Panasonic MINAS E-series Manual do Utilizador

MINAS E-seriesInstruction ManualAC Servo Motor & Driver Thank you very much for buying Panasonic AC Servo Motor & Driver, MINAS E-series. Be

10Safety PrecautionsImportant CAUTIONDo not hold the cables or motorshaft when transporting the motor.The failure could result ininjuries.Do not

100Parameter SettingPrNo. Parameter Name Function/Content• The parameter directly sets in [r/min] timing to output zero speed detectionoutput signal (

101[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModePrNo. Parameter Name Function/ContentThe paramete

102Parameter SettingStandard Default Setup: [ ]PrNo. Parameter Name Function/ContentUnlike Pr6A, Pr6B sets time from when the motor is de-energized

103[Connections and Settings in Position Control Mode]Connections andSettings in InternalVelocity Control ModeConnections and Settings in Internal Vel

104Control Block Diagram in Internal Velocity Control Mode When Pr02, parameter for setting internal control mode is [1]:Pr 11Pr 12Pr13Pr 14Pr 19Pr

105[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control Mode* Default setup of CWL and CCW

106Be sure to connect the signal groundsbetween the host controller and driver.Item equivalent toAM26LS32Item equivalentto AM26LS31ABZ1615OA+OA–OZ+OZ–

107[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModeSignal NameControl Signal Power

108Wiring to Connector CN X5Signal NameGain Switching/Speed Zero Clamp/Torque LimitSwitching InputCommand DividingMultiplier Switching/Internal Comman

109[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModeSO1Page 106SO1Page 106SO1Page 1

11Before Use[Before Use] CAUTIONUse the motor and driver with thespecified combination.The failure could result infire.Make sure that the wirings

110(1) Check the wirings:• Connected correctly(especially power supplyconnection and motorconnection),• Not shorted and properlyearthed, and• Not loos

111[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModeTest Run with Connector CN X5 C

112(1) Turn on the power.Basic Operations and LED Displayx1x3x4x5x6STATUSALM CODECN X4GroundPowerSupplyMachineMotorTest Run in Internal Velocity Contr

113[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control Mode(2) Check LED status.(3) Settin

114Insert the connector of console into CNX6 of the driver, and then turn on the power of the driver.Setting parameter Pr21Press .Press

115[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModeCautions(1) After startup, imme

116Parameter SettingParameter for Selection of FunctionsStandard Default Setup: [ ]PrNo. Parameter Name Function/ContentIn communications with a hos

117[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModePrNo. Parameter Name Function/C

118Parameter SettingPrNo. Parameter Name Function/ContentIn the case of linear driving, in particular, limit switches should be provided onboth ends o

119[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModeParameters for Adjustment of Ti

12Maintenance/Inspection• Routine maintenance and inspections are essential for proper and satisfactory operation of the driverand motor.Notes to Main

120Parameter SettingPrNo. Parameter Name Unit Function/Content• The parameter sets a ratio of load inertia to rotor inertia of the motor.• When you ex

121[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModePrNo. Parameter Name Function/C

122Parameter SettingPrNo. Parameter Name Function/ContentThese parameters directly set, in terms of [r/min], the first to fourth internalcommand speed

123[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModeParameters for Torque LimitsPrN

124Parameter SettingPrNo. Parameter Name Function/ContentThe parameter sets the deceleration and stop operation after the drive inhibitinput (CCWL: Co

125[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModePrNo. Parameter Name Function/C

126Parameter Setting126PrNo. Parameter Name Function/ContentRange ofSettingsStandard Default Setup: [ ]Pr.06=2 The parameter sets a 1st overspeed l

127Connections andSettings in InternalVelocity Control ModeAdjustmentAdjustmentGain Adjustment...

128Real time auto gain tuningAdaptive filterNormal auto gain tuningCancellation of automatic gain tuning Manual gain tuning (basic)Manual gain tuning

129[Gain Adjustment]Gain AdjustmentProcedures of Gain AdjustmentStart adjustmentDo you select auto tuning?Does it operate properly?Can you enter a com

13[Before Use]Before UseReplacement GuidanceParts replacement cycles depend on the actual operating conditions and how the equipment has been used.Def

130OutlineLoad inertia of the machine is real-time estimated, and theoptimum gain is automatically set based on the result ofestimation. In addition,

131[Gain Adjustment]Gain AdjustmentAdaptive FilterFilters are effective when Pr02=2 (high-grade position control mode) and Pr21 is 1 to 3 or 7.The ada

132Normal Auto Gain TuningOutlineIn normal auto gain tuning, the motor runs at a command patternautomatically generated by the driver, load inertia is

133[Gain Adjustment]Gain AdjustmentOperating Instructions(1) Set an operating pattern with Pr25.(2) Shift load to a position where there will be no pr

134How to Operate with Console(1) Switch from monitor mode to normal auto gain tuning mode, by pressing SET button and then mode switch button 3 times

135[Gain Adjustment]Gain AdjustmentCancellation of the Automatic Gain TuningOutlineCautions required when you disable the real time auto gain tuning w

136Although MINAS-E series is equipped with the auto gain tuning function described above, you may have to readjustwhen you cannot successfully adjust

137[Gain Adjustment]Gain AdjustmentMethod of Adjustment in Position Control Mode(1) Set the following parameters to values listed in the table below:(

138Setting Gain Switching Conditions Position Control Mode : Applicable parameters are enabled –: DisabledManual Gain Tuning (Application)Set p

139[Gain Adjustment]Gain Adjustment*1 Delay time (Pr32) will be validated upon return from second gain to first gain.*2 Definition of hysteresis (Pr34

14MKDET1310 P1~4 5~611~128~97 10Special specificationsControl ModeP: Position ControlCurrent rating of current detectorPower supply1: Single-phase 100

140Manual Gain Tuning (Application)To Reduce Mechanical ResonanceWhen mechanical stiffness is low, vibration or noise is generated due to the torsion

141[Gain Adjustment]Gain AdjustmentMethod of Checking Resonance Frequency of a Mechanical System(1) Using “PANATERM®”, setup support software, display

142MotorEncoderServo driverMotor positionLoadMotorCouplingBallscrewMovablebodyMovementDriverSequencerSet vibration frequency at a leading endPosition

Trouble CaseTroubleshooting ... 144What are Protective Functions? ...

144TroubleshootingWhat are Protective Functions?The driver has various protective functions. If any of these functions activate, the motor stops imme

145[Trouble Case]Trouble CaseProtectiveFunctionsPowervoltageshortageprotection(LV)Over-voltageprotection(OV)Over-current andgroundfaultprotection(OC)I

146TroubleshootingProtectiveFunctionsOverloadProtection(OL)*Regenerativeresistoroverloadprotection(REG)*EncodercommunicationerrorprotectionAlarmcode N

147[Trouble Case]Trouble CaseProtectiveFunctions*Encodercommuni-cation dataerrorprotectionPositionover-deviationprotectionOver-velocityprotection(OS)C

148TroubleshootingProtectiveFunctions*Encoder Z-phase errorprotection*EncoderCS signalerrorprotection*Motor autorecognitionerrorprotection*LSI setuper

149[Trouble Case]Trouble Case(3) Notes• This function is not protection for abnormal position commands• When the software limit protection is activate

15[Before Use]Before UseMUMA5AZP1S1~4 5~611~1278910Custom specificationsMotor structureDesign order1: StandardType of encoderPower supply1: 100 V2: 20

150TroubleshootingThe motor does not rotateCategoryParametersWiringInstallationCauseThe control mode is not correctlyselected.The torque limit of the

151[Trouble Case]Trouble CaseThe rotation is not stable (the rotation is not smooth)CategoryAdjustmentWiringCausePoor gain adjustmentPosition command

152TroubleshootingPositioning Accuracy is poorCategorySystemAdjustmentParameterWiringInstallationCauseThe position commands (amount ofcommand pulse) a

153[Trouble Case]Trouble CaseOriginal position variesCategorySystemWiringCausePhase Z is not detected when theoriginal position is calculated.Speed to

154Protective FunctionsOvershooting/Undershooting The motor is overheated (burnout)CategoryAdjustmentInstallationCauseGains are poorly adjusted.L

ReferenceOutline of “PANATERM®”, Setup Support Software ...156Communications ...

156x1x3x4x5x6STATUSALM CODEConnecting to CN X6RS-232 CableDV0P1960 (For DOS/V)Outline of “PANATERM®”, Setup Support SoftwareConnection MethodInstallin

157[Reference]ReferenceStarting PANATERM®<Cautions/Remarks>1. Once you have installed “PANATERM®” on the hard disk, you do not have to reinstall

158CommunicationsOutline of CommunicationsWith a personal computer or host NC connected with MINAS-E Series through RS232C-compliant serialcommunicati

159[Reference]ReferenceCommunications SpecificationConnection of Communications LineMINAS-E Series has RS232C communications port. and is capable of c

16DriverParts Description<Remarks>For detailed information on each type, refer to a dimensional outline drawing (Pages 194 to 195) ofReference e

160CommunicationsCommunications MethodSet RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when youpower on th

161[Reference]ReferenceHost MINAS-EReceivedDataTransmittedData(1) ENQ (05h)(2) EOT (04h)(3) Data Block(4) ACK (06h)(or NAK (15h))(5) ENQ (05h)(6) EOT

162CommunicationsConfiguration of Data BlockA data block to be transmitted in physical phase is configured as illustrated below:N : This is the number

163[Reference]ReferenceExample of Data CommunicationExample of Changing ParametersThe following illustrates time-series communications data flow when

164CommunicationsState Transition DiagramRS232C CommunicationsIdlingReceiving moduleTransmitting ModuleWaiting for EOTTransmission of blockWaiting for

165[Reference]ReferenceCommunications TimingRS232C CommunicationsT3 T3T4Request for transmissionPermission to transmitACK/NAKData blockRequest for tra

166CommunicationsDetails on Communications Commandscommand0mode1Readout of CPU version informationReceived data0axischecksum01Error codeTransmitted da

167[Reference]Referencecommand1mode1Setting of RS232C protocol parametersReceived data3axisT1T2checksum11RTYM/S Error codeTransmitted dataSetting of t

168Communicationscommand2mode1Readout of the command pulse counterReceived data0axischecksum21Error codeTransmitted dataA current command position is

169[Reference]Referencecommand2mode4Readout of current speedReceived data0axischecksum24Error codeTransmitted dataThis command is used to read current

17[Before Use]Before UseMINASDIGITAL AC SERVOMODESHIFTSETSMDisplay, LED (display in 6 digits)Display of selected Driver ID No. (2 digits)The value set

170Communicationscommand2mode7Readout of input signalReceived data0axischecksum27Error codeTransmitted dataFor "CW overtravel inhibited", &q

171[Reference]Referencecommand2mode9Readout of current speed/torque/deviation counterReceived data29Error codeTransmitted dataThe speed and torque out

172Communicationscommand2modeAReadout of status/input signal/output signalReceived data0axischecksum2AError codeTransmitted dataMeanings of each bit f

173[Reference]Referencecommand8mode1Individual writing of parametersReceived data3axisParameter No.Parameter value L

174Communicationscommand9mode1Individual readout of alarm historyReceived data1axisHistory No.checksum91Error codeTransmitted dataHistory No.1 to No

175[Reference]Referencecommand9mode4Alarm clearReceived data0axischecksum94Error codeTransmitted dataThis command clears the current alarm (only appli

176CommunicationscommandBmode1Page readout of user parametersReceived data1axisPage No.checksumB1Transmitted dataA page number is designated from 0

177[Reference]ReferencecommandBmode2Page writing of user parametersReceived data21haxisPage No.Parameter L(No.0 value) HParameter value L(No.1

178Pulse row positioncommandDistance: P1 [P]Traveling speed: F [PPS]Command dividing multiplier ratioServo driverD =Pr46 x 2Pr4BPr4AServomotorEncoderG

179[Reference]Reference= 5100.005 x 10000 x 1 = 0.25200.0005 x 10000 x 1D =... Formula (3)... Formula (5) L∆M x E x RThen, distance per command pulse

18Ancillary Screws(M4 x Length 8 )The driver and motor should be properly installed to avoid failures, mechanical damages and injuries.DriverLocation(

180Conformance to EC Directives/UL StandardsEC DirectivesThe EC Directives apply to all such electronic products as those having specific functions an

181[Reference]ReferencePeripheral EquipmentEnvironmentThe servo driver should be used under Contamination Level 2 or 1 specified by IEC60664-1 (housin

182Noise FilterWhen, one set of noise filters is installed in the power unit with two or more drivers, be sure to consult with the noisefilter manufac

183[Reference]ReferenceNoise Filter for Signal cablesProvide all the cables (power supply cable, motor cable, encoder cable, interface cable) with the

184Optional Parts(ø9.8)(40) (50)L(5.6)(12.0)(10.0)For pressure connection terminal M4Manufactured by Tyco Electronics AMP K.K.Connector 172157-1Pin 17

185[Reference]ReferenceConnector Kits for Power Supply of the Driver(1) Part No. DV0P2870(2) Components(3) Pin arrangement of connector for CN x 1(4)

186Optional PartsConnector Kits for Connection of Motor and Encoder Used for: MUMA 50W to 400W Incremental2500 pulse 5-wire(1) Part No. DV0P3670(2)

187[Reference]Reference(5) Pin arrangement of connector for junction of encoder cable(6) Pin arrangement of connector for junction of motor power line

188Optional PartsConnector Kit for Connection with Host Controller(1) Part No. DV0P0770(2) Components(3) Pin arrangement of connector X5 (pin 26) (vie

189[Reference]ReferenceCommunications Cable (Connection with Personal Computer)(1) Part No. DV0P 1960 (for DOS/V compatible machines)“PANATERM®”, soft

19[Before Use]Before UseMounting Direction and Space Requirements• Allow enough space to ensure enough cooling.• Install fans to provide a uniform dis

190Optional PartsExternal Regenerative ResistorFemale terminal 5556PBTL (or 5556PBT) 4.34.35730065521060t0.6Part No.DV0P2890DV0P2891Manufacturer’smod

191[Reference]ReferenceReactor• The former Agency of Natural Resources and Energy of Ministry of International Trade and Industry (presentMinistry of

192Surge Absorber for Motor Brake• The recommended parts are specified items to measure the brake release time.List of Manufacturers of Peripheral Eq

193[Reference]ReferenceDriver (Frame K) Estimated Mass 0.35 kgDimensional Outline DrawingDriver (Frame L) Estimated Mass 0.4 kg

194Dimensional Outline DrawingMUMA Series 50W to 400WMotorLLLFLRLE200LG LBh7 Sh6Output50W, 100W200W, 400WLG230mm220mmLL75.592.596107124129Output(W

Reference195[Reference]Specification of Keyed Version(Dimension)Shaft-end Center Tap TPOutput50W, 100W200W400WScrewM3M4M5Depth6810LA48704870LZ4.53.44.

196Dimensional Outline DrawingLRLR/2PAMBRadial Load Direction (P)Thrust Load Directions (A, B)MotorSeriesMUMAWhen Assembled In OperationRadial Load14

197[Reference]ReferenceSupply Voltage of DriverSupply Voltage of Driver: At AC100V/200VSupply Voltage of Driver: AC200V(A dotted line indicates the ca

198MUMA011P31N1~4 5~6 7 8 9 10Structure of the motorSpecifications of Position/Speed DetectorVoltage Specification1 : 100V2 : 200VRated OutputChecking

199[Reference]ReferenceCheck the Combination of Driver and Motor with GearThis driver was designed for use with the motor designated by us.Check a nam

2[Before Use] PageSafety Precautions ... 8Maintenance/Ins

20InstallationMotorLocation(1) Indoors, where the driver is not subjected to rain water and direct sun beams.(2) The place where the motor is not expo

200Dimensional Outline Drawing of Motor with GearServo Motor with Gear* 220 refers to 200W or higher.MUMA01 P31NMUMA01 P32NMUMA01 P34NMUMA02

201[Reference]ReferenceDetailed View of Shaft EndLC LA LZ LDKey Dimensions (B × H × LK)T LN Mass (kg)52785278985278527898M5M6M5M6M8M5M6M5M6M8122012201

202Allowable Load of Output Shaft of Servo Motor with GearLRLR/2PAMBRadial Load (P) DirectionThrust Loading (A, B) DirectionRequests Concerning Inst

203[Reference]ReferenceCharacteristics of Servo Motor with Gear (S-T Characteristics)1/51/91/25100V100W200W100W200W400W200VDriverSupplyVoltageReductio

204Driver Internal Block DiagramCN X1CN X3Internal Block Diagram of MINAS-E DriverL 1L 2L 3DC/DCPCN X6External RegenerativeResistorCN X4UVWEMRECN X

205[Reference]ReferenceControl Block Diagram Pulse RowCommandPULS SIGNEncoder Signal(Phases A/B)Encoder Signal (Phase Z)++++--Input ModeSetting Freque

206PowerSupplyControl methodDetectorBuilt-in functionsProtectiveFunctionMonitorSettingPositionControlVelocityControlRotaryEncoderControl InputStructur

207[Reference]Reference Hit-and-stop Initialization(1) When you set a point where the motor hits, as the origin:1stInitial PointInitial Point (3)2nd

208Load Pressing Control(1) (2) (3) (4) (5)Distance for which the motor has not moved is held in the deviation counterC = A + BSearch Speed(Low Speed)

[Reference]209ReferenceIndexAdjustmentAlarm CodeDriverReal time Auto Gain Tuning (Position Control Mode)Real time Auto Gain Tuning (Velocity Control M

21[Before Use]Before UseCable: Stress relieving(1) Don’t apply stress to the cable lead-out port and connections by bending and self-weight.(2) Partic

Index210Display (Monitor)Dividing-MultiplierMonitoring ModeEEPROM Writing ModeParameter Setting ModeNormal Auto Gain Tuning ModeAlarm ClearDescription

[Reference]211ReferenceOptionOverload Time LimitCharacteristicsNoise FilterSurge AbsorberNoise Filter for Signal cablesTable of Junction Cable by Mode

Index212Safety PrecautionsServo Motor with GearSafety PrecautionsMaintenance and InspectionModel DesignationChecking the Combination of the driver and

213[Reference]ReferenceWiring Installation of DriverInstallation of MotorGeneral Wiring DiagramWiring of Main CircuitsWiring DiagramsConnection with E

214Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03) 3538-2961FAX (03) 3538-2964Osaka: 1-1, Morofuku 7-chome, Daito, Osaka

215[Reference]ReferenceMEMO

After-Sale Service (Repair)Repair• Ask the seller where the product was purchased for details of repair work.When the product is installed in a machin

22InstallationConsoleLocation(1) Indoors, where the driver is not subjected to rain water and direct sun beams. The console is not water-resistant.(2

23PreparationsSystem Configuration and Wiring ... 24General Wiring Diagram ...

24System Configuration and WiringGeneral Wiring Diagram Main CircuitsCircuit Breaker (NFB)Used to protect the power lines:overcurrent will shut off

25[Preparations]PreparationsSetup support software"PANATERM "x1x3x4x5x6STATUSALM CODEPersonal computerConsoleWiring to Connector CN X6(Conn

26System Configuration and Wiring1-phase,100V 1-phase,200V 3-phase,200VBMFT61041N(3P+1a)BMFT61542N(3P+1a)BMFT61042N(3P+1a)50W100W200W50W100W200W400W5

27[Preparations]PreparationsWiring of Connectors CNX1, X3 (Wiring of Main Circuits)• Don’t fail to request an electric wiring specialist for wiring.•

28System Configuration and WiringWiring DiagramsCompose such a power supply as to switch OFF the power against alarm output.For three-phase 200VNoisef

29[Preparations]PreparationsWiring to Connector CN X4 (Connection with Encoder)Points in WiringWiring Diagram¥ When you plan to make an encoder juncti

3Parameter Setting Mode ... 57N

30System Configuration and WiringConnectors on Driver Side10226-52A2JLPart NameConnector (solder type)Connector coverPart No.10126-3000VE10326-52A0-00

31[Preparations]PreparationsCN X6Back Plane of Connector for RS232CRefer to "Optional Parts" of dedicated connecting cables.Insert or pull o

32Timing ChartPower SupplyInternal Control Power SupplyInitialization of DriverServo-ON Input(SRV-ON)(X5 2 pins)Dynamic BrakeMotor EnergizedBrake Rel

33[Preparations]PreparationsAfter an Alarm is Cleared (during Servo-ON Command)Dynamic BrakeMotor EnergizedBrake Release Output (BRK-OFF)Servo Alarm O

34Timing ChartOFFOFFONOperation ReleaseNot EnergizedOperation *3* 4Not EnergizedEnergizedOperation(OFF)Operation(OFF)Operation(OFF)Release(ON)Release

35[Preparations]PreparationsThe brake is to hold a work (movable part) and prevent it from dropping by gravity when power to the servo is shutoff for

36Dynamic BrakeDynamic BrakeDynamic brake is built in this driver for emergency stop.For this dynamic brake observe the precautions given below.<No

37[Preparations]PreparationsD BD BFree RunFree RunD BFree RunFree RunD BClearedClearedClearedCleared0Setting of Pr68123Sequence at alarm (

38Homing Operation (Precautions)In initialization (i.e., operation to return to a home position) by using the host controller, if origin input (Z-phas

39[Preparations]PreparationsOverview of ParametersThe servo driver has various parameters to set up its characteristics, functions, etc. This Section

4Inspection prior to Test Run ... 110T

40Setting the Parametersx1x3x4x5x6STATUSALM CODEMODESHIFTSETSMSetup Disk for Setting-up SupportSoftware “PANATERM®”• DV0P4230: Japanese version• DV0

41[Preparations]PreparationsParameter Groups and Listing00 - 0E10 - 1E20 - 2F30 - 3540 - 4E53 - 595E60 - 6B70 - 73GroupParameter No.(Pr )Functio

42Setting the ParametersParameter No.Parameter description Range Default UnitRelated control mode (Pr )1st position loop gain1st velocity l

43[Preparations]PreparationsParameter No.Parameter description Range Default UnitRelated control mode (Pr )2nd gain action set-upPosition cont

44Setting the Parameters—–20000 - 20000–20000 - 20000–20000 - 20000–20000 - 200000 - 5000 - 50000 - 5000—0 - 500—50 - 52535455565758595A - 5D5E*15F(Fo

45[Preparations]Preparations1-phase100V3003303303001-phase/3-phase200VDriverpowerMotor modelParameter 5E standard default setup valueMUMA5AZP1MUMA011P

46Setting the ParametersParameter No.Parameter description Range Default UnitRelated control mode (Pr )In-position rangeZero speedAt-speed1st

47[Preparations]PreparationsTurn on the driver with the console connector connected to the driver, or connect the console connector to connec-tor CN X

48Using the ConsoleThe structure of each mode and the mode switching procedure can be changed with eachbutton on the operation panel.Initial state of

49[Preparations]PreparationsSet button------Page 57------Page 50------Page 50------Page 58------Page 62------Page 59 Alarm clear------Unusabl

5Before UsePreparationsConnections andSettings in PositionControl ModeConnections andSettings in InternalVelocity Control ModeAdjustment[Trouble Case]

50Using the ConsoleExample of Settings<Notes>When the parameters that become active after they are reset have been changed, appe

51[Preparations]Preparations(Set button)(Mode switch button)Execution DisplayExample ofdisplaySelection DisplayTo parameter setting modePositional dev

52Using the Console•••••• Position control mode•••••• Velocity control mode(High velocity response positioning control made, High function positioning

53[Preparations]PreparationsSHIFTSHIFT<Remarks>• The blinking decimal point is shifted by pressing .(Right side of the decimal point: Sign

54Using the ConsoleCorrespondence between signal no., signal name, and signal statusWhen Servo-ON signal is connected (turned on), A is indicated.Wh

55[Preparations]PreparationsReferring to error factors and error historyError code No.(" " means no error.)It is possible to review

56Using the ConsoleAuto recognition is active (always indicated as shown on the left).Load factor is indicated as a percentage with reference to the r

57[Preparations]PreparationsSelect the number of the parameter to be referred to or to be set by pressing or . Parameter No. (hexadecimal

58Using the Console<Notes>Do not disconnect the console cable from the servo driver during the proceeding from to

59[Preparations]PreparationsAlarm ClearThe motor stop condition (trip condition) is cleared by the protective function.Start of alarm clearFinishAlarm

6MEMO

60Using the Console(1) Check the wirings:• Connected correctly (especially powersupply connection and motor connection),• Not shorted and properly ear

61[Preparations]PreparationsTest Run ProcedureAfter the servo is turned on at Step 2 ready for motor test run:Servo is turned on.SETSTurn on power for

62SETSby pressing and .Reveal execution display by pressing .Keeping pressing (about 3 seconds) increases number of "

63[Preparations]PreparationsSETSReveal execution display by pressing .Keeping pressing (about 3 seconds)increases number of “ ” as sh

64MEMO

Connections and Settings in Position Control ModeControl Block Diagram in Position Control Mode ... 66Wiring to Connector CN X5 ...

66Control Block Diagram in Position Control Mode*1: This is valid only when Pr42 =0 or 2.DividingTorque FilterPosition Error DriverNotch FilterSpeed E

67[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeExample of Wiring in Position Control ModeExample

68Interface CircuitInput Circuit Command Pulse Input Circuit(1) Line Driver I/F• This signal transmission method is less susceptible toeffects o

69[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeBe sure to connect the signal grounds between the

7Before UseSafety Precautions ... 8Maintenance/Inspections ...

70Input Signal and Pin No. of Connector CN X5Input signals (common) and their functionsSignal NameControl Signal PowerSupply Input (+)Control Signal P

71[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeInput Signal (Related to Position Control) and its

72Output Signals (Others) and their FunctionsSignal NameSignal GroundFrame Ground• Signal ground in the driver• Insulated from the control signal powe

73[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl Mode2kΩ2kΩ5.6kΩ3kΩ5.6kΩ5.6kΩ220Ω220Ω4.7kΩ4.7kΩ4.7kΩ4.7

74Pulse output APulse output BOrigin inputDeviation counter reset outputLimit overPower supply for internal circuit+24VDCGNDOrigin proximity inputA1(A

75[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeOrigin proximity sensorCW limit sensorCCW limit se

76Origin proximity sensorCW limit sensorCCW limit sensor1kΩ19201718789a9b 1112145 3PLCF3NC11-ON (Yokogawa Electric Corporation)DriverE-seriesFrom PLC

77[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl Mode240Ω14a13a12a11a15a16a10a9a 8b8a1a3a2b 4aPLCF3YP14

78Origin proximity sensor1.6kΩ1.6kΩ150Ω4.7kΩ4.7kΩ4.7kΩ4.7kΩCW pulse command outputA6A8A16A14A1A2A10A24A20A21A23A22CCW pulse command outputOrigin line

79[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl Mode150ΩA5A6A7A8A16A14A1A2A10A24A20A21A23A22A3A4PLCCS1

8Safety PrecautionsImportantSee the following precautions in order to avoid damages on machinery and injuries among theoperators and other people duri

801.6kΩ1.6kΩ150Ω2kΩ2kΩ2kΩ2kΩPulse (CW+CCW) output2139111234221971718Direction outputOrigin line driver inputDeviation counter reset outputPower supply

81[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeCW pulse command outputCCW pulse command outputPoi

82COM+1213222321242514COM-SRV-ONPULS1PULS2SIGN1SIGN2CZGND120Ω120ΩCW/CCWpulse inputIn the case the open collector is used for inputOutput of phase Z fo

83[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeParameters Input Signal Status• Use the host cont

84(1) Turn on the power.Test Run in Position Control ModeBasic Operations and LED Displayx1x3x4x5x6STATUSALM CODECN X4GroundPowerSupplyMotorMachine

85[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeCheck that alarm code LED does not flash? (It is o

86OutlineLoad inertia of the machine is real-time estimated, andbased on the result of estimation, optimum gain isautomatically set. In addition, an

87[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModePrNo.101112131418191A1B1C202FName1st position loop

88Setting01[2]Control ModeHigh velocity response positioning control (pulse)Internal velocity controlHigh function positioning control (pulse)Paramete

89[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModePrNo. Parameter Name Function/ContentIn the case o

9Before Use[Before Use]Do not place inflammable matternear the motor, driver, andregenerative resistor.The failure could result infire.Do not install

90Parameter SettingPrNo. Parameter Name Function/Content0C Baud rate set-up ofRS232C0 - 2Standard Default Setup: [ ]Settings01[2]Baud Rate2400bps480

91[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeParameters for Adjustment of Time Constants of Gai

92Parameter SettingParameters for Auto Gain TuningStandard Default Setup: [ ]PrNo. Parameter Name Unit Function/Content• The parameter sets a ratio

93[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModePrNo. Parameter Name Unit Function/Content25262B2C

94Parameter Setting• Set the parameter when you carry out optimum tuning by using gainswitching function.For conditions of switching of the 1st and 2n

95[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModePrNo. Parameter Name Unit Function/Content• With t

96Parameter SettingPrNo. Parameter Name Function/ContentThe parameter sets the number of pulses per rotation of the encoder pulse to beoutput to the h

97[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeCommandpulse× 21st numerator (Pr46)*1*1Scaling fac

98Parameter SettingInput position commandtfPosition command after processing of the smoothing filtertfTimeCommandPosition command after processing of

99[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModeParameters for Torque LimitsPrNo. Parameter Name F