, 9:12000[r/min])

08 Torque monitor (IM) selection

All 0 – 5,11,

12

Select the output of the analog torque monitor (X5 IM: Pin 42, Front panel). The value given in ( ) indicates the monitor value at approx. 3 V. 0: Torque command (100[%]) 1 to 5: Position deviation (1:31, 2:125, 3:500, 4:2000, 5:8000[pulse]) 6 to 10: You cannot set. 11: Torque command (200[%]) 12: Torque command (400%)

09 TLC output

selection

All 0 – 6,8

Select the output of the torque limit control signal (X5 TLC: Pin 40). 0: Torque limit control 1: Zero speed detection 2: Any warning 3: Regenerative discharge overload warning 4: Overload warning 5: Battery warning 6: Fan lock warning 7: You cannot set. 8: Speed conformance output

0A ZSP output selection

All 0 – 6,8

Select the output of the zero speed detection signal (X5 ZSP: Pin 12). 0: Torque limit control 1: Zero speed detection 2: Any warning 3: Over regenerative discharge warning 4: Overload warning 5: Battery warning 6: Fan lock warning 7: You cannot set. 8: Speed conformance output

0B *

Absolute encoder set up All 0 - 2

Select how to use the absolute encoder. 0: Used as absolute encoder 1: Used as incremental encoder 2: Used as absolute encoder regardless of overcount error A change of this parameter becomes enabled at power-on of the control power supply.

0C *

Baud rate of RS232C All 0 - 5

Defines the RS232C communication speed. 0: 2400[bps] 1: 4800[bps] 2: 9600[bps] 3: 19200[bps] 4: 38400[bps] 5: 57600[bps] The baud rate error is ±0.5%. A change of this parameter becomes enabled at power-on of the control power supply.

0D *

Baud rate of RS485 All 0 - 5

Defines the RS485 communication speed. 0: 2400[bps] 1: 4800[bps] 2: 9600[bps] 3: 19200[bps] 4: 38400[bps] 5: 57600[bps] The baud rate error is ±0.5%. A change of this parameter becomes enabled at power-on of the control power supply.

0E *

Front panel lock set up All 0 - 1

Limiting the front panel operation to the monitor mode may prevent an operation error such as the unexpected change of parameters, etc. 0: All enabled. 1: Limited to monitor mode Even if this parameter is 1, parameter changes made by the communication function is enabled. To reset this parameter to 0, use PANATERM or the console. The changes become enabled when the control power is turned on.

0F For manufacturer use

No. SR-DSV09521 - 36 -


Parameter

No. Parameter



10 (RT)

1st position loop gain P 0 - 3000

Defines the position loop gain. The unit is [1/s]. As the gain is increased, the servo stiffness in the position control mode is increased. However, if the gain setting is too high, oscillation occurs.

11 (RT)

1st velocity loop gain All 1 - 3500

Defines the speed loop gain. When Pr. 20 (Inertia ratio) is properly set up, the unit of this parameter is [Hz]. As the gain is increased, the response speed in the speed control mode is increased.

12 (RT)

1st velocity loop integration

time constant All 1 - 1000

Lowering the parameter setting speeds up the integral action. The unit is [ms]. To retain the integrated value, set it to 999. To disable the integral action, set this parameter to "1000".

13 (RT)

1st speed detection filter All 0 - 5

Select the type of the speed detection filter. 0 to 5: Increasing the parameter setting reduces the motor noise. When the momentary speed observer is enabled (Pr.27 = 1), this parameter is enabled.

14 (RT)

1st torque filter time constant All 0 - 2500

Defines the time constant of the primary delay filter for torque command. The unit is [10µs]. The machine vibration may be reduced depending on the torque filter setting.

15 (RT)

Velocity feed forward P -2000

- 2000

Defines the speed feed forward value. The unit is [0.1%]. Use this function when particularly high speed response is required.

16 (RT)

Feed forward filter time constant

P 0 - 6400Defines the time constant of the primary delay filter for speed feed forward. The unit is [10µs].

17 For

manufacturer use

18 (RT)

2nd position loop gain P 0 - 3000

Set up this parameter only when the gain switching function is used for the optimum tuning. Defines the second position loop gain in the position control mode. The unit is [1/s]. To use this parameter, refer to Section 11-6.

19 (RT)

2nd velocity loop gain All 1 – 3500

Set up this parameter only when the gain switching function is used for the optimum tuning. When Pr. 20 (Inertia ratio) is properly set up, the unit of this parameter is [Hz]. To use this parameter, refer to Section 11-6.

1A (RT)

2nd velocity loop integration

time constant All 1 - 1000

Set up this parameter only when the gain switching function is used for the optimum tuning. The unit is [ms]. When using it in the vertical axis, set it to 999 to retain the integrated value. To disable the integral action, set this parameter to "1000". To use this parameter, refer to Section 11-6.

1B (RT)

2nd speed detection filter All 0 - 5

Set up this parameter only when the gain switching function is used for the optimum tuning. Increasing the parameter setting reduces the motor noise. To use this parameter, refer to Section 11-6. When the momentary speed observer is enabled (Pr.27 = 1), this parameter is disabled.

1C (RT)

2nd torque filter time constant All 0 - 2500

Set up this parameter only when the gain switching function is used for the optimum tuning. This parameter defines the time constant of the primary delay filter for torque command. The unit is [10µs]. To use this parameter, refer to Section 11-6.

1D 1st notch frequency All 100 -

1500

Notch frequency of the 1st resonance-suppress notch filter is set. Unit: [Hz]. It is used so as to coincide with the resonance frequency of the equipment. 100 - 1499: Filter enabled 1500: Filter disabled Note) This parameter may be altered depending on the setting of the adaptive filter. When a combination with applied filter is adopted, use the 2nd notch filter.

1E 1st notch width selection All 0 - 4

Notch width of the 1st resonance suppress notch filter is selected. The larger value provides the wider notch width. Note) This parameter may be altered depending on the setting of the adaptive filter. When a combination with adaptive filter is adopted, use the 2nd notch filter.

1F For

manufacturer use

No. SR-DSV09521 - 37 -


Parameter

No. Parameter



20 (RT) Inertia ratio All 0 - 10000

Defines the ratio of load inertia to the motor's rotor inertia. The unit is [%]. Set value [%] = (Load inertia/ rotor inertia) × 100 The estimated inertia ratio during real-time auto tuning will be stored in the EEPROM every 30 minutes.

21 Real time auto tuning set up All 0 - 6

Defines the operation mode of real-time auto tuning. Increasing the set value (3, 6,...) provides higher response to the inertia change during operation. However, operation may become unstable depending on the operation pattern. Normally, set this parameter to "1" or "4". When it is used in vertical axis mode, set this parameter to “4 - 6”. The gain switching function is valid in the position control mode and the full-closed mode when this parameter is 1-6. Set this parameter to 7 when any influence of gain switching is considered. The gain switching function is invalid in the speed control mode and the torque control modewhen this parameter is 1-6. In this case, the set value 1 and 7 become the same mode.

22 Machine

stiffness at auto tuning

All 0 - 15

Defines the machine stiffness during execution of real-time auto tuning. Increasing the set value provides higher response. If the parameter value is rapidly changed, the gain significantly changes, applying a shock to the machine. Be sure to set a small value first, and increase it gradually, while monitoring the operating condition.

23 Adaptive filter mode P, S 0 - 2

Set the operation of the adaptive filter. 0: Disabled 1: Enabled 2: Retaining (the adaptive filter frequency when the set value is changed to 2 is retained.)

24

Vibration suppression

filter switching selection

P 0 - 2

To switch vibration suppression filters, select its switching method. 0: No switching (1st and 2nd filters are both enabled.) 1: Choose either 1st or 2nd filter by using the vibration-suppression control switching input (VS-SEL). When VS-SEL is open: choose 1st vibration suppression frequency (Pr.2B, Pr.2C). When VS-SEL is short-circuited, choose 2nd vibration suppression frequency (Pr.2D, Pr.2E). 2: May be switched in commanded directions. In the direction of CCW: choose 1st vibration suppression frequency (Pr.2B, Pr.2C). In the direction of CW: choose 2nd vibration suppression frequency (Pr.2D, Pr.2E).

25 Normal auto

tuning motion setup

All 0 - 7

Defines the operation pattern of the normal mode auto tuning. Set value Number of

revolutionsRevolving direction

0 CCW → CW1 2[revolution] CW → CCW2 CCW → CCW3 CW → CW4 CCW → CW5 1[revolution] CW → CCW6 CCW → CCW7 CW → CW

Example) Setting this parameter to "0" provides two CCW revolutions and two CW revolutions.

26 Software limit set up P 0 - 1000

Defines the value of allowable over-rotation against the position command pulse in the full-closed control mode. The unit is [0.1 rev]. when the set value is 0, the software limit error becomes invalid. For details, refer to 8-5.

27 (RT)

Velocity observer P, S 0 - 1

The improvement of precision in speed detection by using the momentary speed observer enables successful combination of the high response and the reduction of vibrations at the time of stopping. 0: Momentary speed observer disabled. 1: Momentary speed observer enabled. It is required to set Pr.20 inertia ratio to as precise as possible value before use. For details, refer to the item 11-6. When the momentary speed observer is enabled, the 1st speed detection filter (Pr.13) and the 2nd speed detection filter (Pr.1B) are disabled.

Set value Real-time auto tuning Degree of inertia change during operation0 Disabled ― ― ― 1 No change 2 Slowly changes 3

Normal mode Rapidly changes

4 No change 5 Slowly changes 6

Vertical axis mode Rapidly changes

7 Gain switching invalid mode No change

No. SR-DSV09521 - 38 -


Parameter

No. Parameter Name Related control mode

Setting range Function/Description

28 2nd notch frequency All 100 - 1500

Defines the notch frequency of the second resonance suppression notch filter. The unit is [Hz]. Match the notch frequency with the machine's resonance frequency. 100 to 1499: Filter enabled 1500: Filter disabled

29 2nd notch width selection All 0 - 4 Select the notch width of the second resonance suppression notch filter.

Increasing the set value enlarges the notch width.

2A 2nd notch depth selection All 0 - 99 Select the notch depth of the second resonance suppression notch filter.

Increasing the set value reduces the notch depth and the phase delay.

2B 1st vibration suppression frequency

P 0 - 2000

Vibration suppression frequency of the vibration suppression for suppressing vibration at the front end of a load is set. Measures the vibration frequency at the front end of a load, and sets it in increments of 0.1[Hz]. The frequency is set in the range from 10.0 to 200.0[Hz]. The value set in the range from 0 to 99 is disabled. Refer to the item 11-6 before use.

2C 1st vibration suppression filter P -200 - 2000

When setting Pr.2B (1st vibration suppression frequency), if torque saturation occurs, set a smaller value; if a faster operation is required, set a larger value. Normally, it is set to 0. Unit: 0.1 [Hz] The maximum value of this parameter is limited to Pr.2B. The minimum value of this parameter is limited to (Pr.2B+Pr.2C≧100). Before using this function, refer to section11-6.

2D 2nd vibration suppression frequency

P 0 - 2000

Sets the vibration suppression frequency of the vibration suppression control to suppress vibrations at the front end of a load. Measures the vibration frequency at the front end of a load, and sets it in increments of 0.1[Hz]. The minimum setting frequency is 10[Hz]. The frequency set in the range of 0 to 99 is disabled. Refer to the item 11-6 before use.

2E 2nd vibration suppression filter P -200 - 2000

When setting Pr.2D (2nd vibration suppression frequency), set a smaller value if torque suppression occurs, and set a larger value if faster operation is required. Normally use it at 0. The setting shall be in increments of 0.1[Hz]. The maximum value of this parameter is limited to Pr.2D. The minimum value of this parameter is limited to (Pr.2D +Pr.2E≧100). Refer to the item 11-6 before use.

2F Adaptive filter frequency P, S 0 - 64

Table No. corresponding to the frequency of the adaptive filter is displayed. This parameter is set automatically and cannot be changed manually when the adaptive filter is enabled (when Pr.23 (adaptive filter mode) is not 0). 0 - 4: Filter disabled 5 - 48: Filter enabled 49 – 64: Whether the filter is enabled or disabled depends on Pr.22. Before using this function, refer to section11-1. When the adaptive filter is enabled, the parameter is stored in the EEPROM every 30 minutes. And when the adaptive filter is enabled at the next power ON, the data stored in the EEPROM is used as the initial value to adapt the operation. When desiring to clear and reset this parameter, set the adaptive filter to “disabled” first, and then reset it “enabled”.

No. SR-DSV09521 - 39 -


Parameter



30 (RT)

2nd gain action set up All 0 - 1

Set up this parameter when the gain switching function is used for the optimum tuning. 0: Uses the first gain (Pr. 10 - Pr. 14). (PI/P changeable) 1: Switches between the first gain (Pr. 10 - Pr. 14) and the second gain (Pr. 18 - Pr. 1C). To use this parameter, refer to Section 11-6. For PI/P operation switching, use the gain switching input (X5 GAIN: Pin 27). When Pr.30 is 0 and Pr.03 (torque limit selection) is 3, however, PI is fixed.

31 (RT)

1st control switching mode All 0 - 10

Defines the trigger for switching gains in the 1st control-switching mode. 0: Fixed to 1st gain, 1: Fixed to 2nd gain, 2: Gain switching input (X5 GAIN: Pin 27) 3: Torque command change value, 4: Magnitude of speed command change, 5: Speed command, 6: Position deviation, 7: Position command input, 8: Not in position, 9: Speed, 10: Position command input + speed When Pr.31 is 2 and Pr.03 (torque limit selection) is 3, the 1st gain is fixed. Trigger contents may vary depending on the control mode. To use this parameter, refer to Section 11-6.

32 (RT)

1st control switching delay

time All 0 - 10000

Defines the time duration from trigger detection to actual gain switching from the 2nd gain to the 1st gain when Pr. 31 (1st control switching mode) is set to 3 - 10. The unit is [166µs]. To use this parameter, refer to Section 11-6.

33 (RT)

1st control switching level All 0 - 20000

Defines the trigger level when Pr. 31 (1st control switching mode) is set to 3 to 6,9, or 10. The unit varies depending on the setting of Pr. 31 (1st control switching mode). To use this parameter, refer to Section 11-6.

34 (RT)

1st control switching hysteresis

All 0 - 20000

Defines the hysteresis for trigger judgment when Pr. 31 (1st control switching mode) is set to 3 to 6, 9 or 10. The unit varies depending on the setting of Pr. 31 (1st control switching mode). To use this parameter, refer to Section 11-6.

35 (RT)

Position loop gain switching time P 0 - 10000

Used to suppress a rapid increase in the position loop gain when there is a large difference between the first and second position loop gains. When the position loop gain increases, the change occurs in (the set value + 1) x 166[µs]. To use this parameter, refer to Section 11-6.

36 (RT)

For manufacturer use

Do not change it from shipment setting.

37 For manufacturer

use


38 For manufacturer

use


39 For manufacturer

use


3A For manufacturer use

3B For manufacturer use

3C For manufacturer use

3D JOG speed All 0 - 500 Defines a JOG speed. The unit is [r/min]. Refer to the Section 8-2 (trial run) before use.

3E For manufacturer use


No. SR-DSV09521 - 40 -


Parameter

No. Parameter

Name

Related control mode


40 *

Command pulse input selection P 0 - 1

Decides whether using the input dedicated to the line driver for the input of a command pulse. 0: Photo coupler input (X5 PULS1: Pin 3, PULS2: Pin 4, SIGN1: Pin 5 and SIGN2: Pin 6)1: Input dedicated to line driver (X5 PULSH1: Pin 44, PULSH2: Pin 45, SIGNH1: Pin 46 and SIGNH2: Pin 47) The change becomes enabled when power is turned on.

41 *

Command pulse direction of

rotation set up P 0 - 1

Defines a revolving direction and input mode for the command pulse.

42 *

Command pulse input mode P 0 - 3

The change becomes enabled when the control power is turned on.

Pr.41 (command

pulse direction of rotation set

up) set value

Pr.42 (command pulse input

mode) set value

Command pulse mode

Signal name CCW command CW command

“ 0 ” or

“ 2 ”

90°phase differenceDual phase

pulse (Phase A and phase

B)

PULS

SIGN

“ 0 ” “ 1 ”

CW pulse train +

CCW pulse train

PULS

SIGN

“ 3 ” Pulse train

+ Code

PULS

SIGN

“ 0 ” or

“ 2 ”

90°phase differenceDual phase

pulse (Phase A and phase

B)

PULS

SIGN

“ 1 ” “ 1 ”

CW pulse train +

CCW pulse train

PULS

SIGN

“ 3 ” Pulse train

+ Code

PULS

SIGN

Ａ相

Ｂ相

‘H’‘L’

Phase B runs ahead of phase A by 90 degrees.

Phase B runs behind phase A by 90 degrees.

Ａ相

Ｂ相

Ｂ相はＡ相より９０°進みＢ相はＡ相より９０°遅れ

Phase A

Phase B

‘H’‘L’

Phase B runs ahead of phase A by 90 degrees.

Phase B runs behind phase A by 90 degrees.

Phase A

Phase B

No. SR-DSV09521 - 41 -


Parameter No.

Parameter Name

Related control


43

Command pulse inhibit input invalidation

P 0 - 1

If this parameter is set to "1", the command pulse inhibit input (X5 INH: Pin 33) is ignored.

44 *

Numerator of output pulse ratio

All 1 – 32767

45 *

Denominator of output pulse ratio

All 0 - 32767

Defines the number of pulses from the pulse output (X5 OA+: Pin 21, OA-: Pin 22, OB+: Pin 48 and OB-: Pin 49). The change becomes enabled when the control power is turned on. In the case of the output of encoder pulses (When the control mode is P, S or T, or Pr.46

is 0 or 1): Pr.45=0: Pr.44 can be used to set the number of output pulses per motor revolution for OA and OB. Pulse output resolution per revolution = Pr.44 (numerator of output pulse ratio) x 4 Pr.45≠0: the pulse output resolution per revolution is divided at any ratio according to the following expression. Pulse output resolution per revolution = × Encoder resolution Note) - The encoder resolution is 131072[P/r] in the case of 17-bit absolute encoder, and

10000[P/r] in the case of 2500 P/r 5-core incremental encoder. - The pulse output resolution per revolution cannot exceed the resolution of an encoder. (In the case of the above setting, the pulse output resolution per revolution is same as

the resolution of an encoder.) - Phase Z is output once every motor revolution. When pulse output resolution per revolution calculated by the above expression is

multiples of 4, phase Z is output in synchronization with phase A. Otherwise, as it is output based on the resolution of an encoder, phase Z is not synchronized with phase A and its width becomes narrower than that of phase A.

In the case of the output of external scale pulses (When the control mode is F and Pr.46

is 2 or 3), Pr.45=0: No division Pr.45≠0: the travel distance per output pulse is divided at any ratio according to the following expression. Note) - The travel distance per external scale pulse is 0.05[μm] for AT500 series, and 0.5[μ

m] for ST771 series. - The setting of Pr44＞Pr.45 is disabled. (In the case of the above setting, there is no division.) - Phase Z is output in synchronization with phase A only when having crossed the

absolute position 0 of an external scale after the control power of the driver has been turned on.

Thereafter, it is output at the intervals of phase A output pulses, which are set by Pr.47 (Z-phase of external scale set up).

ratio) pulse output of or(denominat Pr.45 ratio) pulse output of (numerator Pr.44

A

B

Z

ｴﾝｺｰﾀﾞ分解能× が 4の倍数

Pr.44 Pr.45


45.Pr44.Pr is in multiples of 4

Synchronized

Travel distance per output pulse = × Travel distance per

external scale pulse ratio) pulse output of (numerator Pr.45 ratio) pulse output of or(denominat Pr.45

ｴﾝｺｰﾀﾞ分解能× が 4の倍数でない

Pr.44

Pr.45


45.Pr44.Pr is not in multiples of 4

Out of synchronization

A

B

Z

No. SR-DSV09521 - 42 -


Parameter No.

Parameter Name



46 *

Pulse output logic inversion All 0 – 3

Defines the phase B logic and output source of the pulse output (X5 OB+: Pin 48 and OB+: Pin 49). 0: phase B output logic not inversed. 1: phase B output logic inversed (encoder). 2: phase B output logic not inversed. 3: phase B output logic inversed (external scale and full-closed only). The positioning of phase B with regard to phase A can be inversed by inversing the phase B pulse logic by using this parameter. * The output source of Pr.46=2, 3 is enabled at the time of full-closed control only. The change becomes enabled when the control power is turned on.

47 *

For manufacturer

use

0


At the CCW revolution of a motor At the CW revolution of a motorSet

value Phase A (OA)

0,2

Phase B (OB) not inversed

1,3 Phase B (OB) inversed

Pr.46 Phase B logic Output source

0 1

2 *) 3 *)

Not inversed Inversed

Not inversed Inversed

Encoder position Encoder position

External scale position External scale position

No. SR-DSV09521 - 43 -


Parameter No.

Parameter Name



48 1st numerator of command pulse ratio

P 0 - 10000

49 2nd numerator of command pulse ratio

P 0 - 10000

4A

Multiplier of numerator of

command pulse ratio

P 0 - 17

4B Denominator of command pulse

ratio P 1 - 10000

- Defines the division gradual increase ratio to command pulses. - The division gradual increase ratio is set according to the following expression.

Numerator of command pulse ratio (Pr.48, Pr.49) × 2 Denominator of command pulse ratio (Pr.4B)

Or Encoder resolution

The number of command pulses per revolution (Pr.4B) In the case of Numerator=0: The numerator ((Pr.48, Pr.49) × 2 Pr.4A) equals the encoder

resolution, and Pr.4B can be used to set the number of pulses per revolution.

In the case of Numerator≠0: The division gradual increase is performed according to the above expression. Therefore, the number of command pulses per revolution is as shown in the following expression.

Note) - The maximum limit of the calculated value of the actual numerator ((Pr.48, Pr.49) ×

2Pr.4A) is 4194304 / (Pr.4D set value + 1). Refer to the item 4-3 and the “Command pulse division gradual increase function” stated below before use.

4C Smoothing filter P 0 - 7

Select the primary delay filter for command pulse. Increasing the set value further smoothes the command pulse, but delays the response to the command pulse. 0: Filter disabled, 1 to 7: Filter enabled

4D * FIR filter set up P 0 - 31

Select the FIR filter for command pulse. The filter is a moving average filter (the number of averaging: Set value + 1). The change is enabled when the control power is turned on.

4E Counter clear input P 0 - 2

Defines the function of the counter clear input (X5 CL: Pin 30). 0: Clears the deviation counter and full-closed deviation counter in the level mode

(short-circuited for 100 µs or more). 1: Clears the deviation counter and full-closed deviation counter at the rising edge (open

→ short-circuited for 100 µs or more). 2: Disabled.

4F For

manufacturer use

Multiplier of numerator of command pulse ratio

(Pr.4A)

Number of command pulse per revolution

= Encoder resolution ×Pr.4B

(Pr.48, Pr.49) × 2Pr.4A

No. SR-DSV09521 - 44 -


Parameter



50 For manufacturer

use

10 Do not change it from shipment setting.

51 For manufacturer

use


52 For manufacturer

use


53 1st internal speed S -20000 - 20000

Defines the first speed for the internal speed command. The unit is [r/min]. Limited by Pr.73 (Overspeed level). To use this parameter, refer to Section 4-3.

54 2nd internal speed S -20000 - 20000

Defines the second speed for the internal speed command. The unit is [r/min]. Limited by Pr.73 (Overspeed level). To use this parameter, refer to Section 4-3.

55 3rd internal speed S -20000 - 20000

Defines the third speed for the internal speed command. The unit is [r/min]. Limited by Pr.73 (Overspeed level). To use this parameter, refer to Section 4-3.

56 4th internal speed S -20000

- 20000

Defines the fourth speed for the internal speed command. The unit is [r/min]. Limited by Pr.73 (Overspeed level). To use this parameter, refer to Section 4-3.

57 For manufacturer

use


58 Acceleration time S 0 - 5000

Defines the acceleration time in the speed control mode. Set value = Time [s] of acceleration from 0 [r/min] to 1000 [r/min] × 500

59 Deceleration time S 0 - 5000Defines the deceleration time in the speed control mode. Set value = Time [s] of deceleration from 1000 [r/min] to 0 [r/min] × 500

5A S-shaped

acceleration/ deceleration time

S 0 - 500 Defines the time of the sigmoid curve to be added to acceleration/ deceleration in thespeed control mode. The unit is [2 ms].

5B For manufacturer

use


5C For manufacturer

use


5D For manufacturer

use


5E 1st torque limit All 0 - 500 Defines the 1st limit value of the motor output torque. The unit is [%]. For the selection of the torque limit, refer to Pr.03 (torque limit selection).

5F 2nd torque limit P,S 0 - 500 Defines the 2nd limit value of the motor output torque. The unit is [%]. For the selection of the torque limit, refer to Pr.03 (torque limit selection).

No. SR-DSV09521 - 45 -


Parameter



60 In-position range P 0 - 32767

Number of allowable pulses for in-position range is set. When the positional deviation is less than a set value, COIN output is turned ON. Use the number of encoder pulses to control the position.

61 Zero speed All 10 - 20000

Sets the threshold level of the zero speed detection signal (X5 ZSP: Pin 12 or TLC: Pin 40). In the case of the speed conformance output, sets the allowable speed with regard to the speed command. The unit is [r/min]. Note) The zero speed detection and speed conformance detection has a hysteresis of 10[r/min].

62 At-speed S 10 - 20000Threshold level of at-speed output signal (X5 COIN+: Pin 39, COIN-: Pin 38) is set. Unit: [r/min] Note) The reached speed detection has a hysteresis of 10[r/min].

63 In-position output set up P 0 - 3

Sets the operation of the positioning completion signal. 0: Turned on when the position deviation is within the completed poisoning range.1: Turned on when there is no position command and the position deviation is

within the completed positioning range. 2: Turned on when there is no position command, the zero speed detection signal is

on, and the position deviation falls within the completed positioning range. 3: Turned on when there is no position command and the position deviation falls

within the completed positioning range. Thereafter, it remains turned on until the next command arrives.

64 For manufacturer use

65 Undervoltage

error response at main power-off

All 0 - 1

Sets the operation required when the main power remains shut off for the time period set by Pr.6D (main power-off detection time) during the servo-on. 0: Servo is turned OFF in accordance with the setting of Pr.67 (error response at

main power-off). 1: Servo trips when main power undervoltage error (Err13). When Pr.6D (main power-off detection time) is 1000, this parameter is disabled. When the voltage between P and N of the main power converter drops lower than the specified value before detecting the main power shut-off due to the reason that the Pr.6D set time is too long, a voltage error is caused by the shortage of main power (Err13).

66 *

Error response at overtravel limit All 0 - 2

Sets the driving condition at the time of slowdown operation initiated after the overtravel input inhibit (CCWL: CN X5 Pin 9 or CWL: CN X5 Pin 8) has been activated and become enabled.

Set value During deceleration After stopping Error counter

status

0 DB Torque command in

overtravel inhibit direction = 0

Retained

1

Torque command in overtravel

inhibit direction = 0

Torque command in overtravel inhibit

direction = 0 Retained

2 Emergency stop Position command in overtravel inhibit

direction = 0

Cleared before or after deceleration

(DB: Dynamic brake operation) When the set value is 2, the torque limit during the deceleration operation is the set value of Pr.6E (emergency stop torque set up). The change is enabled when the control power is turned on.

No. SR-DSV09521 - 46 -


Parameter



67 Error response at main power-off

All 0 - 9

When Pr.65 (Undervoltage error response at main-power off) is 0, sets the followings after the main power is turned off: (1) The driving condition during the deceleration operation and after stopping, and (2) The clearance procedure of deviation counter contents.

Driving condition Error counterSet value During deceleration After stopping contents 0 DB DB Cleared 1 Free run DB Cleared 2 DB Free Cleared 3 Free run Free Cleared 4 DB DB Retained 5 Free run DB Retained 6 DB Free Retained 7 Free run Free Retained 8 Emergency stop DB Cleared 9 Emergency stop Free Cleared

(DB: Dynamic brake operation) When the set value is 8 or 9, the torque limit during the deceleration is the set value of Pr.6E (emergency stop torque set up)

68 Error response action

All 0 - 3

Sets the driving condition during the deceleration or after stopping due to the alarm raised by any protective function of the driver.

Driving condition Error counterSet value During deceleration After stopping contents 0 DB DB Cleared 1 Free run DB Cleared 2 DB Free Cleared 3 Free run Free Cleared

(DB: Dynamic brake operation) The error counter contents are cleared at the of the clearance of an alarm.

69 Sequence at Servo-OFF

All 0 - 9

Sets the followings after servo-off (SRV-ON signal: CN X5 Pin 29 is turned off): (1) The driving condition during the deceleration or after stopping, and (2) The clearance procedure of the deviation counter. The relation between the set value and the driving condition/error counter handling condition of Pr.69 is same as that of Pr.67 (error response at main power-off.)

6A Mechanical brake

delay at motor standstill

All 0 - 100

Defines the time duration from turn-OFF of the external brake release signal (X5 BRK-OFF: Pins 10 and 11) to motor shutdown, in transition to Servo-OFF during the halt of the motor (servo lock condition). The unit is [2 ms]. To use this parameter, refer to Section 7-2.

6B Mechanical brake delay at motor in

motion All 0 - 100

Sets the time required until the external brake release signal (X5 BRK-OFF: Pins 10 and 11) is turned off after it is detected that the servo-on input signal (X5 SRV-ON: Pin 29) has been turned off at the time of servo-off during the motor revolution. The unit is [2 ms]. If the motor speed falls below approx. 30 [r/min] before the preset time is reached, the BRK-OFF signal turns OFF. To use this parameter, refer to Section 7-3.

6C *

External regenerative

resistor set up All 0 - 3

Sets the operation of the regeneration resistor and the regenerative overload protection (Err18). 0: Defines the regenerative discharge resistor overload protection according to the

built-in regenerative discharge resistor. 1: Trip occurs due to the regenerative discharge resistor overload error (Err. 18)

when the regenerative discharge resistor's operating ratio exceeds 10%. 2: Inactivates the regenerative discharge resistor overload protection. 3: Inactivate the regenerative discharge circuit, and processes all regenerative power

through built-in capacitors. Refer to the item 4 before use. The change is enabled when the control power is turned on.

6D *

Main power-off detection time

All 35 – 1000

Defines the time duration before detection of main power interruption after the main power is turned OFF. The unit is [2 ms]. When the set value is 1000, the detection of main power off is disabled. The change is enabled when the control power is turned on.

6E Emergency stop torque set up

All 0 - 500

Sets the torque limit of the following time: 1. With Pr.66 (error response at overtravel limit) set to 2, when the deceleration operation is initiated due to drive prohibition, 2. With Pr.67 (error response at main power-off) set to 8 or 9, when the deceleration operation is initiated, or 3. With Pr.69 (sequence at Servo-OFF) set to 8 or 9, when the deceleration operation is initiated. When the set value is 0, the normal torque limit is used.

6F For

Manufacturer use

No. SR-DSV09521 - 47 -


Parameter



70 Position deviation error level P 0 - 32767

Sets a position deviation excess range. The unit is [256 x resolution]. To set it, use the number of encoder pulses for the position control, and the number of external scales pulses for the full-closed control. When this parameter is 0, the position deviation excess detection is disabled.

71 For manufacturer

use


72 Overload level All 0 - 500 Sets the overload level. When the set value is 0, the overload level is set to 115[%]. Set it to 0 normally. The set value of this parameter is limited to 115[%] of the motor rating. When using any lower overload level, set a desired level before use. The unit is [%].

73 Overspeed level All 0 - 20000

Sets the overspeed level. When the set value is 0, the overspeed level is set to the maximum number of motor revolutions x 1.2. Set it to 0 normally. The set value of this parameter is limited to the minimum number of motor revolutions × 1.2. When using any lower overspeed level, set a desired level before use. The unit is [r/min]. (Note) The detection error of the set value is ±3[r/min] for the 7-core absolute encoder, and ±36[r/min] for the 5-core incremental encoder.

74 5th internal speed S -20000 - 20000

Sets the 5th speed of the internal speed command setup. The unit is [r/min]. Pr.73 will set the limit of this parameter (overspeed level). Refer to the section 4-3 before use.







78 *



79 *



7A *



7B *



7C *



7D For manufacturer use

7E For manufacturer use


No. SR-DSV09521 - 48 -


[Command pulse scaling function]

- Purpose of use 1) To define the motor revolution and movement per the unit input command pulse. 2) To increase the apparent command pulse frequency with the × m multiplication function, in a

case where a required motor speed cannot be obtained because the host device's pulse oscillation capacity (allowable maximum output frequency) is limited.

- Note that the upper limit of the actual numerator calculation is 4194304/(Pr.4D+1). If the calculated

value exceeds this limit, it becomes invalid, and the actual numerator is set to the upper limit value.

Select the numerator of the first or second command pulse ratio with the command pulse scale switching input. For details, refer to Selecting numerator of command pulse ratio in Sec. 4-3 .

<Example of setting>

- When encoder’s resolution (10000 or 217 =131072) is F [pulse] and command input to move distance corresponding to one revolution is f [pulse], Pr.48/Pr.49 numerator of command pulse ratio, Pr.4A multiplier of numerator of command pulse ratio and Pr.4B denominator of command pulse ratio must be set to fulfill the formula below.

- When Pr.48 and Pr.49 is set to 0, (Pr.48 and Pr.49) × 2(Pr.4A) is automatically set to the encoder

resolution.

Encoder's resolution 217 (131072) 10000 (2500P/r × 4)

Example 1 Command input (f) = 5000 pulses (per motor revolution)

Example 2 Command input (f) = 40000 pulses (per motor revolution)

Pr.48 1 × 2

Pr.4B 5000

Pr.4A 17

Pr.48 10000 × 2 Pr.4B 5000

Pr.4A 0

Pr.48 1 × 2 Pr.4B 10000

Pr.4A 15

Pr.48 2500 × 2 Pr.4B 10000

Pr.4A 0

F = f × (Pr.48, Pr.49) × 2Pr.4A

Pr.4B

No. SR-DSV09521 - 49 -


7. Operation Timing

7-1 Operation Timing after Power-ON

- The above chart shows the timing from AC power-ON to command input. - Activate the Servo-ON signal and external command input according to the above timing chart.

*1. During this period, the SRV-ON signal is mechanically input, but not accepted actually. *2. The S-RDY output turns ON when the microcomputer's initialization is completed, and the main power

supply is activated. *3 After internal control power supply is activated, protective functions start operation approx. 1.5 s

after the microcomputer's initialization starts. Design the I/O signal connected with the driver (especially CW/CCW overtravel inhibit input that can trigger protective functions) is set before protective functions starts operation.

Approx.100 to 300 ms

Activated

(Initialize)

Approx. 1.5 s

0 s or more

10 ms or more

10 ms or more *2

0 s or more

Approx. 2ms

Approx. 40 ms

Energized

Approx. 100 ms or more *1

Not energized

engaged released

*2

ON OFF

*3

Approx. 2 s

reset

No command input

OFF

ON

ON

OFF

OFF

ON

ON Control power supply (L1C, L2C)

Internal control power supply

Microcomputer

Main power supply (L1, L2, L3)

S-RDY output (X5 Pins 35 and 34)

Servo-ON input (X5 Pin 29)

Dynamic brake

Motor energized

BRK-OFF output (X5 Pins 10 and 11)

Position/ Speed command

No. SR-DSV09521 - 50 -


7-2 Servo-ON/OFF Operation Timing during Motor Stop (Servo Lock)

(During normal operation, perform the Servo-ON/OFF operation after the motor stops.)

*1. "t1" depends on the setting of Pr. 6A. *2. For the operation of the dynamic brake in the Servo-OFF status, refer to the description on Pr. 69

(Sequence at servo-off) in Chapter 6 "Parameters". *3. The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.

7-3 Servo-ON/OFF Operation Timing during Motor Run (The following chart shows the timing in emergency stop or trip. The Servo-ON/OFF cannot be repeatedly used.)

*1. "t1" is the time defined by Pr. 6B or the time required to decrease the motor speed to approx. 30 r/min, whichever is earlier.

*2. Even if the SRV-ON signal turns ON again during motor deceleration, the SRV-ON input does not become active until the motor stops.

*3. For the operation of the dynamic brake in the Servo-OFF status, refer to the description on Pr. 69 (sequence at Servo-OFF) in Chapter 6 "Parameters".

*4 The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min. *5 As for the current-carrying status of a motor during the deceleration operation at servo-off, also refer to

the instructions (6. parameters) of Pr.69 (sequence at Servo-OFF).

t1*1

t1*1

Servo-ON input (SRV-ON)

OFF

Dynamic brake

Motor energized

Brake release output (BRK-OFF)

ON OFF

Engaged *3 Engaged *2 Released

Approx. 2 ms1 to 5 ms

Not energizedApprox. 40 ms

Not energizedEnergized

Brake engaged (OFF)

Brake released (ON) Brake engaged (OFF)

Approx. 2 ms

t1*1

Servo-ON input (SRV-ON) OFF

Dynamic brake

Motor energized

Brake release output (BRK-OFF)

ON OFF

Engaged *3 Engaged *3 Released

Approx. 1 to 5 ms

Not energized Not energized Energized

Brake released (ON) Brake engaged (OFF)

Approx. 2 ms

Brake engaged

(OFF)

Approx. 40 msPr. 6B set value

Pr. 6B set valueMotor speed

Motor rpm

Approx. 30 r/min

Servo enabled

The Servo-ON input does not become active until the motor speed falls below approx. 30 r/min.

Motor speed

Motor speed

Approx. 30 r/min

Approx. 30 r/min

Brake released (ON) Brake engaged

(OFF)

The time defined by Pr. 6B is reached earlier.

The motor speed falls below 30 r/min earlier.

*4

No. SR-DSV09521 - 51 -


7-4. Operation timing chart at the time of errors (alarm) (with the Servo-ON command activated)

Presence orabsence of errors

Dynamic brake

Motor energized

Brake-releaseoutput (BRK-OFF)

Normal Error

Operation

Not energized

Release (ON) Operation (OFF)

Energized

Released

0.5 - 5ms

*2

Motor speedApprox.30r/min

Set value ofPr.6B

Operation (OFF)Release (ON)

t1*1

Motor speedApprox. 30r/min

When Pr.6B is setto a fast speed

When coming down toa speed of 30r/min orless quickly

Servo-readyoutput (S-RDY)

Not readyReady

AlarmNot alarmedServo-alarmoutput (ALM)

Set value ofPr.6B

t1 *1

*1. t1 will be the set value of Pr.6B or the time required for the motor revolution speed to come down to 30r/min or less, whichever comes earlier.

*2. As for the operation of the dynamic brake when an alarm is raised, refer to the description of Pr.68 (error response action).

No. SR-DSV09521 - 52 -


7-5. Operation timing chart at the time of the clearance of an alarm (with the Servo-ON command activated)

Alarm clearanceinput (A-CLR)

Dynamic brake

Motor energized

Brake-release output(BRK-OFF)

Cleared

Operation

Not energized

Release (ON)Operation (OFF)

Energized

Release

Servo-readyoutput (S-RDY)

ReadyNot ready

Alarm Not alarmedServo-alarmoutput (ALM)

120ms or more

About40ms

About2ms

Input inhibit Input allowedPosition/speed/torque command

100ms or more

About2ms

No. SR-DSV09521 - 53 -


8. Functions

8-1 Protective Functions

This servo driver incorporates various protective functions. When any of the protective functions is activated, the servo driver turns OFF the alarm output signal (ALM) to trip. The 7-segment LEDs on the front panel indicates the relevant error code No.

Protective function

Error code No. Cause Countermeasure

Control power undervoltage 11

The voltage between the P and N terminals of the control power supply converter is lower than the specified value.1) The power supply voltage is too low. Instantaneous

power failure occurred. 2) Power supply capacity is too low. The power supply

voltage dropped due to the in-rush current at power-on. 3) The servo driver (circuit) is defective.

Measure the voltages between the connectors (L1C and L2C), and between the terminal blocks (r and t). 1) Increase the power supply voltage. Replace the

power supply. 2) Increase the power supply capacity. 3) Replace the defective driver with a new servo driver.

Overvoltage 12

The power supply voltage is higher than the allowable input voltage range. The voltage between the P and N terminals of the converter is higher than the specified value. The power supply voltage is too high. A voltage rise attributable to an advancing capacitor or UPS (uninterruptible power supply) occurred. 1) The regenerative discharge resistor is disconnected. 2) The external regenerative discharge resistor is not

suitable, disabling regenerative energy absorption. 3) The servo driver (circuit) is defective.

Measure the voltages between the connectors (L1, L2, L3). Apply a proper voltage to the power supply. Remove the advancing capacitor. 1) Measure the resistance of the external resistor between the

P and B terminals of the servo driver by using a tester. If the reading is "∞", the external resistor is disconnected. Replace the external resistor.

2) Replace the external regenerative discharge resistor with a resistor providing the specified resistance value and W value.

3) Replace the defective servo driver with a new one.

Main power undervoltage 13

When Pr.65 (Undervoltage error response at main power-off) is 1, momentary power failure occurred between L1 and L3 at least for the duration set by Pr. 6D (main power-off detection time), or the P-N voltage of the main power converter dropped down to the specified value or less during the servo-on. 1) The power supply voltage is too low. Instantaneous

power failure occurred. 2) Occurrence of momentary power failure 3) Power supply capacity is too low. The power supply

voltage dropped due to the in-rush current at power-on.

4) Missing phase: The servo driver intended for 3-phase input was driven by a single-phase power supply.

5) The servo driver (circuit) is defective.

Measure the voltages between the connectors (L1, L2 and L3). 1) Increase the power supply voltage. Replace the

power supply. After removing the cause of the electromagnetic relay trip in the main power supply, turn ON the power supply again.

2) Check the set value of Pr.6D (main power off detection time). Set each power phase correctly.

3) Increase the power supply capacity. For the power supply capacity, refer to "Servo Driver and Compatible Peripheral Equipment List".

4) Properly connect each phase (L1, L2 and L3) of the power supply. To use a single-phase 100 V and single-phase 200 V power supply, connect it between L1 and L3.

5) Replace the defective servo driver with a new one.

Overcurrent and ground fault

14 *

The current flowing into the converter is higher than the specified value. 1) The servo driver is defective. (The internal circuit,

IGBT or other part is defective.) 2) The motor cables (U, V and W) are short-circuited. 3) The motor cables (U, V and W) are grounded. 4) The motor has burned out. 5) Motor cable contact failure 6) The relay for the dynamic brake was melted and stuck

due to frequent Servo-ON/OFF. 7) The motor is not compatible with the servo driver. 8) The pulse input was activated simultaneously with, or

earlier than Servo-ON.

1) Disconnect the motor cables, and activate the

Servo-On signal. If this error occurs immediately after that, replace the servo driver with a new one (that works normally).

2) Check the connector leads to make sure that the motor cables (U, V and W) are not short-circuited. Connect the motor cables properly.

3) Check the insulation resistance between the motor cables (U, V and W) and the ground cable. In case of insulation failure, replace the motor.

4) Check the balance of the resistance between the motor cables. If the resistance values are unbalanced, replace the motor.

5) Check the motor connectors (U, V and W) for a disconnected pin. If a connector pin is loose or disconnected, fix it securely.

6) Replace the servo driver. Do not start or stop the motor by using the Servo-ON/OFF signal.

7) Check the servo driver's part number (capacity) indicated on the identification plate, and replace the motor with a motor compatible with the servo driver.

8) Activate the pulse input after waiting for at least 100 ms after Servo-ON.

No. SR-DSV09521 - 54 -


Protective function


Motor and/or Drive overtemp.

15 *

The temperature of the servo driver's radiator or power elements is higher than the specified value. 1) The servo driver's ambient temperature is higher than

the specified value. 2) The servo driver is overloaded.

1) Improve the servo driver's ambient temperature and

cooling conditions. 2) Increase the capacity of the servo driver and the

motor. Prolong the acceleration/deceleration time. Reduce the load.

Overload 16

When the actual value of the torque command exceeds the overload level set by Pr.72 (Overload level), the overload protection is activated according to time characteristics. 1) Since the motor was kept running for a long period

under heavy load, the effective torque exceeded the rated torque.

2) Improper gain adjustment raised oscillation or hunting. Motor vibration or abnormal sound occurred. The setting of Pr. 20 (Inertia ratio) is improper.

3) The motor cables are improperly connected or disconnected.

4) The machine was hit against an object, or became heavy in operation. The machine is entangled.

5) The electromagnetic brake remains ON. 6) In wiring of several motors, some motor cables were

connected to improper axes.

Check the PANATERM graphic waveform screen for oscillation or surging of the torque (current) waveform. Check the overload warning indication and load ratio on the PANATERM screen. 1) Increase the capacity of the servo driver and the

motor. Prolong the acceleration/deceleration time. Reduce the load.

2) Re-adjust the gain. 3) Connect the motor cables according to the wiring

diagram. 4) Remove tangles from the machine. Reduce the load. 5) Measure the voltage between the brake terminals.

Open the brake terminals. 6) Connect the motor and encoder cables to the proper

axes.

Regenerative resistor overload

18 *

The regenerative energy is higher than the capacity of the regenerative discharge resistor. 1) The converter voltage was raised by the regenerative

energy generated during deceleration because of large load inertia, and the voltage further increased because the regenerative discharge resistor could not insufficiently absorb the regenerative energy.

2) Because of a high motor speed, the regenerative

energy cannot be absorbed within the specified deceleration time.

3) The duty ratio of the external resistor is limited to 10%.

Check the regenerative discharge resistor's load ratio on the PANATERM monitor screen. The regenerative discharge resistor is not applicable to continuous regenerative braking. 1) Check the operation pattern (on the speed monitor).

Check the regenerative discharge resistor's load ratio and overload warning indication. Increase the capacity of the motor and the servo driver. Prolong the deceleration time. Use an external regenerative discharge resistor.

2) Check the operation pattern (on the speed monitor). Check the regenerative discharge resistor's load ratio and overload warning indication. Increase the capacity of the motor and the servo driver. Prolong the deceleration time. Lower the motor rpm. Use an external regenerative discharge resistor.

3) Set Pr. 6C to "2".

<NOTE> To set Pr. 6C to "2", be sure to provide an external protection device such as a thermal fuse. If the protective function is removed, the regenerative discharge resistor may overheat, resulting in motor burnout.

There is the overload protection time – limiting characteristics at the end of this clause.

No. SR-DSV09521 - 55 -


Protective function


Encoder communication error

21 *

Because of an interruption of the communication between the encoder and the servo driver, the encoder cable disconnection detecting function was activated.

Connect the encoder cable according to the wiring diagram. Correct the wiring of the encoder connector pins. Take note that the encoder cable shall be connected to X6.

Encoder communication data error

23 *

Data cannot be sent from the encoder, mainly because of a data error due to noise. The encoder cable is connected, but the communication data are defective.

• Make sure that the encoder power supply voltage is 5 VDC ±5% (4.75 to 5.25 V). When using a long encoder cable, particular attention is required.

• If the motor cable and encoder cable are bundled together, separate them.

• Connect the shield cable to the FG terminals. (See the encoder connection diagram.)

Position deviation error 24

The position deviation pulse count is larger than the setting of Pr. 70 (Position deviation error level). 1) The motor does not run according to the command

pulse. 2) The setting of Pr. 70 (Position deviation error level) is

too low.

1) Make sure that the motor runs according to the

command pulse. Check the torque monitor to make sure that the output torque is not saturated. Adjust the gain. Set Pr.5E (1st torque limit) and Pr.5F (2nd torque limit) to the maximum value. Connect the encoder cable according to the wiring diagram. Prolong the acceleration/deceleration time. Reduce the load, and lower the speed.

2) Increase the setting of Pr. 70.

Overspeed 26

The speed of motor revolutions exceeded the set value of Pr.73 (Overspeed level).

• Do not apply an excessive speed command. • Check the command pulse input frequency and scale

ratio. • If overshoot occurred due to improper gain adjustment,

adjust the gain properly. • Connect the encoder cable according to the wiring

diagram.

Command scaling error 27

The scale ratio defined by Pr. 48 to Pr. 4B (numerators and denominators of the first and second command pulse ratios) are improper.

• Check the settings of Pr. 48 to Pr. 4B. • Set their scale ratios so that the command pulse

frequencies after the pulse scaling become the maximum input pulses of not more than 2Mpps and 500kpps in the input section of the deviation counter.

Deviation counter overflow

29

The deviation counter's reading is higher than 227 (134217728).

• Make sure that the motor runs according to the command pulse.

• Check the torque monitor to make sure that the output torque is not saturated.

• Adjust the gain. • Set Pr.5E (1st torque limit) and Pr.5F (2nd torque limit)

to the maximum value. • Connect the encoder cable according to the wiring

diagram.

Software limit error 34

The motor operation exceeds the motor operational rangeSet in Pr.26(Software limit set up) for the position command range. (1)The gain is not appropriate. (2)The value set in Pr.26 is too small.

(1)Check the gain (the balance between the position loopgain) and the inertia ratio.

(2)Increase the set value in Pr.26. Set Pr.26 to “0” in order to disable the protection function.

External scale communication error

35 *

The value set in Pr.02 is “6”. Set Pr.02 to “0” or “1”.

EEPROM parameter error

36 *

When data were read from the EEPROM at power-on, the data stored in the parameter memory area had been broken.

• Define all parameters again. • If this error repeatedly occurs, the servo driver may be

defective. Replace the servo driver. Return the defective driver to the distributor, and ask them for inspection (repair).

EEPROM check code error

37 *

When data were read from the EEPROM at power-on, the EEPROM writing check data had been broken.

The servo driver may be defective. Replace the servo driver. Return the defective driver to the distributor, and ask them for inspection (repair).

Overtravel inhibit input error

38

When Pr.04 (overtravel input inhibit) was 0, the connections of both CW and CCW overtravel inhibit inputs (CWL 8-pin/CCW 9-pin) with COM- were opened.When Pr.04 was 2, either CW or CCW overtravel inhibit input connection with COM- was opened.

• Check the switches, cables and power supply connected to the CW and CCW overtravel inputs. In particular, check the control signal power supply (12 to 24 VDC) to make sure that the signal turns ON without delay.

No. SR-DSV09521 - 56 -


Protective function


Absolute encoder system down error

40 *

The encoder power supply turned OFF. After connecting the battery, clear the absolute encoder. (See Section 10-1-4) The alarm cannot be cleared unless the absolute encoder is cleared.

Absolute encoder counter overflow

41 *

The count value on the encoder's multi-revolution counter exceeded the specified value.

• Set up Pr. 0B (Absolute encoder set up) properly. • Adjust the setting of movement from the origin so that

the number of pulses does not exceed 32767.

Absolute encoder overspeed

42 *

The revolution of the encoder with only the battery power supply exceeded the specified value.

• Check the power supply voltage in the encoder side (5 V ± 5%).

• Check the X6 connector for abnormal connection. The alarm cannot be cleared unless the absolute encoder is cleared.

Absolute encoder single-rotation counter error

44 *

The encoder detected an error of the single-revolution counter.

Replace the motor.

Absolute encoder multi-rotation counter error

45 *

The encoder detected an error of the multi-revolution counter.

Replace the motor.

Absolute encoder status error

47 At power-ON, the encoder's revolution exceeded the specified value.

Inactivate the motor at power-ON.

Encoder Z-phase error

48 *

Lack of the encoder Z-phase pulse was detected. The encoder is defective.

Replace the motor.

Encoder communication signal error

49 *

The logic of the encoder CS signal is abnormal. The encoder is defective.

Replace the motor.

CCWTL input overvoltage

65

The value set in Pr.03 is “0”. Set Pr.03 to “1” - “3”.

CWTL input overvoltage

66

The value set in Pr.03 is “0”. Set Pr.03 to “1” - “3”.

Motor auto recognition error

95 *

The motor is not compatible with the servo driver. Replace the motor with a compatible motor.

Other errors Other

numbers *

The control circuit malfunctioned due to excessive noise. The servo driver's self-diagnosis function was activated due to an internal error.

•Turn OFF the power supply once, and then turn it ON again. •If the error persists and the error code is retained, the servo driver may be defective. Stop using the machine, and replace the motor and the servo driver. Return the defective driver to the distributor, and ask them for inspection (repair).

This driver can be used only as position control (Pr.02=0).

So the functions when control mode is speed control or torque are invalid.

No. SR-DSV09521 - 57 -


- To clear the protective functions, activate the alarm clear input (X5 A-CLR: Pin 31), or operate the front panel.

(For the alarm clear procedure using the front panel, refer to Section 9-1-8 "Alarm clear".) - The protective functions applicable to the error code numbers marked with * cannot be cleared by the alarm

clearance input. Turn the control power off and reset it after removing the cause of an error. - Once the overload (error code no.16) is activated, it takes about 10 seconds for clearance. - If the servo driver's internal control circuit malfunctions due to excessive noise, the following error display may

appear. If this error display appears, turn OFF the power supply immediately.

- The alarms for the control power undervoltage (error code No. 11), main power undervoltage (error code No. 13), EEPROM parameter error (error code No. 36), EEPROM check code error (error code No. 37), overtravel inhibit input error (error code No. 38) and motor auto recognition error (error code No. 95) will not be stored in the alarm history.

オーバーロード保護時限特性（モータタイプ MMA）

0.1

1

10

100

100 150 200 250 300 350 400 450 500

トルク[%]

時間[s]

115

　　　　　 MAMA 100W

MQMA 100W～400W

　　　　　 MAMA 200W～750W

　　　　　 MSMA 1kW～5kW

　　　　　 MDMA 1kW～5kW

　　　　　 MHMA 1kW～5kW

　　　　　 MFMA 400W～4.5kW

　　　　　 MGMA 900W～4.5kW

オーバーロード保護時限特性（モータタイプ MMD）

0.1

1

10

100

100 150 200 250 300 350 400 450 500

トルク[%]

時間[s]

115

　　　　　 MSMD 50W　　　　　 MSMD 100W(100V)　　　　　 MSMD 100W(200V)　　　　　 MSMD 200W　　　　　 MSMD 400W　　　　　 MSMD 750W

Overload Protection Tine limiting characteristic (Motor type : MMA)

Overload Protection Tine limiting characteristic (Motor type : MMD)

Torque (%)

Time (s)

Time (s)

Torque (%)

No. SR-DSV09521 - 58 -


8-2 Trial Run

The motor can be run on trial, without connection of the X5 connector. For details, refer to Section 9-1-8 (3) "Motor trial run".

8-3 Automatic Offset Adjustment

This function is invalid.

8-4 Warning function

The MINAS-A4 Series outputs a warning signal before its protective function is activated, enabling you to check the overload and other error conditions in advance.

8-4-1 Warning on interface connector X5

The servo driver can output a warning signal from the interface connector, according to the settings of Pr. 09 (TLC output selection) and Pr. 0A (ZSP output selection). The warning signal is retained for at least 1 second.

Set value of Pr. 09/Pr. 0A X5 TLC: Pin 40 Output X5 ZSP: Pin 12 Output

0 Torque limit control output

1 Zero speed detection output

2 Warning signal output (Regenerative overload warning or overload warning)

3 Regenerative overload warning The regenerative load ratio is 85% or higher level of the regenerative overload protection alarm level.

4 Overload warning The load ratio is 85% or higher level of the overload protection alarm level.

5 Battery warning The voltage of the absolute encoder battery is approx. 3.2 V or less.

6 Fan lock alarm The fan stopped for 1 second or more.

7 You cannot set.

8 Speed conformance output

- If the regenerative overload or overload warning is output, take an appropriate action according to Section 8-1. - If the battery warning is output, replace the absolute encoder battery according to Section 10-3. After

replacing the battery, perform the servo driver alarm clear procedure to clear the battery warning.

8-4-2 Warning indication on the front panel

Refer to Section 9-1-4.

No. SR-DSV09521 - 59 -


8-5 Software limit function

(1) Outline If the motor operation exceeds the motor operational range set in Pr.26 (software limit set up) for the position command range, then the alarm can be stopped with the software limit protection (error code No.34). Using this function prevents the load from colliding with the edges of the machine due to the oscillation of the motor.

(2) Scope

This function can operate under the following conditions:

Conditions under which the software limit functions Control Mode

-Position control mode is selected. Pr.02=0 : Position control

Others

(1) Servo must be turned ON. (2) Pr.26 (software limit setting) must be set to a value other than “0” (3) The motor’s operational range must be within 2147483647 for both CCW and CW since the position command parameter rage was reset to “0”. (4) Normal mode auto gain tuning is performing. Once the condition in (3) has been breached, then the software limit protection for which the (5) position command parameter range is cleared is met. If condition (1) or (2) is not met, then the position command parameter range will be cleared to “0”.

(3) Cautions

- This function is not a protection against the abnormal position command. - When this software limit protection is activated, the motor decelerates and stops according to Pr.68

(Sequence at alarm). The work (load) may collide to the machine end and be damaged depending on the load during this deceleration, hence set up the range of Pr.26 including the deceleration movement.

- This software limit protection will be invalidated during the trial run and frequency characteristics functioning of the PANATERM.

No. SR-DSV09521 - 60 -


(4) Example of movement

1) When no position command is entered (Servo-ON status), The motor movable range will be the travel range which is set at both sides of the motor with Pr.26 since no

position command is entered. When the motor enters to the Err.34 occurrence range (oblique line range), software limit protection will be activated.

2) When the motor moves to the right (at Servo-ON), When the position command to the right direction is entered, the motor movable range will be

expanded by entered position command, and the movable range will be the position command input range + Pr.26 setups in both sides.

3) When the motor moves to the left (at Servo-ON), When the position command to the left direction is entered, the motor movable range will be expanded

further. (5) Condition under which the position command input range is cleared

The position command input range will be 0-cleared under the following conditions. - When the power is turned on. - While the position deviation is being cleared (Deviation counter clear is valid, Pr.66 (Sequence at

overtravel inhibition) is 2 and overtravel inhibition input is valid). - At the starting and the finishing of the normal auto-gain tuning.

Position command Pr.26 Pr.26

Motor movable range Err34 occurrence range Err34 occurrence range

motor

Pr.26 Pr.26

motor

Pr.26 Pr.26

motor

Err34 occurrence range Err34 occurrence range range Motor movable

Input range

Input range Position command

Err34 occurrence range Motor movable range Err34 occurrence range

load

load

load

motor

motor

motor

No. SR-DSV09521 - 61 -


9. Operations

9-1 Front Panel Key Operations and Display

9-1-1 Configuration of the operation and display panel

9-1-2 Functions of the Key Switches

Switch Active condition Function

M O D E Active on the selection display

Used to shift between the following five modes: 1) Monitor mode 2) Parameter setup mode 3) EEPROM write mode 4) Auto tuning mode 5) Auxiliary function mode

S E T Always active NOTE) Used to switch between the selection display and execution display.

Used to change the display in each mode, change data, select parameters and execute operations.

Active for the digit with a blinking decimal point Used to move the changeable digit to the higher-order

digit.

NOTE) The above five modes provide "selection display" and "execution display" individually. For details on these displays, refer to Section 9-1-3.

No. SR-DSV09521 - 62 -


9-1-3 Operating procedure

After power-ON, any of the following execution displays appears in the monitor mode, according to the setting of Pr. 01 (LED initial condition).

SET key

Execution display

Example Meaning Reference section

(Deviation 5 pulse)

(Torque output 100%)

(Position control mode)

(Input signal No. 0 active)

(No error)

(Software version 1.00)

(No warning)

(30% of allowable regenerative power)

(Overload ratio 28%)

(Inertia ratio 100%)

(Feedback pulse total 50)

(Command pulse total 10)

(1000 r/min)

9-1-4 (1)

9-1-4 (1)

9-1-4 (1)

9-1-4 (2)

9-1-4 (3)

9-1-4 (4)

9-1-4 (5)

9-1-4 (6)

9-1-4 (7)

9-1-4 (8)

9-1-4 (9)

9-1-4 (10)

9-1-4 (10)

Monitor mode [Execution display]

Selection display

To next page

Positional deviation

Motor speed

Torque output

Control mode

I/O signal status

Cause & History of error

Software version

Warning

Regenerative load ratio

Overload ratio

Inertial ratio

Feedback pulse total

Command pulse total

Invalid

Invalid

Pressing the key shifts the display in the direction indicated by arrow.Pressing the key shifts the display in the opposite direction.

Monitor mode [Selection display]

MODE key

Motor auto recognition function

Invalid

Causes of no revolution

(Motor auto recognition enabled)

9-1-4 (12)

(No servo-on input) 9-1-4 (14)

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

No. SR-DSV09521 - 63 -


From previous page

Pressing the key shifts the display in the direction indicated by arrow. Pressing the key shifts the display in the opposite direction. NOTE A change of the parameter with the " "mark displayed

before the parameter No. becomes enabled after the power supply is reset.

Parameter setup mode [Selection display]


(Parameter value: 1000) 9-1-5 (1)

Set up the parameter by using the , or key. The digit with a blinking decimal point can be set up or changed.

Parameter setup mode [Execution display]

To write a parameter into the EEPROM, press the SET key to go to the execution display.

EEPROM write mode [Selection display]

(Writing parameter into EEPROM)

Writing starts.

Writing is completed.

EEPROM write mode [Execution display]


Keep pressing the key.

9-1-6 (1)

MODE key

MODE key

MODE key

SET key

SET key

To next page

SET key

………………. Machine stiffness No. 15 (high)

(Auto gain tuning) 9-1-7 (1)

Auto gain tuning mode [Selection display]

: : :

Pressing the key shifts the display in the direction indicated by arrow. Pressing the key shifts the display in the opposite direction. After difining the mechanical stiffness, press the SET key to go to the execution display. NOTE For “mechanical stiffness”, refer to Section 11-1

……………. …Machine stiffness No. 0 (low)

………………... Fit gain window

Auto gain tuning mode [Execution display]



Tuning starts.

Tuning is completed.

Adaptive filter enabled, 9-1-7(2)

Real time auto tuning stiffness 4

No. SR-DSV09521 - 64 -


From previous page

Auxiliary function mode [Selection display] Auxiliary function mode [Execution display]

SET key

(Motor trial run) 9-1-8 (3)

(Absolute encoder clear) 9-1-8 (4)

. (Clear the error of an external scale.)

9-1-8 (5)

Pressing the key shifts the display in the direction indicated by arrow. Pressing the key shifts the display in the opposite direction.

MODE key

• The display flashes slowly when the alarm is on. • When an error occurs, the display flashes, and the display screen showing the causes of an error appears.

(Alarm clear) 9-1-8 (1)


Alarm clear starts.

Alarm clear is completed.

Meaning Reference section

Example

Alarm clear

Invalid

Motor trial run

Absolute encoder clear

Clear the error of an external scale.

No. SR-DSV09521 - 65 -


9-1-4 Details of the execution display in the monitor mode

(1) Position error, motor speed and torque output display

(2) Control mode display

Data

… Position control mode

… Speed control mode

Position error (Pulse count accumulated in the error counter) Limit to ±99999. - Polarity (+): CCW torque (viewed from the axis end)

(−): CW torque (viewed from the axis end)

Motor speed (Unit: r/min)

- Polarity (+): CCW, (−): CW

- Polarity (+): CCW, (−): CW

Torque output

No. SR-DSV09521 - 66 -


(3) I/O signal status display

• Press the or key to select the signal No. to be monitored.

Pressing the key shifts the display in this order.

(Least-significant input signal No.)

(Most-significant input signal No.)

(Least-significant output signal No.)

(Most-significant output signal No.)

Input signal

Active (The signal is active.) Inactive (The signal is inactive.)

Output signal

Signal No. (0 to 1F)

No. SR-DSV09521 - 67 -


• Relation between signal No. and signal name

Input signal Output signal Signal

No. Signal name Code Pin No. Signal No. Signal name Code Pin No.

00 Servo-ON SRV-ON 29 0 Servo ready S-RDY 35/3401 Alarm clear A-CLR 31 1 Servo alarm ALM 37/3602 CW overtravel inhibit CWL 8 2 In-position COIN 39/3803 CCW overtravel inhibit CCWL 9 3 Brake release BRK-OFF 11/1005 Zero speed clamp ZEROSPD 26 4 Zero speed detected ZSP 12 06 Command scaling switching DIV 28 5 Torque limited TLC 40 08 Command pulse input inhibit INH 33 6 Within speed window V-COIN 12/4009 Gain switching GAIN 27 9 At-speed COIN 39/380A Deviation counter clear CL 30 0C Internal command speed selection 1 INTSPD1 33 0D Internal command speed selection 2 INTSPD2 30

13 Vibration suppression control switching input VS-SEL 26

14 Internal command speed selection 3 INTSPD3 28 15 Torque limit switching input TL-SEL 27

(4) Cause of error and history reference

• Causes of up to 14 errors in the past (including the current error) can be seen.

Select the history No. to be seen by pressing the or key.

NOTE 1) The following errors are not stored in the history. 11: Control power undervoltage 13: Main power undervoltage 36: EEPROM parameter error 37: EEPROM check code error 38: Overtravel inhibit input error 95: Motor auto recognition error

NOTE 2) During occurrence of an error to be stored in the history, the current error and History 0 indicate the

same error code No.

Current error History 0

History 13

Error code No. (- - indicates occurrence of no error.)

No. SR-DSV09521 - 68 -


Relation between error code No. and contents

Error code No. Contents Error

code No. Contents

11 Control power undervoltage 36 EEPROM parameter error 12 Overvoltage 37 EEPROM check code error 13 Main power undervoltage 38 Overtravel inhibit input error 14 Overcurrent and ground fault 40 Absolute encoder system down error 15 Motor and/or Drive Overtemp. 41 Absolute encoder counter overflow 16 Overload 42 Absolute encoder overspeed 18 Regenerative resistor overload 44 Absolute encoder single-rotation counter error 21 Encoder communication error 45 Absolute encoder multi-rotation counter error 23 Encoder communication data error 47 Absolute encoder status error 24 Position deviation error 48 Encoder Z-phase error 26 Overspeed 49 Encoder communication signal error 27 Command scaling error 65 CCWTL input over voltage 29 Deviation counter overflow 66 CWTL input over voltage 34 Software limit error 95 Motor auto recognition error 35 External scale communication error Other Other errors

(5) Software version

．

(6) Warning indication

(7) Indication of regenerative load ratio

(8) Indication of overload ratio

(9) Indication of inertia ratio

Indicates an ｄriver software version.

Indicates the ratio (%) of the regenerative load to the regenerative overload protection alarm level.

Indicates the ratio (%) of the actual load to the rated load.

Regenerative overload warning: Indicates that the regenerative load ratio is 85% or more of the regenerative overload protection alarm level. When Pr.6C (external regenerative discharge resistor set up) is 1, regenerative discharge resister’s duty ratio 10% shall be defined as the alarm level.

Overload warning: Indicates that the load ratio is 85% or more of the overload protection alarm level.

Battery warning: Indicates that the voltage of the absolute encoder battery is the warning level (approx. 3.2 V) or lower.

Fan lock alarm: The fan stopped for 1 second or more.

No warning Occurrence of warning

No. SR-DSV09521 - 69 -


(10) Indicates feedback pulse total, command pulse total and external scale feedback pulse total.

Indicates the total pulse count after power-on of the control power supply. The pulse count overflows as shown below.

99999

CW CCW

9999999999

(When the control power is turned on)000

The data of feedback total, command pulse total, and external scale feedback pulse total can be cleared to zero

at the same time by continuously pressing on any pulse total display screen for 3 seconds. This function cannot be used to clear each datum of PANATERM and console. [Process indication]

.

Note 1) As the accumulation of command pulses are not processed when the command pulse input inhibit is

enabled, the normal mode automatic gain tuning is on, or the measurement function of the PANATERM frequency characteristics is used, the number of actual pulse inputs and the indicated value of the command pulse total are different.

(11) Motor automatic recognition function

(12) Indication of the cause of no revolution

Indicates the cause of no motor revolution in numbers.

Control mode Cause number

Keep pressing , and the mark “•” shifts as shown in the right drawing.

Automatic recognition enabled

Automatic recognition disabled

Position control

Speed control

No. SR-DSV09521 - 70 -


Descriptions of cause numbers

Number Item Related control mode

Contents

Flashing Alarm raised All An alarm is raised. Warning is raised.

0 No cause All Any cause of no revolution cannot be detected. Normally revolving.

1 Main power turned off All The main power of an driver has not been turned on.

2 SRV-ON input not turned on All The Servo-ON input has not been connected to COM-.

3 Overtravel inhibit input enabled All

With Pr.04 set to 0 (overtravel input inhibit enabled), • the CCW overtravel inhibit input (CCWL) is open, and the speed

command has been set to the CCW direction. • the CW overtravel inhibit input (CWL) is open, and the speed

command has been set to the CW direction.

4 Torque limit setup too small All

The set value of the torque limit for either Pr.5E (1st torque limit) or Pr.5F (2nd torque limit), whichever is enabled, is not more than 5% of the rated value.

5 Analog torque limit enabled P, S

With Pr.03 set to 0 (analog torque limit input allowed), • the CCW analog torque limit input (CCWTL) has negative voltage, and

the speed command has been set to the CCW direction. • the analog torque limit input (CWTL) has positive voltage, and the

speed command has been set to the CW direction. 6 INH input enabled P With Pr.43 (command pulse inhibit input enabled) set to 0, INH is open.

7 Frequency of command pulse input too low

P

• The command pulse has not been input correctly. • Not correctly connected to the input selected by Pr.40. • The input mode selected by Pr.41 or Pr.42 is not correct.

And the position command per control cycle is not more than 1 pulse.

8 CL input enabled P With Pr.4E set to 0 (clear deviation counter by level), the deviation counter clearance input (CL) has been connected to COM-.

9 ZEROSPD input enabled S With Pr.06 set to 1(zero speed clamp enabled), the zero speed clamp input

(ZEROSPD) is open.

10 External speed command too small S Pr.05 is set to 0 or 2.

11 Internal speed command 0 S With the internal speed command selected, the internal speed command

has been set to a value of not more than 30[r/min].

14 Other causes All

Although the causes 1 thru 13 are met, the motor only revolves at 20[r/min] or less. (Too small commanded value, too heavy load, locking, crashing, driver/motor failure, etc.)

Even if any number other than 0 is indicated, a motor may revolve.

No. SR-DSV09521 - 71 -


9-1-5 Details of the execution display in the parameter setup mode

(1) Parameter setup

Parameter value

• Define the parameter value by pressing the or key (Pressing the key increases the set

value, and pressing the key decreases it.)

• Every time the key is pressed, the blinking decimal point shifts to the higher-order digit. The digit

with the blinking decimal point can be changed. NOTE) When a parameter value is changed, the updated setting will be immediately reflected on the control.

The parameters that have significant influence on the motor's operating condition must not be changed gradually. Do not change the parameter value by a large step.

9-1-6 Details of the execution display in the EEPROM writing mode

(1) Writing parameter into EEPROM

• To execute the writing, keep pressing the key until the display is switched to " ".

• If you change the setting of the parameter that will become enabled after reset, " " will be displayed after completion of the writing. In this case, turn OFF the control power supply once,

and reset it.

NOTE 1) When a writing error occurs, re-write the same data into the EEPROM. If the same writing error occurs repeatedly, the servo driver may be defective.

NOTE 2) Do not turn OFF the power supply while writing data into the EEPROM. Otherwise, incorrect data may be written into the EEPROM. If this trouble occurs, re-set up all parameters, and perform re-writing after checking the parameter settings thoroughly.

The digit with a blinking decimal point can be changed.

Keep pressing the key for approx. 5 seconds. A bar is added as shown on the right.

Writing starts.

Writing ends.

Writing is completed. Writing error occurred.

No. SR-DSV09521 - 72 -


9-1-7 Details of the execution display in the auto gain tuning mode

(1) Normal mode auto gain tuning

Regarding whether this function is available or not, refer to "Specifications by Model" on separate sheets.

NOTE 1) For details of the auto gain tuning function, refer to Section 11. In particular, before using the auto gain tuning function, read the scope of application and precautions.

NOTE 2) In the normal mode auto gain tuning mode, the driver moves motor automatically according to the specific pattern. This motion pattern can be changed with Pr.25 (normal auto tuning motion set up). Care shall be taken to carry out normal mode auto gain tuning after the load is shifted to the position where the load does not interfere the motion in the pattern without fail.

NOTE 3) Vibrations may occur after tuning depending on a load. Make sure to pay attention to the safety when using the protective functions, such as Pr.70 (position deviation error level), Pr.73 (overspeed level), etc.

[Selection display]

• Select machine stiffness No. by pressing the or key.

(For machine stiffness No., refer to Section 11-2.) [Execution display]

• Press the key to show the execution display . To execute the auto gain tuning function, inhibit a command input first, and then activate the SER-ON

signal. Then, keep pressing the key until the display is switched to .

Machine stiffness No.


Motor starts.

End

Tuning is completed. Error occurred.

No. SR-DSV09521 - 73 -


NOTE) A tuning error occurs in the following cases during the tuning operation.

1) During the tuning operation: - When an error occurs - When the servo is turned off - When the deviation counter is cleared - When the main power is turned off - When the overtravel inhibit is enabled

2) When the output torque has been saturated due to excessive inertia, load, etc., and the tuning cannot be conducted due to vibrations, etc.

When a tuning error occurs, each gain returns to the value, which was available before tuning. Except at the time of an error, since no trip occurs and, depending on a load, vibrations may happen even without any tuning error (without indication), make sure to pay attention to the safety.

No. SR-DSV09521 - 74 -


(2) Fit gain window [Selection display]

[Execution display] - Press the SET to display the execution window.

[6][5][4][3][2][1]

- Position the decimal point to [1], [2] or [4] using the key. The fit gain function can be started or real time auto gain tuning/adaptive filter can be altered or stored using the keys.

- Meaning of the display

[1]Setting of the real time auto gain tuning stiffness/fit gain starting up

Display Meaning Extension function

[2]Real time auto gain tuning operation setting


.

[3]Real time auto gain tuning status (display only)

: Disabled

: Enabled

or : Load inertia estimating

Can be changed with

Can be changed with

Fit gain window

Fit gain function starts by positioning the decimal point to 0

and pressing the for approx. 3 seconds. (Refer to sect. 11)

Stiffness 15

Stiffness 1

Stiffness 0

Real time auto tuning disabled

In a state of (0), press the for approx. 3 seconds.

Gain auto setting corresponding to the stiffness is carried out. (Refer to sect.11)

Vertical axis mode: Load inertia changes rapidly. Vertical axis mode: Load inertia changes slowly. Vertical axis mode: Load inertia does not change.Normal mode: Load inertia changes rapidly. Normal mode: Load inertia changes slowly. Normal mode: Load inertia does not change. Disabled:

6 5 4 3 2 1 0

No. SR-DSV09521 - 75 -


[4]Adaptive filter operation switching


[5] Adaptive filter operation status (display only)

: Disabled

: Enabled

or : Operation tuning

[6] Writing of EEPROM

is valid: Press for about 3 seconds, and the present set value is written into EEPROM.

Can be changed with

In a state of adaptive filter enabled (2), press for approx. 3 seconds

Present adaptive filter setting is copied to the first notch frequency (Pr.1D, Pr.1E).

In a state of adaptive filter disabled (0), press for approx. 3 seconds.

The setting of the 1st notch frequency (Pr.1D, Pr.1E) is cleared.

Retained

Disabled

Enabled

No. SR-DSV09521 - 76 -


9-1-8 Details of the execution display in the auxiliary function mode

(1) Alarm clear This function is used to cancel a trip condition.

[Selection display]

[Execution display]

• Press the key to show the execution display . To execute the alarm clear function, keep pressing the key until the display is switched to

.


Alarm clear starts.

End

Alarm clear is completed. Alarm cannot be cleared. Reset the power supply.

No. SR-DSV09521 - 77 -


(2) Motor trial run

The motor can be run on trial, without connection of the X5 connector.

[Selection display]

[Execution display]

• Press the key to show the execution display . To execute the motor trial run, keep pressing the key until the display is switched to

.

• Then, keep pressing the key until the display is switched to .

• After Servo-ON, pressing the key runs the motor CCW, and pressing the key runs the motor CW at a speed defined by Pr. 3D (JOG speed).

NOTE 1) Before starting a trial run, be sure to remove a load from the motor, and disconnect the X5 connector. NOTE 2) To execute a trial run, reset Pr. 10 (1st position loop gain) and Pr. 11 (1st velocity loop gain) to the

initial values to avoid troubles such as oscillation. NOTE 3) Set the torque limit selection (Pr.03) to 1, the overtravel input inhibit (Pr.04) to 1 and the ZEROSPD

input selection (Pr.06) to 0. NOTE 4) When the SRV-ON becomes enabled during the trial run, the indication turns out to be

, the trial run is discontinued and the normal operation by an external

command begins.


Preparatory step 1

Preparatory step 2

Keep pressing the key for approx. 5 seconds. A period is moved as shown on the right.

(Servo-ON)

When the servo is not ready yet (An alarm raised or the main power is turned off.)

．

The servo is not ready yet or SRV-ON is enabled

．

．

No. SR-DSV09521 - 78 -


(3) Absolute encoder clear

This function is used to clear the absolute encoder's multi-revolution data and error data.

[Selection display]

[Execution display]

• Press the key to show the execution display . To execute the motor trial run, keep pressing the key until the display is switched to

.

Absolute encoder clear starts.


Absolute encoder clear Error occurred.

End

Error occurred. (When an incompatible encoder is connected.)

No. SR-DSV09521 - 79 -


10. Absolute encoder

With the motors intended to use an absolute encoder or absolute/incremental encoder, you can configure the absolute system that does not need origin return operation after power-on, by connecting the absolute encoder battery, and changing the setting of Pr. 0B (Absolute encoder set up) from "1" (initial value) to "0". The absolute data will be sent to the host controller through the servo driver's communication interface (RS232C or RS485).

10-1 Configuration of the Absolute System

Configuration of the absolute system using the RS232C interface

Ｘ４

RXD

TXD

GND

TXD

RXD

GND

Ｘ５

Ｘ６

上位コントローラサーボアンプ

RS232C ｲﾝﾀｰﾌｪｲｽ SN751701 相当品

位置決めｺﾝﾄﾛｰﾗ

ﾓｰﾀ

53

4

ﾊﾞｯﾃﾘ

中継ｺﾈｸﾀ

With the RS232C interface, a multi-axis absolute system (with up to 16 axes) can be configured.

Host controller

SN751701 or equivalent

Positioning controller

Battery

Motor

RS232C interface

Servo driver

Relay connector

No. SR-DSV09521 - 80 -


Configuration of the absolute system using the RS485 interface

Servo driver

TXD

RXD

GND

Host controller

RS485 interfaceADM485 or equivalent


Ｘ３

RS485+

RS485-

GND

Ｘ４

RS485+

RS485-

GND

Ｘ５

Ｘ６

7 8

4

7

8

4

Motor

Battery


To use the RS485 interface, set RSW (ID) on the servo driver front panel to "1" to "F".

No. SR-DSV09521 - 81 -


10-2 Absolute Data

Absolute data include the single-revolution data that indicate the absolute position per motor revolution, and the multi-revolution data that counts motor revolutions after encoder clear.

10-3 Mounting the Absolute Data Battery

Refer to Section 5-3 (3) "Connecting cables to connector X6 ".

10-4 Absolute Encoder Clear

The absolute encoder's multi-revolution data are retained with the absolute encoder battery. Therefore, at the first start-up of the machine after the absolute encoder battery is mounted, clear the encoder at the origin to reset the multi-revolution data to "0". To execute the encoder clear, operate the front panel (See Section 9-1-8 (4) "Absolute encoder clear"), or PANATERM. After clearing the absolute encoder, turn OFF the control power supply, and then turn it ON again.

10-5 Absolute Data Transmission

Send absolute data from the servo driver to the host controller, according to the following procedure. Before sending absolute data, turn ON the power supply, and make sure that the servo ready output (X5 Pins 34 and 35) are ON.

(1) Host controller serial communication interface setup

RS232C

Baud rate 2400, 4800, 9600, 19200, 38400, 57600 bps Data length 8 bits Parity None Start bit 1 bit Stop bit 1 bit

The baud rate is defined by Pr. 0C (baud rate of RS232C ).

RS485

Baud rate 2400, 4800, 9600, 19200, 38400, 57600 bps Data length 8 bits Parity None Start bit 1 bit Stop bit 1 bit

The baud rate is defined by Pr. 0D (baud rate of RS485 ).

Single-revolution data

Multi-revolution data

Direction of motor revolution

131071, 0,1,2, …… 131071, 0,1,2, …… 131071, 0,1,

1 20 1-1 0

CCW CW

No. SR-DSV09521 - 82 -


(2) Absolute data transmission procedure

RS232C

Transmissionstarts

05hTransmission

04hReception

06hReception

05hReception

04hTransmission

Check sumOK

06hTransmission

15hTransmission

Transmissionends

Receivingabsolute data

(15 characters)

00h Transmission01h TransmissionD2h Transmission2Dh Transmission

*1

*2

N

N

N

N

Y

Y

Y

Datatransmissionrequest toservoamplifier

Absolutedatareceptionfrom servoamplifier

Y

* To avoid any operation error due to incidental noises, etc., it is recommended to repeat the above communication at least twice, and to make sure of the conformance of absolute data.

The data marked with * 1 and * 2 are defined by setting RSW (ID) on the servo ｄriver front panel.

RSW(ID) Data *1 Data *2 0 00h 2Eh 1 01h 2Dh 2 02h 2Ch 3 03h 2Bh 4 04h 2Ah 5 05h 29h 6 06h 28h 7 07h 27h 8 08h 26h 9 09h 25h A 0Ah 24h B 0Bh 23h C 0Ch 22h D 0Dh 21h E 0Eh 20h F 0Fh 1Fh

If the low-order 8 bits of the sum of the received absolute data (15 characters) are "0", the check sum is judged acceptable.

No. SR-DSV09521 - 83 -


RS485

Transmissionstarts

81h Transmission05h Transmission

81h Reception04h Reception

06hReception

80h Reception05h Reception

80h Transmission04h Transmission

Check sumOK

06hTransmission

15hTransmission

Transmissionends

Receivingabsolute data

(15 characters)

00h Transmission01h TransmissionD2h Transmission2Dh Transmission

*2

*3

N

N

N

N

Y

Y

Y

Datatransmissionrequest toservoamplifier

Absolute datareception fromservo amplifier

*1

*1

Y

* To avoid any operation error due to incidental noises, etc., it is recommended to repeat the above communication at least twice, and to make sure of the conformance of absolute data.

The data marked with * 1, * 2 and * 3 are defined by setting RSW (ID) on the servo driver front panel.

RSW(ID) Data *1 Data *2 Data *3 0 The RS485 interface cannot be used. 1 81h 01h 2Dh 2 82h 02h 2Ch 3 83h 03h 2Bh 4 84h 04h 2Ah 5 85h 05h 29h 6 86h 06h 28h 7 87h 07h 27h 8 88h 08h 26h 9 89h 09h 25h A 8Ah 0Ah 24h B 8Bh 0Bh 23h C 8Ch 0Ch 22h D 8Dh 0Dh 21h E 8Eh 0Eh 20h F 8Fh 0Fh 1Fh

If the low-order 8 bits of the sum of the received absolute data (15 characters) are "0", the check sum is judged acceptable.

No. SR-DSV09521 - 84 -


11. Tuning

(1) Outline Gain tuning of the MINAS-A4 series is performed as shown in the flow char below.

11-1 Real time auto gain tuning In the setting before shipment of the MINAS-A4 series, the real time auto gain tuning is enabled. Drive the machine under the actual operation conditions to tune the machine with Pr.22 (Machine stiffness at auto tuning).

11-2 Normal mode auto gain tuning When it is difficult to input command of the optimum conditions, the normal mode auto gain tuning, in which the tuning is performed using a command internally generated in the driver can be used.

11-3 Fit gain function When carrying out position control, fit gain function that performs from auto setting of stiffness to fine-tuning that makes the positioning setting time the shortest automatically, is available.

11-4 Disabling of auto tuning function When the above functions are not used, or satisfactory tuning result can not obtained, check the contents of the item and release the auto tuning function.

11-5 Gain auto setting function Gain auto setting function performs batch setting of the gains corresponding to the stiffness parameter as the initial setting of manual gain tuning.

11-6 Manual gain tuning The gain can be tuned manually in accordance with equipment.

No. SR-DSV09521 - 85 -


Tuning start

Refer to Sect.11-2

Tuningcompletion

No

Normal mode autogain tuning

Gain auto settingfunction

Start from autotuning setting?

Yes

No

Real time autogain tuning

Is operation OK?

(Default setting)

Yes

No

Yes

Is auto tuningexecuted?

Yes

Refer to Sect.11-1

Fit gainfunction

Are conditions inSect.11-3 satisfied?

Refer to Sect.11-3

Does loadcharacteristics

fluctuate?Yes

Auto tuning functionrelease

Refer to Sect.11-4

Refer to Sect.11-5

Manual gaintuning

Is operation OK?

Yes

Is operation OK?

Yes

No

No

Make contact with Matsushita.

Refer to Sect.11-6

No

No

Is command input(in Sect.11-1) possible?

Auto tuning functionrelease

Refer to Sect.11-4

Write to EEPROM

Refer to Sect.9-1-6, 9-1-7

No. SR-DSV09521 - 86 -


11-1 Real time auto gain tuning

(1) Outline

Load inertia of the machine is estimated at real time, and the optimum gain is set up automatically based on the estimated result. A load, which has a resonance, also can be handled owing to the adaptive filter.

Current control

Position/speed control

Position/speed command

Motor speed

Torque command

Resonant frequency estimate

Load inertia estimate

Gain auto setting

Adaptive filter

Motor current

Motor

Encoder

Servo driver

Operation command under actual operation conditions

Real time auto gain tuning

Filter auto tuning

(2) Application range - This function is applicable to the following conditions.

Conditions under which the real time auto gain tuning functions

Control mode Can be used in any control mode. When using the trial run function of a motor or using the frequency characteristics measuring function of PANATERM, the load inertia estimation is disabled.

Others

- Servo-ON - Any factors other than control parameters such as the deviation counter clearance

command input prohibition, torque limit, etc., and there shall be no problem in the normal motor revolution.

No. SR-DSV09521 - 87 -


(3) Caution

- Under the following conditions, the real time auto gain tuning may not function properly. In such case, use the normal mode auto gain tuning or manual gain tuning.

Conditions under which the real time auto gain tuning is prevented from functioning

Load inertia - When the load inertia is smaller/larger than the rotor inertia (less than 3 times; or 20 times or more) - When the load inertia fluctuates

Load - When the machine stiffness is extremely low - When any unsecured part resides in such as backlash, etc.

Operation pattern

- In case of a continuous low speed operation under 100 [r/min]. - In case of soft acceleration/deceleration not more than 2000 [r/min] per 1 [s]. - When conditions such as the speed of 100 [r/min] or more speed and the acceleration of

2000 [r/min] or more per second does not continue for 50 [ms] or more. - When acceleration/deceleration torque is smaller than unbalanced load/viscous

friction torque.

(4) How to use [1] Stop the motor (Servo-OFF). [2] Set up Pr.21 (Real-time auto tuning set-up) to 1-7. Set up value before shipment is1.

Settingvalue

Real-time autotuning

Changing degree of loadinertia during operation

0 Not used ―――――1 No change2 Normal mode Change slowly3 Change shaply4 No change5 Vertical axis mode Change slowly6 Change shaply

When the changing degree of the load inertia is too large, set Pr.21 to 3 or 6. When using it in the vertical axis, use 4 thru 6. When any influence of resonance is considered, make Pr.23 (adaptive filter mode) enabled.

[3] Set up Pr.22 (Machine stiffness at auto tuning) to 0 or a lower value. [4] Turn the servo ON to operate the machine ordinarily. [5] To increase the response performance, gradually increase Pr.22 (Machine stiffness at auto

tuning). When any noise or vibration is found, decrease the Pr.22 to a lower value soon. [6] To store the result, write the data into the EEPROM.

No. SR-DSV09521 - 88 -


(5) Parameters, which are set up automatically.

The following parameters are tuned automatically.

Parameter No. Name Pr.10 1st position loop gain Pr.11 1st velocity loop gain Pr.12 1st velocity loop integration time constant Pr.13 1st speed detection filter Pr.14 1st torque filter time constant Pr.18 2nd position loop gain Pr.19 2nd velocity loop gain Pr.1A 2nd velocity loop integration time constant Pr.1B 2nd speed detection filter Pr.1C 2nd torque filter time constant Pr.20 Inertia ratio

The following parameters are also set up to the following fixed values automatically.

Parameter No. Name Set value Pr.15 Velocity feed forward 300 Pr.16 Feed forward filter time constant 50 Pr.27 Velocity observer 0 Pr.30 2ndgain action set up 1 Pr.31 1st control switching mode 10 Pr.32 1st control switching delay time 30 Pr.33 1st control switching level 50 Pr.34 1st control switching hysteresis 33 Pr.35 Position loop gain switching time 20 Pr.36 2nd control switching mode 0

*1) The set value will become 10 in the case of the position control and full-closed control, and 0 in the case of the speed control and torque control.

*1

No. SR-DSV09521 - 89 -


(6) Description of the adaptive filter If Pr.23 (adaptive filter mode) is set to a value other than 0, the adaptive filter becomes enabled. In an actual operation state, resonance frequency is estimated based on the vibration component, which appears in motor speed, and resonance point vibration is reduced by removing resonance component from the torque command by the adaptive filter. The adaptive filter may not function normally under the following conditions. In such a case, take anti-resonance measures using the 1st notch filter (Pr.1D and 1E) or second notch filter (Pr.28-2A) in accordance with the manual tuning procedure.

Conditions under which the adaptive filter is prevented from functioning

Resonance point

・ When the resonance frequency is 300 [Hz] or less ・ When resonance peak is low, or control gain is low; and its influence does not

appear on the motor speed ・ When plural resonance points reside in

Load ・ When a motor speed fluctuation having a high frequency component is caused due to a non-linear element such as backlash etc.

Command pattern ・ When acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s] When Pr.2F (adaptive filter frequency) is 4 or less, the adaptive filter becomes disabled. When Pr.2F (adaptive filter frequency) is 4 or less, the adaptive filter may be disabled even if Pr.23 is set to a value other than 0. Refer to the nullification of adaptive filters shown in the item (3) of 16-4. (7) Caution 2

[1] Immediately after the first turning the servo ON at start up, or when Pr.22 (Machine stiffness at auto tuning) is stated up, sometimes a noise or vibration may be generated until the load inertia is determined or the adaptive filter is stabilized. But, when the machine gets stabilized soon, there is no problem. But, when such problem as vibration or noise continues during a period of 3 reciprocal operations, etc. occurs frequently, take the following measures. 1) Write the parameter of normal operation into the EEPROM. 2) Decrease the Pr.22 (Machine stiffness at auto tuning). 3) Set Pr.23 (adaptive filter mode) to 0, and make the adaptive filter disabled. 4) Set up the notch filter manually.

[2] After a noise or vibration has occurred, Pr.20 (Inertia ratio) and/or Pr.2F (Adaptive filter frequency) may have been changed into an extreme value. In such a case also, take the above measures.

[3] In the results of the real time auto gain tuning, Pr.20 (Inertia ratio) and Pr.2F (Adaptive filter frequency) are written into the EEPROM every 30 minutes. And auto tuning is carried out using the data as the initial value when power is on again.

[4] When the real time auto gain tuning is set to “Enabled”, Pr.27 (velocity observer) becomes disabled (0) automatically.

[5] An adaptive filter is normally disabled at the time of torque control. However, when Pr.02 (control mode) is 4 or 5 and the torque control is selected, the adaptive filter frequency in the control mode before switching is retained.

No. SR-DSV09521 - 90 -


11-2 Normal mode auto gain tuning

(1) Outline

The motor is operated using a command pattern, which is automatically generated by the driver to estimate the load inertia based on the required torque, and proper gain is set up automatically.

Current control


Motor speed

Torque command


Gain auto setting Motor

current Motor

Encoder

Servo driver

Position command Motor acceleration

Motor torque

Internal position command generation

Normal mode auto gain tuning

(2) Applicable range

- This function is applicable to the following conditions. Conditions that normal mode automatic gain tuning operates

Control mode - Can be used in any control mode.

Others - Servo-ON status - Deviation counter clear signal is not inputted.

Note) Set the torque limit selection (Pr.03) to 1 and the overtravel input inhibit setup (Pr.04) also to 1.

No operation at any other set value.

No. SR-DSV09521 - 91 -


(3) Cautions

- Under the following conditions, normal mode auto gain tuning may not function normally. In such case, set up the data in manual gain tuning mode.

Conditions under which normal mode auto gain tuning is prevented from functioning.

Load inertia - Load inertia is smaller/larger than the rotor inertia

(Less than 3 times, or 20 times or more) - Load inertia fluctuates

Load - Extremely low machine stiffness - Unsecured part such as backlash etc resides in

- When an error, Servo-OFF or deviation counter clear has occurred during auto gain tuning operation, it results in a tuning error.

- Even when the auto gain tuning has carried out, when it has failed in estimating the load inertia value, the gain value is not changed and the previous data remains as it was.

- Motor output torque during auto gain tuning operation is permitted up to the maximum output torque that has been set up by Pr.5E (1st torque limit), and CW/CCW overtravel inhibit input is ignored.

Be very careful of the safety. IF vibration occurs, turn OFF the power or the servo promptly, and return the gain to the set value before shipment with the parameter.

(4) Auto gain tuning operation

[1] In the normal mode auto tuning, the response performance is set up by means of machine stiffness number.

Machine stiffness numbers - Machine stiffness numbers are for setting the degree of machine stiffness of the user machine. Setting range is 0-15. A machine, which has higher machine stiffness, allows setting a larger value to obtain a higher gain. - Ordinarily, auto gain tuning is begun with a lower stiffness number to a larger number in order. And repeat the steps until a strange noise or vibration occurs.

[2] Operation pattern set by Pr.25 (normal auto tuning motion set up) is repeated up to 5 cycles. Operation acceleration increases by 2 times per 1 cycle from the third cycle. Depending on the load status, the operation may be terminated without performing 5 cycles, or the operation acceleration may not change. It is not an error.

No. SR-DSV09521 - 92 -


(5) How to operate

[1] Set the operation pattern to Pr.25.

[2] Move the load to a position where is safe even when the motor performs a operation pattern set up by Pr.25.

[3] Prepare the condition that no command pulse input comes in.

[4] Turn the servo ON.

[5] Start the auto gain tuning operation. Start the operation using the front panel or PANATERM. Refer to sect.9-1-7(1) Auto gain tuning for how to operate the front panel.

[6] Adjust the machine stiffness number so that a desired response is obtained within a level in which any vibration does not occur.

[7] When no problem is found in the result, write the data into the EEPROM. (6) Parameters, which are set up automatically.


Parameter No. Name Pr.10 1st position loop gain Pr.11 1st velocity loop gain Pr.12 1st velocity loop integration time constant Pr.13 1st speed detection filter Pr.14 1st torque filter time constant Pr.18 2nd position loop gain Pr.19 2nd velocity loop gain Pr.1A 2nd velocity loop integration time constant Pr.1B 2nd speed detection filter Pr.1C 2nd torque filter time constant Pr.20 Inertia ratio


Parameter No. Name Set value Pr.15 Velocity feed forward 300 Pr.16 Feed forward filter time constant 50 Pr.27 Velocity observer 0 Pr.30 2nd gain action set up 1 Pr.31 1st control switching mode 10 Pr.32 1st control switching delay time 30 Pr.33 1st control switching level 50 Pr.34 1st control switching hysteresis 33 Pr.35 Position loop gain switching time 20 Pr.36 2nd control switching mode 0

*1) The set value will become 10 in the case of the position control, and 0 in the case of the internal speed control.

*1

No. SR-DSV09521 - 93 -


11-3 Fit gain function

(1) Outline

For the purpose of increasing the accuracy of the real time auto gain tuning during position control, fit gain function in which the gain is set up automatically so that stabilizing time is the shortest is available.

Current control


Position command (Trapezoid speed waveform

reciprocate command)

Motor speed

Torque command

Resonant frequency estimate


Adaptive filter

Motor current

Motor

Encoder

Servo driver

＋

－

Position deviation

(Tuning time) (Vibration detection)

Fit gain function

Stiffness/gain table auto setting

Real time auto gain tuning

(2) Applicable range

- In addition to the applicable conditions, the following conditions has to be fulfilled to apply the fit gain function.

Conditions under which the fit gain function works Real time auto

gain tuning operation

Real time auto gain tuning works normally.

Adaptive filter - The adaptive filter shall be enabled. Pr.23 = 1: Enabled

Control mode - Position control mode is selected. No.02＝0: Position control

Operation pattern

- Position command that performs reciprocate operation. - Period of one position command is 50 [ms] or more. - Minimum frequency of the position command is 1 [kpps] or more. (It is necessary for determining the start/end of the command)

No. SR-DSV09521 - 94 -


(3) Cautions - In addition to the cautions, the real time auto gain tuning operation may not function normally

under the following conditions. In such a case, use the ordinary real time auto gain tuning. Conditions under which the fit gain function is prevented from functioning

Operation pattern

- First position command is too short like less than 2 rotations. - When the positioning does not complete until the next position command starts after a position command has completed. - Acceleration/deceleration is too sharp like 30000 [r/min] or more per 1 [s].

Command waveform 50 [ms] or more Positioning completion (4) How to use

Refer to sect.9-1-7 (2); "9. Operation" [1] Set up Pr.60 (In-position range) as the judgment criteria of the positioning setting time.

(Preset value before shipment is Pr.60＝131 pulses. For 17-bit encoder, set up a value of 20 pulses or more; for 2500-pulse encoder, set up a value of 10 pulses or more.)

[2] Check that the real time auto gain tuning is enabled through the fit gain window of the front panel, and then, start the fit gain function.

[3] Front panel display changes to 0 0 0 0 0 0 . Right 3 digits indicate the present setting under fitting; left 3 digits indicate the fitting result.

[4] After giving a position command that fulfills the above conditions, operate the machine ordinarily.

[5] As the fitting operation proceeds, the display on the front panel changes. [6] When the gain search has completed successfully, Finish is displayed; when it

completed erroneously, Error is displayed. (This display can be cleared by pressing any key)

[7] To store the fit gain result, write the data into the EEPROM.

OFF

Opti. accel/decel

ON

0 [S] or more

No. SR-DSV09521 - 95 -


(5) Cautions 2

[1] Although there may be a case that some noise or vibration is generated during the fit gain operation, ordinarily, since the gain is reduced automatically, there is no problem. However, if the noise or vibration continues, press any key on the front panel to terminate the fit gain operation.

(6) Parameters, which are set up automatically.


Parameter No. Name Pr.10 1st position loop gain Pr.11 1st velocity loop gain Pr.12 1st velocity loop integration time constant Pr.13 1st speed detection filter Pr.14 1st torque filter time constant Pr.18 2nd position loop gain Pr.19 2nd velocity loop gain Pr.1A 2nd velocity loop integration time constant Pr.1B 2nd speed detection filter Pr.1C 2nd torque filter time constant Pr.20 Inertia ratio Pr.22 Machine stiffness at auto tuning


Parameter No. Name Set value Pr.15 Velocity feed forward 300 Pr.16 Feed forward filter time constant 50 Pr.27 Velocity observer 0 Pr.30 2nd gain action set-up 1 Pr.31 1st control switching mode 10 Pr.32 1st control switching delay time 30 Pr.33 1st control switching level 50 Pr.34 1st control switching hysteresis 33 Pr.35 Position loop gain switching time 20 Pr.36 2nd control switching mode 0

No. SR-DSV09521 - 96 -


11-4 Disabling of auto tuning function

(1) Outline Precautions for disabling the real time auto gain tuning, which has been preset before shipping, or the adaptive filter will be described below.

(2) Caution

Before disabling the auto tuning function, terminate the operation. (3) Disabling of the real time auto gain tuning

When Pr.21 (real time auto gain tuning set up) is set to 0, the automatic estimation of Pr.20 (inertia ratio) stops, and the real time auto gain tuning becomes disabled. In case that the parameter get an apparently incorrect value compared with the remaining estimate result of Pr.20 (Inertia ratio), set up an appropriate value manually using the normal mode auto tuning or calculating the value.

(4) Disabling of the adaptive filter When setting Pr.23 (adaptive filter mode) to 0, the adaptive filter function for automatic compliance with load resonance stops. If the adaptive filter is disabled during operating properly, influence of the suppressed resonance may appear resulting in a noise or vibration etc. Accordingly, before disabling the adaptive filter, copy the adaptive filter frequency (Pr.2F) to 1st notch frequency (Pr.1D) through the fit gain window (Sect.9-1-7(2)) or set manually Pr.1D (1st notch frequency) by the value of Pr.2F (adaptive filter frequency) as the table below. And then, disable the adaptive filter.

Pr.2F Actual notch frequency［Hz］ Pr.2F Actual notch frequency［Hz］ 0 (Disabled) 33 500 1 (Disabled) 34 481 2 (Disabled) 35 462 3 (Disabled) 36 445 4 (Disabled) 37 428 5 1482 38 412 6 1426 39 396 7 1372 40 381 8 1319 41 366 9 1269 42 352

10 1221 43 339 11 1174 44 326 12 1130 45 314 13 1087 46 302 14 1045 47 290 15 1005 48 279 16 967 49 269 (disabled by Pr.22 ≥ 15) 17 930 50 258 (disabled by Pr.22 ≥ 15) 18 895 51 248 (disabled by Pr.22 ≥ 15) 19 861 52 239 (disabled by Pr.22 ≥ 15) 20 828 53 230 (disabled by Pr.22 ≥ 15) 21 796 54 221 (disabled by Pr.22 ≥ 14) 22 766 55 213 (disabled by Pr.22 ≥ 14) 23 737 56 205 (disabled by Pr.22 ≥ 14) 24 709 57 197 (disabled by Pr.22 ≥ 14) 25 682 58 189 (disabled by Pr.22 ≥ 14) 26 656 59 182 (disabled by Pr.22 ≥ 13) 27 631 60 (Disabled) 28 607 61 (Disabled) 29 584 62 (Disabled) 30 562 63 (Disabled) 31 540 64 (Disabled) 32 520

* For the items decided as disabled in the above table, set Pr.1D (1st notch frequency) to 1500.

No. SR-DSV09521 - 97 -


11-5 Gain auto setting function

(1) Outline Gain auto setting function is for initializing the control parameter/gain switching parameter to a gain setting of the auto tuning corresponding to the stiffness before carrying out manual tuning.

(2) Caution

Before executing the gain auto setting function, terminate the operation. (3) How to use

Refer to sect.9-1-7 (2); "9. Operation" [1] Terminate the operation. [2] Start up the gain auto setting function through the fit gain window on the front panel. [3] When the gain setting has completed successfully, Finish is displayed; when it

completed erroneously, Error is displayed. (This display can be cleared by pressing any key)

[4] To store the fit gain result, write the data into the EEPROM.

(4) Parameters, which are set up automatically. The following parameters are tuned automatically.

Parameter No. Name Pr.10 1st position loop gain Pr.11 1st velocity loop gain Pr.12 1st velocity loop integration time constant Pr.13 1st speed detection filter Pr.14 1st torque filter time constant Pr.18 2nd position loop gain Pr.19 2nd velocity loop gain Pr.1A 2nd velocity loop integration time constant Pr.1B 2nd speed detection filter Pr.1C 2nd torque filter time constant


Parameter No. Name Set value Pr.15 Velocity feed forward 300 Pr.16 Feed forward filter time constant 50 Pr.27 Velocity observer 0 Pr.30 2nd gain action set-up 1 Pr.31 1st control switching mode 10 Pr.32 1st control switching delay time 30 Pr.33 1st control switching level 50 Pr.34 1st control switching hysteresis 33 Pr.35 Position loop gain switching time 20 Pr.36 2nd control switching mode 0

11-6 Manual gain tuning

Outline MINAS-A4 series provides the above described auto gain tuning function. However, there may be a case that fine tuning is required when it is failed to obtain a desired gain after carrying out the auto gain tuning due to the load conditions etc.; or in a case that the optimum response performance or stability is required in accordance with the respective loads, and so on. In this section, the steps of manual gain tuning will be described on each control mode and function.

No. SR-DSV09521 - 98 -


11-6-1 Tuning of position control mode

Position control system of the MINAS-A4 series is as shown in the following block diagram. In this section, the basic tuning procedure circled with double frame, in which parameter is used but gain switching is not used, will be described.

Torque filter

Speeddetection filter

Primary delaysmoothing

＋

Division

Position control

Speed feedforword

Pulse ratio

Vibrationsuppression control

Input setting

Pr.10

Pr.15

Pr.16

Pr.18

Pr.40

Pr.41

Pr.42

Pr.45

Pr.46

Pr.48

Pr.49

Pr.4A

Pr.4B

Pr.4C

Pulsetrain

PULSSIGN

＋

－

Inverse

Mode

Inputselection

Multiplir ofnumerator

1stnumerator

2ndnumerator

Denominator

Selection

Positiondeviationmonitor

Commandspeed

monitor

Gain

Filter

2nd

1st

Selection

DenominatorFeedback pulseOA／OB／OZ

Notch filterSpeed control

Pr.11

Pr.12

Pr.13

Pr.14

Pr.19

Pr.1A

Pr.1B

Pr.1C

Pr.1D

Pr.1E

Pr.20

Pr.28

Pr.29

Pr.2A

＋

＋

－

1st ratio

1stintegration

2ndintegration

2nd ratio

Inertia ratio

1st frequency

1st width

2nd frequency

2nd width

2nd depth

1st time constant

2nd timeconstant

2nd

1st

Actual speedmonitor

1st limit Pr.5E

Motor

Encoder

Torquecommandmonitor

Speed detection

Encoder receiveprocessing

Serialcommunication

data

FIRsmoothing

Pr.4DNumber of

times inmovingaverage

Pr.2FAdaptation

Pr.44Numerator

2nd limit Pr.5F

Pr.2B

Pr.2C

1st frequency

1st filter

Pr.2D

Pr.2E

2nd frequency

2nd filter

Position control block diagram

[1] Initial setting of parameter

Return the parameter to the preset value before shipment.

- In case that vibration occurs with the preset value before shipment, reduce the 1st velocity loop gain (Pr.11) and the 1st position loop gain (Pr.10) by the same value.

[2] Setting of inertia ratio Set up the inertia ratio (Pr.20).

- When the inertia ratio (Pr.20) has been obtained by the real time auto gain tuning, use the Pr.20 set value as it is. - When the inertia ratio is known by means of calculation etc, input the calculated value. - When the inertia ratio is unknown, execute the normal mode auto gain tuning to measure the inertia. After the measurement, since the control gain also has been altered, return to the step [1] and carry out initial setting of the parameter.

[3] Upper limit search of speed loop gain Increase the 1st velocity loop gain (Pr.11) by 10-increment.

- At this time, increase the 1st position loop gain (Pr.10) also to the same value as the 1st velocity loop gain (Pr.11). - When vibration begins to be generated, proceed to step [4] Setting of notch filter. - When vibration occurs, decrease the 1st velocity loop gain (Pr.11) promptly, and then decrease the 1st position loop gain (Pr.10) to the same value as Pr.11, and proceed to step [4].

No. SR-DSV09521 - 99 -


[4] Setting of notch filter Measure the vibration frequency of the torque command using the waveform graphic function or frequency characteristics measurement function etc. of the monitor output/set up support software PANATERM.

- Based on the measured vibration frequency, carry out one of the steps (A)-(C). - After the step above, since the upper limit of the 1st velocity loop gain (Pr.11) may have been changed, carry out the step [3] again to check the upper limit. Compare the values before and after the above step, continue the tuning using the setting by

which the 1st velocity loop gain (Pr.11) increases more largely. (A) When the vibration frequency is 1.5 kHz or more

Set up a larger 1st torque filter time constant (Pr.14) - For the absolute encoder (7-core 17-bit) , set up Pr.14 to approx. 25; for the incremental encoder (5-core 2500P/r), set up Pr.14 to approx. 63 as a reference target, increase the value until the vibration falls in allowable range. - When the 1st torque filter time constant (Pr.14) is set up too large, vibration of lower frequency may become large. In this case, reduce the value of the 1st velocity loop gain (Pr.11).

(B) When the vibration frequency is 600 Hz – 1500 Hz Set up the 1st notch frequency (Pr.1D) to the value of vibration frequency.

- When the vibration is not reduced, slightly change the value of Pr.1D and 1E. - Resonance peak can be measured using the frequency characteristics function of the set up support software PANATERM. Set up the notch filter so as to reduce the resonance peak. - When vibration of 600Hz or more is still generated, set up the 1st torque filter time constant (Pr.14) to a larger value.

(C) When the vibration frequency is 400-600Hz - Measure the resonance frequency using the frequency characteristics function etc. of the set up support software PANATERM. Set up the 1st notch frequency (Pr.1D) to the value of resonance frequency.

- Measure the frequency characteristics again and check that the resonance peak is reduced. - When the resonance peak is not reduced, adjust the 1st notch width selection (Pr.1E) and the 1st notch frequency (Pr.1D) so that the resonance peak is reduced. - As for vibration of which resonance peak is in low frequency and is lower than the anti- resonance frequency, set the 1st velocity loop gain (Pr.11) to a smaller value. - When the resonance frequency falls in approx. 350 – 450 Hz, increase the value of the 1st velocity loop gain (Pr.11) and set the notch filter at a point that vibration begins to generate. The vibration may be reduced. - When the vibration is not reduced, disable the notch filter. Determine the value of the first speed loop gain as the upper limit value.

[5] Setting of torque filter time constant When any operation noise is heard, gradually increase the value of the 1st torque filter time constant (Pr.14). To increase the response, gradually reduce the value of the 1st torque filter time constant (Pr.14) and increase the value of the 1st velocity loop gain (Pr.11).

- As a reference value of the minimum value, it is recommended to set the value, for the absolute encoder (7-core 17-bit), to10; for the incremental encoder (5-core 2500P/r), to 25.

No. SR-DSV09521 - 100 -


[6] Setting of 1st speed detection filter (Pr.13) To increase the response, gradually reduce the value of the 1st speed detection filter (Pr.13) and increase the value of the 1st velocity loop gain (Pr.11). In the case that high frequency noise is generated when the value of the 1st speed detection filter (Pr.13) is reduced, measure the resonance frequency using the waveform graphic function etc. of the Matsushita set up support software PANATERM and adjust the notch filter in step [4] or the torque filter in step [5].

[7] Setting of 1st position loop gain (Pr.10)

Input a value of approx. the value of the 1st velocity loop gain (Pr.11)×1.5 to the 1st position loop gain (Pr.10). Then, roughly set up the value of Pr.10 so that the positioning setting time is shortened at a certain degree.

- To change the parameter, execute it at a timing of which positional deviation is small.

[8] Setting of 1st velocity loop integration time constant (Pr.12)

Set the 1st velocity loop integration time constant (Pr.12) to a value in which Pr.12＝(4000-2000)/(2π×Pr.11).

- By setting the first speed loop integration time constant to a smaller value, although it is possible to make the deviation at the positioning closer to 0, the time to reach to the stabilization range may become slower. - In such a case, by setting the value of the 2nd velocity loop integration time constant (Pr.1A) during operation to 1000 (disabled) using the gain switching function, it may be increased.

[9] Setting of velocity feed forward (Pr.15)

Set the velocity feed forward (Pr.15)to 500 (300-700). - When the value of the velocity feed forward (Pr.15), although the positional deviation during operation is reduced and the positional deviation after completion of command output is converged sooner, overshoot or vibration occurs frequently. - When the operation noise has become larger after setting this parameter, set the feed forward filter time constant (Pr.16) and the smoothing filter (Pr.4C) to a larger value respectively.

No. SR-DSV09521 - 101 -


11-6-2 Tuning of internal speed control mode

Speed control system of the MINAS-A4 series is as shown in the following block diagram. The tuning steps in speed control is almost the same as that of the position control mode in sect.11-6-1. Excluding the setting of [7] position loop gain and [9] speed feed forward, follow the steps [1] – [6] and [8] in sect.11-6-1 to carry out the tuning.

Speed detection filter

Feedback pulse

OA／OB／OZ

Internal speed setting

Pr.74

Pr.75

Pr.76

Pr.77

7th speed

5th speed

6th speed

8th speed

Command selection

Pr.05 Selection

Accel./decel. limit

Pr.58

Pr.59

Pr.5A

Deceleration

S-shape

Acceleration

Notch filterSpeed control

Pr.11

Pr.12

Pr.13

Pr.19

Pr.1A

Pr.1B

Pr.1D

Pr.1E

Pr.20

Pr.28

Pr.29

Pr.2A

＋

－

Command speed monitor

1st ratio

1st integration

2nd integration

2nd ratio

Inertia ratio

1st frequency

1st width

2nd frequency

2nd width

2nd depth

2nd

1st

Actual speed monitor

Motor

Encoder

Torque command monitor

Speed detection

Encoder receive

processing

Pr.2FAdaptation

Torque filter

Pr.14

Pr.1C

1st time constant

2nd time constant

1st limit Pr.5E

2nd limit Pr.5F

Pr.53

Pr.54

Pr.55

Pr.56

3rd speed

1st speed

2nd speed

4th speed

Division

Pr.45

Pr.46 Selectio

Denominator

Pr.44 Numerator Serial

communication data

Internal speed control block diagram Speed control block diagram

No. SR-DSV09521 - 102 -


11-6-3 Manual gain tuning using gain switching function

(1) Outline By carrying out the gain switching via internal data or external signal, the following effects are obtained.

- During a stop, gain of the (servo lock) is decreased to suppress the vibration. - During a stop, gain of the (setting) is increased to shorten the setting time. - Gain during operation is increased to increase the command follow-up performance. - Gain can be switched via external signal in accordance with the equipment, etc.

(2) Example of application

Here, the setting procedure to increase the response performance of the position control mode using the gain switching function will be described. In positioning operation, generally, the gain is increased by turning the speed integration OFF during operation to increase the response performance; while after a stop, the gain is lowered to suppress the vibration

1ms 2ms

Setting parameter Set

valueContents

Pr.30 (2nd gain action set up) 1 Uses the 2nd gain. Pr.31 (1st control switching mode) 7 Switched to the 2nd gain by position command input.

Pr. 32 (1st control switching delay time) 12 Switched to the 1st gain after the command pulse OFF status continues for 2 ms (command pulse "0" for 166µs).

Pr. 35 (Position loop gain switching time)

5 Defines ramp response of 1 ms (calculated by (5 + 1) x 166 µs), when the position loop gain is switched from low gain to high gain.

Pr. 10 (1st position loop gain) Pr. 11 (1st velocity loop gain) Pr. 12 (1st velocity loop integration time

constant) Pr. 13 (1st speed detection filter) Pr. 14 (1st torque filter time constant)

- Defines the gain for the stop status.

Pr. 18 (2nd position loop gain) Pr. 19 (2nd velocity loop gain) Pr. 1A (2nd velocity loop integration

time constant) Pr. 1B (2nd speed detection filter) Pr. 1C (2nd torque filter time constant)

- Defines the gain for the driven status.

Operation

Status

Gain

Command speed

Stop (Servo-Lock)

Low gain (1st gain)

Driven

High gain (2nd gain)

Stop (Servo-Lock)

Low gain (1st gain)

Time

Suppresses oscillation by reducing the gain.

No. SR-DSV09521 - 103 -


(3) Setup procedure

Assume that the servo driver's internal status changes as shown below, when the load moves from Position A to Position B. To use the gain switching function in this condition, set up the relevant parameters according to the procedure described below.

[1] Set up the gain switching conditions with the following parameters.

Pr. 31 (1st control switching mode)

The 1st gain is selected regardless of the status.

The 2nd gain is selected regardless of the status.

The gain is switched by the gain switching input (X5 Pin 27: GAIN). Open: 1st gain, Short-circuited: 2nd gain

2

1

0,3,4

9,10

8

6

7

2

1

0,3

4

In-position OFF ONON

Position error

Pr.31 set value

Pr. 31 set value Position control

Internal speed control Speed control

Position command

Change of speed command

Speed

Speed command 5 5

M

A B

High

No. SR-DSV09521 - 104 -


[2] Define the switching level and hysteresis according to the switching condition.

The parameters used to define the switching level and hysteresis vary depending on the control mode.

1st control mode Switching level Pr.33 Hysteresis Pr.34

The unit of the parameter settings varies depending on the switching condition.

Switching condition

(Pr. 31) Unit of Pr.33, and Pr.34, 38 settings

0 Fixed to 1st gain 1 Fixed to 2nd gain

2 Gain switching input (X5 GAIN: Pin 27)

Need not to be defined.

3 Change of torque command: Large

[0.05％/166µs] 200 (when 10% torque fluctuation in 166µs is defined as the switching condition)

4 Change of speed command: Large * 1 [10(r/min)/s]

5 Speed command [r/min] 6 Position deviation value *2 [pulse] (Encoder resolution)

7 Position command input *2 Command pulse in 166µs: 1 or more

8 Not in position *2 The value on the position deviation counter is higher than the Pr. 60 (In-position range) setting.

9 Speed *2 [r/min]

10 Position command input + Speed *2

Switching to the 2nd gain with Position command input. Switching to the 1st gain after the command pulse OFF status continues for Pr.32[x 166µs] and the speed becomes Pr.33 - Pr.34[r/min] or less.

*1 In the case of the position control, the 1st gain is fixed. *2 In the case of the speed control, the 1st gain is fixed.

1st gain 1st gain 2nd gain

Hysteresis

Switching level

No. SR-DSV09521 - 105 -


[3] Define the switching delay time. The switching delay time defines the time for switching the 2nd gain (Pr. 18, 19, 1A, 1B and 1C) to the 1st gain (Pr. 10, 11, 12, 13 and 14). To switch from the 2nd gain to the 1st gain, the specified switching condition must be satisfied continuously during the switching delay time.

[4] Define the position gain switching time.

When the gain is switched, the speed loop gain, speed integration time constant, speed detection filter and torque filter time constant will be instantaneously switched. However, you can change the position loop gain gradually, to avoid a trouble caused by a rapid increase in gain.

When Pr. 35 (Position loop gain switching time) is "0":

Hysteresis

Switching level

1st gain 2nd gain 1st gain

Switching delay time

Cancelled due to inconformity with the switching condition.

When Pr. 35 (Position loop gain switching time) is "5":

High gain

166µs

High gain

Low gain

Low gain

No. SR-DSV09521 - 106 -


11-6-6 Velocity observer (1) Outline

Instantaneous speed observer is a function in which the speed detection accuracy is increased by estimating motor speed using a load model to increase the response performance and to reduce the vibration after a stop.

Current control

Speed control

Speed command

Speed estimate value

Torque command

Velocity observer

Load model

Motor current

Motor

Encoder

Servo driver

Motor position

To position control

Load

(Total inertia)

(2) Applicable range - This function is applicable under the following condition.

Conditions under which the velocity observer functions Control mode - In the case of the position control or speed control only

Pr.02=0: Position control Pr.02=1: Speed control

Encoder - In the case of 7-core absolute encoder only

No. SR-DSV09521 - 107 -


(3) Cautions

- Under the following conditions, the function may not work normally, or the intended effect may not be obtained.

Conditions under which the effect of the velocity observer is prevented

Load

- Compared to the inertia load including the motor and load as a unit, error is too different from that of the actual equipment . - Example) A large resonance point resides in the frequency zone of 300 [Hz] or

less; A non-linear factor such as large backlash etc. resides in, and so on.

- Load inertia changes - An external disturbance torque of large high frequency component is applied

Other - Positioning setting range is too narrow. (4) How to use

[1] Setting of inertia ratio (Pr.20)

Set up an inertia ratio as precise as possible. - When an applicable inertia ratio (Pr.20) has been already obtained through the real time auto gain tuning during an ordinary position control etc., use it as the setting value of Pr.20 as it is. - When the inertia ratio is known via calculation etc., input the calculated value. - If no inertia ratio is confirmed yet, make its measurement by using the normal mode automatic gain tuning.

[2] Tuning in ordinary position control - Refer to sect.11-6-1.

[3] Setting of velocity observer (Pr.27)

- When the velocity observer (Pr.27) is set to 1, the means of speed detection is switched to the velocity observer. - When changes in torque waveform or a operation noise is found, immediately reset to the previous setting and determine the cause and check the setting of inertia ratio (Pr.20) [1]. - In case that the performance is increased when the torque waveform changes or operation noise becomes smaller, while observing the position deviation waveform and actual speed waveform, search the setting value in which the changes become minimum by fine tuning the inertia ratio (Pr.20). When the position loop gain or speed loop gain is changed, since the optimum value of the inertia ratio (Pr.20) also may be changed, carry out fine-tuning again.

No. SR-DSV09521 - 108 -


11-6-7 Vibration suppression control

(1) Outline

A function to reduce vibrations by removing vibration frequency elements from a command when the front end of equipment vibrates.

Current control

Position/ speed control

Position command

Torque command Motor

current Motor

Encoder

Servo driver

Motor position

Load Vibration

suppression filter

Motor

Coupling Ball screw

薄い鉄の板

Movable part

Shift

Vibration is measured by displacement sensor.

Vibration at the front end

Machine table

Driver

Sequencer

Vibration frequency at the front end is set.

(2) Applicable range - This function is applicable to the following condition.

Condition that vibration suppression control is activated

Control mode - In the case of the position control only Pr.02=0: Position control

No. SR-DSV09521 - 109 -


(3) Caution

Make sure to stop the operation before the change of parameters and switching in VS-SEL.

- Under the following conditions, the function may not work normally, or the intended effect may not be obtained.

Conditions that the effect of vibration suppression control is inhibited

Load ・ When vibrations are raised due to causes other than a command (external force, etc.) ・ When the ratio between the resonance frequency and anti-resonance frequency is great. ・ When the resonance frequency is out of the range from 10.0 to 200.0 [Hz].

(4) How to use

[1] Setting of vibration suppression frequency (1st: Pr.2B, 2nd: Pr.2D) Measures vibration frequencies at the front end of equipment. When the front-end vibration can be directly measured by a laser displacement meter, etc., read vibration frequencies [Hz] from its measured waveform, and input them to the vibration suppression frequency (Pr.2B, Pr.2D). If there is no measurement equipment, however, read the frequency of residual vibrations from the position deviation waveform as shown in the following drawing by using the waveform graphic function of our setup support software, PANATERM.

[2] Setting of vibration suppression filter (1st: Pr.2C, 2nd: Pr.2E) Set it to 0 first. When larger values are used, the setting time can be shortened. However, torque ripples are increased at the point of command change as indicated in the following drawing. Set it in the actual conditions of use, but within the range where no torque saturation may occur. If torque saturation occurs, the vibration suppression effect is damaged.

[3] Setting of vibration suppression filter switching selection (Pr.24)

Vibration filters can be switched according to an equipment vibration status.

Pr.24 Switching mode 0 No switching (Both are enabled)

1 Switching by VS-SEL input Opened: 1st vibration suppression frequency Short-circuited: 2nd vibration suppression frequency

2 Switching by command direction CCW direction: 1st vibration suppression frequency CW direction: 2nd vibration suppression frequency

Commandspeed

Position deviation

Vibration frequencyis calculated

Torque command

Vibration suppressionfilter setting is optimum.

Vibration suppressionfilter setting is too large

Torque saturation

No. SR-DSV09521 - 110 -


12. Control block diagram 12-1. Position control block diagram When control mode Pr.02 is 0


Primary delay smoothing

＋

Division

Position control

Speed feed forword

Pulse ratio

Vibration suppression control

Input setting

Pr.10

Pr.15

Pr.16

Pr.18

Pr.40

Pr.41

Pr.42

Pr.45

Pr.46

Pr.48

Pr.49

Pr.4A

Pr.4B

Pr.4C

Pulse train

PULS SIGN

＋

－

Inverse

Mode

Input selection

Multiplier of numerator

1st numerator

2nd numerator

Denominator

Selection

Position deviation monitor


Gain

Filter

2nd

1st

Selectio

Denominator

Feedback pulse

OA／OB／OZ

Torque filter Notch filter Speed control

Pr.11

Pr.12

Pr.13

Pr.14

Pr.19

Pr.1A

Pr.1B

Pr.1C

Pr.1D

Pr.1E

Pr.20

Pr.28

Pr.29

Pr.2A

＋

＋

－

1st ratio

1st integration

2nd integration

2nd ratio

Inertia ratio

1st frequency

1st width

2nd frequency

2nd width

2nd depth

1st time constant

2nd time constant

2nd

1st


1st limit Pr.5E

Motor

Encoder


Speed detection

Encoder receive processing

Serial communication

data

FIR smoothing

Pr.4D Number of

times in moving average

Pr.2F Adaptation

Pr.44 Numerator

2nd limit Pr.5F

Pr.2B

Pr.2C

1st frequency

1st filter

Pr.2D

Pr.2E

2nd frequency

2nd filter

12-2. Speed control block diagram When control mode Pr.02 is 1


Feedback pulse

OA／OB／OZ

Internal speed setting

Pr.74

Pr.75

Pr.76

Pr.77

7th speed

5th speed

6th speed

8th speed

Command selection

Pr.05 Selection

Accel./decel. limit

Pr.58

Pr.59

Pr.5A

Deceleration

S-shape

Acceleration

Notch filter Speed control

Pr.11

Pr.12

Pr.13

Pr.19

Pr.1A

Pr.1B

Pr.1D

Pr.1E

Pr.20

Pr.28

Pr.29

Pr.2A

＋

－


1st ratio

1st integration

2nd integration

2nd ratio

Inertia ratio

1st frequency

1st width

2nd frequency

2nd width

2nd depth

2nd

1st


Motor

Encoder


Speed detection

Encoder receive processing

Pr.2FAdaptation

Torque filter

Pr.14

Pr.1C

1st time constant

2nd time constant

First limit Pr.5E

Second limit Pr.5F

Pr.53

Pr.54

Pr.55

Pr.56

3rd speed

1st speed

2nd speed

4th speed

Division

Pr.45

Pr.46 Selection

Denominator

Pr.44 Numerator Serial communication

data

No. SR-DSV09521 - 111 -


13. Conformity with EC Directive / UL Standard

13-1 EC Directive

The EC Directive is applied to all electronic products that provide proper functions and are exported to EU (European Union) for direct sales for general consumers. These products must conform to the EU-uniformed safety standards, and the CE marking that indicates the conformity with the standards must be affixed to the products. To facilitate the conformity of the machinery or equipment that incorporates the AC servo to the EC Directive, Matsushita Electric Industrial Co., Ltd. realizes conformity with the relevant standards of the Low Voltage Directive.

13-1-1 Conformity with the EMC Directive

For our servo systems, we define the models (conditions) of the servo driver - servo motor installation distance and wiring, and provides the conformity of the models with the relevant standards of the EMC directive. Therefore, when the servo system is actually incorporated in machinery or equipment, its wiring and grounding conditions may be different from the model. For this reason, the machinery or equipment that incorporates the servo driver and servo motor must undergo the final examination to verify the conformity with the EMC Directive (especially for electromagnetic interference and conducted emission).

13-1-2 Conformable standards

Target Conformable standards

Motor IEC60034-1, IEC60034-5

EN50178

Conforms to the relevant standards of the Low Voltage Directive.

EN55011 Radio Interference Wave Characteristics for Industrial, Scientific and Medical High-frequency Equipment

IEC61000-4-2 Electrostatic Discharge Immunity Test IEC61000-4-3 Radio Frequency Radiation Electromagnetic Field

Immunity Test IEC61000-4-4 Electrical High-speed Transient Phenomena / Burst

Immunity Test IEC61000-4-5 Lightning Surge Immunity Test IEC61000-4-6 High-frequency Conduction Immunity Test

Motor / Servo driver

IEC61000-4-11 Momentary Power Failure Immunity Test

Conforms to the relevant standards of the EMC Directive.

IEC: International Electrotechnical Commission EN: Europaischen Norman EMC: Electromagnetic Compatibility UL: Underwriters Laboratories CSA: Canadian Standards Association

No. SR-DSV09521 - 112 -


13-2 Configuration of Peripheral Equipment

13-2-1 Installation environment

Use the servo driver in an environment corresponding to Pollution Degree 1 or 2 prescribed in IEC60664-1. (Example: Install the servo driver in a control panel with IP54 protection structure.)

13-2-2 Power supply

100 V: Single-phase 100 to 115 V , 50/60 Hz

200 V (Types A to D): Single-phase/3-phase 200 to 240 V , 50/60 Hz

200 V (Types E to F): 3-phase 200 to 230 V , 50/60 Hz

(1) Use the power supply in an environment corresponding to Overvoltage Category II prescribed in IEC60664-1.

(2) For the interface, use a 12 to 24 VDC insulated power supply conforming to the CE Marking or EN standard (EN60950).

13-2-3 Circuit breaker

Be sure to connect a circuit breaker conforming to the IEC and UL standards (LISTED / mark applied) between the power supply and the noise filter.

L1 L2 L3

L1C(r) L2C(t)

U V W

CN-X5

Control panel

Controller

Power supply

Insulated interface power supply

Noise filter for signal line

Noise filterCircuit breaker

Surge absorber

AC servo driver AC servo

motor

Noise filter for signal line

Protective earth

M RE

CN-X4

No. SR-DSV09521 - 113 -


13-2-4 Noise filter

To provide a noise filter for the power supply when several servo drivers are connected, consult the noise filter manufacturer.

Option item number Driver voltage

specification Manufacturer item number Application Manufacturer name

DV0P4170 100V,200V single-phase SUP-EK5-ER-6 Type A & B Okaya Electric Industries Co., Ltd.



DV0P4180 3SUP-HQ10-ER-6 Type C Okaya Electric Industries Co., Ltd.

DV0P4220 200V 3-phase

3SUP-HU30-ER-3 Type D & E Okaya Electric Industries Co., Ltd.



DV0P3410 200V 3-phase 3SUP-HL50-ER-6B Type F Okaya Electric Industries Co., Ltd.

No. SR-DSV09521 - 114 -


13-2-5 Surge absorber

Connect a surge absorber in the noise filter's primary side. (NOTE) To conduct a withstand voltage test for a machine or equipment, be sure to remove the surge

absorber. Otherwise, the surge absorber may be damaged.

Option item number Driver voltage specification

Manufacturer item number Manufacturer name

200V 3-phase

Circuit diagram

Option item number Driver voltage specification

Manufacturer item number Manufacturer name

Circuit diagram

100V, 200V single-phase Okaya Electric Industries Co., Ltd.

Okaya Electric Industries Co., Ltd.

No. SR-DSV09521 - 115 -


13-2-6 Noise filter for signal line

Attach noise filter for signal line to every cable (power cable, motor cable, encoder cable, interface cable). For frame-D, attach three noise filters to the power line.

13-2-7 Grounding

(1) To prevent an electric shock, be sure to connect the servo driver's protective earth terminal ( ) with

the control panel's protective earth terminal (PE).

(2) The servo driver provides two protective earth terminals. Do not connect these terminals together.

Option item number Manufacturer item number Manufacturer name

Mass: 62.8g

TDK Corporation

No. SR-DSV09521 - 116 -


13-3 List of Servo Drivers and Compatible Peripheral Equipment

Servo driver Compatible motor

Voltage Spec.

Rated output

Power Capacity (Rated

Current)

Circuit Breaker (Rated

current)

Noise filter

Surge absorber

Noise filter for signal

line

Electromagnetic contactor

Main circuit cable

diameter

Control Power Cable

diameter

Teminals on the

feminalblock

MADD MSMD 100V, single- 50W Approx.0.4kVA DVOP4170 DVOP4190 DVOP1460 BMFT61041N phase 100W (3P+1a) MQMA 100W Approx.0.4kVA MSMD 200V, single- 50W～ Approx.0.5kVA BMFT61542N phase 200W 10A (3P+1a) Connect to the MQMA 100W Approx.0.3kVA exclusive 200W Approx.0.5kVA connectors. MAMA 100W Approx.0.3kVA

MBDD MSMD 100V, single- 200W Approx.0.5kVA BMFT61041N MQMA phase (3P+1a) MSMD 200V, single- 400W Approx.0.9kVA BMFT61542N MQMA phase (3P+1a) MAMA 200W Approx.0.5kVA 0.75mm2

MCDD MQMA 100V, single- 400W Approx.0.9kVA DVOP4180 BMFT61541N AWG18 phase (3P+1a) 0.75-2.0mm2 MSMD 200V, single- 750W Approx.1.3kVA DVOP1450 BMFT61542N AWG14-18 phase/3 phase (3P+1a) MAMA 400W Approx.0.9kVA MFMA 15A MHMA 500W Approx.1.1kVA

MDDD MAMA 200V, single- 750W Approx.1.6kVA DVOP4220 BMFT61842N MDMA phase/3 phase 1.0kW Approx.1.8kVA (3P+1a) MHMA MGMA 900W Approx.1.8kVA 2.0mm2 MSMA 1.0kW Approx.1.8kVA AWG14 MHMA 1.5kW Approx.2.3kVA 20A MDMA MSMA MFMA

MEDD MDMA 200V, 3 phase 2.0kW Approx.3.3kVA 30A BMF6352N 2.0mm2 MSMA (3P+2a2b) AWG14 Terminal stand MHMA M5 MFMA 2.5kW Approx.3.8kVA 3.5mm2 AWG11

MFDD MGMA 200V, 3 phase 2.0kW Approx.3.8kVA 50A DVOP3410 DVOP1450 DVOP1460 MDMA 3.0kW Approx4.5kVA BMF6352N MHMA (3P+2a2b) 3.5mm2 MSMA AWG11 Terminal stand MGMA M5 MDMA 4.0kW Approx6kVA 0.75mm2 MHMA AWG18 MSMA MFMA 4.5kW Approx.6.8kVA BMF6652N MGMA Approx.7.5kVA (3P+2a2b) 5.3mm2 MDMA 5.0kW Approx.7.5kVA AWG10 MHMA MSMA

Choose 200V single-phase/three phase compatible specification depending on a power source to be used. Manufacturer of circuit breaker and electromagnetic contactor : Matsushita Electric Works Co., Ltd.

To comply with EC Directive, make sure to connect an IEC and UL(with a listed mark) compatible circuit breaker between the power source and a noise filter.

As for the details of a noise filter, refer to page 133. <Attention> ・Select a circuit breaker and noise filter compatible with power capacity (considering a load condition). ・Terminal block and earth terminal

As for wiring, use copper conductor cables with not less than 60-degree C temperature rating. Protective earth terminals shall be M4 for type A through type D and M5 for type E and type F. If the screw tightning torque exceeds the maximum limit(M4:1.2N・m, M5:2.0N・m), the terminal block may be damaged.

・For the outputs of 50W through 2.0kW, use earth cables of more than 2.0mm2 (AWG 14). For the outputs of 2.5kW through 4.0kW, use earth cables of more than 3.5mm2 (AWG 11). For the outputs of 4.5kW through 5.0kW, use earth cables of more than 5.3mm2 (AWG 10).

・As type A through type D uses supplied exclusive connectors, make sure that the length of the peeled portion of a cable is within the range of 8 through 9mm. ・The screw tightning torque of the interface connector (CN X5) must be 0.3 through 0.35N・m.

If the screw tightning torque exceeds the maximum limit 0.35 N・m, the connector of the driver may be damaged.

No. SR-DSV09521 - 117 -


Option P/N Manufacturer's P/N Manufacturer

DVOP1450 R･A･V-781BXZ-4 Okaya Electric Industries Co., Ltd. Surge absorber

DVOP4190 R･A･V-781BWZ-4 Okaya Electric Industries Co., Ltd.

Noise filter for signal line DVOP1460 ZCAT3035-1330 TDK Corporation DVOP4170 SUP-EK5-ER-6 DVOP4180 3SUP-HQ10-ER-6 Noise filter DVOP4220 3SUP-HU30-ER-6

Okaya Electric Industries Co., Ltd.

DVOP3410 3SUP-HL50-ER-6B

13-4 Conformity with the UL Standard

When the following 1) and 2) installation conditions are satisfied, the conformity with UL508C (File No. E164620) is certified.

1) Use the servo driver in an environment corresponding to Pollution Degree 1 or 2 prescribed in IEC60664-1. (Example: Install the servo driver in a control panel with IP54 protection structure.)

2) Be sure to connect a circuit breaker or fuse conforming to the UL standard (LISTED / mark applied) between the power supply and the noise filter.

For the rated current of the circuit breaker or fuse, refer to Section 13-3 "List of Servo Drivers and

Compatible Peripheral Equipment".

For wiring, use copper conductor cables with 60°C or higher temperature rating.

If the screw tightening torque exceeds the maximum limit (M4: 1.2 N-m, M5: 2.0 N-m), the terminal

block may be damaged. 3) Overload protection level

The overload protective function of driver is activated when the effective current of the Driver is 115% or more of the rated current. Make sure that the effective current of the driver dose not exceed the rated current. The maximum allowable instantaneous current of the driver is the current set by Pr.5E (1st torque limit) and Pr.5F (2nd torque limit).

14. SEMI Compliance with F47 momentary power failure standard

- A function to comply with the standard of F47 momentary power failure at the time of no load or light load specified in SEMI standard.

- This function is useful when it is used for semiconductor manufacturing equipment. (Note) (1) This function is not applicable to a 100V single-phase driver. (2) Make sure to mount the driver on the actual equipment, and validate its Compliance with the F47

momentary power failure standard.

Date post:	27-Dec-2015
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Panasonic AC Servo Driver Technical Reference

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