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1. 4 1 7 Logic I O F Hard I O initial value t 1 logical setting Insulated ie gt o M E input 1 i i 4 l Hard 1 0 assignment 1 4 1 z x Insulate 5C i output j 1 1 Hard I O Hard I O I logical setting Hard pedo UA EE M Leu t E E i C1 CC Link nD aana nana n i Logic I O ogic gt Aa s initial value i logical setting TT i nsulated n u s d input fee Soft 5 Hard I O assignment CN4 t P __ A F race il lt m em 1 pu ES 2 4 6 j4 68 1 v So Hard 0 as f Hard I O logical ogical setting Logic I O ar setting Hard I O assignment 4 a h Remote register i Vile Input i 4 CC Link Interface P chip a Remote regist Output i Mc R Remote register Soft register Vua mon mona AA AU eee ALAL ee eee ee ALAS A M ee AULAE RURAL ALL ee ee ee eee ee ee ee ad Monitor Analog monitor card signal CN1 RS232C RS485 Utility software Operation display panel Operation display pendant TI 71M02D04 01EN 10th Edition 2012 12 01 3 2 Contact I O Interface 3 2 1 Contact I O The contact I O is a contact I O type interface for eas
2. O I N NNI TI 71M02D04 01EN 10th Edition 2012 12 01 8 26 8 5 2 Displaying parameter monitor A maximum of four parameters monitor numbers can be updated and displayed continuously Use this feature if you want to periodically monitor the monitor values that are likely to change according to the operation of the motor However if other dialog function is used update may be stopped once In such a case resume the operation by pressing the START button Up to four values can be selected Information is updated while the lamp is lit B Parameter monitor HParameter list Monitor list Extra Actual position value pulse 4096 TI 71M02D04 01EN 10th Edition 2012 12 01 8 27 8 5 3 I O monitor The hard I O status of the connected drive is updated and displayed periodically Assigned logic I O names and the logic setup status of hard I O are also displayed at the same time However if other dialog function is used update may be stopped once In such a case resume the operation by pressing the START button Bit address Status display lamp Hard I O is ON when lit Block selection combo box ETIO monitor m uEEBNHENEEEEEBEB fion 0 0 P ERROR RESET 1 0 P 9 VELFREG SELECT 01 P SERVO 11 P P
3. OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 22 108 Vari abl e 8 Mn Vari abl e8 Dec Max Initial 0 Uni t 109 Vari abl e 9 Mn Vari abl e9 Dec Max Initial 0 Uni t OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 23 110 Systemsetup register 1 Updated on power cycle Mn Syst enfeg1 Hex Max Initial depend on nator dri ver type Uni t Bit31 28 Setup of AC pover nani tori ng cycl e cycle ti ne setti ng val ue42 1O0nsec Bi t 25 Sel ect serial interface for j og operati on 0 controller 1 serial Bi t 24 Sel ect controller interface for hi gh speed processi ng start si gnal 0 lowInvalid 1 high Vali d Bi t17 Sel ect pul se scale for coin w ndow 0 conmand units 1 pulse units Bi t16 Sustain conmand val ue in conmand unit duri ng ser vo CN 0 Invalid 1 Valid Bi t 13 Sel ect ext Analog sub i nput functi on for torque force 0 torque force l innt 1 torque force feed forward Bi t 12 Enabl e ext Analog sub input ASLB I N 0 Invalid 1 Valid Bi t11 Brake CN duri ng servo F onl y for notors wth dynannc brake 0 Invalid 1 Valid Bi t10 Enabl e Z pul se hysteresis on i nacc
4. H Aica UTION Make sure to set up a sequence circuit as shown in Section 5 2 Main Power Supply Control Power Supply Terminal lt TB1 gt in order to avoid accidents where the drive fails due to over voltage errors and or regeneration errors TI 71M02D04 01EN 10th Edition 2012 12 01 Example of sensor connection Sensor EE SX670 made by Omron The sensor logic is connected to B contact The sensor output must be set to switch OFF when the light is blocked The sensor of the type described above is turned off when the light is blocked by connecting cables as shown below DC power athe XCHRG Home input B contact EOT input B contact EOT input B contact Regen Resistor error output See Section 5 2 Main Power Supply Control Power Supply Terminal for more information about wiring the regeneration alarm outputs TI 71M02D04 01EN 10th Edition 2012 12 01 5 9 5 6 Serial Interface Connector CN1 L INEARSERV o oO Le a go 9 a 4 Connector DA 15PF N made by JAE Housing DA C8 J10 F4 1 made by JAE Pin No Definition Frame GND terminal Shield RxD RxD terminal RS232C single channel communication TxD TxD terminal RS232C single channel communication Rx side terminal RS485 multi channel communication Tx side terminal RS485 multi channel communication 485SW Busy condition bit RS485 multi channel TRMP Terminator terminal R
5. lt Scaling conversion n m lt Detection ncoder resolver signal CN3 TB1 ENS E z Control LEN T LL power pr o 4 supply 3 phase inverter TB2 Rush a n prevention p ZN Ik a te Gate pulse A ENDE E Su r i act E MED EA gt cur cM S TB3 wW 7 Dynamic Vv Ww brake circuit TB4 Regeneration error Voltage monitor Regeneration contro Current lt PWM Current 4 detection uz Home proximity hardware over travel signals conversion control Insulate dinput Test operation S input Auto tuning uu EE E o PUAN aa a ak acs cud ah ee ce ME ue Ree Leer CPU ABS move INC move l Table data Dwell Table Parameter change operation Conditional branch l Command Jog Position velocity torque thrust External Enable disable Internal eed forward Filters Torque thrust Command unit command value v current conversion gt Acceleration iti FW i V Machine Va PER Scaling m Position Velocity V 3 phase LE peice on e m n control A control Pd jer i gt gt distribution Phase delay Torque A Commutation CN2 Sedan thrust control information Command unit command value Velocity information 2 channels i Position information 4 l
6. Head Optional cableC1E MA1 2262 LILILI amplifier Wiring between Head Amplifier and Motor Head amplifier side TI 71M02D04 01EN 10th Edition 2012 12 01 5 14 5 9 Analog Monitor Connector lt CN3 gt lt CN3 gt connector 6 TR JCuretcommad 8 TS JReevd 0J 4 9 Prohibited Reserved Do notconnectanyline It is possible to monitor various states of the drive using the analog monitor card optional f c UTION These signals are used for observation and troubleshooting only Do not use them as feedback data to controllers Make sure to use the analog monitor card optional to observe these signals TI 71M02D04 01EN 10th Edition 2012 12 01 5 10 Controller Interface Connector lt CN4 gt 5 10 1 Contact I O Interface Connector PCR S36FS made by Honda Tsushin Kogyo Hosing PCR LS36LA made by Honda Tsushin Kogyo lt CN4 gt connector Insertion surface 1 Case ground shielded cable 1 19 20 21 Solgered surface Cable Specifications AWG 28 to AWG 20 0 08 0 5mm cable with a common shield external diam
7. OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 13 56 C ffset di stance f romhone posi ti on Mn 9999999 CRG Gf set Dec Max 9999999 Initial O Unit Axi s conmand uni t Speci fi es the offset di stance fromthe hone posi ti on the notor wll nove to once the honnng operati on has conpl et ed 57 Coordi nate val ue in conmand uni ts after honnng Mn depend on setti ng CRG Scnd Dec Max depend on setti ng Initial O Ui t Axi s conmand uni t Speci fi es the coordi nate val ue in conmand uni ts at the hone posi ti on when the honing operati on has conpl et ed M ni numval ue rotation coordi nate systenj O linear coordinate system l Maxi numval ue rotation coordi nate systenj ap ing data on the conmand uni t val ue 1 linear coordi nate system 58 Z Pul se sensi ng iterations duri ng honnng Mn 1 CRG Z Cyc Dec Max 16 Initial 1 Uni t Nunber of ti nes Speci fi es the nunter of cycles 2 or nore the Z pul se wll be approached and found duri ng the honnng nove 59 Tor que Force i nit per cent age Mn 0 TF Li mt Dec Max 19999 Initial 19999 Uni t 1 100 96 This paraneter li mts the torque or force 60 Honnng EOI sensor search vel oci ty M n 1 CRG OT Vel Dec Max depend on setti ng Initial depend on nator dri ver type Ui t Axi s conmand uni t sec Speci fi es the vel oci ty when executing End of Travel EOT or lint signal search duri ng honing operati
8. eju Ee airaa E a S Int Sot LY S 5 Soe ed e oo D T7 c LO Ef ae OD P3 6 Wiring connector Made by AMP 4 pole 12 pole 2 oO x lt 250 Total slider length Two pieces on the I5 3 50 2 SUSPEN 515 opposite side OO EE i mE 5 M3 depth 5 S i QT hole 211 spot facing depth 11 ELE S Forcateatacimeyy 30 39 12 5 Mounting hole for fixed unit cm all t 9 gt EYN o b vo F 4 M3 depth 3 5 s M iss m of E N I if B umi i m a tQ a eres E alls i Mounting hole Ls Model L Ls E H Mol for fixed unit Lh cn 3 LM230 LM240 1N 005 340 50 2 X 2 pieces 340 Total motor length LM330 Kam e A D a a a aat ere nn tst V TI 71M02D04 01EN 10th Edition 2012 12 01 2 19 Length of stroke 100 to 200mm 4 MB depth 10 147 48 Encoder unit Moving part mounting tap T 4 M4 depth 10 m co e ek o TEE u ot Sa in oun nb T Eg iuc 2 4 M3 Do5 W Sos Two pieces on the ess opposite side 5 Sx 250 Totalsliderlength 55 d 155 Ls Stroke 5 M3 depth 5 For cable attachment 27 hole 11 spot facing depth 11 Mounting hole for fixed unit Mounting hol LM230 1N 010 LM240 1N 015 LM330 1N 020 Length of stroke 300 to 1800mm 4 M8 depth 10 147 48 Encoder unit Moving part mounting tap 114 55 sod i aa
9. e0esoossoseosceocsecsoscescososceososecesosesccescesesecocepessccveocecescescosecceosossoccososccesosccesosescceseseocceoceseccsocesccoosoccocosceosooceccososceososecesovesecesosesecooseocesccocvoceceocescosecceocossoccocosecosooceesovecevecesecceocesecesoccoscoscoccoccocveoccecceccot Set an offset 1 2 OFF is displayed as the reference icon indicating that an offset has been set 3 The offset value is displayed 4 The value to be read by the cursor function is a raw data value value not added with an offset eee eee ere errr rrr rere ere rere rere rrr rrr rer rrr rr rrr rrr rrr rrr rr rrr rrr rrr rr rrr rrr rrr rrr rere rrr rrr terre rrr rrr rer rrr re rrr rrr rrr rere errr rere rr rere errr rer errr errr rrr rer errr errr errr errr reer errr rr errr reer rere rrr rrr rer rrr re rr errr re rrr rrr rrr rrr rer rr rrr reer errr rrr rrr rrr rer ir TI 71M02D04 01EN 10th Edition 2012 12 01 8 23 Saving Measured Waveform Data O0 Browsing the Waveform Data Measured in the Field Offline Saving measured waveform data measurement conditions and so forth as PC files is useful when creating documents or performing troubleshooting Waveform data can be saved in BMP format or printed directly Saved data can be browsed offline not connected to the drive R1 Oscilloscope i MEASURE LALIBURATION EILE amp PRIMT EASY SETUP EAIT FILE amp PRINT Save file Save bitmap Pri
10. parameter Write Function The parameter write function operates regardless of the operating mode The CC Link master station turns ON the IN PRM WR REQ signal after setting the parameter number to be written into the IN WR PRM NO signal and the Zparameter data to be written into the IN WR PRM DATA signal The drive performs parameter write processing turns ON the OUT PRM WR END signal and notifies that the processing has been complete If the write processing completed normally the drive turns ON the OUT PRM WR END signal as well as the OUT PRM WR OK signal If the write processing did not complete normally the OUT PRM WR OXK signal stays OFF when the drive turns ON the OUT PRM WR END signal IN PRM WR REQ P ER 1 eo I I I N N N N CN 4d OUT PRM WR END f Y OFF When write processing completed normally ON ON OUT_PRM_WR_OK OEE When write processing did not complete normally OFF TI 71M02D04 01EN 10th Edition 2012 12 01 6 113 parameter monitor Read Function The parameter monitor read function operates regardless of the operating mode The CC Link master station turns ON the IN PRM RD REO signal after setting the parameter monitor number to be read into the IN RD PRM NO signal The drive performs parameter monitor read processing turns ON the OUT PRM RD END signal and notifies that the processing has been complete If the read processing completed
11. TI 71M02D04 01EN 10th Edition 2012 12 01 5 12 O0 Table of Connector Signal Names and Wire Colors Fixed cable Robot cable ECLKH FG Shielded cable G N G G IN ND ND ND a ow a J Oo o wo O Wiring between Head Amplifier and Drive Specification of fixed cable Specification of fixed cable CIE MA2 7979 LIE1ET CIE MA1 7979 L1L1L1 Drive side Head amplifier side Head amplifier side CN2 CN6 10V 1 GND 12 8SIGO 3 GND 14 081G1 5 GND 16 ECLK 7 ECLK 18 FG 10 FG 20 Twisted pair cable with shielding 1 Red 12 Black 3 Blue 14 Blue white 5 Brown 16 Brown white 7 Orange 18 Orange white 10 Shield 20 1 Red gray 12 Blue black 3 Purple 14 Green 5 Orange 16 Brown 7 Yellow 18 White 10 Shield 20 A TI 71M02D04 01EN 10th Edition 2012 12 01 5 13 5 8 Head Amplifier Connectors CN7 CN9 Head amplifier side lt CN7 gt Motor side CN9 id n soldered surface Terminal 170365 3 made by AMP Connector DA 15PF N made by JAE Housing 172170 1 or 172341 1 made by AMP Housing DA C8 J10 F4 1 made by JAE Manual tool 755330 1 made by AMP Cable Specifications Specification AWG 22 0 3mm Multi conductor cable with a common shield length 5 m or less Use a highly flexible robot cable as it is attached to a moving part
12. If Direct is selected The target position is set in operation data 1 The unit is axis command unit e If Indirect is selected Select parameter monitor and lect on ineliodt parameter monitor numbers in operation data 1 The value of the eae selected parameter monitor is set as the target position The unit is axis command unit TI 71M02D04 01EN 10th Edition 2012 12 01 6 89 6 4 7 INC Incremental Positioning Move In this operation the motor is moved to the specified position by entering a position relative to the current position command value in table data 1 How to Set Incremental Positioning Move Set the data according to the flowchart showing the procedure for creating table data in Section 6 4 1 Table Data Operation See the following for how to set operation data and parameters corresponding to steps 4 and 6 in the flowchart Setting Operation Data STEP 1 Select the settling width from parameters 90 to 97 position settling width The setup value of parameters Coin window can be changed by selecting INC ABS move in Function parameter of parameter STEP2 Setthe acceleration deceleration time Select the acceleration deceleration time from parameters 72 to 79 The setup value of parameters acceleration deceleration time can be changed by selecting INC ABS move in Function parameter of Zparameter STEP 3 Select either constant acceleration or S curved profile as the acc
13. No 26 Dwelling TI 71M02D04 01EN 10th Edition 2012 12 01 6 50 6 3 Jog Move When you execute the jog move command in the idle status it is possible to move the motor in the direction or direction The acceleration deceleration time acceleration deceleration type and jog feed velocity can be specified individually 1 I O Signals to be Used The I O signals for jog move operation are used to give instructions via the controller interface If signals have not been assigned assign them with the hard I O assignment function as needed To operate via the serial interface proceed to 2 Parameter Settings Input OUT SRDY OUT JOG EXE Executing jog operation OUT DRDY Output TI 71M02D04 01EN 10th Edition 2012 12 01 6 51 2 Parameter Settings STEP 1 Select parameter from Data Management of the utility software STEP 2 Select System setup register 1 to display the setting window STEP 3 Check the rotation direction in the Coordinate system forward direction setting The settings and the rotation directions have the following relationship Coordinate Command Direction Setup and Rotation Directions of the Motor IN JOG UP IN JOG DN Direction A direction direction pu Stat f FOIS Direction A Direction B pide direction coordinate Command ovr Direction Setup ere Direction B Direction A direction Note This parameter also effects the rotation direction in operations other than jog move
14. 038 AAAABAZA Error setup register 2 039 22220ABB C System setup register 1 110 FZ000DA3 System setup register 2 g098 00030002 C System setup register 3 099 008000F7 ennuuuuuuuume Q Q ooannunnunnnnnnnnnnn RR RR RN RR RN RA e o Sen o pot eee YS This display changes for each selected register After changing required items execute Save or Regist oa NGER The utility software may issue a software reset to the drive in order to reflect changes when Regist is executed As the servo is set to OFF during a reset operation be sure to check safety before operating TI 71M02D04 01EN 10th Edition 2012 12 01 8 31 O0 Function Parameter Setting Window The Function parameter setting window contains the main parameters that need to be set up when performing various motor operations If it is necessary to change Zparameters other than those listed in this window use the terminal function Select a motor operation Regist Sets up the parameters in RAM and EEPROM The settings are retained even if the power is OFF 51 F arameter setting Rebister parameter Function parameter Servo tuning Signal monitor Exit eee EEEREN ee Data 851968 nm M Regist Upload Value HParameter list 851968 851968 M onitor list 851968 851968 O68 Feeding Velocity 4 851968 069 Feeding Velocity 5 851968 070 Feeding Velocity 6 851968 Tree ae a PEE RREREREEEREERE
15. STEP 4 In Jog feed operation serial Interface side selection Select Valid to instruct the jog move operation from the utility software and Invalid to instruct the jog move operation from the controller interface STEP 5 Register the parameters by clicking the Regist button STEP 6 Specify the feed velocity acceleration time deceleration time acceleration profile and Deceleration type in the Function parameter window see Section 6 1 9 for the detailed explanation of the velocity profile STEP 7 Select the feeding velocity acceleration time deceleration time acceleration profile and Deceleration type in the System setup register 3 window RT Parameter setting Hegister parameter Function parameter Servo tuning Signal monitor Exit Error setup register 1 Regist Upload 038 ARAABAZA System setup register 3 HParameter list Eror setup register 2 pO Hamas PP Monitor lis 033 22220885 The home sensor position error Valid f System setup register 1 Deceleration type in offset travel Constant acceleration 110 F2000D 3 Acceleration type in offset travel Constant acceleration Sustem setup register 2 5 iim Select deceleration time Far oftest travel Acceleration time D 038 noos00os Select acceleration time for offest travel D eceleratian time O 7 Select the velocity profile 099 ooso00F Select offset travel velocity Feeding velacitu crMuuu
16. Ant DI 10 DI 11 tin nb toner MA8330 or equivalent PS2805 or equivalent MA8330 or equivalent AM26LS32 or ET Connect the shield to the case of the connector TI 71M02D04 01EN 10th Edition 2012 12 01 5 19 5 10 2 CC Link Interface Connector TMSTBP 2 5 4 STF 5 08 made by Phoenix Contact ERR RUN 4 SD 2 DB White c WwW un a DA DB C Bit 0 6 x 3 5 mm Clamping torque 0 5 0 6 Nm Wiring of Communication Cable Cable Specifications FANC SBH and FANC SB can be used as dedicated CC Link cables in a CC Link system The terminator that can be used depends on which type of the dedicated CC Link cables is used Please be aware that performance cannot be guaranteed if you use any cables other than these dedicated CC Link cables For more information about the dedicated CC Link cables refer to the CC Link Interface User s Manual FANC SBH and FANC SB are manufactured by KURAMO ELECTRIC CO LTD FANC SBH FANC SB 130 Q 1 2 W 110 Q 1 2 W Use the cable terminators attached to the master station TI 71M02D04 01EN 10th Edition 2012 12 01 5 20 5 11 Noise Prevention and Installation Conditions A CE Declaration of Conformity declaration regarding EMC has been made for the DrvPIll drive under the following installation conditions YOKOGAWA l E 3 DrvPIII Dri
17. Maxi numval ue rotation coordi nate systen Scaling data on the conmand uni t val ue 1 li near coordi nate syst en 48 Area signal 1 CN Mn depend on setti ng Areal Qn Dec Max depend on setti ng Initial O Uni t Axi s conmand uni t Speci fi es the posi ti on where area si gnal 1 turns on M ni numval ue rotation coordi nate systenj O linear coordinate system Maxi numval ue rotation coordi nate systen Scaling data on the conmand uni t val ue 1 li near coordi nate systenj 49 Area signal 1 CFF Mn depend on setti ng Areal Cf Dec Max depend on setti ng Initial 0 Uni t Axi s conmand uni t Speci fi es the positi on where area signal 1 turns off M ni numval ue rotation coordi nate systenj O linear coordinate system l Maxi numval ue rotation coordi nate systen Scaling data on the conmand uni t val ue 1 li near coordi nate syst en 50 Qoer ation range under test node Mn 1 Test Wdth Dec Max 32767 Initial depend on nator dri ver type Unit Axi s conmand uni t Speci fi es the operati ng range di stance of nove in test node Initial value rotation About O 296value of rated speed 2 0 002 360deg for the rated speed at 2rps gt Approx 1 44deg li near 1 0 002 1000nmf or the rated speed at Ings gt Approx 2nm Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 12 51 Qrati on range under auto tuning node Mn 1 AT Wath Dec Max 9999999 Initial
18. TI 71M02D04 01E 10th Edition 2012 12 01 List of Models Provided with Regenerative resistors A regenerative resistor is provided for the models listed in the table below Regenerative resistor 80W 33O0LI LILIA 2LILI N 80W o30LI LILIA 2L IL N 240LI LILIA 2L IL N Faceplate of the Motor Slider number Motor model suffix code ODABA LMIOSTN go o MAALE 030AN G2N N2F eg LE NO 203MM12345A1 YOKOGAWA Made inVapan Displayed on Serial number the side panel Label Head amplifier Faceplate of the Drive Drive model suffix code style No Input Output U Mae ioscan dan 7 amp eLJus LP 7 o STIS v Mz PHASE ROWER cion EQUIPMENT ARMS X OUTPUT V Hz 3PHASE 2WW ARMS DUTY 5 C C NO YOKOGAWA Made in Japan K Serial number Label TI 71M02D04 01E 10th Edition 2012 12 01 Ss E gt A N K Pagem 2 Specifications 2 1 Standard Specifications O0 Standard Model Maximum thrust N Maximum velocity Em Rated velocity 3 ms 0 83 0 16 Encoder resolution 3 0 25 0 05 Repeated positioning accuracy 3 0 5 0
19. Reset All refers to returning all user data to the settings at the time of shipment from the factory Perform Reset All when you want to redo the drive settings from the scratch Operating Procedure The reset all operation can be performed only by entering the designated command in Terminal Function of the utility software or Terminal Function of the operation display panel in order to prevent an erroneous operation Erroneous operation can also be prevented by requiring a password with command The command format is as follows 90 2003 Password Air UTION A part of machine parameters overwrites the related parameters when the power is recycled if those parameters are changed 0 0x Data Sum Error may rarely occur in case that the control power supply is terminated before LED for RDY signal is lighted when the power is recycled If this error occurs restore user data which was backed up beforehand after initialization of user parameters Backed up parameter values are set TI 71M02D04 01EN 10th Edition 2012 12 01 9 3 9 4 Lubrication of the Motor Unit To protect the linear guide unit of the motor unit against wear and damage and assure a sufficiently long product life it is important to keep the guide unit constantly lubricated For the linear guide unit of the motor unit apply sufficient grease for lubrication from the grease filling ports shown in the figure below using a grease gun whenever the mot
20. 2 m zr a D m qu 2 a a 3 io a D m qu 2 4 Turn the servo on Select Operation from Control in the utility software Select the Test Operation tab from the Operation window Move the motor to the position at which the test operation should be started Click the Servo ON button Click the Drive button to start the test operation Select Oscilloscope from Display to display the test operation response on the oscilloscope See Chapter 8 for how to set the oscilloscope For the response to be displayed select Test operation from EASY SETTING Select Zparameter from Data Management and set parameters servo tuning in the Servo Tuning window 2 Select the Test EY Operation operation tab bj SoD nag COD OROD OD OCCUR OO OROCOEOOO 9 kia AATE E ae Exil DrivelD L beri Controller side E Servoa nff Table Mn 3 How to Perform Test Operation Control Interface See Section 6 4 1 3 How to Perform Table Data Operation Control Interface TI 71M02D04 01EN 10th Edition 2012 12 01 6 73 parameters Related to Test Operation parameter No parameter name Description Set test operation width Use this parameter without changing the initial value Operation range under test mode h under normal circumstances parameters Related to Servo Tuning The value of the load weight is set automatically in this parameter aft
21. HManitor list Feeding velocity H2 051968 Feeding Velocity 3 651968 Feeding velocity 4 5 Check that the data of the 851368 Feeding Velocity 5 selected parameter is 611968 Feeding Velocity 6 displayed 651968 Acceleration time 0 1000 Acceleration time 1 Enter the setup value of the 1000 Acceleration time 2 parameter and press the 1000 Accleration time 3 return key 1000 Deceleration time 0 1000 Deceleration time 1 1000 Deceleration time 2 1000 Deceleration time 3 1000 hd asimum velocity limit 651968 Velocity override percentage 1 10000 Velacity override percentage 2 4 Click the line for the parameter you 10000 want to change Check that the line is highlighted in blue Setup table data and system register depnding on the necessity TI 71M02D04 01EN 10th Edition 2012 12 01 6 40 O0 Velocity Override Interlock Function The velocity override function allows changing the feed velocity in real time In order to use this function set the velocity override percentage parameters 45 and 46 and select the either of them by the IN OVERRIDE SEL signal of the controller interface The velocity override value can be set by a parameter in the range from 0 to 200 in increments of 0 01 Note that if you set the IN INTERLOCK signal of the controller interface to ON the velocity override percentage is set to O regardless of the status of IN OVERRIDE SEL and the override percentage Zparameters 44 and
22. The three types of filters listed in the table below are provided for resonance countermeasures Use them for their respective best purposes according to the characteristics of the resonance Characteristics of Various Filters Oscillation caused by phase shift tends to occur if the velocity control bandwidth and the frequency setting of the first order compensator filter are close to one another This is a first order delay filter Since it can adjust the Phase lag bandwidth frequency and amount of damping it can compensation filter Suppress the amount of phase shift better than the velocity feedback filter This filter can significantly dampen the gain at any frequency Use this filter when there is resonance with a high peak gain in a narrow frequency band The notch filters are provided for two channels Resonance remains in case the resonance gain is high in a wide frequency band Notch filter This is a first order delay filter that allows lowering the Since the phase shifts up to 90 Velocity feedback gain at high frequencies dramatically Use this filter degrees when this filter is used filter when there are several resonance points among the phase shift oscillation tends to high frequencies occur TI 71M02D04 01EN 10th Edition 2012 12 01 Notch Filters 1 and 2 Notch filters decrease the gain value to almost zero at a certain frequency Moreover by changing the Q value it is possible to make the f
23. actual drives 500 W class 115 VAC input Stoppal 2003 11 18 10 36 05 CH4si mV 2 ms div DC 1 1 20ms div NORMEEDKS ZS 2k W class 115 VAC input Stopped 2003 11 18 10 38 28 i CH4 10m 20ms div DC t1 20ms div NORMEEDKS s 5 13 2 Selecting Circuit Breaker Select a circuit breaker where the drive s inrush current peak value is within the curve of operation 500 W class 230 VAC input 2003 11 18 10 41 30 Stopp adt CH4 10m 20ms div DC 11 20ms div NORM 50kKS s 2k W class 230 VAC input 2003 11 18 10 13 37 Stoppag CH4 10m 20ms div DC t1 20ms div NORMEEDKS s 20A div characteristics A correction coefficient is applied to the characteristics curve according to the ambient temperature and posture Please refer to the manufacturer s catalog In the case of a 500 W class drive with input voltage of 230 V the input current is 24 4 A Since the horizontal axis of the characteristic curve scale factor relative to the rated current gives a value of approximately five times the rated current is Rated current A 4 88A Thus a breaker of 5 A or more should be selected Example of operation characteristics curve 180 420 90 i 20 Minutes 10 8 6 4 2 I 1 40
24. dT om dH 0 T2 C C OFF C dV C T1 amp T2 Close 1 The cursor can be l moved when dragging a line with the mouse 2 The T1 and T2 values and their difference Oscilloscope UNIT DIY Offset CHT 1000 CH2 DIGITAL CH3 899 CH4 500000 are displayed 3 The display format is switched between digital display and analog display i SOURCE C H1 RISE pretest tify gi ria Cae a LEVEL n POSITION CURSOR EEPPINEN SERTEN EUR wl 3967 ms 696i ms 3000 ce R 9 5muu 3 FUE uH 3H 4 P E E Wd 3 ruuuairzstcuuatrircbuuat rntruuairrrzuuau Biss Commanded velocity value 2517 1866 651 WB 320 Status register 1 HHL HH Les HHbieeoer H370 Commanded position value pulse 409252 512352 a 203 00 371 Actual position value pulse ALT MM Alga 203149 MEMO t Using the Vertical Axis Cursor CURSOR ON OFF TYPE CURSOR 3 Osc lg ope f ON C dT v W1 C OFF e i C vie CHI Ae hb a J py cdi xw o 1 The cursor can be 3 is ee INDE moved when dragging CH3 E 5 CH4 500000 TRIGGER SOURCE CH1 RISE LEVEL POSITION a line with the mouse 2 The V1 and V2 values and their difference are displayed 3 Specify to which channel the value to be displayed is applicable 340 Comman
25. 00000000 TI 71M02D04 01EN 10th Edition 2012 12 01 6 82 parameters Related to the Homing Function parameter No parameter name Description Homing EOT sensor search velocity ma ae is selected for Homing hardware EOT limit active Home sensor search velocity in Set the velocity to be used when searching for the home sensor during the homing operation homing operation Use the initial value under normal circumstances Initial Z pulse search velocity Use the initial value under normal circumstances Z pulse search velocity after 2nd Use the initial value under normal circumstances iteration Overshoot distance in homing Use the initial value under normal circumstances operation Rm sensing iterations during Use the initial value under normal circumstances Enter the amount of home offset The offset movement is only performed for the amount specified by this parameter after homing and the position is set as the origin of the coordinate system Offset distance from home position Use the initial value under normal circumstances 57 0 This parameter specifies the command unit command coordinate value after the completion of homing Coordinate value in command units after homing It is not necessary to set this parameter if 56 O This parameter sets the feed velocity at which the motor should move to the offset position after the completion of homing operation m m Homing enable dog position err
26. 330 Command torque force value 342 Actual velocity value 372 Position error pulse Position settling signal TI 71M02D04 01EN 10th Edition 2012 12 01 6 106 Parameters Related to the Position Settling Signal Parameter number Parameter name Description The OUT_COIN signal is turned ON when the position deviation is within the setup value range of this parameter Set this parameter according to the required accuracy of the device 90 97 Coin width While performing table data operation the coin width set by the parameter selected at creating table data becomes valid Under other conditions the coin width is set by entering a coin width number in IN_POSW 0 to IN POSW 2 as a binary value This means that if IN POSW O to IN POSW 2 are all turned OFF the setup value of 90 is selected This parameter is used to prevent chattering of the OUT COIN signal The position settling status signal is turned ON if the position deviation is in the range set by the coin width for duration of setup value of 29 x 1 msec System setup register 1 settling This parameter selects the unit of the settling width set by the parameter 110 bit17 Md width unit pulse selection 0 Command unit 1 Pulse unit Monitors Related to the Position Settling Signal Parameter number Parameter name Description This monitor monitors the amount of position deviation The pulse position 372 Position error pulse deviation is the
27. EE Gani B wenn muuuumummuuuuuumuuuumuuuuummeo Digital monitor 1 036 00014010 Digital monitor 2 037 00014004 e ennuuuuuuuuuuuuuu peo e e L nu a L nu L nu L nu L nu a nu L nu a nu L L L nu L nu L L Displays the voltage level output from an actual monitor terminal to the gain you set up Adjust the gain setting according to the range in which the parameters monitor numbers you want to monitor fluctuate TI 71M02D04 01EN 10th Edition 2012 12 01 8 35 8 6 2 Table Data Function The table data function is used to set and correct the operation table data of No s 0 to 63 stored in the drive Each table of the internal table data consists of 8 bytes 16 bits 16 bits 32 bits Table data can be created by a comprehensive wizard by using the table data function Also the move copy and delete functions can easily be executed in units of tables by pressing the Table copy amp Table paste button The selected table number can be edited A Table setup HEE rcm Ne mr Invalid Invalid Invalid Invalid Invalid Invalid Invalid Invalid Ea dla UE ui Ea m m mmm m n E m m m E a m m m D im m RU m mmm m n Parameter change Hostel e i Hine es 4 5 ABS positioning IW waaay iiv T m Was on ri in TIT INC positioning Invalid Invalid Invalid Invalid an Dwelling Invalid Invalid In
28. Items to be Checked Check e Is the motor unit fixed to the level block e ls the motor interfering mechanically with peripheral components e ls the AC power supply cable properly wired LINE and GND e ls the motor cable properly wired VA VB VC and GND e Is the encode resolver cable properly wired e ls the home sensor properly wired e ls the serial interface communication cable properly wired LILIEILILICILI TI 71M02D04 01EN 10th Edition 2012 12 01 6 45 2 Turning the Power Supplies ON Turn both the main and control power supplies ON After turning the power supplies ON check that the RDY ERR LED on the front panel turns ON in green If it turns ON in red an error has occurred Check the error code and take an action to solve the problem E L INEARSERV RDY ERR Ready Green Error Red When the control power supply is not oaoceocoo5o 6000000 3 Turning the Servo ON Online Operation STEP 1 STEP 2 STEP 3 STEP 4 Start the utility software Select the connection port number specify the COM port number of the PC Select Online in Communication Port Establish communication between the drive and a PC by clicking the Connect button Click the Connect button When the communication is established the button label changes to Disconnect ET DrvX3 Support Tool GM File Help COMMUNICATION Fort 3 Channel Simulation mode fe Liscofhe
29. Technical Romain LINEARSERV Direct Drive Motor lt LINEARSERV gt Intelligent Drive lt DrvPIII gt Technical Information TI 71M02D04 01EN YOKOGAWA 4 TI 71M02D04 01EN Yokogawa Electric Corporation 10th Edition 2012 12 01 Ss E gt A N K Pagem Introduction O Overview of This Manual This manual provides information about LINEARSERV a direct drive servo motor Make sure to refer to this manual when you use the motor Trademark e Windows and Windows NT are registered trademarks of Microsoft Corporation in the United States and or other countries e Adobe and Acrobat are trademarks of Adobe Systems Incorporated e Pentium is a registered trademark of Intel Corporation in the United States e Other company and product names mentioned herein may be the trademarks or registered trademarks of their respective owners O0 Copyright The copyright of this manual belongs to Yokogawa Electric Corporation No part of this document may be reproduced or transferred sold or distributed to the third party O0 Strategic Goods Advisory It is required to obtain approval from the Japanese government to export goods regulated by the Foreign Exchange and Foreign Trade Control Law from Japan TI 71M02D04 01EN 10th Edition 2012 12 01 Conventions Symbols used in this manual Throughout this manual the following symbol marks are used to distinguish explained information DANGER Describes cautions for avo
30. Terminal The operation group function references and changes command inputs and parameters in text format Display Group Oscilloscope This group function displays the drive status as if operating an actual oscilloscope parameter monitor This group function displays the specified parameter values continuously I O monitor This group function displays the hard I O status continuously Axis Signal monitor This group function displays the information pertaining to axis operation continuously Error monitor This group function acquires the current error information of the drive and past error history continuously TI 71M02D04 01EN 10th Edition 2012 12 01 8 6 Data Management Group t Parameter This group function sets up the required main parameters for the drive The parameters are classified by purpose Table data This group function creates and changes operation table data I O This group function assigns hard I O performs logical settings and the initial value settings of logic I O O0 Maintenance Group Parameter viewer This group function backs up the parameters that are currently being set in the drive and performs restore operation using the files saved Table viewer This group function backs up the table data that is currently being set in the drive and performs restore operation using the file saved I O viewer This group function backs up the I O that is
31. Usage Example 10 mm Reciprocal Movement Table Data Setting Table No No 8 No 9 Setting of operation register Absolute Absolute positioning positioning Table number xecute table No a Moving 10 mm Valid M function E LP IR CRI GEI OUT M EN IN M ANS Constant acceleration No 9 Setting of operation data 1 Execute table No 9 Moving to position 0 Target position setting 20000 Oo End operation Scaling data ratio numerator 2000000 on the command Scaling data ratio numerator 4000000 on the pulse TIP The usage example above shows a case where the resolution specification is 0 25 um The amount of movement set by the parameters above is 20 mm in case the resolution specification is 0 5 um and 2 mm in case the resolution specification is 0 05 um lt Timing chart gt No 8 No 9 IN I CODE E E OUT MODE EXE OFF ON OFF Speed waveform OUT POS OUT M EN IN M ANS OFF lq ON OFF ll Setting time Setting time TI 71M02D04 01EN 10th Edition 2012 12 01 6 67 6 4 3 Auto tuning Operation To tune the servo properly it is necessary to register the load weight in 0 Load inertia Load mass When auto tuning is performed the load weight is estimated and control parameters are set automatically Perform the auto turning operation at system startup or when the load inertia changes significantly The motor reciprocates several times an
32. depend on nator dri ver type Uni t Axi s conmand uni t Speci fi es the operati ng range di stance of nove in auto tuni ng node Initial value rotation About 2 of the rated speed 2 0 02 360deg for 2rps gt Approx 14 4deg li near Approx 10nm 52 Maxi numaccel erati on decel eration ti ne under aut o tuni ng Mn 100 AT TaccMax Dec Max 9999 Initial X 9999 Ui t nsec Speci fi es the naxi num val ue of accel erati on decel eration ti ne i n auto tuning node 53 Initial accel erati on decel eration ti ne under auto tuni ng Mn 100 AT Taccl ni Dec Max 9999 Initial 1000 Uni t nsec Speci fies the initial value of accel erati on decel eration ti ne in auto tuning node 54 Repetition nunber for auto tuni ng Mn 1 AT Cycle Dec Max 20 Initial 6 Uni t Speci fies the nunter of tines to execute operati on in auto tuni ng node 55 Qvershoot di stance in honnng operati on Mn 1 CRG Or nov Dec Max 9999999 Initial depend on nator driver type Ui t Axi s conmand uni t Speci fi es the overshoot di stance duri ng the Z pul se sensi ng nove for the 2nd nove and all subsequent noves t determines howfar the nator noves beyond the posi ti on of the 1st Z Pul se hone sensi ng nove Initial value Approx 1 16 of Z pulse pitch
33. 14 P IN CODE4 05 P ERROR RESET 15 P IN CODES 05 P J0G UP 16 P O M ANSWER 07 P O JOG DOWN 17 P OVERRIDE SELECT OUT Block0 1 00 P SERVO READY 01 P O ERROR 02 P O MODE EXE 0 3 P POSISIONING 04 P AREAO fos P O AREA RT CG Link Mon Channels 2 Number of occupied channels Communication speed 10Mbps Information Error 0 6 P 9 DRIVER READY Master CPU RUN Channel setup 0 7 P O OUT M CODE Master CPU normal Communication speed setup Channel switch changed Communication speed changed Q CRC Q Time over TI 71M02D04 01EN 10th Edition 2012 12 01 SSS gt ADK Pagem 4 1 4 Name and Function of Each Part 4 1 Motor Unit SIDE plate lt Motor unit gt Slider Encoder cover CN8 connector CN9 connector CN6 connector lt Head amplifier unit gt CN7 connector TI 71M02D04 01EN 10th Edition 2012 12 01 4 2 Drive Unit 4 2 1 500W Class lt CN1 gt Serial interface connector RS232C RS485 connector lt RS ID gt Rotary switch lt RDY ERR gt Status display LED SRV DS Servo disable switch lt CN3 gt Analog monitor connector lt TB4 gt Sensor terminal Y lt CHARGE gt Main power supply charge LED f j A D Guy SRA AN lt TB1 gt Main power supply control power supply terminal lt CN4 gt Controller interfa
34. 2 LM505 LM510 LM530 4 270 0 20 Oye TS gt ajoja o O O c c il O O Ci Positioning 5 Ls 1000 300 600 350 700 550 1100 250 250 315 355 315 630 Length of stroke LS m 50 100 150 200 300 400 500 600 700 800 900 J 1000 1100 1200 1300 1400 1500 1600 1700 1800 1 Scale accuracy specification at 23 C expansion coefficient of glass lines 8 x 10 C 2 Indicates CE continuous rating 3 A A O0 High rigidity High speed model Maximum thrust Rated thrust 2 Maximum velocity um m Repeated positioning accuracy u Motor and drive Absolute positioning accuracy T by length of stroke LS 1 H Rated power consumption 100V 200V 2 Slider weight Rail weight Length of stroke ILS mm 50 100 150 200 300 400 500 600 700 800 900 g 1000 1100 1200 1300 1400 1500 1600 1700 1800 1 Scale accuracy specification at 23 C expansion coefficient of glass lines 8 x 10 C 2 Indicates CE continuous rating Motor LSS SSS STE TI 71M02D04 01EN 10th Edition 2012 12 01 2 3 Motor Environment Specifications ome o 0 45 C Standard Temperature 0 40 C CE Operation continuous rating Storage Must be no corrosive gasses dust and dirt Atmosphere Must be used at a maximum altitude of 1000 meters above sea level CE mounting condition TI 71M02D04 01EN 10th Edition 2012 12 01 Drive General Specifications and Function Specifications 500W c
35. 20 1 4 2 Seconds 0 6 04 xe Maximum total 0 08 NE interrupt time 0 06 x 0 04 0 02 Y om T 152 3 4 5678910 15 20 40 60 80 100 Current multiples of rated current TI 71M02D04 01EN 10th Edition 2012 12 01 5 28 5 13 3 Selecting Fuse Verify that the inrush current is within the range EAEE A EAER E CE of the meltdown characteristics curve Note however that this characteristics curve is created based on average data values Therefore a certain margin must be taken into account Moreover since a fuse melts down due to joule heat the nominal rated value of t is specified in the catalog Check that the value of t due to inrush current is less than the rated value Since the nominal rated value of t decreases in the case of repetitive inrush current if the number of inrushes is 10 000 times a margin factor of three to four is required Please confirm with the manufacturer regarding the reduction in the nominal rated value of t in the case of repetitive inrush current The value for fft is as follows in the case of Section 5 12 1 Inrush Current Waveforms 7 Calculate I2t until the peak current of Ip Current A becomes the rated current of the fuse or less and then add all the values Meltdown time seconds 500 In the case of 500 W input and 115 VAC l Xt dua xt
36. High frequency oscillation Type of vibration Hunting Phase shift oscillation Resonance oscillation Vibration frequency up to several Hz Operation angle several degrees to several tens of degrees run out of control in some cases Vibration frequency several tens of Hz to 200Hz Operation angle up to several degrees Vibration frequency several tens of Hz to 2kHz Operation angle up to a few degrees Cause of oscillation and action to be taken Cause of Oscillation Oscillation occurs when the ratio between the position control frequency bandwidth and the velocity control frequency bandwidth is inappropriate The motor may oscillate if the velocity control bandwidth is less than 3 times the position control bandwidth Oscillation may also occur if the inertia moment value estimated by auto tuning is not appropriate or if there are large load fluctuations 1 5 times or more Action to be Taken e Repeat auto tuning several times and check the inertia value afterward Check that the accuracy of the inertia value estimated by auto tuning is 2096 or less in repeated auto tuning operations Lower the setup value of 0 servo stiffness setup Cause of Oscillation The motor may oscillate if the value of the position integral limiter is too large the position deviation becomes too large and the control syste
37. IT 3 4 5 E 7 nj 1 Z 3 4 5 E ii e NEN M UN M MM EMEN M NM NEUEM M Se BBB BRR BRR RRR RR RRR RRR eO RRR RRR BRR RRR RRR RRR we For bits with a check mark initial values are set to ON A blank bit is a reserved bit and thus not setting is allowed Np NGER The utility software issues a software reset to the drive in order to reflect settings after executing Regist The drive is set to the servo OFF state during a reset operation Therefore be sure to check safety before operating TI 71M02D04 01EN 10th Edition 2012 12 01 8 7 Details of the Maintenance Group Function IN 8 7 1 parameter Maintenance Np NGER This section mainly describes the Maintenance group that has the function to browse download and upload the internal data of the drive Download Processing to send data from a PC to the drive restore work Upload Processing to store the drive information to a PC backup work 8 38 The Zparameter maintenance function is used to save and browse the Zparameters set up by users and the user parameters that are saved as files in the drive Downloading uploading of only parameters can be performed with the drive connected i P arameter viewer DrvO02 serise DrvG3 ROM version R7040C MotorType URSCG3 O15N B 154 2003 09 29 ECTS Parameter Data SystemRegl Vmax ScaleUnit ScalePulse SPSS SESS SETS SS odio
38. Logic I O Logic I O signals are host signals of hard I O and comprised of 8 input blocks and 8 output blocks Each block consists of 8 bits 8 different signal types See Section 6 1 1 3 Types of Logic I O for the signal names and definition of each bit Logic I O Initial Value Setting It is possible to fix the input status of signals that are not assigned to hard I O inputs by setting their status to the initial value This way it is possible to reduce the number of points in the limited number of hard I O points See Section 6 1 1 5 How to Change Logic Soft I O Initial Value Setting for how to make this setting lt Usage example gt It is desired to assign a new hard I O input signal but all the hard I O points are used by assigned signals and there is no empty point The IN SERVO servo on signal is always set to ON unconditionally after turning the power ON Therefore IN SERVO is set to ON with the logic I O initial value setting and not assigned to hard I O 1O Signal Monitor Function The I O display and oscilloscope functions can be used to check signal status of I O inputs outputs I O Display This function is used to display the status of hard I O signals Oscilloscope The oscilloscope function installed in the utility software can be used to display waveforms of the parameters monitor values The status of the hard I O and logic I O signals velocity waveforms position deviation waveform
39. Max 59999 Initial 1 Uni t nsec Speci fi es the decel eration ti ne requi red for the vel oci ty change f romnaxi num vel oci ty 805 to zero vel oci ty when executing i nmedi ate stop OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 18 90 Coi n w ndow 70 Mn 0 Coi nW dt ho Dec Max 9999999 Initial 5 Unit Axi s conmand unit or pulse Speci fi es the coi n w ndow 0 wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on 91 Coi n w ndow 1 Mn 0 Coi nWdth1 Dec Max 9999999 Initial 5 Unit Axi s conmand unit or pulse Speci fi es the coi n w ndow 1 wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on 92 Coi n w ndow 72 Mn 0 Coi nW dt h2 Dec Max 9999999 Initial 5 Unit Axi s conmand unit or pulse Speci fi es the coi n w ndow wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on 93 Coi n w ndow 78 Mn 0 Coi nW dt h3 Dec Max 9999999 Initial 5 Ui t Axi s conmand unit or pulse Speci fi es the coi n w ndow wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on 94 Coi n w ndow 4 Mn 0 Coi nW dt h4 Dec Max 9
40. PbitIn7 4 Indicates the driver version Bit 11 8 Firmware version code Integer part Bit 7 4 Firmware version code 1st digit below decimal point Bit 3 0 Firmware version code 2nd digit below decimal point version Motor specifications Motor resolution Velocity unit conversior Maximum motor velocity User defined maximum vel Z pulse interval Rated velocity Physical Onboard input Physical Onboard input Driver The command list dialog box can be displayed during terminal operation Command list Abort Stop Start Error Reset Operation Mode Switch Servo ON OFF Homing Offset Setup Jog Operation Command Coordinate System Setup Integral Limit Recalculation Parameter Registration Error Reset with History Clear Logic Virtual Reset Servo ON or OFF is controlled 38 1 for servo ON TI 71M02D04 01EN 10th Edition 2012 12 01 8 14 8 5 Details of the Display Group Function This section describes the Display group that has the function for mainly displaying the drive information 8 5 1 Oscilloscope The oscilloscope function implemented by the utility software acquires the parameter monitor information which is updated inside the drive in a sequential manner in time series Also its operation system has been designed according to an actual oscilloscope The oscilloscope window consists of a main dialog box a setup dialog box and a waveform display dialog box Aron UTION Compared
41. STEP2 Select System setup register 1 STEP 3 Select a control mode STEP 4 Select a control method with Position control method setting STEP 5 Select a control method with Velocity control method setting STEP 6 Setand register parameters Setting of Other parameters See the table on the next page for the parameters related to auto tuning Change the setup values of the parameters as necessary VU RNING The operation direction of auto tuning is the direction with respect to the position before starting the operation Nonetheless secure sufficient space in the direction as well before starting the operation 0 Aca UTION Make the auto tuning operation width narrower if a sufficient movable range cannot be secured Note however that the weight estimation accuracy may become lower if the auto tuning operation width is made narrower Aw If the auto tuning operation cannot be performed calculate the load weight and enter the value of the load weight directly in the applicable parameter TI 71M02D04 01EN 10th Edition 2012 12 01 6 69 parameters Related to Auto tuning Operation parameter No parameter name Operation range under auto tuning mode Maximum acceleration deceleration time under auto tuning Initial acceleration deceleration time under auto tuning Servo stiffness setup Repetition number for auto tuning Description This parameter specifies the auto tuning op
42. Status display of status register 3 Updates information while the lamp is lit Nr Information to be output to the status register includes each sensor signal to be input to the drive and the signal status of logic I O For more information about a description of each signal see the chapter on Operation TI 71M02D04 01EN 10th Edition 2012 12 01 8 29 8 5 5 Error Monitor As The drive acquires the history of errors that are currently being generated hereafter referred to as status and errors that were generated in the past hereafter referred to as history The drive retains history information retains even if its power is off The drive stores a maximum of 16 statuses and history information If an error number being displayed is selected a detailed description pertaining to that error is displayed However if other dialog function is used update may be stopped once In such a case resume the operation by pressing the START button Switches between status and history information For status display a list of generated errors is displayed For history display the past error history stored is displayed Updates information while the lamp is lit ET Error monitor Chats BORED a ned Te nd E wit START Kind Error This is an area used to display detailed information about the error selected It is useful for troubleshooting If the drive is in the error state two or more error numbers may be
43. TI 71M02DO4 01EN 10th Edition 2012 12 01 3 5 3 3 3 Communication Between a master station and intelligent devices the master station cyclically reads input data from the slave stations and cyclically writes output data to the slave stations Because the specification of the DrvPIll drive is Version 1 10 cyclic transmission is supported e Simultaneity of data The DrvPIll drive communicates with a master unit using bit data of 64 input points 8 bytes and 64 output points 8 bytes and register data of 8 input words and 8 output words when two stations are occupied In these 64 point data the simultaneity of refresh data is not always guaranteed depending on the type of the master unit When using a fieldbus system it is important to take the simultaneity of data into consideration For more detail refer to the instruction manual of the master unit used e Delay in transmission data When transmitting receiving data between a master station and slave stations data delay may occur because of several factors The following lists the possible major factors for delay in transmission data until the instruction information from the master station is reflected in the DrvPIll drive Delay caused by the PLC and or master unit such as the scan time Delay caused by the CC Link bus cycle time e Delay caused by the I O refresh cycle of the DrvPIll drive max 1 ms Transmission speed The DrvPIII drive supports the transmission
44. XE S LL i Boe O02 4 M3 Eg Two pieces on ege 15 Ls Stroke 250 Total slider length 515 the opposite side u l2 39 5 M3 depth 5 36 39 12 OT hole O11 spot facing depth 11 For cable attachment 17 7 is 1 INTERE T C7 Mounting hole for fixed unit A T 3 Mounting 4 MI5 depth 3 9 Ko mo 5 E e bz i i I M T Model L Ls N hole for fixed UA uum zm iy ME unit menn IN 40 690 400 6 2x7 pieces 45 i00PXt 15 1N 060 890 600 8 2x9pieces i L Total motor length Ls 290mm _ 1N 070 990 700 9 2x 10 pieces 800 1N 090 1190 900 11 2x 12 pieces 1N 030 TI 71M02D04 01EN 10th Edition 2012 12 01 2 20 2 5 2 Head amplifier 2 9 4 5 hole 2 5 3 Drive 500 W Class Installation processing dimension FEIERN A IU ai H LO CO a 2 T iS 0 cR j _ qs x MEE aa L 1 e E ea TI 71M02D04 01EN 10th Edition 2012 12 01 2 21 2 5 4 Regenerative resistor O0 80 W Regenerative resistor 2 5 5 Connector Controller Connector Encoder Resolver Connector Connector PCR S36FS made by Honda Tsushin Connector PCR S20FS made by Hond
45. and notifies that the change processing has been complete If the change processing completed normally the drive turns ON the OUT MON A CHNG END or OUT MON B CHNG END signal as well as the OUT MON A CHNG OK or OUT MON B CHNG OK signal If the change processing did not complete normally the OUT MON A CHNG OK or OUT MON B CHNG OK signal stays OFF when the drive turns ON the OUT MON A CHNG END or OUT MON B CHNG END signal IN MON CHNG REQ WN OFF JETON v A Es OUT MON CHNG END T OFF OUT MON CHNG OK When write processing completed normally ON OFF When write processing did not complete normally OFF OUT MON DATA High Low Notify the values corresponding to Notify the values corresponding to parameter monitor numbers parameter monitor numbers before change after change TI 71M02D04 01EN 10th Edition 2012 12 01 6 115 6 10 1 Version V1 50 Additional Function In this section specifications added from V1 50 of firmware for DrvPIll are outlined All of functions below are upper level compatible since these are using reserved storage and mounted DYNASERV and LINEARSERV driven with DrvPIll having older firmware version is possible to be drive with the version V1 50 also 1 Additional Function for Software I O Register Parameter Select and Software Reboot functions are added to Software I O signals These are not configured with hardware I O at default setting Confi
46. change the communication cycle to a slower cycle However in such a case the oscilloscope function cannot be used O0 A Communication Error Occurs while Using the Oscilloscope Function for an Extended Period in Windows 98 Particularly in Windows 98 it seems there is a time contention problem between the power supply monitor interrupt and the communication port interrupt When using the oscilloscope function disable all power supply monitor related functions O0 Waveforms Different from Expected Waveforms were Obtained when the Time Axis was set to a Long Range Especially when the time axis is set to a long range waveforms different from actual waveforms may be obtained especially relating to sampling Always take account of an aliasing problem before using Communication Errors Occur Frequently on a USB RS232C Converter Some converters may not operate correctly in this system In particular failure to receive data occurs with the frequently communicated oscilloscope function Also an error may occur during communication with the drive connected to the COM port of a PC due to the effect of the drive software s in the converter O0 How can I Control the Drive from a PC Using an RS232C 485 Port We have control DLL for this purpose You can create an application that controls multiple drives in Visual Basic from your PC by installing this control DLL For more information contact our Support Desk 0 Installation Failed in
47. estimated inertia value is 20 or less NO YES Does an error occur Set the load inertia to 0 Does the motor oscillate YES NO Lower the servo stiffness until the level at which Increase the setup value of 51 resonance stops Operation range under auto tuning mode If there is a restriction on the motor s operation range iden within the allowed range Increase the auto tuning operation width Set the servo stiffness in 1 Servo stiffness setup Execute auto tuning again NO Does the motor oscillate Take measures against resonance according to the flowchart in Section 7 2 2 Filters Adjust filters TIP If auto tuning cannot be completed normally even if you try the adjustment above it may be suspected that the mechanical rigidity of the system is very low Try to modify the system to increase the mechanical rigidity TI 71M02D04 01EN 10th Edition 2012 12 01 8 1 8 Utility Software This chapter describes the software used to operate the DrvPIll series hereafter called the utility software on a PC 8 1 Introduction 8 1 1 Operating Conditions e Hardware Processor Celeron 300MHz equivalent or higher or Pentium II 500MHz or higher is recommended Memory 64MB minimum Hard disk capacity 10MB minimum Serial port 1 port exclusive e Operating systems Windows 98 Second Edition Windows Me Windows 2000 Profes
48. o9 Flaming operation t Labor Controller side L Serva alf Error reset H After the homing operation is completed 392 Final home able No location from sensor edge is displayed 2 Turn the servo ON Home sensor position adjustment nuBHRHEHERHEHEHEHEHEHEHEEHEE SG Location from edge pulse z SHRERERERERERRRRRERERRERRREHRERERRRRTnununusuunam Target value pulse BER RP RPP RRR PRR RRR Oe If the location from edge value is outside the range of the target value when the homing operation is completed ERR49 1 ALM49 1 home sensor tap position error is generated it becomes necessary to adjust the sensor tap position see Section 6 4 5 5 Adjusting Sensor Tap Installation Position TI 71M02D04 01EN 10th Edition 2012 12 01 6 48 7 Executing Sample Table Data Operation Execute a 90 incremental positioning move using the sample table data table number 7 for table data operation Setting the Amount of Movement STEP 1 Close the Operation window STEP 2 Open the Terminal window from the Control window STEP 3 Check that the following parameter monitor values have not been changed since shipment from the factory in the Terminal window See the table below for the values for each motor model 302 Motor resolution 112 Scaling data ratio denominator on the command unit 113 scaling data ratio numerator on the pulse BY Terminal Sl Td Bem
49. parameter monitor display B OUT MON B CHNG OK monitor display B function in the CC Link interface when using 2 occupied change normal stations s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 12 4 Physical Hard I O Assignment Logic Setting Method Aw KY IO setting Follow the procedure below to change the hard I O assignment Note that it is not allowed to assign the same logic I O signal to several hard I O signals See the next page for the pin numbers of the controller interface corresponding to each block and bit STEP 1 Select I O in Data Management of the utility software to display the I O Setting window STEP 2 Select Physical I O in Type STEP 3 Select IN to change I O inputs in I O and select OUT to change I O outputs STEP 4 Change an assigned signal in the Assigned Logic I O Name field corresponding to the block bit to be changed STEP 5 Change the logic setting as necessary STEP 6 Click the Regist button to register the settings in the drive Note that registration must be performed for each block 2 Select Physical I O j OJIN 3 To assign I O inputs Select IN To assign I O outputs Select OUT La Black Black E zit Regist Type Phpzical 1 0 EI LI ma Bt Assignmentlege l 0 name Assignment logic 1 0
50. s you want to assign to In E 100ms a 19 3 this example bits 10 12 and 16 of status register 1 are assigned to No O top TRIGGER waveform in display No 1 and No 2 MODE EDGE waveforms respectively The bits that are pene HF RISE unchecked are not displayed AS uu AC C FALL 04 If a digitally set channel is set as a trigger source a combo box for setting which the bit to be used as the source is displayed Select a trigger source bit 5 Start 5 eE eee TI 71M02D04 01EN 10th Edition 2012 12 01 Oscilloscope 2003 05 29 13 15 TIME 1 msec DIVv UNIT ADT Offset CH1 20000 CH2 DIGITAL i TRIGGER SOURCE CH2 RISE LEVEL Bit TU Line 1 POSITION 2 GURSOR Hn Te dT 5000 ms 8000 ms 3000 ms B i340 Commanded velocity value ern 6054 T20 320 Status register 41 mem HHL xxx LH wkt LHH 6 A trigger is applied at the rise of the bit set in No O In this example a trigger is applied at the rise of the axis in operation signal 320 bit 10 7 The status of each bit is expressed by 1 H and 0 L while in digital display Pesesocoseocceescossccsososesecosesecococesccocvocesosescceocceosooceccocosccososccesosescsecosececeocescccsocescoosocescecceocoscescosocceososecesosesecescosesecosocescccvececsocescosenceocoscscccocosccesocecescosecececesecceovescccsoceoeocsocceseceoececesceceesecccececoet A maximum of eight bits can be disp
51. 070 08 71 72 080 090 100 150 Relay cable 200 250 300 side Termination option Motor side Cable length Drive type option Drive Cc 2 o 2 o c S E E C o c gt o o 2 um a s S n XX H Y P M c ws TI 71M02D04 01EN 10th Edition 2012 12 01 2 12 Controller Cable Model Suffix code C1P E N N 22 76 020 Controller cable model LE Cable length Drive t E atlas 3 digit display in units of 10 cm minimum 002 20 cm maximum 050 5 m M UM1LG3 See the model name specification code selection table S URLILIGS3 Termination option Controller side 02 Open leads core wire revealed Drive current 76 With DE 9SF N and DE C8 J9 F4 1 made by JAE RS 232C for DOS Always N Cable type Termination option Drive side Always N 22 With DA 15PF N and DA C8 J10 F4 1 made by JAE 42 With PCR S36FS and PCR LS36LA made by Honda Tsushin Kogyo Model and Suffix Code Selection List Suffix code Drive side Description RS 232C cable for CN1 or DOS 2 002 f 006 4 02 010 PLC cable for CN4 022 040 Termination option Controller side c 2 e amp pum o ke rem o rt c o o E Q o 2 gt 2 o 2 O option Cable length o 2 o i LSS T TI 71M02
52. 10th Edition 2012 12 01 6 11 List of Logic I O Contact Output Signals Block 2 Block 3 Logic I O Contact input Abbreviated signal Hans Signal name Block bit c O S Co Q O w O Q H OUT MODE EXE Operating E O Frequently used signals A Signals assigned as necessary No mark Not applicable f gt Oo Description D o O gt O O o i jo O O pa Q O This signal is turned ON while executing table operation Assign this signal when the M function is used It turns ON OUT_M_EN Outputting M code while an M code is output using OUT 0 CODE O E A This signal is turned ON until the power is shut down if homing 3 OUT ORG FINISH Homing completed is completed after turning the power ON This signal turns OFF once until homing is completed if Position settling This signal turns ON when the position deviation is within the 4 OUT_COIN p nae signal range specified by the coin width homing is performed again Block 2 This signal turns OFF when a position command is sent to the motor The positioning signal turns ON when the position settling signal turns ON after the position command is 5 OUT POS Positioni completed if position settling wait is set to valid during table B ositioning signal d ata operation The signal turns ON after 10ms upon the internal command buffer becomes empty for external pulse command Coin wait is always invalid for the extern
53. 4 a a a a a 4 8 a 8 6 e 4 a a a q 8 a L Negative logic Q Positive logic Setting at shipment Remote output RY n P odedideddi bd iud m j Hard I O ogical setting grum ommo momo mo mom A sep ew set es see h mem memedom mmm CC Link interface chip Hard I O assignment 16 or 48 points can be selected Seaeeecrges eegcsgeaeaeaae Se ee eee eeeceets Logic I O contact inputs 48 points Logic I O display and oscilloscope display of the input output signal status Internal drive controller 16 or 48 points can be selected 8 8608 08688 OF FSF OF FSO 8 FS POSSE PSST SPSOSSOPSCSSTSOTSOTSTSOVOSSOV OTTO TST TFS VES TE VEBsFeVEeESseVeBseneRs 8 a CC Link z Qa o pining ssp erature csr apc bs tpt ny va ME N 8 NU e E g Negative logic E a r 8 8 1 2 Remote input gt E oC i 5 RX n g o 5 i amp 8 s tj H 5 S f CPos velogit i Setting at shipment 1 O 7 B g a i O Hard I O E 9 logical setting i Hard I O assignment 6 5 L 6 Internal CPU processing fR DrvPIll Configuration of I O Signals Number of input Number of output points number of blocks points
54. 70 Sel ect accel eration ti ne for offest nove O Accleration ti ne Sel ect offset nove vel oci ty 0 Feeding vel oci ty Decel erati on type i n j og operati on 0 Constant accel erati on Accel eration type i n j og operati on 0 Constant accel erati on Sel ect decel eration tine in jog operation 3 Deceleration ti ne 78 Sel ect accel eration tine in jog operation 3 Acceleration ti ne 78 Sel ect vel oci ty in j og operati on 7 Feeding vel oci ty 7 100 Vari abl e O Mn B Max Initial O Uni t 101 Vari able 1 Mn Max Initial O0 Uni t 102 Vari abl e 2 Mn Max Initial O0 Uni t Syst enReg3 Vari abl eO Vari abl e1 Vari abl e2 OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 21 103 Vari able 3 Mn Vari abl e3 Dec Max Initial 0 Uni t 104 Vari able 4 Mn Vari abl e4 Dec Max Initial 0 Uni t 105 Vari able 5 Mn Vari abl e5 Dec Max Initial 0 Uni t 106 Vari abl e 6 M n Vari abl e6 Dec Max Initial 0 Unit 107 Vari abl e 7 Mn Vari abl e7 Dec Max Initial 0 Unit
55. 8 Tandem communication error 19 2 communication cable Remov the cause of the noise Power module error Servo OFF Check the main power supply Regenerati voltage level on error Verify that the motor is not Over voltage output rotated by an external force High ambient temperature and Temperature 150 C or more high current duty Control current 12 5V or less The GND of the motor cable is IPM fault Over current 27A or more at 500W Sus wrongly wired to one of phase 54A or more at 2kW 5us A B or C Output short circuited Verify that the motor is not With 1msec chattering process rotated at a high velocity by an 20 2 i servo OFF external m i The GND of the motor cable is Detection level 15A at 500 W 1us E er toone ok phase 45A at 2kW 1us i Verify that the motor is not With 1msec chattering process rotated at a high velocity by an external force Over voltage level lt main line voltage value Current transformer Possible detection Error setup Low voltage servo OFF level lt main line voltage register 1 value lt low voltage level dependent Check the main power supply bits 7 to4 voltage level Low voltage Low voltage servo OFF Main line voltage value lt low voltage servo OFF level l level Phases A and B actual current vector lengths after bandwidth 10 Hz filter processing Servo OFF rth exceeded 110 of the maximum motor current O Itis necessary to repair the ME v T driv
56. A Be sure there is no mechanical interference with the motor the motor may move up to about 40 mm Check the wiring encoder cable and motor cable if the motor begins to vibrate or oscillate during auto tuning The motor may vibrate if it is installed on a platform that is not rigid enough or if the motor is not securely fixed as well 5 Jog Move STEP 1 Select the Jog tab from the Operation window Click the Servo ON button to turn the servo ON if it was turned OFF STEP 2 Execute jog move using the direction direction and Stop buttons B Operation Exit Controller side L Servo ott Error rezet H Direction of motor movement vw At the time of shipment from the factory the direction of motor movement is set so that the plus direction corresponds to direction A and the minus direction corresponds to direction B TI 71M02D04 01EN 10th Edition 2012 12 01 6 47 6 Homing O0 Checking On Off Status of the Home sensor STEP 1 Select Axis signal monitor from Display of the utility software and start the monitor by clicking the START button STEP 2 Turn the servo OFF if it was turned ON servo ready STEP 3 Move the motor manually and check Z pulse status of the Axis signal monitor window Check that the indicator turns ON when the home sensor is within the designated area If the sensor is not properly connected it is turned ON regardless of the position of the motor
57. A dedicated DLL is required for control from a PC Operation Display Panel A separately sold device that is connected to the drive which displays edits parameters and issues commands TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 7 UP OR Operation Display Pendant A separately sold device that is connected to the drive which displays edits parameters and issues commands It has the backup restore function Operation Privilege A right to issue major commands Available on the PLC interface side or RS232C interface side ORG Origin proximity signal Outer Rotor Mechanism A mechanism that rotates the outer part of the motor A load can be installed directly Parameter Reflected at Power On See Machine Setting Parameter Parameter Setting Value Generally parameter values set up on the drive s internal RAM example 100 The operation of the drive is determined based on these parameter values Physical Hard I O I O actually mounted to the drive physical I O Physical Hard I O Logical Setting Setting regarding whether I O input output is positive logic internally ON when a I O is ON or negative logic internally OFF when a I O is OFF PLC Programmable logic controller generally called the sequencer Yokogawa offers the FA M3 range free controller Position Command Differential Value Difference among position command values per sampling cycle 1msec Product Dependency The initial value of a p
58. Axis conmand uni t SposM n Dec 392 Fi nal hone ocati on f romsensor edge Uni t pul se CQrgNeasure Dec ndi cates the di stance between hone posi ti on and edge of hone sensor acti ve regi on neasured duri ng honnng operati on Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x2 8 393 Test operation noni tor Uni t pul se TstRspns Dec Indi cates driveis in test operati on Test operati on wave which is equi val ent to the real wave on the oscilloscope is displayed on the oscilloscope of the utility tool in the support softvare 394 Vel oci ty control proportional gain Uni t digit Vel PGii n Dec ndi cates the vel ocity control proportional gai n deci nal point 12 bits OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 Appendix 3 1 _ Details of Main Error Codes Action Error sad Name Sn Recovery Cause and condition detected taken at Countermeasure occurrence Memory error Initial Cycle the power Not processing an uploading has been possible An error was detected during memory check nat complete initialize the drive It is necessary to repair the completed drive board Contact I O or CC Link O It is necessary to repair the Contact I O or CC Link It failed during the EN inter
59. Command By using the command function it is possible to execute some of the commands that can be issued from the serial interface see Section 8 4 2 for the explanation about the commands 1 How to Set Command This function is set using the utility software Select the command in Code in the Table setup window and specify necessary items Select the command b Table zaimp Ma 10 Code m awd EPEE r hi function aia ha duc parade ierat Coin saing meer Coniinue Vaid Meg table Ho 11 AES postoring rA eid Select a command code Nothing is displayed for a command that has no argument specified in operation data 1 mm TI 71M02DO04 01EN 10th Edition 2012 12 01 6 100 2 Details of Commands Home Offset Position Setting The home offset position setup command is used to automatically calculate the value of parameter 56 homing amount of home offset movement in such a way that the current motor position is set as the position after the completion of subsequent homing operations The value of 56 parameter is at this point set to the following value 56 Actual position value in command units value set in 56 It has the same function as the 910 comma
60. Dedicated digital monitor terminals DM1 and DM2 on the analog monitor card DM series Motors built in with an optical encoder Download Writing data from an upper device PC operation display pendant to the drive DR series Motors built in with a magnetic encoder resolver TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 4 OE OF 0 G OH Ol EEPROM Nonvolatile memory built in the drive that stores mechanical data and user data There is a limit on the number of times it can be rewritten Encoder Resolution Number of pulses output from the encoder when the motor makes one rotation EOT EOT signal there are hardware EOT and software EOT Error An abnormality whose level is higher that an alarm Errors are classified by error number For some errors the behavior of the motor after an error occurrence can be defined using the error setup register Filter A function to remove unwanted signal components from signals Firmware A program code of the CPU in the drive Function Key General purpose keys on the operation display pendant The functions of these keys change depending on the screen displayed Heat Sink Radiating fins on the side of the drive Equipped only on 2kW drives HEX Hexadecimal Hexadecimal Code A numerical code in hexadecimal notation Hollow Hole Structure A motor structure in which a hollow hole is provided in the center of the motor axis so that piping a wiring shaft and b
61. File menu The language set here is used at the next startup The language switching is possible only if it is done before executing Connect with the drive Execute Disconnect first before switching the display language O0 Operation Mode Setting It is possible to set motorless operation or main powerless operation that uses the emulation function in the drive It is possible to check parameters table operation and other operations using only the drive without actually connecting the motor together with the oscilloscope function provided The unit of virtual load to be set is 1 1000kgm for a rotary motor and 1 1000kg for a linear motor If the drive has already reconnected the utility software in the motorless operating state it starts as the motorless operating state Once a motorless operation is set the emulation state is maintained until the power to the drive s main unit is cycled Aw RNING If main powerless operation is executed the main power supply error detection function will not work Be sure to check that the main power supply voltage exceeding the rating is not input before operating Motorless operation selection Main powerless operation selection E1 Simulation mode Ea With Without without Cal load Apply Virtual load setting during motorless operation TI 71M02D04 01EN 10th Edition 2012 12 01 8 4 Details of the Operation Group Function This section mainly describes the Oper
62. Gain setup range 3 07V VS 2 raised to the nth power 8 lt n lt 24 Maximum output 4 8V These signals output selected AW it parameter monitor values 0 to AM1 NE E 4427 as analog voltage signals using the utility software Gain setup range Analog monitor CN3 3 3 07V VS 2 raised to the nth 2 power 8 n x24 Maximum output 4 8V Digital monitor 1 CN3 4 g m Output voltage These signals select P parameter monitor values 0 to If the value is 1 Approx 5V 427 and bit b d ou oe If the value is 0 Approx OV an Sey ee Scere Digital monitor 2 CN3 5 as digital voltage signals commancga CN3 6 Maximam current 4 3V current value signal monitoring TI 71M02D04 01EN 10th Edition 2012 12 01 6 108 1 Parameter Setting STEP 1 Select the Zparameter from Data Management in the utility software STEP 2 Select the Signal Monitor Terminal tab and select a terminal whose setting you want to change STEP 3 Select a monitor signal STEP 4 Adjust the monitor gain except for digital monitor signals At this point the output range relative to the gain setting is displayed STEP 5 Click the Regist button m Parameter setting E Register parameter Function parameter Sermo tuning Signal monitor Exit ONNENEEEEEEEEHEHEEEEHEEEHEEHEEQ s Regist Upload Velocity monitor Velocity mpu a ana eee Parameter list Select monitor Veloci
63. O are internally managed in 8 bit units each of which is called a block I O settings are also performed in block units Branching To branch Table operation condition branching TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 3 OC 0 D Bus Voltage Main power supply voltage after rectification CC Link Open network standard fieldbus CCW Counterclockwise Counterclockwise direction when the motor is viewed from the load mounting plane Chattering Processing In this document it refers to the processing to give hysteresis for eliminating unnecessary ON OFF when generating a position settling signal The number of processing to be performed can be set up using a parameter COIN Coincidence signal position settling signal A signal that is output when the motor is within the coin window that has been set up Coin Waiting In motor operation this refers to a wait until the motor is positioned within the coin window before moving to the next operation upon completion of a position command Control Power Supply A power supply for the control board Current Transformer A transformer built in the power module for detecting current It monitors the current of the bus CW Clockwise Clockwise direction when the motor is viewed from the load mounting plane DEC Decimal Decimal Code A numerical code in decimal notation Digit Unit of calculations used by firmware inside the drive Digital Monitor Terminal
64. Regist Code ABs positioning M function Invalid v M func parallel Invalid M Coin waiting Invalid M 4 Set operation data Continue Invalid X Next table 0004 Table data Coin window Select acceleration time Select deceleration time Select acceleration type Select deceleration type Select velocity 90 Coin width 0 5 Regist 0100 72 Acceleration time 0 76 Deceleration time 0 Constant acceleration Constant acceleration 64 Feeding velocity 0 1000 Regist 1000 Regist 851968 Regist Optional move direction for rotation coordinate Type Short cut 5 Register table data Tisi Ed Ec oec Ls Direct or indirect Indirect Table datal 00000064 Type Parameter Parameter No 100 Variable 0 6 Set Zparameters Table setting window Use this window to select an table register set a code and register the table data 7 Setting completed End setting mm TI 71M02DO04 01EN 10th Edition 2012 12 01 6 58 STEP 1 Checking the coordinate system setting Check that the three setting items related to the coordinate system to be used selection of rotation coordinate system linear coordinate system rota
65. STEP 4 Stop the monitor by clicking the STOP button ET Axis sienal monitor Status register 1 Statue register 2 2 Error code main Q Pos hardware EOT limit active E TEES Meg hardware EOT limit active cs 43 Home sensor active m BHEHBHEHEHEHEEHEHEEEG e puo PEP a m u e O Area signal 1 status Lane sus Area signal D status override select Coinino position error stat Dwell active OQ M function executing Drive operation active The home sensor status is monitored The indicator turns green when homing operation is completed Jog operation active 2 Position control select Axis operation active Velocity control select Servo ready D 2 pulse status Driver ready Q Over speed status Q Serial l F select for operation device QV Overload status Excessive position error Commanded position pulses overflows Excessive regeneration Excessive AC mains voltage Q AD mains voltage out of range Status register 3 O M function Ma O Operation T able No 0 Operation code Executing Homing Operation STEP 1 Select the Homing operation tab in the Operation window STEP 2 Turn the servo ON if it was turned OFF by clicking the Servo ON button STEP 3 Execute the homing operation by clicking the Drive button B Operation T able operation JOG Auto tuning operation Te 3 Execute the homing operation
66. TN Connect a terminators only at the ends of the network 8 SW L Connector DA 15PF N made by JAE Housing DA C8 J10 F4 1 made by JAE Aa RNING Do not connect any line to pins that are not specified Wrong connections may cause the drive and or PC to breakdown TI 71M02D04 01EN 10th Edition 2012 12 01 5 7 Encoder Resolver Connector lt CN2 gt 10 Case ground 1 Insertion surface shielded cable 123 Connector PCR S20FS r made by Honda Tsushin Kogyo 12 13 20 Housing PCR LS20LA1 Soldered surface made by Honda Tsushin Kogyo Drive side lt CN2 gt Head amplifier side lt CN6 gt Cable Specifications opecification AWG 24 0 2mm twisted pair cable with a common shield external diameter 29mm or less length 10m or less Optional cableC1E MALI 7979 LILIL
67. a preliminary movement carried out before performing step 4 the first home detection movement The motor is moved in direction A until it passes the home sensor area regardless of the setting of the parameter for determining the coordinate system s forward direction If the home sensor is at the edge of the movable range in direction A it is possible to avoid performing this operation and prevent the motor from moving in direction A upon detection of the motor proximity signal by setting Select home sensor inside to Outside STEP 4 First home detection movement The motor moves in direction B until it detects the rising edge of the Z pulse regardless of the setting of the parameter for determining the coordinate system s forward direction If Select home sensor inside is set to Inside with table data The motor stops upon detection of the rising edge of the first Z pulse after the motor enters the ON area of the home sensor If Select home sensor inside is set to Outside with table data The motor stops upon detection of the rising edge of the first Z pulse after the motor leaves the ON area of the home sensor in direction B STEP 5 Second and onward home detection movement preliminary movement The motor moves in direction A for the amount set in 55 Overshoot distance in homing operation relative to the Z pulse edge STEP 6 Second and onward home detection movement Z pulse edge search movement The motor is moved in direction B
68. anal og noni tor card opti onal Sel ects itemto be output to the digital nonitor 1 Specify the paranter nonitor nunter and bit nunter to be obser ved Bt 16 8 Paraneter noni tor nunter Bt 4 0 Bt nunber Initial value State when H00014010 820 bit16 is sel ected 37 Ogital nonitor sel ect 72 Mn D Mon2Sel Hex Max Initial depend on nator dri ver type Ui t Thi s paraneter is used for nani tori ng signals by the anal og nonitor card opti onal Sel ects i temto be output to the digital nonitor 2 Specify the paranter nonitor nunter and bit nunter to be obser ved Bt 16 8 Paraneter noni tor nunter Bt 4 0 Bt nunber Initial value State when H90014000A 3820 bit10 is sel ect ed Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 9 38 Error process setup register 1 Mn Error Regl Hex Max a Initial depend on nator dri ver type Uni t Defines settings for valid invalid and error treatnent when an error occurs in the foll owng list The top bit is to set valid invalid and the last 3 bits represent error processi ng code in each area Invalid setti ng is unavail abl e for excessi ve posi ti on conmand differential error Invalid setti ng 0 is not effecti ve Val i d I nval i d setti ng bit 0 Invalid l Valid Error processi ng code 0 Servo CN sustai ni ng after decel eration and stop 1 Servo F after decel eration and stop 2 Servo CN sustai nni g after i nmedi ate stop 3
69. bela sus aeta da UU ad 8 28 699 ENO MONIO 2 xk Seine 8 29 8 6 Details of the Data Management Group FUNCTION ccccccseeceeeeeeeeeeeeeeeesaeeeeeseeeeeeeeaeeeeesnaeeees 8 30 9h DaltdrlHelels sse tium A MM I MM M IC M ose aes eee 8 30 906 2 Table Data FUlcllorlcs iieschan abo de dtd ieee lt ui ubt bile obi idc nc ite rnit adit 8 34 9 0 9 TOL iex E iu IM ME A aM M MM LM E IDE ME 8 35 8 7 Details of the Maintenance Group Function cc eecccceeccceeececeeeecaeececeeeeeeeecesseseesseeceseneeesaeees 8 37 8 7 1 parameter Maintenance cccccccccceececceececeeseeceeeeeceeeeeceaceseueeeseueessaeeessaeeessueeesageesseas 8 37 8 7 2 Table Data Maintenance cccccsccccesccceeeecseecesceceuceseueecaeecauecsseeeeeecsueesseessaeesseeessaeess 8 38 9 5 9 TWOXM lhtendfiCe s sei corri Dou a ae lesen stile sedan fuae did olo saciat tesa direi Luce tO Needs lasaces 8 39 Wa ail edUote cc A 8 40 9 5 5 Version IBfortmallO s uico coole aono eoi A so iiu Cuba enla x elus a 8 41 8 8 FAQ Pertaining to the Utility Software eeesseeeseseeeeeeeeee nnne nnnm 8 42 9 Maintenance and InsDecllODn uoo iemis cowarecarderceviwerthdein dewecsnvocuiaveivosthdwieewenvuraringendieversulioeuiverunenen 9 1 Sais sally MSPS CUO et rr NEN 9 1 9 2 Backup and Restore Operations of User Data ccccccccccceccccsseeeceeeeeeeeeeeeeesseesesseeeesee
70. burns out in case of over voltage errors and regeneration errors Example of power supply sequence circuit sjal aml Power Circuit 2S e CN OF NC d Line filter Keep the ON switch in the ON status until the drive enters the RDY status 111 TI 71M02D04 01EN 10th Edition 2012 12 01 5 5 5 3 Motor Terminal Ground TB2 Yokogawa s motor cables are twisted pair cables with a common shield with the motor ground cable The shield is connected to the ground by connecting the motor ground cable to the ground terminal If you provide your own cable make sure to connect the shield to the ground terminal Connect the ground cable and motor 200 230VAC ground cable to one terminal and the shield to another terminal ere separately Connector 231 203 206 000 Insulation stripping length 8 mm made by WAGO Motor cable Red 500W class AWG 20 White ____ FSS Black _ CESS Ground AWG 14 Terminal on Motor Side lt CN8 gt Housing 172167 1 or 172338 1 made by AMP Terminal 170366 3 made by AMP Manual tool 755331 1 made by AMP Cable Specifications opecification AWG 20 0 5mm or more length 10 m or less Optional cable C1M NA1 2061 LILIE Motor AWG 14 2 0mm or more Use as thick a cable as possible Ground Class 3 ground ground resistance 1000
71. correct settings When you perform auto tuning the obtained E Parameter settine load inertia moment value is displayed Tt m mr j Filter setup Integral limit recalculation Riegist Upload r eee eee eee HParameter list E a 000 Load inertia Load mass 0 J z T H001 Servo stiffness setup 3 HMonitor list Regist Velocity control parameter 002 Velocity control bandwidth 1 20 003 Velocity control bandwidth 2 20 Position control parameter 008 Position control bandwidth 1 1 009 Position contral bandwidth 2 1 010 Integral time for position control fF 10000 011 Integral time for position contral 10000 Er 2 Position integral limiting value 1 10000 Er 3 Position integral limiting value 2 10000 Foc Cee ed l L1 TI 71M02D04 01EN 10th Edition 2012 12 01 6 71 6 4 4 Test Operation It is possible to observe step response characteristics by performing a test operation When you perform the test operation a rectangular wave shaped position command signal with a frequency of 2 5Hz is issued to be used for adjusting the control part Observe the waveform with parameter 393 Test operation monitor using the oscilloscope function of the utility software During the test operation position feed forward velocity feed forward and acceleration feed forward are internally set to O Settling wait is not performed at the end of the test operation Oscilloscope 200370972
72. currently being set in the drive and performs restore operation using the file saved Backup This group function backs up all user data data whose settings can be changed by users that is currently being set in the drive and performs batch restore operation using the file saved Version information The connected drive information contact information and other information are displayed TI 71M02D04 01EN 10th Edition 2012 12 01 8 7 8 3 Required Settings Prior to Connecting Perform the basic settings of the utility software according to the actual operating environment before connecting to the drive The previous settings are used when the utility software is started again from the second time on so there is no need for setting up the utility software again 8 3 1 Connecting and Reconnecting The status where the utility software and corresponding drive are connected via host communication is called Connected state The communication status between the utility software and the drive is always monitored in order to improve reliability Therefore to use this utility software start with Connect and end with Disconnect after completing an operation Disconnect is automatically executed when the utility software is closed so it is not necessary to select it If the power is cycled after the power to the drive side is disconnected when using the utility software or if the communication cable is disconnected Connec
73. dirt and so forth from the surface on which the motor unit is mounted and then place the motor unit on it carefully Tighten the motor unit mounting bolts in the order from the center to both sides following the mounting surface If the order of tightening the bolts is inappropriate or the bolts are tightened excessively the motor unit may become deformed and accuracy may be impaired Stopper and Shock Absorption The stopper in the motor is not intended to absorb impact during operation If the stopper is subjected to shock when mounting a load the LINEARSERV and connected devices may be damaged or broken Carefully mount an external safety stopper impact absorbing mechanism or similar device in order to avoid impact while the motor is operating stopped or in transit Please prepare separate equipment for protection safety procedures such as a stopper and shock absorber Fixing Cables on the Slider There are power and encoder cables exiting the connector parts at two places on the slider During installation fix the cables on the slider s side surface Screw holes for that purpose are located on the slider s side surface See the figure below in the case of lt LM105 gt where cables are taken out to the right or see the external appearance diagram for other models The connectors in the slider are for connecting the power cable and encoder cable Prepare a fixture on the load side for the cables connected to the con
74. du xt E EZ 2 T8 2 d 3 11 6 x5x10 7 P 7 x8x10 7 5 x8x10 20 57 3 2 In the case of 500 W input and 230 VAC 2 2 2 Li _ fp ty ip Xt tps Xi 2 230 3 2 2 24 4 x5x10 9 x8x10 5 x5x10 4 4 38 3 2 In the case of 2k W input and 115 VAC 2 2 2 i _ Lp Xf in Xf Ip Xt 2 115 3 17 8 x5x10 10 5 x8x10 9 x7x10 ai 25 3 2 In the case of 2k W input and 230 VAC 2 2 2 Li _ fp Xf In Xi Ip XL 2 230 3 gt 7 41 6 x5x10 2L x8x10 17 x7x10 MEE EEG EE qM ED ML TI 71M02D04 01EN 10th Edition 2012 12 01 6 1 6 Operation 6 1 Common Basic Functions 6 1 1 I O Signals 1 Configuration of I O Contact Signals O0 In the case of Contact I O Interface The contact I O signals on CN4 are called physical hard I O consisting of 12 inputs and 6 outputs When shipped from the factory hard I O is assigned as shown in O Hard I O Assignment Default Settings in 6 1 1 4 Physical Hard I O Assignment Logic Setting Method Hard I O can be assigned from any virtual logic contact signal called logic I O 48 contact inputs and 32 contact outputs using the hard I O assignment function mw ww we ww ww ww ww www www ww ww ww ww ww www ww mw wm o o mm o o ii o ia i Bw o LD v Negative logic COMP E i a gt S 2 g I O input signals s jm 2 12 points Positive logic 2a Setting at shipmen
75. ent Unit di gi t rps di gi t nps Vel Sense Dec ndi cates the vel oci ty uni t conversi on coeffi ci ent Thi s nani tor val ue converts fromthe internal value of the velocity digits to rps or nps 304 Maxi numnotor vel oci ty Unit pul se sec Wnax p s Dec ndi cates the naxi numvel oci ty based upon the nechani cal li nnt of the notor dri ve conti nati on 305 User defi ned naxi numvel oci ty Unit Axi s conmand uni t sec Vnax Dec This is defi ned as the snaller val ue between nechani cal linnt of the notor dri ve condi nati on converted to axi s conmand uni t sec and the naxi numvel oci ty li nnt paraneter axi s conmand uni t sec set in user setting node The conmanded positi on velocity is li nited by the lesser of the two values Vien executing a trapezoi dal nati on profile equal accel eration and decel eration ranps in operati on node the accel erati on decel eration ti ne depends on the accel erati ory decel erati on paraneters feed velocity paraneter and the esser of naxi numvel oci ty paraneters A conmanded vel oci ty exceedi ng the nechani cal li nat of the notor dri ve conti nati on i s prohi bi ted Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x2 2 306 Z pul se i nterval Unit pul se Zer oPi tch Dec ndi cates the nunber of encoder pulses contai ned wthin one Z pulse wath 307 Rated vel oci ty Uni t Axi s conmand uni t sec Wate Dec ndi cates the rated vel oci
76. ere 85 From edge surface of moving part Wiring connector Made by AMP 4 pole 12 pole 155 60 From edge 190 Total slider length 9 l 5 M3 depth 5 For cable attechment nt c0 PS IP P em zi B itil an EE IRL OI A Stopper mo T C80 Total motor length __ 2T hole 211 spot facing depth 9 4 Mounting hole for fixed unit Length of stroke 150 mm 4 M8 depth 10 Moving part mounting tap 125 og 180 Slider width 3 From edge surface of moving part bo Wiring connector Made by AMP 4 pole 12 pole 180 stroke 190 _ Total slider length 5 e0 eo le Stopper 360 Total motor length Moving part mounting tap aD Length of stroke 100 mm 4 M8 depth 10 125 30 surface of moving part 4 M3 depth3 5 5 r Re o S o ce Wiring connector L Made by AMP 4 pole 12 pole jn 3 515 55 Stoke wi __190 Total slider length 9 Ie eb 5 M3 depth 5 en Lt nt or cable attachment 7 7 yuo pcr de EL L E Stopper J 2T hole 211 spot facing depth 9 J 65 g 4 Monum Role for fixed unit s 200 65 330 Total motor length Sensor mounting position diagram common to all models 1 Outside sensors 2 Ins
77. error Excessive detection error Excessive velocity at detection SIGO 1X signal error SIGO NX signal error Linear coordinate range error Encoder error SIGO edge disengaged SIG1 edge disengaged SIGO cycle error SIG1 cycle error Coordinate system error A Eccentric compensation error Coordinate system error B Outside of command coordinate area 15 1 16 1 17 2 Not possible Not possible Not possible Possible Action taken at occurrence Cause and condition detected Abnormal absolute position signal was detected Inappropriate configuration matching with motor Motor moves when the power was turned on Abnormal resolver signal was detected Abnormal resolver signal was detected Initial Contact failure or damage of connector processing Breaking of wire not Irruption of noise into encoder resolver cable completed Malfunction of motor Malfunction of drive Motor position when the power is turned on was out of coordination range set by 116 Limit of absolute linear coordination 1 and 117 Limit of absolute linear coordination 2 An error was detected in an encoder resolver signal O Contact failure or breakdown of a connector O Cable disconnection ONoise is generated in an encoder resolver cable O A problem inside the motor O A problem in the drive Check the conductivity of the cable by using a tester The contact area must not be deformed or damaged S
78. incremental positioning e0 Test operation cannot be change Dwell 0 msec cannot be changed Note See Appendix for the detailed explanation of the sample programs LSS c SS MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 56 1 I O Signals to be Used The I O signals for table data operation are used to give instructions via the controller interface If signals have not been assigned assign them with the hard I O assignment function as needed To operate via the serial interface proceed to 2 Table Data Setting Procedure IN SERVO a Output OUT O CODE 5 Code output 5 TI 71M02D04 01EN 10th Edition 2012 12 01 6 57 2 Table Data Setting Procedure Start setting 1 Check the coordinate system setting E Table setup N Code Mun Mtuncpar Coin Conti Nest table Ext 000 Test operation m ined inven Invalid 001 Auto tuning operation Invalid Invalid Invalid Invalid Edit 002 Dwelling Invalid Invalid Invalid Invalid Tab 003 Homing operation Invalid Invalid Invalid level able copy 2 Select a table number 004 Parameter change Invalid Invalid Invalid COLS S NN NS SR NT ST UT E Table paste 006 Parameter change Invalid Invalid Invalid Valid O07 INC positioning Invalid Invalid Invalid Invalid Table delete Table number setting window 3 Set an operation register pJ Table setup Table register
79. is selected for Enable home sensor Always performed Always performed Repeated for the number of times set by 58 Z Pulse sensing iterations during homing Always performed Performed if the amount of home offset movement is different from 0 The motor decelerates and stops after detecting the hardware EOT signal The motor decelerates and stops after detecting the home sensor signal Depends on parameter homing select home sensor inside Inside The motor decelerates and stops after moving outward from the home sensor area Outside The motor performs step 4 without stopping after passing through the home sensor area The motor searches for the rising edge of the Z pulse and decelerates and stops The motor moves in the B direction from the home position for the amount set in 55 overshoot and decelerates and stops The motor searches for the rising edge of the Z pulse and decelerates and stops The motor stops after moving to the home position The motor moves to the offset coordinate position set in 56 Opposite to the homing direction set in table data Homing direction set in table data Depends on parameter homing select home sensor inside Inside A direction Outside B direction B direction cannot be changed A direction cannot be changed B direction cannot be changed Home direction 56 gt 0 Forward d
80. not satisfy the following expressions In case an error or alarm is generated adjust the home sensor dog position and perform the homing movement again and repeat the operations until the homing operation is completed normally 1892 1892 le gt 4 4392 homing measurement value Unit Encoder resolution pulses OF CN OF Home proximity sensor yt LJ LILALI LILI LA LIL LL LL Z pulse OF Direction A Home edge when Honie edge when Direction B gt Inside is selected for homing Outside is selected for homing Software Z pulse 392 value lt 0 05 x 306 value Error error code 49 1 0 05 x 306 value lt 392 value lt _ 0 1 x 306 value Alarm 0 1 x 306 value lt 392 value lt 0 4x 306 value Normal 0 4 x 306 value lt 392 value lt 0 45 x 306 value Alarm 0 45 x 306 value lt 392 value Error error code 49 1 l 3 l Normal range of 392 Final Drive resolution Z pulse interval home location from sensor edge 0 5 um 8192 819 3276 0 25 um 8182 819 3276 0 05 um 40960 4096 16384 LSS c SS MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 85 Nr If a home dog position error alarm is generated it is recommended to adjust the dog position to within the normal range even though this alarm status does not affect the homing accuracy In the alarm status the homing result display indicator lamp on the Operation win
81. off 0 1mA Or less Positive logic The output transistor switches on when the conditions for the signal are satisfied Example OUT SRDY The output transistor switches on when the servo is ready Contact input DI Oto DI 11 Interface suffix ae A code Rated voltage 12 24VDC 5VDC J 10 10 Rated input 4 1mA at 12VDC Sama at ZADO 40MA at VDC Vcc 3 0kQ 1 0kQ Operating voltage ON 9 0VDC or more ON 4 0VDC or more relative to COMP OFF 3 0VDC or less OFF 1 0VDC or less Allowable Guarantee off at 1 0mA or less leakage current Positive logic Current is conducted into the input photo coupler when the conditions for the signal are satisfied Example IN SERVO Current is conducted into the photo coupler when the servo is turned on 12 24V specification 2 7 KQ 5V specification 1 kQ TI 71M02D04 01EN 10th Edition 2012 12 01 5 18 ZERO Pulse Output Specification Z OUT Connect a differential line receiver equivalent to the AM26L S32 that conforms to the RS422A standard Output is on when the positive terminal has a higher voltage than the negative terminal Connection Example Controller 12 24VDC Photo coupler contact etc ul ul Lal uuu Lel uibus Lal Lal La i Photo coupler relay etc 127 24VDC AM26LS32 equivalent AM26L S31 Controller Drive COMP1 PS2805 or equivalent 470 Tur frh E k EN repr Lg llli d y EIN al
82. on val ue 359 ifferenti al val ue of conmanded nator linear coordi nate Uii t kpul se sec M D f f Pcnd Dec ndi cates the differenti al value of the conmanded notor linear coordi nate val ue sanpling per 1 nsec 360 Actual differential value of nator li near coordi nate Uni t kpul se sec MD ffPfb Dec I ndi cates the differential value of actual nator linear coordi nate val ue sanpl i ng per 1nsec Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x2 6 361 Actual differential value of notor linear coordi nate post fil tering Uni t kpul se sec M Li f f Pf bF Dec ndi cates the actual differential value of notor s li near coordi nate whi ch has been conpensated for eccentricity after filtering actual positi on val ue 362 Second differential value of notor li near coordi nate conmand Unit Moul se sec 2 M D f 2Pcnd Dec ndi cates the second differential val ue of nator linear coordi nate conmand val ue sanpling per 1nsec 370 Conmanded posi ti on val ue pul se Uni t pul se Pcnal p ndi cates the conmanded posi ti on val ue i n pul ses 371 Actual positi on val ue pul se Ui t pul se Pf bf p Dec ndi cates the actual positi on value in pul ses 372 Posi ti on error pul se Unit pul se Perr p Dec ndi cate the position error in pulses 373 Actual position differential val ue pul se Unit kpul se sec i ff Pf b Dec ndi cates the actual positi on diffe
83. parameter No 100 100 101 1 Substitutes the calculation results of a referenced value 101 and numeric value for parameter No 100 100 101 102 Substitutes the calculation results of two referenced values for parameter No 100 already written Operators that can be used Addition subtraction multiplication division reminder at division bit AND amp bit OR Reply Character String Format The reply character string consists of the following Reply character string Header Prompt Argument 1 Argument 2 Argument dm 1 space character The reply character string is classified into the following Header Normal reply character string for a transmission character string The number of arguments changes according to the reply content ERR OO Reply character string when an error warning rror alarm EROS d p occurs with respect to a transmission code main MOV AAMA COC qt character string eal SEE Arguments do not always exist Note Argument representation method in section for general replies No argument Decimal notation character string Binary notation 8 digits 16 digits 32 digits Hexadecimal notation 2 digits 4 digits 8 digits Character string Other than the above character string etc No of Argument General representation method arguments See Note NOTUUOO Examples of reply c
84. rotati on 1 Ow 0 0 li near Right si de Sel ect posi ti on control node I P Sel ect vel oci ty control node Proporti onal 111 Maxi numvel oci ty i nnt Updated on power cycle Mn 1 Vnax Dec Max 32000000 Initial depend on nator dri ver type Uni t Axi s conmand uni t sec Speci fi es the naxi numvel oci ty the dri ve can nove the nator in units sec This val ue mist be l ess than or equal to the naxi numnechani cal speed of the nator in rev sec rotary nator or neters sec linear notor Therefore the conmand units units sec nast be converted to rps or nps to verify this paraneter neets this requi renent This naxi numvel oci ty value is di spl ayed usi ng noni tor 805 Initial value Approxi natel y equal to the rated nator vel ocity Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 24 112 Scal i ng data rati o denonnnator on the conmand uni t Updated on power cycle Mn 10000 Scal eUni t Dec Max 99999999 Initial depend on nator dri ver type Unit Axi s conmand uni t Speci fi es the scale factor denonnnator to convert the units of axis rel ated paraneters in pulses to user defi nabl e units axi s conmand units The val ue specified is equi val ent to the axis scaling data on the pul se paraneter If the rotary coordi nate systemis sel ected this paraneter is set to the nunber of units in one rotation of the axi s conmand coordi nate system For exanpl e Ex Rotation G rcunfierence nhc
85. sets the parameter monitor number when IN MON A PRM NO p pay changing parameter monitor to be read with the parameter monitor number parameter monitor display A function V oavmeterdmont rdispaelB This signal sets the parameter monitor number when 5 IN MON B PRM NO Gouge changing parameter monitor to be read with the parameter monitor number parameter monitor display B function Soft register output list OUT_RD_PRM_DATA parameter monitor read This signal outputs data lower 16 bits read with the Low Read data lower parameter monitor function OUT RD PRM DATA _ parameter monitor read This signal outputs data upper 16 bits read with the High Read data upper parameter monitor read function This signal outputs the current error code with the error OUT ERR CODE Error code code acquisition function The main code and subcode are output to the upper 8 bits and lower 8 bits respectively A OUT MON A PRM DA parameter monitor display A This signal outputs data lower 16 bits read with the TA Low Read data lower parameter monitor display A function 5 OUT MON A PRM DA parameter monitor display A This signal outputs data upper 16 bits read with the TA High Read data upper parameter monitor display A function OUT MON B PRM DA parameter monitor display B This signal outputs data lower 16 bits read with the TA Low Read data lower parameter monitor display B function 7 OU
86. setting Initial depend on nator dri ver type Unit Axi s conmand uni t sec This paraneter is used for table and j og operati ons Speci fi es the feeding vel oci ty 76 Initial value Approxi natel y equal to the rated nator vel oci ty Maxi numval ue Val ue of the User defi ned naxi numvel oci ty OI NN 8th Edi ti on 2007 01 10 00 Tl 71M92D04 01E appendi x1 16 71 Feedi ng Vel oci ty 7 Mn 1 FeedVel 7 Dec Max depend on setting Initial depend on nator dri ver type Ui t Axi s conmand uni t sec This paraneter is used for tabl e and j og operati ons Speci fi es the feeding vel ocity Initial value Approxi natel y equal to the rated nator vel oci ty Maxi numval ue Val ue of the User defi ned naxi numvel oci ty 72 Accel eration ti ne 0 Mn 1 Tacco Dec Max 59999 Initial 1000 Uhi t nsec Vos es the accel eration requi red for vel oci ty change f romzero vel oci ty to the naxi num vel oci ty 805 73 Accel eration tine 1 Mn 1 Taccl Dec Max 59999 Initial 1000 Uni t nsec Vos es the accel eration 1 requi red for vel oci ty change f romzero vel oci ty to the naxi num vel oci ty 805 7A Accel erati on ti ne 32 Mn 1 Tacc2 Dec Max 59999 Initial 1000 Uni t nsec Speci es the accel erati
87. settings save the settings by selecting the Regist button For more information about the utility software see the chapter on the utility software Kg Parameter setting Register parameter Function parameter Servo tuning Signal monitor Exit Error setup register 1 Reaist Upload 038 A AABAZA Li i i CC Link setting register HParameter list Error setup register 2 Number of occupied channels 2 stations occupied gt 039 22220ABB Communication speed Mbps e iMonitor list C System setup register 1 Repetition number PALES ESOVEDES Allowable communication error frequency System setup register 2 098 00000002 System setup register 3 0992 008000F7 iCC Link setting register A ucecesosasesscuscsssesessenseasettoseussettveascoeoses 119 00010041 Monitoring the CC Link Communication Status Using the Utility Software Display the CC Link monitor screen by selecting the I O display button from the main menu and then selecting the CC Link button on the I O display screen Wile the START button is being pressed down the CC Link communication status is updated For more information about the utility software see the chapter on the utility software AJIO monitor IN Block0 1 00 P O EMG STOP 19 P O IN CODEO Exit 01 IN SERVO 11 P O IN CODE staat 02 P O START 12 P IN CODE2 03 P O STOP 13 P IN CODE3 CCLink 04 P O ABORT
88. signal is activated if the absol ute val ue of the position error is less than or equal to the coi n w ndow val ue for the speci fi ed nunter of systemcycl es The coin signal wll be deacti vat ed i nmedi atel y if the positi on error val ue exceeds the coi n w ndow val ue OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 7 30 Vel oci ty noni tor sel ect Mn 0 Vel MonSel Dac Max 1 Initial O Uhi t This paraneter is used for nani tori ng signals by the anal og noni tor card opti onal This paraneter swtches between the output nodes of the velocity noni tor 0 Velocity noni tor l Velocity noni tor AC 31 Vel oci ty noni tor gain Mn 8 Vel MonGai n Dec Max 24 Initial 8 Uni t This paraneter is used for nani tori ng signals by the anal og nonitor card opti onal Speci fi es the noni tori ng gai n scale factor of the vel oci ty noni tor If the specified scaling value is n then 4 3 07V vs 4 2 2M wll result in an anplitude of 3 0 V on the velocity noni tor The naxi numanpl i tude vol tage 1s 4 80V 32 Anal og nonitor select 1 Mn 0 A MoniSel Dec Max 399 Initial 372 Uni t Thi s paraneter is used for nani tori ng signals by the anal og nani tor card opti onal Sel ects i temto be outpu
89. specifications are not supported O0 Physical Hard I O Logical Settings Settings at the Time of Shipment from the Factory All settings are positive logic TI 71M02D04 01EN 10th Edition 2012 12 01 6 14 5 How to Change Logic Soft I O Initial Value Setting Set the initial values for logic I O inputs using the utility software At shipment from the factory the initial values of all logic I O inputs are set to off To change the initial values of logic I O inputs perform the following operation STEP 1 Select I O in Data Management of the utility software to display the I O setting window STEP 2 Select Logic I O initial value in Type STEP 3 Select the logic I O block to be changed from Block STEP 4 Check the check box under the Initial value setting field for each item to be changed check the box to turn the signal ON STEP 5 Click the Regist button to register the settings in the drive Drive software is rebooted automatically 2 Select Logic I O 3 Select a logic Initial Value I O block i 1 0 setting t Logic 1 0 initial valu pn Block Block 0 1 E xit Logic 1 0 initial value Logic 10 initial value Regist 0 0 START STOP 0 ABORT To WOGUP 0 00000000 JOG DOWN M ANSWER oo IN CODEO IN CODE1 IN CODE2 IN CODE3 gH IN CODEA IN CODES SS oo 5 Register the settings in the drive 4 Set the initial value Checked On Unchecked Off All
90. speeds listed below The transmission speed can be set by a parameter value The following shows the typical transmission time link scan time values of CC Link based on the number of connected units and transmission speed Supported transmission speed settings 10 Mbits sec 5 Mbits sec 2 5 Mbits sec 625 Kbits sec 156 Kbits sec Link scan time msec 6 1 Remote I O stations only 2 Remote device stations only when all stations occupying one station 4 3 Local stations intelligent device 2 stations only when all stations occupying one station 2 1 ea 0 20 40 60 No of slave stations units Guideline of CC Link Scan Time 10 Mbps at cyclic transmission The transmission speed of the DrvPIII drive can be set by 119 CC Link setup register bits 7 4 The actual setting is done by using the utility software Note that because 119 is a machine setup parameter changes made take effect when the power is turned on next time The default setting is 10 Mbps TI 71M02D04 01EN 10th Edition 2012 12 01 3 6 e Maximum transmission distance and station to station cable length The maximum transmission distance refers to the length of a cable between the both ends of a multidrop network There are some restrictions according to the communication speed CC Link version and dedicated cable type used The transmission speed that can be set is determined by the total extension distance For more information a
91. sure to control the motor by normal control mode in order to stop the motor TI 71M02D04 01EN 10th Edition 2012 12 01 2 30 2 3 Example This example is a referential case on the basis of our examination conditions The effect differs depending on the motor drive load and power environmental conditions Test Condition These conditions are for the simulation when the drive s AC mains and control powers are shutdown AC power monitoring cycle can be set between 20 msec to 170 msec and the effect of servo deceleration differs depending on the range In this case it is set to make the highest sensitivity Operational conditions for motor and drive Power AC200V 0 0 Error processing conditions Main power error Servo ON Process Error process setup register 1 sustaining after immediate stop Valid Invalid Error process setup register 1 Error process setup register Valid Invalid Error process setup register 1 Valid Bus voltage dropping Servo ON Process Error process setup register 1 sustaining after immediate stop Deceleration time for immediate stop 80 TI 71M02D04 01EN 10th Edition 2012 12 01 2 31 Power failure Even within the control power holding time dynamic brake activates if the bus voltage Control power t holding time becomes below the servo OFF level Approx 100ms ON AC Cont power OFF bees LLL Error P AC power error Normal Bus voltage voltag
92. the Vel oci ty uni t conversi on coefficient nanitor val ue 803 Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x2 5 343 Actual velocity val ue post fil tering Uni t digit VF bF Dec ndi cates the actual velocity value after filtering velocity feedback Nunter in digits is converted to rps or nps by di vi di ng by the Velocity uni t conversi on coefficient 803 346 Vel oci ty error Uni t digit Verr Dec I ndi cates the difference between the Actual vel oci ty nani tor val ue and the Conmanded vel oci ty noni tor value Nunber in digits is converted to rps or nps by di vi di ng by the Velocity unit conversi on coef fi ci ent noni tor val ue 355 Conmanded notor li near coordi nate val ue Unit pul se Mot or Pcnd Dac I ndi cates the conmanded nator i near coordi nate val ue 356 Actual value of nator li near coordi nate Uni t pul se Mbt or Pf b Dec ndi cates the actual val ue of notor linear coordi nate after the eccentricity conpensati on 357 Motor li near coordi nate error Uni t pul se Mot or Per r Dec ndi cates the difference between the Actual val ue of nator li near coordi nate noni tor val ue and the Conmanded i near coordi nate noni tor val ue 358 Actual value of nator linear coordi nate post filteri ng Unit pul se Mot or Pf bF Dac ndi cates the actual val ue of notor s li near coordinate which has been conpensated for eccentricity after filtering actual positi
93. the indicated range The status is output to the OUT AREA 0 and OUT AREA 1 signals of the controller interface and parameter 321 Status register 2 bits 26 and 27 of the utility software The area signal range is set by specifying the coordinate value at which the signal is turned ON in parameters 46 Area signal 0 ON and 48 Area signal 1 ON in command units and specifying the coordinate value at which the signal is turned OFF in parameters 47 Area signal 0 OFF and 49 Area signal 1 OFF in command units The figure below shows how the signal output in response to motor position 376 Actual position value in command units changes depending on whether the coordinate value to be turned on is greater than the coordinate value to be turned off The area signal is ON 46 48 setup value 47 49 setup value ON position lt OFF position The area signal is ON The area signal is ON OFF ON 47 49 setup value 46 48 setup value OFF position lt ON position Parameter Setting STEP 1 Select Terminal from Control SIEP2 Setthe parameters for the area signal range in the Terminal window O0 Hard I O Assignment Setting STEP 1 Select I O from Data Management in the utility software STEP 2 Assign area signal 0 or area signal 1 in the hard I O contact output assignment window TI 71M02D04 01EN 10th Edition 2012 12 01 6 111 6 9 Torque thrust Control Function Select this function whe
94. the motor model load weight and servo stiffness setup value TI 71M02D04 01EN 10th Edition 2012 12 01 6 74 6 4 5 Homing Homing can be performed in two ways either using the host positioning controller or by table data operation To perform homing using the host positioning controller see Section 6 11 Homing Using the PLC When performing homing by table data operation the motor is moved in order to establish a coordinate system according to the pre defined home search method This section explains how to perform homing by table data operation When performing homing via table data operation the motor is first moved to the home position determined by the home sensor and Z pulse and is then moved an additional amount according to the value set in parameter 56 Offset distance from home position Then at that position the coordinate value in command units is set in the setup value of parameter 57 Coordinate value in command units after homing The homing operation is processed in the order described in Section 6 4 5 1 Homing Operations It is possible to set the acceleration Deceleration type used for the movement Velocity override also functions in real time Direction A d gt Direction B pi 4 a F jo EP TU N Y LUI i e KM lt M The pulse pitch of Z pulse varies with the motor type Home sensor OFF Z pulse lt Direc
95. to 4 settings in the Function parameter tab 76 Deceleration time 0 79 Deceleration time 3 Select one of the parameters 76 Deceleration time 0 79 Deceleration time 3 in system setup register 3 It is possible to save register up to 4 settings in the Function parameter tab 72 Acceleration time 0 75 Acceleration time 3 Select one of the parameters 72 Acceleration time 0 75 Acceleration time 3 in system setup register 3 It is possible to save register up to 8 settings in the Function parameter tab 64 Feeling Velocity 0 71 Feeling Velocity 7 Select one of the parameters 64 Feeling Velocity 0 71 Feeling Velocity 7 in system setup register 3 Feeling velocity setting 64 Feeling velocity 0 71 Feeling Velocity 7 Select either constant acceleration 4 1 I Time Actual deceleration time Deceleration time setting 76 Deceleration time 0 to 79 Deceleration time 3 Table data operation It is possible to save register up to 4 settings in the Function parameter tab 76 Deceleration time 0 79 Deceleration time 3 Select one of the parameters 76 Deceleration time 0 79 Deceleration time 3 in table data It is possible to save register up to 4 settings in the Function parameter tab 72 Acceleration time 0 75 Acceleration time 3 Select one of the para
96. ty defi ned by notor and dri ve 310 Physi cal Qnboard input blocks 3 0 Unit NA Pbi tI n3 O Hex ndi cates the status of physical onboard input blocks 3 0 32 bits 311 Physi cal Qnboard input blocks 7 4 Unit NA Pbi t n7 4 Hex ndi cates the status of physical onboard input blocks 7 4 32 bits 312 Physi cal Qnboard output blocks 3 0 Unit NA Pbi t Qut 3 O Hex ndi cates the status of physical onboard output blocks 3 O 32 bits 313 Physi cal Qnboard output blocks 7 4 Uni t NA Pbi t Qut 7 4 Hex I ndi cates the status of physical onboard output blocks 7 4 32 bits 314 Logic Mrtual input blocks 3 0 Unit NA Lbi tI n3 0 Hex I ndi cates the status of logic virtual input blocks 3 O 32 bits 315 Logic Mrtual input blocks 7 4 Uni t NA Loi t n7 4 Hex ndi cates the status of logic virtual input blocks 7 4 32 bits Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x2 3 316 Logic Mrtual output blocks 3 0 Unit NA Lbi t Qut 2 O Hex I ndi cates the status of logic virtual output blocks 3 O 32 bits 317 Logic Mrtual output blocks 7 4 Uni t NA Lbi t Qut 7 4 Hex I ndi cates the status of logic virtual output blocks 7 4 32 bits 320 Status register 1 Uni t NA St at usReg1 Hex Bt31 24 Error code nai n Bt23 20 Error code sub t 19 Error present t18 Hone successf ul Bi t17 In position status t1
97. ty integral li nnti ng val ue 2 Mn 0 Vel I nt Li n2 Dec Max 4999999 Initial 10000 Uni t This paraneter is used for servo tuni ng Speci fies the li niti ng val ue z2 of the velocity devi ati on integrator in the velocity control secti on of the servo loop Specify a snaller val ue when a w nd up condi ti on occurs duri ng operati on This paraneter is set autonati call y by either executing auto tuning operati on or changing the servo stiffness paraneter 8 Posi ti on control bandw dth 1 Mn 1 PosFr eql Dec Max 64 Initial 1 Uni t Hz This paraneter is used for servo tuni ng Speci fi es the position control bandw dth 1 of the positi on control secti on of the servo oop OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 10 11 12 13 appendi x1 3 Posi ti on control bandw dth 72 Mn 1 Pos Fr eq2 Dec Max 64 Initial 1 Uni t Hz This paraneter is used for servo tuni ng Speci fi es the position control bandw dth Z2 of the position control secti on of the servo oop Integral tine for position control 1 Mn 10 Posl nt Ti ni Dec Max 10000 Initial 10000 Unit nsec This paraneter is used for servo tuni ng Speci fies the integral tine 1 of position devi ation integrator in the position con
98. used TI 71M02D04 01EN 10th Edition 2012 12 01 5 22 5 11 1 Line Filter A line filter is effective as a means of suppressing any inverter noise that is conducted back into the power supply line Because inverter noise may cause nearby devices to malfunction be sure to insert a line filter Selecting Line Filter The switching frequency of the inverter part is 10 kHz Because inverter noise is caused by harmonic components when switching select a line filter with good damping characteristics in the frequency band of 100 kHz to 1 MHz Line filters with common mode coils of 5 mH or more Please use the recommended line filter or an equivalent product Obtaining Current Capacity Please see Section 5 12 Drive Input Current Mounting Filter Secure the filter to a metal plate If rust proofing is required for the metal plate apply electrically conductive plating If the filter has to be mounted on a coated surface be sure to remove the coating before mounting the filter The same holds for the mounting surface of the drive If you connect the wires for filter inputs and outputs the noise will transfer between the wires and the effect of the filter will be lost Be sure the wires are kept separate Power supply side Load side Bundling Bundling TI 71M02D04 01EN 10th Edition 2012 12 01 5 23 5 11 2 Ferrite Core 1 The ferrite core 1 is effective as a means of suppressing noise radi
99. vertical axis ime axis et 2 sets Automatic sets up the vertical axis ime axis et 2 the vertical axis time axis etc E ES hardcopy Prints the Waveform Display dialog box window to the printer connected Saves and browses the waveform data measured Saves and reloads the File function e measurement conditions Easy setup Simply sets typical representative measurement conditions Trigger source DC offset setup range TI 71M02D04 01EN 10th Edition 2012 12 01 1 Names and Usage of Component Parts Operation Keys Main Dialog Box R1 Oscillo cope CURSOR MEASURE EASY SETUP FILE amp PRINT Setup Dialog Box Oscilloscope E L mmm m L LL qNDEE Ici Iqi2 fous cns MATH PSTN 2 fa ld le DUEEE LINITZDIV CHANNEL SETUP HORIZONTA TIMED 100ms GRAPH REFRESH 100ms T Cw d MODE _ Scte S SINGLE eres NGAMAL A C AUTO mL SOURCE CH Se ib POSITION EX START j I 8 15 Displays the cursor measurement dialog box Displays the auto waveform measurement dialog box Executes calibration oX CALIBURATION EAT Exit the oscilloscope Easy Setup File operation print function Display hide button for each channel Channels without waveform settings are not displayed Vertical axis grand position setup combo box Waveform setup dialog d
100. 00x0 8 135 I TEC 846A PEE Motor operation condition Drive current 20A Obtain the effective current at acceleration ms Motor torque 100 N m Maximum velocity 1 0 rps Acceleration deceleration time 50 ms 8 46 4 88A Constant velocity time 100 ms 1 rms V3 _ Stop time 100 ms Cycle time 300 ms P ly input voltage 230 V Obtain the current at a constant velocity Pb seca i 0 N m 27 xl 0x 1040 30 i ETE I EN UM Wut ae ESA Mane t a AS A Ede TM EM MNA ZU BUR Ad 17A 6x0 5x230 0 5x230 Obtain the effective input current lin rms 2 2 Lemay 18 46 x0 05 1 17 x0 1 23 524 rms 0 3 Thus the rated current is 4A Be sure to verify that the value of is within the operation characteristic curve for the selected circuit breaker and fuse TI 71M02D04 01EN 10th Edition 2012 12 01 5 26 5 12 2 How to Obtain Input Current When Operating Multiple Drives If multiple drives are to share one circuit breaker and line filter obtain the effective input current for each drive from the motor operation pattern and add all the values to obtain the required rated current Motor 1 Operation pattern Constant velocity N maximum velocity Acceleration Deceleration Acceleratio Velocity waveform y Stop I Input current Cycle time Motor 2 O ti tt N Constant velocity dd maximum velocity Acceleration Deceleration Acceleration Velocity waveform Stop I
101. 05 010 020 030 050 060 080 090 110 120 140 150 170 180 015 020 030 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 030 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 050 060 070 080 090 100 110 120 130 140 150 160 170 180 TI 71M02D04 01EN 10th Edition 2012 12 01 2 8 Suffix Code 9 is a 88 5 5 2 5 a ES S z B EO gt ge 8 52 g Z 5 5 S 85 88 325 sf 828 8g ex s 9 bi t E ju e cuo co coe x ES 8 e 3 a 6 8 328 82 55 z 2 d 3 2 P 8 28 9 co 0 5 9 005 010 015 020 030 040 050 060 070 1 080 090 100 i 110 120 130 140 150 160 170 180 030 040 050 060 070 080 2 m 090 100 110 4 120 130 140 6 150 160 170 N 8 LM230 180 N P ICE LM240 N A N G 2 B R T ICN LM330 L Ed ITC1 060 070 080 x 090 100 110 3 120 130 140 150 160 170 180 2 4 080 090 100 j 110 120 130 140 150 160 170 180 TI 71M02D04 01EN 10th Edition 2012 12 01 2 9 O0 Drive Model Suffix code Suffix code optional TT l UM1LP3 105C 1A A 2 XA N CN Drive model a Nu UM1LP3 Suffix code optional CN A set of connectors attache Combined motor rating See Model and Suffix Code lis
102. 1 Absolute positioning accuracy by 5 length of stroke LS 1 pary i 1000 zi Maximum power consumption 100V 200V VA 300 600 350 700 400 800 Rated power consumption 100V 200V 2 E 170 170 212 212 315 475 Length of stroke LS 50 100 150 200 300 400 500 600 700 800 900 g 1000 1100 1200 1300 1400 1500 1600 1700 1800 6 1 Scale accuracy specification at 23 C expansion coefficient of glass lines 8 x 10 C 2 Indicates CE continuous rating 3 Values in indicate a resolution specification of 0 05 um Motor and drive Positioning e High rigidity Model LM240 Item Unit LM250 LM210 LM130 wemmma x o o9 9 eme a NN ERN NR emm m SS LN 1 M Encoder resolution Encoder resolution 3 0 25 0 05 a eme by length of stroke LS 1 1000 Ma o mes cmm mm T sone Ta pe RITE CIE JE oem ome ES KEEN NE EE EE AN ME EE Lees p E e 75 1000 1100 1200 1300 1400 1500 1600 1700 1800 1 Scale accuracy specification at 23 C expansion coefficient of glass lines 8 x 10 C 2 Indicates CE continuous rating 3 Values in indicate a resolution specification of 0 05 um Motor and drive Positioning TI 71M02D04 01EN 10th Edition 2012 12 01 O0 High speed Model wean asst eere m Reset poston ees jm Absolute positioning accuracy by length of stroke LS 1 Maximum power consumption 100V 200V Rated power consumption V 100V 200V
103. 12 01 How to Write to parameters Values can be written to Zparameters using one of the following three methods Method 1 Changing values in the Zparameter window of the utility software This method is mainly used at startup This method is the easiest to use as setup windows are provided allowing direct access to each item Method 2 Changing values in the terminal window of the utility software This method is mainly used at startup Enter the setup values of Zparameters directly Method 3 Changing values by a table data operation In this method values of parameters are changed by executing the table data operation prepared by the controller instrument in advance See Section 6 4 9 Parameter Change for the detailed information IN Changing values of parameters can refer to both saving and registration These two concepts are different in the following way Saving This means changing parameter values in RAM Changed data returns to the status it had before changing once the power is turned OFF Use this method when you want to change parameter values temporarily Registration This means changing parameter values in both the EEPROM and RAM The changed settings are maintained even if the power is turned OFF Use this method to commit the settings Note that registration is not accepted while the motor is operating Perform registration while the motor is stopped The drive loads the parameters from the EEPROM in
104. 173399 pO ECELELECELECECELELELELEC EC EE EE EEEC ELE EC ELES 180000 Tey Gast tat ee ea Coed Cosy Cah Cate Cay Ce Cay Tay CoD CoD Ca Ee CaS Cay Cay Cost Coy Cay O3C19004 ExVinSZenze lLoood ExTFiSenze l u x A backup file is saved as a text file Its format is equivalent when the parameter file operation table file and I O setup file explained in the previous sections are connected oa NGER The utility software issues a software reset to the drive as a download sequence At this time the servo is set to OFF causing unexpected movements When a reset confirmation message is displayed be sure to check safety before operating Att N UTION Utility software includes several functions which recycle AC main power automatically 0 0x Data Sum Error may rarely occur in case that the control power supply is terminated before LED for RDY signal is lighted when the power is recycled If this error occurs restore user data which was backed up beforehand after initialization of user parameters Backed up parameter values are set TI 71M02D04 01EN 10th Edition 2012 12 01 8 42 8 7 5 Version Information The currently connected drive s version information motor type and other information are obtained and displayed If you have any questions or inquiries about the product contact our support desk shown in Version Information This is the email address of our support staff and URL When making inquiries please a
105. 2 occupied stations is erroneously set up on the master side and 1 occupied station is erroneously set up on the drive side e Setting Station Numbers According to the CC Link interface specification each remote station can freely set 1 to 64 stations For example if upper O and lower 1 are set using the station number setting switch when 2 occupied stations are set station numbers 1 and 2 will be occupied When setting station numbers avoid setting station O station number dedicated to the master Moreover set station numbers so that there will be no conflict with other station numbers on the network o fol Station number dedicated to the master cr Es Ral Stations 1 and 2 are occupied when 2 occupied stations are set i ipi 2 lare set e e e 63 3 occupied stations are set 6 a 64 4 occupied stations are set TI 71M02D04 01EN 10th Edition 2012 12 01 3 7 Communication status display The DrvPIll drive displays the CC Link communication status using LEDs as follows N lon c 120i I e LEE a e SB E m r ILS tet pay Niall po Milo li 1 L 3 xJ iF z ea aa 1 l p x ES B m bi j Communication status RUN green ERR red Non communicating state before connection to the master Communication established state If the station number settings are different from the settings on the master side If a station number is i
106. 4 10 Velocity Torque Characteristic Curve T N Curve A graph representing the relationship between the velocity and torque when a DD motor is driven The horizontal axis shows the velocity rpm and the vertical axis shows torque N m Maximum number of rotations Number of rotations rpm Emm ee eee Mu eee eee ee eee eee eee o or o ee eee e eee eee a Me a e m e m a Velocity Override A velocity scale in which the feed velocity set up by a parameter is 10096 which can be set in a range from 0 and 200 Velocity Profile A time differential waveform of the position command The ideal operation path generated in the drive LW Watchdog Timer A mechanism for preparing for a situation where programs cannot be executed normally due to uncontrollable running and other reasons This timer functions just like a watchdog A minimum communication can be performed even if a watchdog timer error occurs in this drive 0X LY OZ ZERO Motor origin signal Software and hardware Z pulses are available depending on the generation method There are several of them in one rotation or one stroke TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 5 1 Descriptions of Operation Tables and Sample Programs Sample programs are included in a part of the operation tables at shipment from the factory These sample programs can be useful as a reference when creating operation tables You can delete or overwrite sample pro
107. 45 the motor will decelerate and stop Note that if a value exceeding 100 is specified the velocity while moving may exceed the maximum velocity and an error may occur ERR31 0 Excessive position command difference ERR24 0 Over speed Velocity override function performs for all table data operations and jog moves Interlock Velocity override selection Feed velocit IN_INTERLOCK IN m SEL PRR S Velocity override percentage 1 44 x feed velocity Velocity override percentage 2 45 x feed velocity OFF ON Waiting for trigger l many id iod 0001000 1 1 1 200ms div ETARE T A T a v 200ms div NORM 5kS s Set acceleration time Set deceleration time Actual acceleration time Actual deceleration time S curved profile Acceleration Deceleration The resulting feed velocity while moving becomes the velocity obtained by multiplying the specified velocity with the velocity override value If the velocity override value is changed while moving the motor accelerates with the same acceleration profile and rate as specified by the acceleration settings of Table Velocity Profile Setup Items in Section 6 1 9 Velocity Profile if it is increased Motor decelerates accordingly if itis decreased Waiting for trigger Waiting for trigger TE x 2 v __500msidiv ec ee _S00msidiv iia pa qo i rend Ur A E e e OBM 3 Acceleration S curved profile Decelerati
108. 5 a parameter eee TI 71M02DO04 01EN 10th Edition 2012 12 01 6 22 Method 3 How to change values by a table data operation See Section 6 4 9 Parameter Change O0 How to Back up parameters See the item in Section 8 7 4 Backup TI 71M02D04 01EN 10th Edition 2012 12 01 6 23 2 monitors monitors output the status of the motor and drive acquired by the drive They can be used to observe the conditions of the motor and drive using the parameter monitor Display Axis Signal Monitor and Oscilloscope functions or operate the motor by referencing monitor values in table data operation Writing to the monitors is not allowed Register Monitors Register monitors can express several monitor settings in one monitor number by encoding the information in a 32 bit binary value see the table below Moreover it is possible to display the status with status registers by clicking Axis Signal Monitor in the utility software monitor number F 300 Drive version 301 Motor specifications z Physical Onboard prece input output blocks 314 317 Logic Virtual input output blocks 320 322 Status register Pos harrOmit active 0 Select 44 1 Select 45 2 Interlock Velocity override select Reserve l T Signal Z name P i E Velocity control selection status 0 1 side 1 2 side Excessive positiorror Position control selection status 0 1 side 1 2 side Neg h
109. 6 Coi n no positi on error status Bi t14 Dwel acti ve Bi t 13 Mfuncti on executi ng t 12 ri ve operati on acti ve t11 J og operati on active Bi t10 Axi s operati on acti ve Bt 9 Servo ready Bt 8 Dri ver ready Bt 2 Serial interface sel ect for operati on devi ce 321 Status register 2 Uni t NA St at us Reg2 Hex Bi t 30 Pos hardware EOT limt acti ve Bi t29 Neg Hardware EOT limt acti ve t28 Hone sensor acti ve t27 Area signal 1 status t26 Area signal 2 status t25 24 Velocity overri de sel ect Bit22 20 Selected coi n w ndow t 19 Posi ti on control integrati on acti ve t 18 Vel oci ty control integrati on acti ve Bi t17 Posi ti on control selected 0 1st side 1 2nd si de Bi t16 Vel oci ty control selected 0 1st side 1 2nd si de t15 Z pul se status 7 Qver speed status Overl oad status 5 Excessi ve posi ti on error 4 Conmanded posi ti on pul ses overflow 2 Excessi ve regener at on 1 Excessi ve AC nai ns vol tage 0 AC nai ns vol tage out of range 322 Status register 8 Uni t NA St at usReg3 Hex t23 16 Qpberation pattern code Btl15 8 Mfuncti on code Bit 7 O Cperati on table code Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x2 4 325 Conmanded current val ue Uni t di gi t cnal Dec ndi cates the val ue of the current bei ng conmanded The value is 4096 di gi ts when naxi numcurrent is conmanded 326 Conmanded current innt value Uni t di gi t cnalLi nnt Dec ndi cat
110. 8 1 9 1 1 Operating CondW NS sss s laine atre ela usato nico dial erede 8 1 9 12 Cotimulicador Gables demes sos aa dotes MScus tons Eid asus tiva dou adest 8 2 S519 TNstaling and MINS tAIMIAG sss decia qeu hnic tete sate ween eux reb ioa eek bti dontucebad teins ieaniusdes 8 3 Maec e 8 4 S21 FUNCION GEOUDS zo aie hee ade EE Oud desea See 8 4 92 27 FUNCION LIGNE iancasienicescinuctete D cen see yuma E a nade a niet Ly een 8 5 8 3 Required Settings Prior to Connecting ssssesssssssssseseeeneenen nennen nnne nnne 8 7 8 3 1 Connecting and Reconnecting o eese nnns annis 8 7 0 92 COMMUNICATIONS SEIN GS siccintiac 5aasisstionistsnnndaiexwees annie exea en ases eines elites aso one ados es dos ondes 8 7 9 9 9 WINCH S CUA S raas a a A 8 8 8 4 Details of the Operation Group Function cccccccccseccecseeeceeececeeeeeeeeeeseeesseeeesseseeseaeeesaeeessaaees 8 9 TI 71M02D04 01EN 10th Edition 2012 12 01 SAk Operation EET 8 9 BAZ TOMNA a E AEE ee ee a 8 10 8 5 Details of the Display Group Function leeeeesseessssesssseesneeenennen enne nnns 8 14 Ort MOSCIOSCODS aii tei ialusdchue irte t tbt abt t ino LU ries c SPEM LEE fd 8 14 8 5 2 Displaying Zparameter f monitor sseessssssssssssssesee nennen 8 26 sc MEN eausa m 8 27 S04 AXIS Signal MONOT 2 ssotccesiateh amodo uui a it iamiam ae duele Dub ome
111. 9 11 55 TIME Emsec DIv UNIT ADI Offset CHI 500 0 TRIGGER SOURCE CH1 RISE LEVEL 1 POSITION 1 TI 71M02D04 01EN 10th Edition 2012 12 01 6 72 1 How to Set Test Operation Set the data according to the flowchart showing the procedure for creating table data in Section 6 4 1 Table Data Operation See the following for how to set operation data and parameters corresponding to steps 4 and 6 in the flowchart O0 Setting Operation Data No operation data is used for the test operation O0 Setting parameters Related to Test Setting Test Operation Width STEP 1 STEP 2 STEP 3 STEP 4 Select Data Management Zparameter and then Function parameter from the utility software Select the Test Operation tab from the Parameter by Function window Check that 50 Operation range under test mode is sufficiently narrower than the movable range required for normal operation If the test operation width is set too large the motor cannot complete the response and errors such as excessive position deviation occur Set and register parameters Setting of Other parameters See the table on the next page for parameters related to test operation Change the setup values of the parameters as necessary 2 How to Perform Test Operation Utility Software STEP 1 STEP 2 STEP 3 STEP 4 STEP 5 STEP 6 STEP 7 5 Perform test operation r E c E io a D m cu
112. 90 Position settling Coin width 97 width O nom ACCE eralon Select the acceleration time from acceleration times 0 to 3 72 75 Acceleration time 0 Select deceleration time Select acceleration Select either constant acceleration or S curved Constant type acceleration Select deceleration Select either constant acceleration or S curved Constant type acceleration Constant acceleration If Direct is selected The relative target position is set by operation data 1 The unit is axis command unit e If Indirect is selected Select Zparameter Zmonitor and lect on ineliodt parameter monitor numbers in operation data 1 The value of the eae selected parameter monitor is set to the relative target position The unit is axis command unit Select the deceleration time from deceleration times 0 to 3 76 79 Deceleration time 0 Select velocity Select the feed velocity from feed velocities 0 to 7 64 71 T TI 71M02D04 01EN 10th Edition 2012 12 01 6 92 6 4 8 Dwell The dwell time provides a means for making the motor wait for a specified amount of time before executing a new command The dwell time that can be set is in the range from 0 to 65 535msec and can be entered in increments of 1msec Normally it is used as a pause time when performing a continue after execution operation where two or more tables are concatenated 1 How to Set Dwell Set the data according to the flo
113. 96 e The series offers an all in one type with integrated motor unit encoder and linear guide unit that is easy to incorporate with other machinery Unique positioning control configurations are possible with the multiple sliders e Stable operation is achieved with minimal temperature increase A proven linear guide is employed for the mechanism and sufficiently high rigidity is ensured under load conditions The high speed type allows operation at up to 2 m sec Twenty types of strokes ranging from 50 mm to 1800 mm are available e The line includes standard high rigidity high speed and high rigidity high speed models with motor thrust rating of 50 N 100 N or 300 N as well as a high rigidity model with a motor thrust rating of 400 N e Wide ranging applications are supported through various combinations of thrust stroke and shape 1 2 DrvPIll Drive The DrvPIll is a direct drive servo motor drive designed exclusively for positioning operation offering improved control performance and operability The DrvPIII supports motors of absolute type as well as increment type Additionally two types of controller interfaces contact I O and CC Link are provided TI 71M02D04 01E 10th Edition 2012 12 01 1 3 Checking the Product Please check the product as soon as you receive it Please examine the label and check that the types and quantities of the parts and products received as well as accessories you have ordered ar
114. 999999 Initial 5 Ui t Axi s conmand unit or pulse Speci fi es the coi n w ndow 4 wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 19 95 Coi n w ndow Mn 0 Coi nW dt h5 Dec Max 9999999 Initial 5 Unit Axi s conmand unit or pulse Speci fi es the coi n w ndow wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on 96 Coi n w ndow 6 Mn 0 Coi nW dt ho Dec Max 9999999 Initial 5 Unit Axi s conmand unit or pulse Speci fi es the coi n w ndow 6 wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on 97 Coi n w ndow 77 Mn 0 Coi nWadth7 Dec Max 9999999 Initial 5 Unit Axi s conmand unit or pulse Speci fi es the coi n w ndow 7 wath to be used for positi on settling check and coi n standby i n the posi ti on control secti on 98 System setup regi ster 2 M n Syst enReg2 Hex Max Initial depend on nator dri ver type Uni t Bi t 23 Enabl e actual positi on val ue filter Bi t21 Enabl e vel oci ty feedback filter Bi t 18 Enabl e fi rst ag conpensati on filter Bit17 Enabl e notch filter 72 Bi t 16 Enabl e notch filter 1 Bt 1 Di sabl e Mfuncti on when an error occurs Bit O Enabl e start up operati on nati on control table operati on Initial value H90030002 Enabl e actual position val ue filt
115. Au Sa ONIeA JeNUSIOLIP Saar UOIeEIASp y J011 Sojeuipjoo 10119 W pueL _ PUCLWLWOD UOl ISOd UOnISOd BAISS8OXA peo J9AQ peeds JeAQ 8 6 Ol ZL 81 6L O Le 22 amp S6 92 16 82 62 VE enje Jenu c 91si68J dnjes sseoouJd 10114 9nje jenu 191s168J dnjes sseooud 10413 10th Edition 2012 12 01 TI71M02D04 01EN Appendix 3 8 How to Check Error Codes When an error occurs the RDY ERR LED on the drive s front panel is illuminated red In the event of an error check the error code using the utility software and following the steps below For more information about the error windows see Section 8 5 5 Error Display How to check an error STEP1 Select Error display in the utility software STEP2 Select Status from the Status History switch field STEP3 Select START to display an error list STEP4 Select STOP and click the error you want to display in detail An error detail is displayed Status and history information switching If Status is selected the information of the errors that are currently being generated is displayed If History is selected the information of the errors that were previously generated is displayed B Error monitor SPP ERBSO 0 Srvot Bday Kind Errar Type Slowdown stop Cause Measure If the drive is placed in the error state two or more error numbers may be generated from one error factor The errors are displayed in the order generated in statu
116. Be aware that the utility software and the drive are always performing one to one communication even when two or more drives are connected If it is necessary to communicate with a drive of other station execute Disconnect once and then change the drive ID and reconnect t Offline Connection Parts of the utility software function can be used without connecting a port to the drive by selecting Offline in communication port settings Part of the maintenance function and oscilloscope function can be used offline Files pertaining to existing drives can be browsed TI 71M02D04 01EN 10th Edition 2012 12 01 8 8 Communication Cycle Setting The sets up the minimum communication gap when communicating continuously between the drive and the PC This setting is reflected by specifying Communication cycle setting in option settings The initial value is set to 10msec and normally it is not necessary to change the value If the utility software is used on a PC with insufficient CPU memory communication may be stabilized by setting a greater value here However be aware that if a value other than 10msec is specified the oscilloscope function cannot be used 8 3 3 Other Settings Motor Type Selection Select DYNASERV if the type of the motor to be connected is a rotary motor and LINEARSERV if it is a linear motor Language Selection It is possible to select Japanese display or English display using Option on the
117. D02C x UI Va Es c VA SAH A cr fl e Ve DIEI Va EH MAN IANI RE Ve d Vc E Ie e Insert between the motor and the drive as necessary TI 71M02D04 01EN 10th Edition 2012 12 01 5 2 5 1 2 Circuit Protector Drive Circuit protector Specification CP32FM 5W 500W Fuji Electric PREA class CP30 BA2P1M5A Mitsubishi Electric db CP32FM 15W 250VAC 2kW class Fuji Electric 15A CP30 BA2P1M15A 250VAC Mitsubishi Electric 15A NDANGER The drive does not have a built in ground protection circuit Install a ground fault interrupt circuit with short circuit protection or a ground fault interrupt circuit for ground protection together with a circuit breaker if safety is of high priority in the system 5 1 3 List of Recommended Parts Electromagnetic Line filter Drive contactor Specification Motor titer SC11AA M10 500W Fuji Electric FN2070 6 06 Single phase AC class pes ee N11 SCHAFFNER 250V 6A R7020TA Mitsubishi pes ee OF002C 3 SC18AA M10 Yokogawa 2kW class Fuji Electric FN2070 10 06 Single phase AC Electric pu c N18 SCHAFFNER 250V 10A Mitsubishi pu c Drive Sensors EOT Drive Sen and Home Common for 500W EE SX670 and 2kW Omron classes Notes 1 Make sure to select parts that accommodate the total capacity of the system if two or more drives are used in the system 2 Insert a motor filter as ne
118. D04 01EN 10th Edition 2012 12 01 2 13 2 4 2 Recommended Cables O0 Recommended Cables for LMUO0O0 Motors Motor cable Amplifier Connector drive side Model and Suffix code C1M NA1 2061 LILIEI J S T Mfg N1 25 M4 C1E MA1 2262 LIEIEI Made by JAE Connector DA 15PF N Contact DA C8 J 10 F4 1 C1E MALI 7979 LIEIEI pais Made by Honda Tsushin Kogyo Connector PCR S20FS Cover PCR LS20LA1 1i i Motor Head amplifier Connector motor side Made by AMP Japan Connector 172167 1 Contact 170366 3 Made by AMP Japan Connector 172159 1 Contact 170364 3 Made by AMP Japan Connector 172162 1 Contact 170363 3 Made by AMP Japan Connector 172170 1 Contact 170365 3 Made by Honda Tsushin Kogyo Connector PCR S20FS Cover PCR LS20LA1 Made by Honda Tsushin Kogyo Connector PCR S20FS Cover PCR LS20LA1 TI 71M02D04 01EN 10th Edition 2012 12 01 2 14 2 4 3 Cable Specifications Motor Cable Robot cable Identification of ZW wire Sheath Layoutnumber Layoutnumber Color of insulating Insulating material Cable specifications Conductor 2 Conductor AWGRES OB Insulating material external diameter 21 64mm Finished external diameter Amplifier Cable Robot cable ENIM of A wire Layout Sheath number Color of Shield insulating Green Yellow Brown Blue Orange Gray Purple Black White material Insulating material Cable spec
119. EQ SEL is OFF and to 9 and 13 if it is ON 2 Set to 2 and 6 if IN VELFREQ SEL is OFF and to 3 and 7 if it is ON 3 Set only when the velocity control method is set to proportional integral control in system setup register 1 0 is set in the case of proportional control TI 71M02D04 01EN 10th Edition 2012 12 01 6 68 1 How to Set Auto Tuning Operation Set the data according to the flowchart showing the procedure for creating table data in Section 6 4 1 Table Data Operation See the following for how to set operation data and parameters corresponding to steps 4 and 6 in the flowchart O0 Setting Operation Data No operation data is used for the auto tuning operation Setting parameters Related to Auto tuning Setting Auto tuning Operation Width STEP 1 Select Data Management parameter and then Function parameter from the utility software SIEP2 Select the Auto tuning tab from the Parameter by Function window STEP 3 Check that the auto tuning operation width is sufficiently narrower than the movable range required for normal operation STEP 4 Setand register Zparameters Selecting Control Mode and Control Method The parameters set by auto tuning vary depending on the control mode and control method Perform auto tuning after registering the control mode and control method used with the corresponding parameters STEP 1 Select parameter and then Register parameter in the utility software
120. FF If the continue function is used the status of OUT MODE EXE becomes OFF after all the table operations are completed While IN START is ON the status of OUT MODE EXE is kept ON even after the operation is completed Oms or more keep IN START ON at least until OUT MODE EXE becomes ON IN START IN 1 CODE 5 0 ae EE due Ge ae ae SE NEM unus executed as a binary value IOUT_MODE_EXE Depends on the selection of operation start high velocity signal processing interface Valid Signal to signal skew time or more Invalid O msec or more TI 71M02D04 01EN 10th Edition 2012 12 01 6 60 Pausing Ending Operation N ABORT The IN ABORT command interrupts table data operation Use this command to end a test operation or to interrupt an operation and decelerate and stop the motor Even during an operation involving movement this command immediately decelerates and stops the motor and terminates the operation When it is turned ON a command to stop operation is issued If the M function is being executed it interrupts the execution and stops the operation lt gt Omsec or more IN ABORT gr js ON dd OUT MODE EXE WM IN STOP Use this command only when the continue function is set to valid If you issue the IN STOP command table data operation is ended at the same time as the operation of the table data currently being executed is completed When it is turned ON a command to s
121. HHE Filter setup Integral limit recalculation Regist 9 Upload M HBHHHEHHEHEESE Parameter list RN Parameter settine 000 fad inertia Load mass 0 001 prvo stiffness setup 1 __ Monitor ist Reaist Veloc ontrol parameter 004 locity control bandwidth 1 20 003 Velocity control bandwidth 2 20 p aiiai 005 Integral time for velocity control amp 1000 Ei eor vermes vez 7 em BEEHNMNEHNEHENEHNEHNEHNEHNHEHEHHHHEHEEEHRO Positi tnn remm ET Filter setup E 010 Integral time for position control Save E xit 01 2 Position integral limiting value 1 Match filter 1 setup Display Dispaly Feed forward parameter ee a I Ii 014 P PE f df d r2 020 Frequency notch filter 1 YETETE EE GERE GGG bbe GGG br CUCU GGG rae t t ee 021 O value of notch fter 10 a a 01 5 Velocity feed forward percentage I zie rad aa n NN MP d 801 B Acceleration feed forward percen Display Ontror DancdguWicdtr H Match filter 2 setup iv 022 Frequency notch filter 2 1500 esee zi 023 iB value notch filter He 1 og FEE Gg gg gg PEPE EEG GERE REGE EG GO 0 0 08080202 PEE rrr re eerie First lag compensation filter setup it Notch filter 1 setup ail J This is a slide bar that sets up various filter frequencies The parameters are continuously updated while dragging il The frequencies are stored in EEPROM by pressing the Regi
122. I O logical settings logic I O initial value setup information and translated comments Np NGER The utility software issues a software reset to the drive after downloading all I O settings in order to reflect the settings as a download sequence The drive is set to the servo OFF state during a reset operation Therefore be sure to check safety before operating O I N NNI TI 71M02D04 01EN 10th Edition 2012 12 01 8 41 8 7 4 Backup The backup function is used to perform the batch backup batch restore operation of all user setup data set up in the drive Backed up data is saved as one file This function is useful for backup work for maintenance and when creating a copy of drive data with the same settings R7 Backup Restore NIE Drw z serize Drui3 Driver ROM version Download Writes all user data into the drive gt R7040C 1 01 Upload dl7a Reads all user data from the drive File MotorTwype UBRSCGS O15H 3B 153 Open Save as 2003 09 29 F2000DA3 251968 elzssz 425984 ic ens at ee ley Ir Ies ey s C s e e e to eee Ene Tod Cet Coe eo ea 30 eFC CT Cee ee EE CoD CaS AT ed aD DY Ted Cas CT Cad Cy Tad DE Dat ay Doe act Come EA Sos Tas Co al ToT Ee Ta Eo Do Cas TAT EE a
123. M02D04 01EN 10th Edition 2012 12 01 8 25 Obtaining a Rough Waveform Range Using the Calibration Function When observing an initial operation pattern or a parameter monitor number waveforms may not fit within the Oscilloscope window In such a case it is possible to easily observe waveforms by getting a rough display range using Calibration and then perform a fine adjustment Y Oscilloscope CURSOR MEASURE i FILE amp PRINT EASY SETUP Oscilloscope 2003 03 23 13 40 TIME 100msec DI UNIT DI Offset Te A E Pree ee reer Oscillos N 359 Differential value of commanded motor linear coordina 342 Actual velocity value M Commanded toge foose ___ 330 Commanded torque force value 325 Commanded current value 2003 09 29 13 40 TIME 100msec DI UNIT DI Offset Er Differential value of commanded motor linear coordina H342 Actual velocity value H330 Commanded torque force value ee Commanded current value mur mm M 1 After selecting the parameter monitor number you want to measure operate the motor once Press START on the oscilloscope to display waveform data in the window After stopping the oscilloscope execute a calibration The vertical axis of each waveform is displayed in the center of the window after adjusting automatically 2 After performing a fine adjustment manually press START on the oscilloscope again
124. M230 LM240 LM305 LM310 LM330 LM505 LM510 LM530 pecial specification uffix code optional CE Conforming to CE mark CN Connectors attached others Main body connector material F 172159 1 172162 1 170363 3 made by AMP M RM21TR 15P made by Hirose Number of sliders 1 1 slider 2 2 slider 3 3 slider 4 4 slider Clamp Always N no clamp Direction of main body connector 2 Right only All connectors are pulled out to the right in the case of multiple sliders as well 4 Left only All connectors are pulled out to the left in the case of multiple sliders as well 6 Right left can be selected in the case of two sliders only 8 Left right can be selected in the case of two sliders only Length of stroke Three digit display in units of 1 cm minimum 005 5 cm maximum 180 180 cm Drive current Sensor installation position A 5A N No sensor P Inside Omron EE SX670 or equivalent Base structure R Outside Omron EE SX670A or equivalent Always N S Inside Omron EE SX670 or equivalent T Outside Omron EE SX670A or equivalent Scale material Always G Surface treatment N Standard treatment Guide specification B Mounting plate Raydent treatment Aluminum unit Black alumite treatment Always 2 L Mounting plate Raydent treatment Model and Suffix Code Selection List Suffix Code Number of Length of stroke Drive current Base structure Scale material specification treatme
125. Moreover multiply the value achieved for constant acceleration by 1 5 and enter this for the S curved acceleration Deceleration type Deceleration time sec Slider weight See Section 2 1 Standard Specifications kg ML Load weight kg F V Velocity rps F Maximum motor thrust N t MS ML v MS TI 71M02D04 01EN 10th Edition 2012 12 01 6 30 6 1 6 Methods of Issuing Servo ON Commands There are two ways to turn the servo ON turning the IN SERVO signal of the controller interface ON and sending the servo on command via a serial interface See Section 6 1 6 Signal Timing when Turning the Power ON for how to shift the servo status when IN SERVO is turned ON at the time of turning the power ON 1 Issuing Servo Commands via the Controller Interface i Approx 500msec IN SERVO OFF ON OFF OUT SRDY OFF ON OFF Note If the servo is not adjusted the motor s holding power stays very low even if the servo is turned ON 2 Issuing Servo Commands from the Utility Software The servo is turned ON by clicking the Servo ON button in the Operation window in the utility software Press the Servo OFF button to turn the servo OFF R1 Operation E3 A amp uto tuning operation Test operation Homing operation T Controller side L TI 71M02D04 01EN 10th Edition 2012 12 01 6 31 6 1 7 Signal Timing when Turning the Power ON Make sure that the sign
126. N after the position command is complete and the position settling signal OUT COIN is turned ON Position command waveform Position deviation waveform Position Target position OUT COIN Setting time n L If the coin waiting function is set to invalid OUT AXIS EXE If the coin waiting function is set to invalid OUT AXIS EXE is turned OFF and OUT _ POS is turned ON when the position command is completed 4 l I l l I l l I l l L l l I i si l 01 l I n OUT POS If the coin waiting function is set to valid E mna Settling time OUT AXIS EXE ON If the coin waiting function is set to valid OUT AXIS EXE is turned OFF and OUT _ POS is turned ON after the position settling status signal is turned ON OUT POS Sa TI 71M02D04 01EN 10th Edition 2012 12 01 6 65 3 Continue Function This function is used to perform two or more table data operations consecutively In the table setting window enable Continue after execution and select the table numbers to be executed subsequently from Next table number When operating using the continue function the OUT MODE EXE signal is not turned OFF when the operation switches to the next table data s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 66
127. OSFREG SELECT JuumnouoggouUgogusgudgggadgggagu rv cw o Exit START 02 P amp START 12 P PLS DIRECT loa P 9 ABORT 73 P 9 POSINT INH 04 P IN c DED 05 p 9 IN CODE 06 P Pos wiDTH o7 P 9 P0s wipTHI Sen BBB BBE BBB EBB RRP PUT Black B 0 0 P 9 DRIVER READY 01 P SERVO READY 0 2 P 9 BUSY 0 3 N 9 OVER LOAD 0 4 P 9 OVER SPEED 05 P COIN Q Sen eB EEE eannunuanuanuanEEERO e e o emi mmm BHENMNEHNEHNENHEHNEHHEHENHEHEHHEHENHEHEHEHENHEHEEEEHEHEHEHHEHEHEHEHEHEEHEHEHEHEEHEHEHEEHEHRHO Updates information while the lamp is lit Logic I O name Hard I O logic setup status P Positive logic N Negative logic The I O bits are managed using 8 points as one block in the drive According to the example above the input side has hard I O of 0 blocks 8 bits and 1 block 4 bits and the output side has hard I O of 0 blocks 6 bits The number of points that can be monitored at a time is a 2 block unit for both input and output For a drive that has more hard I O select the block you want to monitor from Block selection combo box The I O monitor is used to check whether or not a command signal has actually been entered into the drive when the motor does not operate as expected TI 71M02D04 01EN 10th Edition 2012 12 01 8 28 8 5 4 Axis Signal Monitor The content of the monitor status registers 1 to 3 that displays the main status of the motor axis is updated and disp
128. PC and download them from a PC to the drive Register Parameters Register parameters are classified into two types system setup registers and error setup registers Several setup items can be expressed in one parameter number by encoding the information in a 32 bit binary value parameter number parameter name 38 Error process setup register 1 39 Error process setup register 2 98 System setup register 2 99 System setup register 3 110 System setup register 1 lt Setup example gt 98 System setup register 2 T E o Signal 9 name c 31 p D 8 LL 9 c re x E amp O o v O c LL Q Er Oo c O o c O N s S Q 3t z uc Q X c z gt E g g c D 9 Do c c T E D S amp S o g S o ooo 0000 0 o c co oo 00 00 00 000070 9 s gt P0 PD D D D D amp a P O PD E TD m oD o D o oD DoD D FF DoD D D 2 o0 o Ob o Qo OQ o0 o 95 G0 070 00 00 000000 90 FS On Ww wd Nn 0 OO O0 xo O0 O o0 0 Q nnn Dn 0 OO O0 O0 DH HD 0 o0 Q o0 0070 000 HzO 0 c0 S 9S0 0000 0000 00 GH O0 F p dE o Oe qm DE 2m sp B dE sS c gc aac ac c cao cuoc cmc cac uc a 30 29 28 27 26 25 24 23 22 21 20 19 18 17 15 14 13 12 11 10 9 83 6 5 4 3 2 1 Enable start up operation 0 motion control table operation Bit po o joro o ojojo ojyo o o D000 porepeype eoe repere ro A In the case of the setting above 98 System setup register 2 00030002 hexadecimal notation T TI 71M02D04 01EN 10th Edition 2012
129. REEREEHREREEREREEREEREERRVUERe O72 Acceleration time 0 1000 m m m ee ee eee BERR PRP ee O74 Acceleration time 2 1000 075 Accleration time 3 1000 O76 Deceleration time 0 1000 077 Deceleration time 1 1000 O78 Deceleration time 2 1000 079 Deceleration time 3 1000 111 Maximum velocity limit 851968 044 Velocity override percentage 10000 045 Velocity override percentage 2 10000 Setup table data and system register depndIng on the necessity E Writes a value into the Data edit box after selecting the parameter you want to change IN The setup items pertaining to motor operations are found in Operation table data and System register settings in addition to the items that can be changed in this window Set up these items as necessary Aion UTION Machine setup parameters above 110 require a reset or power cycle before they take effect eee TI 71M02D04 01EN 10th Edition 2012 12 01 8 32 Servo Tuning Window The Servo tuning window contains a parameter group mainly pertaining to servo characteristics If it is necessary to change parameters other than those listed in this window use the terminal function Recalculates integral limiter values Parameters pertaining to unselected control methods cannot be changed Regist Sets up the parameters in RAM and EEPROM The settings are retained even if the power is OFF Register parameter Function parameter Servo tuning Signal monitor Exit e BHEHRH
130. S485 multi channel communication short circuited to 14 TRMN CN1SW Busy condition bit CN1 5V 5V power operation display panel and pendant 10 SG LG Signal GND terminal 11 i B Rx side terminal RS485 multi channel communication 12 Tx side terminal RS485 multi channel communication 13 SG LG Signal GND terminal A TRHN Terminator terminal RS485 multi channel communication short circuited to 7 TRMP 15 SG LG Signal GND terminal RS232C Cable Optional C1P ENN 2276 020 2 0 m TI 71M02D04 01EN 10th Edition 2012 12 01 5 10 O0 RS232C Cable Wiring RS232C connector on the PC side lt CN1 gt connector 8 1 hoa ee OOOOO00 O Q0 0 0 XO Q0 Q RE 15 9 Soldered surface Drive side 8 mw Connector DA 15PF N made by JAE Housing DA C8 J10 F4 1 made by JAE Connector DE 9SF N Housing DE C8 J9 F4 made by JAE made by JAE Jw RNING Do not connect any line to pins that are not specified Wrong connections may cause the drive and or PC to breakdown RS485 Cable Wiring Send e A Host master side Receive LN e Y MER Imc F T XN e Z Receive 2 a LG Drive side 6 SSW BE G Connector DA 15PF N made by JAE Ld Housing DA C8 J10 F4 1 made by JAE a e I NE NN NE CD Y Z 0 L Drive side 6 4855W B GIG 144
131. Servo CFF after i nmedi ate stop 4 Servo CFF i medi atel y Bit 31 28 ver speed Bit 27 24 erl oad Bit 23 20 Excessive positi on error Bt 19 16 Excessive conmanded posi ti on differential val ue Bt 15 12 Tandemerror Slave dri ve error Bt 11 8 Coordinate error A Bt 7 4 Bus voltage droppi ng Bt 3 0 AC mains power suppl y vol tage error Initial value Qver speed Valid Servo CN sustai nni g after i nmedi ate stop Overl oad Valid Servo CN sustai nni g after i nmedi ate stop Excessi ve position error Valid Servo CN sustai nni g after i nmedi ate stop Excessi ve conmanded posi ti on differential val ue Valid Servo CN sustai nni g after i nmedi ate stop Valid Servo F after i medi ate stop Coordi nate error A Valid Servo CN sustai nni g after i nmedi ate stop Bus voltage droppi ng Invalid Servo CN sustai nni g after i nmedi ate stop AC nai ns power suppl y voltage error Valid Servo CN sustai nni g after i nmedi ate stop Tandemer r or 39 Error process setup regi ster 2 Mn Error Reg2 Hex Max B Initial X depend on nator dri ver type Uni t Defines settings for valid invalid and error treatnent when an error occurs in the foll owng list The top bit is to set valid invalid and the last 3 bits represent error processi ng code in each area Val i d I nval id setti ng bit 0 Invalid l Valid Error processi ng code 0 Servo CN sustai ni ng after decel eration and stop 1 Servo F after decel eration and
132. Suitable for use on a circuit capable of delivering not more than 5000 Arms symmetrical amperes 240V maximum iv Distribution fuse size marking is included in the manual to indicate that the unit shall be connected with a Listed Class RK1 Fuse with the current ratings as shown in the table below Model No Class RK1 Fuse All 500 W models 5 A All 2KW models 15 A v Maximum surrounding air temperature 50 degrees Celsius vi CAUTION Risk of Electric Shock Capacitor discharge time is at least 7min vii CAUTION Risk of Electric Shock More than one disconnect switch may be required to deenergize the equipment before servicing viii Solid state motor overload protection is provided in each model ix Install device in pollution degree 2 environment x WARNING Hot Surface Risk of Burn xi Drive has no provision for motor over temperature protection Motor over temperature protection is required at end application TI 71M02D04 01EN 10th Edition 2012 12 01 Ss E gt A N K Pagem 3 1 3 System Configuration 3 1 System Configuration
133. T MON B PRM DA parameter monitor display B This signal outputs data upper 16 bits read with the TA High Read data upper parameter monitor display B function s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 17 6 1 3 parameters monitors The group of variables called parameters monitors is expressed using the format parameters monitors are classified as listed in the table below according to their numbers parameter monitor number Classification Writing backup Description 0 99 It is always possible to read and write these parameter values These are variables to which no definition is assigned User 100 109 parameters Possible can set them freely It is always possible to read and write these parameter values They are mainly used when conditional branching is used in table data operation It is always possible to read and write these parameter l values d i ipstiemeters FOSSIDIG The settings are restricted in functions when the power is cycled 300 427 eee ee Not possible They are variable only for readout on order to refer the state of motor and drive changing at every moment All parameters monitors are expressed using the format The values can be referenced read during table data operation or using commands Writing changing set
134. Velocity 1 Feeding Velocity 2 Feeding Velocity 3 Feeding Velocity 4 Feeding Velocity 5 Feeding Velocity 6 Feeding Velocity 7 Acceleration time 0 Acceleration time 1 Acceleration time 2 Accleration time 3 Deceleration time 0 Deceleration time 1 Deceleration time 2 Deceleration time 3 Maximum velocity limit Velocity override percentage 1 Velocity override percentage 2 Setup table data and system register depnding on the necessity Function parameter Setting Window Use this window to change values of parameters related to the following functions e Jog e Homing e Test operation e Auto tuning e Incremental absolute positioning move e Basic settings E Parameter setting Register parameter Function parameter Servo tuning Signal monitor Selected monitor Velocity monitor Velocity monitor Gain 8 C Analog monitor 1 tMonitor No H372 Position error Gain 8 Velocity Analog monitor 2 up Monitor No 8378 Commanded d s Gain 8 Digital monitor 1 s036 00014010 Digital monitor 2 037 0001400 0 006 rps mps 0 030 rps mps 4 80V 1 00V 851968 851968 851968 851968 851968 851968 851968 85196 1000 1000 1000 1000 1000 1000 1000 1000 851968 10000 10000 Regist Select monitor Velocity monitor v Signal Monitor Terminal Setting Window 6 20 Exit Upload Parameter list Monitor list Exit Upload Parameter list Monito
135. Velocity monitor select This parameter sets the monitor gain in the velocity monitor If the setup value is Velocity monitor gain n the gain is 3 07V VS 2 raised to the nth power The maximum output voltage is 4 8V This monitor selects what should be output to analog monitor 1 Set the Anao MOMOE SEELE parameter monitor number you want to observe This parameter sets the monitor gain in analog monitor 1 If the setup value is n Analog monitor gain 1 the gain is 3 07V VS 2 raised to the nth power The maximum output voltage is 4 8V This monitor selects what should be output to analog monitor 2 Set the parameter monitor number you want to observe Analog monitor select 2 This parameter sets the monitor gain in analog monitor 2 If the setup value is n Analog monitor gain 2 the gain is 3 07V VS 2 raised to the nth power The maximum output voltage is 4 8V This monitor selects what should be output to digital monitor 1 Set the AONAN nOmiter RREO parameter monitor number and bit number you want to observe This monitor selects what should be output to digital monitor 2 Set the PONA monitor SIECLE parameter monitor number and bit number you want to observe TI 71M02D04 01EN 10th Edition 2012 12 01 6 110 6 8 Area Signal Two area signal channels are provided When a position range is specified by certain parameter values in advance these signals indicate whether or not the motor position is within
136. Wa LIE HHHEHEEHSES amp rey Emme If the homing measurement value is not in the target value range at the completion of the homing operation a home dog position error ERR49 1 occurs See 5 Adjusting Dog Installation Position 4 How to Perform Homing Operation via Command from the Controller Interface Aw See Section 6 4 1 3 How to Perform Table Data Operation Control Interface When turning the Power ON OUT ORG FINISH signal is on OFF state The OUT ORG FINISH signal is turned OFF when the power is turned ON It turns ON when the homing operation is completed After that this signal does not turn OFF until the power is turned OFF regardless of whether the servo is turned ON or OFF However the signal is turned OFF at the start of homing and is turned ON when the operation is complete TI 71M02D04 01EN 10th Edition 2012 12 01 6 84 5 Adjusting Dog Installation Position In order for the homing movement to be completed normally it is necessary that the distance between the ON area of the home sensor and the Z pulse edge is within a certain range set based on monitor 306 Z pulse interval At the first home detection movement the distance number of pulses from the edge of the home sensor to the first edge of the Z pulse is measured after the motor goes through the home sensor area and this value is set in monitor 392 homing measurement value An error or alarm is generated if this value does
137. Windows 98 The utility software is supported in Windows 98 Second Edition or higher O0 How can Update Various Resource Files We periodically update the PDF and CSV files referenced from the utility software To update these files on your system download the latest versions from our Web site and overwrite them into the install folder TI 71M02D04 01EN 10th Edition 2012 12 01 SSS gt ADK Pagem 9 1 9 Maintenance and Inspection Do not disassemble the motor and the drive Make sure to conduct an overall inspection at least every 20 000 hours of operation or every 5 years Depending on the operating environment and operating conditions it is appropriate to carry out inspections at shorter intervals Depending on the result of inspection the motor or the drive may require servicing or replacing If there are any problems with the external wiring or usage environment operating conditions solve such problems first and then repair or replace the motor or the drive Accumulated dust and dirt may cause failure clean the motor and drive regularly to maintain good usage conditions 9 1 Daily Inspection Inspect the motor and the drive before the start of operation to check that there are no problems If you find any abnormalities remove the causes and solve the problems before the start of operation The daily inspection check list covers the minimum items that should be checked to ensure that there are no problems at t
138. a Com window 90 Coin widthO v Regist Dodd Select acceleration time W2Accelerationtime O 1000 Regist Select deceleration time 76 Deceleration time 1000 Regist Select acceleration type Constant acceleration Select deceleration type Constant acceleration a Select velocity 64 Feeding velocity 851968 Regist Optional move direction for rotatian coordinate Twpe Shotcu st tt Direct or indirect Direct Table datal OO000000 Target position 0 TI 71M02D04 01EN 10th Edition 2012 12 01 6 87 O0 Setting parameters Related to Absolute Positioning Move Setting parameters Related to Absolute Positioning Move STEP 1 Select Data Management parameter and then Function parameter from the utility software STEP 2 Select ABS INC move from Function parameter STEP 3 Set the feed velocity acceleration time deceleration time position settling width maximum velocity and velocity override percentage STEP 4 Set and register parameters 2 How to Perform Table Data Operation Utility Software STEP 1 Select Operation in the utility software STEP 2 Select the Table operation tab in the Operation menu STEP 3 Click the Servo ON button to turn the motor s servo ON STEP 4 Select the table number of the table data you want to execute STEP 5 Click the Drive button to execute the selected table data KY Operation Auto tunning oper
139. a Tsushin Kogyo Kogyo Housing PCR LS36LA made by Honda Tsushin Housing PCR LS20LA1 made by Honda Kogyo Tsushin Kogyo Controller Connector CC Link Connector TMSTBP 2 5 4 STF 5 08 made by Phoenix Contact TI 71M02D04 01EN 10th Edition 2012 12 01 2 22 2 5 6 Terminals Main power supply control power supply terminal Motor terminal Connector 231 204 026 000 made by WAGO Connector 231 203 026 000 made by WAGO Regenerative resistor terminal Sensor terminal Connector 231 202 026 000 made by WAGO Connector 733 108 made by WAGO 2 5 7 Motor Filter l 4 04 5X Optional Motor Filter B ee po R7020TA OF002C 3 Kl Co 2 CMT vgEESE LOT x GJ v i ve el E IRA Ve C Vc eal S Iele i B eB 20 i id v i q TI 71M02D04 01EN 10th Edition 2012 12 01 2 23 2 6 Precautions at Installation Moving and Storage 2 6 1 Installation of the Motor Mounting the motor the wrong way or at an inappropriate pos
140. a to calculate the acceleration deceleration time to be set In the case of an S curved acceleration Deceleration type the acceleration deceleration time should be set to approximately 1 5 times the value calculated from the formula below t Deceleration time sec MS Slider weight See Section 2 1 Standard Specifications kg MS ML v wi Load weight kg E v Velocity m s a F Maximum motor thrust N t Fx Disturbance thrust in the direction opposite the motor s output thrust N 08 Margin T TI 71M02D04 01EN 10th Edition 2012 12 01 6 38 Acceleration deceleration type Set the acceleration deceleration type using system setup register 3 in the case of jog and homing and using table data in the case of incremental positioning move and absolute positioning move Select either constant acceleration or S curved profile for the acceleration deceleration type The figures below show velocity profiles and torque thrust profiles of each type If you select constant acceleration fast acceleration is possible but the motor tends to induce larger vibrations into the mechanical system If you select an S curved acceleration Deceleration type the movement becomes smooth and the vibrations induced in the mechanical system can be reduced For this reason the settling time is shorter in most cases but the acceleration deceleration time becomes longer Velocity and Acceleration Profiles for Each Acceleration Type Vel
141. after OUT M EN turns ON for 10msec Aw Operation of the M function at error occurrence If Stop the M function at error is set to Valid in System register 2 of the parameter window the execution of the M function stops when an error occurs If it is set to Invalid the execution of the M function continues even if an error occurs TI 71M02D04 01EN 10th Edition 2012 12 01 6 64 2 Setting Coin Waiting to Valid Invalid Coin waiting functions when moving by INC positioning or ABS positioning Coin waiting is not performed during a test operation or auto tuning operation regardless of the setting Coin waiting is performed at locations necessary for operation during a homing operation regardless of the setting The timing at which the OUT AXIS EXE and OUT POS signals are output at the completion of an operation varies depending on the setting of the coin waiting function See Section 6 6 Position Settling Signal for the explanation related to the positioning settling signal Invalid The OUT AXIS EXE signal is turned OFF upon completion of the position command It turns OFF as soon as the position command is completed even if the position settling signal is turned OFF The OUT POS signal is turned ON upon completion of the position command Valid The OUT AXIS EXE signal is turned OFF after the position command is complete and the position settling signal OUT COIN is turned ON The OUT POS signal is turned O
142. ain power supply control power supply lt CN4 gt Controller interface connector Connect a controller such as PLC to this connector lt TB3 gt Regeneration resistor terminal Connect a regeneration resistor to this terminal 500 W Connect the attached regeneration resistor 2kW External regeneration resistors will be required if you rotate the motor with external force please consult us separately lt CN2 gt Encoder resolver connector Connect the encoder resolver cable of the motor to this connector lt TB2 gt Motor terminal Connect the power cable of the motor to this terminal lt GND gt Ground terminal This is a ground terminal Make sure to connect the motor ground and power supply ground TI 71M02D04 01EN 10th Edition 2012 12 01 4 2 3 Explanation of the Front Panel CC Link LINEARSERV CN1 Ooooooooo OoO00000 DrvPIll Ys CCuink EN Ire YA Rev 1 40 i A 200 230VAC CHARGE Tp O nm 1B1 TB MOTOR VAH vallt e vcj a TB CN4 CN C e 6 RR RUN DA DB DG SLD lt CN1 gt Serial interface connector RS 232C RS485 Connect the operation display panel operation display pendant and PCs to this connector lt STATION NO gt Station number setting switch It sets the station number of CC Link x1 Lower x10 Upper lt RS ID gt Rotary swi
143. ains for different cases When this signal is turned ON the position control band position control integration time and position integral limiter parameters are switched to their alternative values ee ee OSMON CONIO bandwidth bandwidth 1 bandwidth 2 frequency integration time position control 1 position control 2 limiter limiting value 1 limiting value 2 Pos control Integral action for position control is not performed while this 1 IN POSINT INH integration nege p p H ane signal is turned ON prohibited 2 IN POSINT RST Reset position The integrator information is reset in position control when this H F control integrator signal is turned ON reserve Reserved Block 2 Use this signal if there are large fluctuations in the load or it is desired to use different servo gains for different cases When this signal is turned ON the velocity control band velocity control integration time and velocity integral limiter parameters are switched to their alternative values i 4 IN VELFREQ SEL See PO NENNEN ue eges cmn band frequency bandwidth 1 bandwidth 2 integration time velocity control 1 velocity control 2 O Frequently used signals A Signals assigned as necessary No mark Not applicable Description Jog move I O processing cycle c oO S o Q O O A Q H Velocity integral 6 Velocity integral 7 Velocity integral limiting limiting
144. al pulse command OUT AREA 0 Area signal 0 This signal IS used in the area signal function It turns ON when area signal 0 is turned ON 7 OUT AREA 1 Area signal 1 This signal is used in the area signal function It turns ON when area signal 1 is turned ON OUT PRM WR END parameter writing This signal is used for the parameter write function in the SADa completed CC Link interface parameter TD 1 OUT PRM RD END monitor reading This signal IS used for the parameter monitor read function in the CC Link interface completed parameter This signal is used for the parameter monitor display A 2 OUT_MON_A_CHNG END monitor display A function in the CC Link interface when using 2 occupied change completed stations parameter This signal is used for the parameter monitor display B 3 OUT MON B CHNG END monitor display B function in the CC Link interface when using 2 occupied change completed stations Block 3 UT TS c parameter writing This signal is used for the parameter write function in the 4 OUT PRM WR OK Since normal CC Link interface parameter m 5 OUT PRM RD OK Zmonitor reading This signal IS used for the parameter monitor read function in the CC Link interface normal parameter This signal is used for the parameter monitor display A OUT_MON_A_CHNG_OK monitor display A function in the CC Link interface when using 2 occupied change normal stations parameter This signal is used for the
145. all screws can be fed through in the DYNASERV Host An upper device that sends instructions to the drive ID Drive station number set up by the rotary switches on the front panel Idle State A state in which no operation is being performed INC TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 5 OJ OK OL 0 M Increment relative position notation Increment Positioning A relative move command from the current position Interlock The velocity override value is set to 0 internally Invalid Invalid state To not use a specific function in parameter settings etc set to invalid 0 IPM fault signal An error signal output by the IPM unit built in the power module IPM fault signal An error signal output by the IPM unit built in the power module kpulse Unit of pulses obtained by raising 10 to the third power Linear Coordinate System A coordinate system that manages coordinates within a range of 999999999 to 999999999 linearly If this range is exceeded a software EOT error occurs LM series Linear motors Load Inertia The moment of inertia of load attached to the motor Load Scale Factor Load scale factor K load inertia rotor inertia Logic I O A virtual I O of firmware in the drive Some of logic I O are assigned to actual I O hard I O Logic I O Initial Value Initial values ON or OFF at power on start can be set up for logic I O inputs only Setting initial values to logic I O actua
146. als observe the sequence shown in the following timing diagram when the power is turned ON l l alts Control power supply mp l l N External circuit delay j l l Main power supply input 2 1sec or less l l Main power supply status p Rushintewal X Rush interval Constant supply status v l l NM Regeneration error output Z gt 1 uos l 4sec or less j Main power supply on switch LT 7 m external circuit Dy ea o0msec or more I O operation start l i l l l 1 2sec i 0 5sec gt I I I O input signals are ignored during thig period IN OOO l CN4 1 O input i l l l OUT_DRDY 1 l CN4 drive CPU ready l 1 Waveform when the logic setting is positive and no error occurs when the power is turned ON 2 The timing diagram shows the timing for the circuit configuration shown in the figure below Example of power supply sequence circuit Circuit protector Note Main power supply on switch TI 71M02D04 01EN 10th Edition 2012 12 01 6 32 Sequence at Startup Operation To start up using table data operation make sure the signals observe the sequence shown in the following timing diagram when the power is turned ON Control power supply input sede x l l External circuit delay E Main power supply input l l l 1sec or less l l Main power supply status X Rush interval Constant supply status l l g
147. arameter takes a different value according to the type of the motor drive Prompt A character string parameter name error name and so forth included in a response from the drive when a communication is made with the drive using the utility software display panel etc Pulse Direct A weighted signal of an external pulse If this signal is ON the motor operates one pulse of motor resolution by an external one pulse command ignoring the scale setting Reboot Restarting the drive by cycling the power or using a software reset command Registered Parameter Value Parameter values stored on the drive s internal EEPROM example 100 The drive loads these values as parameter setup values at startup If these parameter values are changed the parameter setup values are also changed at the same time TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 8 s Repeatability Accuracy Positioning is repeated seven times from the same rotation direction This value is displayed after addinga sign to a half of the maximum width value of variations of the seven positions Restore Writing backed up data from an upper device PC operation display pendant to the drive Same as download Rotation Coordinate System A coordinate system in which the coordinate values after one motor rotation becomes equal to the coordinate values before movement The coordinate system does not overflow even if the motor is continuously rotated in the same
148. arameters or table data according to the table below Moreover by using the velocity override function it is possible to change the velocity in real time while moving real time velocity override function The maximum velocity of the motor can be specified by 111 Maximum velocity limit but the upper velocity limit is restricted by the motor s intrinsic velocity limit value see Section 2 1 Standard Specifications The restricted value is displayed in 305 User defined maximum velocity Velocity Acceleration type setting Select either constant acceleration or S curved profile co ce 22 22 20 comes Maximum velocity limit 111 Set in the Parameter by Function tab 4 Deceleration type setting or S curved profile lt gt Actual acceleratidn time 1 Acceleration time setting 72 Acceleration time 0 to 75 Acceleration time 3 Velocity Profile Setup Items Jog move absolute positioning incremental positioning and homing Select either constant acceleration or S curved Select either constant acceleration or S curved Deceleration type n pan profile in system setup register 3 profile in table data Select either constant acceleration or S curved Select either constant acceleration or S curved Acceleration type n l re profile in system setup register 3 profile in table data Deceleration time Acceleration time Feed velocity It is possible to save register up
149. ardware EOT limit active Coin window selection status 2 Coin window selection status 1 Coin window selection status O Position control integrator operating Velocity control integrator operating Command position pulse s overflow Excessive regeneration Home sensor active Z pulse status Over speed status Over load status Reserve Reserve Reserve Reserve Reserve Reserve Reserve Area signal 2 status Reserve Area signal 1 status Excessive AC mains voltage co AC main voltage out of range C1 mn T C m co co D C1 Co m Bit 31 29 24 23 22 21 20 19 18 1 16 4 Loe ce n co Ro e coin window is set to 3 s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 24 6 1 4 Operation Privilege Two types of interfaces a controller interface and a serial interface are provided For the serial interface the utility software an operation display panel optional and an operation display pendant optional are available The items that can be operated are different for these two types of interfaces but the main operations are possible via both interfaces Note however that if the user is operating the system via one of the interfaces and an operation command contrary to that is given via another interface d
150. ates that hard I O with a check mark has been set to positive logic Active High Select the logic I O name to be assigned from the list for each hard I O However the logic I O names that are already selected by other bits cannot be selected O I N NNI TI 71M02D04 01EN 10th Edition 2012 12 01 8 37 O0 Logic I O Initial Value Setting Window The initial status of logic I O at startup can be predetermined for each bit For example in the case of an application you want to turn the servo ON unconditionally at power on you can do so after the power is turned ON by setting the applicable bit to ON when setting up logic I O initial value instead of assigning Servo ON command to hard I O This will save some hard I O points Select logic I O initial value setting Initial value setting is set to valid only for input bits Up to 16 bits can be displayed at a time If there are more than 16 bits switch using this combo box and register for each page i 1 0 seiting vere Logic 1 0 initial valu Logie 10 initial value ocu o Beit jo START o 0 BIOP morn S ST WOGUP 70 ooo JOG DOWN M ANSWER 7 IN CODEO 0 IN CODET 0 IN CODE2 IN CODE3 0 IN CODEA aae IN CODES 0 0 nj
151. ating Block2 320 status register started with IN START is being executed If the position coin OUT MODE EXE BitO 1 bit 12 waiting function is set to valid in table data the OUT MODE EXE signal turns OFF after the position of the motor settles This signal turns ON while the motor is operating If the position coin waiting function is set to valid in table data the OUT AXIS EXE signal turns OFF after the position settles 1 The status can also be checked with the Axis Signal Monitor Parameter Monitor and Oscilloscope functions of the utility software Axis operating BlockO 11320 status register OUT AXIS EXE Bit3 1 bit 10 s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 107 6 7 Signal Monitor Function i The R7041WC analog monitor card optional is required to use the signal monitor function By using the analog monitor card it is possible to observe velocity and monitor waveforms generated inside the drive using an oscilloscope pP Analog monitor card optional R7041WC TOD TAL Quen Oscilloscope DrvPIll Output voltage V O This signal outputs the velocity waveform as an analog voltage signal It is also possible to output output range can be adjusted Velocity monitor CN3 1 using the utility software
152. ating from motor cables Mount it on a motor cable as close to the drive as possible The ferrite core 1 is not required if the drive is installed in a metal control panel equipment and does not affect devices located within the same equipment 5 11 3 Ferrite Core 2 Ferrite core 2 is effective as a means of suppressing motor vibration caused by noise conducted into the motor cables and encoder resolver cable Conductive noise is caused by the capacitive and inductive coupling that occurs when cables are wired in parallel thereby acting as noise sources Mount it on a motor cable as close to the drive as possible Ferrite core 2 is not required if there is no noise source that may cause motor vibration in the same equipment 5 11 4 Motor Filter A motor filter is effective as a means of suppressing the common mode noise generated by an inverter Common mode noise is caused by high frequency harmonic components in the current due to switching in the inverter which is conducted via the coupling capacity between motor cable and motor coil and ground A motor filter effectively suppresses high frequency common mode noise current If a CCD camera or measurement instrument is mounted on a platform where the length of a motor cable exceeds 10m in particular the ground may become unstable due to the common mode noise current leading to a device malfunction Attach the filter to a motor cable as close to the drive as possible Secure it to a meta
153. ating of the base mounting surface completely with organic solvent e g thinner hydrocarbon solvent If any coating remains the mechanical precision and functions may be impaired Prevent areas other than the base mounting surface such as the core surface and guide unit from being subjected to the solvent and any remaining coating Failure to do so may cause deformation and breakdown However do not wipe off the grease in the guide unit The tightening torque of screws for mounting the mounting plate and load on the slider must be 4 Nm for M4 screws 13 Nm for M6 screws 35 Nm for M8 screws and 70 Nm for M10 screws Prevent screws from loosening by applying Loctite 601 or an equivalent product Base core surface Guide unit Slider load mounting surface Slider Base mounting surface Base Figure shown from the connector side TI 71M02D04 01EN 10th Edition 2012 12 01 2 24 e Besure the mounting screws of a load to the slider never reach or exceed the effective screw depth of the slider e he motor accuracy depends on the accuracy of the surface to which the mounting plate is attached The surface accuracy affects the accuracy lifetime etc of LINEARSERV Therefore the mounting plate should be mounted on a surface as accurate as possible As a general guideline use a reference value of 0 01 mm or less per 1000 mm of the motor s stroke length for the levelness of the mounting surface e Remove any burrs dents
154. ation Test operation Homing operation c T able operation JOG EST DrivelD St LL e Controller sidef Servo off Table Ma No 20 Dwelling Ma 20 Drwellini No 21 Dwelling m Ma 22 Dwelling No 23 Dwelling No 24 Dwelling Mao 25 Dwelling Mao 25b Dwelling dea 3 How to Perform Absolute Positioning Move Controller Interface See Section 6 4 1 3 How to Perform Table Data Operation Control Interface mm TI 71M02DO04 01EN 10th Edition 2012 12 01 6 88 Absolute Positioning Move Operation Data 0 and 1 Name Description Default Setting Coin width Select the coin width from coin windows 0 to 7 90 to 97 d RM TN nom ACCE eralon Select the acceleration time from acceleration times 0 to 3 72 75 Acceleration time 0 Select deceleration time a a au Select either constant acceleration or S curved profile Constant type acceleration 2P PCl OECE GraNON Select either constant acceleration or S curved profile Constant type acceleration Constant acceleration Select the deceleration time from deceleration times 0 to 3 76 79 Deceleration time 0 Select velocity Select the feed velocity from feed velocities 0 to 7 64 71
155. ation group that has the function to issue operation commands to the drive 8 4 1 Operation The Operation group has the functions for instructing operations to the motor from the utility software Select a tab suited for the target operation and issue a command If you wan to change the parameter group pertaining to the target operation start the Parameters dialog box of the Data Management group at the same time and change parameters or if you want to monitor the status of the monitor start the dialog box of the Display group at the same time and monitor the status If the controller side has the main operation privilege of the connected drive when this dialog box is opened there is an inquiry as to whether or not the operation privilege will be granted to the serial interface side Check security and switch accordingly Operation selection tabs Command instruction buttons B Operation fx Driver Servo off Table No Home sensor position adjustment Homing result display lamp Green Normal range Yellow Homing alarm range Red Homing error Location from edge pulse Target value ln pes pulse Error status display lamp Green Normal Red Error Monitor area not displayed on all tabs Aw Having the main operation privilege signifies that a specific interface has the privilege to issue operation commands TI 71M02D04 01EN 10th Edition 2012 12 01 8 10 8 4 2 Terminal Th
156. be within the coordination range Change value s of limit of absolute linear coordination range Check the connector section repair or replace if necessary Replace the cable Eliminate the noise generating source and review the wiring route Replace the motor unit Replace the drive Remove the load and also remove the one that is giving force Adjust the support and cable so that they are not in contact with the hollow hole Repair the motor unit if an error occurs while in the no load state Check the items pertaining to the encoder errors TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 3 3 Action Name Cause and condition detected taken at Countermeasure occurrence O Check the wiring of the motor Attempted to generate a pulse of 3MHz or more Error setup cable and encoder cable N which exceeded an allowable monitor pulse O Take an action against ot register 2 Monitor pulse error 18 0 ible output dependent resonance and set an poas O The motor overran i 4t g appropriate adjustment value O Resonating and hunting i y O Setthe scaling data to an appropriate value Tandem error 19 1 The master has detected an error in the slave Possible O Remove the cause of the abnormality on the slave side Error setup register 1 Check the connection status of the communication cable Anti noise in the Tandem communication abnormality has dependent occurred due to noise bits 11 to
157. being executed is completed If the coin waiting function is set to valid OUT M EN turns ON after OUT COIN turns ON The M function is not executed Invalid The M function is not executed Valid Invalid Nr lf OUT_M_EN is not assigned with the hard I O assignment function the M function is not executed even if the M function is set to valid with the operation register at executing table data operation TI 71M02D04 01EN 10th Edition 2012 12 01 6 63 Make sure that the signals observe the following sequence when using the M function When the OUT M EN signal turns ON the table number currently being executed is output to OUT O CODE 5 0 as a binary value The M function is terminated when IN M ANS turns ON while OUT M EN is being output Signal Timing of the M Function In the case of non parallel operation IN START OUT MODE EXE IN M ANS OUT O CODE 5 0 OUT M EN 5msec or more bmsec or more IfIN M ANS is not assigned the M function is automatically terminated after OUT M EN turns ON for 10msec Signal Timing of the Parallel M Function In the case of parallel operation IN START OUT MODE EXE T LC 22 22 2293 l M function terminated Whichever occurs later CFF IN M ANS Undetermined 5 0 OUT M EN 6 gt 5msec or more b5msec or more If IN N ANS is not assigned the M function is automatically terminated
158. ble This signal turns ON if no error occurs after turning the power ON It is used in the sequence when the power is turned ON see Section 6 1 7 Signal Timing when Turning the Power ON I O processing cycle This signal turns ON if an error occurs This signal turns ON when the motor is being operated This signal turns ON if an over speed error occurs This signal turns ON if an overload error occurs The hard I O logical setting of this signal is set to negative logic at shipment from the factory In this status the output transistor is turned OFF if an overload error occurs soursusv Busy 4 4 jog movement o os L7 surjos Ex Executing eg 4 Thie signal turs ON white executing jog movement To ouro cobES Ooeowpto a a L1 euro cobE1 Code ouput fa fa 2 ouro cobez Code output a a voce L3 ouro cones Code outputs A fa i 4 OUT O CODE4 Codeoutput4 A A OUT M ENis turned ON while an M code is being output Fs ouro cobEs Code outputs a fa F6 outo CODES Code outputs a a 7 euro cobe Code ouput a a OUT AXIS EXE Axis operating 5 OUT OVL Overload signal AJA 5 w eb o 5 o Q S OUTSRDY Sevoreay This signal turs ON when the servo istumed ON KaL rary FP s nr c MN T MMH a TI 71M02D04 01EN
159. bout the transmission speed and total extension distance refer to the CC Link Interface User s Manual Also in the case of T branch connection there are more restrictive rules The station to station cable length refers to the length of a cable between a station and its adjacent station There are some restrictions according to the station type CC Link version and dedicated cable type used Setup Communication Ver 1 10 supported CC Link dedicated cable Dedicated Station to station Id Ri speed CC Link dedicated high performance cable cable cable length 156Kps 156Kps 120m 120m 1200m 1200m 625 Kps 2 5 Mbps 0 2 m or more 10 Mbps Other than Setup error 0 to 4 P e Setting the Number of Occupied Stations Set the number of stations one drive will occupy When not many I O points are required for instance a limited number of station numbers can efficiently be used by setting one occupied station Set this value using 119 CC Link setup register bit 0 from the utility software The factory preset value is 2 occupied stations If this setting is performed incorrectly and thus the number of occupied station of this drive set up on the master side differs from the number of occupied station set up on the drive side communication errors may not be detected under the following condition Please be careful as it looks like a communication is established normally on appearance e
160. ce connector lt TB3 gt Regeneration resistor terminal lt TB2 gt Motor terminal lt GND gt Ground terminal lt CN2 gt Encoder resolver connector Label Caution label TI 71M02D04 01EN 10th Edition 2012 12 01 4 2 2 Explanation of the Front Panel Connect I O lt CN1 gt Serial interface connector RS 232C RS485 Connect the operation display panel operation display pendant and PCs to this connector lt RS ID gt Rotary switch A slave station ID of multi channel communication via L INEARSERY RS485 is set according the status when the power supply is turned on The number of the rotary switch indicates a slave station ID lt SRV DS gt Servo disable switch The servo is turned off only while this switch is being pressed lt RDY ERR gt Status display LED It displays the status of the drive Green RDY No error Red ERR Error occurred lt CN3 gt Analog monitor connector It is possible to observe torque and velocity waveform with an oscilloscope The analog monitor card optional part number R7041WC is available lt TB4 gt Sensor terminal It is a sensor input and error output Input Home sensor EOT signals Output Regeneration error lt CHARGE gt Main power supply charge LED It displays the status of the main power supply The internal electrolyte capacitor is being charged when it is lit lt TB1 gt Main power supply control power supply terminal It is an input terminal for the m
161. cessary TI 71M02D04 01EN 10th Edition 2012 12 01 5 3 5 1 4 List of Cable Specifications 500 W Class Drive Connection Cables Current GA Control power supply AWG 20 0 5mm or more length 10m orless 1A Motor GA AWG 14 2 0mm or more Ground Use as thick a cable as possible Class 3 ground ground resistance 100 Q or less Sensors Limits and AWG 28 20 0 08 0 5mm Home AWG 24 0 2mm twisted pair cable with a common Encoder resolver shield external diameter 9mm or less length 10m or less AWG 22 0 3mm twisted pair cable with a common Head amplifier shield external diameter 9mm or less length 5m or less AWG 28 20 0 08 0 5mm cable with a common Controller shield external diameter 214mm or less length 3m or 0 5 A less RS232C Dedicated cable C1P ENN 2276 020 2 0m EE TI 71M02D04 01EN 10th Edition 2012 12 01 5 2 Main Power Supply Control Power Supply Terminal lt TB1 gt Control power supply d1 4 J oe Connector 231 204 026 000 up KG made by UR Main power supply F 3 Bienen Lr Insulation stripping length 8mm The attached lever can be installed by snapping it on Cables can be connected simply by inserting them with your fingers tools are not necessary TB1 TB3 TB2 JCA UTION Set up a sequence circuit similar to the one shown below in order to avoid accidents where the drive
162. ched in the regenerative resistor terminal of a drive May cause electric shock The high voltage is applied to the regenerative resistor terminal oa NGER A regenerative resistor generates high temperatures Do not touch the regenerative resistor while operating the motor and the drive until the temperature has cooled down sufficiently TI 71M02D04 01EN 10th Edition 2012 12 01 5 7 5 5 Sensor Terminal lt TB4 gt Connector 733 106 made by WAGO Wire size AWG 28 to AWG 20 Insulation stripping length 5mm The connector can be attached through one touch operation by pulling down the spring in the slot in the upper part of the connector using a drive The size of the tip of a drive is 2 0 x 0 4mm Definition Sensor input specification 1 COMPO Sensor power Rated voltage 12 to 24VDC 10 1 XORG Home input B contact Raed imbutum 4 1 mA point at 12VDC XOTD EOT input B contact 8 5 mA point at 24VDC XOTU EOT input B contact Input impedance 3 0 KQ 5 ERR Regen Resistor error Operating voltage relative Off Less than 3 0VDC output to COMPO On 9 0VDC or more ERR Regen Resistor error Alowabie Tesk curen Guarantee OFF at 1 0 output mA or less Regeneration error output Maximum service voltage 30VDC Maximum output current COMO o ERR 4700 4 Iko IHR XRG EX 0 Olu F ee r XID 2 XQ XTU PS2805 PS
163. cseeeeeeeeeseeeeeeeeeeaeeeeeens 2 32 2 9 ontormed Staridatds e sci itcatlcudu colteas sont e eec deacon le nc um LI Lue A LL ANREDE MAT DU D AOL qDUE 2 33 System Configura lioi eT seats 3 1 ox SV SICIM Cotlidillddlollsscdtutasinccnita aii cafe matins mtn d amass it ti cortos E EU cies oes 3 1 22 COMAC l O IDtelTa6B uei aii ot Danetiean tei eet chere duel sot omens tel danatis e serai cxi Dichte ie Dudai fn 3 2 PAE CONAC O prp ERN 3 2 OP MB CS Ni Me WACO TE UL LT MT 3 9 9 91 WE Vat TS GG AIA eter ec wen reed amc epu ca usse eto c dead eru edu 3 3 TI 71MO02D04 01EN 10th Edition 2012 12 01 813 2 INGIWOFK COnNOGUrAUO pet H E 3 4 239 Gro ag G A 6 1g r 0 e 3 5 Name and Function of Each Part iui once oem ie coc xus aono ee ee ei ede 4 1 AW MOO IIL ct tdade tat Meabiohi diet coats identi canal tee ett eh al asei ditt ies G ls ate A 4 1 AA VIVIAN T 4 2 Rod OO VV deuten seers tae sata ete ME I AU ED EE M E 4 2 4 2 2 Explanation of the Front Panel Connect I O seessseeeseeeeeeeeennnennnn 4 3 4 2 3 Explanation of the Front Panel CC Link sseeessesesseseseeenneennn nnne 4 4 VINI ise crcceszic rr ER 5 1 oc Overall COnMe COM ERE EDT 5 1 S L Xonnecuon DIadraliiasistsmendist one iste tein tulbota uvis eren eilmt ires d mM cst i uuu B dtu iode oeedms 5 1 od CCUM PFOIGGCIOI Gnd eene
164. ct dE Motor e Amp Made config oa MENU Operation Bree meine Select a communication port and click Online The button cannot be clicked if a Display proper communication port was not selected Oscilloscope Parameter mon Data management HParameter Table data 170 Maintenance HParameter viewer Table viewer E iO viewer Backup Version infa 10 man Axis Signal man Error man TI 71M02D04 01EN 10th Edition 2012 12 01 6 46 O0 Servo ON Operation STEP 1 Select Operation from Control Click the Yes button when the message shown in the figure below is displayed STEP2 Select the Auto tuning operation tab STEP 3 Select the Servo ON button Nr The servo is turned OFF while the SRV DS switch on the front panel of the drive is pressed It is advisable to place a finger on the SRV DS switch when instructing to turn the servo ON that way you can turn the servo OFF immediately if instability or oscillations occur E Operation A unng operator perm 2 Select the Auto tuning operation tab Servo ott H Table Ma Execute auto tuning 3 Select the Servo ON button 4 Auto tuning Auto tuning is started by clicking the Drive button After the auto tuning is completed click the Regist button to write the data resulting from the auto tuning to the drive AN A caution When the motor is started it moves in direction
165. cting multichannels Stator Core A magnetic circuit provided in the motor fastening section Status Register 320 321 and 322 monitors They constantly display the status of the motor drive Just like the system registers each bit is assigned with a unique definition Sum Value Firmware and data embedded in the drive are managed using sum values System Register 98 99 and 110 parameters These parameters set up the drive s main operations The system register parameters are 32 bit wide data and each bit is assigned with a unique definition Table Data Operation command data contained within the drive total of 64 Tandem Operation An operation method for obtaining large torque and thrust by connecting multiple motors and drives using a multi drop connection Tuning An operation for adjusting each servo parameter to an appropriate value This drive is installed with the auto tuning function by which tuning is performed automatically TxD Transmit signal during host communication Unit Unit refers to a command unit in this document Upload Moving data from the drive to an upper device PC operation display pendant User Data Internal data such as parameters table data and I O setup values which can be rewritten using the utility software operation display pendant etc Valid Permitted state To use a function by setting its parameters and other items set to valid 1 TI71M02D04 01EN 10th Edition 2012 12 01 Appendix
166. cy at which USENOLCAIME I vibration noise is minimized Note Set notch filter 1 to Disable if the vibration noise is not decreased Adiust notch filter 2 Set the notch frequency of notch filter 2 to the frequency at which vibration noise is minimized if the resonance is not eliminated by notch filter 1 alone Note Set notch filter 2 to Disable if the vibration noise is not decreased YES Was the resonance suppressed Set the phase lag compensation filter according to the following standards 24 First lag compensation frequency 1 n x 2 Velocity control bandwidth 1 25 First lag compensation frequency 2 compensation filter 4 x 24 First lag compensation frequency 1 Set parameter 24 with n 3 Set it with n 2 or n 1 if the vibration does not stop Note Set the first order lag compensation filter to Invalid if the vibration noise is not decreased NO Was the resonance suppressed YES Lower the servo stiffness Readjust the servo stiffness Decrement the current setup value of 1 Servo stiffness setup by 1 End filter adjustment Aon UTION If the setting of the control system is inappropriate the motor may begin to oscillate or even become unstable in some cases Take enough precautions with respect to the motor s operation range and its safety when you adjust the servo TI 71M02D04 01EN 10th Edition 2012 12 01 7 5 2 Types and Characteristics of Filters
167. d party may incur through use of the product nor for any direct or indirect damages that the user or a third party may incur due to product defects that cannot be predicted by us etc s S n XX H Y P M c ws TI 71M02D04 01EN 10th Edition 2012 12 01 Software We make no warranties for the software except as prescribed by the guarantees Copying and use of the software for any purpose other than as intended by us such as for use as a backup is strictly prohibited Keep the original storage media of this software in a safe place If you do not have the original media we may decline to offer our prescribed quality warranty and maintenance services Reverse engineering of the software including reverse compilation and reverse assembly is strictly prohibited The transfer exchange or subleasing of any part of the software for unwarranted use by a third party is prohibited without prior permission from Yokogawa Electric TI 71M02D04 01EN 10th Edition 2012 12 01 O0 General Precautions Regarding LINEARSERV Never install the motor in reverse such as by fixing the slider of the motor and making the mounting plate move When removing the drive s side panel to set jumpers or other items be sure to turn the power supply OFF before doing so It is dangerous to touch the high voltage parts inside the unit Be sure to ground the groun
168. d terminal to the earth The clearance between the slider and the mounting plate is approximately 0 1 mm Dirt or foreign substances adhering to the mounting surface may cause failures Prepare a fixture on the load side for the cables that connect to the connectors of the slider or fix them on the slider side using the cable attachment screws of the slider etc so that external force is not applied to the connectors Failure to do so may lead to disconnection or breakdown The optional cables provided by Yokogawa are consumables and have a limited life Be sure that the mounting screws of a load never reach or exceed the effective screw depth of the slider The motor s surface is magnetized Keep objects that are affected by magnetism away from the motor The motor structure is not resistant to dust splashing or water oil When mounting the motor please refer to the section Specification Installation Precautions for Transportation and Storage in this manual Foreign substances and grease entering the encoder unit may cause malfunction and failure The motor unit contains glass materials Avoid subjecting it to vibration and impact Base core surface Slider Connectors Stopper Guide unit Slider load mounting surfaces Cable attachment screws Base Base mounting surface Figure viewed from the connector side The motor mounting plate of a product whose surface treatment suffix code is N is coated to prevent rust Prior to moun
169. d the load inertia is estimated The estimated load inertia is automatically registered in 0 Position feed forward velocity feed forward The control parameters corresponding to 1 acceleration feed forward _ Servo stiffness setup see the table below are set automatically and various filters are not adjusted O0 Zparameters Set Automatically by Auto Tuning The parameters set automatically by auto tuning vary depending on the specified control mode control method and states of IN POSFREQ and IN VELFREQ SEL see the table below parameters Set Automatically by Auto Tuning parameters automatically set by auto tuning 1 servo stiffness Position control parameter 1 Velocity control parameter 2 setup Velocity control Position control Position integral limiting bandwidth Velocity integral limiting bandwidth 8 9 value 12 13 value 6 7 3 Servo stiffness response A value that specifies the maximum torque that may be output by the integrator in the controller to remove a small velocity deviation the value changes depending on the motor model load inertia and servo rigidity setting Higher A value that specifies the maximum torque that may be output by the integrator in the controller to remove a small position deviation the value changes depending on the motor model load inertia and servo rigidity setting value Default setting Lower d Set to 8and 12 if IN POSFR
170. de selection Oo Oo medok ooo 0 0 Oo OS servocommand 0 0 J xr wx 0 Immediate stopcommand gt O Coinwindowselection o Oo O eewepe nsum J o x 9 94 Coorinatesysiemseting J o x 9 9 integral inter setfadusiment o f x 9 9 o oz o o2 1 Can be instructed using table data 2 Possible only if the CC Link interface is used TI 71M02D04 01EN 10th Edition 2012 12 01 6 25 1 How to Select Operation Privilege The main operation privilege is always set to the controller interface when the power is turned ON 1 There are three ways to switch the main operation privilege from the controller interface side to the serial communication side Method 1 It can be switched when opening the Operation window in the utility software Method 2 It can be switched by the switch button in the Operation window Method 3 It can be switched by issuing the command 05 0 from the terminal window 2 There are two ways to switch the operation privilege from the RS communication side to the controller interface side Method 1 It can be switched by the switch button in the Operation window in the utility software Method 2 It can be switched by issuing the command 35 1 from the terminal window fh c UTION When opening the Operation window from the utility software a message box asking whether or not to select the serial communication s
171. ded velocity value N 320 Status register 1 370 Commanded position value pulse BI c371 Actual position value pulse MEMO feeososooscoosessscsoscoseccescosecceecosscvocceocseoseccescooseccecceosceocseeccececoceeeevec TI 71M02D04 01EN 10th Edition 2012 12 01 8 22 O0 Making the Display Easier to See by Applying an Offset to Waveforms Waveform data can be observed in a fine range by setting an appropriate offset value in the waveform display in advance In this example the command unit current position is monitored when it is at a position away from the origin By setting a value from which the away distance in this example 1000000 is subtracted as an offset the actual moving segment can be displayed in enlarged view CHANNEL SETUP cH L soune CSTE Lpisrar Lassign C UNIT D ANALOG CH1 tion vel 8376 Actual position ve v Meis 100000 1000000 ANALOG cH2 iv v l 342 Actual velocity ve Xem 20000 0 cH3 p icu 371 Actual position ve A EEO s cH L MATH SETTING 1 CONTEN OFFSET PagaMI LOPERATOR L P amp p M2 D Cancel 2003405729 13 35 TIME 1 msec DIVv UNIT DIY Offset CHI 10000 100000 CH2 2m0 oO SOURCE CH1 RISE LEVEL POSITION CURSOR 12 d B5 7 ms 4700 ms So me 1142787 1270396 127609 17 46 822 Ee MENS fae mcum
172. der bars with the notch Ride dos us 4 Set to a filter mouse cursor to change the Gps Mere Valid Invalid See bandwidth frequency setting and Q velocity feedback filter First lag compensation filter setup Display v 024 First lag compensation fre 20 YT 3 H 71 TETE 11707 117303 TEUTEU 025 First lag compensation fret 733 111 EL1T110HTFEF EL rrr ria bia Pea 6 It is possible to check the frequency characteristics of the filters Velocity feedback filter Velocity command filter 026 Velocity command filter be 1000 V1TTTTY EFLFTTELTIE TITE2IPFTT T TTLUITIT Actual position value filter setup At Ne UTION If the setting of the control system is inappropriate the motor may begin to oscillate or even become unstable in some cases Take enough precautions with respect to the motor s operation range and its safety when you adjust the servo TI 71M02D04 01EN 10th Edition 2012 12 01 7 10 7 2 3 If the Motor Oscillates during Auto tuning Perform auto tuning again according to the procedure shown in the following flowchart if the motor oscillates while performing auto tuning See Section 6 4 3 Auto tuning Operation for how to perform this operation and how to set parameters Start adjustment Perform auto tuning Repeat auto tuning 2 to 3 times There will be little influence on the motor operation if the fluctuation of the
173. direction Rotor Core A magnetic circuit provided in the motor s rotating part Rotor Inertia Inertial moment around the rotor s rotation axis of the motor Self inertia RxD Receive signal during host communication Scaling Scale factors specified by the 112 and 113 parameters which are used for conversion between pulse units and command units Settling Time A delay occurs in the actual motion of the motor in response to a position command Upon executing a position command the difference in time until a settling signal is output is specifically called the settling time Setup Dependency The allowable setup range of the maximum and minimum values of a parameter changes according to the setup values of other parameters SIGO and SIG1 signals Analog velocity signals generated by an encoder signal okew Variations in the phases among signals Slave It refers to the driven motor drive in a master and slave relation in tandem operation Software Drive Reset Restarting the drive by a command issued by the utility software operation display panel pendant etc This function is equivalent to cycling of the power Start Option Command arguments Startup Operation Table operation executed automatically when the power is turned ON according to settings TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 9 OT OU UV Station Number A drive number set up by the rotary switches on the front panel section when conne
174. dow of the utility software lights in yellow see the figure below The alarm status can be checked by the utility software but is not output to the controller interface z Operation TY Homing result display indicator lamp ee Exit Green Normal range z Yellow Homing alarm range Controller side E Red Homing error Servo ott Error rezet H Table Ma Home sensor position adjustment Location fram edge pulze Target value pulse 6 Setting the Current Position as the Position after a Homing Operation Set parameter 57 Coordinate value in command units after homing to 0 and perform a homing operation Then after moving the current position to the position desired after a homing operation set a home offset position Do not set the coordinate system again while performing a series of operations For more information about the operation to set the home offset position see Section 6 4 11 Command and Section 8 4 2 Terminal mm TI 71M02DO04 01EN 10th Edition 2012 12 01 6 86 6 4 6 ABS Absolute Positioning Move In this operation the motor is moved to the specified position by entering an absolute position relative to the home position in table data 1 How to Set Ab
175. e 1500H 21 Q val ue of notch filter 7A M n 10 Not ch1Q Dec Max 500 Initial depend on notor driver type Uni t 1 100 This paraneter is used for tuning agai nst resonance Speci fies the Q value of notch filter channel 1 Filter becones valid by enabling Notch filter 1 through systemregi ster 2 Initial value 100 22 Frequency notch filter 32 Mn 50 Not ch2Fr eq Dec Max 1500 Initial depend on nator driver type Uhi t Hz This paraneter is used for tuning agai nst resonance Speci fi es the frequency of notch filter channel 32 Filter becones valid by enabling Notch filter 2 through systemregi ster 2 Initial value 1500H 23 Q val ue notch filter 72 Mn 10 Not ch2Q Dec Max 500 Initial depend on nator dri ver type Uni t 1 100 This paraneter is used for tuning agai nst resonance Speci fies the Q value of notch filter channel 2 Filter becones valid by enabling Notch filter 3 through systemregi ster 2 Initial value 100 24 First ag conpensati on frequency 1 Mn 20 LagFreql Dec Max 999 Initial 999 Uhi t This paraneter is used for tuni ng agai nst resonance Speci fi es the ower range frequency of the first ag conpensati on filter Filter becones valid by enabling the first ag conpensator through systemregi ster 2 Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 6 25 First ag conpensati on frequency 2 Mn 21 LagFr eq2 Dec Max 1000 Initial 1000 U
176. e a 302 FHD MatarRies 425384 Ses 112 R10 Scalellnit 212892 Parameter list 8113 RD SealePulse 425384 HiMonitor list Hi OD BHTTI2 4 AOD Lommnad list 100 AID Vanablel 53248 Scaling Data Values at Shipment from the Factory 113 scaling data ratio 112 Scaling data ratio numerator Encoder resolution denominator on the pulse on the command unit 0 5 um 2000000 1000000 0 25 um 4000000 2000000 0 05 um 20000000 10000000 STEP 4 Step 4 In table number 7 the value of 100 Variable 0 is set as the amount of movement To move 10 mm enter the following in the Terminal window HHH 00 8112 4 Resend Hm STEP 5 Close the Terminal window TI 71M02D04 01EN 10th Edition 2012 12 01 6 49 O0 Executing the Sample Table Data Operation STEP 1 Open the Operation window from the Control window STEP2 Select the Table operation tab STEP 3 Select No 07 INC positioning in the Table Number box STEP 4 Turn the servo ON if it was turned OFF by clicking the Servo ON button STEP S5 Click the Drive button to start the incremental positioning operation move 5 Click the Drive button to execute the operation 2 Open the Table operation tab x 9 9 Ex Controller side C 3 Select the table number est operation Homing operation DnivelD servo nff T able Ma No 20 D welling Mo 20 Dwelling
177. e board Error monitoring amplifier 20 6 Error was detected on the control board amplifier constant substrate constant substrate Main power supply error Check the main power supply XMPSIG output threshold 70VAC Error setup voltage level Main power supply error 240 Possible XMPSIG from the power module maintained the register 1 O The main power supply is Phases A and B actual current monitoring OFF state exceeding the value set up in system dependent momentary shut down setup register 1 bits 3 toO O Fluctuations of the main power supply are substantial voltage over 1 second dependent Voltage bits 2 to 0 Power Voltage Error setup Main power supply errorAC Check wiring of every phase of AC Open Phase or Low 21 1 Possible At Mal E OWE Was elected OREP NASE ORION register Main Power and the AC Main TI71M02D04 01EN 10th Edition 2012 12 01 Error code Name Recovery Overload Motor coil line overload 22 1 Possible Heat sink over heat 22 2 Excessive position deviation 23 0 Over speed 24 0 Regeneration error Regenerative resistor 25 4 over load Regeneration FET 25 2 Not over load possible Regeneration circuit error 25 3 Servo not ready 30 0 l i Excessive position command differential value direction hardware EOT direction hardware EOT Cause and condition detected The power squared duty is calculated from the current command value but it exceeded
178. e correct Perform a visual inspection to ensure that there are no abnormalities in their appearance If you received a different product than you ordered or the product does not conform to your expectations please contact us or the dealer from whom you purchased the product immediately Head amplifier TB1 power supply terminal eee connector EN RN 231 204 026 000 WAGO WAP ow otandard accessories lt b One piece per drive Motor unit TB2 motor terminal connector 231 203 026 000 WAGO Models provided TB3 regeneration terminal gt regenerative resistors connector iS g one piece per drive 231 202 026 000 WAGO pe See the table on the next page Screw less terminal lever 231 131 WAGO Standard accessories one piece per drive Drive unit TB4 sensor terminal connector 733 106 WAGO Models provided regenerative resistors Regenerative resistor One piece per drive See the table on the next page CN2 encoder resolver connector Supplied when order PCR S20F PCR LS20LA1 includes the additional Honda Tsushin Kogyo suffix code CN Supplied when the order PCR S36FS PORI aaa T f includes contact I O XA Honda Tsushin Kogyo e IS suffix code CN4 controller interface connector Tw Xe Supplied when the order TMSTBP 2 5 4 ST 5 08 includes CC Link C1 d additional suffix code Phoenix Contact NV jg ICN Option cables rr Y Optional
179. e dropping Invalid Action 5 E ervo an sustaining after immediate sl v AL mains power supply voltage error V alid Action 5 E ervo an sustaining after immediate sl v TI 71M02D04 01EN 10th Edition 2012 12 01 6 29 Stop Method at Error Occurrence in Each Control Mode Ba BE Set by 80 Deceleration Set by 80 Deceleration time for Deceleration time time for immediate stop immediate stop Deceleration type Deceleration type set in Deceleration type set using parameter table data system setup register 3 Immediate Deceleration method EE Deceleration time set in Deceleration time set using parameter Deceleration time i table data system setup register 3 Deceleration type Deceleration type set in Deceleration type set using parameter table data system setup register 3 111 maximum velocity limit BEEBE HEEHEEEES Ae e a a baa n Deceleration Velocity axis command unit sec Deceleration type It is possible to choose either constant acceleration or an S curved profile Velocity at error occurrence Actual deceleration time Deceleration time setup value Specified by the deceleration time relative to 111 maximum velocity limit Ace Guidelines for setting abrupt stop deceleration time 80 Set the deceleration torque to 100 and calculate the shortest time that can be achieved for decelerating to a stop Use the formula below for the calculation
180. e filter becomes 3 dB at the specified bandwidth frequency The bandwidth frequency can be set in the range from 50 to 1000Hz Care must be taken because the phase is shifted up to 90 degrees Gain dB Phase deg l 10 100 11 1 1 Frequency Hz O D TI 71M02D04 01EN 10th Edition 2012 12 01 3 How to Set parameters STEP 1 Select the Zparameter from the Main Menu window of the utility software STEP2 Select Servo Tuning STEP 3 Select Filter to display the following window STEP 4 Click the filter you want to enable STEP 5 Adjust the filter bandwidth frequency and Q value by dragging the slider bars with the mouse cursor STEP 6 Select Display to check the filter characteristics STEP 7 Click the Regist button to register the filter settings R1 Filter setup Ej 7 Click the Regist button to Save Exit register the Zparameters Display Match filter 1 setup Dispaly v 020 Frequency notch filter 1 SU LETELT EET E EEG OG PA EEG bbb bib Pra 093001 8030 ae H021 O value of notch filter 1 1 UC 6 It is possible to display frequency characteristics for the combination of the titer 2 setup 5 Drag the sli
181. e li near coordi nate li nit val ue 772 Ql y for ABS type Initial val ue rotati on Linear J 179999 uni t rev 499999 uni t n OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 25 117 Absol ute li near coordi nate limt 2 Updated on power cycle Mn 99999999 ABS L Lnh2 Dec Max 99999999 Initial depend on nator dri ver type Uni t Axis conmand uni t This is a val ue used to deternnne the coordi nate val ue when AC pover is turned on if the li near coordi nate systemi s sel ected in a nator wth absol ute encoder resol ver The processi ng is perforned in condi nati on wth absol ute li near coordi nate li mnt val ue 1 Cl y for ABS type Initial value rotati on 180000 uni t rev Linear 500000 uni t n 119 CC Li nk setup regi ster Updated on power cycle Mn CC Li nkReg Hex Max Initial depend on notor dri ver type Uni t t l6 24 Li nk all ovabl e conmani cati on error frequency nnn 1 nax 500 t 12 14 Nanber of GC Li nk reconnection attenpts nnn O nax 5 Bt 7 4 Baud rate nin O nax 4 t O Qccupi ed Stati on Select 0 1 stati on accupi ed 1 2 stati ons occupi ed QC Li nk al owabl e conmuni cati on error frequency ifies the all owab
182. e number to be executed next if you want to the OUT_MODE_EXE and OUT_POS perform the next table operation after the operation of signals output at the end of the operation is this table data is completed changed according to this setting STEP 4 Setting table data The setting items for table data vary depending on the operation code See the explanation sections for each operation 6 4 3 to 6 4 11 STEP 5 Registering table data Click the Regist button to commit the edited settings Click the Cancel button to discard the edited settings the table data is not changed STEP 6 Setting parameters Set parameters as necessary See the explanation sections for each operation 6 4 3 to 6 4 11 TI 71M02D04 01EN 10th Edition 2012 12 01 6 59 3 How to Perform Table Data Operation Control Interface This method is valid when the controller interface has the main operation privilege according to the operation mode Table data operation cannot be executed while an error has been encountered in the drive or the servo is turned off O0 How to Start up Complete servo tuning before starting the operation STEP 1 Enter the table number you want to execute in IN CODE 5 0 binary assignment STEP 2 Set the status of IN START to ON to execute the table data set with IN CODE 5 0 STEP 3 Check that the status of OUT MODE EXE has become ON and turn IN START OFF STEP 4 When the operation is completed the status of OUT MODE EXE becomes O
183. e post AC power commutation Low voltage error Servo OFF level AC power monitoring cycle 2 Free run time j 20msec ur ox Less than 15msec If motor runs free 2m si x int x mm MGE Lear ju cc e c e c EE inr m Immediate stop Dynamic brake active 0 gt Stopping angle 22cm l 87cm if immediate servo OFF after error occurs unless dynamic brake Zn Sets dead zone for AC power monitoring cycle value against instant power failure Power failure detection delays if this setting value time is large although it does not influence for an instant power failure Consequently the servo deceleration time becomes long and it takes a time to stop Set the value upon consideration of power environment AN TIP When considerable energy is required e g at acceleration the bus voltage may drop quickly In this case the servo deceleration function cannot be used Configure the system so that power failures are detected by an external system and the main power supply is backed up by an uninterruptible power supply or similar until the servo deceleration is complete TI 71M02D04 01EN 10th Edition 2012 12 01 2 32 2 8 Operating Restrictions 2 8 1 Restrictions on the Number of EEPROM Registrations The user setting data parameters table data and I O data is stored in the EEPROM built into the drive There is a restriction on the number of times to overwrite the data due to the EEPROM characteri
184. e power ON It is necessary to enable the startup operation in the parameter settings in order to use this operation 1 How to Set Startup Operation STEP 1 Select Parameter in the utility software STEP 2 Select System setup register 2 STEP 3 Select Startup Operation to Enable STEP 4 Click the Regist button STEP 5 Create startup table in table data No 59 Sequence of Startup Operation Use the following timing diagram as a reference for the sequence when the power is turned ON Control power supply input Nu External circuit delay N iie a Main power supply input 1sec or less Main power supply status P PP K Rush interval Y interval Constant supply status N l l B Regeneration error output T Bar e ecole m E OO n n l l 50msec or more Main power supply on switch external circuit l bj I O operation start 1 2s l l l E l l Normal operation starting point lt q _ O input signals are ignored during this period M9 of CN4 I O inputs outputs l IN SERVO should be turned ON before this timing IN Logic I O contact input IN SERVO CN4 I O input Soft delay 500ms gt EN jq el MS OUT SRDY l T CN4 servo ready j OUT_DRDY 1 l es CPU ready d s OUT MODE EXE 1 CN4 I O output a J TI 71M02D04 01EN 10th Edition 2012 12 01 6 103 6 5 C
185. e utility software has been designed to enable a series of drive control without a need for the operator to directly enter cumbersome commands from the terminal However if this utility software is used by persons familiar with the drive or if special operations are required it may be more beneficial to use Terminal Most of the commands that are used by other dialog functions are embedded in Terminal as Character string commands that can easily be understood by users Therefore parts of other dialog functions can be realized by using Terminal even with manual entry JNa NGER If the terminal function is used together with other dialog functions some commands may conflict Especially if you are issuing operation commands from the terminal please be aware that the motor may perform unexpected operations Command entry edit box Transmission reception record edit box Sends the same command Send button Enter ay Termir al DER v Resend Exit 0 1 1 1 RID Load or MO Clear records Clears transmission reception record um HParameter list thd onitor list H2 gt R1D VelFreq 20 Various Help items TI 71M02D04 01EN 10th Edition 2012 12 01 1 Character String Command Method Enter a command in the format described later into the command entry edit box from the keyboard The command is issued to the drive being connected when the Enter key is pressed Replies from the drive are displayed in the transmi
186. ectives Interchangeability between motors and drives is possible only if the drive and the motor are compatible In other words the LINEARSERV motors three digit model code LMLILIET must match that of the drive UMT1LP3 LILIEI if you wish to change the combination and use the motor with a different drive unit In the LINEARSERV series each motor has been tuned to operate with a specific head amplifier If the combination is different the motor may not operate normally or one or more devices may be damaged Please combine and use a motor and head amplifier having the same model code serial number and slider number If the product is installed in such a way that cables are bent in the machine etc be sure the minimum bend radius of the cable is 50mm or more Moreover do not install cables such that they are bent repeatedly It may cause disconnection and failure Do not conduct over voltage tests Circuitry in the drive or motor may become damaged as a result of these types of destructive tests Never attempt to disassemble or modify the motor or drive We assume no responsibility if you disassemble or modify them Disconnect all power and wait 7 minutes before servicing May cause electric shock The high voltage is applied to the regenerative resistor terminal In general it is necessary to wait 7 minutes for 2kW and 4kW classes or 4 minutes for 500W class until the voltage lowers to the safe level after powering off Do not remove the se
187. eeeceeeeeeeeesseeeeseeeesaeeeeseeeesaeetenes 5 20 NNNM OEEB Iuli cc 0 22 AN AM Femne Core x 5 23 suu FEE COG Z c m 5 23 Onl lea MOO FING cuurheiondidiuas dosn lei ia Ec dc insE dto etatem uat meme fanus donee tatos lua anion ences deaadecense 0 23 S5 SMOlING of CADIOS t cc 5 23 912 Divenpib CHITeblb c tocctecote acest cto ante deat iat eects C OM Lu M E A Lec DU dese RUNE 5 24 52 4 Howto Obtain Input GUEITOFI su casecs dra oit So ore ud te pet o Ru tbe Cre ud pa abe UR d uS dua bae seca Ovi ese 5 24 5 12 2 How to Obtain Input Current When Operating Multiple Drives 0 26 S13 Brive TAVIS CUN eN escsentese tiis cesar oeste d sects etate tes cu e cat coda S cute sar test use codo eee epe UE 5 27 5 13 1 Inrush Current Waveforms representative ExaMPpleS ccccsecccecseeeeeseeeeeeeeeeeeesaeeees 5 27 5 13 2 Selecting Circuit Breaker ccccsccccsssscecccesseeccesseecceseeecseuececseueeessaseeecsenseesseaseeessageees 5 27 501949 DelOCUNG PUSS coo ien usar bo os E aug Lum REIR EA E Oai 5 28 OCT AON etcetera ect cate c ec ecames E scr sean E a O EA 6 1 OTF JCOMMON BaSiGiRUNCIOMS 25ia siscacus 64 estan eaeque eus umet qua cte Uw slab a a 6 1 SX NMEBIGEeD eT T T 6 1 0 12 VO ISGgISIGIS cda osi a docu acl edoctus ouest Esai t o esa cued efe d 6 15 6 1 9 JbarammetersrmohltoLs scusicn edocde etica eaten ib Lace ie eese hace ditta puta
188. eeeseeeeeas 9 2 9 3 Initialization of User Data Reset All 2 eeeeeseseeeseeeeeeeeeeen nennen nennen nnn 9 2 94 GUbreAation OF Ine Motor Eis Pet RT PE Er 9 3 Appendix 1 Parameter Description eeeeeeeeeeeeeeee seen e enne enhn nnn nnn nnn nanus Appendix 1 1 Appendix 2 Monitor DeSCEIDU OLTIS uico stes ien ate E oe ue oak era dta new Fer aee oa yas ece trade ecukxe quee eeniioe ever de Appendix 2 1 Appendix 3 Detail of Main Error Codes 11eeeeeeeeeesieeee eene nnne enhn nnn nnn nana Appendix 3 1 Appendix q MES CITeL 1 lo aret tT Appendix 4 1 Appendix 5 Description of Iperation Tables and Sample Programs Appendix 5 1 Revision Record TI 71M02D04 01EN 10th Edition 2012 12 01 1 1 1 Overview of the Product 1 1 LM Series Motor The LINEARSERV LM Series motors are direct drive linear servo motors They allow highly accurate positioning control thanks to a fully closed loop configuration using Yokogawa s proprietary built in optical linear encoder Additionally they offer smooth drive characteristics that are not possible with conventional ball screws and AC servo motors 5 e Absolute positioning accuracy 5 LS LS length of stroke yielding a high 00 precision of 10 um with a stroke length of 1000 mm Repeated positioning accuracy 0 1 to 0 5 um depending on the shape Velocity ripple 1
189. eleration type deceleration type SIEPA Select the feed velocity STEP 5 f Direct is selected for Direct or indirect enter the relative target position in Table data 1 If Indirect is set for Direct or indirect enter the parameter or monitor number to be used as the relative target position in Table data 1 E Table setup d om ENT NN Table register Regist Code i NITET eat are DAN l e M functian Invalid M func parallel Invalid Coin waiting Invalid Continue Invalid Hest table Duns Table datall Coin window 90 Coin widthO v s Regist Dodd Select acceleration time WAccelerationtime O 1000 Regist Select deceleration time 76 Deceleration time 1000 Regist Select acceleration type Constant acceleration Select deceleration type Constant acceleration a Select velocity 64 Feeding velocity 851968 Regist Optional move direction for rotatian coordinate Twpe Shotcu i Direct or indirect Direct Table datal 0007 5F 90 Relative position 90000 TI 71M02D04 01EN 10th Edition 2012 12 01 6 90 Setting parameters Related to Increment Positioning Move Setting parameters Related to Increment Positioning Move STEP 1 Select Data Management parameter and then Function parameter from the utility software STEP2 Select ABS INC move from Function parameter STEP 3 Set the feed velocity acceleration t
190. ent thus calculated only as a reference value Be sure to verify the actual drive current with the actual drive 5 12 1 How to Obtain Input Current The rated current of a circuit breaker and line filter should be chosen to match the actual current value If the motor is operated in a cycle of acceleration constant velocity deceleration stop the drive input current changes as shown in the graph below in each interval For this reason it is necessary to obtain the effective current value for one cycle from one acceleration to the next acceleration In the case of a circuit breaker and fuse it is necessary to check the maximum input current Ip and that the time is within the operation characteristic curve When the motor is accelerating the input current increases proportionally to the increase of velocity When the motor is at constant velocity the constant input current is conducted according to drive loss bearing friction torque and external load torque When the motor is decelerating no input current is conducted because regeneration energy is returned Constant velocity maximum velocity eceleration Acceleratio N Acceleration Velocity waveform Input current Cycle time The drive loss under acceleration and at constant velocity can be obtained from the graph below which shows drive loss as a function of motor torque Normally 70 to 80 of the maximum torque is used for torque during acceleration and dece
191. eo The contents of operation parameters 0 and 1 change according to the operation code selected Aw 5 Three data indicated by is raw operation table data They are called operation register table data 0 and table data 1 from the top Operation register is common in each operation The use of table data 0 and 1 vary depending on the operation code selected TI 71M02D04 01EN 10th Edition 2012 12 01 8 36 8 6 3 I O This section describes the settings of the following items pertaining to logical I O inside the drive hereafter called logic I O and physical I O actually embedded in the drive hereafter called hard I O 1 Hard I O assignment 2 Hard I O logical setting 3 Logic l O initial value setting O0 Hard I O Assignment and Hard I O Logical Setting Window Select a setting to hard I O Select I O to be set Up to 16 bits can be displayed at a time If there are more than 16 bits switch using this combo box ETIO sei tine Ed Type Physical 1 0 Block BlockO 1 Exit Physical 1 0 ecd une R ment Ing TEES Regist eTa Bm 4 0 POS wIDTH 4 1 P S wIDTHI I 4 I I 4 0 POS wIDTHU 4 1 P S WwIDTHT 4 4 VELFREH SELECT 4 0 POSFREQ SELECT 4 4 PLS DIRECT 4 1 POSINT_INH q amp I e el el I o e p e rd I x x mee El Bl L nu a 8 Indic
192. er wthout interpol ati on process wth i nterpol oati on process 0 Dsable 1 Enable Enabl e vel oci ty f eedback filter 0 Dsable Enabl e first l ag conpensati on filter 0 Dsable Enabl e notch filter 2 1 Enable Enabl e notch filter 1 1 Enable i sabl e Mfuncti on when an error occurs 1 Enabl e start up operati on nati on control table operati on 0 Enabl e D sabl e Tl 71M2D04 01E 8th Edition 2007 01 10 00 appendi x1 20 99 Systemsetup register 3 Mn Max a Initial depend on nator dri ver type Ui t See itenichapter rel ated to systemsetti ng regi ster in the utility softvare techni cal nanual Honning node Bi t 23 Enabl es the hone sensor positi on error Bi t21 Decel erati on type for offset nove Bi t20 Accel erati on type for offset nove Bit19 18 Select decel eration ti ne for offest nove Bit17 16 Select accel eration ti ne for offest nove Bit14 12 Select offset nove vel oci ty J og node mE Bit 9 Decel erati on type in j og operati on Bit 8 Accel eration type in j og operati on Bit 7 6 Select deceleration tine in j og operati on Bit 5 4 Select accel eration ti ne in jog operati on Bit 2 O Select velocity in jog operati on Initial value H908000F7 Enabl es the hone sensor positi on error 1 Enable Decel erati on type for offset nove 0 Constant accel erati on Accel eration type for offset nove O Constant accel erati on Sel ect decel eration ti ne for offest nove 0 Decelerati on ti ne
193. er the 0 load nerakoa maes auto turning operation If the load weight value is known it is acceptable to write the load weight value directly in this parameter without performing the auto tuning operation This parameter is set automatically after auto tuning The velocity control Velocity control bandwidth 1 42 or 3 or band frequency is set automatically in the parameter selected by IN VELFREQ SEL according to the setting status of 1 servo stiffness Velocity control bandwidth 2 setup This parameter is used only when the control mode is velocity control and Integral time for velocity control 1 the velocity control method is set to proportional integral control The valid A or 5 di parameter is switched by the status of the IN VELFREQ SEL I O input If the IN VELFREQ SEL I O input is turned off 4 Integral time for velocity Megre ume TOT Ye pENY CONIO qe control 1 is selected If it is turned ON 5 Integral time for velocity control 2 is selected This parameter is used only when the velocity control method is set to proportional integral control in system setup resister 1 It is automatically set Velocity integral limiting value 1 in the parameter selected by IN_VELFREQ_SEL when auto turning is 6 or 7 or performed This value specifies the maximum thrust that may be output by Velocity integral limiting value 2 the integrator in the controller to remove a small velocity deviation in which the value varies wit
194. eration The servo deceleration function is executed immediately when the defined error occurs The servo deceleration can be performed even in the case of a power failure because the control power is kept alive by internal capacitors for approximately 100msec at rated voltage The holding time length may be shortened by the power environment operation condition and connection of operation display pendant operation display panel Also the holding time length differs depending on the drive power output Detecting condition for the power failure is variable by the power monitoring cycle setup by the parameter 110 System setup register 1 Effective Range of Servo Deceleration For specified error the reaction of drive how to execute the servo deceleration is available to set Refer 6 1 4 Process Settings in Error State for the detailed setup method The error process settings disclose the related Zparameters on the condition that the user bears the responsibility for any result by settings Errors that can use the servo deceleration function Error name Error code Over speed 24 0 22 1 Excessive position error 23 0 Excessive commanded position 31 0 differential value 6 1 Coordinate error A 1 AC mains power supply voltage error 21 0 Software EOT Monitor pulse output error Interface emergency stop TI 71M02D04 01EN 10th Edition 2012 12 01 2 28 Operation mode and error process type availab
195. eration pattern may not be used as is use it as a sample when utilizing an operation table Operation pattern direction 2 rotations direction 90 4 times direction 90 4 times direction 2 rotations 4 4 4 4 Table No 93 40 No 40 102 112 2 No 41 103 112 4 No 42 410124 INC positioning No 43 Amount of movement 102 No 44 Dwell 300 msec No 45 100 0 No 46 100 lt 101 2S 100 100 1 No 50 102 102 INC positioning No 51 103 103 No 48 Amount of No 47 movement 103 Dwell 100msec No 49 TI 71M02D04 01EN 10th Edition 2012 12 01 Appendix 5 3 2 Sample Programs for the Linear Motor No 4 3 ABS Positioning This sample program performs ABS positioning to the command unit position specified by 100 user variable at table No 4 Specify the value of 100 by taking account of the stroke amount To start from Terminal in the utility software use 3 4 O0 No 6 INC Positioning This sample program performs INC positioning in the direction by the command unit value specified by 100 user variable at table No 6 Specify the value of 100 by taking account of the stroke amount To start from Terminal in the utility software use 3 6 No 40 No 57 Example of a Slightly Complicated Operation Pattern This example shows a slightly complicated op
196. eration pattern of the motor This operation pattern may not be used as is use it as a sample when utilizing an operation table Specify the value of 100 by taking account of the stroke amount Operation pattern y A a INC positioning for the stroke amount specified by 100 4 4 amp 4 4 divided INC positioning gt gt gt gt Table No Specify the value of 100 by taking account of the stroke amount before starting No 40 101 100 No 41 102 100 4 No 51 105 0 No 42 103 101 4 No 43 104 4 No 52 INC positioning No 53 No 44 Amount of movement 100 No 54 No 45 Dwell 300msec No 46 105 0 No 55 105 lt 104 NO 105 105 1 INC positioning Amount of movement 102 Dwell 100msec No 47 105 lt 104 gt O INC positioning No 48 105 105 1 No 56 Amount of movement 101 INC positioning No 49 Amount of No 57 Dwell 300msec movement 103 A No 50 Dwell 100msec A At Nes UTION A pattern may collide with the stroke end depending on the operation starting position Check the starting position before executing TI 71M02D04 01EN 10th Edition 2012 12 01 Ss E gt A N K Pagem Revision Record Document name Direct Drive Motor LINEARSERV Intelligent Drive lt DrvPIII gt Technical Information Document number TI 71M02D04 01EN August 2004 1
197. eration width This parameter can be used without changing the initial value under normal circumstances Make this value larger two to five times if the auto tuning is not completed normally and perform the auto tuning again At shipment from the factory this parameter is set to a value equivalent to 2 of the rated velocity Example If the rated velocity is 2000 mm s 0 02 x 2000 mm s 40 mm This parameter can be used without changing the initial value set at shipment from the factory under normal circumstances This parameter can be used without changing the initial value set at shipment from the factory under normal circumstances This parameter specifies the servo rigidity after the auto tuning operation Make this value smaller if the auto tuning is not completed normally or if oscillation or instability occurs This parameter can be used without changing the initial value set at shipment from the factory 54 6 under normal circumstances parameters Set Automatically after Executing Auto tuning Operation Load inertia Load mass Velocity control bandwidth 1 2 or 3 or Velocity control bandwidth 2 Position control bandwidth 1 8 or 9 or Position control bandwidth 2 Velocity integral limiting value 1 6 or 7 or Velocity integral limiting value 2 Position integral limiting value 1 12 or 13 or Position integral limiting value 2 The load weight value is set automatically in this para
198. ervo OFF It was detected that the slit plate deviated from the center and exceeded the allowable eccentric volume in a DM series motor unit except DM1B 004 006 DM1C 004 O A moment load was applied to the rotation section A support and cable made contact with the hollow hole and therefore force was applied A substantial impact was applied to the motor An abnormal encoder signal was generated A low velocity 0 05rps or less was used for detection Error setup register 1 dependent bits 11 to 8 The setup value to be used for coordinate system operation coordinate value setting was less than 0 or more than the scaling command unit value None in particular when the rotation coordinate system was used Appendix 3 2 Countermeasure Execute the same countermeasure for the error 14 3 Correct configuration O Turn on the power while motor is stopped Execute the same countermeasure for the error 14 3 Repair or replacement of connector Replacement of cable Denoising or re configuration of wiring upon checking source of noise Put apart encoder resolver cable from electric power line or high frequency line Change of grounding of shield Shortest encoder cable Note Be careful not to deforming OO OO or damaging contact section by tester equipment when checking conduction of cable Replacement of motor Replacement of drive Re set motor position when the power is turn on so that it can
199. es the val ue of conmanded current in digits li nnted by the torque force functi on when the torque force functi on is enabl ed used The value is 4096 di gi ts when naxi numcurrent i s conmanded 330 Conmanded torque force val ue Uni t digit TFcndF Dec ndi cates the val ue of the torque force bei ng conmanded The val ue for the naxi numtorque force of the noni tor is at 8192 digits 331 Pre filteri ng conmanded torque force val ue Uni t digit TFcndl Dec ndi cates the the val ue of the torque f orce bei ng conmanded bef ore usi ng phase del ay conpensat i on or notch filter The val ue becones equal to naxi numtorque force at 8192 di gi ts 333 Conmanded accel eration f eed forward val ue Uni t di gi t Aff Dec ndi cates the conmanded accl erati on f eed forward val ue 340 Conmanded vel oci ty val ue Uni t digit Vcndl Dec ndi cates the vel oci ty conmand value Nunter in digits is converted to rps or nps by di vi di ng by the Vel oci ty uni t conversi on coefficient noanitor val ue 341 Conmanded post fil tering vel oci ty conmand val ue Ui t digit VcnalF Dec ndi cates the conmanded vel oci ty val ue after velocity conmand filter processing Nunwer in digits is converted to rps or nps by di vi di ng by the Velocity unit conversi on coefficient 803 342 Actual vel oci ty val ue Ui t digit Vb Dec ndi cates the actual velocity value Nunwer in digits is converted to rps or nps by di vi di ng by
200. eter 214mm or less length 3m or less Option cable C1P ENN 4202 LILILEI Interface Cable UL2464 AWG28X25P 36 TI 71M02D04 01EN 10th Edition 2012 12 01 5 16 O0 Table of Connector Signal Names and Wire Colors Signal Pin No Definition Comment COMN1 Interface power supply the interface spec Red 1 I O output 2 The definition is assigned by the hard I O output 3 I O assignment function s pos Orne Rei UOmpus Yellow Outputs the Z pulse of the motor 9 juo i opa Teron is assigned by ne nara Lm es Pik Shield Shield treatment terminal Make sure to connect this TI 71M02D04 01EN 10th Edition 2012 12 01 DI DO Initial Setting 3 boo oUrsmv Sevomay Pose I DI O to DI 11 initial setting Logic I O signal i Hs oo newe immedaesop Posve 2o r nsevo se Pome a o2 W START Sentan operation Posie 22 s W STOP Stoptabie operation Posiive zs pa maeonT foperaon Oe Pose 2a ois N ERR RESET Erorrest Posve E LN mo LN 2s fo 3o fo DI DO Contact Specifications Contact output DO 0 to DO 5 m 19 20 21 22 23 24 25 26 27 28 29 30 M8330 Interface suffix COP1 code A s Bat ctw clade 12 24VDC 5VDC dps 9 10 10 7 x Maximum load bl cu 0 1A point 0 5A common current CONL Turn On voltage 0 5VDC or less LOKQ 12 24V specification 8 2 ka L ification eakage current LL 5V specification 1 kQ in
201. evices connected to the interfaces being operated can no longer manage the correct status In order to prevent such situations it should be selected which interface will have the operation privilege before the interfaces are used The table below lists the relationship between the items that can be operated via each interface and operation modes O Can be instructed Main Operation Privilege and Functions that can be Instructed X Operation not allowed Operation not allowed regardless of the operation mode Main operation privilege Serial Main operation privilege Command name interface side Controller interface side m Controller ns Controller Serial interface Serial interface Operated device interface interface Minion Oo J J O selection bit of parameter 110 System setup register 1 Aot Oo o o o Se 0 0 x J 5x J O SS set 0 x J 5x J 9O S Reset velocity control integrator O Prohibit velocity control integral action O Oo Velocity control bandwidth selet o O0 Oo Reset position control integrator Pos control integration prohibited O O Position control bandwidth select J O Oo Eror code acquisition J O O Jj emorreset Oo 0o o o Emorresetwihhistoycea O Oo jJ c Velocity overri
202. face board initialization Initial Or SB d M Jate nimbe Not PROFIBUS DP It was detected that an incorrect processing other ei O and cvele the possible ID number was assigned The ID 0 the number not power y Interface board error EEPROM error for master station is assigned or it failed during completed ue i a O f the error occurs after the interface board initialization performing the action above it is necessary to repair the drive board Initial processing Not An error was detected in EEPROM that stores e completed possible data or deceleratio n stopped Reset the CPU Not communic possible The drive CPU is not operating properly ation operation set to valid Cycle the power If all uploading has been u complete initialize the drive Not It was detected that the stored data was eae O It is necessary to repair the bossibls destroyed during processing when the power was drive board Watchdog error Data checksum error Parameter checksum error Operation table checksum error I O setup data checksum error Data error 11 4 Not It was detected that the setup data could not be ila possible turned ON not completed was turned ON Old coordinate system setup 44 5 processed during processing when the power plots data error not completed Error history data error 11 6 Hardware version mismatch 11 7 TI71M02D04 01EN 10th Edition 2012 12 01 ABS encoder
203. fier cable 045 050 TI 71M02D04 01EN 10th Edition 2012 12 01 2 11 Motor Cable Model Suffix code E C1M N A 1 60 61 030 Motor cable a l BEN Cable length 3 digit display in units of 10 cm minimum 005 50 cm maximum 300 30 m Drive type See the model and suffix code selection list Always N Termination option Motor side Drive current 01 No lead A 5A 6A 02 Open leads core wire revealed C 15A 20A 06 With MS3106B20 4S and MS3057 12A made by JAE 61 With 172167 1 and 170366 3 made by AMP Japan 70 With 3191 06R and 1189ATL made by Molex 74 With NCS 304 P made by Nanaboshi Electric Mfg Cable type 1 Robot cable 2 Fixed cable Termination option Drive side 01 No lead 02 Open leads core wire revealed 03 With N2 4 made by J S T Mfg 08 With MS3106B20 4P made by JAE for relay 20 With GND cable N1 25 M4 or N2 4 made by J S T Mfg 60 With N1 25 M4 made by J S T Mfg 68 With 172159 1 and 170364 3 made by AMP Japan for relay 71 With 3191 06P and 1190TL made by Molex for relay 72 With NCS 304 Ad made by Nanaboshi Electric Mfg for relay Model and Suffix Code Selection List Suffix code O Description e 01 02 20 60 005 010 015 020 025 030 035 040 01 02 61 74 945 050 060 070 68 72 080 090 100 Relay cable 1 2 E eave 005 010 015 020 01 02 06 025 030 035 040 70 74 045 050 060
204. ft register With 2 occupied stations Relationship between remote registers and soft registers Remote register M R Soft register inputs Remote register M R Soft register outputs ati With 1 occupied With 2 occupied s With 1 occupied With rated Block No Signal abbreviation SOR j A Block No Signal abbreviation station S Wmomm 0 OU RO P DATA Lon Ew Ren Fat Home Re LT OUT RP DATA i wee msn e Womens rea rn fe 9 EN IN MON A PRM NO CEE OUT_MON_A_PRM_DATA Low IN_MON_B_PRM_NO Ls amp 5 OUT NONE Pi DT Low op e T oP ka MCN mes mes TI 71M02D04 01EN 10th Edition 2012 12 01 6 16 2 Types of Soft Registers Soft register input list Soft cid Signal abbreviation Signal name Description IN WR PRM NO parameter write This signal sets the Zparameter numbers to be written with parameter number the Zparameter write function IN RD PRM NO parameter monitor read This signal sets the parameter monitor numbers to be parameter monitor number read with the parameter monitor read function IN WR PRM DATA parameter write This signal sets data lower 16 bits to be written with the Low Write data lower parameter write ann IN WR PRM DATA parameter write This signal sets data upper 16 bits to be written with the High Write data upper parameter write function uerameter imonitekdispla A This signal
205. generated from one error factor In the status display errors are displayed in the order they are generated Therefore the error displayed at the beginning may represent the main cause In the status display if the number of errors that are generated at once exceeds the maximum number of errors that can be stored 16 excessive errors are not displayed In history display the date and time when errors are generated are displayed starting from the oldest date and time The history information exceeding the maximum number of errors that can be stored 16 is deleted starting from the oldest history A numerical value in one hexadecimal byte length is displayed next to an error code when in history display This value is a free run counter value inside the drive at the time of an error occurrence Although this drive does not have the calendar function displayed errors can be grouped by error occurrence time by referencing this value TI 71M02D04 01EN 10th Edition 2012 12 01 8 30 8 6 Details of the Data Management Group Function This section mainly describes the Data Management group that has the function of setting and changing internal drive data 8 6 1 parameters A character string command from Terminal can also be used to set parameters in the drive However in such a case it is necessary to identify which parameter of the function corresponds to which number The parameter function provides parameter Setting windo
206. grams that are not used Sample programs for the DYNASERV are different from those for the LINEARSERV Be sure to check peripheral safety before starting the system 1 Sample Programs for the Rotary Motor O No 4 No 5 ABS Positioning to 90 Position This program substitutes 1 4 of the 112 scaling data ratio numerator on the command for 100 user variable at table No 4 ABS positioning is performed by referencing the 100 parameter at next table No 5 To start from Terminal in the utility software use 3 4 O No 6 No 7 INC Positioning to 180 Position This program substitutes 1 2 of the 112 scaling data command unit side for 100 user variable at table No 6 INC positioning in the direction is performed by referencing 100 at next table No 7 To start from Terminal in the utility software use 03 6 No 30 No 35 90 N times INC Positioning This program performs 90 INC positioning in the direction by the count preset in 101 This sequence is as shown in the flowchart below To start from Terminal in the utility software use 3 30 Table No No 30 No 31 102 2112 4 No 32 100 101 INC positioning Amount of NOS movement 102 No 34 Dwell 200msec No 35 100 100 1 TI 71M02D04 01EN 10th Edition 2012 12 01 Appendix 5 2 No 40 No 51 Example of a Slightly Complicated Operation Pattern This example shows a slightly complicated operation pattern of the motor This op
207. gudgudadugaouguudgadgdgaggaugauiermnnrreprmrrpmm rmn rnm ur Jag Deceleration type Constant acceleration Acceleration tupe Constant acceleration Select deceleration time Acceleration time 3 E Select acceleration time Deceleration time 3 Select velocity Feeding velacitu eaennuuunuEHEEEHEHEHEEHHEHHEHEHHEHEHHEHEHHEHHNEHENHEHEHEHEHEHEHERHERRO TI 71M02D04 01EN 10th Edition 2012 12 01 6 52 3 Jog Operation Method Utility Software Complete the servo tuning before you start jog operation STEP 1 Select Operation in the utility software STEP 2 Select the Jog tab in the Operation menu STEP 3 Click the Servo ON button to turn the servo ON STEP 4 Click a button Direction or Direction corresponding to the direction in which you want to start jog move KY Operation Exit eem ar Servio orf TI 71M02D04 01EN 10th Edition 2012 12 01 6 53 4 Jog Operation Method Controller Interface The table below shows the correspondence between jog move commands and rotation directions n JOG DN IN JOG UP RE direction direction g direction jog move command direction jog move command Starting Jog Move STEP 1 Turn IN_SERVO ON STEP 2 Check that OUT_SRDY is turned ON STEP 3 Turn IN JOG UP ON to move in the direction or turn IN JOG DN ON to move in the direction Stopping Jog Move Turn IN JOG UP OFF if moving in the direction or
208. gure the software I O through software when using Refer to Chapter 6 I O Contact Signals for configuration Register Register or Set is selectable at sequence Parameter IN EEPROM SEL 5 5 iti of parameter writing Value can be wrote to nonvolatility memory by selecting Register Software IN REBOOT 7 Drive is rebooted from controller by detecting Reboot E rising edge of the signal Processing Sequence Select 1 Register Parameter Select IN EEPROM SEL No inquiry X X No inquiry ON B2 IN PRM WR REQ S OFF s A IN WR PRM NO Noinquiry X IN WR PRM DATA Noinqury YX No inquiry No inquiry aan 5 4 a a ene e a ies Pa A L t t L L t 1 1 LI Y LI ON 5 OUT PRM WR END OFF m ON OUT PRM WR OK OFF If not wrote properly OFF If wrote properly ON 2 Software Reboot DE DEd Over 20ms ON IN_REBOOT OFF LSS c SS MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 116 2 CC Link Communication Auto Recovering Function only for CC Link option Stability of CC Link communication have tremendous significance for actuator s normal performance It is undesirable that CC Link communications becomes down to error state from any cause Therefore DrvPIll_ with CC Link option is designed to hold error status and block off the communication which is lac
209. h the motor model load weight and servo stiffness setup value postttenontreltandwidtbonn This parameter is set automatically after auto tuning The position control 8 or 9 A band frequency is set automatically in the parameter selected by IN POSFREQ SEL according to the setting status of 1 servo stiffness Position control bandwidth 2 setup This parameter is used only when the control mode is position control and Integral time for position control 1 the position control method is set to proportional integral control The valid 10 or 11 ot parameter is switched by the status of the IN POSFREQ SEL I O input If the IN POSFREQ SEL I O input is turned off 10 Integral time for position Pie Oral tine Tor posto COMTO qe control 1 is selected If it is turned ON 11 Integral time for position control 2 is selected This limiter restricts the amount of position integration of the position control loop This Zparameter is used only when the control mode is set to position Position integral limiting value 1 control and the velocity control method is set to proportional control in system 442 or 13 OE setup register 1 It is automatically set in the parameter selected by position integral limiting value 2 IN POSFREQ SEL when the auto tuning operation is performed The value specifies the maximum thrust that can be output by the integrator in the controller to remove a small velocity deviation in which the value varies with
210. haracter strings are as follows ROO R1D ServoRigid 3 R1H StatusReg1 039B00C1 ERR25 3 RegenError ALM66 0 IlgDevice TI 71M02D04 01EN 10th Edition 2012 12 01 8 13 Useful Operations Reusing Transmission Record The record of the commands previously sent is displayed again in the command entry area by operating the Up Down keys on the keyboard The same command can be instructed repeatedly by pressing the Enter key Parameter list Monitor list display The parameter list and monitor list dialog boxes can be displayed during terminal operation More detailed information is displayed by selecting each parameter using the mouse Min Command list display Parameter list D O J Oy oh ON EI ES Unit Load or M ServoRigid VelFreql VelFredqz VellntTiml VelIntTimz VelIntLinl VelInt Linz PosFreql PosFredqz o Load inertia Load mass Velocity Velocity Integral Integral Velocity Velocity Position Position Servo stiffness setup control bandwic control bandwic time for veloci time for veloci integral limiti integral limiti control bandwic control bandwic Max 200000 f 1000kgm 2 or 1 1000kg Specifies the load inertia or load mass mounted on the motor If the auto z uh Monitor list operation is executed the measured value is set automatically DriverCode MotorCode MotorRes VelSense Vmax p s Vmax ZeroPitch Vrate PbitIn3 0
211. he setting of 39 Error process setup register 2 Essentially there should be no communication error Perform communication after implementing appropriate measures against the noise source However limited to the use for debugging for instance it is possible to set a lower communication error detection sensitivity temporarily Using 119 CC Link setup register bits 14 12 set how many communication errors are allowed to be successively detected By setting 0 when a communication error is detected even once it is determined as a communication error and error process operation is activated immediately The setting range is from O to 5 The default setting is 0 Using 119 CC Link setup register bits 24 16 the error detection frequency that can be allowed per second can be set By setting this parameter communication errors that may occur irregularly can also be processed properly The setting range is from 1 to 500 The default setting is 1 nT s H rrn m u n Mg ss TI 71M02DO4 01EN 10th Edition 2012 12 01 Settings from the Utility Software Various settings of CC Link are performed on special setup screens Select Data Management and then parameter from the main menu Next select the CC Link setup register option button on the Register parameter tab After performing necessary
212. he start of operation Make sure the motor and the drive are in good conditions when using them so that the operation will be stable and problem free ous Is the input voltage within the standard 200 230V 10 to15 200VAC system pply range 100 115V 10 t015 100VAC system Interface power Is the input voltage within the standard Depends on the interface specification supply range 0 40 C motor 0 50 C drive 20 85 RH motor 20 90 RH drive Is there dust There must be no dust Is the ambient temperature appropriate Peripheral Is the humidity appropriate environment Is there any condensation There must be no condensation Are all connectors fixed securely The connectors must not be loosened Are all screws of external wiring fixed The screws must not be loosened Wiring condition Are there any cables that are close to There must be no abnormality in appearance getting cut and current conduction Is there any interference between a cable and moving part There must be no contacts Is the main body fixed securely The main body must not be loosened Installation condition Is the load fixed securely The load must not be loosened There must not be any worse sounds or Are the driving sound and vibration normal i vibrations than during usual operation Are all bearings normal Bearings must rotate smoothly without play Conditions of internal
213. heck the termination Check the connector section and repair or replace it if necessary Replace the cable Remove the noise generating source and re examine the wiring route Stop the T Adjust the dog position Error setup register 2 dependent bits 11 to 8 A communication error occurred in the controller interface The distance between the origin proximity signal edge and Z pulse edge is out of the designated range An error is being generated Invalid data Data not ready Not calculable Auto tuning 52 0 53 1 Possible Possible Possible Possible Execute the next operation command after the current operation is complete Clear the error and then operate A command that could not be executed during an operation was issued A command that could not be executed when an error occurred was issued Data that could not be processed was included A command was issued while in the invalid state such as issuing a parameter registration command while parameter registration was being processed A command that could not be executed in the drive mode during an operation was issued Data was requested while data to be sent to the built in logger was not ready Deny the command Timeout was generated during internal processing Waveform capture during an auto tuning operation failed Stop operation A condition in which computations could not be performed occurred in in
214. his signal turns ON when an M answer is sent Resena SS ni command IN ABORT Drive end command reserve N JOG UP Jog commard 0 r s IN CODE O Code input O c O w o Q O 0 To TO o Q H IN_START Drive start Table data operation is started when this signal is turned ON command Block 0 a These signals are used in table data operation IN CODE 1 Code input 1 IN CODE2 Code input 2 ok Specify the table number to be executed in the binary format Depending on the table number to be executed it is possible Block 1 IN_I _CODE 3 Code input 3 con to reduce the number of hard I O points used by setting 4 IN I CODE 4 Code input 4 O appropriate logic I O input initial values IN CODE 5 Code input 5 for 1 eee OO iesered 7 teen Yeon 2 To execute jog operation from the serial communication side select serial communication side in the selection of jog feed operation serial communication side setting of parameter 110 System setup register 1 s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 List of Logic I O Contact Input Signals Block 2 Logic I O Contact input Abbreviated signal Hale Signal name Block bit Use this signal if there are large fluctuations in the load or it is desired to use different servo g
215. ial value Approx 5 of the rated nator vel ocity Maxi numval ue Val ue of the User defi ned naxi numvel oci ty Z pul se search vel oci ty after 2nd iterati on M n 1 CRG Z Vel 2 Max depend on setti ng Initial Lhi t depend on notor driver type Axi s conmand uni t sec Speci fi es the vel oci ty when executi ng the Z pul se search after the 2nd iteration of the Z pul se search i n honing operati on Initial value Approx O 19eof the rated nator vel oci ty Maxi num val ue Val ue of the User defi ned naxi numvel oci ty Feedi ng Vel oci ty Mn 1 FeedVel 0 Max depend on setting Initial depend on notor driver type Ui t Axi s conmand uni t sec Thi s paraneter is used for tabl e and j og operati ons Speci fi es the feeding vel ocity 70 Initial value Approxi natel y equal to the rated nator vel oci ty Maxi numval ue Val ue of the User defi ned naxi numvel oci ty Feedi ng Vel oci ty 7H Mn 1 FeedVel 1 Max depend on setting Initial depend on nator driver type Ui t Axi s conmand uni t sec This paraneter is used for tabl e and j og operati ons Speci fi es the feeding vel ocity 1 Initial value Approxi natel y equal to the rated nator vel oci ty Maxi numval ue Val ue of the User defi ned naxi numvel oci ty This paraneter is Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 15 66 Feeding Vel oci ty 72 Mn 1 FeedVel 2 Dec Max depend on setti ng Initial depe
216. ide appears if the main operation privilege is on the controller side Note that the main operation privilege is not returned to the original setting automatically when the Operation window is closed Make sure to switch the privilege back to the controller interface if it is necessary to continue operating the system via the controller interface TI 71M02D04 01EN 10th Edition 2012 12 01 6 26 6 1 5 Process Settings in Error State The way an error is processed varies depending on the error code see Appendix 3 Detailed Main Error Codes Moreover for some errors it is possible to select how the drive behaves when an error occurs Specify the correct form of error process according to the specifications of the device and set parameters by referring to Section 2 8 Stop Function in Error State Regarding errors for which error process types can be set see the tables in the next page parameters Related to Error Process and Error Process Types The parameters for setting error process are released under the condition that the customer bears all responsibility in the event of unanticipated behavior Set error process Enable disable errors Set error process type End of setting Enabling disabling errors If errors are set to invalid an error is not generated even when the error conditions are satisfied Setting of error process type This set up behavior of drive after detecting an error In the ve
217. ide sensors or position stroke toward outside Photo sensor and connector Photo sensor l NER DONDE Home position stroke toward inside and connector B Home position stroke toward inside Photo sensor Connector EE SX670A Omron EE 1001 Omron Mounting 4 pieces 2 for each side TI 71M02D04 01EN 10th Edition 2012 12 01 2 18 Length of stroke 150 to 1800mm 4 M8 depth 10 489 Moving part mounting tap Mounting Model L Ls N hole for fixed unit 1N 020 1N 030 1N 050 730 500 6 2x7 pieces eee ose 1N 060 830 600 7 2x8 pieces 385 S 1N 070 930 700 8 2x9 pieces P23 4 M8 8 1N 080 1030 800 9 2x 10 pieces 165 SStroke 180 Total slider length 5 15 the oppests side E a EE x T pieces 2 x 12 pieces 4 M3 depth 3 5 7 hole 21 spot facing depth 9 denng 20 25 Te E 1100 2 x 13 pieces 1 Mounting hole for fixed unit p AN 120 1430 2 x 14 pieces ee eee ee ove E 1N 130 1530 1300 2 x 15 pieces 1N 140 L16 0 1400 18 2 x 16 pieces CMS 100 xN L Total motor length O0 LM230 LM240 LM330 Dimensions in indicate LM240 Length of stroke 50mm 147 48 Encoder unit 4 M8 depth 10 Moving part mounting tap i BRENNEN it O MM UAM TT a ma 90 60 TUA MUR MN Q
218. iding danger in potentially hazardous situations that may put operators lives and bodies in danger such as electric shock accident A WARNING Describes points to be noted in situations that may cause damages to software and or hardware or system troubles A CAUTION Describes important points when understanding operations and functions TIP Describes supplementary information about descriptions X SEE ALSO Describes items and pages that should be referenced LSS SSS STE TI 71M02D04 01EN 10th Edition 2012 12 01 _ Precautions O Precautions Regarding this Manual Please make sure this manual is made available to all end users Do not operate the product before reading this manual and thoroughly understanding its contents This manual was created to provide detailed explanations of the functions offered by the product It is not guaranteed that it will suit any particular purpose a customer might have The reproduction or copying of any portion of this manual is strictly prohibited without prior permission from Yokogawa Electric The information provided in this manual is subject to change without notice If you have any questions or find any errors and or omissions in the information provided in this manual please contact our Sales Department or the dealer from whom the product was purchased Precautions Regarding Protection Safety and Product Modification To ensure your protection and that of the produc
219. ied parameter number is a parameter in RAM At this point the setting of operator code is ignored Example 100 101 O0 Unary Operation Assignment 1 The value signed 32 bit value specified by table data 1 is assigned directly to the specified target parameter after carrying out an operation Only subtraction and bit NOT can be specified as the operator If an operator that cannot be used is specified the specification is rejected and a 50 5 not executable error is generated Example 100 123 Unary Operation Assignment 2 The value of the parameter monitor number specified by table data 1 is assigned to the specified target Zparameter after carrying out an operation Only subtraction and bit NOT can be specified as the operator If an operator that cannot be used is specified the specification is rejected and a 50 5 not executable error is generated Example 100 101 Binary Operation Assignment 1 The result of an operation between the direct value signed 24 bit value and the value of the parameter monitor number specified by table data 1 is assigned to the specified target parameter If an operator that cannot be used is specified the specification is rejected and a 90 5 not executable error is generated Example 100 123 101 TI 71M02D04 01EN 10th Edition 2012 12 01 6 96 O0 Binary Operation Assignment 2 The result of an operation between the value of the para
220. iere te te a o sh os e d oh dk gh oh oh ok of ud f rnc e sies e sete ie Sestak sc Se efe e se leal sie ate Se a ee ee ee ee ee ee es dece ode ode dede ode de dede dede cde EK ExVinSense ExTFiSense LoadJ or M ServoRigid VelFreql VelFredqz VellntTiml lt FZ000DA3 851968 212992 425984 30 0 179999 180000 O3C19004 10000 DATA HEXS DATA DEC DATA DEC DATA DEC DATA DEC DATA DEC DATA DEC DATA DEC DATA HEXS DATA DEC DATA DEC DATA DEC DATA DEC System setup re Maximum velocit Scaling data r Scaling data c ok eh eh he x oh kd SEEEETPEEESEETETESE ee ee ee ee pe ok ee KERR ER External veloci External torque Load inertia Lc Servo stiffness Velocity contrc Velocity contrc Integral time f gt Driver Download Upload File Open Save as A parameter file is saved as a text file Although it is not necessary to be aware of the file format a brief description of the file format is given below 1 It contains drive information and is processed as comments 2 It is a group of machine setup parameters that requires cycling of the power to reflect it 3 It is followed by a group of regular parameters The utility software issues a software reset to the drive after downloading of a group of machine setup parameters listed in 2 above as a download sequence to the drive The drive is set to the servo OFF state during a reset operation Therefore be sure to check
221. ifications Conductor wrzos Insulating material external diameter 1 29mm Finished external diameter Conductor O0 Encoder Cable 1 Fixed cable Identification of core wire Sheath Color of Brown x Orange x Shield insulating brown orange material i white white Insulating material Conductor Cable specifications oc YANG 0 Insulating material external l Finished external diameter 2 Robot cable Identification of EX T Layout sheath number Color of Shield insulating Green Yellow Brown Blue Orange Gray Purple Black White material Insulating material OO KOO me Cable specifications Conductor conductor AWGRz2 03m Insulating material external diameter 21 29mm Finished external diameter TI 71M02D04 01EN 10th Edition 2012 12 01 2 15 2 5 Outline Drawings 2 5 1 Motor O0 LM105 LM110 LM505 LM510 Dimensions in indicate LM105 LM505 Length of stroke 50 mm Unit in figure mm Length of stroke100 mm 4 M6 depth 10 Moving part mounting tap T6 4 M4 depth 10 7 4 M4 depth 10 a otg Wy epa 5 5 foe LX Bude an imm S DT 2 8 util a p PI fo tt o uo i iB a Apu AN eras Lan a p 05 EE N N at A 3 25 25 L4 ooo ooo oO S Oo o S D gts Made by AMP 4 pole 12 pole 5t Made by AMP 4 pole 12 pole iL no iL o E 155 50 130 Total s
222. ilter characteristics sharp or gradual The range of frequencies that can be set is from 50 to 1500Hz and the Q value can be set in the range from 0 1 to 5 0 The initial value is set as the frequencies of 1500 Hz and the Q value 1 0 The figures below show the frequency characteristics of the notch filters Gain Phase E M gll NM Notch filter setting frequenc AE TT TL TI 71M02D04 01EN 10th Edition 2012 12 01 1 7 Phase Lag Compensation Filter The phase lag compensation filter is a first order delay filter Set the 3 dB bandwidth frequency in 24 and set the frequency at which the maximum damping gain becomes 3 dB In 25 Compared to the velocity feedback filter the frequency of the maximum damping gain can be set freely for this filter It can thus minimize the amount of phase lag Moreover this filter is effective when the resonance frequency is high in a wide range However compared to the notch filters the damping amount is small it is not suitable when the gain of the resonance peak is high The figures below show the frequency characteristics of the phase lag compensation filter H PC LL qma 40H poen cpu RE Hem eee ae PHA A n MAIL LI maii PEE Gain dB T EHE EHE l 10 100 1 10 1 1 Phase deg Frequency Hz TI 71M02D04 01EN 10th Edition 2012 12 01 7 8 Velocity Feedback Filter The velocity feedback filter is a first order delay filter The gain of th
223. ily connecting with a general purpose PLC It provides 12 input points and 6 output points For electrical details see Chapter 5 TI 71M02D04 01EN 10th Edition 2012 12 01 3 3 3 3 CC Link Interface C Link 3 3 1 What is CC Link CC Link Control amp Communication Link is a digital communication system standard developed in Japan that supports a wide range of applications for factory automation FA It is also an open fieldbus standard that does not depend on vendors e Features of CC Link The features of CC Link are as follows e Saving in wiring Multi vendor environment High speed I O response Long distance transmission RAS function e CC Link version CC Link Ver 1 10 Ver 2 00 and CC Link LT are available for the CC Link interface standard The DrvPIll drive supports CC Link Ver 1 10 Achieving communication reliability To achieve a stable network environment in which multi vendor products are used CC Link supported products must pass the connectivity test conformance test conducted by the CC Link Partner Association Therefore the products that support CC Link have high communication reliability TP For more information about the specification of CC Link and related details refer to the documentation issued by the CC Link Partner Association CC Link Partner Association Web site http www cc link org TI 71M02D04 01EN 10th Edition 2012 12 01 3 3 2 Network Configuration The following de
224. ime deceleration time position settling width maximum velocity and velocity override percentage STEP 4 Set and register parameters 2 How to Perform Table Data Operation Utility Software STEP 1 Select Operation in the utility software STEP2 Select the Table Operation tab in the Operation menu STEP 3 Click the Servo ON button to turn the motor s servo ON STEP 4 Select the table number of the table data you want to execute STEP 5 Click the Drive button to execute the selected table data x o9 Exit Controller side L B Operation Auto tuning operation Test operation Homing operation Table operation JOG Di mee servo nff Table Ma Na 20 Dwelling Ma 20 Dwelling No 21 Dwelling No 22 Dwelling No 23 Dwelling No 24 Dwelling No 25 Dwelling No 26 Dwelling Au 3 How to Perform Increment Positioning Move Controller Interface See Section 6 4 1 3 How to Perform Table Data Operation Control Interface mm TI 71M02DO04 01EN 10th Edition 2012 12 01 6 91 Increment Positioning Move Operation Data 0 and 1 Name Description Default Setting TE Select the settling width at homing operation from coin widths O to 7
225. imensions in indicate LM205 LM305 Length of stroke 50 mm 4 M6 depth 10 Moving part mounting tap 9l 185 164 surface of moving part 33 5 55 34 From edge 4 M3 depth 3 5 Length of stroke150 to 1800 mm 4 M6 depth 10 9 Moving part mounting tap moving part 33 5 55 34 From edge surface of 15 5 7 Ls Stroke T Ke 4 M4 depth 10 y S o c io Ol Em D m o mo eH DETEN Ey Lit aol n m m NET From edge surface of moving part 33 5 4 M3 depth 3 5 55 34 Length of stroke100 mm 4 M6 depth 10 Wiring connector 1 Made by AMP 4 pole 12 pole y 100 MO Total slider length Stroke J 3 M3 Stopper For cable at Mounting hole for fixed unit 185 164 24 5 hole 28 spot facing depth Mounting hole for fixed unit L Total motor length Ls 170mm LBA From edge surface of fixed unit Model BEE L Ls N hole for fixed unit 1N 020 380 200 6 2x7 pieces IN 080 480 300 8 2x9 pieces 1N 060 780 600 14 2x 15 pieces iN 090 1080 900 20 2x21 pieces TI 71M02D04 01EN 10th Edition 2012 12 01 2 17 O0 LM130 LM530 Length of stroke 50 mm 4 MB depth 10 3C 160 Slider width
226. in brake code 1B is selected This is supplemental brake to minimize free run distance by motor control torque generated by shorted motor winding when an error occurs and servo is turned OFF LN Acaro NDNSER When AC mains or control power is turned OFF the dynamic brake is activated When it is necessary to cancel the dynamic brake make sure to set safe and appropriate external circuit so that the motor wiring is cutoff Braking force of dynamic brake differs depending on motor load and operational conditions Simulate under the worst conditions with the motor and make sure to implement safety measure such as braking by external system mechanism Effective range of dynamic brake Dynamic brake activates under the following conditions Set System setup register 1 of parameter 110 to activate the brake when error occurs 1 Shutdown of AC mains or control power 2 Bus voltage of drive drops down to below servo OFF level 3 Servo is turned OFF if Brake ON during servo OFF option of system setup register 1 in parameter 110 is set to 1 Enable fh c UTION The dynamic brake is in intended for use when servo is turned OFF by an error Do not use the brake for frequent stop operation in servo OFF or power OFF during operation or usage to rotate the motor by an external force Continuous activation of dynamic brake circuit may cause degradation of element in drive and unexpected defect or malfunction Make
227. inate an external force that interferes with the motor s rotation Set a longer acceleration deceleration time Perform a servo tuning again and set an appropriate value If a regenerative resistor is not installed install one If this error occurs when a regenerative resistor is already installed review the acceleration deceleration time and the operation cycle The motor unit is rotated by an external force Check the wiring power supply and PLC software so that the IN SERVO signal does not change during an operation Execute an axis operation command after turning the Servo on Set maximum rate of pulse input so that it is less than the speed monitored by 305 Maximum speed Set the commanded speed from controller lower so that the pulse input rate does not reach the maximum command frequency If the pulse output frequency of controller is unstable it is impossible to command pulses at the maximum command frequency O Reduce the amount of movement so that it does not exceed the hardware EOT sensor Change the conversion of pulse units Is the sensor operating normally Is any noise generated on the sensor power supply Check the wiring connection of the sensor 10th Edition 2012 12 01 Appendix 3 5 Name direction software EOT only for linear coordinates direction software EOT only for linear coordinates Immediate stop Controller interface communication er
228. inate system and pulse unit coordinate system The commands from the internal controller use the command unit coordinate system and the coordinate system between the driver and the motor uses the pulse unit coordinate system The conversion rate of these two unit systems is set in scaling conversion Scaling Conversion Formula Pul um 113 Scaling data ratio numerator on the pulse command unit s paper sie 112 Scaling data ratio denominator on the command unit TI 71M02D04 01EN 10th Edition 2012 12 01 6 35 lt Default Setting Values of Scaling Data gt The table below lists the default scaling data setting values Set the values appropriately in accordance with the system used Table of Default Scaling Data 113 Scaling data ratio 112 Scaling data ratio denominator Encoder resolution numerator on the pulse on the command unit 0 5 um 2000000 1000000 0 25 um 4000000 1000000 0 05 um 20000000 1000000 If 112 or 113 is changed the changed data becomes valid the next time the power supply to the drive is turned ON s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 36 6 1 9 Velocity Profile The setup items of velocity profile include the acceleration time deceleration time feeding velocity acceleration type and deceleration type Register them in p
229. ing edge NH 330 Commanded tarque Force value 4 Set up a trigger source E Source channel 1 M Trigger level 10000 UNIT div a Trigger position 2 Start SPesosocesecosocccecosecceoceceocscocessooseccocceseocoscescocecceosesecesocececesesesecoscocesesescooceocesceccocececescccceccescocecccecececesc TI 71M02D04 01EN 10th Edition 2012 12 01 8 18 Displaying a Waveform in Digital Format All parameters monitor numbers are managed in units of 32 bits inside the drive Generally one parameter monitor number has one definition However some parameters monitor numbers are broken into 32 bits each of which is then assigned with a unique definition e g 320 Status register 1 Digital waveform display function can be used to display parameters monitor numbers using an oscilloscope The following describes the digital display method and the trigger setup method using digital values CHANNEL SETUP L cH L soune STYLE Lpisrar LASSIGN C UNITO OFFSET 1 C ANALOG cH1 340 Commanded velo DIGITAL 330 Commanded torqueforce value m a Gummi Iv OF Cancel Oscilloscope nuN F 1 PDOSION 5 mge Elif e els i 1 Select DIGITAL in the channel you want to Snare display digitally and setup display bits a 2 Add a check mark at the left of the numbers of bits you want to display 3 Select bit No
230. ing holes in the die cast section and mount the drive securely to a metal plate If you use flat washers use washers whose external diameter is 8mm ISO M4 screws in four places Tightening torque 1 4N m Wall metal made TI 71M02D04 01EN 10th Edition 2012 12 01 2 26 500W Class Drives e This drive utilizes convection fanless air cooling Install the drive with the front panel facing forward Do not install it with the panel surface facing upward or downward up side down or sideways see the figures below e Allow a clearance of 50mm or more above and below the drive and 10mm or more on the left and right sides for ventilation e The power consumption used by the drive itself is 30W 10mm 10mm c je LO Daca l oi E Do not install sideways e Do not install up side down TI 71M02D04 01EN 10th Edition 2012 12 01 2 27 2 Stop Function in Error State When an error occurs the DrvGIII has the servo deceleration and dynamic brake functions only by selecting the built in brake option to bring the motor to a stop The servo deceleration function performs to decelerate motor by servo immediately after an error occurs The dynamic brake is an optional function in case built in brake Code 1B or 1L is selected The combination of servo deceleration and dynamic brake contributes to minimize the free running distance 2 7 1 Servo Decel
231. ion error 30 0 Servo not ready TI 71M02D04 01EN 10th Edition 2012 12 01 6 28 1 parameter Settings STEP 1 Select parameter from the main menu of the utility software STEP 2 Select the Register parameter tab STEP 3 Select Error setup register 1 to display the setting window STEP 4 Select valid or invalid for each error STEP 5 f you are setting an error to valid select the error process type STEP 6 Perform the same settings for Error setup register 2 as well STEP 7 Click the Regist button when the settings have been completed 2 Select the Register parameter tab 3 Click Error setup X register 1 Evit Regist Upload EN Parameter list PES Sees Error setup register 1 Error setup register 2 Over speed Valid Monitor list Action Servo on sustaining after immediate zl 6 Perform the same Overload alid a 4 Select valid or settings for Error setup Action Servo on sustaining after immediate sl invalid for each register 2 as well error Excessive position eror Valid Action 5erva on sustaining after immediate sl System setup register 3 099 008000 F7 mE Exsessive commanded position differential Servo on sustaining after immediate sl 5 If you enable an Tandem error Servo off after immediate stap error select the error process type Coordinate erar A Walid Action 5 E ervo an sustaining after immediate sl v Bus voltag
232. ion of the motor s dog Home proximity sensor Direction A Direction B gt lt Setting item gt Set Select home sensor inside to Inside in Operation data 0 of Table Data PUNI RNING If the homing velocity is high the motor may enter the area where operation is prohibited be careful to avoid such situations TI 71M02D04 01EN 10th Edition 2012 12 01 List of Homing Operation Data 0 Homing direction Coin width Select acceleration time Select deceleration time Select acceleration type Select deceleration type Hardware EOT limit active in homing operation Enable home sensor Enables the home sensor during EOT search Select home sensor inside Description Set the homing direction at homing operation Select the settling width at homing operation from coin widths O to 7 90 97 Select the acceleration time from acceleration times 0 to 3 72 75 Select the deceleration time from deceleration times O to 3 76 79 Select either constant acceleration or S curved profile Select either constant acceleration or S curved profile Set to Enable to perform hard EOT signal search movable using the EOT sensor connected to TB4 at the start of homing movement Set to Disable if the EOT sensor is not used Specify Enable under normal circumstances If it is set to Disable home sensor search movement is not performed The home position is set to the position at which
233. irection 56 lt 0 Reverse direction Set using Select acceleration type Select deceleration type Select acceleration time and Select deceleration time in the table data System setup register 3 60 Homing EOT sensor search velocity 61 Home sensor search velocity in homing operation 62 Initial Z pulse search velocity 62 Initial Z pulse search velocity 62 Initial Z pulse search velocity 63 Z pulse search velocity after 2nd iteration 62 Initial Z pulse search velocity System setup register 3 EOT search movement is set to invalid until the motor settles during homing All other steps are Valid The settling width can be set in the homing table TI 71M02D04 01EN 10th Edition 2012 12 01 6 77 Operation example 1 The numbers in the figure indicate step numbers 2 i 1 a 5 Homing from outside the proximity area TE e Direction A Home proximity signal Direction B iili Z pulse B 4c 3 5 Homing from inside the proximity area Initial value settings Pee ee UR eC ECE COCO CECE eee Cer eee re ree eee rer rece cere rec eer rere errr reser reer rere ere r reer errr errr er rere e rrr reser rece seer rec re rrr ces rrr rer errr errr errr errr terre rrr rere rere Table operation data 0 1 Homing direction direction Hardware EOT limit active in homing operation Disable Se
234. is fastened to the base and a moment dead load is applied to the rotor s load mounting area in the direction where the rotor s rotation axis core is tilted The maximum overhung load is the maximum load when all component parts of the motor are within the elastic deformation zone When the load is removed all the component parts must be restored to their original states In addition the gap between the rotor and the stator core must not be zero the core makes contact in the worst condition Maximum Velocity The maximum velocity a motor can rotate Moment displacement stiffness The motor is fastened to the base and a moment dead load is applied to the rotor s load mounting area in the direction where the rotor s rotation axis core is tilted within the maximum overhung load Moment displacement stiffness is the axis core tilt displacement angle per unit moment load at this time Displacement angle moment load must be linear Monitor Pulse Current position value pulse output from the drive Motorless Operation Emulation Mode A mode for simulating the operations of the motor using only the drive without connecting the actual motor This feature is convenient to check general operations of the motor before starting the system The utility software is used for simulation Mpulse Unit of pulses obtained by raising 10 to the sixth power Multichannel Connection A connection to connect multiple drives to a party line using RS485 communication
235. isplay button Displays a dialog box for specifying the parameter monitor number to be displayed for each channel Time axis setup combo box Graph display refresh cycle setup combo box Trigger setting Trigger mode selection Trigger slope selection Trigger source selection combo box Trigger level setup edit combo box Trigger position selection combo box Start stop button Trigger lamp TI 71M02D04 01EN 10th Edition 2012 12 01 8 16 Screen Display Waveform Display Dialog Box Grand position display icon for each channel Trigger channel display icon This icon is displayed for a channel that has been set in the trigger source Offset display icon This icon is displayed for a channel for which an offset has been set Trigger position display Cursor Date and time Oscilloscope 2003 09 29 10 17 E U aa Hoo I Time axis setting r TIME 100rnse Dy TE a ec a xen scatet IZ esee eee ee ZEE UNIT DIV set Each channel vertical oo ee eee ee ee ee oe a cH i000 i axe Seung b CH2 1000 0 IER e HM a E CRINE CT REN S CH3 10000 l CH4 10000 0 a eter TOP pane X TT pese MATH 10000 D Ts ee Menos un ed sus 1 TRIGGER Trigger setting po ae oe E JE SOURCE EH1 RISE Ae UIUIUUDUU Ec ES ad EESE p LEVEL iss l l i l i POSITION 0 ANE ED ee ae TE CURSOR Cursor reading value ue ee re ee er ree Ceti es eee ered E lx IE A n E T E Ust eee ee ee ILE 500 0ms 800 0
236. ition may cause the deterioration of accuracy shortening of the product s lifetime and a failure of the motor Please be sure to observe the following precautions Mounting Direction Mount the motor in one of the directions shown in the figures at right If the motor is to be mounted vertically mount it so that the encoder unit faces upward If foreign substances or grease enter the encoder unit the motor may Encoder unit malfunction or break down 0 Installation Location The motor is intended to be used in 12 RN indoor conditions m SEXES Ex x TT Well ventilated places with little dust Temp 0 40 C CE continuous idi operation rating Motor Remarks ee nam Avoid installing the motor in an atmosphere with high zm Emm mam temperature high humidity or which 20 85 RH contains dust dirt metal powder There must be no corrosive gasses dirt or dust i Atmosphere Must be used at an maximum altitude of 1000 meters COITOSIVe gasses etc above sea level CE mounting condition Mechanical Connection The levelness of the load surface with respect to the slider s load mounting surface must be 0 01 mm or less The clearance between the slider and mounting plate is approximately 0 1 mm Dirt or foreign substances adhering to the base surface may cause failures The motor mounting plate of products whose surface treatment suffix code is N is coated to prevent rust Before mounting wipe the co
237. ivision Binary operation l Specify registration Select Do not regist if the parameter whose value should be changed is a normal parameter stored in RAM Select Regist if it is a parameter to be registered in the EEPROM Select Do not regist if the parameter is used temporarily for instance if it is used as a counter Aion UTION When parameters are registered their values are written in the EEPROM There is a limit on the allowable number of times the EEPROM can be written to approximately 1 million times If this limit is exceeded the EEPROM may be damaged and the drive may not start up If you select specify registration for parameters in the parameter change function during table operation this limit may be exceeded depending on the pattern used TI 71M02D04 01EN 10th Edition 2012 12 01 6 95 3 Explanation of Each Operation Type With the parameter change function it is possible not only to change the values of the specified parameters to simple values but also to results of calculation operations Direct Assignment The value signed 32 bit value specified by operation data 1 is assigned directly to the specified target parameter At this point the setting of operator code is ignored Examples 100 123 100 123 100 123 Indirect Assignment The value of the parameter monitor number specified by table data 1 is assigned to the specified target Zparameter The specif
238. k creditability for safety purpose when detecting an abnormal communication Recycling main power is necessary after removing cause of the error This function is used when performing the power recycling from controller through CC Link communication This function allows the drive to automatically return to network after normal communication state is confirmed even after a communication error is detected However even in this case error reset command is not valid to cancel communication error state because drive recognizes that the error is non recoverable error It is necessary to recycle main power of drive after removing communication error factor in order to recover the drive This function is invalid at default setting same as previous versions This function is exclusively for CC Link option of DrvPIll Parameter Setup The function becomes valid by setting bit 31 of 119 CC Link setup register to 1 through software and recycling power of drive The detailed procedure is as below 1 119 119 H80000000 2 Recycling main power of drive TI 71M02D04 01EN 10th Edition 2012 12 01 7 1 7 Tuning 7 1 How to Tune the Servo Adjustment of parameters Related to Control When you tune the servo set Zparameters related to the position and velocity control loops in good balance to prevent oscillation vibration and runaway Typically the servo can be adjusted by performing auto tuning which estimates load inertia and a
239. l Y Excessive position error Valid v Action Servo on sustaining after immediate sl v Exsessive commanded position differential Servo on sustaining after immediate s Tandem error Servo off after immediate stop T Coordinate error Valid Action Servo on sustaining after immediate s Bus voltage dropping Invalid X AC mains power supply voltage error valid v Register parameter Setting Window Exit Upload Parameter list Monitor list Use this window to change and register parameter values B Parameter setting Signal monitor Filter setup Integral limit recalculation 000 Load inertia Load mass 0 001 Servo stiffness setup 3 Velocity control parameter Regist Regist 002 Velocity control bandwidth 1 20 003 Velocity control bandwidth 2 20 Position control parameter 008 Position control bandwidth 1 1 009 Position control bandwidth 2 1 010 Integral time for position control 10000 011 Integral time for position control t 10000 012 Position integral limiting value 1 10000 01 3 Pasition integral limiting value 2 10000 Feed forward parameter 014 Position feed forward percentage 90 015 Velocity feed forward percentage 100 016 Acceleration feed forward percen 0 Servo Tuning Window Use this window to adjust the servo Exit Upload Parameter list Monitor list Servo tuning Signal monitor 851368 Feeding Velocity 0 Feeding
240. l e frequency of the occurrence of GC Li nk interface transnnssi on fai ures Speci f y the al owabl e nunber of occurrences per second Nunter of GC Li nk reconnection attenpts Speci fi es the nunber of reconnection attenpts in case a Li nk interface conmuni cati on error occurs If Ois set a conmuni cati on error is generated once the first error accurs If Nis set a conmuni cati on error is generated when conmani cati on fails repeated y for NH ti nes Baud rate 0 156kbps 1 625kbps 2 2 5Mbps Inital value 100010041 QC Li nk al ovabl e conmuni cati on error frequency 1 Nunber of Li nk reconnection attenpts 0 Baud rate F cupi ed Stati on Sel ect 2 stati ons occupi ed Tl 71M 2004 O1E 8th Edition 2007 01 10 00 SSS gt ADK Pagem Moni tor Descri pti on appendi x2 1 300 Driver version Uni t NA ri ver Code Hex ndi cates the dri ver versi on t 11 8 Firmware version code Integer part Bt 7 4 Firmware version code Ist digit bel ow deci nal poi nt t 3 0 Firnware version code 2nd di gi t bel ow deci nal poi nt 301 Motor speci fi cati ons Uni t NA Mbt or Code Hex Indi cates the notor speci fi cati ons t31 Type of notor Bit28 24 Series of notor Bi t23 1 Absolute Motor 0O Increnental notor t17 16 Voltage t15 12 Qrrent t11 0 Torque and thrust 302 Mtor resol uti on Uni t pul se rev pul se m Mbt or Res Dec ndi cates the notor resol uti on 303 Vel oci ty uni t conversi on coeffi ci
241. l plate in the same way as for a line filter However be careful not to connect the input and output wires of a filter A motor filter is not required if the motor cables are short or there is no effect on other devices located within the equipment 5 11 5 Shielding of Cables The shielding of cables is effective as a means of suppressing motor malfunction due to external noise and inverter noise and in suppressing the influence on other devices resulting from the inverter harmonic components and noise irradiated from the CPU clock The shielding of motor cables and encoder resolver cables must be securely connected to grounds on the drive and motor sides Such shielding lowers the high frequency impedance to the ground between the motor and drive and it suppresses the malfunctioning of the encoder due to external noise and inverter noise For a controller cable securely connect the shielding to the ground on both the drive and controller sides Such shielding lowers the impedance to the ground between the controller and drive and it suppresses the malfunction of pulse position command input and analog velocity command TI 71M02D04 01EN 10th Edition 2012 12 01 5 24 5 12 Drive Input Current To select a circuit breaker line filter and others in the device design it is necessary to know the input current of the drive This section explains how to estimate the drive input current from the motor s operation pattern Use the drive curr
242. lass 10 100 115VAC 200 230VAC A 50 60 Hz Main power supply 15 Maximum power consumption 1 3kVA 10 100 115VAC 200 230VAC po 50 60 Hz Power supply Control power supply Maximum power consumption 40VA 0 50 C Operation 20 85 C Storage Humidity 20 90 RH No condensing Operation and Storage No corrosive gases dust free atmosphere Must be used at a maximum altitude of 1000 meters above sea level CE mounting condition Wall mount dn 0 LUNA E Weight 1 2kg Low voltage declaration EN50178 EMC declaration EN55011 class A group 1 EN61800 3 UL508C Insulating resistance 10MQ or more 500VDC Withstand voltage 1500VAC one minute Encoder Resolution onstructio Environment Basic Specification Conformed standard LINEARSERV UMTLPS LIEILIB 0 5um 1 0um UMTLPS LIEILIC 0 25um 1 0um UMTLPS LIEILIE 0 05um 1 0um Values inside is factory default value for command and monitor pulses Communication Start stop system binary communication Communication Speed 38 400 bps Multi channel RS485 Max 10 channels Contact I O XA for interface type and specification No of input points 12 points No of output points 6 points with a terminal assignment function Serial Interface RS232C RS485 CC Link C1 for interface type and specification When one occupied station is set up No of input points 16 points No of output points 16 points with a terminal as
243. layed per channel To monitor more than eight bits at the same time a maximum of 32 bits can be displayed by assigning multi channels to digital display TI 71M02D04 01EN 10th Edition 2012 12 01 8 20 Understanding an Overview of Motor Operation in AUTO Trigger Mode It is possible to understand a rough behavior of the motor by setting a long range time axis and monitoring waveforms by AUTO trigger while the motor is operating Oscilloscope 2003 0529 13 21 TIME 100mzec DIY UNIT ADI Offset CHI 1000 T CH2 sooo oO CH3 soo D CH4 DIGITAL LbitIns3 Virtual input bl LbitIn 7 4 Virtual input bl Lbit ut3 Virtual output E B 3559 Differential value of commanded motor linear coordi Lbit ut7 4 Virtual output E E 342 Actual velocity value een m pq Ep StatusRegqz Status register 2 8330 Commanded torqueforce value Status Reg Status register 3 E 320 Status register 1 Icmd Commanded current value IcmdLimit Commanded current limit TFocmdF Commanded torque force t MEMO Bit31 24 Error code main Bit3 20 Error code sub Bild Eror present BHS Home successful Bid n position status BHG Coin no position error status B4 Dwell active BiH3 M function executing Bid2 Drive operation active Bil Jog operation active BIO Asis operation active __ 1 Position command differential value velocity profile to be generated by the con
244. layed periodically However if other dialog function is used update may be stopped once In such a case resume the operation by pressing the START button Status display of status register 1 Status display of status register 2 B Axis sienal monitor Status register 1 Status register 2 O Error eade main O Error code sub Q Eror present Home successful Q n Position Status Q Coin no position error status C Dwell active Q M function executing Q Drive operation active Jog operation active Axis operation active Q Servo ready Q Driver ready Q Serial F select for operation device Pos hardware EOT limit active Neg hardware EDT limit active Home sensor active Area signal 1 status Area signal status Q Velocity override select Coin window Position control integration active Velocity control integration active Position control select Velocity control select Z pulse status Over speed status Overload status Excessive position error iQ Commanded position pulses overflow Excessive regeneration Excessive AC mains voltage fe SOHEHR HERE HBR ERE BRE BE RE BRB ERB BBB BRE BRB RRR eRe EO Senne oP 7 onuuuuuEEEEHERHEEEEERERHEEEHEEEEEEEEEME e Ar mains voltage put of ange Ba EEEE BBB BBB ERP De eonunuuuuuuuuuuuuuuuuane Status register 3 O M function Ma O Operation T able Ma ti d 0 Operation code p
245. le for servo deceleration Control by Control by Built in Controller External Controller pee ods Table data Error Jog operation Position control operation Processing Type s s deceleration and stop s 9 deceleration and stop Servo OFF after immediate stop Servo ON sustaining after immediate stop Servo OFF immediately X Unavailable O Available N DANGER Control power may become uncontrollable or AC mains power may become below servo OFF level under power failure In this case motor may run freely if dynamic brake option is not selected Make sure to implement safety measure such as braking by external system mechanism DANGER If you select Servo OFF immediately the motor may run freely Be sure to take steps to secure safety such as using an external brake system DANGER m Even if an error for which the servo deceleration is assigned occurs the servo is turned OFF and servo deceleration function is unavailable if the following errors occur before such error or during the servo deceleration 4 0 Watch dog error 15 Encoder error 20 1 Excessive voltage 20 2 IPM fault or Current transfer detected 20 4 Low voltage servo OFF level 20 5 Phases A and B actual current monitoring 25 Regeneration error 30 0 Servo not ready TI 71M02D04 01EN 10th Edition 2012 12 01 2 29 2 2 Dynamic Brake with selection 1B The dynamic brake is an optional function is available only when built
246. lect home sensor inside Inside Enable home sensor Enable Enables the home sensor during EOT search Invalid lt parameter gt Parameter by Function Homing amount of home offset movement 56 0 e System setup register 1 Coordinate system forward direction setting Forward direction Pesescoosceccecsososssososccosososssososcocssososseosososssosossesssscssosscssosocssososososososseoseseocssoseosscososocssosossosccscosossessoscocssososscososeosecoseocecesovov Operation example 2 Numbers in the figure indicate step numbers 22 3 Aa 7 lt 25 9v mm Ta 7 direction over travel signal Direction A Home proximity signal Direction B 10000 456 Table operation data 0 1 Homing direction direction Hardware EOT limit active in homing operation Enable Select home sensor inside Inside Enable home sensor Enable Enables the home sensor during EOT search Invalid iparameter e Parameter by Function Homing amount of home offset movement 56 10000 ie System setup register 1 Coordinate system forward direction setting Forward direction Peecsecceseososcessoscsssososccssosossoosososssosesseosossssosscsscsscssososscssosososososcsssosesscoseosocssoososssssossssossessososssososscosososecoseoseceeoseosecoseoseceeooseovececceee TI 71M02D04 01EN 10th Edition 2012 12 01 6 78 Operation example 3 The numbers in the figure indicate step nu
247. leration The torque at constant velocity is the value obtained by adding motor bearing friction torque and load torque Here the drive loss is calculated by setting the bearing friction torque to 10 of the maximum torque Drive current D 20A Drive current C 15A Drive loss W Drive current B 6A Drive current A 5A L I mR p p p Bp p p p B Motor torque 96 TI 71M02D04 01EN 10th Edition 2012 12 01 9 25 Obtain the maximum current p at acceleration from the motor torque and maximum velocity The motor efficiency varies with the velocity and torque Here it is estimated at 60 Note that 80 of the maximum torque is used for the motor torque _ 2aNxT x0 8 D oes eee Nm XP xEn PxE p Obtain the effective current at acceleration ms P N Maximum motor velocity rps hums T Motor torque N m V3 D Drive loss at acceleration W Obtain the current at a constant velocity ile Ven Oe Qua constanuyeioety WN 75 Motor efficiency 60 OgN x T T D Pz Power factor 0 5 M A ally 2 Ein Power supply input voltage V Nm XP XE P XxE T g Bearing torque Torque 10 N m T Load torque N m Obtain the effective input current lin ms in rms B Example of Calculation The rated currents of a circuit breaker and filter are calculated under the following operating conditions Obtain the maximum current _ 22x1 0x1
248. lider length 5 e 130 Total slider length 4 M3 depth 3 5 im 4 M3 depth 3 5 l 7 i Stopper 3 M3 depth 5 3 M3 Ap For cable attachmen For cable attachment 24 5 hole 8 spot facing depth 8 5 Mounting hole for fixed unit 220 Total motor length Length of stroke 150 to 1800 mm 4 M6 depth 10 Moving part mounting tap Stopper m 24 5 hole 8 spot facing depth 8 5 Mounting hole for fixed tini 270 Total motor length Encoder unit eO 2 AJ ras F 24 j at From edge surface of moving part Ls Stroke 130 Total slider length Made by AMP 4 pole 12 pole 5 Two pieces on the opposite side 15 4 M3 depth 3 5 4 5 hole 8 spot facing depth 8 5 Mounting hole for fixed unit z From edge 20 5 surface offixed unit L Total r motor length tes 470mm i X RE 3 M3 D 50P xn For cable attachment B Stopper Mounting 35 hole for fixed unit 200 6 2x7 pieces 8 2x9 pieces 3 Es 00 36 00 38 00 32 2x 33 pieces 34 2x 35 pieces 6 2x 37 pieces 8 2x 39 pieces 600 700 1 o 800 1 o 900 2 o 1000 2 70 1100 2 70 1200 2 70 1300 2 70 1400 3 70 1500 70 1600 TI 71M02D04 01EN 10th Edition 2012 12 01 2 16 O0 LM205 LM210 LM305 LM310 D
249. lly assigned to hard I O has no significance as they are initialized to external commands at startup Machine Resonance Since the DD motor directly drives load the characteristics of the load may affect the control system causing oscillations These oscillations include hunting and windup phenomenon at a relatively low frequency several Hz an oscillation around a high frequency phase and a mechanical oscillation To take appropriate countermeasures it is necessary to know the accurate resonance frequency Machine Setting Parameter If these parameters are changed the changes made take effect when the power is turned ON next time parameters starting from 110 TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 6 ON HO Main Power A power supply for operating the motor Maker Data Internal data set up by Yokogawa This data cannot be set up by users It cannot be erased by all reset operation Basic data adjustment data Manual Tuning An operation for adjusting each control parameter by operating the motor via a test operation and then using an oscilloscope and the utility software functions Master Indicates the master motor drive in a master and slave relation in tandem operation Maximum Output Torque The motor s output torque when driving at the drive s maximum output current The maximum output torque is generated at startup the velocity is zero in the case of DD motors Maximum overhung load The motor
250. locity control mode and torque thrust control mode analog command inputs are interrupted and the velocity instruction value or torque instruction value to the drive is set to zero in case the error is set for enabling regardless of type of the setting The same error handling process as immediate stop is carried in order to shut off the input The servo state setting after the stop is subject to the error handling process set up Setting of error range Set the velocity and position ranges in which errors are generated TI 71M02D04 01EN 10th Edition 2012 12 01 6 27 oa NGER N parameters Related to Error Process Error Error valid invalid Error process type code setting setting Error name Error range setting Error process setup Error process setup Error process setup Error process setup 18 Forward direction 22 1 Error process setup Error process setup 23 0 EXCCOSORDOSHIODRUSVIGHOR register 1 register 1 19 Reverse direction Excessive position command Error process setup Error process setup Error process setup 20 3 Error process setup Error process setup Bus voltage drop register 1 register 1 Error process setup Error process setup Set to generate an error Hardware EOT Kor Mises uL mcs alas at the position of the g g proximity sensor 44 0 Error process setup Error process setup 42 Forward direction Controller interface 47 0 Error process setup Error process setup co
251. m becomes unstable Action to be Taken Adjust the integral limiter value Cause of Oscillation e fthe frequency at which the phase of the velocity output signal lags 180 behind the phase of the velocity input signal 180 phase shift is denoted fr the motor oscillates with a frequency of fr when fr fv Oscillation may occur if various filters use the same frequency or the velocity control bandwidth and the filter frequency bandwidth are the same Action to be Taken Lower the setup value of 1 servo stiffness setup Cause of Oscillation e The motor may oscillate if disturbance from the mechanical resonance of the load enters into the velocity control loop In many cases there are several resonance frequencies Action to be Taken e Set the mechanical rigidity of the device higher see Section 7 2 1 Prevention of Mechanical Resonance e Dampen the gain at the resonance point by filtering see Section 7 2 2 Filters TI 71M02D04 01EN 10th Edition 2012 12 01 7 3 7 2 Resonance Prevention 7 2 1 Prevention of Mechanical Resonance The LINEARSERV drives the load directly without using reduction gears Mechanical resonance characteristics of the load and the mounting surface may cause disturbances to the velocity control loop causing the velocity control system to resonate In general resonance phenomena can be prevented by the following th
252. m 6 89 o9 ene aan alt te arent ae ern eae eee ge epee I M 6 92 649 Parameter Changen dec coronis doct v ntes loki tiene he en cte ec tous alate aiaats 6 93 60410 Conditional Branch sinne atis etbntete t festeresudlafka ls keateibntaiis Aaa cte habe ited esiande 6 97 DATI COMMING RTT S Uem 6 99 6 4 12 Startup OperalloLiu i oe a e ated so MU deen Maui hs ae M Reto eiue gel 6 102 0 5 Control Using the PEG uec uet eve lie de eo dodo retired data aa 6 103 6 6 POSITIONS EMNING SIG Mall Eee LE 6 104 67 Signal Monitor FUNCHON s sois qtue anoo temo sc E aahoncs M es cU eei b EE 6 107 DD SAL OSsSIdldluscsios dumm ME MI OM LEM I ELM MM 6 110 6 9 Torque thrust Control Function sionas nennen nennen nnne nnns snas 6 111 6 10 Special F nclols OP GO EIDK oco aues e oet dae ueteri mibi ute cutee saat oom e DOS Sabato dea 6 112 OTOT 6 TO P A NN 6 115 DESIRES CSI UE EE 7 1 3 AAIOW TO TUNG ANG SelVO usset ueste tants dba oder Nava enda niae Saahdveadanc MU UM desde 7 1 T2 Resonance PrevenuOofD zoe vede vede e dan siaieues Suse co ite Biss auarus Vu dva test cuf 1 3 7 2 1 Prevention of Mechanical RESONANCE ccccseececceseeeceseeecceseecceaseeessageeessanseesseaseeseas 1 3 S EM ici Kec 1 4 71 2 3 If the Motor Oscillates during Auto tuning cc ccceecceceeeeeecneeeeeeeeeeeeecaeeeeesaeueeeeaaeeeesaaeess 7 10 UUN SOT W rcr eese eR cO E T CER 8 1 Gal MMFOGUCTON sepe twin tolup I MT EET
253. m M W ES OCD E T RESET ABORT STOP START SERVO IN_ IN_ IN_ Hard I O output contact output OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ AREA 1 AREA O POS MODE_EXE ERR SPDY CC Link C1 2 occupied stations Input contact 48 points output contact 48 points Hard I O input Remote output With 1 occupied With 2 occupied Block station stations IN IN IN IN IN DEAS TOTO 69 ER JOG DN NOC UE ERR RESET ABORT STOP START SERVO IN IN IN_ IN IN IN AUREUS COE G ENT M ANS CODE 5 CODE 4 CODE 3 CODE 2 l DE l e E wes 2 ae IN IN IN IN O o Rims Op ee ai ataa o om KK V270 5r s 144 240 ae co mein Yin 7 0 RYm3 7 0 Ex erdum Y n 1 F 8 RY n 3 F 8 EX 1 Theinitial data processing complete flag initial data setup request flag and error reset request flag defined in the CC Link system specifications are not supported Hard I O output Remote input With 1 occupied With 2 occupied Block station stations OUT OUT OUT OUT OUT OUT BUT OUT RXm0 7 0 RX n 0 7 0 I em DROY AREA AREKD MODE EXE SRDY Xwors mwore 1 dug OUT Sor UT ace Xin 1 7 0 a HEN EE m m X n1 F 8 QUT M MON OUT M MON OUT M MON OUT M MON OUT OUT OUT OUT PRM FD OK PRM RD END PRM WR OK BE EE te a e EE o B EN coo NENNEN a A DEINCENGEN GENERE EENNCENEN EEENRCNEN pw EE ee The initial data processing complete flag initial data setup request flag and error reset request flag defined in the CC Link system
254. mbers oe eee ERE CECE R ECE SUSUR OOO U CECE Serer ere c er ere rer re cre r errr sre r reer e rer rece e rrr secre eric rer rece seer rer rrr re rer reser rire reir yy Table operation data 0 1 gt Homing direction Hardware EOT limit active in homing operation Select home sensor inside Enable home sensor Enables the home sensor during EOT search _ Direction B Comer ee ere rer eee re ree eee reese reese see eeesesee eee seseeety direction Disable Inside Enable Invalid lt parameter gt e Parameter by Function i Homing amount of home offset movement e System setup register 1 Coordinate system forward direction setting 56 10000 Reverse direction Poe eee Cee ERC OSES Cee Ce ree eee rrr re scree rere cre reese cree ces rer re secre ere reece cer er sre r rere errr reser e rrr rec rer re sree r eres rere reser ere reer rece reer rer rr ree rrr rere errr rere reese s errr errs Operation example 4 The numbers in the figure indicate step numbers 2 3and4 gt 55 6 Cc Home proximity signal Direction B E Tl Outside the Z pulse Inside the Z pulse Direction A ere eee reer ere reer rr Ce err ere rrr rrr re reer re rrr rrr rer terre rrr rer re rrr rer rrr rer rer re rer rrr re rrr rrr rer rer rer rrr rr rer rere errr rer rer terre rrr rer rrr re rrr rrr rer rrr rr rrr terre rrr rer terre rrr Table operation data 0 1 gt Homing direc
255. mechanical parts Are the driving sound and vibration normal There must not be any worse sounds than usual operation Are there any scratches damages dirt There must be no scratches damages dirt deformation or discoloration deformation and discoloration Appearance Mn7 n ns crV1P ws m n T P TI 71M02D04 01EN 10th Edition 2012 12 01 9 2 Backup and Restore Operations of User Data It is recommended to back up user data to avoid data loss in case of accidents Backed up data is useful when startup new devices For example it is possible to restore particular backed up data on several drives to use the same settings for each of them Backup and restore operations can be performed using the following methods O0 Backup and Restore Operations Using the Utility Software By backing up user data using the utility software the data can be saved as electronic files See Section 8 7 4 Backup for more information O0 Backup and Restore Operations Using the Operation Display Pendant Optional By backing up user data using the operation display pendant the data can be saved in the embedded EEPROM of the operation display pendant User data for multiple drives can be stored without using other external devices See the technical document of the operation display pendant for more information 9 3 Initialization of User Data Reset All
256. med The value specifies the maximum thrust that can be output by the integrator in the controller to remove a small velocity deviation in which the value varies with the motor model load weight and servo stiffness setup value TI 71M02D04 01EN 10th Edition 2012 12 01 6 70 2 How to Perform Auto tuning Starting from the Auto tuning Dedicated Operation Window STEP 1 Select Operation from Control in the utility software STEP2 Select the Auto tuning tab from the Operation window STEP 3 Move the motor to the position at which the auto tuning should be started STEP 4 Click the Servo ON button STEP S5 Click the Drive button to start the auto tuning operation STEP 6 To store the parameter values set automatically click the Regist button x 90 E zit Controller side L 2 Select the Auto tuning tab KY Operation T able operation JOG Dee Serva aff Regist 4 Turn the servo ON Table Ma 5 Perform auto tuning UN RNING The operation direction of auto tuning is the direction with respect to the position before starting the operation Ensure that there is sufficient space in the direction Secure sufficient space in the direction as well as overshoot may occur fyc UTION Do not change the states of the IN POSFREQ SEL and IN VELFREQ SEL signals during the auto tuning operation It will prevent obtaining
257. meter monitor number and the direct value signed 24 bit value specified by table data 1 is assigned to the specified target parameter If an operator that cannot be used is specified the specification is rejected and a 90 5 not executable error is generated Example 100 101 123 O0 Binary operation substitution 3 The result of an operation between the values of the two parameter monitor numbers specified by table data 1 is assigned to the specified target parameter If an operator that cannot be used is specified the specification is rejected and a 50 5 not executable error is generated Example 100 101 102 TI 71M02D04 01EN 10th Edition 2012 12 01 6 97 6 4 10 Conditional Branch The conditional branch function is used to change the flow of operation according to a given condition The conditional branch function is thus not an actual function by itself It supports only indirect comparison between parameter monitor values If it is desired to compare a Zparameter monitor value with a fixed value it is necessary to set the value in question in a variable Zparameter See the sample table default setting for specific ways to use this function see Appendix 5 Description of Iperation Tables and Sample Programs 1 How to Set Conditional Branch This function is set using the utility software Select Conditional branch in Code in the Table setup window and specify necessary items Select Conditi
258. meter after auto turning is performed If the load weight value is known it is acceptable to write the value of the load weight directly in this parameter without performing the auto tuning operation This parameter is set automatically after auto tuning The velocity control band frequency is set automatically in the parameter selected by IN VELFREQ SEL according to the setting status of 1 servo stiffness setup This parameter is set automatically after auto tuning The position control band frequency is set automatically in the parameter selected by IN POSFREQ SEL according to the setting status of 1 servo stiffness setup This Zparameter is used only when the velocity control method is set to proportional integral control in system setup resister 1 It is automatically set in the Zparameter selected by IN VELFREQ SEL when auto turning is performed This value specifies the maximum thrust that may be output by the integrator in the controller to remove a small velocity deviation in which the value varies with the motor model load weight and servo stiffness setup value This limiter restricts the amount of position integration of the position control loop This Zparameter is used only when the control mode is set to position control and the velocity control method is set to proportional control in system setup register 1 It is automatically set in the Zparameter selected by IN POSFREQ SEL when the auto tuning operation is perfor
259. meters 72 Acceleration time 0 to 75 Acceleration time 3 in table data It is possible to save register up to 8 settings in the Function parameter tab 64 Feeling Velocity 0 71 Feeling Velocity 7 Select one of the parameters 64 Feeling Velocity 0 71 Feeling Velocity 7 in table data TI 71M02D04 01EN 10th Edition 2012 12 01 6 37 1 Function Explanation Feed velocity 64 Feeding velocity 0 71 Feeding velocity 7 Set the feed velocity Depending on the moving distance and acceleration deceleration time the actual velocity may not reach the set feed velocity Set a value smaller than the value of 305 User defined maximum velocity Acceleration deceleration time 72 Acceleration time 0 75 Acceleration time 3 76 Deceleration time 0 79 Deceleration time 3 Set the acceleration time deceleration time relative to the maximum velocity The fact that the acceleration time deceleration time is set relative to the maximum velocity means that if an operation that does not reach the maximum velocity is carried out the actual acceleration deceleration time will be different from the set acceleration deceleration time The acceleration deceleration time is set as the time till reaching the max velocity Therefore acceleration deceleration does not change even the feeding velocity is changed Guidelines for setting acceleration deceleration time Use the following formul
260. mmand If the number of commanded pulses per 1msec exceeds the rate of maximum command frequency the excessive position command differential value error 31 0 for error code appears A direction EOT signal was detected during an axis operation by internal control during an axis operation by an external position command or while moving in the direction A direction EOT signal was detected during an axis operation by internal control during an axis operation by an external position command or while moving in the direction Action taken at occurrence Error setup register 1 dependent bits 27 to 24 Current control was executed regardless of its setting Error setup register 1 dependent bits 23 to 20 Error setup register 1 dependent bits 31 to 28 Servo Off Regeneratio n error output Servo OFF Error setup register 1 dependent bits 18 to 16 Error setup register 2 dependent bits 31 to 28 Error setup register 2 dependent bits 27 to 24 TI71M02D04 01EN Appendix 3 4 Countermeasure O Review the operation cycle O Seta longer acceleration deceleration time O Eliminate an external force that is constantly being applied The current squared duty can be checked by 386 Check the ambient temperature and installation environment of the drive O Seta longer acceleration deceleration time O Perform a servo tuning again and set an appropriate value Elim
261. mmunication error register 2 register 2 Error process setup Error process setup Error Process Types Decelerate and stop and maintain The drive instructs the motor to decelerate and stop The servo is kept turned servo ON ON after stopping Decelerate and stop and turn The drive instructs the motor to decelerate and stop The servo is turned OFF servo OFF after stopping Stop abruptly and maintain servo The drive stops the motor abruptly and keeps the servo turned ON The ON deceleration time is determined by 80 Deceleration time for immediate stop The drive stops the motor abruptly and turns the servo OFF The deceleration Stop abruptly and tum servo OFF time is determined by 80 Deceleration time for immediate stop Turn servo OFF immediately The drive turns the servo OFF immediately If you select Turn servo OFF immediately the motor may run freely Make sure to take steps to secure the safety such as using an external brake system ANGER Even if the motor is set to perform servo deceleration in the case of a given error the servo is immediately turned off if the following errors occur before the error or during servo deceleration If any such error should occur servo deceleration can no longer be used 4 0 Watch dog error 15 Encoder error 20 1 Overvoltage 20 2 IPM fault current transformer detection 20 4 Low voltage servo off level 20 5 A phase B phase actual current monitoring 25 Regenerat
262. mnt setup Mn 999999999 Max 999999999 Initial O Unit Axi s conmand uni t 4ST Li nht Dec Speci fi es the di recti on the End of Travel EO software limt val ue 43 direction software EOT li mnt setup Mn 999999999 Max 999999999 Initial O Unit Axi s conmand uni t Speci fies the directi on End Travel ECT software li nnt val ue 44 Vel oci ty overri de percentage 1 Mn 0 Max 20000 Initial 10000 Ui t 1 100 96 Speci fi es overri de percentage 1 for feedi ng vel oci t y 45 Vel oci ty overri de percent age 2 Mn 0 Max 20000 Initial 10000 Unit 1 100 96 Speci fi es overri de percentage 2 for feedi ng vel oci t y SOF Li nnt Dec Vel Orri d1 Dec Vel Orri d2 Dec Tl 71M2D04 01E 8th Edition 2007 01 10 00 appendi x1 11 46 Area signal O CN Mn depend on setti ng Area0 Qn Dec Max depend on setti ng Initial O Uni t Axi s conmand uni t Speci fi es the posi ti on where area signal O turns on M ni numval ue rotation coordi nate systenj O linear coordinate system Maxi numval ue rotation coordi nate systen Scaling data on the conmand uni t val ue 1 li near coordi nate system 999999999 47 Area signal 0 CFF Mn depend on setti ng Area0 Cf Dec Max depend on setti ng Initial O0 Uni t Axis conmand uni t Speci fi es the posi ti on where area signal O turns off M ni numval ue rotation coordi nate systenj O linear coordinate system
263. ms 300 0 ms 340 Commanded velocity value ERE Actual velocity salue J 370 Commanded position value pulse PIES Actual position value pulse EHI CH EMG 1 Value for each channel Edit box for memo Use this as a memo such as writing measurement conditions Channel setup information This displays at which parameter monitor number each channel is set TI 71M02D04 01EN 10th Edition 2012 12 01 2 Basic Usage The basic usage is the same as for a general oscilloscope The following describes the actual operating procedure using a basic usage as an example Loading a Waveform with a Single Trigger The following describes the procedure for loading a waveform with the most basic single trigger Oscilloscope CHANNEL SETUP Icn Icu2 cua cna p ANALOG t DIGITAL POSITION 1 5 8 f ANALOG _ t DIGITAL H E CHANNEL SETUP blms Y GRAPH REFRESH 100m SINGLE F RISE t NORMAL Ae a FAL Wave Setting dialog box Oscilloscope 2003 03 23 13 12 TIME 5msec DIVv E UNIT DIY Offset CHI 2m0 d F CH2 2000 F TRIGGER H MEE p nM d I 9 N uU i Select the parameter monitor number Um i Hi uil Vi ii i I you want to monitor Select an analog l mode 3 Set up trigger conditions Single trigger ESSO Commanded velocity vale Ris
264. n you want to restrict the output torque This function limits torque and thrust by setting a value in parameter 59 Torque Force limit percentage O0 How to Restrict Torque by Parameter 59 Torque Force Limit Percentage STEP 1 Select Terminal 59 from Control in the utility software STEP2 Setthe limit value in the text box of the Terminal window The setting unit is 1 100 Setting 100 allows up to the maximum output torque thrust Example To restrict the output torque to 60 59 6000 when registration is not performed 59 6000 when registration is performed TI 71M02D04 01EN 10th Edition 2012 12 01 6 112 6 10 Special Functions of CC Link If the CN4 controller interface is CC Link the following functions can be used via the CN4 controller interface Error code acquisition function parameter write function parameter monitor read function parameter monitor display A B function Only when the number of occupied stations is 2 stations Use the above functions after assigning necessary signals using the hard I O assignment function Error Code Acquisition Function The error code acquisition function operates regardless of the operating mode The drive notifies the current error code to OUT ERR CODE The main code and subcode are notified to the upper 8 bits and lower 8 bits of OUT ERR CODE respectively in binary notation If no error has occurred the error code is output as O
265. name Pos logic 0 34 ERROR RESET x 5 6 Register the settings in 3 1 SERVO v the drive 2 r a sTART v 3 02 ABDRT v M 18IN CODED 7 5 1 7 1N CODE v 6 4 0 POS WwIDTHO v z 4 1 POS WIDTH v 5 Set the logic Checked Positive logic 1 0 24 VELFREG SELECT ta Unchecked Negative logic Only the OVL signal is set to 2 0 POSFREG SELECT iv negative logic at shipment 2 4 4 PLE DIREET T from the factory i3 0 4J0G UP v 0 4 JOG UP U 5 JOG GOWN 0 6 M ANSWER 1 0 IM CODEU 4 Change an assigned signal under the Assigned Logic I O Name field 1 1 IN CDODET 2 IN_CODE TIN 1 3 IN_CODES 1 4 IN_CODE4 The setting logic and signal status in the contact I O interface have the following relationship O inputs Positive logic The current is conducted into the input photo coupler when the conditions for the signal are to be satisfied Example IN SERVO The current is conducted into the photo coupler to turn the servo ON O outputs Positive logic The output transistor switches ON when the conditions for the signal are satisfied Example OUT DRDY The output transistor switches ON when the drive is ready TI 71M02D04 01EN 10th Edition 2012 12 01 6 13 O0 Physical Hard I O Assignment Settings at the Time of Shipment from the Factory Contact I O XA Input contact 12 points output contact 6 points Hard I O input contact input M W
266. nd fh c UTION Use this command after a homing operation is completed with parameter 57 command unit command value after homing completion set to O If the command is issued when the parameter is other than O0 the setting will not be made correctly Make sure to execute this command after performing a homing operation s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 101 Integral Limiter Self adjustment The integral limiter self adjustment command is used to recalculate and set the values of the velocity integral limiter and position integral limiter set on the side selected by the controller interface 1 or 2 The following parameters are re set according to the logic I O input status IN VELFREQ SEL OFF 6 velocity integral limiter value 1 ON 7 velocity integral limiter value 2 IN POSFREQ SEL OFF 12 position integral limiter value 1 ON 13 position integral limiter value 2 parameters to be re set must be parameters in RAM Save the values of the registered parameters in the EEPROM as necessary This command has the same function as the 14 command of the serial interface TI 71M02D04 01EN 10th Edition 2012 12 01 6 102 6 4 12 Startup Operation Startup operation is a function that allows executing table data automatically immediately after turning th
267. nd on nator dri ver type Ui t Axi s conmand uni t sec This paraneter is used for tabl e and j og operati ons Speci fi es the feeding vel ocity 72 Initial value Approxi natel y equal to the rated nator vel ocity Maxi numval ue Val ue of the User defi ned naxi numvel oci ty 67 Feedi ng Vel oci ty 78 Mn 1 FeedVel 3 Dac Max depend on setting Initial depend on nator dri ver type Ui t Axi s conmand uni t sec Thi s paraneter is used for tabl e and j og operati ons Speci fi es the feeding vel ocity 78 Initial value Approxi natel y equal to the rated nator vel oci ty Maxi numval ue Val ue of the User defi ned naxi numvel oci ty 68 Feedi ng Vel oci ty 4 Mn 1 FeedVel 4 Dec Max depend on setting Initial depend on nator dri ver type Ui t Axi s conmand uni t sec This paraneter is used for tabl e and j og operati ons Speci fi es the feeding velocity Initial value Approxi natel y equal to the rated nator vel oci ty Maxi num val ue Val ue of the User defi ned naxi numvel oci ty 69 Feedi ng Vel oci ty 75 Mn 1 FeedVel 5 Dec Max depend on setti ng Initial depend on nator dri ver type Ui t Axi s conmand uni t sec Thi s paraneter is used for tabl e and j og operati ons Speci fi es the feeding vel ocity 75 Initial value Approxi natel y equal to the rated nator vel oci ty Maxi numval ue Val ue of the User defi ned naxi numvel oci ty 70 Feedi ng Vel oci ty 6 Mn 1 Feedvel 6 Dec Max depend on
268. nectors of the slider or fix them on the slider side using the cable attachment screws of the slider etc so that external force is not applied to the connectors Failure to do so may lead to disconnection or breakdown 3 M3 depth 5 n the case of the LM105 model where cables are taken out to the right TI 71M02D04 01EN 10th Edition 2012 12 01 2 25 2 6 2 Installation of the Drive O0 Installation Location e Be sure to install the drive correctly in the control panel or on the machine e If there are other heating elements near the drive make sure to prevent the temperature from becoming too high by installing a shield cover or similar protective device Ensure that the temperature around the drive does not exceed 50 C e If there are vibration sources near the drive install the drive using a vibration proof material e Avoid installing the drive in an atmosphere with high temperature high humidity or which contains dust dirt metal powder corrosive gasses etc Drive environment UM Remarks specification Ambient B At operation Ambient 20 90 RH There must be no humidity i condensation Ambient C At storage pe 20 90 RH There must be no pe i condensation There must be no corrosive gasses dirt or dust NE EXP be used at an maximum altitude of 1000 meters above sea level CE mounting condition O Installation Procedure The drive is intended to be mounted on a vertical surface Use the four mount
269. ng width set in the table data becomes valid and the input status from this signal is not reflected Selected parameter IN_POSW on This signal is used for the parameter write function in the CC Link interface This signal is used for the parameter monitor read function in the CC Link interface This signal is used for the parameter monitor display A function in the CC Link interface when 2 stations are occupied O jo OFF OFF OFF ON OFF OFF OFF ON ON OFF ON ON Coin width selection 2 FF FF N N FF FF IN_POSW 2 N N IN POSW 0 Coin width selection O Block 4 IN POSW 1 Sone selection 1 IN PRM WR REQ parameter write zi niim request input parameter monit 1 IN PRM RD REQ or read request input parameter monit IN MON A cHNG REQ O display A ee E change request Block 5 parameter monit IN MON B cHNG REQ O display B ST ey i change request This signal is used for the parameter monitor display B function in the CC Link interface when 2 stations are occupied Reserved d am D o D D N Reserved LSS c SS MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 10 List of Logic I O Contact Output Signals Block 0 Block 1 Logic I O Contact input Abbreviated signal Hale Signal name Block bit OUT DRDY Drive CPU ready O Frequently used signals A Signals assigned as necessary No mark Not applica
270. ni t This paraneter is used for tuni ng agai nst resonance Speci fi es the hi gher range frequency of the first l ag conpensati on filter Filter becones valid by enabling the first ag conpensator through systemregi ster 2 26 Vel oci ty conmand filter bandw dth Mn 50 Vcnafi Frq Dec Max 1000 Initial X 1000 Uni t Hz Speci fies the filtering bandw dth for vel oci ty conmand val ue Vel oci ty conmand filter can not be disabled This paraneter is al way enabl ed 27 Vel oci ty feedback filter bandw dth M n 50 Vf bFi Freq Dec Max 1000 Initial 1000 Uni t Hz This paraneter is used for tuni ng agai nst resonance Speci fi es filtering bandw dth for vel oci ty infornation fed back to the vel oci ty control secti on Filter is activated by enabling the vel oci ty feedback filter in systemregi ster 2 28 Actual posi ti on val ue filter frequency M n 1 Pf bFi Freq Dec Max 200 Initial depend on nator driver type Uni t Hz Speci fies the frequency of the actual position value filter Filter becones valid by enabling the current position val ue filter through systemregi ster 2 The filtered actual position value is not fed back to the position control section of the servo oop Initial val ue 200H 29 Cycle count for coin signal acti vation Mn 1 CON Gcle Dec Max 100 Initial 1 Uni t Speci fi es the nuber of systemcycl es executed counted before the coi n signal goes acti ve 1 system cycl e lnsec The coin
271. nly at the end of a network T5 Drive side CN1 FUNDS D SUB 15 pin plug Do not connect anything to unspecified pins An erroneous connection may damage the drive and the PC TI 71M02D04 01EN 10th Edition 2012 12 01 8 3 8 1 3 Installing and Uninstalling e Installing Start the installer and follow the instructions given by the installer e Uninstalling Be sure to execute from Control Panel Add or Remove Programs Description of Main File Extensions Defined by the Utility Software prm ioc tbl wha cnd CSV pdf For saving Zparameter settings For saving I O settings For saving operation tables For backing up all user data in the drive in batch mode For oscilloscope display setting data and waveform data For internal settings of the utility software For Help TI 71M02D04 01EN 10th Edition 2012 12 01 8 4 8 2 Overview 8 2 1 Function Groups e mmmsumse The utility software is divided into the following function groups Main Settings A function group that sets up the connection method between the drive and the utility software prior to connecting as well as the operating mode of the drive Operation A function group that instructs operations to the motor connected Display A function group that acquires and displays information from the drive Data Management Afunction group that reads edits and writes the setup data in various drives Maintenance A function gro
272. normally the drive turns ON the OUT PRM RD END signal sets the data it read in the OUT RD PRM DATA High Low signal and turns ON the OUT PRM RD OXK signal If the read processing did not complete normally the OUT PRM RD OK signal stays OFF and the OUT RD PRM DATA High Low is set to O when the drive turns ON the OUT PRM RD END signal IN PRM RD REQ T5 N PAAR I l N I l mere v zi ete OUT PRM RD END ii OFF ON OUT_PRM_RD_OK oe A When write processing completed normally ON When write processing did not complete normally OFF OUT RD PRM DATA High Low Undefined X X Undefined TI 71M02D04 01EN 10th Edition 2012 12 01 6 114 parameter monitor Display A B Function The parameter monitor display A B function operates regardless of the operating mode The parameter monitor display A B function periodically notifies parameter monitor values that are set The refresh cycle is approximately 10 msec The parameter monitor numbers when the power is turned ON are 375 for A and 376 for B To change the parameter monitor numbers to be displayed first the CC Link master station turns ON the IN MON A CHNG REQ or IN MON B CHNG REQ signal after setting the parameter monitor number to be changed in the IN MON A PRM NO or IN MON B PRM NO signal The drive performs processing to change parameter monitor numbers to be displayed turns ON the OUT MON A CHNG END or OUT MON B CHNG END signal
273. nput current Cycle time p max Motor 1 motor 2 Combined input current Obtain the effective input current lin ms 12in ms and so on of each drive from the motor operation pattern using the procedure in Section 5 12 1 How to Obtain Input Current Obtain the total current of each drive input current lin ms and then select a circuit breaker and line filter that satisfy this value lin rms lin rms loin rms TD opor Be sure to verify that the value of the maximum current of the combined drive input current max S Within the operation characteristics curve for the selected circuit breaker and fuse TI 71M02D04 01EN 10th Edition 2012 12 01 5 27 5 13 Drive Inrush Current Drive inrush current is an important factor in selecting a circuit protector and fuse in the device design This section illustrates some typical inrush current waveforms of the drive Please use them as references when selecting a circuit breaker and fuse 5 13 1 Inrush Current Waveforms representative examples The following graphs show the inrush current waveforms of the control power supply and main power supply during a cold start at room temperature 25 C The waveforms vary with the power supply line impedance input voltage and ambient temperature When multiple drives are connected the inrush current is not necessarily simply n times the waveforms below due to existing power supply line impedance Be sure to verify using the
274. nt My Network P 1 To save waveform data check Save However this can be skipped to save only measurement conditions 2 A waveform data file has an extension of cnd and is saved in text format esosossosssososcsesoscocssososossseosessoosesesessscosescescosecceesosecssososccososesecosesesescoseoseocceseossessesoscesceseosceocesessccosescsesoscossoseseocoosecessoovesesesoscoseceeseoceceeesosecoscseosscoseseceeoosecesesoscoesoseseoscoccesosceccecececoceceeeeosecesecescecscececese O I N NNI TI 71M02D04 01EN 10th Edition 2012 12 01 8 24 O0 Loading Typical Parameters Monitor Waveforms Using the Easy Setup The utility software provides typical measurement conditions as Easy Setup in advance when observing the operation of a direct drive motor EN Oscilloscope CURSOR MEASURE CALIBURATICN FILE amp PRINT i EXIT EASY SETUP HU4 Homing HD Paositianing HO04 Homing SOURCE UNIT Dy Offset CH1 330 Commanded torqueforce value 1000 0 CH2 H342 Actual velocity value 2000 0 cH3a 320 Status register 1 DIGITAL CHa H321 Status register 2 DIGITAL MATH BIE z TRIGGER TIME B msec DIv SOURCE EH3 RISE LEVEL 18 POSITION i 8 OK Cancel TI 71
275. nt installation position Direction of main body connector Main body connector material Suffix code 005 010 015 020 030 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 015 020 030 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 030 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 TI 71M02D04 01EN 10th Edition 2012 12 01 Suffix Code Number of Length of stroke Drive current Base structure Scale material specification Surface treatment Sensor installation position Direction of main body connector Main body connector material Suffix code optional 005 010 020 030 050 060 080 090 110 120 140 150 170 180 020 030 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 040 050 060 070 080 090 100 110 120 130 140 150 160 170 180 060 070 080 090 100 110 120 130 140 150 160 170 180 Suffix Code Number of Length of stroke Drive current Base structure Scale material specification Surface treatment Sensor installation position Direction of main body connector Main body connector material Suffix code optional 0
276. number of blocks With 1 occupied station 16 points 2 blocks 16 points 2 blocks Physical Hard I O With 2 occupied stations 48 points 6 blocks 48 points 6 blocks Logic I O 48 points 6 blocks 32 points 4 blocks TI 71M02D04 01EN 10th Edition 2012 12 01 Relationship between remote outputs and hard I O inputs Remote outputs Hard I O inputs With 1 occupied With 2 occupied station stations Block No RY n 0 7 0 C rien a Tena menn menn IRelationship between remote inputs and hard I O outputs Remote inputs Hard I O outputs With 1 occupied With 2 occupied station stations Block No P eme o mera 0 Rene O cae RX n 1 7 0 RX n 3 7 0 RX n 1 F 8 RX n 3 F 8 TI 71M02D04 01EN 10th Edition 2012 12 01 2 Types of I O Signals O0 Physical Hard I O Physical Hard I O refers to contact signals on the controller interface CN4 The number of hard I O points and number of blocks vary with the type of the interface used Each block consists of 8 bits 8 different signal types Hard I O Assignment Function I O contact signals can freely be assigned from a group of signals called logic I O signals Perform the optimal assignment according to the application to avoid unnecessary signal wiring See Section 6 1 1 4 Physical Hard I O Assignment Logic Setting Method for how to set hard I O and settings at shipment from the factory lt Usage example gt It is desired to u
277. nvalid examples 99 65 E RE If the communication speed setting is different from the Off Off setting on the master side If the communication speed is invalid examples 5 15 CNET If any of the communication cables is disconnected If a station number is changed at startup e Unit Connection Method The following shows an example of typical configuration when connecting via CC Link The transmission path method employed is the bus method EIA RS 485 compliant The system configuration varies with customers For more information refer to user s manuals or other documents for the CC Link master station main unit and CC Link interface heeeccssecsccososecs cos002025020292092092922992999929290999299999299909992229909929099222990992999990290999529299995092920992929099999929299099299959999925299299929292990999999299929999222999229992229222220 TI 71M02D04 01EN 10th Edition 2012 12 01 3 8 e Fieldbus communication error The DrvPIII drive periodically detects communication errors at each I O refresh timing If the DrvPIII drive detects a communication error it does not refresh the input of the current cycle and holds the previous input state However it refreshes the output from the drive itself If the communication error detection count exceeds the value specified the DrvPIll drive outputs ERR47 0 IFB C ERR and places itself in the error state The type of processing to be performed after error detection is in accordance with t
278. o check that an error does not occur 3 Turn the servo ON Turn the servo ON 4 Auto g Perform auto tuning to adjust the gains of the position and velocity control loops Perform jog operation Perform homing Ug exseneposionngperauon Execute positioning operation using the utility software End of initial operation test TI 71M02D04 01EN 10th Edition 2012 12 01 6 44 1 Check before Operation Items to be Prepared Motor drive home sensor DC power supply PC on which the utility software is installed Level block for fixing the motor Various cables O Installation and Wiring Utility software DrvX3 Support Tool software 24 VDC Sensor cable prepared by the customer power supply BEEN E 24 VDC power supply prepared by the customer PC provided by the customer L INEARSERV ME CN 1 gt SE t 28 Serial interface IB 4 gt LE communication cable dedicated Bl i dde N ojo sess YY YY of YG YY Level block Y 5 co il a INE ls e AC power supply cable Level block Motor cable E a provided by the customer l n lt JB 2 gt NOTOR TB2 nr D fie 9 8 lt N 2 gt GND Se ex Encode resolver cable
279. ocity profiles Torque thrust profiles ee ee ee ee Velocity Torque thrust S curved profile Constant acceleration ff c UTION If the maximum value of torque thrust profile exceeds the maximum torque thrust of the motor a position deviation occurs often causing unstable control such as hunting See Guidelines for setting acceleration deceleration time and set the acceleration deceleration time correctly TI 71M02D04 01EN 10th Edition 2012 12 01 6 39 2 parameter Setting STEP 1 Select parameter from the main menu of the utility software STEP 2 Click Function parameter to display the setting window STEP 3 Select the function you want to set STEP 4 Click the parameter you want to set STEP 5 Enter the setup value in the Data edit box and press the return key STEP 6 Overwrite all the parameters you want to set and click the Regist button to register the Zparameters STEP7 Set parameters intended to use Number of parameter needs to be designated for each motion in case of parameter that has more than one setting such as feeding velocity 64 to 71 Set in the System setup register 3 window in the case of jog move and each table data window in the case of table data operation Setting Window for Velocity Profile Related parameters A iie Function 6 Register the values parameter 3 Select a function after overwriting necessary Z parameters Exit Upload Parameter list
280. omenon in which waveforms cannot be displayed accurately when the sampling velocity becomes half Nyquist frequency or below the input signal Generally in order to display accurate waveforms on a digital oscilloscope a sampling velocity about 4 to 10 times the frequency of the input signal as well as a frequency band at least three times the frequency of the input signal are required All Reset An operation to return all user data to the factory preset values Analog Monitor Card A board that is inserted into a connector of the front panel section of the drive and used to monitor the velocity and other information using an oscilloscope optional Analog Monitor Terminal General purpose monitor terminals AM1 and AM2 on the analog monitor card Argument An option to be added to an operation command Some commands have no argument or have multiple arguments Auto Start Table Set Auto Start Function to Valid to perform automatic operation after the power is turned ON By this setting the table having the number that has been set up starts TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 2 UB Auto Tuning A series of operations to rotate the motor measure the load inertia load mass and set up the parameters of the control section on its own Axial load Forward Reverse The motor is fastened to the base and a uniform dead load is applied to the rotor s load mounting area in the axial direction The axial load is
281. on requi red for vel oci ty change f romzero vel oci ty to the naxi num vel oci ty 805 15 Accl eration ti ne 8 Mn 1 Tacc3 Dec Max 59999 Initial 1000 Unit nsec Vos es the accel eration 78 requi red for vel oci ty change f romzero vel oci ty to the naxi num vel oci ty 805 OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 17 76 Decel eration tine 0 Mn 1 TdecO Dec Max 59999 Initial 1000 Uhi t nsec Speci fi es the decel erati on tine 0 required for vel oci ty change fromthe naxi numvel oci ty 805 to zero vel oci ty 77 Decel eration ti ne 1 Mn 1 Tdecl Dec Max 59999 Initial 1000 Unit nsec Speci fies the decel eration tine 1 required for vel ocity change fromthe naxi numvel oci ty 805 to zero vel oci ty 78 Decel erati on ti ne 2 Mn 1 Tdec2 Dec Max 59999 Initial 1000 Unit nsec Speci fi es the decel eration ti ne 2 required for vel oci ty change fromthe naxi numvel oci ty 805 to zero vel oci ty 79 Decel eration ti ne 78 Mn 1 Tdec3 Dec Max 59999 Initial 1000 Uhi t nsec Speci fi es the decel erati on ti ne 78 required for vel oci ty change fromthe naxi numvel oci ty 805 to zero vel oci ty 80 Decel erati on tine for inmedi ate stop Mn 1 TdecH gh Dec
282. on Constant acceleration TI 71M02D04 01EN 10th Edition 2012 12 01 6 41 EEE lt Sequence example gt 44 10000 1 10094 Velocity override percentage 1 100 45 5000 1 100 Velocity override percentage 2 50 N OVERRI DE SEL N I NTERLOCK Velocity waveform Feed velocity setup value x 10096 Feed velocity setup value x 5096 Feed velocity 0 motor stop TI 71M02D04 01EN 10th Edition 2012 12 01 6 42 6 2 Initial Operation Test Unless specifically noted you should always conduct an initial operation test without changing parameters hard I O assignment and logic I O initial value setting from the time of shipment from the factory before using the drive and motor for the intended application Wiring of controller interface is not indispensably needed 6 2 1 Initial Operation Test Using the Utility Software Perform an initial operation test using the utility software without load O0 Connection PC on which the utility software is installed LINEARSERV NE i T e To the control power supply To the main power supply C mM AN 200 230VAC jj j a ES Home sensor Motor unit LM series DrvPIll drive TI 71M02D04 01EN 10th Edition 2012 12 01 6 43 O Initial Operation Test Procedure Start of initial operation test 1 Check before operation Check that the motor is properly installed and wired 2 Turn the power supplies ON Turn the power supplies ON t
283. on This paraneter is invalid if the EO search operati on is not sel ected i n the tabl e setup nenu Initial value Approx 10 of the rated nator velocity Maxi numval ue Val ue of the User defi ned naxi numvel oci ty OI NN Tl 71M92D04 01E 8th Edi ti on 2007 01 10 00 appendi x1 14 61 62 Hone sensor search vel oci ty i n honnng operati on M n 1 CRG CRG Max depend on setting Initial depend on nator dri ver type Unit Axi s conmand uni t sec Speci fi es the vel oci ty to search for the hone sensor acti ve regi on i n honnng node invalid if the hone sensor acti ve regi on is not used Initial value Approx 10 of the rated nator velocity Maxi numval ue Val ue of the User defi ned naxi numvel oci ty Initial Z pulse search vel oci ty Mn 1 CRG Z Vel 1 Max depend on setti ng Initial Uni t Speci fi es the vel oci ty when executing the initi al Z pul se search after the hone sensor is found Besides the initial Z pulse search this vel oci ty is al so used for the foll ow ng depend on notor driver type Axi s conmand uni t sec Hone backup for Z pulse search after 2nd search i terati on Hone backup to sense hone posi ti on after Z pul se search conpl et ed Honing nove after Z pulse search conpl et ed Init
284. on software EOT D TI 71M02D04 01EN 10th Edition 2012 12 01 6 34 2 Setting the Direction of Coordinate Systems It is possible to reverse the rotation direction of the motor and the torque output direction in the torque thrust control mode lt Setting method gt STEP 1 Select parameter from the main menu of the utility software STEP 2 Open the Register parameter tab and then the System Setup Register 1 panel STEP 3 Set the rotation direction in Coordinate System Forward Direction Setting from the System Setup Register 1 panel In this manual the direction of the slider Direction A movement is explained by viewing the slider TS from the encoder side as shown in the figure below Left side Direction A Right side Direction B Rotation Direction Corresponding to the Coordinate System Forward Direction Setting Status Output Torque Direction in the Torque Thrust Control Mode Coordinate system forward direction Coordinate system forward direction setting Forward direction setting Backward direction IN_JOG_UP IN_JOG_DN IN_JOG_DN IN_JOG_UP Table data operation Coordinate system forward direction setting is preset to Valid at shipment from the factory 3 Scaling Conversion By using the scaling conversion function it is possible to freely set the ratio of the motor s movement amount in relation to the instructed amount The unit system consists of two types of coordinate systems command unit coord
285. onal branch The table number to which the operation jumps in case the E Table setup branch condition does not hold No 10 ance Table register Code M function Invalid M func parallel Invalid Y Coin waiting Invaid Continue Vaid Next table No 11 ABS positioning v 4BlE Table data ocoo Table No when satisfying conditions No 12 ABS positioning Y Comparison operator The table number to which the operation jumps in case the branch condition holds This is always executed when the condition holds Table data1 Compared Type Parameter sts Unete Compared Parameter No 100 Vaiable tts Base Type Parameter sts Base Parameter No W101 Vaiablel e Note If settings are made as shown in the example above the operation sequence can be represented using the flowchart below 3800 a 01 Condition does not hold Condition holds Executed by the continue after execution function No 12 Absolute No 11 Absolute positioning positioning TI 71M02D04 01EN 10th Edition 2012 12 01 6 98 2 Comparison Operator Codes The table below lists comparison operators that can be specified Greater than Smaller than Greater than or equal to Smaller than or equal to iii Equal Not equal Logical multiplication Logical addition Bit AND Bit EXOR Bit OR List of Comparison Operators TI 71M02D04 01EN 10th Edition 2012 12 01 6 99 6 4 11
286. ontrol Using the PLC The DrvPIlII does not have the position control mode velocity control mode and torque thrust control mode TI 71M02D04 01EN 10th Edition 2012 12 01 6 104 6 6 Position Settling Signal O0 Position Settling Signal OUT COIN The position settling signal is used for notifying the PLC whether or not the motor is in the proximity of the command position This signal is turned ON when position command value current position value is within the settling width set by the parameter see the figure below The settling width should be set according to the required accuracy of the device If the position deviation is small or the settling width is set large this signal may be turned ON even while the motor is operating Moreover chattering may occur when the motor is close to stopping If chattering occurs it is possible to set 29 Cycle count for coin signal activation so that the settling signal is not turned ON until after the motor position settles Position Actual command valueposition value l l Settling width setup value Settling width setup value direction direction gt Motor coordinate axis Position deviation Area where OUT_COIN is turned ON The applicable coin window parameter varies with the setup status of input contacts IN POSW O to IN POSW 2 while not in a table data operation In table data operation it is possible to select which position settling width parameter to apply f
287. or Use the initial value under normal circumstances Enabled System setup Homing home offset movement feed register 3 velocity selection s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 83 3 How to Perform Homing Operation Utility Software STEP 1 Select Operation from Control in the utility software STEP2 Select the Homing Operation tab from the Operation window STEP 3 Move the motor to the position at which the homing should be started STEP 4 Click the Servo ON button STEP 5 Click the Drive button to start the homing operation STEP 6 If the home dog position error error code 49 1 occurs the relationship between the home sensor position and dog position is not appropriate Adjust the dog position so that the homing measurement value is within the target value range reset the error and perform the homing operation again Table data No 63 is executed from the Homing window The M function continue function and coin waiting function cannot be set 5 Perform the homing operation 2 Select the Homing operation tab aive L OO e Controller side L Servo oaff Table No 392 Final home location from n sensor edge is displayed after the weenie Peet PERITI a completion of homing Location from edge pulse s Target
288. or each table data I O Input States and Selected Coin width Parameters while not in a table data operation Parameter Selection of I O input coin width Nene Row mos N Poswo OFF OFF OFF Aa Selection of unit setting Select whether the unit of the coin width parameters 90 to 97 is set to pulse unit or command unit in system setup register 1 TI 71M02D04 01EN 10th Edition 2012 12 01 6 105 Cycle Count for Coin Signal Activation The position settling status signal is turned ON if the condition where the absolute value of the position deviation is equal to the coin width or less continues for the duration specified by the setup value of parameter 29 Cycle count for coin signal activation counted at 1ms cycle Set the number of chattering processing times large if chattering occurs in the position settling signal OUT COIN due to overshoot at position settling caused by the conditions of servo tuning etc This way an absolute position settling indication can be obtained The position settling signal is immediately turned OFF if the absolute value of the position deviation exceeds the coin width 330 Command torque force value 342 Actual velocity value 372 Position error pulse Position settling signal 001 0 Poi ooi oi oio E msec DIV Chattering of the coin width signal can be suppressed by setting the number aee Jof chattering processing times parameter appropriately
289. or has operated for 100 km of driving distance or three months whichever is sooner After application wipe away the excess grease from the linear guide unit using lint free cloth or similar material The rails of the linear guide unit require lubrication Do not wipe the motor with organic solvent or similar substance Using such solvent may damage the guide and motor units Different types of grease should be used depending on the model used Be sure to refill with the appropriate grease If in doubt consult Yokogawa regarding the type of grease and grease gun to be used LM105 LM110 LM505 LM510 Multemp PS No 2 made by Kyodo Yushi LM130 LM205 LM210 LM230 LM240 AFB grease THK for THK guide LM305 LM310 LM330 Albania EP2 Showa Shell for IKO guide LM530 Grease filling ports 4 places Nipple or hole TI 71M02D04 01EN 10th Edition 2012 12 01 Ss E gt A N K Pagem appendi x1 1 Load i nerti a Load nass Mn 0 Load or M Dec Max 200000 Initial O Uni t 1 1000kgnf2 or 1 1000kg Speci fi es the oad inertia or oad nass nounted on the notor If the auto tuning operation is executed the neasured val ue is set autonati call y Servo stiffness setup Mn S Ser voRi gi d Dec Max 13 Initial 3 Uni t This paraneter is used for servo tuni ng Par anet er Descr i pti on Speci fi es the servo stiffness The arger the nunber sel ected the servo stiffness of the notor the possibility for the nator to begin
290. or less Tightening torque of the terminal screws 1 2N m 12kgf cm terminal screws MA x 0 7 NDA NGER Make sure to perform ground in order to avoid electric shock accidents Moreover make sure to connect the GND terminals of the motor and the drive TI 71M02D04 01EN 10th Edition 2012 12 01 5 6 5 4 Regenerative resistor Terminal lt TB3 gt 200 230VAC C CHARGE C Regenerative resistor mm attached _ M e Make sure to connect the regenerative resistor supplied with the product according to the figure See the list below for the models to which a regenerative resistor is attached e Use AWG 20 to AWG 16 to extend the cable O0 List of Models Provided with Regenerative resistors 3300 OOA 100 N 5300 OOA 100 N 80W 60 0 240LI LILIA 1LIL N ee 330LI LILIA 2LILI N 530LI LILIA 2LILI N 80W 200 Q 240LI LILIA 2LILI N Aca UTION If the motor is moved by external force etc additional large regenerative resistors will be required regardless of whether or not a regenerative resistor is supplied with the model When you replace attached regenerative resistors by the thing of other capacity or when you connect regenerative resistors to the drive to which regenerative resistor is not appended inquire at our sales department for more information NDA NGER Disconnect all power and wait 7 minutes before servicing Do not remove the separator atta
291. orestis se extent asusta spec baec pda Use os ioed guise dese ned epos Staa estie ipuP ts 5 2 9 1 9 Stof Recommended Parisios eio bet oap eot el oec hes iedou rei cena d 5 2 5 1 4 List of Cable Specifications iiia ben beta suus o oe trud s nube sed eeu d euer esu Unesua Si nbn Urea sees 5 3 5 2 Main Power Supply Control Power Supply Terminal lt TB1 gt cccccceececseeeeseeeeeseeeeeeeeeeseeees 5 4 5 9 Motor Terminal Ground lt T B2 gt iio oot oi ie ee tq im ies eae 5 5 5 4 Regenerative resistor Terminal lt TB3 gt ccccccccseeccseceeeeeeeceeeeeseeeeeseeeeeseeeesseeeessneeeaeeeeseesensaees 0 6 o5 ensorTermibidl TB satis roe dE o a senium Udu disc BudeLes GM e eius 5 7 5 6 Senallntertace Connector SCN I gt sasani aa hes eae tele din E a a See ara dea eee lees 5 9 of EncodernResolver Connector SOIINAE sesana E Nato leks A A 5 11 5 8 Head Amplifier Connectors CN7 CNO9 sesssssssssessseseennne nennen nnnn innen nns na nnns naar saa arse nas 5 13 5 9 Analog Monitor Connector lt CN3 gt sssssssssssssssssee eene nennen mnn nnna nnns nar nnns nnns nnns nnns 5 14 5 10 Controller Interface Connector CNA ssessssssssssesssseseeenen nennen enean nnn nnne annes nsns 5 15 5 10 1 Contact lO IntefId6B cosa iine n Eod end Umi te usate Oum A 5 15 510 2 CCENK INECO e 5 19 5 11 Noise Prevention and Installation CONItIONS cc ecccceccecee
292. parator attached in the regeneration resistor terminal of a drive The separator is attached to the model with which the regeneration resistor is not supplied so that regeneration resistor may not be connected accidentally and so that it cannot touch carelessly If the motor moves in repeated reciprocating motion less than 20mm stroke carry shakedown cruise for 50mm or longer over 10 times by every 10 000 reciprocating motions Prepare a fixture in the control panel or on the machine fix the cables to the fixture near the connectors so that external force is not applied to the connectors TI 71M02D04 01EN 10th Edition 2012 12 01 vii A part of machine parameters overwrites the related parameters when the power is recycled if those parameters are changed 10 0x Data Sum Error may rarely occur in case that the control power supply is terminated before LED for RDY signal is lighted when the power is recycled If this error occurs restore user data which was backed up beforehand after initialization of user parameters Backed up parameter values are set Make sure not to terminate control power supply while All Reset function is in execution All Reset needs more 5 five seconds for the completion 10 0x Data Sum Error may occur in case that the control power supply is terminated in this while Execute All Reset again if the error occurs Utility software includes several functions which recycle AC main power automaticall
293. r list Use this window to select a waveform to be output using the analog monitor card and change the output gain use the signal monitor function TI 71M02D04 01EN The analog monitor card R7041WC optional is required to 10th Edition 2012 12 01 6 21 Method 2 How to change values in the terminal window Open the Terminal window of the utility software and enter the following in the input edit box in the parameter window Enter using single byte alphanumeric characters To save a parameter 000 O00 change the value temporarily To register a parameter OOO OO d register a parameter in the EEPROM To register several saved values in a batch 16 d register all data in the RAM to the EEPROM Entry examples 1 5 saving 1 5 registration 16 register all parameters that have been changed Nr How to check parameters To check saved values or registered values of parameters enter the following in the input edit box the relevant values are returned To check parameter 1 saved value 1 To check parameter 1 registered value 1 E Terminal Enter a parameter and press the return key When the parameter data is saved or registered the drive returns ROO an illegal value is entered Parameter Error Commnad list 1 10000 Example of a return value when ALMBZ Outi fAange H RID ServoAigid 5 Example of checking HHI 3RTD SevoRigit
294. r of the table No operation register table data O and table data 1 from the left 3 It contains comments which are the translations of the contents of the operation registers V UNS UTION This function translates data obtained as post processing of upload from the drive This processing may take some time depending on the PC used TI 71M02D04 01EN 10th Edition 2012 12 01 8 40 8 7 3 I O Maintenance The I O maintenance function is used to save and browse the I O related settings defined in the drive or a definition file saved in the drive Download uploading of only I O definition data can be performed with the drive connected BTTO viewer Drv 0 z serise DrvG3 Driver Download Upload ROM version File MotorType 1 UR5CG3 O015N B 1S Open Save as 2003 09 29 lt LUS Physical I 0 Information Logical I 0 Initial oo00 0000 oo000 0000 0o00 0000 oo000 oooo0 A Ko e UONE OC Physical Logical I O Assign Bit IN Physical Block Number Physical Bit Number Logical Block Number Logical Bit WSS SSS SS SSS SS T T u c v i An I O data file is saved as a text file Although it is not necessary to be aware of the file format a brief description of the file format is given below 1 It contains drive information and is processed as comments 2 It consists of hard I O assignments hard
295. rameter change in Code in the Table Setting window and specify necessary items The setting items in Table data 1 change according to the calculation type selected in Table data 0 Select Parameter change ay Table setup No 10 Table register Code i Enzima M function Invalid M func parallel Invalid Coin waiting Invalid Y Continue Invalid Next table Table data0 Type Binary operation substitute3 v Parameter No substituted 1 100 Variable 0 v Operator code Save change Not saved ex 100 101 302 The setting status is displayed FFFF8255 Typel Parameter v Calculate Parameter No 1 H101 Variable 1 v Type2 Monitor Calculate Monitoring No 2 8302 Motor resolution The setting items change according to the calculation type TI 71M02D04 01EN 10th Edition 2012 12 01 6 94 2 Common Setting Items Type Specify the calculation type if new values are assigned to parameters See the next section for more information Changed parameter number Specify the parameter whose value is to be changed on the left side Operator code Specify an operator for operation assignment The setting is ignored in the case of direct or indirect assignment The following types of operators are provided Operator name Operator symbol Type of operation that can be specified mor aypan List of Operators that can be Specified Remainder at d
296. re wire revealed 06 With MS3106B18 1S and MS3057 10A made by JAE 62 With 172170 1 and 170365 3 made by AMP Japan 79 With PCR S20FS and PCR LS20LA1 made by Honda Tsushin Kogyo 80 With NJC 2012 PF made by Nanaboshi Electric Mfg 90 With RM21TP 15S HRS No 109 0321 made by Hirose Termination option Drive side 01 No lead 02 Open leads core wire revealed 08 With MS3101B18 4P made by JAE for relay 22 With DA 15PF N and DA C8 J10 F4 1 made by JAE 69 With 172162 1 and 170363 3 made by AMP Japan for relay 73 With NJC 2012 AdM made by Nanaboshi Electric Mfg for relay 79 With PCR S20FS and PCR LS20LA1 made by Honda Tsushin Kogyo 91 With DA 15PF N and DA C8 J01 F4 1 made by JAE and round terminal J S T Mfg N1 25 M4 92 With 172162 1 172159 1 and 170363 3 made by AMP Japan 93 With DA 15PF N and DA C8 J10 F4 1 made by JAE GND cable N1 25 M4 made by J S T Mfg Suffix code i Termination Description i option Motor Cable length side 01 02 79 01 02 69 79 005 010 015 020 025 030 035 040 045 050 060 070 08 69 73 06 62 80 080 090 100 Relay cable be p pis po 025 030 035 040 bigs Tm is NEN idi Head amplifier cable a iid ii us A i 028 030 038 040 MM 025 030 035 040 ETE 69 73 06 62 80 26 050 060 070 osea s 62 80 080 090 100 Relaycable 0 cable 005 010 015 020 025 030 035 040 Head ampli
297. ree countermeasures 1 Increase the rigidity of the mechanical system and the resonance frequency and decrease the peak gain value at the resonance points 2 Lower the servo rigidity position control bandwidth and velocity control bandwidth 3 Insert a filter first order lag compensator notch filter velocity feedback filter and lower the peak gain value of the resonance Each countermeasure has the following effects 1 If the rigidity of the mechanical system is increased the servo rigidity becomes higher and the control system stabilizes 2 If the servo rigidity is lowered the resonance is improved but the response becomes slower Settling takes longer in the case of the position control mode 3 If a filter is inserted the servo rigidity can be set high with countermeasure 2 and the response is likely to be improved However the usage of the filter causes an extra phase shift and the control system may become unstable Use this countermeasure with care Increase the mechanical rigidity as much as possible first and then perform the countermeasures involving the servo rigidity and filter Example of structure with low mechanical rigidity Slim long shaft Low stiffness motor fixture TI 71M02D04 01EN 10th Edition 2012 12 01 7 2 2 Filters 1 Procedure for Tuning Filters Set filters using the flowchart below as reference Adjust filters ET z Set the notch frequency of notch filter 1 to the frequen
298. rential value in pul ses 375 Conmanded posi ti on val ue in axi s conmand uni ts Uni t Axi s conmand uni t Scnal u Dec ndi cates the conmanded posi ti on val ue expressed i n axis conmand units 376 Actual position val ue in conmand units Uni t Axis conmand uni t Sf bf u Dec ndi cates the actual positi on val ue in axi s conmand units Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x2 7 378 Conmanded differenti al val ue i n conmand uni ts Uni t 1000 Axi s conmand val ue sec D f f Scna Dec ndi cates the differential val ue of conmanded i n axi s conmand units 379 Actual differential val ue in conmand units Uni t 1000 Axi s conmand uni t sec iffSfb Dec I ndi cates the actual differential value in axi s conmand uni ts 384 Bus vol tage Uni t 1 100 V PM Vol tage Dec 385 Pre filtering current square duty Uni t digit Dut yl 2 Dec I ndi cates the instantaneous current square duty I Superscript 2 T before nator heat nodel filter processi ng deci nal point 15 bits It becones 100 at 32768 digits 386 Post filteri ng current square duty Unit digit Dut yl 2F Dec ndi cates the average ti ne i ntegrated i nstantaneous current square duty current square dut c He 2 T after notor heat nodel filter processi ng deci nal poi nt 15 bits It becones 1009 at 32768 di gi ts 390 Maxi numconmand uni t val ue Uni t Axis conmand uni t Spos Max Dec 391 M ni numconmand unit val ue Uii t
299. resistors will be required if you rotate the motor with external force please consult us separately lt TB2 gt Motor terminal Connect the power cable of the motor to this terminal lt GND gt Ground terminal This is a ground terminal Make sure to connect the motor ground and TI 71M02D04 01EN 10th Edition 2012 12 01 5 Wiring 5 1 Overall Connection 5 1 1 Connection Diagram Circuit Protector or Circuit Breaker Line Filter Control Power Supply Cable lectromagnetiq ontactor Main Power Supply Cable Regen Resistor i attached i D Motor Cable Ground Motor Filter optional Utility Software Y Operation display pendant optional Operation Display Panel optional DrvPIII Drive E L INEARSERV oooocoo5o am RS232C Cable Sensors Relays Analog Monitor e Home Sensor Card optional e over travel End of Travel EOT Limits 202 OE O i Siop e Regeneration Error Sor ges D 200 230VAC C ounce Sensor Cable Controller Cable Encoder Resolver Cable Head amplifier unit Motor LM series cS CN8 CN9 Sa O e I x lan MOTOR ELTER EST ex 0F
300. ron Li near Ball screwl ead pitch nncron Pulse uni ts 113 112 axis conmand uni ts Initial value rotation 360000 uni t rev Linear 1000000 uni t n 113 Scal i ng data rati o nunerator on the pul se Updated on power cycle Mn 10000 Scal ePul se Dec Max 99999999 Initial depend on nator dri ver type Ui t pul se Speci fi es the scale f actor nunerator to convert the units of axis rel ated paraneters to user definable units axis conmand units The value specified is equi val ent to the axis scaling data on the conmand unit paraneter If the rotary coordi nate systemi s selected the paraneter value is set to the nunter of pulses in one rotation of the pul se coordi nate system Pulse units 113 112 axis conmand uni ts Initial value Mbdtor resol uti on rotati on li near unit pl s rev unit pl s n 115 Length of encoder resol ver cabl es Updated on power cycle Mn 0 l Length Dec Max 100 Initial O Ui t m Speci fi es the ength of encoder and resol ver cabl es Qly for ABS type 116 Absol ute li near coordi nate limt 1 Updated on power cycle Mn 99999999 ABS L_Lnt1 Dec Max 99999999 Initial depend on nator dri ver type Ui t Axi s conmand uni t This is a val ue used to deternnne the coordi nate val ue when AC pover is turned on if the li near coordi nate systemi s sel ected in a nator wth absol ute encoder resol ver The processi ng is perforned in condi nati on wth absol ut
301. ror Homing error Origin dog position error Not executable 49 1 Recovery Possible Possible Possible Possible Possible Action taken at occurrence Cause and condition detected Countermeasure The target axis operation position by internal control is within the direction software limit area Error setup register 2 dependent bits 23 to 20 The command unit instruction value is within the direction software limit area during an axis operation by internal control during an axis operation by an external position command or while moving in the direction Check the motor s instructed movement amount against the current position Is the position exceeded the set software over limit area Error setup register 2 dependent bits 19 to 10 The target axis operation position by internal control is within the direction software limit area The command unit instruction value is within the direction software limit area during an axis operation by internal control during an axis operation by an external position command or while moving in the direction Set the immediate stop signal to OFF and reset the error An immediate stop input signal from the user was set ON Error setup register 2 dependent bits 7 to 4 If the error status still remains even if the error is reset 1 Check the wiring 2 Check the internal parameters Check the communication settings C
302. rsion R1 03 03 Corrected regenerative resistor Page vi TOC1 TOC2 1 2 1 3 2 4 2 21 2 22 5 6 Appendix3 2 Added descriptions of maximum rate of pulse input Appendix3 3 Corrected discriptions of overview Page 1 1 Corrected discriptions in tables Page 2 1 2 2 2 4 2 30 5 12 5 17 Added specification of control power supply Page 2 4 Changed Cable Termination Option Page 2 10 2 13 2 16 2 19 2 20 Corrected outline drawings Page 2 25 Corrected degree and unites Page 2 33 Deleted an unnecessary title Page 2 18 Edited parts number of motor fitler line filter Page 5 21 5 22 5 23 Corrected discriptions of the default scaling data setting values Page 2 4 6 35 Added discriptions Page 8 41 9 2 Added a section for Filter Tuning Page 8 33 Edited descriptions of URL Page revision record Jan 2007 O8th Edition Added 6 10 1 Version V1 50 Additional Function Page 6 115 6 116 Revised ParameterDescription Monitor Description TI 71M02D04 01EN 10th Edition 2012 12 01 Sep 2011 09th Edition TI 71M02D04 01EN lt E PROFIBUS DP TOC 2 3 4 PROFIBUS DP Interface 4 2 4 Explanation of the Front Panel PROFIBUS DP 5 10 3 PROFIBUS DP Interface 1 1 2 4 2 6 3 1 4 5 6 13 Edited page number Table of Contents TOC 2 Correct word Deceleration profile Deceleration type 6 29 6 37 6 38 6 51 6 74 Deleted unnecessary numbers in caption 6 58 Collect image 6 70 Collect direction name CW g
303. s etc can also be captured at the same time See Section 8 5 1 Oscilloscope for how to use the oscilloscope This function displays the input output status of the hard I O signals with monitor numbers 310 to 313 and the input output status of the logic I O signals with 314 to 317 T TI 71M02D04 01EN 10th Edition 2012 12 01 6 6 3 Types of Logic I O The table below lists the types and functions of the logic I O signals Whether or not they function depends on the control mode and operation privilege Also there are high speed processing H performed in a cycle of 1 ms and low speed processing L performed in a cycle of 10 ms as the cycle I O processing cycle to refresh each piece of I O information List of Logic I O Contact Input Signals Block 0 Block 1 O Frequently used signals A Signals assigned as necessary No mark Not applicable Logic I O Contact input Abbreviated signal Signal name Block bit I O processing cycle completed The next table operation is not performed When this signal is turned ON the execution of the current table data is immediately interrupted If axis operation is being performed the motor is decelerated and stopped This signal is normally used for the following purposes 1 To stop test operation 2 To stop execution of a table data operation Reserved Jog operation is performed while these signals are turned ON Assign this signal when the M function is used T
304. s an Cetcauet ute lue etse 6 17 61 4 Operation cdi cio MT ERES 6 24 0 1 5 Process Settings in Error State recites otro xe a epe ee pe dutch iei a ieudvx ue i oscdeud 6 26 TI 71M02D04 O1EN 10th Edition 2012 12 01 6 1 6 Methods of Issuing Servo ON COMMANGS ccccceeeeeeeeeeeeeeseeeeeeaeeeeeeseeeeeeseeeeesaeeeeeas 6 30 6 1 7 Signal Timing when Turning the Power ON cccccecccecseeeeeeseeeeesaeeeeesaeeeeeeseeeeeesaeeeeeeas 6 31 6 1 8 Coordinate Systems que abate eaedem Som acca eetsalcn depo cd a ab eon din MN E MOS 6 33 OI cA Rect 6 36 6 2 mnialOberauon T5 wee eee eet ducite acce iue uer rarer cien esitare at o EE CLE 6 42 6 2 1 Initial Operation Test Using the Utility Software sseeeseeeereeeen 6 42 opo MEE eoi c 6 50 64 Table Data ODGlalloDa ierat eerte docu odeur aetas aote etae aad edulis ps de dtu edes 6 54 641 Table Data Operation esce oet e T ee e UM UU UE 6 54 6 4 2 Setting Operation Regisler oe Let eese g deu uetus des aua dioe causa en ers a 6 62 643 Autotuning CDSELIMHOI esum accao tence E htc taion ac EE 6 67 Dade TeS FODS audi en E eiTe 6 71 SR SOME MONN eee Eo E E EE E E A eae tees E 6 74 6 4 6 ABS Absolute Positioning Move cccccsccccsssceeceeseeeceesececseseeccsseeeceneeessegseesseseesens 6 86 6 4 7 INC Incremental Positioning Move ssseessssseseneeeennenenm nnn
305. s display The error that is displayed first may likely be the main cause If the number of errors that is generated at a time exceeds the maximum number of errors 16 that can be stored excessive errors are not displayed in status display Conversely in history display the date and time of errors generated are displayed in the order beginning from the oldest date time If the past errors exceed the maximum number of errors 16 that can be stored they are deleted in the order beginning from the oldest one TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 4 1 _ Glossary This glossary lists the terms used in this document Symbols Indicates the number of a parameter stored on RAM Example 100 HH Indicates the number of a parameter stored on EEPROM Example 2 100 Indicates a command number Example 3 10 Command A general term for operation commands issued from a PC to the drive Example 3 10 0A ABS Absolute position or a motor built in with an absolute position detector called the ABS motor Absolute Accuracy The difference between the angle at which the motor should be rotated instructed value and the angle at which the motor actually rotates This value is displayed after addinga sign to a half of the maximum value for the entire circumference of one rotation Absolute Positioning Operation to position at an absolute coordinate position Alarm A warning whose level is lower than an error Aliasing A phen
306. s sent The Display button visually displays the filter characteristics that have been set The display of individual filters and the display of combined filter characteristics can be performed Please note that these waveforms merely show the characteristics of the filters that have been set J23 Hkz TI 71M02D04 01EN 10th Edition 2012 12 01 8 34 O0 Signal Monitor Terminal Setting Window This drive is equipped with various monitor terminals on the front panel in order to observe the drive status using an actual oscilloscope The Signal Monitor Terminal Setting window is used to set up parameter monitor numbers to be output as well as the output gain Select the monitor terminal to be set up The status of the right setup area changes according to the selected terminal Regist Sets up the parameters in RAM and EEPROM The settings are retained even if the power is OFF 51 Parameter setting Regikter parameter Function parameter Servo tuning Signal monitor eiaa Exit m EPEE RHR ERR EERE HEHEHE EEE Dgo Q on i Regist Upload Selected monitor Velocity monitor Velocity monitor SERS SESE uo Parameter list Gain 8 Select monitor Velocity monitor M HMonitor list Analog monitor 1 Monitor No 372 Position error I TES nm Mr nnde ers ann ee ere ee Velocity C Analog monitor 2 0 030 rps mps 4 80V 0 006 rps mps t 1 00V o enue Monitor No 378 Commanded d
307. safety before operating TI 71M02D04 01EN 10th Edition 2012 12 01 8 39 8 7 2 Table Data Maintenance The table data maintenance function is used to save and browse the setup data that is saved as table data or files in the drive Downloading uploading of only table data can be performed with the drive connected RT Table viewer Drv z serise DrvGs ROM version B7 4 0CA zT UR5CC3 l5N tB 15 amp 2003 03 29 MotorType d 1 10 56 Operation Table Data Operation Table Number Register Parameter Par H Operation type Positioning Continue Wo of next table ooo01 agag Operation type Positioning Continue Wo of next table nalu nanau Operation type MH HR CBE CHR BR FR CHR CHE BF FO o Enabling M functi M Function Parall Disable Disable z IH Enabling M functi HM Function Parall Disable Disable n nan z Test op Disable Disable ooo Disable Disable gau Driver Download Upload File Open Save as ameterl 00000 2 eration 3 oo0000 gt Auto tunning operation 00000 2 Dwelling A table data file is saved as a text file Although it is not necessary to be aware of the file format a brief description of the file format is given below 1 It contains drive information and is processed as comments 2 Data is saved in the orde
308. scribes an example of CC Link network and configuration components Master station With a terminator Terminator CC Link communication network Slave station 1 Slave station 2 Slave station 10 Slave station 64 Remote I O Remote I O Remote device Remote I O e Master station Having control information the master station manages the entire network One master station is required for one network Normally a PLC Programmable Logic Controller is set as the master station The master station number is fixed to 0 e Slave station General term for stations other than the master station Slave stations include remote I O stations remote device stations intelligent device stations and local stations Among those the DrvPIll drive is a remote device station e Terminator An active bus terminator is connected at the first and last stations on a bus When placing a DrvPIII drive at an end of a network install a terminator to the attached connector 110 Q 1 2 W e Cables and connectors Be sure to use cables that conform to the CC Link communication standard A connector is attached to the DrvPIII drive CC Link cables and connectors made by various manufacturers are available For more information refer to the Web site of the CC Link Partner Association nT s H rrn m u n Mg ss
309. se nne sna nn esna sns sa sns na snas ass seas ananas 2 13 2 439 Gable SOSCIICAUONS icio eie eios iois seti nedbisraituutdutedo trot sse tired d ee pei coser tS 2 14 Dror SCOUTS D AWN essai Seton bete Gow soma aera suem oder tou sooo M dec RM UE MED I MEE 2 15 29 1 MOO qe T eto 2 15 29 2 Head AMP Gh epu Pc El 2 2 Zc DIVE eona teas eats eds ea Sete eee eee eat ee eee 2 20 2 944 Ixegetieralve TesistOF nina wee ieee ane eae 2 21 pM dece i ieee eee ie ee 2 21 2 9 50 STII MNS sos Le a I uuu iD ke Md M I D EL IUe Sd 2 22 2 0 5 Motor Fite uda eine ei a teta ian leet als ioa aevo tectus 2 22 2 6 Precautions at Installation Moving and Storage essesssesseseeenenenn een 2 23 2 6 1 2 6 1 Installation OF the Motor oss aitess seicst oni ota tpud inxta en Ionas b extat Use dea kesa caen suse ono t usa des n 2 23 2 6 7 nstallation ofthe DrIV6isisss sse oie t tette ette eti octo deesse ee 2 25 2 SOD FUNCHOMUM EMON Slate ot uates rubea seete a eaput vast as edm se Rasen esed anemone daca des 2 27 ZAIN Servo Deceleraton ooo eoe i re eio ee dae as etim edidi edad 2 27 2 7 2 Dynamic Brake with selection 1B cccccccssseeccseseeeceesececeseesseaeeeessaeeessegseessaseeeeas 2 29 PS MEME S cioe NS 2 30 20 Opera hg RESWICHOMS etim loti aeu beet totes tse tina aute Yodacdeas edu io eat die toda odisse 2 32 2 8 1 Restrictions on the Number of EEPROM Registrations cccc
310. se the logic I O signal OUT JOG EXE in jog operation which is not assigned in the factory presetting in the contact I O interface Therefore the OUT AREA 0 area signal 0 signal which will not be used is removed from the assignment and OUT JOG EXE in jog operation will be assigned instead Hard I O Logical Setting It is possible to set the logic for each bit of I O signals See Section 6 1 1 4 Physical Hard I O Assignment Logic Setting Method for how to set the logic The logic of all input contacts of the controller interface is set to positive logic at the time of shipment from the factory When it is set to positive logic a signal turns ON in the state where current is conducted into the photo coupler in the contact I O interface The I O output logic is set so that the transistor is turned ON when a signal turns ON Usage example When it is desired to turn ON an immediate stop with the IN EMG immediate stop signal while a current is flowing into a photo coupler in the contact I O interface Set the hard I O logical setting to positive logic When it is desired to turn the immediate stop ON while current is not conducted into the photo coupler gt Set the hard I O logical setting to negative logic s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 5
311. signals are set to OFF at shipment from the factory EE ie NM NEM ee T 2 3 4 5 IB in Bn 2 3 4 5 IB EE EM UN M M i mm TI 71M02DO04 01EN 10th Edition 2012 12 01 6 15 6 1 2 I O Registers I O registers are provided in addition to I O contact signals in the CC Link interface The I O registers can be used for the functions specific to the CC Link interface See Section 6 10 Special Functions of CC Link 1 Configuration of I O Registers The remote registers M R M lt R of a CC Link master station are directly connected with soft registers input output that are virtual registers on the drive However unlike the I O contact signals their assignments cannot be changed The number of registers varies with the number of occupied stations Each register is 16 bit long Remote register M gt R RWw n Soft register inputs Soft registers CC Link interface chip CC Link Remote register M R RWw n Internal drive controller Soft register outputs Internal CPU processing penne DrvPIll geeeaeeeaeeun Number of I O registers Re Number of input registers Number of output registers Remote register With 1 occupied station So
312. signment Controller Interface function Input registers 4 output registers 4 When two occupied stations are set up No of input points 48 points No of output points 48 points with a terminal assignment function Input registers 8 output registers 8 Encoder error over voltage over current low bus line power voltage power failure over load regen Protection Functions Error detection over speed excessive pos deviation hardware EOT and software EOT for linear coordinate Velocity current instruction analog 2ch and digital 2ch Operation display panel optional Host interface ontrol part Operation Display Operation display pendant optional Utility software Miscellaneous Servo deceleration function at power failure immediate stop Dynamic brake Select 1B or 1L for the model amp suffix code TI 71M02D04 01EN 10th Edition 2012 12 01 2 5 2 2 Thrust Velocity Characteristics j LMOOO Motor 400 300 E 200 V power supply E egg m g 5 Nos ONG ons s oeseEESE 100 V power supply 100 LM110 210 LM510 310 LM105 205 e a 0 0 5 1 0 1 5 2 0 Slider velocity m s TI 71M02D04 01EN 10th Edition 2012 12 01 2 6 2 3 Model and Suffix Codes O0 Motor Model Suffix Code Suffix Code Optional E Wh gh LM105 2 N 050 A N G 2 N N 2 F CE CN Z Motor model MET LM105 LM110 LM130 LM205 LM210 L
313. sional and Windows XP have been verified as to their compatibility Windows 2000 Professional or higher is recommended e Display Resolution 800 x 600 or higher 256 color display minimum e Communication cable A dedicated cable is required for connection Either prepare a cable according to the connection diagram shown in the next section or purchase a manufactured cable e Serial port setting Normally no setting is required as the serial port is controlled on the application side However if a special converter or other device is used set the serial port as follows if necessary Communication speed 38 400 bits sec Data bits 8 Parity None Stop bit 1 Flow control None e Operation verified RS485 card Manufactured by Interface Co Ltd PCI card PCI 4142PE TI 71M02D04 01EN 10th Edition 2012 12 01 8 1 2 Communication Cable Prepare a communication cable according to the connection method used RS 232C cables and RS 485 cables which are mainly used for multi channel communications can be used as communication cables depending on the communication method used Cable Wiring when RS 232C Cables are Used D SUB 9 pin receptacle PUNE RNING Do not connect anything to unspecified pins An erroneous connection may damage the drive and the PC Drive side CN1 D SUB 15 pin plug Cable Wiring when RS 485 Cables are Used M a M EL SG Drive side CN1 D SUB 15 pin plug Wire the terminator o
314. solute Positioning Move Set the data according to the flowchart showing the procedure for creating table data in 6 4 1 Table Data Operation See the following for how to set operation data and parameters corresponding to steps 4 and 6 in the flowchart Setting Operation Data STEP 1 Select the settling width from parameters 90 to 97 position settling width The setup value of parameters Coin window can be changed by selecting INC ABS move in Function parameter of parameter STEP2 Setthe acceleration deceleration time Select the acceleration deceleration time from parameters 72 to 79 The setup value of parameters acceleration deceleration time can be changed by selecting INC ABS move in Function parameter of Zparameter STEP 3 Select either constant acceleration or S curved profile as the acceleration type deceleration type SIEPA Select the feed velocity STEP 5 Select the movement direction type if the rotation coordinate system is chosen as the coordinate system STEP 6 f Direct is selected for Direct or indirect enter the target position in Table data 1 If Indirect is selected for Value specification enter the parameter or monitor number to be used as the target position in Table data 1 E Table setup w k aa Table register Regist Code Aeae a M functian Invalid M func parallel Invalid Coin waiting Invalid Continue Invalid Hest table OIC Table dat
315. ssion reception history edit box Replies consist of immediate replies replies at the completion of processing and replies after the issuance of the stop command 2 Command Character String Reply Character String Format L gCommand Format The following commands are used to operate the drive The number of arguments is predetermined for each command number A column is used to delimit arguments Format example Abort 0 1 Switch main operation privilege 5 0 1 2 Servo ON OFF 8 0 0 Servo off 1 Servo on Set origin offset position 10 90000 90000 Offset pos value Jog move command Set coordinate system Self adjust differential limiter Write updated parameters Error reset with history clear 1 Reset all Reset drive software Format of Zparameter and parameter Operation Commands e Parameter reference examples 1 References the content of parameter No 1 THE References the content of parameter No 1 that is already written in EEPROM e Parameter substitution examples 100 1 Substitutes value 1 for parameter No 100 1 00 habcd Substitutes OxABCD in hexadecimal notation 100 1 Substitutes 1 for the parameters already written in EEPROM 100 101 Substitutes the content of parameter No 101 for parameter No 100 TI 71M02D04 01EN 10th Edition 2012 12 01 8 12 e Parameter calculation substitution 100 1 1 Substitutes the calculation result of two numeric values for
316. st button Visually displays the filter characteristics you set up Filter characteristics can be displayed for individual filters or combined filters Please note that these waveforms are the characteristics of only the filters you set up TI 71M02D04 01EN 10th Edition 2012 12 01 8 33 Filter Tuning Window This window is used to tune the various digital filters of the drive Since the actual filter tuning operation is linked with the servo tuning window in the previous section both tunings are performed together For more information about the tuning methods see Chapter 7 By registering the adjusted parameter will be Use Nonuse setting checkboxes held even in the event of power shutdown anes Vus tiki S PORTER MIERE SS Toon Faw PaF iv 020 FA EREA 1499 Ze Ro FATE fi 5 JF RT r2 8022 JFIRE Dre e Gnd Ru FE 000 Ed 9 L ote IAA 0o ___ amp r Typical setting v Boi AEN AIT 20 307 40 999 999 Vin 025 DEARA y 80 120 160 1000 1000 P 8 oooe i XE t E A024 v 027 BEI FI T7241 1000 _ _ __ _ _ _i REE 2 0 26 READ IL d IRATE A ad 28 EERE AR Displays a board diagram that combines the characteristics unique to each filter and the characteristics of the filter in use When a numeric value is entered directly the value at the time of pressing the Enter key i
317. st Edition New issuance Drive s main unit version R7040DA 1 20 Support tool version R1 03 00 September 2004 2nd Edition Description of the Fieldbus communication error was added Page 3 15 Edited descriptions Page 6 5 6 11 6 14 6 17 6 26 6 37 6 39 6 40 Corrected set up example chart Page 6 18 Corrected the value in Linear Coordinate Systems Page 6 33 Corrected Timing chart Page 6 66 Corrected tables Page 6 106 Errors in edition were corrected Pages 6 19 6 23 6 24 6 34 6 42 6 45 6 46 6 54 6 57 6 59 6 62 6 67 6 75 6 83 6 85 6 86 6 105 8 5 8 11 8 29 Appendix3 1 Appendix3 6 October 2004 3rd Edition Correction typographical errors Pages 2 13 2 20 January 2005 4th Edition Added descriptions of 2 5 7 Motor Filter Page 2 22 Edited descriptions of CAUTION Connector 5 4 Regeneration Resistor Terminal lt TB3 gt Page 5 6 Edited descriptions of TIP 8 6 2 Table Data Function Page 8 34 February 2005 5th Edition Edited drawings of lavel Page 1 3 2 20 2 25 Added descriptions of CAUTION for terminal and separator Page vii 5 6 Edited descriptions of combination of a motor and head amplifier Page vii June 2005 6th Edition Added descriptions of precautions for fixing the cables Page vi Corrected Connector type Page 2 21 5 15 Editid drawings Page 5 21 Corrected Operation Panel type Page 5 22 5 23 Corrected Graph Page Appendix 4 13 July 2006 7th Edition Drive s main unit version R7040CA v1 24 Support tool ve
318. stem Set Zparameters using the following pattern as reference when there are system restrictions such as when there are restrictions on the homing direction and the home sensor is at the edge of the movable range When using hardware OT It is possible to perform homing regardless of the position of the dog relative to the home sensor by selecting Hardware EOT limit active in homing operation sar Area where operation is prohibited Area where operation is prohibited 2 Home proximity sensor OT sensor A Area where operation is prohibited 2 Area where operation is prohibited Home proximity sensor OT sensor Position of the motor s dog Setting items Set Hardware EOT limit active in homing operation to Enable in Operation data 0 of Table Data TI 71M02D04 01EN 10th Edition 2012 12 01 6 80 When the Home Sensor is Mounted at the Edge of the Movable Range When the home sensor is at the edge of the movable range in the direction A C N A h tani Area where operation is prohibited rea where operation is A i prohibited WP Position of the motor s dog Home proximity sensor C3 Direction A Direction B gt lt Setting item gt Set Select home sensor inside to Outside in Operation data 0 of Table Data When the home sensor is at the edge of the movable range in the direction B a Area where eu cma Area where operation i prohibited p ro WP Posit
319. stics The number of allowable times to overwrite each area parameters table data and I O data is approximately 1 million times respectively s S n XX H Y P M c ws TI 71M02D04 01EN 10th Edition 2012 12 01 2 33 2 9 Conformed Standards In order to conform to the EMC directive it is necessary to obtain certification for the entire equipment including Yokogawa Electric s motor and drive and control devices and electric components used in the customers equipment The conformity of equipment to the EMC directive varies depending on the structure of control devices and components used in equipment and wiring It is the customers responsibility to check and certify equipment s conformity O Motor e Low Voltage Directive declaration IEC34 1 e EMC directive declaration EN55011 class A group 1 EN61800 3 Drive e Low Voltage Directive declaration EN50178 e EMC directive declaration EN55011 class A group 1 EN61800 3 e UL508C Conformation to UL standard The drive is certified to conform to the following UL standard Conformance with standard UL508C File No E238911 UL Standard Certification Conditions and Safety Precautions i Use 60 75 degrees Celsius CU wire only ii Open Type Equipment Be sure to install the drive in the control panel before using it It cannot be used if hung on a wall iii
320. stop 2 Servo CN sustai nni g after i nmedi ate stop 3 Servo CFF after i nmedi ate stop 4 Servo CFF i medi atel y Bt 31 28 directi on hardware End of Travel EOD li mt Bt 27 24 directi on hardware End of Travel EO li nnt Bt 23 20 directi on software End of Travel EO li nnt Bt 19 16 directi on softvare End of Travel EOT li nnt Bt 15 12 reserved Bt 11 8 Mbnitor pulse output error GC Li nk Error Bt 7 4 Interface energency stop Bt 3 O reserved Bt 11 8 is effecti ve at an Li nk I F Initial val ue H2222 b unfixed It is dependent on an interface 4 di recti on hardware EOT Invalid Servo CN sustai nni g after i nmedi ate stop di recti on hardware EOT Invalid Servo CN sustai nni g after i nmedi ate stop 4 di recti on software EOT Invalid Servo CN sustai nni g after i nmedi ate stop di recti on software EOT Invalid Servo CN sustai nni g after i nmedi ate stop QC Li nk Error Ql y for Gc Li nkl F Servo CN sustai nni g after i nmedi ate st op Interface energency stop Valid Servo F after inmedi ate stop Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 10 40 Start up table nunber Mn 0 Max 59 Initial 59 Unit St r UoTiol No Dec Speci fi es the tabl e nunter to start up autonati call y when drive is turned on Select Enable for start up operati on in systemregi ster 2 in order to execute this functi on 42 directi on software EOT li
321. t Photo coupler S I Hard I O ogical setting o Hard I O ie Controller interface assignment o inputs 12 points 12 points can e be selected of the input outpu signal status Yn t Oo a N oe COMP d 2 Negative logic S l I O output signals ox 5 6 points gt s l O Positive logic Setting at shipment O V amp COMN Hard I O 9 logical setting 7 Hard I O assignment 6 points can be selected outputs 6 points DrvPIII Configuration of I O Signals Number of input Number of output points number of blocks points number of blocks Phisical Hard I O 12 points 2 blocks 6 points 1 block Logic Soft I O 48 points 6 blocks 32 points 4 blocks Logic I O nternal drive controller iem a a a T na a T T ee TT a ee a as Se a ee ae eZ ee e 9 TI 71M02D04 01EN 10th Edition 2012 12 01 In the case of CC Link Interface Remote I O at the CC Link master station is called hard I O on the drive The number of contact I O varies with the number of stations occupied see the table below When shipped from the factory hard I O is assigned as shown in O Hard I O Assignment Default Settings in 6 1 1 4 Physical Hard I O Assignment Logic Setting Method Hard I O can be assigned from any virtual logic contact signal called logic I O 48 contact inputs and 32 contact outputs using the hard I O assignment function a 8 a
322. t 105 in the case of standard model motor position servo force of 50 N Resolution B 0 5um C 0 25um E 0 05um Supported standard N Standard specification Basic structure l E Interface type amp specification A 500 W without brake 1B 500 W built in brake XA Contact I O 12 for input 6 for output 12 to 24 V C1 CC Link Drive current A 5A Power supply voltage 1 100 VAC system 2 200 VAC system Model and Suffix Code Selection List 500W class drive Suffix code Combined tor rating Resolution Basic structure Drive current Power supply voltage I F type amp specification Supported standard Suffix code optional a mo Ax e 530 LSS SSS STE TI 71M02D04 01EN 10th Edition 2012 12 01 2 10 2 4 Option Cables 2 4 1 Option Cable Model and Suffix Code O0 Encoder Resolver Cable Encoder resolver cable ORE i Drive type B UBSLIP3 E UDOOP3 M UM1LP3 8 UREILIP3 Drive current A 5A 6A C 15A 20A Cable type 1 Robot cable 2 Fixed cable Model C1E E Suffix code pM A 1 79 62 030 Model and Suffix Code Selection List Dave type Drive Cable yP current type 1 M A 2 Termination option Drive side i Cable length 3 digit display in units of 10 cm minimum 005 50 cm maximum 300 30 m See the model and suffix code selection list Termination option Motor side 01 No lead 02 Open leads co
323. t A CCW gt B 6 76 Collect Appendix name 6 93 6 97 Edited discriptions of Notch filters 7 6 Collect word setup exe gt the installer 8 3 Deleted dicriptions about Help Display 8 6 Decenber 2012 10th Edition Added General Precautions Regarding LINEARSERVY Page vii Added UL Standard Certification Conditions and Safety Precautions Page 2 33 Added Error code 2 0 11 7 18 0 19 1 19 2 20 6 Appendix 3 Changed URL Page revision record Copyright Yokogawa Electric Corporation Motion Control Center Publisher Yokogawa Electric Corporation 2 9 32 Nakacho Musashino shi Tokyo 180 8750 URL http www yokogawa com ddm TI 71M02D04 01EN 10th Edition 2012 12 01
324. t as well as the systems that use the product please observe all safety instructions and other precautions listed in this manual If you operate the product in a manner contrary to the instructions provided in this manual the safety protection may be lost In such an event we make no warranties for the quality performance functions and safety of the product If you install protection safety circuits for the product or systems that use this product make sure to install them on the product separately and externally Do not install them inside the product nor should any internal parts of the product be modified in order to do so Be sure to replace any parts and consumables of the product with parts specified by us This product is neither designed nor manufactured to be used under conditions that may directly affect the safety of humans including in nuclear or radiation related devices railway facilities aircraft instruments marine instruments air navigation facilities or medical devices If it is necessary to apply the product in systems that directly affect the safety of humans it is the user s own responsibility to construct a system for securing the safety of humans with devices and equipment other than the applicable product Modification of the product is strictly prohibited Product Disclaimer We make no warranty for the product except as prescribed by the guarantees We assume no responsibility for damages any user or thir
325. t is disconnected In this case it is necessary to execute Connect again However the connection may be recovered simply by pressing the Initialize Communication button In such a case please note that the utility software runs as if the drive prior to the disconnection is being connected because the drive information is not acquired again 8 3 2 Communication Settings Connection Port Selection By choosing Communication Port Online select the number of the serial port to be actually connected to the drive among the serial ports installed to the PC At this time if the specified port is found on the PC and the correct drive is connected to that port a motor model code is displayed notifying the connection valid status Connection Format Selection Single Channel Connection This is a basic connection method A dedicated cable is used to perform communication by connecting one serial port to one drive Select Single from Connection Method in option settings and execute Connect Multichannel Connection The multichannel connection function is used to connect one serial port to multiple drives connected in a multidrop RS485 communication Select Multi from Connection Method in option settings and execute Connect The utility software acquires the information of all drives currently being connected The result is displayed in a pull down box so execute Connect after selecting a desired drive ID
326. t l Regeneration error output ts TB4 A l 4sec or less l l i K 50 msec or more 7 ga Main power supply on switch 2 external circuit I O operation start 1 2sec Normal operation starting point of CN4 I O inputs outputs IN SERVO should be turned ON before this timing I O input signals are ignored during this period l IN OOO CN4 I O input IN_SERVO CN4 servo command Software delay l t a 500ms OUT_SRDY Xy CN4 servo ready i OUT_DRDY 1 l CN4 drive CPU ready l l l OUT MODE_EXE Executing CN4 contact output l LSS c SS MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 6 33 6 1 8 Coordinate Systems 1 Linear Coordinate System There are the following restrictions on the coordinate range of the linear coordinate system Command unit 4412 Limit value on the side The smaller value of 2147483647 x 4113 and 999999998 Limit value on the side The greater value of 2147483647 x 4443 and 999999998 Pulse 113 Limit value on the side The smaller value of 2147483647 112 and 999999998 113 Limit value on the side The smaller value of 2147483647 4112 and 999999998 Nr When using the linear coordinate system a software EOT error occurs if the command unit instruction value exceeds the coordinate system limit range ERR44 0 direction software EOT ERR45 0 directi
327. t to the anal og nani tor 1 Specify the paranter nani tor nunber to be obser ved 33 Anal og noni tor gai n 7A Mn 8 A MnlGi n Dec Max 24 Initial 8 Uni t This paraneter is used for noni tori ng signals by the anal og noni tor card opti onal Speci fi es the noni tori ng gain scale factor of the anal og noni tor 1 If the specified scaling value is n then 4 3 07V vs 4 2 2M wll result in an anplitude of 3 07V on the vel oci ty noni tor The naxi numanpl i tude vol tage 1s 4 4 80V 34 Anal og noni tor select 72 Mn 0 A Mon2Sel Dec Max 399 Initial 378 Uhi t This paraneter is used for nani tori ng signals by the anal og noni tor card opti onal Sel ects i temto be output to the anal og nani tor Z2 Specify the paranter nani tor nunber to be obser ved Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 8 35 Anal og nonitor gain 2 Mn 8 A _Mon2Gai n Dec Max 24 Initial 8 Uni t Thi s paraneter is used for noni tori ng signals by the anal og noni tor card opti onal Speci fi es the noni tori ng gai n scale factor of the anal og noni tor 72 If the specified scaling value is n then 4 3 07V vs 4 2 2M wll result in an anplitude of 3 0 V on the vel oci ty noni tor The naxi numanpl i tude vol tage 1s 4 4 80V 36 Ogital nonitor select 7H Mn D Mn1sSel Hex Max Initial X depend on nator dri ver type Unit This paraneter is used for noni tori ng signals by the
328. tch A slave station ID of multi channel communication via RS485 is set according the status when the power supply is turned on The number of the rotary switch indicates a slave station ID lt SRV DS gt Servo disable switch The servo is turned off only while this switch is being pressed lt RDY ERR gt Status display LED It displays the status of the drive Green RDY No error Red ERR Error occurred lt CN3 gt Analog monitor connector It is possible to observe torque and velocity waveform with an oscilloscope The analog monitor card optional part number R7041WC is available lt TB4 gt Sensor terminal It is a sensor input and error output Input Home sensor EOT signals Output Regeneration error lt RUN ERR gt Transmission monitor display It monitors the communication status of CC Link Green RUN Red ERR lt CHARGE gt Main power supply charge LED It displays the status of the main power supply The internal electrolyte capacitor is being charged when tt is lit lt CN4 gt CC Link interface connector lt TB1 gt Main power supply control power supply terminal It is an input terminal for the main power supply control power supply lt CN2 gt Encoder resolver connector Connect the encoder resolver cable of the motor to this connector lt TB3 gt Regeneration resistor terminal Connect a regeneration resistor to this terminal 500W Connect the attached regeneration resistor 2kW External regeneration
329. ternal processing The range of the waveform capture time during an auto tuning operation was exceeded Stop operation Deny the command TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 3 6 Action Error NS Name code Recovery Cause and condition detected taken at Countermeasure occurrence issued 62 0 65 0 Out oranda data possibl A command using data that exceeds the g allowable range was issued command A command that specified a parameter monitor Invalid parameter monitor number Possible having a non existent number was issued invalideavies Possible A command was issued by an interface that did not have an operation privilege TI71M02D04 01EN 10th Edition 2012 12 01 Appendix 3 7 fefefe 10119 es nd JOPUOW 5 10119 uoneoiunuJuJoo Xur1 22 III d dois ouefuJeuue ve MUI 29 IlId 4Q JOE UOD i dq o x s pe aen o rfojojojr o o ojrjoj ojo rjoj o pijeAu pijeA i 03 0 K eyeipeuuuul 440 OAJ9S t Q9USIINDIO JOA ze BuisseooJg dois ueppns Jeye 440 OMS dojs ueppns Jaye NO ON S SUIB UIEJN Z dojs pue uomneJe oooep Jaye 440 OAJSS dojs pue uoneJg o2ep Jaye NO OAJ8S SUIB UIE N 0 LO POs uonoeJp LO HOS uono9lp 103 9J8M pJEU UONSAJIP OF aseMpseY uonoauip e ejeji eje o ivjeje o ejijijoje jo ijoj r o e oji oje o r ojr oje Joa Ajddns Jamod ule pe1ewo eDejoA Ajddns semod eui urew y S 9 d e qesip Dunes pjenu e qesip Guns pi e
330. th Edition 2012 12 01 8 5 8 2 2 Function List O0 Main Settings Language Selection It is possible to switch between Japanese and English The language switching takes place after Disconnect is selected once t Online Offline Selection Select Online to actually connect to the drive and select Offline to browse or edit the drive data without connecting to the drive When offline operations such as creating table data browsing waveform data using the oscilloscope function and browsing backup data can be performed Connection Port Selection Select the COM port number of the PC used Single Multichannel Selection If two or more drives are connected via RS485 select the drive station number to be connected after selecting multichannel connection Only one drive can be connected at a time during multichannel communication using the utility software Operating Mode Setting motorless operation powerless operation setting This setting is used when the drive s built in emulation function is used to check the motor operation while the motor is not actually connected Host Communication Cycle Setting This sets a basic cycle when connecting the drive and a PC in series Communication may be stabilized by setting this to a larger value if the communication load on the PC side is heavy Normally set this to 10ms Operation Group Drive The operation group function issues operating commands to the drive
331. the designated value Perform current control without monitoring setting Limited current when the value became lower than the cancellation current squared duty value Detected a heat generation of 85 C or more inside the drive Limited current while detecting and cancelled it when not detecting The position deviation exceeded the user setup value when position control was executed O Acceleration deceleration time is too short O Servo tuning failure The absolute value of the current velocity value detected from SIGO was more than the maximum velocity of the motor The velocity exceeding the monitor 305 value was detected Excessive electric power was applied to a regenerative resistor and thus the allowable electric power of the regenerative resistor was exceeded Excessive electric power was applied to a regeneration FET and thus the allowable electric power of the regeneration FET was exceeded The RGN_FET status and RGN_ANS status sampled at every msec were verified at every 32msec This error occurred when a difference exceeding 2 digits was detected in each on duty The Servo OFF state occurred during an axis operation by internal control or during an axis operation by an external position command Attempted to execute an axis operation at a velocity exceeding the maximum motor velocity set by the user during an axis operation by internal control or during an axis operation by an external position co
332. the maximum load when all component parts of the motor are within the elastic deformation zone When the load is removed all the component parts must be restored to their original states Note that the forward axial load refers to contracting the motor in its axial direction and the reverse axial load refers to adding a load to the motor in its expansion direction Axial stiffness Forward Reverse This refers to the axial displacement per unit axial load when the motor is fastened to the base and a uniform dead load is added to the rotor s load mounting area in the axial direction within the axial load Axial displacement axial load must be linear Forward Axial stiffness refers to contracting the motor in its axial direction and the reverse Axial stiffness refers to adding a load to the motor in its expansion direction AXIS Motor axis Axis Command Unit The common unit set up by the 112 parameter Backup Storing data from the drive to an upper device PC operation display pendant Same as upload Basic Data Maker information of the drive motor which cannot be manipulated by users This data cannot be erased by all reset operations BCD Binary coded decimal BIN Binary Binary Code A numerical code in binary notation Bit AND AND for each bit This is used to extract several bits Bit EXOR Exclusive OR for each bit Bit OR OR for each bit This is used to turn ON several bits Block Logic I O and physical hard I
333. the rising edge of the Z pulse is detected Only valid when Hardware EOT active is set to Valid This parameter specifies whether or not to switch to home search movement if the home sensor is detected during hardware EOT signal search movement during the homing operation Select the edge of the A piisa to be set as the home position Home proximity sensor Z pulse Edge when Edge when 6 81 Default setting of table numbers 3 and 63 direction Position settling width O Acceleration time O Deceleration time O Constant acceleration Constant acceleration Inside is selected lt Direction A ay Table setup No 5 Table register Code Mire M function Continue Table data Hardware EOT limit active in homing operation Dis able Enables the home sensor during EOT search M func parallel Disable Disable Coin waiting Outside is selected Direction B gt Disable Next table Disable Horning direction direction Coin window H30 Coin vadth 0 Select acceleration time 72AccelerationtimeO v Select deceleration time 76 DecelerationtimeO v Select acceleration type Constant acceleration Select deceleration type Constant acceleration Enable home sensor Disable Disable Isles e d ecd Ec La Select home sensor inside Outside 5 Regist 1000 Regist 1000 Regist
334. ti on feed forward val ue of the positi on control section of the servo oop 15 Vel oci ty f eed forward percent age Mn 0 Vel FF Dec Max 126 Initial 100 Uni t Speci fi es the vel oci ty feed forward val ue of the velocity control secti on of the servo oop 16 Accel eration f eed forward percent age Mn 0 Acc FF Dec Max 200 Initial O Uni t Speci fies the accel eration feed forward val ue This paraneter cal cul ates the internal gain based on the oad i nerti a l oad nass 18 Maxi num posi ti on error in the directi on Mn 1 PerrLi mt Dec Max 999999 Initial depend on nator dri ver type Uni t Pul se Speci fi es the naxi numal owabl e error in the positive di recti on before an error is detected Initial value 5 of notor resol uti on 19 Maxi numposi ti on error in the directi on Mn 999999 PerrLi mt Dec Max 1 Initial depend on nator dri ver type Uni t pul se Speci fi es the naxi numal owabl e error in the negati ve di recti on before an error is detected Initial value 5 of nator resol uti on Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 5 20 Frequency notch filter 1 Mn 50 Not ch1Freq Dec Max 1500 Initial depend on notor driver type Uni t Hz This paraneter is used for tuni ng agai nst resonance Speci fi es the frequency of notch filter channel 1 Filter becones valid by enabling Notch filter 7H through systemregi ster 2 Initial valu
335. ting is allowed within the allowable setting range Status Output of parameters monitors Value of parameters monitors can be checked by parameter monitor and oscilloscope functions in the utility software See Appendix Detailed parameters and Detailed monitors for the types and settings of parameters monitors The parameter monitor Display Window i Parameter monitor 302 Motor resolution v 425984 372 Position error pulse M 0 si 370 Commanded position value pulse Y 0 DUCUETAEBYO 775 H371 Actual position value pulse v D Parameter list Monitor list 2003 09 29 11 51 TIME 100msec DI UNIT DIV Offset CHi 2000 0 CH2 DIGITAL CH3 200000 OO CH4 500000 0 TRIGGER SOURCE CH1 RISE LEVEL 0 POSITION 0 CURSOR TI T2 dT 396 7 ms 696 7 ms 3000 ms ll 340 Commanded velocity value 2517 1866 651 a 320 Status register 1 gece LH tect LHH soxL HH 8370 Commanded position value pulse 409252 612952 203100 E 371 Actual position value pulse 409152 612301 203149 fa eee o o TI 71M02D04 01EN 10th Edition 2012 12 01 6 18 1 parameters parameters are used in various settings including operation patterns of the motor and error processing and adjustment of the control system Change the setup values of parameters as required In addition to writing and checking setup values it is possible to upload all the parameters from the drive to a
336. ting wipe the coating of the base mounting surface completely with petroleum or chlorine solvent If any coating remains mechanical precision and function may be impaired Please see the section Installation in this manual OOU TI 71M02D04 01EN 10th Edition 2012 12 01 vi The stopper in the motor is not intended to absorb impact during operation Please prepare separate equipment for protection safety procedures such as a stopper and shock absorber Refer to the section Specification Installation Precautions for Transportation and Storage in this manual Be sure not to interfere with the movable area including the load part while the motor is operating You may be injured if a hand is placed between the slider and the stopper or if the movable part is touched The guide unit requires grease for lubrication Driving the motor under insufficiently lubricated conditions may lead to damage and failure Please see the section Maintenance Inspection in this manual If you use the screw holes located above and below the box of the DrvPIII drive be certain the tips of the screws penetrate no more than 8mm for the 500W and 2kW classes or 6mm for the 4kW class below the drive s surface If this precaution is not Observed it may cause an electric shock short circuit and or damage to the motor The drive should be installed on an appropriate metal cabinet observing the safety measures prescribed by the Low Voltage Directive and EMC Dir
337. tion Hardware EOT limit active in homing operation Select home sensor inside Enable home sensor Enables the home sensor during EOT search iparameter e Parameter by Function Homing amount of home offset movement System setup register 1 Coordinate system forward direction setting direction Disable Outside Enable Invalid Forward direction TI 71M02D04 01EN 10th Edition 2012 12 01 6 79 2 How to Set Homing Operation Set the data according to the flowchart showing the procedure for creating table data in Section 6 4 1 Table Data Operation See the following for how to set operation data and parameters corresponding to steps 4 and 6 in the flowchart Setting Operation Data Set operation data to be used for the homing operation as necessary by referring to the list of homing table operation data explained later Setting parameters Related to Homing See parameters related to the homing function for the items to be set Setting of Parameter by Function STEP 1 Select Data Management parameter and then Function parameter from the utility software STEP2 Select the Homing operation tab STEP 3 Set parameters as necessary Setting of system setup register STEP 1 Select Data Management parameter Function parameter and then Register parameter 3 from the utility software SIEP2 Set parameters as necessary Points of Note when Setting Zparameters according to the Sy
338. tion is interrupted and the motor is decelerated and stopped Movement toward the target position is resumed when it is turned OFF again Block 3 This signal switches velocity override values ON The scale factor of 45 is selected A A OFF The scale factor of 44 is selected Set this signal to off and set parameter 44 to 10000 default setting if the velocity override function is not used All errors that have occurred at the time of the rising edge of this signal are reset if they can be reset ala P Reserved O Z O Z oO E 535 2 IN INTERLOCK _ Interlock command Velocity override selection Ps iresene 6 ireseve D7 ireseve 3 IN OVERRIDE SEL Reserved s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 List of Logic I O Contact Input Signals Block 4 Block 5 O Frequently used signals A Signals assigned as necessary No mark Not applicable Logic I O Contact input Abbreviated signal Hale Signal name Block bit reserve Description c 6b E E O D zi 2 o D S 2 O kr o 2 ror S O o 2 O O O gt This signal selects the coin width The table below lists valid parameters corresponding to the setting status of IN_POSW When performing table data operation the settli
339. tion A Direction B Edge when Inside Edge when Outside is selected is selected These are Z pulse edges used as the home Set which signal edge is used as the home by specifying Select home sensor inside of Table data 0 of Table data The homing movement method is different between the inside and outside edges of the Z pulse TI 71M02D04 01EN 10th Edition 2012 12 01 6 75 1 Homing Operations Homing is performed in the order from step 1 to step 8 STEP 1 EOT search movement This step is only performed when Hardware EOT limit active in homing operation is set to Enable for the table data The motor is moved in the direction opposite the homing direction until the EOT sensor is detected whereupon the motor moves in the direction of the home sensor It is thus possible to prevent the motor from entering an area in which operation is prohibited Moreover if Enables the home sensor during EOT search is set to Enable for the table data the hard EOT search movement is stopped and the operations in STEP 3 and onward are performed in case the home sensor is detected during the hard EOT search movement STEP 2 Home sensor search movement The motor is moved until the home sensor is detected in the homing direction If Enable home sensor is set to Disable for table data the home sensor search movement is not performed Set it to Enable under normal circumstances STEP 3 Moving outside the home sensor area This is
340. tion direction and scaling are specified correctly See Section 6 1 8 Coordinate System for more information STEP2 Selecting a table number 1 Click the Table Data button in the utility software 2 Select the table data you want to edit and click the Edit button The setup window appears R7 Table setup m1 Test operation rem ru EEE EE 001 Auto tuning operation Invalid Invalid Invalid Invalid O02 Dwelling Invalid Invalid Invalid Invalid 003 Homing operation Invalid Invalid Invalid Invalid Table copy 004 Parameter change Invalid Invalid Invalid V alid 9 m 005 ABS positioning Invalid Invalid Invalid Invalid Table paste 00E Parameter change Invalid Invalid Invalid Valid n O07 INC positioning Invalid Invalid Invalid Invalid z Table delete mm STEP 3 Setting a table register Select an table register in the setup window Then set the operation code M function coin waiting function and continue function for the selected operation register Specify Valid to use the M Select a code function m Table setup Ho 3 1 Tablogegii aaa CELL Lee E Do Regist Q Code LABS positioning l Pei Pee eee ee PALEEIIIEETTTEETTEET quU function Invalid M func parallel Invalid Coin i waiting Invalid iM er v p r Next table ot 1 Specify Valid for the continue function and set the Set the coin waiting function The timing of tabl
341. to RAM once at startup Afterward the drive operates based on the parameter settings in RAM fh c UTION When parameters are registered their values are written in the EEPROM There is a limit on the allowable number of times the EEPROM can be written to approximately 1 million times If this limit was exceeded the EEPROM may be damaged and the drive may not start up If you select specify registration for Zparameters in the parameter change function during table operation this limit may be exceeded depending on the pattern used TI 71M02D04 01EN 10th Edition 2012 12 01 Method 1 How to change values in the parameter window of the utility software Click the parameter button in the utility software to open the parameter Setting window Select the appropriate setting window and change the necessary parameter values Make sure to click the Regist button after changing values See Section 8 6 1 parameters for the detailed explanation of the setting windows E Parameter setting Register parameter Function parameter Servo tuning Signal monitor 039 ALAABAZA Error setup register 2 039 22220ABB System setup register 1 110 FZ000DA43 C System setup register 2 098 00030002 System setup register 3 099 008000F Error setup register 1 Overload Valid Regist Over speed valid X Action Servo on sustaining after immediate sl v v Action Servo on sustaining after immediate s
342. to other functions the oscilloscope function requires more CPU power of a PC If this function is used please use a PC that at least satisfies Recommended conditions Also see items in Troubleshooting Specification No of input channels 4 CH1 CH4 Highest sample rate 10kS s Analog trigger CH1 CH2 CH3 CH4 Digital trigger Any of bit O to bit 7 of monitor data Trigger function Edge trigger Trigger at the edge of a single trigger source Auto Loads a buffered waveform sequentially at less than 100msec div Trigger mode Normal Loads a waveform only when triggered Single Loads only once when triggered Trigger slope Rising falling Trigger position 10 point position of Odiv to 9div within a waveform display frame Up to 10 times the UNIT div setting e g range of 10000 with a setting of 1000 UNIT div Time setup range 1ms div to 5s div Graph refresh cycle 100ms to 1s Analog display 4CH No of display waveforms Digital display 8 x ACH No of waveform configuration 100 data Waveform calculation Calculation of and among channels and waveform display Measures the values and time of the vertical cursor and horizontal cursor the Cursor measurement difference between the cursors and the time difference Measures the time maximum value minimum value average value and effective Auto waveform measurement value between the cursors of any one waveform Calibration Automatic sets up the
343. to vibrate or go increases however thi s al so increases unst abl e 2 1 I 900 IO ULIS UNIO This paraneter is used for servo tuni ng 3 Vel oci ty control Vel oci ty control Vel oci ty control Velocity control Velocity control Velocity control Vel oci ty control Vel oci ty control Velocity control Velocity control Velocity control Velocity control Velocity control Velocity control Velocity control Velocity control Velocity control bandw dth bandw dth bandw dth bandw dth bandw dth bandw dth bandw dth bandw dth bandw dth bandw dth 80Hz bandw dth 90Hz bandw dth 100Hz bandw dth 110H bandw dth 120Hz bandw dth 130Hz bandw dth 140 z bandw dth 150Hz 10Hz 12Hz 15Hz 20Hz 30Hz 40Hz 50Hz 60Hz 70Hz Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Posi ti on Vel oci ty control bandw dth 1 Mn 5 Max 400 Initial 20 Unit Hz control cont rol cont rol cont rol cont rol control control cont rol cont rol cont rol cont r ol cont r ol cont r ol cont r ol cont r ol cont r ol cont r ol bandw dth 5Hz bandw dth 6Hz bandw dth 8Hz bandw dth 9Hz bandw dth 14Hz bandw dth 16Hz bandw dth 19Hz bandw dth 22Hz bandw dth 24Hz bandw dth 26Hz bandw dth 28Hz bandw dth 30Hz bandw dth 32Hz bandw dth 34Hz bandw dth 36H
344. top operation is issued If the M function is being executed OUT MODE EXE turns OFF after the M function is completed lt gt msec or more IN STOP cr JN a OFF l l 3 OUT MODE EXE ue ur TI 71M02D04 01EN 10th Edition 2012 12 01 6 61 4 How to Perform Table Data Operation Utility Software Table Data Operation Window Complete servo tuning before starting the operation STEP 1 Select Operation in the utility software STEP 2 Select the Table operation tab in the Operation menu STEP 3 Click the Servo ON button to turn the motor s servo ON STEP 4 Select the table number of the table data you want to execute STEP 5 Click the Drive button to execute the selected table data RY Operation Auta tuning operation Test operation Homing operation Table operation JOG Dire Er servo off T able Ma No 20 Dwelling Ma 20 Dwelling No 21 Dwelling No 22 Dwelling No 23 Dwelling No 24 Dwelling No 25 Dwelling No 26 Dwelling Exit Controller sidelC O0 Special Tab for Each Operation A special tab is prepared for homing test operation and auto tuning Select an operation in the Operation menu The table below shows the table number executed when each of the special tabs is selected Operation tab Table number Test operation Homing Homing Operation Special Tab Example shown below is for incremental motors RT Operation E
345. trol section of the servo oop Integral tine for positi on control 2 Mn 10 Pos nt Ti n2 Dec Max 10000 Initial 10000 Ui t nsec This paraneter is used for servo tuni ng Speci fies the integral tine Z2 of positi on devi ati on integrator in the positi on control secti on of the servo oop Position integral li nnti ng val ue 1 Mn 0 Posl nt Li ni Dec Max 4999999 Initial 10000 Uni t This paraneter is used for servo tuni ng Speci fies the li niti ng val ue 1 of the posi ti on devi ati on i ntegrator in the positi on control secti on of the servo loop Specify a snaller val ue whe a w nd up condi ti on occurs duri ng operati on Thi s paraneter is set autonati cally by either executing auto tuning operati on or changi ng the servo stiffness paraneter Position integral li nnti ng val ue 2 Mn 0 Pos nt Li n2 Dec Max 4999999 Initial 10000 Uni t This paraneter is used for servo tuni ng Speci fies the li mti ng val ue of the posi ti on devi ati on integrator in the positi on control secti on of the servo loop Specify a snaller val ue when a w nd up condi ti on occurs duri ng operati on This paraneter is set autonati cally by either executing auto tuning operati on or changi ng the servo stiffness paraneter Tl 71M 2004 O1E 8th Edition 2007 01 10 00 appendi x1 4 14 Posi ti on f eed forward percent age Mn 0 Pos FF Dec Max 126 Initial 90 Uhi t Speci fi es the posi
346. troller 2 Actual velocity information Because there are four peaks within the range indicated by a bracket it shows that the motor moved triangularly four times 3 Axis operation active Drive operation active and In position status are assigned from the top in digital waveform display 4 It can be observed that the rise of the axis operation signal and the rise of 359 have the same timing 5b It can be observed that the positioning status signal rises at almost the same time as 3 the move completion 2 Peeosoccecescecceccoscccsesosceososccssososcsecoseoscocoseossosscsoscesscsosceocosscssososssososessessososssososecoosososessseoseseosscosesesesossessososseosesossoosesocssoscossososobssscsscsoscesscsosseosesosssosesecososecsossoseceeececeoocesseesosceoceeeececeeceeeeccece At N UTION If the time axis is set to display a long range 200 msec div as shown in the screen above due to sampling issues the display may show waveforms that differ from the actual operation waveforms and timing Always take aliasing problems into account before using the equipment TI 71M02D04 01EN 10th Edition 2012 12 01 8 21 Using the Cursor Function The following describes a method to measure a loaded waveform using the cursor function Note that the cursor function can be used only while in the STOP state Measure a waveform after it has been loaded Using the Time Axis Cursor CURSOR ON OFF CURSOR v ON
347. ttach the following drive information Ors Support Tool R1 00 11 Copyright C 2003 Yokogawa Electric Corporation DOM Center SUpport desk E BEB BBB RRR RRR RRR Eee ddm salestcey yokogaywa co p http ww yok ogawa co jp BERR RRR RRR DO 9 E E E 7 P 6 e R7 4d CcA s dt ul 4 This product is protected by the japan copyright act and International regulations Keep in mind that it will become infringement of copyright if all or some of this product is reproduced without notice ar a duplicate thing is distributed without notice TI 71M02D04 01EN 10th Edition 2012 12 01 8 43 8 8 FAQ Pertaining to the Utility Software This section describes the frequently asked questions FAQ pertaining to the utility software O0 Updated Parameters are not Stored Writing data to a parameter e g 1 2 changes only that value in RAM of the drive Therefore that data is erased when the power is turned OFF If you want to store updated data rewrite the parameter in EEPROM e g 1 2 or write all parameters using the 16 command The Utility Software Stops during Waveform Display due to a Communication Error Insufficient performance of your PC may be the cause Check if the operating conditions are met Close all other applications if possible Especially if you are using the oscilloscope function it uses up more CPU power than any other functions If a communication error still occurs
348. turn IN JOG DN OFF if moving in the direction Example of Jog Move Timing IN SERVO OFF ON OUT_SRDY OFF ON IN JOG UP OFF ON OFF ON OFF IN JOG DN OFF ON OFF ON OFF direction operation Velocity waveform Stop direction operation TI 71M02D04 01EN 10th Edition 2012 12 01 6 54 6 4 Table Data Operation 6 4 1 Table Data Operation Table data operation employs the controller built into the drive which is used for servo tuning homing and positioning operations The types of operations operation codes are listed in the table below By supplementary tables it is possible to branch to prescribed operations when given conditions are satisfied as well as change parameters Table data is composed by operation register operation data 0 and operation data 1 which are created using the utility software Table data operation can be started via either the serial interface or controller interface Moreover use of the continue function that concatenates several tables allows continuous movement It is possible to specify table data No s 0 to 63 Operation codes have been determined for No s 60 to 63 in advance the operation data can be changed but the operation register cannot be changed Table de executed by specifying a table number via the serial interface or controller interface PLC Operation Codes and Actions eg o00000m Table related to adj
349. ty monitor T a Monitor list Selected monitor Melocity monitor Gain B l Monitor Ma 372 Position error ce Bee eee eee ie ee Gain B Ean ee ee eee eee ee eee eee Analog monitor 1 oa ae Velocity Analog monitor 2 E t 0 030 rps mps t 4 80V gH 2 tManitor No 378 Commanded d vu 0 006 rps mps t 1 00V se ae Spree ewe meskete epee wc ole BEHERHEHEHEHEEHEEES amp f Digital monitor 1 036 00014010 Digital monitor 2 037 oo014 004 anmuuanuuuunuuuuuuuuuuuune Select the monitor signal Set the monitor signal and monitor gain nnnunuunu The input range is displayed you want to monitor Example of output waveform Output waveform at positioning operation Waiting for trigger q 2003 06 23 15 38 24 CHiz5V CH2E2V 50ms div DC 10 1 DC 10 1 NORM 0KS s VEL speed waveform I CEU LR LA ROO DESEE AM1 372 Position error pulse waveform 204 0ms AM2 325 Command current value waveform DM1 320 Status register 3 bit 12 operation being executed waveform TI 71M02D04 01EN 10th Edition 2012 12 01 6 109 parameters Related to the Signal Monitor Function Parameter number Parameter name Description This parameter switches between different types of velocity monitor output 0 Velocity monitor 1 Velocity monitor AC waveform from which frequency components of 1Hz or less are eliminated
350. until the Z pulse edge is detected After STEP 6 is completed the operations of STEPs 5 and 6 are repeated for the number of times set by 58 Z Pulse sensing iterations during homing The final home position is determined by averaging the data obtained during all the home detection movements TI 71M02D04 01EN 10th Edition 2012 12 01 STEP 7 Home movement The motor is moved to the detected Z pulse edge position In the case of a motor equipped with software Z pulse correction movement is performed twice as well STEP 8 Home offset movement The motor is moved an amount given by the value set in parameter 56 Offset distance from home position Then at that position the coordinate value in command units is set in the setup value of parameter 57 Coordinate value in command units after homing Operation Execution condition Operation overview Moving direction Acceleration deceleration type Acceleration deceleration time 6 76 Feed velocity EOT search movement Home sensor search movement Moving outside the home sensor area First home detection movement Second and onward home detection 5 movement preliminary movement Second and onward home detection movement Z pulse edge search movement Home movement Home offset movement Performed only when Hardware EOT limit active in homing operation is set to Enable for table data Performed when Enable
351. up pertaining to maintenance such as backing up the information in the drive onto the PC side or writing the backup information into the drive Exclusive Control of Each Dialog Box Exclusive control is used to display dialog boxes in each function group Dialog boxes of different groups can be operated simultaneously however dialog boxes within the same group cannot be operated simultaneously Also the Maintenance function group cannot be operated with other groups simultaneously Displays the PDF technical information It is possible to perform keyword search etc Displays the Option Setup dialog box Exits the support tool T These are the main settings for various connection settings EJ B1DrvXx3 Support Tool GIII elp g i COMMUNICATION Hmmm BEHNHNHNHNHENHNHEHHNHNHENENHENENEHNENEENENENENEHNEBNEBHEBNENENENEENEBNEBNENEBNEBEBEBEEENENHNM Fort Channel Simulation mode 5 2 URSCG3 015N 22B 15 3 Motor 3 Amp e m Mode contig EN ie 0 Sane E Mime AAD a CAND el acy ne Die Aa Operation Drive Terminal Display Oscilloscope Parameter mon LI mon Avie Signal man Error man Data management HParameter Hile E Senn nn Ee Mantengnce HP ardmetar viewer Table viewer E iO viewer Backup Version info i H Operation function group Display function group Data management function group Maintenance function group TI 71M02D04 01EN 10
352. urate edge only for software ZERO type 0 Invalid 1 Valid Bt 9 Sel ect li near coordi nate conmand uni ts 0 rotation 1 li near Bit 8 Coor di nate conmanded di recti on setup 0 Pos Or OW 1 Pos Or xy Bt 7 6 Pulse conmand si gnal type 0 UP DOW ONGOY 1 A B i ncrenent al encoder 2 PLS SI GWstep di recti on 3 reserved Bt 5 Pul se noni tor encoder out signal type 0 UP DOW AYCW 1 A B increnental encoder 4 External analog input range 0 4 6V 1 4 10V 3 Sel ect positi on control node 0 I P 1 Proportional integration 2 Sel ect vel oci ty control node 0 Proporti onal l Proporti onal i ntegrati on control ct ctc t 1 O0 Basic control node 0 reserved 1 Torque Force 2 Velocity 3 Position Bi t13 12 70 6 5 4 19 0 are inval i d Inital val ue Mbtor Dri ve dependent Setup of AC power noni tori ng cycle Sel ect serial interface for j og operati on Sel ect controller interface for high s processi ng start si gnal GC Li nk other 5 170nsec Serial interface 1 1 1 Hgh speed O0 Slow speed Sel ect pul se scale for coi n w ndow 0 Gonmand unit Sustain conmand val ue i n conmand unit duri ng servo CN O D salbe Brake CN duri ng servo OFF 1 Enable Brake ON Enabl e Z pul se hysteresis on inaccurate edge 1 Enable Hysteresis Sel ect li near coordi nate conmand uni ts O Rotati on coordi nate 1 Linear coordi nate Coor di nate conmanded di recti on setup
353. ustment Used for adjusting the servo Useful when auto tuning cannot be performed Test operation Performing manual tuning while checking the step response waveform to a position command with a frequency of 2 5 Hz using the oscilloscope function Incremental T TER apu The motor performs incremental relative position positioning Table related to Positioning move positioning TE ue popuonng The motor performs absolute absolute position positioning movement Used to set the dwell time wait time Parameter change Used to change Zparameters Supplementary table Conditional branch Used to change the branching target according to the specified condition Used to issue some of the commands TI 71M02D04 01EN 10th Edition 2012 12 01 6 55 Operation Code of Each Table Table number Action setting conmnue afer execution setting Can be selected freely in the utility software Can be selected freely in the utility software Valid Reserve cannot be changed Homing cannot be changed Assigned as the starting number when the startup operation function is used It is treated in the same way as table No s 0 to 58 if this function is not used 60 0 Test operation cannot be changed Auto tuning cannot be changed Invalid List of Operation Codes Set at Shipment from the Factory Default operation code setting number 0 Testoperation OOOO 2 jBak 4 Sampleprogrami absdueposilonng e Sample program 2
354. utomatically adjust parameters related to control The flowchart below shows an example of how the servo can be adjusted If the motor oscillates while adjusting the servo take actions by referring to Main Causes of Motor Oscillation and Actions to be Taken on the next page Start adjustment See Section 6 4 3 Auto tuning Operation If the motor oscillates while performing auto tuning see Section 7 2 3 If the Moto Oscillates during Auto tuning Perform auto tuning _ Execute the operations used in the system YES Does the motor oscillate Prevent resonance NO M Increment the current value of 1 Is the servo rigidity servo rigidity setting status by 1 insufficient YES Take actions against resonance by referring to Section 7 2 Increase the servo rigidity Resonance Prevention Take actions against resonance by referring to Section 7 2 Resonance Prevention Does the motor oscillate NO Prevent resonance Is the servo rigidity insufficient End setup Aiea UTION If the setting of the control system is inappropriate the motor may begin to oscillate or even become unstable in some cases Take enough precautions with respect to the motor s operation range and its safety when you tune the servo TI 71M02D04 01EN 10th Edition 2012 12 01 Main Causes of Motor Oscillation and Actions to be Taken Phenomenon at Low frequency oscillation
355. valid Invalid 009 Dwelling Invalid Invalid Invalid Invalid a O10 Condition branch anly indir Invalid Invalid Invalid Walid 11 011 ABS positioning Invalid Invalid Invalid Invalid O12 ABS positioning Invalid Invalid Invalid Invalid O13 Dwelling Invalid Invalid Invalid Invalid 14 Dwelling Invalid Invalid Invalid Invalid O15 Dwelling Invalid Invalid Invalid Invalid 16 Dwelling Invalid Invalid Invalid Invalid DIS Dwaling E Tabie setup 018 Dwelling 5 020 Dwelling is 021 Dwelling EU cR RN RN RR NR Hess 022 Dwelino _ Code ABS postonrg dS Ta 023 Dwelling EO a_i PO S M functidn Invalid Y M func pala Invalid Y Coin waiting Invalid m ec nnn Be O24 Dwelling Dwelling o Continue Invalid Y Next table 0004 Table data Coin window 90 Coin width 0 H 5 Regist 0100 Select acceleration time t72Acceleraiontime0 1000 Regist Select deceleration time 76 DecelerationtimeO v 1000 Regist Select acceleration type Constant acceleration 1 v Select deceleration type Constant acceleration v Select velocity 64 Feeding velocity v 851968 Regist Optional move direction for rotation coordinate Type Short cul v OMnEARRRRRRERRESARRRRERARRRRRRRRO SeOREEEERHERHREEHERHERHREEERHERHEERHRHERHREEERM Direct or indirect Indirect Table data1 00000064 Type Parameter s Parameter No 100 Variable 0 oannuanu
356. value 1 limiting value 2 T Integral action for velocity control is not performed while this Prohibit velocity i signal is turned ON It functions only when the velocity control 5 IN VELINT INH control integral E ds n id RUM method setting IS set to proportional integral control in system setup register 1 The velocity integrator information is reset in velocity control Reset velocity while this signal is turned ON It functions only when the IN VELINT RST Manon a i m control integrator velocity control method setting is set to proportional integral control in system setup register 1 Tjeww 1l feewd s nr c MN T MMH a TI 71M02D04 01EN 10th Edition 2012 12 01 List of Logic I O Contact Input Signals Block 3 O Frequently used signals Signals assigned as necessary No mark Not applicable See Section 6 1 5 Process Settings in Error State for c O D Q O S O v Q H a explanation about error processing when the immediate stop is H ES The servo is turned ON when this signal is turned ON Logic I O Contact input Abbreviated signal Signal name l name bit I O processing cycle performed While this signal is turned ON the velocity override value is set to zero When this signal is turned ON positioning opera
357. value obtained by subtracting the current pulse position value from the pulse position command value Inputs Outputs Related to the Position Settling Signal Position settling Block2 nios e redete This output is turned ON when the position deviation is within the status output Bit4 CN4 8 1 bit 16 g setup range It is turned ON as far as the position deviation is in the OUT COIN i setup range even if the motor is still operating Positioning status Cycle count for coin signal activation This parameter is valid only when the current position value filter is set to valid in Acua oosmonvaue niter system setup register 2 The current position value is filtered by a linear low pass 28 f p filter This parameter is used for the purpose of preventing chattering of the COIN requency signal Using the filter does not cause any changes to the motor operation but may cause the output of the OUT COIN signal to be delayed The positioning status refers to the status in which no acceleration deceleration operation is being performed to move the motor Block2 11320 status register output 1 OUT POS Bit5 1 bit 17 Buona BlockO This signal turns ON during table data operation and jog movement OUT BUSY BitG CN4 5 If the position coin waiting function is set to enable in table data the OUT BUSY signal turns OFF after the position of the motor settles This signal turns ON during table data operation when an operation Oper
358. ve LINEARSERY 00000000 5 6000000 Line Filter FN2070 6 06 Operation Display Panel PC100G3 Sensor Alarm Cable 1 2m Controller Cable 3m Encoder resolver cablel 6 m l l i Motor Filter Ground R7020TA p OF002C 3 Mounted on an Aluminum Plate Motor Unit p LM series Head amplifier unit Motor Cable 5m Ferrite core 2 ZCAT3035 1330 NN Te P p dl Head amplifier cable 2 m fh c UTION This installation guideline does not guarantee the performance The installation conditions vary depending on the device used TI 71M02D04 01EN 10th Edition 2012 12 01 5 21 For CC Link Interface Power YOKOGAWA DrvPIII Drive LINEARSERV Line Filter gt gt FN2070 6 06 500W ra oJ oJ o o o Operation Display Panel PC100G3 Sensor Alarm 200 230VAC aP Cable 1 2m O arse Control Power Cable ERR RUN Main Power Cable Controller Cable 3m DA DB DG SLD Ferrite Core ZCAT3035 1330 Encoder resolver cable 6 m Motor Filter R7020TA OF002C 3 Mounted on an Aluminum Plate Motor Unit LM series Head amplifier unit Head amplifier cable 2 m Motor Cable 5m Jf c UTION This installation guideline does not guarantee the performance The installation conditions vary depending on the device
359. w that is classified by purpose and function Therefore parameters for desired purposes can easily be set up Registering the Parameter Setting Window Although each parameter of system setup registers 1 to 3 and error processing setup registers 1 and 2 is managed in 32 bit length it has assigned a unique definition in units of bits internally It is possible to perform similar settings from Terminal however settings can be made easily by using this setting window l Regist Sets up the parameters in Select a register to be set RAM and EEPROM The settings are retained even if the power is OFF ay F arameter setting Repister parameter Function parameter Servo tuning Signal monitor Exit e E Reaist Upload i unnnunn p Erno soeia g Parameter list Over speed Valid Monitor list Action Servo on sustaining after immediate s v Overload Valid Action Servo on sustaining after immediate s Excessive position error Valid Y Action Servo on sustaining after immediate s Y Exsessive commanded position differential Servo on sustaining after immediate sl w Tandem error Servo off after immediate stop Y Coordinate error A Valid amp ction Servo on sustaining after immediate s v Bus voltage dropping Invalid Action Serva on sustaining after immediate s v AC mains power supply voltage error Valid v Action Servo on sustaining after immediate sl Y
360. wchart showing the procedure for creating table data in Section 6 4 1 Table Data Operation See the following for how to set operation data and parameters corresponding to steps 4 and 6 in the flowchart O0 Setting Operation Data STEP 1 Select Table Data from the main menu in the utility software STEP 2 Double click the table number you want to specify STEP 3 Set the dwell time wait time in the Setting window The setting unit is msec STEP 4 Select the M function coin waiting function and continue function as necessary B Table setup Ma 1 Table register Riegist Code Dwelling M function Invalid hd func parallel Invalid Coin waiting Invalid Continue Invalid l Ment table mo T able data Dwelimemsec 0 Don OOOOOO00 TI 71M02D04 01EN 10th Edition 2012 12 01 6 93 6 4 9 Parameter Change It is possible to change the values of parameters during table operation This function is mainly used to change the feed velocity parameter sequentially and set a parameter value in one of the variables 100 to 109 for instance to use it as a counter to count the number of operations during table operation See the sample table included in the drive at shipment from the factory for specific ways to use this function see Appendix 5 Description of Iperation Tables and Sample Programs 1 How to Set Parameter Change This function is set using the utility software Select Pa
361. xit o Drive ben Controller side U Servo nlf Table Mn Home sensor position adjustment Location from edge pulse Target value pulse TI 71M02D04 01EN 10th Edition 2012 12 01 6 62 6 4 2 Setting Table Register The following functions are set commonly for table data operations They are called table registers The settings should be specified for each table data 1 Setting of code 2 Setting of the M function 3 Setting of the coin waiting function 4 Setting of the continue function 1 M Function This signal is used for sequence operation in order to coordinate the operation of other devices interlocked with positioning operation of the direct drive motor The table below shows the relationship between settings of the M function and output timings of OUT M EN If OUT M EN is turned ON the table number of the table data currently being executed is output to OUT 0 CODE If IN M ANS is turned ON OUT M EN is turned off and the table data operation currently being executed is ended If the continue function is set to valid the next table data operation is executed See the next page for a sequence example States of Operation Register Setting and Types of M Code Executed M function Parallel M function Action of M function OUT M EN turns ON at the same time as the start of table data operation OUT M EN turns ON at the timing when the table data operation currently
362. y 10 0x Data Sum Error may rarely occur in case that the control power supply is terminated before LED for RDY signal is lighted when the power is recycled If this error occurs restore user data which was backed up beforehand after initialization of user parameters Backed up parameter values are set If you turn off the power after the occurrence of overload error please turn on the power after more than 10min If this error occurs again please review the operating conditions TI 71M02D04 01EN 10th Edition 2012 12 01 SSS gt ADK Pagem TOC 1 Table of Contents Ha higere U ox do ponet scene seam tetas eure cerry a Rant M ED Sen nN eS ner noe i Conventions omaa a een LI IM DIIS ii PRECAUTIONS eese un ii Overview orthe PEIOGOUGL ico o cse asco waa E 1 1 irc MEM BUE INIGION zienien oc DN 1 1 Te HD DY EI IU 1 1 1 3 CHECKING ING7PTOGUCl jae acetate rcauPireh anni ar ite aad Wadlad saminda T 1 2 oSDeciliCallolls oed MC uL MIL e i M LM ML LE 2 1 7 MEE ser iobelor ielileio REO NE 2 1 2 2 JThru suVelocity Chara cteristl6S rennin o Ert a Dekag at cae Du tu Det ir a deu pipa sel Cut uec anus Ce eU dr D EUIS 2 5 2 9 Modelatd oulflx Codes xia etui t C oak iiti ea i eB eee 2 6 pays ODIOM CODIGOS ud caesi epatis E P uU ME EMI E LIUM ML E 2 10 2 4 1 Option Cable Model and Suffix Code eseessssesssessssseseseseen nennen 2 10 2 4 Recommended Cables esssssssssssssessseeese
363. z bandw dth 38Hz bandw dth 39Hz Vel Freql Speci fi es the control bandw dth 1 of the vel ocity control secti on of the servo oop This paraneter is used for servo tuni ng Vel oci ty control bandw dth 2 Mn 5 Max 400 Initial 20 Unit Hz Vel Freq2 Speci fi es the control bandw dth Z2 of the velocity control section of the servo oop Tl 71M2D04 01E 8th Edition 2007 01 10 00 appendi x1 2 4 Integral tine for velocity control 1 Mn 1 Vel I nt Ti ni Dec Max 1000 Initial 1000 Uni t nsec This paraneter is used for servo tuni ng Speci fies the integral tine 1 of velocity devi ati on integrator in the velocity control secti on of the ser vo oop 5 Integral tine for velocity control 2 Mn 1 Vel nt Ti n2 Dec Max 1000 Initial 1000 Ui t nsec This paraneter is used for servo tuni ng Specifies the integral tine Z2 of velocity devi ati on i ntegrator in the velocity control secti on of the ser vo oop 6 Vel oci ty integral li nnti ng val ue 7A Mn 0 Vel ntLi ni Dec Max 4999999 Initial 10000 Uni t This paraneter is used for servo tuni ng ifies the li mti ng val ue 1 of the velocity devi ati on integrator in the velocity control secti on of the servo loop Specify a snaller val ue when a w nd up condi ti on occurs duri ng operati on This paraneter is set autonati cally by either executing auto tuning operati on or changing the servo stiffness paraneter 7 Vel oci

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