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Reference Number: M-E099GA0C2-191

1. ID Contents Gain Switching Filter Setting range Unit Standard value GCFIL 0 to 100 ms 0 M Low pass filter to change gain moderately when switching 30 Sets time constant When the mechanical system is shocked by the change of gain resulted from gain switching making a moderate gain change will modify the shock amp The larger the value the gentler the gain changes 40 FF Vibration Suppressor Frequency 2 Setting range Unit Standard value SUPFRQ2 5 to 500 Hz 500 41 FF Vibration Suppressor Frequency 3 Setting range Unit Standard value SUPFRQ3 5 to 500 Hz 500 42 FF Vibration Suppressor Frequency 4 Setting range Unit Standard value SUPFRQ4 5 to 500 Hz 500 M Sets mechanical vibration frequency to be suppressed with this function Select from FF vibration suppressor frequency selection 1 or 2 Change value while the motor is OFF e This parameter is not covered by Auto tuning result saving Setting value can be input by 1 Hz inside the driver the units listed below are applied Setting range Unit value inside the driver 5 to 99 Hz Valid by 1 Hz 100 to 499 Hz Valid by 5 Hz and drop less than 5 500 Hz FF vibration suppressor invalid 50 Model Control Antiresonance Frequency 2 Setting range Unit Standard value ANRFRQ2 10 0 to 80 0 Hz 80 0 52 Model Control Antiresonance Frequency 3 Setting range Unit Standard value ANRFRQ3 10 0 to 80 0 Hz
2. 5 71 5 Operation Group A General output terminal output condition Monitor output selection Serial communication settings ID Contents Serial Communication Axis Number Setting range Unit Standard value COMAXIS Control power reactivation after setting orde ar dea M Select Axis number from below for Serial communication RS 232C RS 422A with PC or upper controller As this number identifies each driver assign the different number so that the driver 20 connected to PC or host controller do not have the same number Selection Selection Selection Selection Selection 01 1 04 4 07 7 OA HA OD HAD 02 2 05 5 08 8 OB B OE HE 03 3 06 6 09 9 OG C OF HF Serial Communication Baud Rate Setting range Unit Standard value COMBAUD Control power reactivation after setting 03 10 06 os HM Select Communication speed Baud rate with PC or upper controller from below 21 Selection 03 9600bps 04 19200bps 05 38400bps 06 57600bps Latency to start sending response message Seting raiye Hn Standard value y av E 0 to 500 ms 0 M When performing RS 422A communication between controller and driver a minimum latency to 22 start sending response message can be set Actual latency may vary to the extent of 0 to 3ms to this setting value
3. 2 Wire Electric wires for use in driver main circuit power are shown below gm Wire type Kinds ot wires Conductor allowable Code Name temperature C PVC Common vinyl electric wire IV 600V electric wire 60 HIV Special heat resistant vinyl wire 75 The information in this table is based on rated armature current running through three bundled lead wires at ambient temperature of 40 C Use the electric wire beyond proof pressure 600 V When wires are bundled or put into a wire duct such as a hardening vinyl pipe or a metallic conduit take the allowable current reduction ratio into account At high ambient temperature service life of the wires becomes shorter due to heat related deterioration In this case we recommend using heat resistant vinyl wires 4 1 4 Wiring Wiring example 3 Wire diameter allowable current AWG sides Nominal cross sectional area Conductor resistance Allowable current over ambient temperature A mm Q km 30 C 40 C 55 C 20 0 5 39 5 6 6 5 6 4 2 19 0 75 26 0 8 8 7 0 5 4 18 0 9 24 4 9 0 7 7 5 8 16 1 25 15 6 12 0 11 0 8 3 14 2 0 9 53 23 0 20 0 15 0 Y This is reference value in the case of a special heat resistant vinyl wire HIV Y The diameter of an electric wire and allowable current in the case of doing the bundle line of the three electric wires are shown Y Use it below by the above mentioned allowable current
4. M Sets Warning output level before Overload alarm output The possible level to be set is from 20 99 assuming that the Overload Warning 22 Level is 100 When set to 100 Overload warning and Overload alarm are output at one time Overload detection is assumed and set as 75 of a rated load when Control power is turned ON hot start Therefore Overload warning may be output when Control power is turned ON Velocity Feedback Alarm ALM C3 Detection Setting range Unit Standard value VFBALM 00 to 01 01 Enabled M Selects Valid Invalid Velocity feedback error detection 23 Selection Contents 00 Disabled Invalid 01 Enabled Valid Velocity Control Alarm ALM C2 Detection Setting range Unit Standard value VCALM 00 to 01 gt 00 Disabled M Selects Valid Invalid Velocity control error detection Selection Contents 24 00 Disabled Invalid 01 Enabled Valid e In such an operation pattern as causing a motor overshoot to the command Velocity control error may be detected by mistake For this set this parameter to invalid 5 77 5 Operation Group C Encoder related settings Setting range Unit Standard value Encoder Output Pulse Division 1 1 to 1 64 ENRAT 2 3 to 2 64 1 20 1 32768 to 32767 32768 M Sets ratio of Encoder output pulse division When the numerator of the dividing ratio is 1 setting
5. 5 5 Factory default SetlIng VAlUES ecc tati aeaa aar a E aAa E Eaa iA SEEE EAEE apaa 5 5 TOSCO A Ae ee ee RE 5 6 Table of contents PO DN EN U N AS KO HOLEN SO 1 2 6 3 Confirmation of installation and Wiring oooonccnnnnnonnccnnnccnnocncnncannncnrnrccnnnnn narran narrar rr narran 5 6 Confirmation AMINO Gautestad 5 6 Gonfirmation of VO signal iii die ee eee et ee a 5 7 Confirmation of device operation oooococccnncconoccconcnnnncnconnncnnnnnnncnnnnnn ronca nan nn narra ran nn rra r nn r nar an nn rn ra rannnnnncnns 5 9 Driver Status CISplay custodiada 5 10 Default displ y s rskader Hide 5 10 Alarmsdisplay sam sk r bekses Gus AA ee eee 5 10 Op ration sequenee us ungane unni fe ira Gace heit He Geo elgen 5 11 Operation sequence from power turn on to power shut off at the standard shipment setting 5 11 Stop sequenc t Mi 5 13 Sequence of alarm reSets c ci eevee sto intense cas 5 15 Sequence when power is turned OFF during operation During servo ON cesceeeeeeseteeeeneeteneeteees 5 16 Monitor function tetra att ta a dd 5 17 Monitor funcio lll 5 17 Description of MONO es 5 18 Analog monitor and digital MONITOF ooooocccnnncccnnnonccnnnnonnnononano nono cnn nunt cnn nar r cnn rre rr rre rre 5 22 Setting parameters oca nd A cl ee a a 5 23 Parets iii diia 5 23 Parameter TUNCUONS ii Ras A Ae Ree eee 5 30 Control block diagram io scsu de siti ta a eee 5 80 SEMIF47
6. Selection Contents Function is valid while rotation direction is CW 22 VMON gt LV VMON gt LOWV Function is valid while rotation direction is not CW 23 VMON lt LV VMONS LOWV Function is valid while rotation direction is CCW VMON lt LOWV Function is valid while rotation direction is not CCW VMON2 LOWV 24 VMON lt LV 25 VMON gt LV 5 63 5 Operation Group 9 Function enabling condition settings Description 00 01 CW Over Travel Function F OT CCW Over Travel Function R OT M The over travel function uses limit switch to prevent damage to the unit This function forcedly stops the unit when the movement range of the moving part is exceeded Allocating over travel input signal to CONT1 to CONTE 4 To use travel function select the operating conditions for position command input motor stop operation and servo on signal when over travel occurs Group ID Symbol Description B 11 ACTOT Over travel operation Selectable value Contents 00 CMDINH_SB_SON Command input is disabled and motor is stopped by servo braking when OT occurs Command from either positive or negative direction in which OT occurs command disabled velocity limit command 0 Command input is disabled and motor is stopped by dynamic braking when OT occurs Servo is turned on after motor 01 CMDINH_
7. 05 Valid when Higher Tracking Control Position Compensation Gain is set at 0 The setting value is not applied when using the Auto Tuning Characteristics listed below Positioning1 Positioning Control 1 General Purpose Positioning2 Positioning Control 2 High Response Positioning4 Positioning Control 4 High Response Horizontal Axis Limited Trajectory1 Trajectory Control 1 Feed Forward Filter Setting range Unit Standard value FFFIL 1 to 4000 Hz 4000 M First low pass filter to eliminate pulsed ripple caused by the position command pulse included in the feed forward command Sets the cutoff frequency Depending on the setting of the system parameter IDOA Position Control Selection the 06 point the filter becomes invalid causes the value to vary Position Control Selection 00 Standard More than 2000Hz 01 Model 1 Model Following Control More than 1000Hz 02 Model 2 Model Flowing Vibration Suppress Control More than 1000Hz Velocity Command Filter Setting range Unit Standard value VCFIL 1 to 4000 Hz 4000 M First low pass filter to suppress sudden change of velocity command Use External Velocity Command Filter when eliminating Analog velocity command noise Sets the cutoff frequency 10 Setting range varies depending on the setting of the system parameter ID00 Control Cycle Control Cycle Setting value Valid Invali
8. Position command pulse after position directive smoothing Near range 500Pulse 100Pulse OFF ON NEAR ON INP ON OFF ON INPZ ON OFF ON INPZ is a state signal turned on when the position directive pulse after position directive smoothing is O and a position deviation counter value is below setting of the completion range of positioning 5 57 5 Operation Group 8 control system settings ID Contents Speed Zero Range Setting range Unit Standard value ZV 5 0 to 50 0 min 5 0 42 m Setting value for detecting Zero speed status motor stop When the speed becomes lower than this value Zero speed status is out Low Speed Range Setting range Unit Standard value LOWV 0 0 to 6553 5 min 5 0 M Parameter for setting Low speed output range When the speed is lower than this value Low speed range is output 43 Del EE rre rca de ee eer Output LOWV_ON or LOWV_OFF from GroupA OUT Speed Attainment Setting High Speed Range Setting range Unit Standard value VA 0 0 to 6553 5 min 100 0 M Parameters for setting speed attainment output range When the speed exceeds this setting value Speed attainment is output Velocity Attainment Setting value 44 NE e NA NN Ne ee ts Velocity Output VA ON or VA PFF from GroupA OUT 5 58 5 Operation Group 8 control system sett
9. Rated IS Control Driver Input Rated main circuit voltage Motor model ow power supply KVA PAL PB1006 63 0 3 PB3015 157 0 5 200 VAC PB3030 314 1 0 4 PB3060 125 2 0 v Values are of rated speed torque ratings Incoming current leakage current Incoming current Driver Input Control circuit Max value in 1 ms Main circuit Max value in 1 2 s voltage after power on sequence after power on sequence 200 VAC 40 A O P 22 A O P KK Using thermistor for incoming prevention circuit of control power supply This is the maximum current value under normal temperature conditions when 230 VAC is supplied Incoming current value is the value when 230 VAC is supplied When the power is turned ON again immediately after disconnection power supply disconnection is repeated for a short period of time ambient temperature is high or the thermistor temperature rises the incoming current exceeding the above table may pass Leakage current Leakage current 0 8 mA v These values are applicable when a tough rubber sheath cable of 2 m is used as a power line In the case of a shorter or longer cable length values of the above table should be selected as closely as possible The machine should be grounded so that dangerous voltage does not occur at the main part of the machine such as the operation panel etc during a period of emergency leakage current
10. srrerstresseersrrersransresseenssrerssrerssrenseerssrenssserssresseessserssrerssvessseessensssersssesssrer 5 9 Driver status display strerseerssrerssvessreassrenssverssvesssvesseessseenssserssressseesseerssserssvessevesseeesssersssesssversseesssenssserssserseer 5 10 Default display reee 5 10 Alarm display nene ener enero 5 10 Operation sequence errar ener ener renan enero 5 11 Operation sequence from power turn on to power shut off at the standard shipment setting treet 5 11 Stop sequence at alarm errar ener enero 5 13 Sequence of alarm reset nm erre ener ener renrn enero 5 15 Sequence when power is turned OFF during operation During servo ON serrrseserrererereenenenranereneenenensenenenen 5 16 Monitor funcionan ana aE NO 5 17 Monitor functione eneee ee a e ono e SSRS IEEE AEE EA E A 5 17 Description of monitor rra rear 5 18 Analog monitor and digital monitor srerssrerseverseeesseenssrerssrersvensrerssrenssrerssrerseresssessssesssserssresseensssersssesssrenssenssee 5 22 Setting parameters e rre nene nenes 5 23 Parma list diri 5 23 Parameter tucan 5 30 Control block diagram een ener enero 5 80 SEMI F47 supporting function rss rener enanos 5 83 Parameter setting General parameters Group8 Control system srrsserrssrerssrenssrassernssrenssrenssrenseesssennsssenee 5 83 Operational Sequence nenes 5 83 Noti A andaniatacanid 5 83 5 Operation Changing servo motor combination 5 1 System parameters 1 C
11. 2 Corrective action for alarm m Alarm code 21 Main Circuit Power Device Error 34 3 34 Ye 3 EEE Issued when control power is turned ON w w vw issued at input of sevo ON Ww ww Issued while starting and stopping the motor v v w amp Corrective actions Cause Investigation and corrective actions Mm U V W phase of driver is short 1 circuited due to the wiring in driver and MW Check the wiring conditions and motor Also U V W phases are restore if improper grounded in the earth M Short circuit or fault in U V W phases M Defect in internal circuit of driver M Replace the driver M Confirm that the temperature of the control panel ambient temperature of 4 the driver does not exceed 55 If in excess of 55 C check the installation method of the driver and confirm that the cooling temperature of the control panel is set to below 55 C M Overheating detection of the main circuit power device functioned 8 7 8 Maintenance Trouble shooting when alarm occurs m Alarm code 22 Current Detection Error 0 Investigation and corrective actions M Defect in internal circuit of driver mM Replace the driver M Confirm that the proper codes per the 2 M Driver and motor are not specified Motor Codes have been combined properly used for the motor if not replace the servo motor M Alarm code 23 Current Detection Error 1 ye te 36 34 ot AL 1214 x Corrective actions Inv
12. 9 2 Compliance with EN Directives NSK Ltd implements the conformity verification test of Low Voltage Directive and an EMC command in a certificate authority so that a user s CE Marking acquisition can be performed easily and CE Marking is done based on the published certificate of attestation 1 Conformity verification test The following conformity verification tests are implemented Directive Classification Test Test standard classification Low voltage EN61800 5 1 Directive 2007 Electrostatic discharge immunity AN eae Radiated electromagnetic field immunity FP Electrical first transient burst immunity NOT 2004 EMC Directive Immunity i l l EN61000 4 6 Conducted disturbance immunity A1 2001 Surge immunit RO 1000 E 9 y A1 2001 Voltage Dips amp Interruptions immunity ENO once 2004 Adjustable speed electrical power drive system PRA 800 3 Converters have been tested and verified for proper conformity with the standards listed below classification Low voltage EN61800 5 1 Directive 2007 EMC Directive Cond demas EN55011 Se onducted emission A2 2007 Emission EN55011 Radiated emission A2 2007 Electrical first transient burst immunity FRA esa EN61000 4 6 A1 2001 Conducted disturbance immunity Electrostatic discharge immunity ea Radiated electromagnetic field immunity er Immunity 9 Appendix Compliance with EN Directives 2 Requirements for driver installation to achieve the E
13. E Where explosive or combustible gas is present Never use the cable in any location exposed to explosive or combustible gas M Where any source of generating large noise is present Where there is a possibility of noise contamination make proper provisions such as consideration of power line wiring and prevention of noise generation 3 9 Wiring Wiring for main circuit power supply control power regenerative resistance and protective grounding 4 1 Part name A a 4 1 Witt sukat A id 4 1 Wire diametertallowable currentisitnn nani ida 4 2 Recommended Wire diameter A enn 4 2 Crimping of wir es nera near ener enernenereees 4 3 High voltage circuit terminal tightening torque rrrmernnnncnenrennncannr encerrar reee 4 3 Wiring with Host Unit esseerseeersevessserssrenssversreesseenssserssverseeesssersssessssesssessseenssserseserseeesssesssresssvesseerssrerssversssessessssenee 4 4 CN1 signal and pin number wiring with host unit ssersererseeesseenvsvensrasseenvsrenssrenssresseensssenssrenseesseenssrersssenssen 4 4 CN1 connector disposition srrersrerssrerseversreesseenssverssresssvenseerssrerssrerssresseeessverssrerssvesseersssenssvesseesssensssersssersseen 4 5 Signal name and its function srrerseerssrensevensevesseenssvenssrensvesssersssenssverssresseenssserssrerssressserssresssvesseessensssersssenssen 4 5 Terminal arenaene deira 4 6 Example of wiring with ON 1 rear nera 4 12 Pe
14. Position loop proportional gain KP Y Inthe standard setting position loop integral time constant TPI is 1000 0ms so integration function is disabled 5 66 5 Operation Group 9 Function enabling condition settings ID Description Model vibration suppression frequency selecting input 1 MDLFSEL1 Model vibration suppression frequency selecting input 2 MDLFSEL2 Mm 4 types of model vibration suppression frequency can be used by switching them Allocating conditions to enable model control antiresonant frequency selecting input You can switch model control antiresonant frequency 1 to 4 model control antiresonant frequency 1 to 4 by combination of MDLFSEL1 with MDLFSEL2 MDLFSEL1 Model vibration Invalid Valid Invalid Valid suppression frequency 18 selecting input 1 MDLFSEL2 Model vibration Invalid Invalid Valid Valid 19 suppression frequency selecting input 2 y y y J Model control Model control Model control Model control antiresonant antiresonant antiresonant antiresonant frequency 1 frequency 2 frequency 3 frequency 4 Vibration suppression Group 3 ID02 Group 4 ID50 Group 4 ID52 Group 4 1D54 frequency becoming valid Model control Model control Model control Model control resonant resonant resonant resonant frequency 1 frequency 2 frequency 3 frequency 4 Group 3 IDO3 Group 4 ID51 Group 4 1D53 Group 4 ID55 Velocity loop proportional contro
15. 10 L fi Ar Output shaft Rotating p i Material Steel 10 or more Surface treatment Range of 150h8 Electroless nickel plating_ 7510 4 3 or more Range of 78h8 Motor connector 300 20 ixed part Material Steel Surface treatment Low temperature chrome plating _____ 9 Appendix Outline drawin M PB3030JN001 Rotating 6 M6 x 1 0 depth 9 PCD69 60 equal pitch 6 M6 x 1 0 depth 9 PCD130 60 equal pitch part Resolver connector 17 6 12 5 150h8 5 oss 78h8 3 ove 12 7 Output shaft Rotating pa ji Motor connector Material Steel 10 or more 3 or more Fixed part Surface treatment Material Steel Electroless nickel plating Range of 150h8 Range of go 420 Surface raunen Low temperature chrome plating 6 M6 x 1 0 depth 9 Rotating 6 M6 x 1 0 depth 9 i PCD130 60 equal pitch part PCD69 60 equal pitch Resolver Iz connector 152 I 150H8 2 063 7BNE 3 046 poter connector Output shaft Rotating Pa Material Steel Surface treatment Electroless nickel plating 4 or more Range of 78h8 300 20 10 or more Range of 150h8 Fixed part Material Steel Surface treatment Low temperature chrome plating 12620 4 9 Appendix Outline drawin 2 Driver M EGA 15A2301 0000 _ me mml CN
16. 3 Converter Converter connector Resolver connector 1 5 2 Specifications 20 Motorsgonsssndeenpstean svette ndradre etan ead keen prn dad bat aa den eden aa bakken saat 2 1 1 Motor specifications isnin it ae 2 1 2 Coad ON the motoriassaaua des a od 2 2 3 Direction of rotation of motor iia eder 2 2 2 2 DAVeNu ramset sedanen dar det ned arna 2 3 1 Specifications Of driver idad cs 2 3 2 Input command position feedback signal output general input general output ooconncccc noncccnnnoncnonanancnonananonns 2 4 2 3 POWOr SUPPLY ecc reinan arde kender 2 6 1 Main circuit power supply capacity control power supply CapacitY oconnocccononcccnononcncnonannnnnnnnnnnnnononn naar cnnnnnnnos 2 6 2 Incoming current leakage c rr rnt rnan on rr 2 6 2 4 Positionteedback A RT 2 7 1 Position feedback signal OUtOUL eee eeesceeeeseeeeeeenaeeeeeeneeeteaeeeeeeneeeeeeeaaeeseaeeseseeeeeeeeaeeesesaaeeesenaeeeeeeneeerenaaes 2 7 2 5 Specifications for analog MONITO Facilita ala 2 8 1 Monitor output miis A A A AN i ee ee 2 8 2 Monitor for velocity torque and position deviation ooonoocccnnonccccnnoncccnnnnnnnnnnrnncnnnan cnn naar cnn rnnr cnn rn rr rnnr rra 2 9 2 6 Specifications for dynamic brake ranrrrenrrnenvnnnnrnnnnvnnnnrnnnnvnnnnrnnenvnnnnrensnnnnenrensnnnennrnnennnnrnrnnsnnesenresennnssnrnssnvnesnnne 2 10 1 Allowable frequency instantaneous tolerance decreasing the rotati
17. 5 76 5 Operation Group B sequence Alarm related settings ID Contents Power Failure Detection Delay Time Setting range Unit Standard value PFDDLY Control power reactivation after setting 20 to 1000 ms J M Sets the delay time from Control power OFF to Control power error detection The larger value makes the detection of Instantaneous stop slower 16 Control power holding time is about 100msec Larger set value will only result in slower detections of errors In case of power failure of Internal logic circuit operation is same as when Control power is turned ON again In case of energy shortage of Main circuit power other errors such as Main circuit power loss may be detected In this setting actual detection delay time varies by 12ms to 6ms Excessive Deviation Warning Level Setting range Unit Standard value OFWLV 1 to 2147483647 Pulse 2147483647 20 m Sets Warning output level before Excessive position deviation alarm is output Sets at Encoder pulse resolution regardless of Electronic gear Deviation Counter Overflow Value Setting range Unit Standard value OFLV 1 to 2147483647 Pulse 5000000 21 m Sets Position deviation value regarded as Excessive position deviation alarm Sets at Encoder pulse resolution regardless of Electronic gear Overload Warning Level Setting range Unit Standard value OLWLV Control power reactivation after setting 20 to 100 ae 30
18. Issued when power supply of main circuit is turned ON Y Issued while starting and stopping the motor w w v Corrective actions Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver o i The power supply voltage of main M Reduce the power supply voltage to circuit is out of the specification within the specified range m Excessive load inertia moment E Reduce the load inertia moment to within the specified range m While using the external regenerative resistance check the wiring and resistance value M Replace the driver if any abnormality occurs resistance Built in regeneration circuit is not functioning M Wire the regeneration resistance correctly M Incorrect wiring for regeneration y 4 8 15 8 Maintenance Trouble shooting when alarm activated M Alarm Code 62 Main Circuit Under voltage JE Ue 3 _ Issued when power supply control is turned ON w w Issued after power supply of main circuit is turned ON w v v Issued during operation Cw Jw Corrective actions Investigation and corrective actions M Check the power supply and set it within the specified range the specified range M Check the power supply and confirm that reduced and or blinking there is no blinking or low voltage Low voltage outside of the specified M Check the main circuit voltage Confirm 4 range is supplied to the
19. NSK MEGATORQUE MOTOR SYSTEM Driver Model EGA User s Manual M E099GA0C2 191 NSK Ltd Document Number C20191 02 Copyright 2014 by NSK Ltd Tokyo Japan All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from NSK Ltd NSK Ltd reserves the right to make changes to any products herein to improve reliability function or design without prior notice and without any obligation NSK Ltd does not assume any liability arising out of the application or use of any product described herein neither does it convey any license under its present patent nor the rights of others Revision History 2nd Edition All chapters Added motors M PB3030JNO001 and M PB3060JN001 Added driver M EGA 30A2301 Added motor cable M CAxxxA101 Added converter cable M CCxxxA101 Added outline drawings Method of usage modified to set JRAT1 value Added supplementary items for usage Chapter 2 e Corrected values of circuit power for output signal of general output Incorrect 24 15 VDC Correct 24 VDC Chapter 3 e Added content and location of serial number of drivers e Deleted items about dummy inertia e Added items about cables for motors and converters Chapter 4 e Signal names and their function of CN1 modified to be factory default settings e Added examples of wiring between CN1 and host unit e Equivalent products added to model num
20. Rotor Inertia Moment x 100 Estimation of magnetic pole position M Close CONT3 CN1 35 pin to execute estimating magnetic pole position M When rigidity of the device such as mounting base load and installation is low estimation of magnetic pole position may not be properly implemented Improve the rigidity of the device before implementation M Do not allow unbalanced load or large friction to complete estimation of magnetic pole position properly M Inthe estimation of magnetic pole position the rotational part of motor moves through the maximum angle of 18 Ensure emergency stop and over travel limit for the motor operate properly Input Servo On signal M Input Servo ON signal Confirm if motor is excited and seven segments of driver front panel displays 8 Operation M Input the command low speed check the rotation direction rotational speed emergency stop and over travel F OT R OT to make sure they are operating properly Be sure to stop in the event of any abnormal operation Input the command for the actual operation and start the machine If there is nothing wrong with operation and the characteristic manual tuning is not necessary Refer to Adjustments 6 for the Servo Tuning 5 9 5 Operation Driver status display 5 3 Driver status display 1 Default display Marking Description Status code y Control power supply established Control power
21. The consumption of energy Erp by dynamic brake resistance in one dynamic brake operation is as follows x JutdL x 27N Erp Ju Moment of inertia of motor rotor kg m Ji Load inertia moment kg m NOD Rotational speed s 2 Specifications Regenerative control 2 7 Regenerative control Calculation of the rotational energy which MEGATORQUE MOTOR has in the process of deceleration Calculate the rotational energy based on the following expression Rotational energy 1 2xJxw J 1 2xJx 211N Y J J Jr Jm Jr Moment of inertial of rotor kgem Jm Moment of inertia of load kgsm N Rotational speed s m Available energy from storage in the internal capacitor The regenerative energy internal capacitor can handle by charging is different depending upon the designation of driver Designation of driver Energy absorbed in the capacitor J M EGA 15A2301 17 M EGA 30A2301 24 Calculation of the energy which can be consumed in the external regenerative resistor Energy consumed in the external regenerative resistor J Rotational energy J Energy absorbed in the capacitor J When the result of the above calculation is found 0 or less there is no need for additional installation of external regenerative resistor When the calculation result is found exceeding 0 determine the required capacity for the regenerative resistor based on the calculations described below Calcul
22. 1 to 30 5 M Sets the Auto Tuning Response 02 The larger the set value the higher the response amp Caution if the response is set too high the machine may oscillate Make the setting suitable for rigidity of the device Auto Tuning Automatic Parameter Saving Setting range unit Standard value ATSAVE 00 to 01 00 Auto_Saving M Select if the automatic parameter saving function is valid to save the Load inertia moment ratio estimated by the Driver Auto tuning function in the Group1 1D14 JRAT1 Load Inertia Moment Ratio 1 03 e This setting is valid when Group0 IDOO Tuning Mode is at 00 AutoTun Auto tuning 4 The first automatic save is done after one 1 hour from the power input Then automatic save is done in every two 2 hours Selection Contents 00 Auto Saving Automatically Saves in JRAT1 01 No Saving Automatic Saving is Invalid Auto Notch Filter Tuning Torque Command Setting range Unit Standard value ANFILTC 10 0 to 100 0 50 0 i M Sets the torque value to excite the mechanical system during operation under Auto Notch Filter Tuning Y Larger value makes the tuning more accurate however note that it also makes the movement of the machine greater Auto FF Vibration Suppressor Frequency Setting range Unit Standard value Tuning Torque Command ASUPTC 10 0 to 100 0 25 0 M Sets the torque value to excite the mechanical sys
23. Basic control parameter settings ID Symbol Name 00 PCSMT Position Command Smoothing Constant 01 PCFIL Position Command Filter 06 FFFIL Feed Forward Filter 10 VCFIL Velocity Command Filter 11 VDFIL Velocity Feedback Filter 21 TCFILOR Torque Command Filter Order M General parameters Group2 FF vibration suppression control Notch filter Disturbance observer settings ID Symbol Name 00 SUPFRQ1 FF Vibration Suppression Frequency 1 01 SUPLV FF Vibration Suppression Level Selection 10 VCNFIL Velocity Command Notch Filter 20 TCNFILA Torque Command Notch Filter A 21 TCNFPA TCNFILA Low Frequency Phase Delay Improvement 22 TCNFILB Torque Command Notch Filter B 23 TCNFDB TCNFILB Depth Selection 24 TCNFILC Torque Command Notch Filter C 25 TCNFDC TCNFILC Depth Selection 26 TCNFILD Torque Command Notch Filter D 27 TCNFDD TCNFILD Depth Selection 30 OBCHA Observer Characteristic 31 OBG Observer Compensation Gain 32 OBLPF Observer Output Low pass Filter 33 OBNFIL Observer Output Notch Filter 6 Adjustments Automatic tuning M General parameters Group4 Gain switching control Vibration suppression frequency switching settings ID Symbol Name 40 SUPFRQ2 FF Vibration Suppression Frequency 2 41 SUPFRQ3 FF Vibration Suppression Frequency 3 42 SUPFRQ4 FF Vibration Suppression Frequency 4 M General parameters
24. Injuries may occur 4 Safety precautions Please fully observe Do not put heavy things on or climb on the system Injuries may occur 4 Make sure to observe the specified installation direction This can result in fire and failures gt Do not apply high impacts This can result in failures gt Never install the system in the area where it may be exposed to water near corrosive flammable gaseous or by combustible material This can result in fire and failures gt Do not apply static electrical charge and high voltage to motor resolver cable and converter connectors This can result in failures gt Perform wiring in accordance with electrical installation technical standards and internal wiring standards Burnout or fire may occur gt Do not block and let any foreign materials into inlet outlet Fire may occur gt Maintain the specified distances for layout inside of driver control cabinet This can result in fire and failures gt It is very dangerous to carry the system so carefully carry the system as not to fall and roll over Injuries may occur gt Safety precautions Please fully observe Install the system in incombustible material such as metal Fire may occur gt No protective equipments are supplied with mo
25. Jm M Higher Tracking Control Velocity Compensation Gain TRCVGN Tracking effect can be improved by increasing compensation gain Adjust this to shorten the position setting time Vv Set the value of JRAT properly to use this function v Set 0 when you use Velocity Loop Proportional Control Switching Function Group9 ID27 during operation mM Torque Command Filter 1 TCFIL1 When rigidity of the mechanical device is high set this value high and the VelocitO Loop Proportional Gain can also be set higher When the rigidity of the mechanical device is low set this value low and resonance in the high frequency zone as well as abnormal sound can be suppressed For normal usage set this below 1200Hz 6 14 6 Adjustments Manual tuning 2 Basic manual tuning method for velocity control M Set value of Velocity Loop Proportional Gain KVP1 as high as possible within the range that mechanical system can stably work without any vibration or oscillation If vibration increases lower the value M Set value of Velocity Loop Integral Time Constant TV1 by referring to TVI ims 1000 KVP Hz as a guide v When you cannot increase the gain because of mechanical resonance etc and the response is insufficient after using the Torque notch filter and or FF vibration suppression frequency to suppress resonance try the procedure again 3 Basic manual tuning method for position control M Set value of Velocity Loop Proportional Gain KVP1
26. Regenerative Overload mi Regenerationloadratioexorbitane 1 DB v Magnetic pole position estimation error fm Error during the search of magnetic pole position J Average continuous over speed Over speed in average rotationalspeed 1 B v Driver Temperature Error mi Overheating detection of driver ambient temperature 88 v RS Overheat dm Detection of in rush prevention resistance overheating 88 v Dynamic Brake Resistance Overheat m Overheating detection of dynamic brake resistor 88 v sel Royenefaive Reset Overneat p Oen seine en po Wi External Error mi Overheating detection of External regeneration resistor DB v Fre Circuit Power Device Overheat M Overheating detection of Drive module DB v Over voltage m DC Excess voltage of main circuit meet Main Circuit Under voltage Note1 DC Main circuit low voltage DB v Control Power Supply Under voltage Note2 M Control power supply low voltage 8 4 lt lt Zz o lt Control Circuit Under voltage 1 M Under voltage of 12V Control Circuit Under voltage 2 M Under voltage of 5V s v lt Main Power Supply Fail Phase Note1 1 phase of the 3 phase main circuit power supply disconnected eee ele lt 8 Maintenance K Alarm name Abnormality related to Abnormality in resolver main body converter wiring 3 bits output RAY 85 AF Alarm name Serial Encoder Communication Error Encoder Initial
27. as high as possible within the range that mechanical system can stably work without any vibration or oscillation If vibration increases lower the value Set value of Velocity Loop Integral Time Constant TV11 by referring to TVI ms 1000 KVP Ha as a guide Set value of Position Loop Proportional Gain KP1 by referring to KP s KVP nz 41 2TT as a guide When vibration occurs lower the value v When you cannot increase the gain because of mechanical resonance etc and the response is insufficient after using the Torque notch filter and or FF vibration suppression frequency to suppress resonance try the procedure again 6 15 6 Adjustments Model following control 6 6 Model following control Model following control is a method used to obtain a higher response Model control systems include mechanical devices in a driver and run a motor in order to track the Model control system Select Position control form in Control mode Select Model following control in Position control selection ID Content Control Mode Selection 09 Select value Content 02 Position Position control form Position Control Selection OA Select value Content 01 Model1 Model following control Vv Model following control cannot be used when in velocity control mode or torque control mode v Model following control can be used with auto tuning at the same time v Model
28. positioning M Check the load and or increase the completion motor capacity M Valid torque limit command is entered by M Increase the torque limit value or the controller and the torque limit setting is disable the torque limit too much reduced M Setting of a Velocity Limit Command is too M Enlarge setting of a Velocity Limit little Command Gain etc are not appropriate Raise the position loop gain etc M Excessive deviation setting value is much M Seta greater value for excessive reduced deviation M Defect in internal circuit of driver M Replace the driver Mi Defect in internal circuit of converter m Replace the converter m Power supply voltage is low M Check the power supply voltage k o m Alarm Code D2 Faulty Position Command Pulse Frequency 1 Issued after entering position command pulse v amp Corrective actions Cause Investigation and corrective actions M Command for the digital filter setting W Decrease Ihe frequency ol the command of the command pulse input is entered pulse M Increase the frequency of the digital filter 8 22 8 Maintenance Trouble shooting when alarm activated m Alarm Code D3 Faulty Position Command Pulse Frequency 2 SAG Alb 3 x Issued after entering position command pulse Corrective actions excessive pulse input excessive value m Alarm Code DF Test Run Close ete te te t FL le IF x Occurred after execution of test m
29. 0 ms to 0 2 ms this filter is invalid Set in increments of 0 5 ms Under the set value 0 4 ms and less there may be cases where the set value cannot be applied to the operation 90 e Position command pulse with step condition applied Position command pulse 00 1 1 1 1 i PCSMT ms PCSMT ms Position command pulse with lamp condition applied 5 33 5 Operation Group 1 Basic control parameter settings ID Contents Position Command Filter Setting range Unit Standard value PCFIL 0 0 to 2000 0 ms 0 0 M This low pass filter suppresses any sudden change of the position control pulse Sets time constants This parameter setting is valid when the value of Group11D04 Higher Tracking Control Position Compensation Gain is set at 0 When Higher Tracking Control Position Compensation Gain is 0 value is set at 0 Oms the filter becomes invalid e This filter can suppress overshoot caused by the rise of the feed forward compensation gain 01 o PCFIL ms PCFIL ms Position Loop Proportional Gain 1 Setting range Unit Standard value KP1 1 to 3000 1 s 30 M Proportional gain for position controller 02 Automatically saved by Auto tuning result saving When Auto tuning function is valid this setting value is not applied When Gain switching function is valid select gain 1 and this setting v
30. 00 AC 3 phase 3 phase AC power is supplied to the main circuit Connect to single phase AC power 200V Present setting value Description 01 AC Single phase Single phase AC power is supplied to the main circuit Connect AC 100V to R T of CNA Present setting value Description 01 AC Single phase Single phase AC power is supplied to the main circuit Regenerative resistor selection M Set installation specification of regenerative resistor connected to CNA on driver or RB1 and RB2 on terminal block or the condition that regenerative resistance is not connected Selection Description 00 Not_connect Regenerative resistor is not connected 01 Built in_R Use built in regenerative resistor 02 External_R Use external regenerative resistor M Setto meet the flowing specifications 02 Regenerative resistor is not connected Present setting value Description 00 Not_connect Regenerative resistor is not connected Use built in regenerative resistor of the driver Present setting value Description 01 Built in_R Use built in regenerative resistor Use external regenerative resistor Present setting value Description 02 External_R Use external regenerative resistor 5 4 5 Operation Factory default parameter setting values ID Contents Position control selection M Select the function Position Control
31. 4000 12 KVP1 Velocity Loop Proportional Gain 1 50 Hz 1 to 2000 Velocity Loop Integral Time 13 TVI1 Constant 1 20 0 ms 0 3 to 1000 0 14 JRAT1 Load Inertia Moment Ratio 1 100 0 to 15000 Higher Tracking Control Velocity 15 TRCVGN Compensation Gain 0 0 to 100 16 AFBK Acceleration Feedback Gain 0 0 100 0 to 100 0 17 AFBFIL Acceleration Feedback Filter 500 Hz 1 to 4000 20 TCFIL1 Torque Command Filter 1 600 Hz 1 to 4000 21 TCFILOR Torque Command Filter Order 2 Order 1to3 M General parameters Group2 FF Feed forward vibration suppressor control Notch filter Disturbance observer settings ID Symbol Name ee Unit Setting range 00 SUPFRQ1 FF Vibration Suppressor Frequency 1 500 Hz 5 to 500 01 SUPLV FF Vibration Suppressor Level Selection 00 00 to 03 10 VCNFIL Velocity Command Notch Filter 1000 Hz 50 to 1000 20 TCNFILA Torque Command Notch Filter A 4000 Hz 100 to 4000 91 TCNFPA ei Frequency Phase Delay 00 00 to 02 22 TCNFILB Torque Command Notch Filter B 4000 Hz 100 to 4000 23 TCNFDB TCNFILB Depth Selection 00 00 to 03 24 TCNFILC Torque Command Notch Filter C 4000 Hz 100 to 4000 25 TCNFDC TCNFILC Depth Selection 00 i 00 to 03 26 TCNFILD Torque Command Notch Filter D 4000 Hz 100 to 4000 27 TCNFDD TCNFILD Depth Selection 00 00 to 03 30 OBCHA Observer Characteristic 00 Low 00 to 02 31 OBG Observer Compensation Gain 0 0 to 10
32. M Confirm proper grounding of the driver 2 Malfunction due to noise M Add ferrite core or similar countermeasures against noise 8 19 8 Maintenance Trouble shooting when alarm activated m Alarm Code C1 Over speed ME 34 HE 3 OTE pr Issued when command is entered after Servo ON vliv Issued when the motor is started vlv Issued other than operating and starting the motor w w Corrective actions Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver M Defect in internal circuit of converter W Replace the converter M Adjust the servo parameters M Simplify the acceleration and declaration command pattern M Reduce the load inertia moment 4 MH Wiring of U VW phase between M Check the wiring and repair any driver and motor do not match irregularities m Alarm Code C2 Velocity Control Error Bt IE Tt ALLE Z x Status at the time of alarm Cause EE EI e Issued while due to input of Servo ON Issued if command is entered Issued while starting and stopping the motor Corrective actions Investigation and corrective actions y Wiring of U V W phase between M Check the wiring and repair any driver and motor do not match irregularities ipen dis M Adjust the servo parameters so that ml The motor is vibrating oscillating motor will not vibrate oscillate M Monitor speed with the analog monitor M Adjust the servo parameters t
33. Make sure the temperature around the driver does not exceed 55 C For longevity and reliability purposes it is recommended to keep the temperature below 40 C E Leave at least 10 mm space on both sides of the driver to ensure unobstructed airflow from the heat sinks on the side and from the inside of the driver E If the driver is installed on its side make sure that the ambient temperature does not exceed 50 C and mount the back panel to a metal plate vw Recommended metal plate thickness is 2 mm or more E Since M EGA 30A2301 is equipped with ventilation fan on its side installation of driver as shown below is recommended Front view Side view Si sl ir Fan 50mm or more 50mm or more E l J J Driver gt Y E at O Spe f 10mm or 10mmor 10mmor 50mm or more 50mm or more more more more 3 3 3 Installation Converter 3 2 Motor 1 Precautions M Various precautions The device should be installed on non flammable surfaces only Installation on or near flammable materials can cause fire Do not stand and put any very heavy loads Operate the device within the specified environmental conditions Do not drop the device or subject it to excessive shock The attachment direction should be observed strictly Any damaged parts
34. SG CN1 47 Reverse pulse SG CN1 48 Capable of these output types of the upper devise Line driver output and Open collector output Be sure to connect SG Position Command Pulse Count Polarity Setting range Unit Standard value PCPPOL f Control power a reactivation after setting 901008 00 Type1 M Select the Position Command Pulse Count Polarity from the list below Select according to host equipment Selection Contents 00 Typer oe Naves i ot Teea Fp Not ed ems eae 03 Type4 RPG Inverted Position Command Pulse Digital Filter Setting range Unit Standard value PCPFIL 00 to 07 00 834nsec M Filter to eliminate noise elements included in the Position command pulse Select from the following list Setting value Contents 00 834nsec Minimum Pulse Width 834nsec 01 250nsec Minimum Pulse Width 250nsec 02 500nsec Minimum Pulse Width 500nsec 03 1 8usec Minimum Pulse Width 1 8usec 04 3 6usec Minimum Pulse Width 3 6usec 12 05 7 2usec Minimum Pulse Width 7 2usec 06 125nsec Minimum Pulse Width 125nsec 07 83 4nsec Minimum Pulse Width 83 4nsec E When the Position command pulse width becomes less that the setting values of the Digital filter the status becomes Alarm Code D2 Position command pulse frequency error 1 Set Digital filter setting value smaller
35. SuppOrting UNCON cecilia de pa ran Sve tes chien vente at dav es 5 83 Parameter setting General parameters Group8 Control System rmnsnrnnonvnnnnvnnenvnnnnrrnrnvnnnnrnnenrnernnn 5 83 Operational Sequence us eee dk Shia eral ie ed ee ee ie 5 83 Note siete petit ice et i en ee 5 83 AdjUStments O O NN 6 Servo tuning functions and basic adjustment procedure ooooccccccciccccnocccancnonononancnonn nn nono n conc ran nn nan nn ran nnrancn rn 6 1 Serving UNCON aese a ea ii 6 1 Tuning method selection procedure rrrsrrrnrnvnnnnnnrnnnnnnnvnenrnnvnnnnnnrnnnnnnnnennrnnnnnnennenennrnnnnnnvnrnnnnnnnnennsnnnnene 6 2 Automate UNNA a reaa rr a ea e E Ea termene mu aaa E a E ETA 6 3 Use the following parameters for automatic tuning oooccconnocccononcccnnnoncnonanon cnn nnro non nnon nro nana rn rn nnr cnn nn nn ranas 6 3 Automatically adjusted parameters in auto tuning ooococonnnccccnnoncncnnnancncnonoconnnon cnn naar nn n raro nn n nar rre rar rra ner 6 6 Adjustable parameters during auto tuning coooccccnnoncncnnnoncnnnanono canon cnn nan nnn nro o nn rn rr rre rre 6 6 Unstable functions during auto tUNINO coooccccnoncccnononcnonononcnn nono connnonnnnnnnon nn nn r cnn nan nr rn nr n rn rre nera rnrennnnns 6 7 Auto tuning characteristic selection flowchart ooooonncccnnnncconnnaccnnnoncncnnnoncn crono nonnn ar nn rra r nn r rr ran rre 6 8 Adjustment method for auto tUniNQ ooccccnnoncconancncnonencnnnnnnrnnn non ocn non n nr nr
36. actiVated ooooncccnnnnccononccccononnncnnnrncnnnnno corran cnn naar nn rn nr rre r rr rn r ren 7 5 6 How to check the software version Of driver oocoooccccononcccnnnonnncnanoncnnnonononnnon non naro cnn nan nrr ran nnn rra cerrar rene nana 7 5 7 How to check Information 1 Information 2 driver information and Information 3 Motor Code 7 6 8 HOW O SOt pass Wa nara ns eRe A Rade 7 7 9 Howto cancel PaSSWOrd cieec cceasacceseseasneenseccapasaeseaaeshageagissazsaacaieehagasaaseagesaaauaaes sansaneeaPecagaspascasessauanasiers 7 7 7290 Editing Parameters iii A AAA Jee 7 8 1 Basic parameters editing system parameters oooocccononcccnononcnonanonnnnnonnncnnnon cnn nano nn nn nro nr rra n rre rn rn nan nnn nn 7 8 2 Editing general parameters timido a ai o sunneste 7 9 7 6 Howto tune automatic notch frequency oooocccnocccnnoncccnononcnonnnoncnn nono nonnnon cnn rnnnn rn rn rr rr nan rr r rr rn rn r rre rar rr 7 11 7 7 How to tune automatic FF vibration Suppression frequenCy oooccionccccnnoncncnnnoncnnnnoncnnnnon cnn naar cnn nro ono ran nnrrnnn nn 7 12 XV Table of contents 7 8 7 9 7 10 7 11 7 12 7 13 7 14 7 15 U N N ID AA Velocity controlled JOG OperatiON ooooocccncccnoccconncconoconnncnnnn conc ccoo conan coronan cnn recrear 7 13 Automatic tuning result writing oooonnnnccnnnnoconnnancconnnccnnnnnrrnnnnnn oiia NE Sdi racer nena 7 14 Automatic setting of motor parameter oooccccnnoc
37. an open collector 34 CONT4 General input Power supply amp voltage range 35 CONT3 General input S VDC 5 12 VDC to 24 VDC 10 36 CONT2 General input Minimum current 100 mA 37 CONT1 General input Sink circuit example Host unit Driver O 50 z gt PA ee CONT3 ae ame amt m Sink circuit type t 4 10 4 Wiring Wiring with host unit org Symbol Name Description 39 OUT1 General output General output circuit is connected with a photo coupler or 40 OUT2 General output a relay circuit 41 OUT3 General output NPN output 42 OUT4 General output OUT PWR outer power supply specification 43 OUT5 General output Power supply amp voltage range 5 VDC 5 44 OUT6 General output 12 to 24 VDC 10 45 OUT7 General output Minimum current 20 mA 46 OUT8 General output bare or 49 OUT PWR General output Specification of input circuit power power supply Power supply voltage range 5 VDC 5 24 OUT COM General output Power supply voltage range 12 to 15 VDC 10 common Power supply voltage range 24 VDC 10 25 OUT COM General output Maximum current 5 VDCIOTTIITTT0 maA common Maximum current 12 to 15 VDC IITIT30 mA Maximum current 24 VDC ITTIITITTIS0 mA Driver Host unit ss dj Bade glo vw Make sure to install diode as a surge absorber when connecting induction load such as relay to general purpos
38. and parts with the mounting parts have been damaged shall be fixed by returning to our company immediately Please contact us for long term period storage for 3 years or more 2 Unpacking Verify the followings when the product arrives If you find any discrepancy contact your distributor or sales office MH Verify that the reference number of the motor is the same as ordered The reference number is located on the nameplate following the word MODEL M Verify that there is no problem in the appearance of motor Motor Nameplate 3 Installation Please note the following regarding the installation location and mounting method for the motor The motor is designed for indoor use Make sure to Install it indoors Ambient temperature 0 to 40 C Good ventilation no corrosive or explosive gases present Storage temperature 0 to 40 C No dust or dirt accumulation in the environment Ambient humidity 20 to 80 Easy access for inspection and cleaning 3 4 3 Installation Converter 4 Motor mounting method M Location and environment for installation of motor Use the motor indoors free from any dust and corrosive gas Operate the motor in the environment at an ambient temperature of 0 to 40 C The motor is not dust proof and waterproof design IP30 equivalent Use the motor in the environment free from any water or oil If the mounting base is not ri
39. corrective actions M Improper wiring of external regenerative M Check wiring and replace if 1 resistance necessary M Check the operating conditions 2 M External regeneration resistor is operating MW Increase the capacity of the external regeneration resistor Y When output terminal of upper level device is connected eliminate the alarm trigger of the host level device 8 14 8 Maintenance Trouble shooting when alarm activated m Alarm Code 56 Main Circuit Power Device Overheat ye YE ote 36 at Muse Issued when control power is turned ON v _ v w issued atservoinput vw w w Issued while starting and stopping the motor v v v Corrective actions Cause Investigation and corrective actions Mm U V W phase of driver is short 1 circuited due to the wiring in driver M Check wiring and replace if necessary and motor Also U V W phases are grounded in the earth M Short circuit or fault in U V W phases Defect in internal circuit of driver M Replace the driver M Confirm that the temperature of the control board ambient temperature of the driver does not exceed 55 If in 4 Ambient temperature is high excess of 55 C check the installation method of the driver and confirm that the cooling temperature of the control board is set to below 55 C m Alarm Code 61 Over Voltage Status at the time of alarm Cause Issued when power supply control is turned ON
40. deviation counter is set lower that this set value Sets at the resolution of the encoder pulse at any Electronic gear Not the Position command pulse resolution M Generally near range signal is used as auxiliary of In position signal For example by setting this value larger than the range of In position it can receive the NEAR signal before the upper device receives the In position signal INP thus when In position the necessary action can smoothly be 40 accomplished Sets Near Range signal output Group ID Symbol Contents A 0 OUT Generic Purpose output Selection Contents 1A NEAR ON Near Range Status Output ON 1B NEAR OFF Near Range Status Output OFF In Position Window Setting range Unit Standard value INP 1 to 2147483647 Pulse 100 M Sets output range of In Position signal Outputs positioning completion signal when position deviation counter value is the setting value or less Sets based on the resolution of encoder pulse regardless of any electronic gears This is not position command pulse resolution 41 e Sets In Position signal output Group ID Symbol Contents A 0 OUT Generic Purpose output Selection Contents 1A INP_ON In Position Status Output ON 1B INP_OFF In Position Status Output OFF 5 56 5 Operation Group 8 control system settings ID Contents
41. deviation exceeds warning setting value Excessive position deviation 8 3 8 Maintenance 2 Alarm List Operation at detecting DB performs the slowdown stop of the motor in dynamic brake operation when the alarm generating Operation at detecting SB performs the slowdown stop of the motor with sequence current limiting value Alarm list When dynamic brake is selected by Emergency Stop Operation selection the motor is decelerating stopped for the dynamic brake operation regardless of the operation when detecting it However it stops in free servo brake operation at the time of alarm 53H DB resistor overheating detection T bis ou Alarm name Alarm contents Display Operations Clear Abnormality related to ke iso e o 2 ke D 2 8 D 2 gt E fe c S lt Abnormality in power supply M Over current of drive module M Abnormality in drive power supply TE ie EEE of drive module Main Circuit Power Device Error Over current Current Detection Eroro Detection Error O E m Abnormality of electric current detection value of electric current detection value Current Detection Error 1 mM Abnormality of Electric current detection circuit ao Current Detection Error 2 mM Abnormality in communication with Electric current detection circuit Overload 1 m Excessive effective torque SB v lt lt lt lt lt lt lt lt lt lt Overoada2 Stalloverload PD P v
42. device to the motor inertia moment Select from Gain switching function 1 or 2 e Ifthis value matches the actual mechanical system the setting value corresponding to Velocity Loop Proportional Gain KVP2 KVP3 and KVP4 is response frequency of the velocity control system This parameter is not covered by Auto Tuning Automatic Parameter Saving function Setting value Ji Jux100 e Ji Load inertia moment e Jw Motor inertia moment Setting range Unit Standard value 06 Torque Command Filter 2 TCFIL2 1 to 4000 Hz 600 16 Torque Command Filter 3 Setting range Unit Standard value TCFIL3 1 to 4000 600 26 Torque Command Filter 4 Setting range Unit Standard value TCFIL4 1 to 4000 600 M Low pass filter to eliminate high frequency element included in torque command Select from gain switching function 1 or 2 Sets cutoff frequency e This parameter is not covered by Auto tuning result saving Setting range varies depending on the setting of system parameter ID00 Control Cycle Torque command filter cannot be disabled Control Cycle Setting value Cutoff frequency Standard Sampling 1 ind Setting value Standard Sampling 4000 Hz 2000 Hz High freg_Sampling 01 High Frequency Sampling 1 to 4000 Hz Setting value 5 45 5 Operation Group 4 Gain switching control Vibration suppressor frequency switching settings
43. following control can be used with fully closed control at the same time 1 Automatic tuning method for model following control Model following control can be used with auto tuning at the same time Follow the tuning procedure shown in Adjustment method for auto tuning Model Control Gain 1 is tuned in addition to tuning the parameter at Standard position control MW Automatically adjust parameters using Model following control auto tuning General parameters Group1 Basic control parameter settings ID Symbol Name Notes 02 KP1 Position Loop Proportional Gain 1 Note 1 12 KVP1 Velocity Loop Proportional Gain 1 13 TVI Velocity Loop Integral Time Constant 1 14 JRAT1 Load Inertia Moment Ratio 1 Note 2 20 TCFIL1 Torque Command Filter 1 Note 1 Manual setting is available in Trajectory Control 2 KP FFGN manual setting Note 2 Manual setting is available in Automatic Tuning JRAT Manual Setting General parameters Group3 Model following control settings ID Symbol Name Notes 00 KM1 Model Control Gain 1 Note 3 Note 3 KP1 setting value is set in Trajectory Control 2 KP FFGN Manual Setting v Parameters automatically adjusted by the driver vary according to selected Auto Tuning Characteristic 6 16 6 Adjustments Model following control 2 Manual tuning method for model following control M Set value of Velocity Loop Proportional Gain KVP1 as high a value as possibl
44. generic input CONT3 is ON 07 CONT3 OFF Function is valid when generic input CONT3 is OFF 08 CONT4 ON Function is valid when generic input CONT4 is ON 09 CONT4 OFF Function is valid when generic input CONTA is OFF OA CONT5_ON Function is valid when generic input CONT5 is ON 0B CONT5 OFF Function is valid when generic input CONT5 is OFF OG CONT6 ON Function is valid when generic input CONTS6 is ON OD CONT6 OFF Function is valid when generic input CONT6 is OFF OE CONT7 ON Function is valid when generic input CONT7 is ON OF CONT7 OFF Function is valid when generic input CONT7 is OFF 10 CONT8 ON Function is valid when generic input CONTE is ON 11 CONT8 OFF Function is valid when generic input CONTS8 is OFF M Activating the functions conditioning the rotational speed of motor Selection Contents Function is valid while in low speed status te Poway speed is lower than the LOWV Setting Value Function is valid while not in low speed status 18 J OWN OUT speed is lower than the LOWV Setting Value 14 VA IN Function is valid while in speed attainment status speed is higher than the VA Setting Value Function is valid while not in speed attainment status 19 VACQUT speed is higher than the VA Setting Value 16 VCMP IN Function is valid while in speed matching status E within command actual velocity consistent range Function is valid while no
45. needed such as in processing work Selection Meaning 00 Positioning 1 Positioning Control 1 General Purpose 01 Select for general positioning purposes 4 Parameters shown in table 2 cannot be adjusted manually Selection Meaning 01 Positioning 2 Positioning Control 2 High Response Select for high response positioning 4 Parameters shown in table 2 cannot be adjusted manually Selection Meaning 02 Positioning 3 Positioning control 3 High Response FFGN Manual Setting Select this mode to adjust FFGN manually The following parameter adjustment is made manually General parameters GROUP1 Basic control parameter settings ID Symbol Name 05 FFGN Feed Forward Gain 6 4 6 Adjustments Automatic tuning Auto Tuning Characteristic ATCHA Selection Meaning 03 Positioning 4 Positioning control 4 High Response Horizontal Axis Limited Select this mode when the machine movement is on a horizontal axis and receives no disturbing influence from external sources Positioning time may be shortened compared to Positioning Control 2 4 Parameters shown in table 2 cannot be adjusted manually Selection Meaning Positioning control 5 for high response horizontal axis only FFGN manual setting Select this mode when the machine movement is on a horizontal axis and receives no disturbing influence f
46. nnnr nro nn r cnn nan nr rra nn rr rra n rn rn nar n rr nnnens 1 3 A A O E 1 4 1 O ie FAL EE 1 4 2 Motor sarah anke 1 5 3 Converte ias aa 1 5 2 SPOCITICATIONS ta 2 2 MOON a AAA A A A ee ee 2 1 1 Motor Specifications iii it ae cies 2 1 2 Load on the Motors iaa di Aa 2 2 3 Direction of rotation of MOTO aaa a a a r a a ar a r aer sacha sug decessiccdaaaiai edandacdanascagandesceaessapianaaiees 2 2 222 DA a A ee 2 3 1 Specifications of JiVe Tsar 4 Asse a sesh centred EE ea 2 3 2 Input command position feedback signal output general input general OUtput xrrnrrrrrrrrnrnrnvrnrrnrnnnn 2 4 2 30 O aat 2 6 1 Main circuit power supply capacity control power supply capacity mrrrnvrrrnrnnrnnnrrvrrnnnrnnrnnrrnnrnnrrrrrnnrrnnn 2 6 2 Incoming current leakage current srnnnnnnvnenrnnvnnnnnnrnnonnnnnnenrnnvnnnnnnrnnnnvnnnnensnnnnenennrnnnnvnnnnenrnnnnnnsenrennnvnne 2 6 2 4 Position teedback Signal sannuasstaame io OE Lese etan ste 2 7 1 Position feedback signal output oooconoccconococinoonccnnnnornnnnnannnnnrnncnncnnnn ner anne rar nr error re rana cercar cerrar ranas 2 7 2 5 Specifications for analog MONIO nesses een ane a oreren e rE ri aare eTa a S eike E Na ai 2 8 1 Monitor Output siesta dia aida ea a paid 2 8 2 Monitor for velocity torque and position deviation oooocconnnnccononccccononancnnnonnnnnnnnnnn cnn n nn naar cnn rara nnn nan nnnnnns 2 9 2 6 Specifications for dynamic brake ocio et ku
47. of 1000 display 1000 to 9999 Minus 4044788 Position of 1000 display 1000 to 9999 Y Left end expresses minus M Data of 0 to 41999999999 Symbol Digital operator display Range of a digit display Plus fa 1 B B B Low position of 1 to 1000 display 0 to 9999 Plus A i g g n kn of 10000 to 10000000 0 to 9999 High position of 100000000 to o 1 mus FARA 10000000000 display ment vw Left end LED expresses low position middle position and high position Press and hold MODE for 1 sec or more to switch M Hexadecimal data Data size Digital operator display Range of a digit display 1 byte A 00 to FF 2 byte BABEEA 0000 to FFFF 8 byte Low EBBEBH 0000 to FFFF Bit31 to Bit0 display 8 byte High HPFEBEE 0000 to FFFF Bit63 to Bit32 display m Example display of decimal point data First position of a decimal point i B g g g iti i i 1 n n TT Second position of a decimal point A BB OB 7 3 7 Digital Operator Status display mode 7 4 Status display mode In this mode the state of driver and the display of the alarm number when alarm occurring can be checked In addition to these reset of alarm the software version check of driver and setup of a password can be performed at the time of an alarm number display 1 Driver status display Marking Description Status code Control power supply established Control power supply r t is established and driver r
48. of the password has ended display does not blink 4 B B A a WR Push WR for more than 1 second 5 Display changes as the left and right end LED blinks Display arbitrary numerical values with addition and subtraction 6 1 2 3 x AV p and the cursor button I 0000 and FFFF cannot be set up 7 WR Push WR for more than 1 second Display blinks 3 times and setup will be completed if blink 8 B 3 Y anbe k 9 MODE Push MODE once 10 Returns to Process 1 11 a Password will become effective if power supply is turned on again 9 How to cancel password Displayed input Step character p How to operate button number code 3 g P A 5 la Display switches as the left and the whole display lights up Password is not set up when the display is blinking 4 BEBE wr Push WR for more than 1 second 5 Display switches as the left and right end LED blinks Set up password is displayed with addition and subtraction and 1 6 e J 4 av gt the cursor button 7 WR Push WR for more than 1 second Display blinks 3 times and cancel will be completed if blink J af 4 stops 9 MODE Push MODE once Then returns to Process 1 10 After cancel does not need to turn on power supply again 7 7 7 Digital Operator Parameter edition 7 5 Editing parameters The parameter inside driver can be changed into a setup put together with equipment and the machine of usage in fundamental parameter edit mode general parameter edit mode and s
49. range of the denominator is 1 not divide 2 64 or 32768 When the numerator of the dividing ratio is 2 setting range of the denominator is 3 64 or 32768 When the denominator of the dividing ratio is 32768 setting range of the numerator is 1 32767 Z phase output is not divided After Control power ON for 2s at maximum the ratio is unstable 9 Dividing ratio 1 1 forward rotation gal 90 Phase A F Lur Phase Z Dividing ratio 1 2 forward rotation 90 Phase A Phase B Phase Z Dividing ratio 2 5 forward rotation gt 4 108 90 is not possible phase relation does not change Phase A l J Phase B po Phase Z i i Encoder Output Pulse Divide Polarity Setting range Unit Standard value PULOUTPOL 00 to 03 01 Type2 M Sets division polarity of Encoder output pulse Selection Contents A Phase Signal Not Reversed og Type Z Phase Signal Logic High Active 05 A Phase Signal Reversed 01 Type2 Z Phase Signal Logic High Active 02 Type3 A Phase Sig
50. rear ener ener enanas 7 16 Fixed monitor display rre ener emanan ternas 7 17 Motor code setting of motor USE sure ennennen ener nen enen emanan ener enanas 7 17 7 Digital Operator Names and functions 7 1 Digital Operator names and functions It is possible to change or set the parameters and to confirm the status display monitor display test operation and alarm history with the built in digital operator m Names WR Displays 5 digit 7 segment LED EN Cursor movement decision and writing Key nove OOOO MODE Switch mone Such Key rage Ker A A Y Up and Down Key Functions Displayed marks Functions Input time WR To input selections and write edited data se than second Less than MODE Changes the Mode re gt Cursor Key Changes the cursor position when editing Fe 1 second Av Up Down key Changes the numeric value Less than 1 second 7 segment LED ri monitor value or parameter setting value in five E 7 2 Modes It is possible to display the status to change or set the parameters to automatically set the notch filter to change motor and to confirm test operation alarm history and monitor display with the built in digital operator 1 Changing modes Change in the mode presses the MODE key The mode switches in order of the following figure Status Display Fixed Monitor Display Motor code set M
51. supply r t is established and driver ready RDY is 0 on Main circuit power supply established Main power supply R S T is established but operation 2 preparation completion signal is off Magnetic Pole Position Estimation Ready blinking Main power supply R S T is established and Magnetic Pole 9 Position Estimation Ready is on Magnetic Pole Position Estimation Rotates after displaying the character O upper half 9 Operation setup completion signal established continuous Magnetic pole position estimation is completed and Operation 4 setup completion signal is on a Servo is on Rotates after displaying the character 8 8 Marking Description 4 Over travel status at CW rotation z Over travel status at CCW rotation Marking Description Regenerative overload warning status If operation is kept on alarm may go off Overload Warning status gi If operation is kept on alarm may go off 2 Alarm display When an alarm occurs the display shows the alarm code and the status code of the driver Marking Description A B B 5 B When an alarm occurs take corrective actions as instructed in Maintenance 8 Status code of the driver Code Status 0 Power ON status P OFF 2 Power OFF status P ON 4 Servo ready status S RDY 8 Servo ON status S ON 9 Magnetic Pole Position Es
52. than that of Pulse width at maximum command frequency Refer to Input command Position signal output General input General output 2 8 for the specification of the command pulse 5 49 5 Operation Group 8 control system settings ID Contents 13 Electronic Gear 1 Numerator Setting range Unit Standard value B GER1 1 to 2097152 1 14 Electronic Gear 1 Denominator Setting range Unit Standard value A GER1 1 to 2097152 1 15 Electronic Gear 2 Numerator Setting range Unit Standard value B GER2 1 to 2097152 1 16 Electronic Gear 2 Denominator Setting range Unit Standard value A GER2 1 to 2097152 1 M Sets the Electronic gear ratio to position command pulse Two settings for Electronic gear ratio are available Set gear 1 or gear 2 by switching Ifthe position command pulse is the same by switching the Electronic gear rotating velocity and distance are changed B 1 to 2097152 A 1 to 2097152 1 27 lt B As 2 1 gt gt 12 f2 f1xB A m Example To bypass the frequency constraint of Position command pulse In case you operate a servomotor with 524288 P R resolution of serial encoder at 300 min using a controller having maximum frequency of 600 kpps 600K pps use the following formula to get the value of the numerator and the denominator of the electric gearing Position command pulse frequency at the encoder
53. the specifications the driver For operating instructions see Digital Operator 7 for the Digital Operator System Parameters Setting driver ID Contents Control Cycle M Select the control cycle for Velocity control Torque control High Frequency Sampling enables increasing the frequency response of the velocity control system Please set at 00 Standard_Sampling for normal use Selection Contents 00 Standard_Sampling Standard Sampling 01 High freq Sampling High Frequency Sampling o Mm High frequency sampling mode is not available for the following conditions System Parameters IDOA setting value of the Position Control Selection Present setting value Contents 01 Model1 Model Following Control or Present setting value Contents 02 Model2 Model Following Vibration Suppressor Control 5 3 5 Operation Confirmation and settings ID Contents Main circuit power input type M Set input type of main circuit power connected to CNA on driver or R S and T on terminal block Selection Description 00 AC 3 phase 3 phase AC power is supplied to the main circuit 01 AC Single phase Single phase AC power is supplied to the main circuit M Set according to the specifications of the main circuit power that is used as Follows Connect to 3 phase AC power 200V 01 Present setting value Description
54. to 230 VAC 10 15 U 50 60 Hz 3 Hz EN 200 to 280 VACJ 100 15 220 to 230 VAC 10 D 50 60 Hz 3 Hz 50 60 Hz 3 Hz Control Ser 200 to 230 VAC 10 15 50 60 Hz 3 Hz power Ambient 0 to 55 C temperature Storage 20 to 65 C temperature Environment Operation Storage Below 90 RH no condensation humidity Elevation 1000 m or below Vibration 4 9 m s Shock 19 6 m s FV 160x40x130 mm 160x50x130 mm Weight 0 75 kg 0 9 kg v Power source voltage should be within the specified range mBuilt in functions Protection functions Over current Current detection error Overload Regeneration error Driver overheating External overheating Over voltage Main circuit power low voltage Main circuit power supply open phase Control power supply low voltage Encoder error Over speed Speed control error Speed feedback error Excessive position Position command pulse error Built in memory error Parameter error Digital operator Status display Monitor display Alarm display Parameter setting Test operation Adjustment mode Dynamic brake circuit Built in Regeneration process circuit Built in Monitor Speed monitor VMON 2 0 V 10 at 1000 min Torque TCMON 2 0 V 10 at 100 2 3 2 Specifications Driver 2 Input command position feedback signal output general input general output Input command
55. to noise M Add ferrite core or similar countermeasures against noise 8 26 8 Maintenance Trouble shooting when alarm activated 8 4 Inspection For maintenance purposes a daily inspection is typically sufficient Upon inspection refer to the following description Inspection Testing conditions ne oe Solution if abnormal location Ti During While ime operation stopping Check for Daily v Vibration excessive vibration Check if there is Contact dealer sales office no abnormal Daily v Sound sound as compared to Motor normal sound Periodic v Cleanliness Check for dirt Clean with cloth or air and dust Note 1 Measure Yearly v value ol Contact dealer or sales office insulation resistance Sneck for dust Clean with air Periodic Vv Cleaning accumulated in Note 1 Driver the accessories Loose Check for loose Yearly Vv Grane connections Fasten the screws properly Ambient Set the ambient Temperature Periodic v Measure temperature temperature within the temperature Motor frame specified range temperature Check the load condition Note 1 While cleaning with air confirm that there is no oil content and or moisture in the air 8 27 9 9 Appendix 9 1 DW wo Se TS Ye HS S N A D Se SAA CO MM Ni rain 9 1 Standards conformity iii a 9 1 Over voltage category protection grade pollution level ooonooocinnicinnininnnnnnnconnc
56. value KVP4 1 to 2000 Hz 50 M Proportional gain for velocity controller Select from Gain Switching Function 1 or 2 e This parameter is not covered by Auto tuning result saving When Load Inertia Moment Ratio JRAT2 JRAT3 and JRAT4 are the same as actual load inertia moment this setting value response is performed 5 44 5 Operation Group 4 Gain switching control Vibration suppressor frequency switching settings ID Contents o4 Velocity Loop Integral Time Constant 2 Setting range Unit Standard value TVI2 0 3 to 1000 0 ms 20 0 14 Velocity Loop Integral Time Constant 3 Setting range Unit Standard value TVI3 0 3 to 1000 0 ms 20 0 24 Velocity Loop Integral Time Constant 4 Setting range Unit Standard value TVI4 0 3 to 1000 0 ms 20 0 M Integral time constant for velocity controller Select from gain switching function 1 and 2 e This parameter is not covered by Auto tuning result saving This setting is valid when Velocity Loop Proportional Control Switching Function is invalid Integral time is invalid proportional control with the setting value 1000 0ms 05 Load Inertia Moment Ratio 2 Setting range Unit Standard value JRAT2 0 to 15000 100 15 Load Inertia Moment Ratio 3 Setting range Unit Standard value JRAT3 0 to 15000 100 25 Load Inertia Moment Ratio 4 Setting range Unit Standard value JRAT4 0 to 15000 100 M Sets Inertia moment of load
57. within a runout of 0 01 mm Remember that any excessive offset loads or excessive loads can cause abnormality in the bearings in the motor This can result in failures 4 Ensure that the bending radius of motor cable lead wire 7 and resolver cable lead wire 47 becomes larger than R300 mm This can result in failures gt Never attempt to use any motor cable lead wire and resolver cable lead wire in any moving parts This can result in failures gt Ensure that the connections between lead wires and connectors are free from exposure to any stress tension vibration etc to avoid possible broken wire and or poor contact This can result in failures gt Ensure that the bending radius of motor cable 8 is larger than R43 mm and be sure to tightly secure the motor cable gt This can result in failures Install the power system AC supply source motor cable and the signal system properly by separating them from each other Never attempt to bundle the systems nor pass them through any same duct This can result in failures gt In any possible case where cables may be exposed to severe vibration secure the cables next to the connectors to protect the connectors from exposure to stresses This can result in failures gt viii Safety precautions Please fully observe m Prohibitio
58. 0 32 OBLPF Observer Output Low pass Filter 50 Hz 1 to 4000 33 OBNFIL Observer Output Notch Filter 4000 Hz 100 to 4000 M General parameters Group3 Model following control settings ID Symbol Name SEAN Unit Setting range 00 KM1 Model Control Gain 1 30 1 s 1 to 3000 01 OSSFIL Overshoot Suppressor Filter 1500 Hz 1 to 4000 02 ANRFRQ1 Model Control Antiresonance Frequency 1 80 0 Hz 10 0 to 80 0 03 RESFRQ1 Model Control Resonance Frequency 1 80 0 Hz 10 0 to 80 0 5 24 5 Operation Parameters list M General parameters Group4 Gain switching control Vibration suppressor frequency switching settings ID Symbol Name ee Unit Setting range 00 KM2 Model Control Gain 2 30 1 s 1 to 3000 01 KP2 Position Loop Proportional Gain 2 30 1 s 1 to 3000 02 TPI2 Position Loop Integral Time Constant 2 1000 0 ms 0 3 to 1000 0 03 KVP2 Velocity Loop Proportional Gain 2 50 Hz 1 to 2000 04 TVI2 Velocity Loop Integral Time Constant 2 20 0 ms 0 3 to 1000 0 05 JRAT2 Load Inertia Moment Ratio 2 100 0 to 15000 06 TCFIL2 Torque Command Filter 2 600 Hz 1 to 4000 10 KM3 Model Control Gain 3 30 1 s 1 to 3000 11 KP3 Position Loop Proportional Gain 3 30 1 s 1 to 3000 12 TPIS Position Loop Integral Time Constant 3 1000 0 ms 0 3 to 1000 0 13 KVP3 Velocity Loop Proportional Gain 3 50 Hz 1 to 2000 14 TVIS Velocity Loop Int
59. 0W 500 132 300 122 0 4 2700 100 6 1 043 6 1 44 04 Silicon rubber glass braided wire 0 5mm White 3 wo io E E _ 3 nm N I CO 3 m go m Thermo stat Silicon rubber dass braided wire 0 75mm Black 3 6 M M FAE0005 220W 1000 230 da 300 3 220 0 4 270 200 61 9 43 6 1 36 Silicon rubber glass braided wire 0 5nmf White _ 60 04 427 43 K y ls Thermo stat Silicon rubber glass braided wire 0 75nm Black 3 amp 9 13 9 Appendix Supplementary items for usage 9 6 Supplementary items for usage 1 Homing Motor does not incorporate home sensor Homing must be operated by host equipment using external home sensor referring homing sequence and home sensor setting position described in below Start homing Motor motion Home sensor ON OFF Z phase signal pulse E na ON Homing completion OFF Example of Homing sequence To secure home position by detecting rise up of Z phase signal properly turn off point of home sensor must be adjusted at the middle point between Z phase signal described in below Adjust home sensor turn off position around 3276
60. 1 Reference number of driver M EGA 15 A 2 3 01 dE Driver design serial number 01 Standard Command input method 3 Pulse train input Resolver 2 Incremental Input supply voltage A 200 VAC Maximum output current capacity 15 15 Arms 30 30 Arms Driver Model EGA w Atthe time of shipment from the factory the driver has been set in the standard setting values Depending on the specifications of your system the system parameters and general parameters must be changed Remember to select proper settings for your system referring to the following sections System parameters Factory default standard settings Setting of parameters 2 Reference number of motor M PB 1 006 JN 001 Motor design serial number 001 Standard Resolver JN Incremental Maximum output torque 006 6 Nem 015 15 Nem 030 30 Nem 060 60 Nem Motor size code 1 Equivalent to motor O D of 4102 mm 3 Equivalent to motor O D of 6152 mm MEGATORQUE MOTOR PB series 1 Preface Composition of reference number of individual parts 3 Reference number of converter M ECC PB1006 GA 2 01 Converter design serial number 01 Standard Resolver 2 Incremental Driver code GA Driver Model EGA Motor code Converter Model ECC 4 Reference number of motor M CA 004 Ai 01 Design serial number 01 Standard A1 Standard Cable length 002 2 m 004 4 m 008 8 m M
61. 1 9 ACMON_0 01mV rad s Acceleration monitor 0 01mV rad s 1A ACMON 0 1mV rad s Acceleration monitor 0 1mV rad s 1B ACMON 1mV rad s Acceleration monitor 1mV rad s 1C ACMON_10mV rad s Acceleration monitor 10mV rad s Position command pulse frequency monitor 1 monitors Position command pulse before the Electronic gear Position command pulse frequency monitor 2 monitors Position command pulse after passing through the Electronic gear and Position command smoothing Y Position command pulse frequency monitor 1 2 will be generated in pulse state when the position command pulse is 10kHz or less When converting it to position command frequency use it after averaging The following low pass filters are placed into torque monitor acceleration monitor and load torque monitor Torque monitor 250Hz Acceleration monitor 250Hz Load torque monitor 20Hz 5 70 5 Operation Group A General output terminal output condition Monitor output selection Serial communication settings ID Contents Analog Monitor Output Polarity Setting range Unit Standard value MONPOL 00 to 08 00 MON1 MON2 M Select Output polarity of Analog monitor output MON1and MON2 For both MON1 and MONZ2 set from any of the followings No Polarity Rotation Polarity Rotation ABS Absolute Value Output Selection Contents MON1 Output positive voltage at CW Rotation
62. 1 monitor 02 WARNING2 Warning status 2 monitor pg 03 CONT8 1 General Purpose Input CONTE to 1 monitor 04 OUT8 1 General Purpose Output OUT8 to 1 monitor 05 a 06 VMON Velocity monitor min 07 VCMON Velocity command monitor min 08 TMON Torque monitor 09 TCMON Torque command monitor OA PMON Position deviation monitor Pulse OG APMON Present position Digital operator Displays upper data x27 Pulse 0D monitor encoder Digital operator Displays lower data Pulse OE OF E E 10 CPMON Command position Digital operator Displays upper data x2 Pulse 11 monitor Digital operator Displays lower data Pulse 12 5 a E 13 FMON1 Position command pulse frequency monitor k Pulse s 14 CSU U phase electric angle monitor deg 16 ABSPg Resolver PS data Digital operator Displays upper data x2 Pulse 17 monitor Digital operator Displays lower data Pulse 1A RegP Regenerative resistor operation percentage monitor 1B TRMS Effective torque monitor 1C ETRMS Effective torque monitor Estimated value 1D JRAT MON Load Inertia Moment Ratio monitor 1E KP MON Position Loop Proportional Gain monitor 1 s 1F TPI MON Position Loop Integral Time Constant monitor ms 20 KVP MON Velocity Loop Proportional Gain monitor Hz 21 TVI MON _ Velocity Loop Integral Time Constant monitor ms 22 TCFIL MON Torque Command Filter monitor Hz 23 MKP MON Model Control Gain monitor 1 s 24 ee Load Torque monitor Estim
63. 2 PC Communication CN1 Control signal I O Motor Ground terminals EN1 Position sensor M EGA 30A2301 50 CN2 PC Communication as CNB CN1 Motor m y Control signal I O Ground terminals EN1 Position sensor gt 9 Appendix Outline drawin 3 Converter M ECC PBxxxxGA201 CN 1 _Label CN2 Motor side Driver side 61 Material Steel Surface treatment Nickel plating 4 Motor cable Wiring table Connector motor side Connector driver side Pin number Pin number U 1 V 2 1 2 4 PE Round solderless terminal 9 9 9 Appendix Outline drawing 5 Converter Cable Converter side Signal Driver side Pin number Pin number 5VDC 1 5VRTN gt x COM 1 2 2 3 8 3 4 5 Do not connect Shell FG Shell 9 10 9 Appendix Optional parts 9 4 Optional parts The following optional parts are available 1 Connectors mM Connectors available as discrete components EN HESTER 10150 3000PE and Sumitomo 3M font For control signal PEREGO 10350 52A0 008 For connection to input power and M FAE0001 MSTBT2 5 8 STF 5 08LUB oo Contact regenerative resistor p M Connectors available as closed stock N1 CNA For control signal amp for connection to input M FAE0007 power and regenerative resistor 2 Mounting bra
64. 2 Change Gr B_IDO2 Acceleration threshold ACC and implement estimation of magnetic pole position 9 15 9 Appendix Supplementary items for usage Start of estimation of magnetic pole position Success Implement estimation of magnetic pole position Change Excitation Command Success Frequency setting 50 initial value 60 Ame Success 60 gt 70 Failure Success 70 gt 40 Failure Success 40 gt 30 Failure Set Excitation Command Frequency setting to initial 30 50 initial value Change Acceleration threshold to the upper limit value corresponding to the e Check the rigidity of the device load inertia moment Check if load inertia moment is within Is the Acceleration threshold set specifications to the upper limit value e Contact NSK Ltd 5 initial value to X Failure Completion of estimation of magnetic pole position Setting procedures for parameters of estimation of magnetic pole position 9 16 9 Appendix Supplementary items for usage Upper limit value of acceleration threshold of each motor are described below PB1006 Load inertia moment Load inertia moment ratio Upper limit value of kg0 m pe 0 026 1000 100 0 052 2000 58 0 078 3000 38 0 104 4000 29 0 130 5000 23 0 1
65. 2 switching without using input signal from the host unit e Set 15 VA OUT to Group9 ID13 Gain Switching Condition 1 GC1 e Set 00 Always Disable to Group9 ID14 Gain Switching Condition 2 GC2 e Set 50min arbitrary value to Group8 ID44 Speed Attainment High Speed setting VA VA setting value 50min Velocity R a Jilin gun deus tsa I 1 I i VA_OUT p VAN _ gt gt GAIN2 is valid while GAIN2 is valid while VA is below the GAIN1 is valid while VA is higher than VA is below the setting value the setting value setting value 5 60 5 Operation Group 9 Function enabling condition settings mM Group9 Functions enabling condition settings Functions ID Contents Setting Standard value enabled range E input time 00 CW Over Travel Function F OT 00 to 27 OD CONT6 OFF 20ms 01 CCW Over Travel Function R OT 00to 27 OB CONT5_OFF 20ms 02 Alarm Reset Function AL RST 00 to 27 10 CONT8 ON 20ms 04 Deviation Clear Function CLR 00 to 27 O8 CONT4 ON ims 05 Servo ON Function S ON 00 to 27 O2 CONT1 ON 20ms Position Command Pulse Inhibit Function Velocity OE CONT7 ON 11 Command Zero Clamp Function INH Z STP 0010 27 20ms 12 Electronic Gear Switching Function GERS 00 to 27 00 Always Di
66. 3 dB Freauencv Hz 0 62x fn j 1 62x fn Resonant frequency fn 5 39 5 Operation Group 2 FF Feed Forward vibration suppressor control Notch filter Disturbance observer settings ID Contents Torque Command Notch Filter A TCNFILA Setting range Unit Standard value 100 to 4000 Hz 4000 M Notch filter to eliminate sympathetic vibration element included in torque command Sets the resonant frequency Setting value varies depending on the setting of the system parameter ID00 Control Cycle Setting value can be input by 1 Hz inside the driver the units listed below are applied 20 Control Cycle Setting value Unit value inside driver S 100 to 1999 Hz Valid by 10Hz and drop less than 10 00 See ie 2000 to as tandard Sampling 4000 Hz Filter invalid High freq Sampling 100 to 3999 Hz Valid by 10Hz and drop less than 10 01 High Frequenc NE Al 4000 Hz Filter invalid This parameter is automatically saved by executing Notch filter tuning TCNFILA Low Frequency Phase Delay Improvement Setting range Unit Standard value TCNFPA 00 to 02 00 M Improves phase delay at lower frequency than resonant frequency of the Torque Command Notch Filter A e The larger the value is the greater the improvement amp Characteristic is same as the standard notch filter at the setting value 0 Caution other than the setting value 0 higher frequencies than t
67. 4 Recommended wire diameter The recommendation electric wire diameter used for driver is shown below m Input voltage 200 VAC Main circuit power Control Regeneration supply pene resistance ROSOT supply mm AWG No mm AWG No mm AWG No 1 25 16 1 25 16 1 25 16 2 0 14 The information in this table is based on rated armature current flowing through three bundled lead wires at ambient temperature of 40 C When wires are bundled or put into a wire duct take the allowable current reduction ratio into account At high ambient temperature service life of the wires becomes shorter due to heat related deterioration In this case use special heat resistant vinyl wire HIV KK 4 2 4 MWirin 5 6 Crimping of wires Insert the wire into ferrule and use a special tool to crimp it in Crimpin rocessin tightening torque Insert the ferrule deep into the connector and tighten it with a special minus screwdriver or something The recommended torque is 0 5 to 0 6 NOM Process 1 uN mr Process 3 m Model number of recommended ferrules and crimping tools for various wire sizes mm AWG Model number 0 75 19 Al0 75 8GY 1 0 18 Al1 8RD 1 5 16 Al1 5 8BK 2 5 14 Al2 5 8BU 10 4GY SN SK and crimping tool GY Gray RD Red BK Black BU Blue Crimping tool model number 0 25 to 6 mm CRIMPFOX UD 6 4 0 75 to 10 mm CRIMP
68. 5 890 0740 MONTREAL P 1 514 633 1220 VANCOUVER P 1 877 994 6675 Argentina NSK ARGENTINA SRL BUENOS AIRES P 54 11 4704 5100 Brazil NSK BRASIL LTDA SAO PAULO 3 P 55 11 3269 4786 BELO HORIZONTE P 55 31 3274 2591 JOINVILLE P 55 47 3422 5445 PORTO ALEGRE P 55 51 3222 1324 RECIFE P 55 81 3326 3781 Peru NSK PERU S A C LIMA P 51 1 652 3372 Mexico NSK RODAMIENTOS MEXICANA S A DE C V MEXICO CITY yr P 52 55 3682 2900 MONTERREY P 52 81 8000 7300 lt As of March 2014 gt For the latest information please refer to the NSK website www nsk com NSK Ltd has a basic policy not to export any products or technology designated as controlled items by export related laws When exporting the products in this brochure the laws of the exporting country must be observed Specifications are subject to change without notice and without any obligation on the part of the manufacturer Every care has been taken to ensure the accuracy of the data contained in this brochure but no liability can be accepted for any loss or damage suffered through errors or omissions We will gratefully acknowledge any additions or corrections For more information about NSK products please contact
69. 56 6000 19 0 182 7000 16 0 208 8000 14 0 234 9000 13 0 260 10000 12 PB3015 Load inertia moment Load inertia moment ratio Upper limit value of ko m 9 dado 0 14 1000 21 0 28 2000 11 0 42 3000 7 0 56 4000 5 0 70 5000 5 0 84 6000 5 0 98 7000 5 PB3030 Load inertia moment Load inertia moment ratio Upper limit value of ko m pe 0 16 1000 91 0 32 2000 50 0 48 3000 30 0 64 4000 16 0 80 5000 11 0 96 6000 11 1 12 7000 8 1 28 8000 8 PB3060 Load inertia moment Load inertia moment ratio Upper limit value of p acceleration threshold kg m rad s 0 21 1000 100 0 42 2000 80 0 63 3000 54 0 84 4000 41 1 05 5000 24 1 26 6000 19 1 47 7000 16 1 68 8000 13 1 89 9000 10 2 10 10000 10 2 31 11000 9 2 52 12000 7 2 73 13000 7 2 94 14000 7 MEGATORQUE MOTOR SYSTEM Driver Model EGA User s Manual Document Number C20191 02 April 25 2014 1st Edition December 19 2014 2nd Edition NSK Ltd Worldwide Sales Offices P Phone yr Head Office NSK LTD HEADQUARTERS TOKYO JAPAN INDUSTRIAL MACHINERY BUSINESS DIVISION HEADQUARTERS P 81 3 3779 7227 AUTOMOTIVE BUSINESS DIVISION HEADQUARTERS P 81 3 3779 7189 Africa South Africa NSK SOUTH AFRICA PTY LTD JOHANNESBURG P 27 11 458 3600 Aisia and Oceania Australia NSK AUSTRALIA PTY LTD MELBOURNE vr P 61 3 9765 4400 SYDNEY P 61 2 8843 8100 BRISBANE P 61 7 3347 2600 PERTH P 61 8 9256 5000 New Zealand NSK NEW ZEALAND
70. 7 pulse by monitoring motor position using Monitor_ID80 Resolver sensor electric angle RESANG Home QQ Middle point i Riselup of 157 phase signal S Sui Home sensor CF Z phase signal CN ar Motor angle 4 5 Read out RESANG Pulse 0 65535 Home sensor turn off position 9 14 9 Appendix Supplementary items for usage 2 Setting procedures for parameters of magnetic pole position estimation Magnetic pole position estimation is necessary every time at start up of driver model EGA For the following cases set the parameters of Gr B_IDO1 Excitation Command Frequency setting EMPFREQ and Gr B 1D02 Acceleration threshold ACC which are relating to the estimation of magnetic pole position suitable for each device Check items when estimation of magnetic pole position does not complete correctly Unbalanced load or external force is applied to the motor Rigidity of device mounting base load installation is low Load inertia moment exceeds the specification of allowable load inertia moment Gr B_IDO1 Excitation Command Frequency setting EMPFREQ is close to the resonance point of the device e Combination of motor and converter is not appropriate Procedures for setting the parameters when alarm of Estimation of magnetic pole position error occurs 1 Change Gr B_IDO1 Excitation Command Frequency setting EMPFREQ and implement estimation of magnetic pole position
71. 80 0 54 Model Control Antiresonance Frequency 4 Setting range Unit Standard value ANRFRQ4 10 0 to 80 0 Hz 80 0 M Sets antiresonance frequency of the mechanical device with Model following vibration suppressor control Select from Model Vibration Suppressor Frequency Select Input 1 or 2 Setting value is invalid with Model following control Vibration suppressor is invalid when it is set over the value of Model Control Resonance Frequency This is not overwritten by System Analysis function Setting by using system analysis function cannot be performed Change value while the motor is OFF 51 Model Control Resonance Frequency 2 Setting range Unit Standard value RESFRQ2 10 0 to 80 0 Hz 80 0 53 Model Control Resonance Frequency 3 Setting range Unit Standard value RESFRQ3 10 0 to 80 0 Hz 80 0 55 Model Control Resonance Frequency 4 Setting range Unit Standard value RESFRQ4 10 0 to 80 0 Hz 80 0 M Sets resonance frequency of the mechanical device with Model following vibration suppressor control Select from Model Vibration Suppressor Frequency Select Input 1 or 2 Setting value is invalid under Model following control Vibration suppressor control becomes invalid at the setting value 80 0 Hz This is not overwritten by System Analysis function Setting by using system analysis function cannot be performed Change value while the motor is OFF 5 46 5 Operation Group 5 High setting control settings M G
72. 8400bps 03 to 06 22 RSPWAIT net start sending response ne 0 to 500 30 MONDISP Monitor Display Selection 00 STATUS E 00 to 26 5 27 5 Operation Group 0 Settings for Auto Tuning M General parameters GroupB Sequence Alarms related settings ID Symbol Name Standard value Unit Setting range 00 JOGVC JOG Velocity Command 50 min 0 to 32767 01 en Excitation Command Frequency setting 50 Hz 300 70 02 ACC Acceleration threshold 5 rad s 20 100 10 DBOPE Dynamic Brake Operation 03 DB_DB 00 to 05 00 CMDINH_ 11 ACTOT Over Travel Action SB SON 00 to 06 00 DYNAMIG 12 ACTEMR Emergency Stop Operation BRAKE 00 to 01 Delay Time of Engaging Holding Brake 13 BONDLY Holding Brake Holding Delay Time 300 ms 0 t0 1900 Delay Time of Releasing Holding Brake AN BOLDEN Holding Brake Release Delay Time 209 ms 0 101000 15 BONBGN Brake Operation Beginning Time 10000 ms 0 to 65535 16 PFDDLY Power Failure Detection Delay Time 32 ms 20 to 1000 Waiting Time for Completion of Initial ai e Verification 17 INTTIM Processing 00 Disabled required 19 POFFDLY Power off Detection Delay Time 0 ms og 1000 20 OFWLV Excessive Deviation Warning Level 2147483647 pulse 1 to 2147483647 21 OFLV Deviation Counter Overflow Value 5000000 pulse 1 to 2147483647 22 OLWLV Overload Warning Level 90 20 to 100 Velocity Feedback Alar
73. ALE JE S gt Issued when control power supply is turned ON Corrective actions Investigation and corrective actions M Selected value is outside the M Confirm the model number of the driver specified range for a system Turn ON the control power again and parameter confirm that alarm is cleared M Defect in internal circuit of driver m Replace the driver m Alarm Code E6 System Parameter Error 2 JE He oe ste te niet Issued when control power supply is turned ON Corrective actions M Selected values of system parameters and actual hardware do not match M Confirm the reference number of the driver M Turn ON the control power again and confirm that alarm is cleared M Improper assembly of system parameter settings M Defect in internal circuit of driver m Replace the driver 8 24 8 Maintenance Trouble shooting when alarm activated m Alarm Code E7 Motor Parameter Error 34 34 34 at 3t ALLE EE Issued when control power supply is turned ON Status at the time of alarm amp Corrective actions Cause Investigation and corrective actions f control power supply is re switched on 1 m Correct value piel read by CPU by and alarm recurs after re setting a motor EEPROM built in driver parameter replace the driver 2 m FatedtowrieinomeEEPROM MF power sure re seais when changing motor parameter ng parameter replace the driver m Alarm Code EE Motor Parameter Auto
74. After Filter M Select in position signal INP and Position deviation monitor output before and after passing through the Position Command Filter For 00 After Filter use the Position deviation value of the Position controller For 01 Before Filter use the Position deviation value based on Position command before FF vibration suppressor control With system parameter IDOA Position Control Selection at 01 Model 1 Model Following Control or 02 Model 2 Model Following Vibration Suppress Control 01 Before Filter always operates no matter the selection Selection Contents Compare Position command value with Feedback value after o9 Aer Tiller passing through the filter 01 Before Filter Compare Position command value with Feedback value before 18 Ope TIe passing through the filter o z W Q D 9 S G T D 2 o 2 gt D S T f 2 re aa FF vibration Position Position se ao pE Se suppressor command gt Model control smoothing control filter Position loop encoder 5 51 5 Operation Group 8 control system settings ID Contents Deviation Clear Selection Setting range Unit Standard value CLRSEL 00 to 03 00 Type1 mM Sets ON OFF of position deviation clear during servo OFF and deviation clear signal treatment Selects operation during servo OFF Deviation clear Deviation NOT clear Selects deviatio
75. Analog monitor output 1 is also output from CN1 pin30 M Selection of output signal Select and change the output signal to be used from the parameters list below General parameters GroupA ID10 DMON Digital Monitor Output Signal Selection General parameters GroupA ID11 MON1 Analog Monitor Select Output 1 General parameters GroupA ID12 MON2 Analog Monitor Select Output 2 5 22 5 Operation Parameters list 5 7 Setting parameters 1 Parameters list Below is the parameters list Groups in ID order are classified System parameters General parameters and Motor parameters are retained in the driver by keeping the parameter back up function in effect for restoration of the parameter s as needed M General parameters group list Group Classification of the parameters in this group GroupO Auto tuning settings Group1_ Basic control parameter settings Group2 FF feed forward vibration suppressor control Notch filter Disturbance observer settings Group3 Model following control settings Group4 Gain switching control Vibration suppressor frequency switching settings Group5 High setting control settings Group8 Control system settings Group9 Function enabling condition settings General output terminal output condition Monitor output selection Serial communication settings GroupB Sequence alarm related settings GroupC Encoder related settings vw Parameters vary depending on the driver
76. CHARGE LED goes out M internal power circuit of driver is defective so replace the driver M Stop the input of Over travel Over travel status M Stop the input of Emergency Stop Emergency Stop status M Check of Functions enabling condition settings 7 segment LED is blinking displaying E oe Magnetic Pole Position Estimation 7 segment LED lights up continuously dn In displaying O lower half Ml Magnetic Pole Position Estimation signal stays ON M 7 segment LED displays a rotating character 8 Servo ON status but motor does not rotate Investigation Assumed causes and corrective actions Check the command is inputted or not by a digital operator s monitor Page07 Velocity command monitor VCMON Page09 Torque command monitor TCMON Page13 Position command pulse frequency monitor FMON1 Check the servo motor is locked or not M Check that the power line of a motor is connected M Since torque restrictions are inputted a motor cannot output the torque beyond the load torque M Check of Functions enabling condition settings Enter deviation clear to check if process is er Y When performing the work for correction processing be sure to intercept power supply milf the value of a monitor is zero input a command Check if torque limit is input M Rotations of motor are unstable and less than the specified velocity command Investigation Assumed causes and corrective acti
77. CMDINH SB SON M Select operations at over travel action Selection Contents When in Over travel action Command input is invalid and servo brake stops motor og CMDINH PEN After motor stops servo is ON command at OT side velocity limit command 0 When in Over travel action Command input is invalid and dynamic brake stops motor After motor stops servo is ON command at OT side velocity limit command 0 When in Over travel action Command input is invalid and Free run is operated 11 2 CMP Ih Free SON After motor stops servo is ON command at OT side velocity limit command 0 When in Over travel action Command input is invalid and 03 CMDINH_SB_SOFF servo brake stops motor After motor stops servo is OFF When in Over travel action Command input is invalid and 04 CMDINH_DB_SOFF dynamic brake stops motor After motor stops servo is OFF When in Over travel action Command input is invalid and 05 CMDINH_Free_SOFF Free run is operated After motor stops servo is OFF 06 CMDACK VCLM 0 When in Over travel action Command input to the Over travel side is 0 01 CMDINH DB SON Torque limit value to stop motor by servo brake is the setting value of sequence Torque limit Emergency Stop Operation Setting range Unit Standard value ACTEMR 00 to 01 01 DYNAMIC BRAKE M Sets operation at Emergency Stop From the following contents select
78. DB_SON stops Command from either positive or negative direction in which OT occurs command disabled velocity limit command 0 02 CMDINH_Free_SON Command input is disabled and motor is free running when OT occurs Servo is turned on after motor stops Command from either positive or negative direction in which OT occurs command disabled velocity limit command 0 03 CMDINH_SB_SOFF stops Command input is disabled and motor servo braking when OT occurs Servo is turned off after motor is stopped by 04 CMDINH_DB_SOFF stops PC is inhibited and Dynamic Braking is performed After stops S OFF is operated Command input is disabled and motor dynamic braking when OT occurs Servo is turned off after motor is stopped by 05 CMDINH_Free_SOFF Command input is disabled and motor is free running when OT occurs Servo is turned off after motor stops 06 CMDACK_VCLM 0 Velocity limit command to the equipment on which OT occurs becomes zero when OT occurs 4 Stop motor by servo braking when OT occurs When selecting 00 CMDINH SB SON or 03 CMDINH SB SOFF servo brake is working can be set by sequence operation torque limit value torque value when Group ID Symbol Description 8 39 SQTCLM Sequence operation torque limit value V When setting the value over the maximum output torque Tp of motor combined the t
79. Displays generic input terminal status It will be in a photo coupler exciting state by 1 or ON Bit 3 2 1 0 03 Function CONT4 CONT3 CONT2 CONT1 Bit 7 6 5 4 Function CONT8 CONT7 CONT6 CONT5 General Purpose Output OUT8 to 1 monitor OUT8 1 M Displays generic output terminal status It will be in a photo coupler exciting state by 1 or ON Bit 3 2 1 0 04 Function OUT4 OUT3 OUT2 OUT1 Bit 7 6 5 4 Function OUT8 OUT7 OUT6 OUT5 05 E Do not set 5 18 5 Operation Monitor function Refer to the following charts for the display format of ID01 to 05 as setup software and Digital Operator have different indicators M Display of the setup software Bit 7 6 5 4 3 2 1 0 0 or 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 M Display of the Digital operator Bit 7 6 5 4 3 2 1 0 ON la 1 i 1 1 OFF J J LED4 LED3 LED2 LED1 na 0 1 El HEHE Digital operator at the front of the Driver ID Contents Velocity monitor VMON M Displays the rotation speed of the motor 06 Display range Unit 9999 to 9999 min Velocity command monitor VCMON M Displays the velocity command value 07 Display range Unit 9999 to 9999 min 1 Torque monitor TMON M Displays the output torque 08 Display range Unit 499 9 to 499 9 Torque command monitor TCMON M Displays the torque command va
80. FOX UD Manufactured by Phoenix Contact The procedures above are recommendations Consider the use of equivalent products for both ferrule High voltage circuit terminal tightening torque Terminal marking CNA 0 5 to 0 6 NOM 1 18 NOM M4 screw size 4 3 4 Wiring Wiring with host unit Wiring with Host Unit CN1 signal and pin number wiring with host unit 4 2 1 m CN1 terminal sequence F PC 3 313 81 71 AIATZ Big S 18 alge JE Fis g ala sE 4 mL N N EHHE OD N O pi Cp m t wo En lt ee N wo i dead pH La ero 4 4 E B Era Fe Ha o o et La zu Et strek rele Des rad HsHsH2Hs8 28 Rl RNIN BI Bl alls 4 Wiring Wiring with host unit 2 CN1 connector disposition m CN1 10150 3000PE Soldered side 3 Signal name and its function Terminal Signal ren Terminal er Sukker here Description numb r Signal name Description 1 NC NC 30 MON1 Analog monitor output 2 NC NC 31 SG Common for pin 30 Position Command Pulse Function shutdown at 3 AO A phase pulse output 13 CONT7 Zero Velocity Function Position Command Pulse wee li OB ee IA cae ae Function shutdown at 4 AO A
81. GAIN4 FF vibration suppression frequency selecting input 1 SUPFSEL1 FF vibration suppression frequency selecting input 2 SUPFSEL2 E 4 types of FF vibration suppression frequency can be used by switching them Allocating conditions to enable FF vibration suppression frequency selecting input You can switch FF vibration suppression frequency 1 to 4 by combination of SUPFSEL1 and SUPFSEL2 setting SUPFSEL1 FF vibration suppression Invalid Valid Invalid Valid 15 frequency selecting input 1 16 SUPFSEL2 FF vibration suppression Invalid Invalid Valid Valid frequency selecting input 2 y y y y FF vibration FF vibration FF vibration FF vibration Vibration suppression becoming valid suppression suppression suppression suppression frequency 1 frequency 2 frequency 3 frequency 4 Group 2 ID00 Group 4 1D40 Group 4 1D41 Group 4 ID42 17 Position loop proportional control switching function PLPCON M You can switch between position loop PI control and P control Enabling position loop proportional control switching function PLPCON enable switching Allocating conditions to enable position loop proportional control switching function When PLPCON signal enabled the control is switched to proportional control e Pl control proportional integral control Position loop proportional gain KP integral time constant TPI e P control proportional control
82. Group5 High setting control setting ID Symbol Name 00 CVFIL Command Velocity Low pass Filter 01 CVTH Command Velocity Threshold 02 ACCCO Acceleration Compensation 03 DFCCO Deceleration Compensation 4 Unstable functions during auto tuning The following functions CANNOT be used during auto tuning m General parameters Group9 Function enabling condition settings ID Symbol Name 13 GC1 Gain Switching Condition 1 14 GC2 Gain Switching Condition 2 17 PLPCON Position Loop Proportional Control Switching Function 26 VLPCON Velocity Loop Proportional Control Switching Function M General parameters Group1 Basic control parameter setting ID Symbol Name 04 TRCPGN Higher Tracking Control Position Compensation Gain 16 AFBK Acceleration Feedback Gain Vv Disturbance observer cannot be used together with auto tuning at the same time Render Disturbance observer function invalid when auto tuning is used 6 Adjustments Automatic tuning 5 Auto tuning characteristic selection flowchart Start tuning Automatic Tuning JRAT Manual Setting Set tuning mode 01 AutoTun JRAT Fix Use temporary value of JRAT1 SRAT IS known Applied inertia Temporary setting value of JRAT1 Small 1000 Large 5000 Set JRAT1 Are there any problems with response or setting time Yes No Match the charac
83. I MON 21 m Displays actual Velocity Loop Integral Time Constant Value can be confirmed when changing gain and at Auto tuning function Torque Command Filter monitor TCFIL MON 22 Displays actual Torque Command Filter Value can be confirmed when changing gain and at Auto tuning function Model Control Gain monitor MKP MON 23 m Displays actual Model Control Gain Value can be confirmed when changing gain and at Auto tuning function Load Torque monitor Estimate value MTLMON EST M Displays estimated value of load torque 24 Display range Unit 499 9 to 499 9 Driver operation time OPE TIM M ls counted during period control power is being turned on The time is displayed value x 2 hours 25 Unit x2 hour Acceleration monitor ACCMON M Indicates motor acceleration Setup software displays values in decimal notation Display range Unit 26 2147483648 to 2147483647 rad s e Digital operator displays values in hexadecimal notation ID Data range Display range Unit 26 Bit31 to BitO H FFFF L FFFF to H 0000 L 0000 rad s RESANG M Resolver sensor electric angle RESANG 80 Reports Resolver sensor electric angle Data range unit 0 to 65535 pulse 5 6 Analog monitor and digital monitor All signals and internal status of the driver can be monitored
84. LTD AUCKLAND P 64 9 276 4992 China NSK HONG KONG LTD HONG KONG vr P 852 2739 9933 SHENZHEN P 86 755 25904886 NSK SHANGHAI TRADING CO LTD JIANGSU P 86 512 5796 3000 NSK CHINA INVESTMENT CO LTD JIANGSU yr P 86 512 5796 3000 BEIJING P 86 10 6590 8161 TIAN JIN P 86 22 8319 5030 CHANGCHUN P 86 431 8898 8682 SHENYANG P 86 24 2334 2868 DALIAN P 86 411 8800 8168 NANJING P 86 25 8472 667 1 FUZHOU P 86 591 8380 1030 WUHAN P 86 27 8556 9630 QINGDAO P 86 532 5568 3877 GUANGZHOU P 86 20 3817 7800 CHANGSHA P 86 731 8571 3100 LUOYANG P 86 379 6069 6188 XI AN P 86 29 8765 1896 CHONGQING P 86 23 6806 5310 CHENGDU P 86 28 8528 3680 NSK CHINA SALES CO LTD JIANGSU P 86 512 5796 3000 India NSK INDIA SALES CO PVT LTD CHENNAI vr P 91 44 2847 9600 GURGAON P 91 124 4104 530 MUMBAI P 91 22 2838 7787 Indonesia PT NSK INDONESIA JAKARTA P 62 21 252 3458 Korea NSK KOREA CO LTD SEOUL P 82 2 3287 0300 Malaysia NSK BEARINGS MALAYSIA SDN BHD SHAH ALAM vr P 60 3 7803 8859 PRAI P 60 4 3902275 JOHOR BAHRU P 60 7 3546290 IPOH P 60 5 2555000 Philippines NSK REPRESENTATIVE OFFICE MANILA P 63 2 893 9543 Singapore NSK INTERNATIONAL SINGAPORE PTE LTD SINGAPORE P 65 6496 8000 NSK SINGAPORE PRIVATE LTD SINGAPORE P 65 6496 8000 Taiwan TAIWAN NSK PRECISION CO LTD TAIPEI vr P 886 2 2509 3305 TAICHUNG P 886 4 2708 3393 TAINAN P 886 6 505 5861 TAIWAN
85. MC certification For the installation requirements in our company the verification test is implemented by the following installations and measures methods as machines and configurations differ depending on customers needs This servo amplifier has been authorized to display CE marking based on the recognition certificate issued by a certifying authority Customers are instructed to perform the final conformity tests for all instruments and devices in use 3 phase single phase AC200V L Name Remarks Control panel Servo amplifier Servo motor Noise filter HF3030C UQA SOSHIN ELECTRIC Co Ltd Rated i Recommended prevention voltage rated armature current Line Line 480V AC 30A components ii Surge absorber Recommended prevention LT C32G801WS SOSHIN ELECTRIC Co Ltd components iii Clamp grounding gt iv Encoder cable Shielded cable v_ Servo motor power cable Shielded cable om gt lt vw Use metallic materials for the door and main body of control panel vw Use EMI gasket so that there is zero clearance between the door and control panel Install EMI gasket uniformly to the contact points between door and main body of control panel to confirm their conductivity Ground noise filter frame to control panel Use shield cables for motor power line and encoder cable Clamp grounding of shield at the frame of control panel and equipment VY Use conducting metal P c
86. Mode Selection Description 00 Standard Standard 01 Model1 Model Following Control 02 Model2 Model Following Vibration Suppress Control M Under the following parameter settings Model Flowing Control and Model Following Vibration OA Suppressor Control are not valid System parameter ID00 Control Cycle is set as follows Present setting value Description 01 High freq Sampling High Frequency Sampling System parameter IDO9 Control Mode Selection is not set as follows Present setting value Description 02 Position Position Control Mode 4 Confirmation and settings of the system parameters settings for encoder specification Factory use only Do not change parameter setting value Serial encoder resolution M Set the divisions per single 1 shaft rotation 05 v When automatic motor parameter setting function 7 15 is executed it is automatically updated 50 Factory default setting values The following chart shows the default factory parameter settings ID Name Setting value 00 Control Cycle 00 Standard_Sampling 01 Main Circuit Power Input Type 00 AC_3 Phase 02 Regenerative Resistor Selection 00 Not Connect 05 Serial Encoder Resolution 08 524288 FMT vw By performing parameter backup function you can save System Parameters General parameters and Motor P
87. N E EE IEN E AIA a T N 3 9 3 Installation Driver 3 1 Driver 1 Precautions When installing please be sure to protect the following precautions M Various precautions The device should be installed on non flammable surfaces only Installation on or near flammable materials can cause fire Do not stand and put heavy items on the driver Operate the device within the specified environmental conditions Do not drop the device or subject it to excessive shock Make sure no screws or other conductive or flammable materials get inside the driver Do not obstruct the air intake and exhaust vents The attachment direction should be observed strictly Please contact our office if the driver is to be stored for a period of 3 years or longer The capacity of the electrolytic capacitors decreases during long term storage Any damaged parts and parts with the mounting parts have been damaged shall be fixed by returning to our company immediately M l enclosed in a cabinet The temperature inside the cabinet can exceed the external temperature depending on the power consumption of the device and the size of the cabinet Consider the cabinet size cooling and placement and make sure the temperature around the driver does not exceed 55 C For longevity and reliability purposes it is recommended to keep the temperature below 40 C M lfthere is a vibration source nearby Protect the driver from vibrati
88. NSK TECHNOLOGY CO LTD TAIPEI vr P 886 2 2509 3305 TAICHUNG P 886 4 2358 2945 TAINAN P 886 6 505 5861 Thailand NSK BEARINGS THAILAND CO LTD BANGKOK P 66 2320 2555 Vietnam NSK VIETNAM CO LTD HANOI P 84 4 3955 0159 NSK REPRESENTATIVE OFFICE HO CHI MINH CITY P 84 8 3822 7907 Europe United Kingdom NSK EUROPE LTD EUROPEAN HEADQUARTERS MAIDENHEAD P 44 1628 509 800 NSK UK LTD NEWARK P 44 1636 605 123 France NSK FRANCE S A S PARIS P 33 1 30 57 39 39 Germany NSK DEUTSCHLAND GMBH DUSSELDORF vr STUTTGART WOLFSBURG Italy NSK ITALIA S P A MILANO P 39 299 5191 Netherlands NSK EUROPEAN DISTRIBUTION CENTRE B V TILBURG P 31 13 4647647 Poland NSK REPRESENTATIVE OFFICE WARSAW 49 2102 4810 49 711 79082 0 49 5361 27647 10 TUD P 48 22 645 1525 Russia NSK POLSKA SP Z 0 0 SAINT PETERSBURG Spain NSK SPAIN S A BARCELONA Turkey NSK RULMANLARI ORTA DOGU TIC LTD STI ISTANBUL P 90 216 477 7111 UAE NSK BEARINGS GULF TRADING CO DUBAI North and South America United Sates of America NSK AMERICAS INC AMERICAN HEADQUARTERS P 7 812 332 5071 P 34 93 433 5775 P 971 4 804 8200 ANN ARBOR P 1 734 913 7500 NSK CORPORATION ANN ARBOR P 1 734 913 7500 NSK PRECISION AMERICA INC FRANKLIN vr P 1 317 738 5000 SAN JOSE P 1 408 944 9400 NSK LATIN AMERICA INC MIAMI P 1 305 477 0605 Canada NSK CANADA INC TORONTO yr P 1 90
89. OBLPF 1 to 4000 Hz 50 M First low pass filter to eliminate high frequency elements included in the observer compensation Sets the cutoff frequency e The larger the value is the faster the response of disturbance observer suppression 32 However it may cause a louder driving sound depending on the ripple components included in disturbance observer output e Filter is invalid at the setting value more than 2000 Hz Filter is invalid when observer characteristic is set to 01 Middle For Middle Frequency or 02 High For High Frequency Observer Output Notch Filter Setting range Unit Standard value OBNFIL 100 to 4000 Hz 4000 Notch filter to eliminate arbitrarily selected frequency from observer compensation Sets the resonant frequency When resonance appears in disturbance observer output such as sympathetic vibration with the mechanical system this notch filter sometimes suppresses the vibration Setting value can be input by 1 Hz inside the driver the units listed below are applied Setting value Unit value inside the driver 100 to 1999 Hz Valid by 10 Hz and drop less than 10 2000 to 4000 Hz Filter invalid Gain dB 3 dB Freauencv Hz 0 62 x fn 1 62x fn Resonant frequency fn 5 42 5 Operation Group 3 Model following control settings M Groups Model following control settings ID Contents Model Con
90. OE VLC ON OF VLC OFF While Low Speed Status 10 LOWV ON 11 LOWV OFF While Speed Attainment Status 12 VA ON 13 VA OFF While Speed Matching Status 14 CMP ON 15 CMP OFF While Speed Zero Status 16 ZV ON 17 ZV OFF While Command Acceptance 1C CMD ACK_O 1D CMD ACK_OF Permission Status N F While Gain Switching Status 1E GC ACK_ON 1F GC ACK OFF While Velocity Loop Proportional 20 PCON ACK_O 21 PCON ACK_O Control Switching Status N FF While Electronic Gear Switching 22 GERS ACK O 23 GERS ACK_O Status N FF While Control Mode Switching Status 24 MS ACK ON 25 MS ACK OFF While CW Over Travel Status 26 F OT ON 27 F OT OFF While CCW Over travel Status 28 R OT ON 29 R OT OFF While Main Circuit Power Supply 4A CHARGE ON 4B CHARGE OFF Charging While Dynamic Braking 4C DB OFF 4D DB ON While Magnetic Pole Position 4E CSETCMP_O 4F CSETCMP OF Estimation Completion N F While Torque Attainment Status 5E TA ON 5F TA OFF While Magnetic Pole Position 68 CSETRDY ON 69 CSETRDY OF Estimation Ready F 5 68 5 Operation Group A General output terminal output condition Monitor output selection Serial communication settings When Positioning signal is to be output Command 0 Status While In Position Status 18 INP ON 19 INP OFF While Near Range Status 1A NEAR ON 1B NEAR OFF While In Position with Position 5A INPZ ON 5B INPZ OFF When Warning signal is to be out ut While Excessive Deviation Warning Sta
91. Output positive negative voltage MON2 Output positive voltage at CW Rotation Output positive negative voltage MON1 Output negative voltage at CW Rotation Output positive negative voltage MON2 Output positive voltage at CW Rotation Output positive negative voltage MON1 Output positive voltage at CW Rotation Output positive negative voltage MON2 Output negative voltage at CW Rotation Output positive negative voltage MON1 Output negative voltage at CW Rotation Output positive negative voltage MON2 Output negative voltage at CW Rotation Output positive negative voltage MON1 Output positive voltage at CW and CCW Rotation MON2 Output negative voltage at CW Rotation Output positive negative voltage MON1 Output positive voltage at CW and CCW Rotation MON2 Output negative voltage at CW Rotation Output positive negative voltage MON1 Output positive voltage at CW Rotation Output positive negative voltage MON2 Output positive voltage at CW and CCW Rotation MON1 Output negative voltage at CW Rotation Output positive negative voltage MON2 Output positive voltage at CW and CCW Rotation MON1 Output positive voltage at CW and CCWRotation MON2 Output positive voltage at CW and CCW Rotation 00 MON1 MON2 01 MON1 MON2 02 MON1 MON2 03 MON1 MON2 04 MON1ABS MON2 13 05 MON1ABS MON2 06 MON1 MON2ABS 07 MON1 MON2ABS 08 MON1ABS MON2ABS
92. Position command Maximum input pulse 5 Mpps CW CCW pulse Code Pulse frequency 1 25 Mpps 90 phase difference two phase pulse Position CW CCW command pulse command Input pulse form Code Pulse train command or 90 phase difference two phase pulse train command N D N 1 to 2097152 D 1 to 2097152 however 1 2097152 N D 2097152 Electronic gear e Position command timing CW move pulse train CCW pulse train F PC cae Boe ETT RPC SoS o o DERA Stage up time t1 lt 0 1 us Stage down time t2 lt 0 1 us Duty t3 T x100 50 Change of pulse time ts1 gt 2 us Pulse trains with 90 phase difference F PC R PC Stage up time t1 lt 0 1 us Stage down time t2 lt 0 1 us Duty t3 T x100 50 Minimum phase difference between pulse edges t4 t50 6 t7 gt 250 ns Code Pulse train F PC R PC Stage up time t1 lt 0 1 us Stage down time t2 lt 0 1 us Duty t8 T x100 50 Change of pulse time ts1 ts2 ts3 gt 2 us 2 4 2 Specifications Driver Position feedback signal output Al feedback N 32768 N 1 to 32767 1 N N 1 to 64 or 2 N N 3 to 64 General input Interactive photo coupler sink source connection x6 input Line receiver x2 input Input power voltage range 5 VDC 5 12 to 24 VDC 10 100 mA
93. Process Error Serial Encoder Internal Error 0 Serial Encoder Internal Error 2 Serial Encoder Internal Error 3 Serial Encoder Internal Error 4 Serial Encoder Internal Error 10 Serial Encoder Internal Error 12 Serial Encoder Internal Error 13 Serial Encoder Internal Error 14 Serial Encoder Internal Error 15 Alarm contents M Encoder serial signal time out M Serial communication data error M Abnormality in initial process of serial converter M Converter failure M Accelerate error HM Over speed error M Access error of converter internal EEPROM M Position Data Error M Converter initialization error M Converter supply voltage abnormality M Resolver Abnormality Resolver disconnection or short Detection Operations DB Alarm list 8 5 8 Maintenance Alarm list Alarm code 3 bits output Alarm name Alarm contents Detection Alarm cs ANA Clear O Over speed Over speed E dic rotation speed is 120 more than the highest speed Velocity Control Error M Torque command and acceleration direction are not matching AER k lt lt Velocity Feedback Error Mm Motor power disconnection Note 4 DB v Model tracking vibration suppression control g Machine cycle time is not match with model tracking vibration enor sup pression control Excessive Postion Deviation ___ m_ Position Deviation exceeds setupvalue 1 DB 1 V Faulty Position Command Pulse Frequency 1 Frequency of entered p
94. QTCLM Sequence Operation Torque Limit Value 120 0 10 0 to 500 0 3B TASEL Torque Attainment select 00 00 to 01 3C TA Torque attainment 100 0 0 0 to 500 0 3D TLMREST eigde of torque limit value restoration when power 10 0 0 0 to 500 0 Torque Addition Command during Holding Brake Release E 3E BDLY_TCMP Action Delay Time 0 0 100 0 to 100 0 1to 40 NEAR Near Range 500 Pulse 2147483647 i i 1to 41 INP In Position Window 100 Pulse 2147483647 42 ZV Speed Zero Range 50 min 50 to 500 43 LOWV Low Speed Range 50 min 0 to 6553 5 44 VA Se as Setting High Speed 1000 min 0 to 6553 5 45 VCMPUS Speed Matching Unit Selection 00 min 00 to 01 46 VCMP Speed Matching Range 50 min 0 to 6553 5 47 VCMPR Speed Matching Range Ratio 5 0 0 0 to 100 0 5 26 5 Operation Parameters list M General parameters Group9 Function enabling condition settings ID Symbol Name Standard value pea 00 F OT CWOver Travel Function OD CONT6 OFF 00 to 27 01 R OT CCW Over Travel Function OB CONT5 OFF 00 to 27 02 AL RST Alarm Reset Function 10 CONT8 ON 00 to 27 04 CLR Deviation Clear Function 08 CONT4 ON 00 to 27 05 S ON Servo ON Function 02 CONT1 ON 00 to 27 er MEET OEGONTT ON 0010327 12 GERS Electronic Gear Switching Function 00 Always Disable 00 to 27 13 GC1 Gain Switching Condition 1 00 Always Disable 00 to 27 14 GC2 Gain Switching C
95. The value of leaked current is the measured value using ordinary leak checkers Filter 700 Hz When electric leakage current of high frequency flows through the floating capacity of the motor winding power cable or driver malfunctions may occur in the short circuit breaker and protective relay in the power supply electric circuit Use the inverter as an electricity leakage breaker to provide countermeasures for incorrect operations 2 Specifications Output of position feedback signal 2 4 Position feedback signal 1 Position feedback signal output Driver outputs 90 phase difference two phase pulse phase A phase B and resolver pulse phase Z Pulse output can change the division ratio by parameter Set the general parameter Group C ID04 Encoder Output Pulse Division O Output signal A phase pulse output A0 A0 outputs from CN1 3 pin 4 pin O Output signal B phase pulse output BO BO outputs from CN1 5 pin 6 pin O Output signal Z phase output Z0 ZO outputs from CN1 7 pin 8 pin Output signal under CW rotation FOWE CONIO o Phase B is advanced 90 more than Phase A ON i i e gt Phase A pulse Phase B pulse Phase Z pulse mr Der Max2 s The signal is indefinite for 2 s after booting eo Positions feedback signal output delays about 224 us Phase Z output is 80 times in motor 1 rotation based on rise up or rise down edge of Phase A or Phas
96. V min Velocity Command Monitor 1mV min 09 VCMON_2mV min Velocity Command Monitor 2mV min OA VCMON 3mV min Velocity Command Monitor 3mV min 0B PMON 0 01mV P Position Deviation Counter Monitor 0 01mV Pulse OG PMON 0 1mV P Position Deviation Counter Monitor 0 1mV Pulse O0D PMON 1mv P Position Deviation Counter Monitor 1mV Pulse OE PMON 10mV P Position Deviation Counter Monitor 10mV Pulse OF PMON_20mV P Position Deviation Counter Monitor 20mV Pulse 10 PMON 50mV P Position Deviation Counter Monitor 50mV Pulse Position Command Pulse Frequency 11 FMON1_2mV kP s Monitor 1 Position Command Pulse 2mV kPulse s Input Frequency Position Command Pulse Frequency 12 FMON1_10mV kP s Monitor 1 Position Command Pulse 10mV kPulse s Input Frequency 13 FMON2_0 05mV kP s Position Command Pulse Frequency Monitor 2 Position Command Pulse Frequency for Position Control 0 05mV kPulse s 14 FMON2_0 5mV kP s Position Command Pulse Frequency Monitor 2 Position Command Pulse Frequency for Position Control 0 5mV kPulse s Position Command Pulse Frequency 15 FMON2_2mV kP s Monitor 2 Position Command Pulse 2mV kPulse s Frequency for Position Control Position Command Pulse Frequency 16 FMON2_10mV kP s Monitor 2 Position Command Pulse 10mV kPulse s Frequency for Position Control j Load Torque Monitor 17 TLMON_EST_2V TR Estimated Value 2V Rated torque 18 Sine U U Phase Electronic Angle Sin 8Vpeak
97. VY Make sure to set 0 to communicate with setup software Monitor Display Selection Setting range Unit Standard value MONDISP 00 to 26 00 STATUS M Select status display on digital operator Selection Description 30 00 STATUS Displays status of driver See Driver Status Display 5 16 for more details 01 WARNING1 Select monitoring data to show on monitor function to to See Monitor function 5 23 for more details 26 ACCMON 5 72 5 Operation Group B sequence Alarm related settings NW GroupB Sequence Alarm related settings ID Contents JOG Velocity Command Setting range Unit Standard value JOGVC 0 0 to 3276 7 min 5 0 00 m Set velocity command value for JOG operation e This value is set as initial setting value for JOG Velocity Command for setup software Excitation Command Frequency setting Allowable setting EMPFREQ range Unit Standard value 30 to 70 Hz 50 M Set the excitation command frequency for the estimation of magnetic pole position 01 4 Change the setting in case where successful completion of the estimation of magnetic pole position fails due to the resonance point of the system Acceleration threshold Allowable Unit Standard ACC setting range value 2 to 100 rad s 5 02 M Set the acceleration threshold for the estima
98. able Ims 28 Velocity Compensation Function V COMPS 00 to 27 00 Always Disable 1ms 30 Torque Compensation Function 1 T COMPS1 00 to 27 00 Always Disable 1ms 31 Torque Compensation Function 2 T COMPS2 00 to 27 00 Always Disable 1ms 32 Torque Limit Function TL 00 to 27 00 Always Disable 20ms 33 Disturbance Observer Function OBS 00 to 27 00 Always Disable 20ms 35 Minor vibration oscillation suppression function 00 to 27 00 Always Disable 20ms 40 External Trip Input Function EXT E 00 to 27 00 Always Disable 20ms 41 Main Power Discharge Function DISCHARG 00 to 27 01 Always Enable 20ms 42 Emergency Stop Function EMR 00 to 27 05 CONT2 OFF 20ms 5 61 5 Operation Group 9 Function enabling condition settings Group9 List of selection contents M Keeping the function always valid or invalid Selection Contents 00 Always Disable Function is always invalid 01 Always Enable Function is always valid M Using function with the generic input signals Selection Contents 02 CONT1 ON Function is valid when generic input CONT1 is ON 03 CONT1 OFF Function is valid when generic input CONT1 is OFF 04 CONT2 ON Function is valid when generic input CONT2 is ON 05 CONT2 OFF Function is valid when generic input CONT2 is OFF 06 CONT3 ON Function is valid when
99. acceptance prohibition Output Motor excitation signal put 3 Motor free 5 13 5 Operation Operation sequence at alarm Stop by servo brake at alarm Output Power ON permission signal Power ON permission OFF Main circuit power Main power supply OFF Output Operation setup completion signal S RDY S RDY2 Input Servo ON signal Servo ON P ic brake ON Output Dynamic brake signal EEE Motor stop detect Motor velocity Alarm status Output Alarm signal Output Holding brake excitation signal Holding brake engage Command acceptance Output pun prohibition Command acceptance permission signal Output Motor excitation signal Motor free ie BONDLY 300msec 5 14 5 Operation Operation sequence alarm reset 3 Sequence of alarm reset Inputting alarm reset signal from general input signal can reset alarms P ON issi Output Power ON permission signal or eee Main power supply ON Main circuit power _ Inrush current prevention time ia Output Power ON signal E S RDY Output Operation setup completion signal E S RDY2 a DB relay waiting time 100msec Servo ON Input Servo ON signal Output Alarm signal i Alarm released Input Alarm reset signal y Alarm reset input over 20msec Y Some alarms cannot be reset unless the power is reset control power is turned OFF and ON again R
100. alue is applied When Gain switching function is invalid this setting value is applied Position Loop Integral Time Constant 1 Setting range Unit Standard value TPI 0 3 to 1000 0 ms 1000 0 M Integral time constant for position controller This setting is valid when the Position Loop Proportional Control Switching Function is invalid 03 Integral time is invalid proportional control at the setting value 1000 0ms When Auto tuning function is valid this setting value not applied When Gain switching function is valid select gain 1 and this setting value is applied When Gain switching function is invalid this setting value is applied Higher Tracking Control Position Compensation Gain Setting range Unit Standard value TRCPGN 0 to 100 0 mM Adjusts the performance of command tracking of the position control system 04 The larger value can raise command tracking performance When a value other than 0 is set Position Command Filter and Feed Forward Gain are automatically set in the driver When Auto tuning function is valid this setting value not applied 5 34 5 Operation Group 1 Basic control parameter settings ID Contents Feed Forward Gain Setting range Unit Standard value FFGN 0 to 100 0 M Sets feed forward compensation gain to position control system Model control system compensates for feed forward to Model following system when Position Control Selection is at Model following control
101. ame to the control panel Y For converter cable and motor cable use the shielded cables Ground the shields to the control panel and system frame with proper clamps Y For grounding of shielded cables with clamps use the conductive metal P clip or U clip and secure them directly with metallic screws Never adopt soldering of electric wires to the shielded cables for the grounding Y Limit the wiring distance between the secondary side of noise filter and the driver to a required minimum and remember to run the primary and secondary wirings of noise filter separately from each other 9 5 9 Appendix Outline drawin 9 3 Outline drawing 1 Motor M PB1006JN001 6 M4 x 0 7 depth 7 PCD92 60 equal pitch 7 0 050 Rotating Resolver connector 100h8 _8 054 Output shaft Rotating part Material Steel 10 or more Surface treatment Range of 100h8 Electroless nickel plating M PB3015JN001 6 M6 x 1 0 depth 9 PCD139 60 equal pitch Z 0 050 Rotating part 2 5 or more Range of 52h8 P78h8 2 048 6 M4 x 0 7 depth 6 PCD45 60 equal pitch Llaz Resolver connector dl 33 6 Motor connector 30020 Material Steel Surface treatment Low temperature chrome plating 6 M6 x 1 0 depth 9 PCD69 60 equal pitch A pe pr S 4 oo l I o SERES 2 9 S S
102. arameters inside of driver for restoration if needed 5 5 5 Operation Test operation installation wiring and JOG Operation 5 2 1 2 Test operation Confirmation of installation and wiring Confirm the installation and the wiring of the driver and the motor Procedure Item and contents Installation M Install the driver and the motor by referring to Installation 3 Do not connect any load to the motor Load MEGATORQUE MOTOR Wiring connecting gt Turning on the power supply M Wire the power supply motor and upper device by referring to Wiring 4 Do not connect CN1 to the driver 2 M Turn on the power supply Confirm that there is no alarm code displayed at the upper center of the driver display If there is one follow the instructions in Trouble shooting When Alarm Occurs 8 7 M Follow Trouble shooting 8 1 if the 7 segment LED does not light when powered up Confirmation of movement Perform JOG Operation by using the setup software or the digital operator Procedure Item and contents 1 Estimation of magnetic pole position Mm Perform the estimation of magnetic pole position at no load without connecting any load to the motor M The motor should start allowing estimation of magnetic pole position Operating using setup software Select the Magnetic Pole Position Estimation option from the Test Operation menu JOG Operation M Perfor
103. arameters Gr9 00 and Gr9 01 For details see Functions enabling condition settings 5 78 7 13 7 Digital Operator Automatic tuning result writing 7 9 Automatic tuning result writing Displayed Input Step character buti n How to operate number code 1 Ad MODE Push MODE until it displays the left 2 A d A B Display changes and right end LED blinks 3 A d g A av gt Heer with addition and subtraction and 4 WR Push WR for more than 1 second 5 Eur Sk Changes to the left display 8 WR Push WR for more than 1 second 9 run A display change as the left and it performs 10 E ur 5 E Changes to the display of the left after a normal end 11 MODE Push MODE 12 Ad NE Changes to the left display 13 MODE Push MODE 14 5 y Changes to the left display 7 14 7 Digital Operator Automatic setting motor parameter alarm history display 7 10 Automatic setting of motor parameter Displayed Input Step character button How to operate number code 1 Ad MODE Push MODE until it displays the left 2 A d g B Display changes and right end LED blinks 3 A H n 3 av gt pe display with addition and subtraction and the 4 WR Push WR for more than 1 second 5 PASEE Changes to the left display 8 WR Push WR for more than 1 second 9 run A display change as the left and it performs 10 PH 5 EF Changes to the display of the left after a normal end 11 MODE P
104. are conducted by certificate authorities and attestation markings are performed based on the published certificate of attestation 1 Standards conformity M Drivers Reference Number Applicable laws and Regulations Standard code Certificate authorities UL Underwriters Laboratories inc UL c UL standard UL508C T V TUV SUD Japan Ltd Low Voltage Directive LVD EN61800 5 1 M EGA xxxxxxx EMC Directive EMC Electromagnetic Compatibility ate pe TUV SUD Japan Ltd National Radio Research Agency Korea Communications Commission Republic of Korea KC standard Korea Certification KN22 EMI KN24 EMS M Converters Applicable laws and Regulations Standard code Reference Number Certificate authorities Low Voltage TUV EN61800 5 1 M ECC XXXXXXXXXXX Directive LVD EMC Directive EMC Electromagnetic Compatibility KC standard Korea Certification EN55011 G1 Class A EN61000 6 2 EN61800 3 KN11 EMI KN61000 6 2 EMS TUV SUD Japan Ltd T V TUV SUD Japan Ltd National Radio Research Agency Korea Communications Commission Republic of Korea Y Motors have not been tested and verified for conformity with any international standards 9 1 9 Appendix Standards conformity 2 Over voltage category protection grade pollution level M The over voltage category of driver is III EN61800 5 1 For the interface use a DC power s
105. ate value 25 OPE TIM Driver operation time x2 hour 26 ACCMON Acceleration monitor rad s 80 RESANG Resolver sensor electric angle Pulse 5 17 5 Operation Monitor function 2 Description of monitor ID Contents Driver status monitor STATUS Code Status 0 Power OFF state P OFF 2 Power ON state P ON 4 Servo ready state S RDY 8 Servo ON state S ON o0 9 Magnetic Pole Position Estimation Ready state CSETRDY A Emergency stop state EMR 10 Alarm and power OFF state ALARM_P OFF 12 Alarm and power ON state ALARM_P ON 1A Alarm and emergency stop state ALARM_EMR 22 Gate off and power on state GATE OFF_P ON Warning status 1 monitor WARNING1 M Displays warning status Displays warning status under 1 or ON Bit 3 2 1 0 Function Regenerative load Overload Temperature inside driver 01 Bit 7 6 E 5 i 4 Function Excessive deviation Velocity controlled Torque controlled Warning status 2 monitor WARNING2 M Displays warning status Valid when 1 or ON Bit 3 2 1 0 Function CCW direction CW direction Main circuit power being 02 Over travel Over travel i charged Bit 7 6 5 4 Low battery 4 Function Voltage sag voltage General Purpose Input CONT8 to 1 monitor CONT8 1 M
106. ation lower the set value 6 17 6 Adjustments FF vibration suppression control model following vibration suppression control 6 7 Tuning to suppress vibration 1 FF vibration suppression control FF vibration suppression control can be used as a method of suppressing the vibration of the mechanical tip M Adjust this gain by using the same basic tuning procedures from Position control M When vibration rises on the machine tip during operation use Auto FF vibration suppression frequency tuning or calculate the vibration frequency from the vibration period and set the vibration frequency to FF vibration suppression frequency SUPFRQ1 General parameters Group2 FF vibration suppression control Notch filter Disturbance observer settings ID Symbol Name Unit Setting range 00 SUPFRQ1 FF Vibration Suppression Frequency 1 Hz 5 to 500 v If the machine tip vibration does not stop after taking the above steps there is a possibility the gain for the control system could be too high In this case lower the Control system gain v Do not change the Setting value when the motor is running 2 Model following vibration suppression control When you use the motor to drive tables on a machine stand the stand itself may vibrate as a reciprocal reactor of the motor When the machine stand vibrates the vibration may cause a reaction with the Positioning stabilizing time of the table working on the stand Mode
107. ation of the required capacity for the external regenerative resistor Capacity required for external regenerative resistor W Energy consumed in the external regenerative resistor J Operating cycle s x0 25 0 25 Duty factor of regenerative resistor When calculation result is found 80 or less Use the external regenerative resistor Optional model M FAE0004 When calculation result is found 220 or less Use the external regenerative resistor Optional model M FAE0005 When calculation result is found exceeding 220 consult us 2 Specifications Converter 2 8 Converter 1 Specifications of converter General specifications Rated input voltage 4 75 to 5 4 VDC Rated input current 150 mA max Ambient 0 to 55 C temperature Storage 20 to 65 C ener temperature Operation and 90 RH or less no condensation storage humidity Vibration 4 9 m s Outside dimensions HxWxD 73x61x23 5 mm Weight 0 135 kg Yy Remember to limit the supply voltage to the specifications Performance Resolution 524 288 count revolution Protocol ElA RS 485 Communication Type Start stop synchronization NRZ Baud rate 2 5 Mbps 3 a 0 Installation ERE ANAIE ER AT EEE 31 e 31 ess 32 di ant EE 33 EE NE eee eee 33 EEE EEE NE M 3 4 RE ENE ENE EE ERE EEE 3 4 TR 3 4 EEE 3 4 EEE e 35 EEE EE o PE 37 e ee EATE 37 Md ERE 38 ed 38 ee 3 9 AE
108. ber of recommended ferrules Chapter 5 e Magnetic Pole Position Estimation status added to driver status display e While Magnetic Pole Position Estimation Ready CSETRDY and Magnetic Pole Position Estimation Completion CSETCMP added to signals of Group A Chapter 6 e Flowchart of auto tuning characteristic selection modified to set JRAT1 value Chapter 7 e Magnetic Pole Position Estimation status added to driver status display Chapter 8 e Added items about magnetic pole position estimation error AL 44 Chapter 9 Added motor outline drawings Added converter outline drawings Added outline drawing and pin allocation of motor cable Added outline drawing and pin allocation of converter cable Added pin allocation of PC communication cable Added supplementary items for usage Safety precautions Please fully observe The following signs are used to indicate safety precaution in this instruction manual Please fully observe the precautions as important contents included in the descriptions m Safety precautions and the signs Safety precautions Signs de od tac D Danger injury D Indicates an imminently hazardous situation which if anger incorrectly operated will result in death or serious injury Electrical shock A Warning Indicates a potentially hazardous situation that if incorrectly Warnin operated may result in minor or moderate injury or property A Fire 9 damage only Ev
109. c Setting range Unit Standard value ATCHA 00 to 06 00 Positioning1 M Sets the Auto Tuning Characteristic best fits to the system Selection i Contents 00 Positioning1 Positioning Control 1 01 Positioning2 Positioning Control 2 02 Positioning3 Positioning Control 3 High Response FFGN Manual Setting 03 Positioning4 Positioning Control 4 High Response Horizontal Axis Limited Positioning Control 5 High Response Horizontal Axis Limited FFGN Manual Setting 05 Trajectory1 Trajectory Control 1 06 Trajectory2 Trajectory Control 2 KP FFGN Manual Setting General Purpose High Response L bb L 04 Positioning5 Positioning Control 1 e Used for general purpose positioning e Used for Velocity control mode or Torque control mode e Can be used for always affected by gravity and external forces Positioning Control 2 e Used for Position control mode e If used for response positioning for shortened positioning time Can be used for always affected by gravity and external forces Positioning Control 3 e On the basis of Positioning Control 2 to FFGN adjustment Positioning Control 4 Select this mode when the machine movement is in horizontal axis and receives no 01 impacts from external force Positioning time may be shortened compared to Positioning Control 2 e Use this mode in Position control m
110. cccnnoonnonanonnnnnnnnnnnnnnnn rn knut nr rra n cnn rre rra 7 15 Al rmihistory display osos aa 7 15 How to clear alarm NiIStOry aserra osaera oaa dde aia 7 16 Monitor display a a a E a E Aaa aa E a A E aaea E aA aat NAE EAER 7 16 Fixed monitor display snaa na a a a ee En ee a 7 17 Motor code setting of motor used rernnnrvnnnnnnvnenrnnvnnnnnnrnnnnnnnnnenrnnnenennrennnennnnenrnnnnennnnrnnnnvnnnnensnnnnenennrnnnnnnner 7 17 Maintenance serenennvnnnnnnennennnnnnannnnvnnnnnnennnnnnnnnennnennennnennnnnnnenennnnennennnennanennenennnnennnnnnennnnnnnenenennennnnnnennnnnnsenensnsvnnnnen 8 Troubleshooting nina a A eA 8 1 List of warning and alar civic e poo 8 3 Warming LISa ndekne re a da drid lt nae che ats 8 3 Alarm A E AEAEE EEE TT ATT TEE 8 4 Trouble shooting when alarm activated rrrrrnrnrnnvrnrrvnvrnnnrnvrnrnrnnvnnrrrnnnnrenvrnnnennennsrrnvnnnnenvrensennenesrrsvnnesenrensennn 8 7 Alarm display skuddet a ee eee eee ad 8 7 Cortective action for alatm 422 wie SALAS eile este nede 8 7 A su uv4duadtee Sech eleva chshes ude oeGde E E 8 26 PAPDOTI Xoo ion E AT TTT E 9 Standards cOntO Milicia ar dde rta ita 9 1 Standarde CON O T usanne use 9 1 Over voltage category protection grade pollution level rrrrvrnanvrnervrnnnvnnnnnrnnnvrnenvrnnnvrnrrvrnnnvenernrnnennnnn 9 2 Gonne ti n and installation ieiscessicstceetiee hehe ed ec menes ed de ee 9 2 A A O etnies anes dev tea asa een 9 2 Compliance with EN Directives ceccceesceeescec
111. cket position Mounting bracket One each for upper and bottom M FAE0003 Tightening screws 4 pcs The optionally available mounting brackets are finished with trivalent chromate plating Surface color Bluish silver Different from the body color MW Mounting bracket outline drawing Upper 2 Countersink for M4 ae 2 Countersink for M4 En FE 5 5 2 05 9 11 9 Appendix 3 Setup software and serial communication PC communication cable Between PC RS 232C port lt Driver CN2 m PC communication cable outline drawing ED Host PC side COM Optional M FAE0006 NO 8 NO 1 JEZ 9S 3 LF J S T Mfg Co Ltd Driver side CN2 Pin number Signal DCD RD TD DTR SG DSR RS CS 00 Ni gt 01 KOR RI MUF PK8K X J S T Mfg Co Ltd Pin number Signal 1 NC 2 NC 3 NC 4 NC 5 RXD 6 NC 7 TXD 8 SG Case Shield Y When connect to a PC connect the cable to CN2 of the driver vw Use shielded cable Y Connect shield line of the cable to the case of connector of driver side Do not connect to the case of connector of host PC side D Sub 9 pin Y Do not connect terminals of which connection is not specified in the wiring diagram arts 9 Appendix Optional parts 9 5 Regenerative resistor M M FAE0004 8
112. cnnnccnncccnn nro nro 9 2 Connection and installations misserin ai redir A serende 9 2 Ub TS NUM Dri dad dad 9 2 Compliance with EN Directives cc oia coi 9 3 Conformity Verification test ricii ada 9 3 Requirements for driver installation to achieve the EMC Certification rorvrnonvrnenvrnnnvrnrrnrnnnvrnrrvrnnnvnnernrnnnnenennr 9 4 Requirements for converter installation to achieve the EMC Certification anrrronvrnnnvrrervrnnnnrnnrnrnnnvrnrrvrnnnnnnennr 9 5 Outline drawing aie in eee ia da ta 9 6 MotO EE E EE E aat andanada 9 6 Dio es 9 8 A E EE AEA A A A AATE A TA TETE A 9 9 Motoncabless ui a a e a A N ee N 9 9 Gonvert r Cable cecilia iia At vlads ieee eos 9 10 Optional DAA id le ee 9 11 CONNECTS ens estes sidad pida sede 9 11 Mounting Bracket sauene brede indie A A 9 11 Setup software and serial COMMUNICATION ranrnnonronenvrnenvenennrnenvrnervnnenvenenvnnennenernrnsnnenervnesnnenesnresvnnesnnnsenreeenn 9 12 Regenerative resist ius an oi o a 9 13 Supplementary items for USAGE ooooocccnoccconacononcnonancnoncnnnn ccoo nc ana nn nena n enn nn anna nan e nen nn anar earn naar aran n nana r nan nnnnnnins 9 14 o sv E EE sunset Ren Heen ee ed rs dis GE 9 14 Setting procedures for parameters of magnetic pole position estimation rrvrnanvrnenvrnnnvrnnnnrnnnvrnervrnrnnnnennn 9 15 9 Appendix Standards conformit 9 1 Standards conformity For NSK Ltd products compatibility examinations of overseas standards
113. control Motor Position deviation monitor Torque command Torque notch filter control JEJUNOJ UONEIASP UONISOd JejUNOd UONEIASP UONISOd Acceleration feedback Disturbance observer Velocity monitor Analog MNL i monitor output GA 11 Monitors Analog monitor MZ 2 output 2 Monitors hr a Encoder signal A B phase signal 5 81 5 Operation Control block diagram using model control Feed forward control Using Model following vibration Position command pulse frequency suppressor control monitor 1 Position command 7 pulse frequency gay Used when monitor 2 adjustment FF Vibration control ATRES Position Model ass command velocity ATSINE pulses pp 13 b pp STI control em J8JUNO9 UONEIASP UONISOd Velocity detection Velocity al Torque command monitor Torque monitor ii command Position monitor control Position Motor deviation monitor Torque Torque command control notch filter JEJUNOJ UONEIASP UONISOd v o A 5 o Q lt 2 5 Q lo C 2 2 Acceleration feedback Disturbance observer Analog MNL monitor outpu GA 11 Monitors Velocity Analog monitor he Monitors monitor A 12 output 2 Velocity detection Encoder Z phase signal A B phase signal 5 82 5 Operation SEMI F47 Supporting function 5 10 SEMI F47 supp
114. ction Meaning 01 AutoTun JRAT Fix Automatic Tuning JRAT manual setting Based on the Load inertia moment ratio JRAT1 Group1 1D14 which has to be set the driver automatically tunes to the best servo gain 4 Parameters for the driver to automatically tune will vary depending on the selected auto tuning characteristics Selection Meaning 02 ManualTun Manual Tuning This mode is used in order to adjust the servo gain to the machine or equipment to ensure maximum response as well as when characteristics in auto tuning are insufficient 6 3 6 Adjustments Automatic tuning ID Contents Auto Tuning Characteristic ATCHA M Auto Tuning Characteristic to fit the mechanical requirements and movements are provided Parameters that can be adjusted vary depending on each auto tuning characteristic Set the parameters based on the situation mM Positioning control Positioning Positioning control is a control method used to reach the motor quickly to target a position from the present position by disregarding the trajectory between the positions Select this mode when positioning point by point is necessary M Trajectory control Trajectory Trajectory control is a method used to move the motor to the target position from the present position while considering the trajectory between the positions Select this mode when the Position command corresponding trajectory control is
115. d 9 run A display change as the left and it performs 10 H Changes to the display of the left after a normal end 11 MODE Push MODE 2 nu E B H Servo is off and changes to the left display 13 MODE Push MODE 4 AL gFH H Completes and changes to the left display M For stopping during operation please push the MODE button MODE is pushed in Process 2 A d Changes to the left display MODE is pushed in Process 5 A LI B B Changes to the left display and return to Process 2 MODE is pushed in Process 7 nao E B H Changes to the left display and return to Process 5 MODE is pushed again A B d F y Completes and changes to the left display MODE is pushed in Process 9 A B d F y Completes and changes to the left display Error is displayed when cannot end normally rj E ror Changes to the left display Will end if MODE is pushed A L g F H Changes to the left display 7 11 7 Digital Operator How to tune automatic FF vibration suppression frequency 7 7 How to tune automatic FF vibration suppression frequency Displayed Input Step character number p How to operate button code 1 A MODE Push MODE until it displays the left 2 A LI B B Display changes and right end LED blinks mu Make as the left display with addition and subtraction 3 A L U 4 av gt and the cursor button 4 WR Push WR f
116. d 00 Standard_Sampling 1 to 1999 Hz Valid Standard Sampling 2000 to 4000 Hz Filter invalid 01 High freg_Sampling 1 to 3999 Hz Valid High Frequency Sampling 4000 Hz Filter invalid 5 35 5 Operation Group 1 Basic control parameter settings ID Contents Velocity Feedback Filter Setting range Unit Standard value VDFIL 1 to 4000 Hz 1500 M First low pass filter to eliminate ripples caused by encoder pulse included in the velocity control system feedback Sets the cutoff frequency When the encoder resolution is low lowering the setting value and suppressor the ripples can suppress motor drive noise In addition when the encoder resolution is high raising the setting value may improve the response of the velocity control system For general use set at the Standard value 11 Setting range varies depending on the setting of the system parameter ID00 Control Cycle Control Cycle Setting value Valid Invalid 00 Standard_Sampling 1 to 1999 Hz Valid Standard Sampling 2000 to 4000 Hz Filter invalid 01 High freg_Sampling 1 to 3999 Hz Valid High Frequency Sampling 4000 Hz Filter invalid Velocity Loop Proportional Gain 1 Setting range Unit Standard value KVP1 1 to 2000 Hz 50 M Proportional gain of velocity controller When Load Inertia Moment Ratio 1 is same as the actual load inertia moment this setting 12 value response is perfo
117. e output Please carefully install diode so as not to connect polarity of diode Failure to do this causes driver malfunction 4 11 4 Wirin Wiring with host unit 5 Example of wiring with CN1 Host equipment Driver model EGA Polarity of the power supply may be CN1 reversed to minus common oe E 50 ICONT COM 5 12 24 VDC Servo ON function SEO Emergency stop function Magnetic pole position estimation input 35 CONT3 Deviation clear function CCW over travel function 33 CONT5 CW over travel function Position command pulse disabled function 13 CONT7 15 CONT8 Alarm reset function SG CW command pulse input gt e ee CCW command pulse input 28 R PC SG y 48 SG EA A 5 12 24 VDC La bor SR 49 In Position window 1 Magnetic pole position estimation ready 40 CSETRDY a Operation setup completion ear Magnetic pole position estimation end 42 CSETCMP Alarm status 46 ALM 24 25 0UT COM A phase pulse output TES B phase pulse output TS o Z phase pulse output SR o SG V FG 4 12 4 Wiring Peripheral equipments 4 3 Peripheral equipments 1 Power supply capacity and peripherals list Motor model Main circuit Molded case ae Magnetic Surge Input voltage powe
118. e B with the width of one pulse of Phase A does not determine the position relation of Phase Z or Phases A amp B Y When other than 1 1 is set as division ratio Phase A and Phase B are divided but Phase Z is output with original pulse width KK 2 7 2 Specifications Analog monitor 2 5 Specifications for analog monitor 1 Monitor output Pin numbers and signal names for monitor output 1 3 a el CN5 oo AS Connector model number on board DF11 4DP 2DSA 01 Housing model number on receiving equipment DF11 4DS 2C Connector model number on receiving equipment DF11 2428SCA General input output connector CN1 CN5 Analog monitor output 1 MON1 CN1 30 CN5 3 Analog monitor output 2 MON2 Disabled CN5 4 Digital monitor output DMON Disabled CN5 2 GND CN1 31 CN5 1 2 8 2 Specifications Analog monitor 2 Monitor for velocity torque and position deviation mElectrical specifications Output voltage range 8 VDC 1Qutput resistance 1 kQ Load less than 2 mA 1Monitor output is indefinite at the time of power ON OFF and may output 12 VDC around 10 u Velocity command velocity monitor Velocity command Velocity monitor output Output Output Output voltage voltage voltage DV PA 2V A i CCW 1000min De o 1000min COW D ae 1000min 1000min 1000min 1000min 2V 2V OS i m Torque command to
119. e within the range that mechanical system stably works without any vibration or oscillation If vibration occurs lower the value Set value of Velocity Loop Integral Time Constant TV11 by referring to TVI ims 1000 KVP Ha as a guide Set value of Position Loop Proportional Gain KP1 by referring to KP 1s KVPz 4 RT as a guide Set value of model control gain KM1 by referring to KM KP as a guide When vibration occurs lower the set value When responsiveness is low change the value of model control gain KM1 to the value approximately 1 1 to 1 2 times the value Vv When the gain cannot rise because of mechanical vibration etc and the response time is insufficient use Torque notch filter and or FF Vibration suppression frequency to suppress resonance and attempt it again m Adjustable parameters in Model following control In addition to the parameters in Standard position control the following parameters are also adjustable General parameters Group3 Model following control settings ID Symbol Name 00 KM1 Model Control Gain 1 01 OSSFIL Overshoot Suppression Filter Model Control Gain 1 KM1 Proportional gain fro Model following control position controller Adjust this to KMS KP Overshoot Suppression Filter OSSFIL Set cutoff frequency of overshoot suppression filter in Model following control If overshoot occurs lower the setting value When overshoot occurs on position devi
120. eady 0 RDY is ON Main circuit power supply established Main power supply R S and T is established but 2 operation preparation completion signal is OFF Magnetic Pole Position Estimation Ready blinking Main power supply R S T is established and Magnetic 9 Pole Position Estimation Ready is on g Magnetic Pole Position Estimation 9 Rotates after displaying the character O upper half Operation setup completion signal established continuous 4 Magnetic pole position estimation is completed and Operation setup completion signal is on A Servo is ON 8 Rotates after displaying the character 8 2 Over travel status display Marking Description 4 Over travel status at CW rotation z Over travel status at CCW rotation 3 Status display of regenerative overload warning and overload warning Marking Description Regenerative overload Warning status If operation is kept on alarm may be issued Overload Warning status E If operation is kept on alarm may be issued 4 Alarm code and driver status code when alarm occurs Marking Description A E T Fi Please take a measure according to the contents of Maintenance when alarm occurs Status code Alarm code 7 4 7 Digital Operator Status display mode 5 Alarm reset when alarm activated Alarm can be reset from the digital operator However the alarm
121. eck the operation condition and exceeds the permitted acceleration asia the acceleration and declaration ime 8 18 8 Maintenance Trouble shooting when alarm activated MW Alarm Code A3 Serial Encoder Internal Error 3 xt xt xt 3 xt fina Issued when power supply control is turned ON v v Issued while stopping the motor vr Issued while rotating the motor Corrective actions Cause Investigation and corrective actions sans Mm Turn ON the power supplies again if not M Defect in internal circuit of converter restored replace the converter M Confirm proper grounding of the driver 2 Malfunction due to noise M Add ferrite core or similar countermeasures against noise m Number of motor rotations exceeds E Check the operation condition and 3 reduce the maximum number of the permitted velocity rot llons m Alarm Code A4 Serial Encoder Internal Error 4 L a m Alarm Code AA Serial Encoder Internal Error 10 at E TE E NE m Alarm Code AC to AF Serial Encoder Internal Error 12 to 15 1 ALE IATA Status at the time of alarm gt FEE I IE AE pera ALL LAE x Issued when power supply control is turned ON lv Issued during operation ye xe ot ot He Fla l i E Corrective actions ALL LA LE Cause Investigation and corrective actions nk Sr M Turn ON the power supplies again if not M Defect in internal circuit of converter restored replace the converter lt
122. ed during instantaneous break of 1 5 to 2 cycles Detection of control power supply under voltage and servo ready OFF can be delayed by setting larger value of PFDDLY Group B ID16 Note 3 When moment cutting of a control power source is long it regards in power supply interception and re input and does not leave detected control power supply under voltage to an alarm history If cutting exceeds 1 second at the moment it will be certainly judged as power supply interception Note 4 When there is a rapid motor slow down simultaneous with servo ON there is a possibility that a break in the motor s power line cannot be detected Note 5 Alarm that occurs in Test mode eng status is not recorded in the alarm history lt lt lt Control ds fale lt lt Control system Memory system abnormality 8 6 8 Maintenance Trouble shooting when alarm activated 8 3 Trouble shooting when alarm activated 1 Alarm display When an alarm occurs the display shows the alarm code and the status code of the driver Display Description A A A 5 gt K Take appropriate action based on 2 Corrective action for alarm Status code of the driver Alarm code Code Status 0 Power ON status P OFF 2 Power OFF status P ON 4 Servo ready status S RDY 8 Servo ON status S ON 9 Magnetic Pole Position Estimation Ready CSETRDY A Emergency stop status EMR F Initial status
123. eeeeeeneeteaeeeeaeeceaeesaeeseaeeeeaeeseaeessaeeseaeessaeeseaeeeeaeeseaeeseaeeseaeeeeaeess 9 3 Conformity verification EStdt me oE ae EEE N ETE E a bevisene 9 3 Requirements for driver installation to achieve the EMC certification rrronrrnonrrnonvrnenrrrrnvnnrnrnnenvnnennnne 9 4 Requirements for converter installation to achieve the EMC certification rnnonrrnonrrnenrerenrrnnnrrnnrvnnennnn 9 5 Outline EEN ale EAE AA AAE TTA AE AT 9 6 Moto uti A At A ct 9 6 DIE out ba 9 8 Converter avse nesten eSATA 9 9 Motor Cablers ci cis saecceleciagfervecchabes st cadenies AEA 9 9 Converter Cable scat a A ee ee ees 9 10 Optional partieron rado de 9 11 Connector trad dd iran dll das dada 9 11 Mounting bracket saus kuet ke Gun one nen aE Ea EE aE aaea a aa EA Papaa Easit aeai 9 11 Setup software and serial communication ooooonccnnnnccinccnnnccnncconnnncnn rn nnnn cra ran rara 9 12 Table of contents 9 5 Regenerative resistonsauavatesan sata in et eee 9 13 9 6 Supplementary items for USAGE ooocooccccncccnancconononancnnnnccnnonnnnn cnn cnn rre nene nen 9 14 1 HOMINO it A E AAA A AA es 9 14 2 Setting procedures for parameters of magnetic pole position estimation arrrranvrrrnrrnrnvnnrnrrnrnnrnrnnnn 9 15 xvii 1 1 1 1 1 2 Preface Illustration of system components ooooccconncccnoniconinonaccnnnnnn cn nnncn rencia 1 1 Coding for reference number of individual partS usnrnrnnrnnnnvnnnnrnnnnvnnnvrnnnnrnnnvr
124. efer to Warning and Alarm List 8 3 Y Clear the alarm reset signal after checking if the alarm signal is cleared Y The alarm signal cannot be cleared when the alarm condition continues therefore set a timeout period of 20 ms or more to clear alarm reset signal Also it is necessary to input the time of 20 ms or more when the alarm reset signal is input without checking for the alarm signal output 5 15 5 Operation Operation sequence power off during operation 4 Output Output Input Output Output Output Output Sequence when power is turned OFF during operation During servo ON Control source Control source OFF Main circuit power Main power supply OFF Power ON signal Power ON output OFF Operation setup completion signal dl i g s Rov S RDY2 Servo ON signal Dynamic brake ON Dynamic brake signal Motor velocity Motor stop Holding brake excitation signal PENY brake engage Command acceptance permission signal i EN Command acceptance prohibition Motor excitation signal Motor free BONDLY 300msec gt _ 5 16 5 Operation Monitor function 5 5 Monitor function 1 Monitor function ID Symbol Name Unit 00 STATUS Driver status monitor 01 WARNING1 Warning status
125. eg with vw General parameters is operated from the Digital Operator 5 29 5 Operation Group 0 Auto tuning settings 5 8 Parameter functions Each parameter function is explained below mM Group0 Auto tuning settings ID Contents Tuning Mode Setting range Unit Selection TUNMODE 00 to 02 00 AutoTun M Set the validity invalidity of Auto tuning and Load inertia moment rate estimation Selection Contents 00 AutoTun Automatic Tuning 01 AutoTun JRAT Fix Automatic Tuning JRAT Manual Setting 02 ManualTun Manual Tuning Under the following operating conditions Load inertia rate is not estimated properly operation at low velocity at low acceleration and at low acceleration deceleration 00 torque In these cases please set Automatic Tuning JRAT Manual Setting and set proper value at JRAT 1 In addition under the following machine operating conditions Load inertia rate is not estimated properly machine with large disturbance torque with big backlash and with a machine in which movable parts vibrate In these cases set at Automatic Tuning JRAT Manual Setting and set proper value at JRAT1 Y When model following vibration suppression control is set to IDOA Position Control Selection of system parameter set 02 manual tuning 5 30 5 Operation Group 0 Auto tuning settings ID Contents Auto Tuning Characteristi
126. egral Time Constant 3 20 0 ms 0 3 to 1000 0 15 JRAT3 Load Inertia Moment Ratio 3 100 0 to 15000 16 TCFIL3 Torque Command Filter 3 600 Hz 1 to 4000 20 KM4 Model Control Gain 4 30 1 s 1 to 3000 21 KP4 Position Loop Proportional Gain 4 30 1 s 1 to 3000 22 TPI4 Position Loop Integral Time Constant 4 1000 0 ms 0 3 to 1000 0 23 KVP4 Velocity Loop Proportional Gain 4 50 Hz 1 to 2000 24 TVI4 Velocity Loop Integral Time Constant 4 20 0 ms 0 3 to 1000 0 25 JRAT4 Load Inertia Moment Ratio 4 100 0 to 15000 26 TCFIL4 Torque Command Filter 4 600 Hz 1 to 4000 30 GCFIL Gain Switching Filter 0 ms 0 to 100 40 SUPFRQ2 FF Vibration Suppressor Frequency 2 500 Hz 5 to 500 41 SUPFRQ3 FF Vibration Suppressor Frequency 3 500 Hz 5 to 500 42 SUPFRQ4 FF Vibration Suppressor Frequency 4 500 Hz 5 to 500 50 ANRFRQ2 Model Control Anti resonance Frequency 2 80 0 Hz 10 0 to 80 0 51 RESFRQ2 Model Control Resonance Frequency 2 80 0 Hz 10 0 to 80 0 52 ANRFRQ3 Model Control Anti resonance Frequency 3 80 0 Hz 10 0 to 80 0 53 RESFRQ3 Model Control Resonance Frequency 3 80 0 Hz 10 0 to 80 0 54 ANRFRQ4 Model Control Anti resonance Frequency 4 80 0 Hz 10 0 to 80 0 55 RESFRQ4 Model Control Resonance Frequency 4 80 0 Hz 10 0 to 80 0 M General parameters Group5 High settling control settings ID Symbol Name pe Unit Setting range 00 CVFIL Command Velocity Low pass Filter 1000 Hz 1 to 4000 01 CVTH Command Velocity Threshold 20 min 0 to 6553 5 02 ACCCO Acceleration Compe
127. en those hazardous indicated with this sign may lead to a serious accident L Burn injury Q Prohibition Prohibition Indicates actions that must not be allowed Disassembly prohibited Mandatory A actions that must be carried out mandatory O Mandatory m Danger D Do not use the system in explosive atmospheres Injuries and fire may occur Do not perform wiring maintenance and inspection with power distributed Make sure to start performing any tasks surely 15 minutes or more after power shutdown Electrical shock may occur Make sure to ground the driver protective grounding terminal to the machine or control cabinet Electrical shock may occur Never touch inside of driver Electrical shock may occur Safety precautions Please fully observe Only qualified personnel who have electrical knowledge should conduct maintenance and inspection Electrical shock injuries and fire may occur Do not damage apply excessive stresses put heavy things on and tuck down cables Electrical shock may occur Perform wiring in accordance with wiring diagram and the instruction manual Electrical shock and fire may occur Sd Never approach or touch terminals and connectors while power is being distributed Electrical shock may occur Never touch ro
128. ening torque and penetration depth of screws follow the table below Penetration depth mm Motor model Screw Tightening torque Nem PB1006 M4 3 4 or less 5 to 6 5 PB3015 PB3030 M6 13 or less 7 to 8 5 PB3060 M Checking the operating conditions The MEGATORQUE MOTOR system involves significantly larger moment of inertia for load compared to the moment of inertial for rotor Allowable load moment of inertia by motor size is shown in the table below Motor model Rotor inertia moment kgem Allowable KE aaa PB1006 0 0026 0 to 0 26 PB3015 0 014 O to 1 1 PB3030 0 016 010 1 4 PB3060 0 021 0 to 3 1 vw Remember to check for appropriate allowable moment load allowable axial load and allowable radial load for your specific applications of the motor 3 6 3 Installation Converter 3 3 Converter 1 Precautions Follow the precautions listed below when installing the converter Ml General precautions Remember that installation to or near any combustibles can cause a fire Never attempt to place any heavy materials on the converter or do not stand on the converter Use the converter within the range of specified environmental conditions Do not fall the converter nor expose it to any strong impact Protect the converter against possible entry of screws metal fragments or other conductive substances and combustibles If the converter or any inte
129. enominator Hold down MODE for over a second to switch between nu and dE Set Gr dE denominator first 7 WR Hold down WR for over a second Display to be switched and then rightmost LED flashes When setting dE first holding down WR displays the denominator CI x D Da 1 I The display left shows 1 as dE is set first When you set nu first holding down WR displays numerator r Set figure 64 denominator by addition subtraction 3 5 H avp cursor button 10 WR Hold down WR for over a second When display flashes 3 times and then the flashing stops the setting of denominator is completed If the set 11 value is out of the setting range the set value in the step B Y 6 is displayed without flashing 3 times When the numerator is 1 1 to 64 or 32768 is settable as the denominator 12 MODE Press MODE 7 9 7 Digital Operator Parameter edition 13 IB HE gH GrC 04 is displayed 14 WR Hold down WR for over a second 5 HEHEHE MODE Gr nu is displayed 16 WR Hold down WR for over a second Display to be switched and then rightmost LED flashes 17 The set data are displayed The display left shows 1 as nu is set first Display the figure 2 numerator you want to set by 1E z av gt addition subtraction cursor button 19 WR Hold down WR for over a second When disp
130. ent position exceeds the displayed range the maximum reverse polarity value will be displayed Setup software displays the data on ID10 10 Display range Unit 11 9223372036854775808 to 9223372036854775807 Pulse Digital operator displays the data on ID10 ID11 in hexadecimal notation 32 bit data ID Data range Display range Unit 10 Bit63 to Bit32 H FFFF to L 0000 x2 Pulse 11 Bit31 to BitO H FFFF to L 0000 Pulse 5 20 5 Operation Monitor function ID Contents Reserved E Position command pulse frequency monitor FMON1 M Displays entered command pulse frequency 12 13 Display range Unit 6000 to 6000 kPulse s U phase electric angle monitor CSU M Displays U phase electric angle Always displayed excluding encoder errors 14 Display range Unit 0 to 359 deg Serial encoder PS data monitor ABSPS M Displays position data of serial encoder Setup software displays the data on D16 Display range Unit 0 to 1099511627775 Pulse e Actual display range varies depending on the encoder specifications Digital operator displays the data on ID16 ID17 in hexadecimal notation 32 bit data ID Data range Display range Unit 16 Bit63 to Bit32 H FFFF to L 0000 x2 Pulse 17 Bit31 to BitO H FFFF to L 0000 Pulse Regenerative resistor opera
131. er to Digital operator 7 for use of Digital Operator ID Symbol Name Unit 1D JRAT MON Load Inertia Moment Ratio monitor 1E KP MON Position Loop Proportional Gain monitor 1 s 20 KVP MON Velocity Loop Proportional Gain monitor Hz 21 TVIMON Velocity Loop Integral Time Constant monitor ms 22 TCFIL MON Torque Command Filter monitor Hz 23 MKP MON Model Control Gain monitor 1 s 8 Manual tuning method using auto tuning results Result of auto tuning can be stored in block and used to perform auto tuning Refer to Digital Operator 7 for use of Digital Operator For Software Setup use Auto tuning gt gt Auto tuning result saving M Saving parameters General parameters Group1 Basic control parameter settings ID Symbol Name Unit 02 KP1 Position Loop Proportional Gain 1 1 s 12 KVP1 Velocity Loop Proportional Gain 1 Hz 13 TVI Velocity Loop Integral Time Constant 1 ms 14 JRAT1 Load Inertia Moment Ratio 1 20 TCFIL1 Torque Command Filter 1 Hz General parameters Group3 Model following control settings ID Symbol Name Unit 00 KM1 Model Control Gain 1 1 s 6 10 6 Adjustments Automatic tuning of notch filter 6 3 Automatic tuning of notch filter Automatic notch filter can suppress high frequency resonance resulting from coupling and rigidity from the device mechanism With short periods of operation of driver and motor t
132. es Safety precautions Please fully observe Any excessive offset loads or excessive loads can cause permanently deformed rotors and or faulty bearings in the motor Remember to prevent the motors from possible falling and exposure to any impact during the installation of motors and also to protect the motors against possible impact due to external interference during the transportation This can result in failures Install every motor on the surface of flatness of 0 02 mm or less a This can result in failures Use driver software with version A or later for motor M PB3030JN001 and converter M ECC PB3030GA201 od Alarm will be output and cannot operate the motor xi Table of contents 1 PrefaCe E E T E E E E 1 1 1 Illustration of system COMPONENTS oooccconnocccnniccnnnarnnnnnnn corno ncn cnn rre 1 1 1 2 Coding for reference number of individual parts reaanvnnnnrnnnnrnnnnrnnnnrnnnnrnnnnrnnnnrnnnnnnnnnrnnnnnnnnnrnnnnrnnrnrnsennnernnnne 1 2 1 Reference number of driver s sirena ernia ee eataa a Ea e a Eaa Ea Ka a a Eraiki Eaa aTa 1 2 2 Reference number OF Mot vicodin o ta han ideas 1 2 3 Reference number of CONVENIR Gann aan 1 3 4 Reference number of motor cccesscceeesceceeeeseeeeeneseeeseseeeeecegeeeeesensenesceeeeeneeeseseaseesesceseeseseeeneesineesesees 1 3 5 Reference number of converter Cable ooocoooccccnonoccnononcnonononcnonanononnnon cnn
133. est operation confirmation of I O signal Procedure Item and contents Command input M Input the command suitable for the control mode in use M Confirm that the motor rotates in the right direction E Ifthe command is input from the host unit but the motor does not rotate confirm that the command is input at the monitor function of setup software Monitor_1D13 Position 6 Command Pulse FMON1 displays input command pulse frequency Mf the driver does not receive the command from the host unit the value displayed on the monitor becomes zero Any of these cases could be the result of poor wiring Confirm the wiring again M input command after receiving command reception enabling signal from driver Refer to Operation sequence for the details 7 Power shut off Turn off the servo on signal Then turn off the power supply 5 8 5 Operation 4 Test operation confirmation of I O signal Confirmation of device operation Connect the load to the motor and check the motor for proper operation Procedure Item and contents Connect the load m Connect the load to the motor Connect the motor shaft with the machine Setting of load M Set Gr 0_IDOO Tuning mode TUNMODE to 01 AutoTun JRAT Fix M Set inertia moment of the load device against the motor rotor inertia moment to Gr 1_1D14 Load Inertia Moment Ratio 1 JRAT1 4 JRAT1 set value Load Inertia Moment
134. estigation and corrective actions M Defect in internal circuit of driver M Replace the driver M Confirm proper grounding of the driver 2 E Malfunction due to noise M Add ferrite core or similar countermeasures against noise 8 8 8 Maintenance Trouble shooting when alarm occurs M Alarm code 41 Overload 1 ALA Status at the time of alarm Issued at input of servo ON im After command input issued without rotating the motor v v After command input brief motor rotation Corrective actions Investigation and corrective actions M Defect in internal circuit of driver mM Replace the driver M Monitor the load status using motor usage ratio monitor TRMS and check if effective torque exceeds the rated value Or calculate the motor effective torque from load conditions and operation conditions If the effective torque is excessive check the operating or loading or replace the capacity of the large motor M Check if the motor in use matches with 3 Defect in motor driver combination the recommended type and replace if it is improper M Check that the wiring and voltage of M Holding brake of motor does not the holding brake are acceptable if release not repair If the above are OK replace the motor AL Wiring of U V W phase between M Check the wiring conditions and driver and motor do not match restore if improper a One or 7 connections of PG M Check the wiring conditions and phase wi
135. follows Inrush Current Suppression Time 900 ms 5 11 5 Operation Operation sequence power off Servo OFF gt Power OFF Control source i Control source OFF i Min Omsec i Main circuit power Main power supply OFF Output Power ON signal Power ON output OFF Output Operation setup completion signal put E p S RDY S RDY2 Input Servo ON signal Servo OFF Output Dynamic brake ON Dynamic brake signal Motor velocity M ETN iMotor stop Output Holding brake excitation signal Holding brake engage Output Command acceptance permission signal Command acceptance prohibition Output Motor excitation signal Motor free BONDLY 300msec 5 12 5 Operation Operation sequence at alarm 2 Stop sequence at alarm When an alarm occurs the motor is stopped by either dynamic brake or servo brake zero speed command The alarm content dictates which brake to be used Refer to Warning and Alarm List 8 3 Stop by dynamic brake at alarm Output Power ON permission signal Power ON permission OFF Main circuit power Main power supply OFF Output Operation setup completion signal S RDY S RDY2 Input Servo ON signal i Servo ON Output Dynamic brake signal Dynamo BK ON Alarm status Output Alarm signal Holding brake engage Output Holding brake excitation signal 39 Output Command acceptance permission signal a Command
136. g on the setting of the system parameter ID00 Control Cycle Torque command filter cannot be disabled 20 Control Cycle Setting value Cutoff frequency Same as the setting 00 Standard_Sampling ve 2000 value Standard Sampling 2001 to 4000 Hz 2000 Hz High freq_Sampling Same as the setting pl High Frequency Sampling Te value Use within 1 to 1000Hz with Model following control Use within 100 to 1000Hz with Model following vibration suppressor control Torque Command Filter Order Setting range Unit Standard value TCFILOR 1to3 Order 2 21 Sets order of the torque command filter The order is set within the setting range even if the cut off frequency of torque command filter is changed by Gain switching 5 38 5 Operation Group 2 FF Feed Forward vibration suppressor control Notch filter Disturbance observer settings M Group2 FF Feed Forward vibration suppressor control Notch filter Disturbance observer settings ID Contents FF Vibration Suppressor Frequency 1 Setting range Unit Standard value SUPFRQ1 5 to 500 Hz 500 M Sets the frequency of the machine vibration to be suppressed by FF vibration suppressor function Change this while the motor is OFF Setting value can be input by 1Hz inside the driver the units listed below are used 00 Setting ran
137. g rememorar rene 6 9 Monitoring servo gain adjustment parameters strrssrersrressernsseenvsrenssrensrnsseenssrenssresseensseensssenssrensesesssensssenee 6 10 Manual tuning method using auto tuning results r r rrrmrmrmnncnnennnncnnnenrennecnnrenrr ener enero 6 10 Automatic tuning of notch filter rre eres ener near enero 6 11 Operation method rana ener rene 6 11 Setting parameters errar ener reernenernres 6 11 Automatic tuning of FF vibration suppression frequenoy ssrrrseresseervsrerssravseenvseenvsrenssrenssressresssenssrenssrensnnsssn 6 12 Operation method trrssrersreerseeasseerssrerssrenssversseesseenssverssresseresseessssenssserssrersevesseersssersssersesesseeessserssserseessssenssne 6 12 Setting parameters rare ener ener nenes 6 12 Using manual tuning errar ener eneenneos 6 13 Servo system configuration and servo adjustment parameters x ssrrssrerssrerseresseenvsrenvsrensrnsseenssrenssrenseenssnn 6 13 Basic manual tuning method for velocity Control ener enernenerns 6 15 Basic manual tuning method for position Control srrsrrersresseeevseervsrensressernsssenvsrenssressernsseensssenssrensesesssensssense 6 15 eee enana enero 6 16 Automatic tuning method for model following Control ss rssrerseresseenssrenssressernvseenssrenssrenseresseenssrerssrensrenssnnssse 6 16 Manual tuning method for model following Control r rmerrmnncnnennnnnnnnennrennrcennrennr reee rnrrrnrrrnnrrenernennons 6 17 Tuning to suppress Vibrat
138. ge Unit value inside driver 5 to 99 Hz Valid by 1 Hz 100 to 499 Hz Valid by 5 Hz and drop less than 5 500 Hz FF vibration suppressor control is invalid This parameter is automatically saved by executing FF vibration suppressor frequency tuning FF vibration suppressor frequency can be switched 2 4 FF Vibration Suppressor Level Selection Setting range Unit Standard value SUPLV 00 to 03 00 M Sets FF vibration suppressor control effect level 01 Change while motor is OFF The smaller the value the greater the effect will be FF vibration suppressor frequency switching function does not affect this Velocity Command Notch Filter Setting range Unit Standard value VCNFIL 50 to 1000 Hz 1000 M Notch filter to eliminate frequency element arbitrarily set from velocity command Sets the resonant frequency When sympathetic vibration occurs in velocity control system the gain is raised by setting the resonance frequency Setting value varies depending on the setting of the system parameter ID00 Control Cycle Setting value can be input by 1 Hz inside the driver the units listed below are applied Control Cycle Setting value Unit value inside driver 50 to 99 Hz Valid by 1 Hz ap Standard Sampling a ee a Standard Sampling 50010 Filter invalid 1000 Hz 50 to 199 Hz Valid by 1 Hz 01 High freq_Sampling 200 to Valid by 10 Hz and drop less than 10 High Frequency Sampling 999 Hz 10 1000 Hz Filter invalid Gain dB
139. gid enough for installation of motor mechanical resonance may occur Remember to install and fix the motor securely onto the mounting base having high stiffness Make sure that the motor mounting surface has a flatness of 0 02 mm or less The motor may be installed in either orientation horizontal or vertical For tightening torque and penetration depth of screws follow the table below CNN 8 SNS Motor model Screw Tightening torque Nem Penetration depth mm PB1006 M4 3 4 or less 4 to 5 5 PB3015 PB3030 M6 13 or less 7 to 8 5 PB3060 Table fixing bolt Table MEGATORQUE MOTOR Flatness of mounting surface 0 02 mm or less Mounting base Motor fixing bolt Since the installation condition shown below can cause mechanical resonant vibration or failure of estimation of magnetic pole due to low rigidity of the mounting base and the load installation of motor to mounting base and load to motor have to be secure and rigid Load The load is not directly applied to the motor rotor The motor is not directly installed on the mounting Mounting base base Y Allow the load to be directly applied to the motor rotor w Install the motor directly onto the mounting base 3 5 3 Installation M Coupling the load to the motor Motor Y For installation of load use the bolt hole in the rotor Install the load securely with great care not to allow any looseness Y For tight
140. hanical device with Model following vibration suppressor control 03 Sets actual resonance frequency value of the mechanical system by using System Analysis function of the setup software Setting value is invalid with Model following control Vibration suppressor control becomes invalid at the setting value 80 0 Hz Change value while the motor is OFF Turn the motor OFF when using gain switching function Turn the motor OFF when using Model vibration suppressor frequency switching function If alarm ALC5 Model following vibration suppressor control abnormal is issued during operation lower the value of KM Model Control Gain or Change the operation pattern so that acceleration and deceleration become moderate vw Model following vibration suppressor control is invalid with JOG operation KKK 5 43 5 Operation Group 4 Gain switching control Vibration suppressor frequency switching settings M Group4 Gain switching control vibration suppressor frequency switching settings ID Contents 00 Model Control Gain 2 KM2 Setting range Unit Standard value 1 to 3000 1 s 30 10 Model Control Gain 3 Setting range Unit Standard value KM3 1 to 3000 1 s 30 20 Model Control Gain 4 Setting range Unit Standard value KM4 1 to 3000 1 s 30 M Proportional gain for Model position contro
141. he left display with addition and subtraction and Av gt the cursor button WR Push WR for more than 1 second Ad Ad Ad Ey Ex Cy ES Changes to the left display WR Push WR for more than 1 second N O O 2a JN E D E The character of 8 is drawn and servo is on Qu If it continues pushing an addition button a motor shaft will 8 g A rotate in the CCW direction Will stop when an addition button is detached If it continues pushing an addition button a motor shaft will 9 g Vv rotate in the CW direction Will stop when a subtraction button is detached 10 MODE Push MODE 4 88g Servo is off and it changes to the left display 12 MODE Push MODE 3 ALdFH Completes and changes to the left display For stopping during operation please push the MODE button MODE is pushed in Process 2 5 y Changes to the left display and shifts to system parameter MODE is pushed in Process 5 A d 5 B Changes to the left display and returns to step 2 MODE is pushed in Process 7 ul a B Changes to the left display and returns to step 5 Mode is pushed again ALaFH Completes and changes to the left display vw The display shown below refers to Over Travel Status 4 Over travel status at CW rotation Over travel status at CCW rotation pa m For the Over Travel Function settings may be edited by the general p
142. he mechanical resonance frequency can be found easily 1 Operation method M Operate from Auto tuning mode in Software Setup or Digital Operator M The tuning results are saved automatically in Group2 ID20 Torque Command Notch Filter A TCNFILA v Torque command notch filter function can be used together with Auto tuning at the same time Vv Holding torque falls while auto notch filter is running Do not use as a gravity axis m When resonance of the device does not stop even after using Automatic Tuning of notch filter there may be two or more resonance points In this case inquire about the resonance frequency using the system analysis function and insert Notch filter B C D Manual setting to suppress each resonance If resonance is still not suppressed there is a possibility that auto tuning response or gain control is too high Lower the Auto Tuning Response or control gain 2 Setting parameters M Torque command value for notch filter tuning Setting the Torque command value to the motor at the time of Automatic tuning of notch filter General parameters GroupO Auto tuning settings ID Symbol Name Unit Setting range 10 ANFILTC Automatic tuning of notch filter Torque 10 0 to 100 0 Command Vv As the value increases so does tuning accuracy However machine movement will increase as well Please monitor it closely M Automatically saving parameters with Automatic tuning of notch filter General para
143. he middle frequency will be amplified Improvement Gain dB No improvement 3 dB er Genre 21 Frequency Hz Phase dB I I I I L L I I I I No improvement 1 I Improvement 0 dB Frequency Hz 0 62x fn 1 62x fn Resonant frequency fn 5 40 5 Operation Group 2 FF Feed Forward vibration suppressor control Notch filter Disturbance observer settings ID Contents 22 Torque Command Notch Filter B Setting range Unit Standard value TCNFILB 100 to 4000 Hz 4000 24 Torque Command Notch Filter C Setting range Unit Standard value TCNFILC 100 to 4000 Hz 4000 26 Torque Command Notch Filter D Setting range Unit Standard value TCNFILD 100 to 4000 Hz 4000 M Notch filter to eliminate sympathetic vibration element included in torque command Sets the resonant frequency Setting value varies depending on the setting of the system parameter ID00 Control Cycle Setting value can be input by 1Hz unit inside the driver the units listed below are applied Control Cycle Setting value Unit value inside driver 100 to Valid by 10Hz and drop less than 00 Standard_Sampling 1999 Hz 10 Standard Sampling eg Filter invalid High freg Sampling 100 to Valid by 10Hz and drop less than 01 High Frequency Sampling so 10 4000 Hz Filter invalid 93 TCNFILB Depth Selection Setting range Unit Standard val
144. he torque at the set value when in voltage sag After power restoration the limiting value goes back to that of normal operation Instantaneous power interruption Control power voltage Bus voltage Control power drop Warning detected Torque limit value selected by Te limit val lected b GREILSEL Te limit value orque limit value select y orque limi a Y This function is supposed to limit motor torque when in power failure and does not support all the load or operating conditions Check if it properly works on the actual machines before the actual use 5 83 No Text on This Page 6 6 Adjustments Servo tuning functions and basic adjustment procedure strrssrerssrerserersernvsrervsrerssrevseenssrenssrerseresseensseenssrensseen 6 1 Servo tuning functions arena ren enern rear 6 1 Tuning method selection procedure ermano 6 2 Automatic tuning rene 6 3 Use the following parameters for automatic tuning rssrersererseersseenssrenssressrasssenssrenssrensernssernsseensssenssresssenssen 6 3 Automatically adjusted parameters in auto tuning rsserrssrerseresserevsrenvsrenssressernssrerssrenssrenseenssrenssrenseeessennsssenee 6 6 Adjustable parameters during auto tuning remeras 6 6 Unstable functions during auto tuning erre renrrenernres 6 7 Auto tuning characteristic selection flowchart stresserrssrerssrarsernssrenvsrenssrassrnssrenssvessresseensseenssrersesesseensssenee 6 8 Adjustment method for auto tunin
145. he value is effective when auto tuning is used This does not function for JRAT manual setting 03 6 5 6 Adjustments Automatic tuning 2 Automatically adjusted parameters in auto tuning The following parameters are automatically adjusted at the time of auto tuning These parameters will not reflect on motor movements by changing or overriding those values However some of them can be adjusted manually depending on selected Tuning Mode and Auto Tuning Characteristic M General parameters Group1 Basic control parameter settings ID Symbol Name Notes 02 KP1 Position Loop Proportional Gain 1 Note 1 2 05 FFGN Feed Forward Gain Note 2 12 KVP1 Velocity Loop Proportional Gain 1 13 TVI Velocity Loop Integral Time Constant 1 14 JRAT1 Load Inertia Moment Ratio 1 Note 3 15 TRCVGN Higher Tracking Control Velocity Compensation Gain 20 TCFIL1 Torque Command Filter 1 Note 1 Manual setting is available on Trajectory Control 2 KP FFGN Manual Setting Note 2 Manual setting is available on Positioning Control 3 High Response FFGN Manual Setting Manual setting is available on Positioning Control 5 High Response Horizontal Axis Limited FFGN Manual Setting Note 3 Manual setting is available on auto tuning JRAT manual setting 3 Adjustable parameters during auto tuning The following parameters are adjustable during auto tuning M General parameters Group1
146. his becomes alarm AL55 Forced discharge function DISCHARG M This is to forcedly discharge the voltage charged in the capacitor for main circuit power supply inside of driver when main circuit power supply is being turned off Note that discharging cannot be performed 41 when main circuit power supply is being turned on Allocating conditions to enable forced discharge function When DISCHARGE signal is enabled capacitor is forcedly discharged Emergency stop function EMR 42 E This can urgently stop motor by taking unit emergency signal into the driver Allocating conditions to enable unit emergency signal When EMR signal is enabled motor urgently stops 5 67 5 Operation Group 9 Function enabling condition settings MW GroupA General output terminal output condition Monitor output selection Serial communication settings ID Contents Setting range Unit Standard value 00 General Purpose Output 1 OUT1 00 to 5F 18 INP ON 01 General Purpose Output 2 OUT2 00 to 5F 68 CSETRDY _ON 02 General Purpose Output 3 OUT3 00 to 5F 02 S RDY ON 03 General Purpose Output 4 OUT4 00 to 5F 4E CSETCMP ON 04 General Purpose Output 5 OUT5 00 to 5F 33 ALM5 OFF 05 General Purpose Output 6 OUT6 00 to 5F 35 ALM6_OFF 06 General Purpose Output 7 OUT7 00 to 5F 37 ALM7 OFF 07 General Purpose Output 8 OUT8 00 to 5F 39 ALM OFF Digital Monitor Output Signa
147. ings ID Contents Speed Matching Unit Selection Setting range Unit Standard value VCMPUS 00 to 01 00_ M Selects Speed Matching Unit setting method Selection Contents 45 00 min Sets by unit min Uses the setting value of ID46 VCMP Speed Matching Range Sets the ratio to velocity command by unit 01 Percent Uses the setting value of ID47 VCMPR Speed Matching Range Ratio Speed Matching Range Setting range Unit Standard value VCMP 0 0 to 6553 5 min 5 0 M Sets the range regarded as Speed matching by the unit min Use this setting value when 1D45 VCMPUS Speed Matching Unit Selection is 00 min gt Velocity matching is output when the Velocity deviation difference between the velocity command and actual velocity is within this setting range Y Y 46 Velocity Velocity command Within the Speed Matching Range VCMP_ON or VCMP_OFF is output from Group9 OUT Speed Matching Range Ratio Setting range Unit Standard value VCMPR 0 0 to 100 0 5 0 M Sets the range regarded as Speed matching ratio to Velocity command by the unit e This setting is used when ID45 VCMPUS Speed Matching Unit Selection is 01 Percent Speed matching is outputted when a velocity deviation difference of commanded velocity and real one is in this setting range The value that multiplied the velocity command by setting is a S
148. ion can be used with auto tuning at the same time Vv Holding torque falls while Automatic tuning of FF Vibration Suppression Frequency is executing Do not use as gravity axis 2 Setting parameters M Torque command value of Auto FF vibration suppression frequency Sets torque command value to motor at the time of Automatic tuning of FF Vibration Suppression Frequency execution General parameters Group0 Auto tuning setup ID Symbol Name Unit Setting range 20 ASUPTC Automatic tuning of FF Vibration Suppression Frequency Torque Command 10 0 to 100 0 v As the value increases so does tuning accuracy However machine movement will increase as well Please monitor it closely m Friction torque compensation amount during Automatic tuning of FF Vibration Suppression Frequency Sets additional frictional torque compensation amount when Automatic tuning of FF Vibration Suppression Frequency is executed By setting the value close to the actual friction torque the accuracy of Automatic tuning of FF Vibration Suppression Frequency can be improved General parameters Groupo0 Auto tuning setup ID Symbol Name Unit Setting range 97 ASUPFC Automatic tuning of FF Vibration Suppression Frequency Friction Compensation Value 0 01030 0 m Automatically saved parameter of Automatic tuning of FF Vibration Suppression Frequency General parameters Group2 FF vibration suppression control N
149. ion ermano 6 18 FF vibration suppression Control remeras 6 18 Model following vibration suppression Control xx srrrrssrerssressernvsrervsrenssrenseensseenssrenssresseensseessssenssrensesesseensssenee 6 18 Tuning methods rara ener ener nero 6 20 Using disturbance observer function rr reee nr 6 21 6 Adjustments Selection of tuning method 6 1 Servo tuning functions and basic adjustment procedure To operate the motor and machine using the driver adjustments of the servo gain and its control system is necessary Generally the higher setting value of the servo gain increases the machine response However if the servo gain is too high in a lower rigidity machine vibration may result and the machine response will not increase The servo gain and its control system need to be appropriately adjusted according to the operating motor and the mechanical system and this adjustment method is called Servo tuning Following is an explanation of the Servo tuning procedure 1 Servo tuning functions M Servo gain tuning procedure Servo gain tuning is performed as follows Automatic Tuning Driver estimates load inertia moment ratio during operation and then automatically adjusts servo gain and filter frequency on a real time basis Automatic Tuning JRAT Manual Setting The driver does not estimate the Load inertia moment ratio Servo gain and filter frequency are adjusted automatically corresponding to the load inertia moment ratio and the respo
150. ion to CONT1 The logic can be 05 changed by selection of enabling condition allocation Host equipment Driver DCSV CN1 50 CONT COM wN T i cnt 37 4 CONTI ay i Shielded wires Servo on signal 5 65 5 Operation Group A General output terminal output condition Monitor output selection Serial communication settings ID Description Position command pulse inhibiting function velocity zero stop function INH Z STP M This may be used as a function to inhibit the position command pulse INHIBIT function Enabling the function during motor operation inhibits input command and then motor stops with the state motor being excited 11 Y When operating in position control mode input pulse is not counted inside of the driver even if position command pulse is input Allocating conditions to enable position command pulse inhibiting function velocity zero stop function This functions when INH Z STP signal is enabled Gain switching condition 1 GC1 Gain switching condition 2 GC2 E 4 types of gain can be used by switching them Allocating conditions to enable gain switching condition You can switch GAIN 1 to 4 by combination of 13 GC1 and GC2 setting 14 GC1 Gain switching condition 1 Invalid Valid Invalid Valid GC2 Gain switching condition 2 Invalid Invalid Valid Valid y y y y Gain becoming valid GAIN1 GAIN2 GAIN3
151. is 0 N 2 1 2 Specifications Motor 2 Load on the motor L 1 Assuming the F refers to an external force 2 Assuming the F refers to an external force 3 Assuming the F refers to an external force e Axial load Fa F weights of fixture workpiece etc e Axial load Fa F weights of fixture workpiece etc e Radial load Fr F weights of fixture workpiece etc e Moment load M 0 e Moment load M F x L e Moment load M F x L A Distance between the bearing and the rotor end face Motor model No Dimension A mm PB1006 22 2 PB3015 PB3030 22 9 PB3060 Y Limit the axial load Fa to the allowable axial load Y Limit the radial load Fr to the allowable radial load Y Limit the moment load M to the allowable moment load 3 Direction of rotation of motor CW Position signal output PS data Increase CCW Position signal output PS data Decrease vw Direction of rotation of motor is defined as counterclockwise CCW or clockwise CW when viewed from the loading side v PS data can be confirmed by Monitor ID16 17 ABSPS 2 Specifications Driver 2 2 Driver 1 Specifications of driver uGeneral specifications Designation Item M EGA 15A2301 M EGA 30A2301 Control function Position control Control system IGBT PWM control Sinusoidal drive Main Girouit Three phase 200
152. ity command monitor Velocity control FF Vibration Position control suppressor cont ol a Position Position deviation deviation counter monitor before filter J9JUNO9 UONEIAAP UONISOd Position command pulse frequency monitor 2 Analog Velocity monitor Velocity detection Z phase signal A B phase signal various Monitors oo Analog monitor output 1 MN MZ Analog monitor 0 G 110 0 GA 120 output 2 5 80 Function enabling condition settings Auto tuning TUME ATRES 0 0 8 0 ATO 0 amp 01 Torqui monitor Torque command notch filter Enabled during position control mode velocity control mode Acceleration feedback Disturbance observer BG CBNFIL 0 319 0023 ATSAVE D amp 03 Encoder Torque monitor Motor 5 Operation Group 9 Function enabling condition settings Position command pulse Position command frequency monitor 1 pulse frequency monitor 2 g y Analog monitor Feed forward control Using model following control Auto tuning FF Vibration controll Machine model TUME ARES 00 02 Model velocity control Position PCPPOL command amp 11 ATA ATSAVE pulse 01 03 Velocity detection Velocity control JEJUNOI UONEIASP UONISOd Torque command Velocity command monitor Torque monitor Position
153. k aghisnaws aa a Aeaaeai aota 2 10 1 Allowable frequency instantaneous tolerance decreasing the rotation angle of the dynamic brake 2 10 2 7 Regenerative control uuinhuu tindie pa rende feet ee 2 11 2 81 CONVE ia seres ea Ka beret AER 2 12 1 Specifications of CONVE O re r a aa a EE e a a a ra Ea a AEA Eo AAE A AETA eR EAR E Onsa 2 12 3 Installation ressanvvnnnnnvennnnnnvnnnnnnnvnnnnnnennnnnnvnnnnnnennnnnnnennnnnnennnnnnennnnnnennnnnnnnnnnnnnnnnnnnennnnnnneennnnnennnnnennnnnnenennnnennnnnn 3 3 1 DI AVE E E E E E E E eevee tian d dd ss Mantes eis 3 1 1 Precautlbns uLuudagsadeetameknenataenmk nn geen sersaspyacdgessarabavet 3 1 2 Unpack gine ane hege AA ee N aa 3 2 Table of contents 3 4 3 2 U mn 5 2 Mounting direction and location soenen aaaea e a r A 3 3 Control arrangement within the machine eeanvnnanvnnenvnnenvnnnnvenenvnnenrenenvnnenrenenvnnenrenenvnnenrenenvnnenresenvnsenresenn 3 3 Motopron ian AAA 3 4 Preca tioN Sinare A aa ias 3 4 UnpackiNQucssiiis criar dd idad 3 4 SA ON 3 4 Motor mounting Method iii AA ee a e 3 5 Gonverter un io AE AE Loess le an aa 3 7 PRECAUTIONS eis cece sesece tate agere ests tes te an tude akon Settee da wheats ee dec tees vinthen ts Leben 3 7 UNPACKINO seedet seduasupediaecagdasessnadenescnicsededachiastagd aaveenisaanind saetedgesiastagdessveiaessaulapaasee 3 8 Install A ide 3 8 Cable motor nd converter score 3 9 Precautions ire e tt il tri 3 9 WIN iii iran 4 Wiring f
154. l Selection DMON 00 to 5F 00 Always OFF 10 Select output signal for Output digital monitor The logic is reversed with the Digital monitor Output voltage is approximately 5V when OFF and OV when ON M Selection Contents list for General Purpose Output OUT1 to General Purpose Output OUT8 Digital monitor output selection e Fix Output on either selection 01 Always ON 00 Always OFF When Generic input signal status it t o be Output General Input CONT1 is ON 3A CONT1 ON 3B CONT1 OFF General Input CONT2 is ON 3C CONT2_ON 3D CONT2_OFF General Input CONT3 is ON 3E CONT3_ON 3F CONT3_OFF General Input CONT4 is ON 40 CONT4_ON 41 CONT4_OFF General Input CONT5 is ON 42 CONT5_ON 43 CONT5_OFF General Input CONT6 is ON 44 CONT6 ON 45 CONT6 OFF General Input CONT7 is ON 46 CONT7 ON 47 CONT7 OFF General Input CONT8 is ON 48 CONT8 ON 49 CONT8 OFF When Driver Preset status is to be output 02 S RDY_ON 03 S RDY_OFF While Servo Ready Complete 58 S RDY2 ON 59 S RDY2 OFF While Power Supply ON 04 P ON ON 05 P ON OFF While Power Supply ON Permission 06 A RDY ON 07 A RDY OFF While Motor Excitation 08 S ON_ON 09 S ON_OFF Sen Brake Excitation Signal OA MBR ON ON 0B MBR ON OFF While Torque Limiting OG TLC ON OD TLC OFF While Velocity Limiting
155. l following vibration suppression control suppresses this type of machine stand vibration and improves Position stabilization time and response M When you use Model following vibration suppression control select Position control at Control Mode Selection and Model following vibration suppression control at Position Control Selection at System parameters You can run the motor under the condition that the machine stand vibration is suppressed using Model control system ID Contents Control Mode Selection 09 Select value Contents 02 Position Position Control Position Control Selection DA Select value Contents 02 Model2 Model Following Vibration Suppress Control Vv Do not use Auto tuning with Model following vibration suppression control 6 18 6 Adjustments Model following vibration suppression control M Adjustable parameters in Model following vibration suppression control General parameters Group3 Model following control settings ID Symbol Name Unit Setting range 00 KM1 Model Control Gain 1 s 15to315 01 OSSFIL Overshoot Suppression Filter Hz 1 to 4000 02 ANRFRQ1 Model Control Antiresonance Frequency 1 Hz 10 0 to 80 0 03 RESFRQ1 Model Control Resonance Frequency 1 Hz 10 0 to 80 0 Model Control Gain 1 KM1 This is the proportional gain of the Model following controlling position controller and set response for M
156. l switching function VLPCON M You can switch between velocity loop PI control and P control Enabling velocity loop proportional control switching function VLPCON enables swathing Allocating conditions to enable velocity loop proportional control switching function When VLPCON signal is enabled the control is switched to proportional control 27 e Pl control proportionalfintegral control Velocity loop proportional gain KP integral time constant TPI e P control proportional control I TITT Velocity loop proportional gain KP vw Switching to proportional control decreases servo gain and then servo system becomes stable v When setting velocity loop integral time constant TVI to 1000 0ms the operation is in the state integration function is disabled proportional control so you do not need to use this function Minor vibration oscillation suppression function FBHYST M Minor vibration suppression function to suppress mechanical system induced vibration due to 1 pulse 35 width modulation of encoder is enabled when motor stops The conditions for enabling minor vibration suppression function are assigned The minor vibration suppression function becomes enabled If the FBHYST signal is valid External trip input function EXT E M Contact input such as external thermal device can be taken in driver and then output as an alarm 40 AL55 Allocating conditions to enable external trip function When EXT E signal is enabled t
157. lay flashes 3 times and then the flashing 20 a stops the setting is completed tnd If the set value is out of the setting range the set value in the step 13 is displayed without flashing 3 times 21 MODE Press MODE 2 Er EHH Display to be switched to the display left v There are three setting ranges of pulse frequency dividing 1 1 to 1 64 2 3 to 2 64 and 1 32768 to 32767 32768 If you set the figure out of the ranges the figure is not displayed the figure before the setting flashes When setting numerator the figure of denominator is applicable to the figure presently established For example to change from 1 1 to 2 64 you need to set the denominator first as the numerator is already fixed to 1 and 2 1 is out of the ranges Y nu stands for numerator dE stands for denominator 7 10 7 Digital Operator How to tune automatic notch frequency 7 6 How to tune automatic notch frequency Displayed character Input Step number code button How t0 operate 1 Auu MODE Push MODE until it displays the left 2 A LI B B Display changes and right end LED blinks nom Make as the left display with addition and subtraction E A u Le oud av gt and the cursor button 4 WR Push WR for more than 1 second 5 p oEEH Changes to the left display 6 WR Push WR for more than 1 second 7 The character of 8 is drawn and servo is on 8 WR Push WR for more than 1 secon
158. left and it performs if a F F Changes to the display of the left after a normal end 8 Turn on the power supply again Note The motor that cannot be combined or used displays the left in Process 5 nan In this display please set up by Setup Software Applicable Motor varies depending on the Software Version for the Driver 7 17 8 8 Maintenance 8 1 Trouble shooting en einen 8 1 8 2 List of warning and alarm eee 8 3 1 Warning Liste 8 3 2 Alarm List seseseseeeeseseensnsnnenenenennensnsnnennnene nen nsnsn sonene renn n nen n venn nn annan kn nnn nonnene nn nonnene nn nnnnnnnnnnenenennnnnn 8 4 8 3 Trouble shooting when alarm activated unununununununnnnnunnnnnnnununununuuuunnununuuunununnuuunuuuunununununununununumununununununununununumumumunununnn 8 7 1 Alarm display ces 8 7 2 Corrective action for alarm enn 8 7 8 4 spent 8 27 8 Maintenance Trouble shooting 8 1 Trouble shooting When troubles occurred without any alarm displayed check and take corrective actions for them by referring to the description below When alarm occurs take corrective measures referring to Trouble Shooting When Alarm Occurs m does not blink in 7 segment LED even if main power is ON Investigation Assumed causes and corrective actions r M l voltage is low check the power supply Check the voltage atthe power input terminal M Check that wires and screws are fastened properly Red
159. lip or U clip to ground and clamp shielded wire and fix it directly with metal screws Do not ground by soldering electric wire to shielded wire VY Wire servo amplifier at a short distance from the secondary side of noise filter and wire the primary side and secondary side of noise filter separately 9 4 9 Appendix Compliance with EN Directives 3 Requirements for converter installation to achieve the EMC certification Requirements for converter installation vary depending on the machines and system configurations adopted at individual customers Then NSK Ltd has been performing the EMC compliance testing based on the following installation and safeguarding methods Consequently in accordance with the certificates issued from an accredited certifying body based on the results of the EMC testing NSK Ltd has been attaching the CE Marking to individual converters In order to make your machines and systems compliant with the CE Marking you must conduct the final EMC testing on your own initiative A I phase AC200V 50Hz No Name Remarks A Shield box B Driver C Converter D Motor 7 Noise filter HF3030C UQA SOSHIN ELECTRIC Co Ltd i n replacement Rated voltage Rated current Line Line 480V AC 30A parts ii Clamp installation iii Motor cable Shielded cable iv Converter cable Shielded cable V Resolver cable Shielded cable vw Ground the noise filter fr
160. ll be increased Vv When Higher Tracking Control Position Compensation Gain is set to other than 0 this parameter is automatically set M Position Loop Proportional Gain KP Sets the response of Position control Set this to KPus KVPinzy 42T M Higher Tracking Control Position Compensation Gain TRCPGN When the tracking effect needs to be improved under high resolution of position command increase this parameter after adjustment of Higher Tracking Control Velocity Compensation Gain 6 13 6 Adjustments Manual tuning M Feed Forward Gain FFGN The tracking effect of position command can be improved by increasing this gain Under positioning control set this to approximately 30 40 as the standard v When Higher Tracking Control Position Compensation Gain is set to other than 0 this parameter is automatically set M Feed Forward Filter FFFIL When position command resolution is low set this parameter to suppress ripples MW Velocity Loop Proportional Gain KVP Sets responsiveness of velocity control Set the value as high as possible in stable range that machine system does not vibrate and oscillate If JRAT is properly set the set value as KVP becomes velocity loop responsive range M Velocity Loop Integral Time Constant TVI Set this to TVlims 1000 KVP 2 M Load inertia moment ratio JRAT Set this value to the calculation shown below Motor axis converted load inertia moment Ji JRAT x100 Motor inertia moment
161. ller Select from gain switching function 1 or 2 This parameter is not covered by Auto tuning result saving 01 Position Loop Proportional Gain 2 Setting range Unit Standard value KP2 1 to 3000 1 s 30 41 Position Loop Proportional Gain 3 Setting range Unit Standard value KP3 1 to 3000 1 s 30 91 Position Loop Proportional Gain 4 Setting range Unit Standard value VE KP4 1 to 3000 1 s 30 M Proportional gain for position controller Select from gain switching function 1 or 2 e This parameter is not covered by Auto tuning result saving 02 Position Loop Integral Time Constant 2 Setting range Unit Standard value TP 12 0 3 to 1000 0 ms 1000 0 12 Position Loop Integral Time Constant 3 Setting range Unit Standard value TPI3 0 3 to 1000 0 ms 1000 0 22 Position Loop Integral Time Constant 4 Setting range Unit Standard value TPI4 0 3 to 1000 0 ms 1000 0 M Integral time constant for position controller Select from gain switching function 1 or 2 This parameter is not covered by Auto tuning result saving Integral term is valid Proportional control at the setting value 1000 0ms e This setting in valid when the Position Loop Proportional Control Switching Function is invalid 03 Velocity Loop Proportional Gain 2 Setting range Unit Standard value KVP2 Setting range Unit Standard value 13 Velocity Loop Proportional Gain 3 Setting range Unit Standard value KVP3 1 to 2000 Hz 50 23 Velocity Loop Proportional Gain 4 Setting range Unit Standard
162. lue 09 Display range Unit 499 9 to 499 9 Position deviation monitor PMON M Displays the position deviation value Setup software displays values in decimal notation Display range Unit OA 2147483648 to 2147483647 Pulse Digital operator displays values in hexadecimal notation ID Data range Display range Unit OA Bit31 to Bito H FFFF to L 0000 Pulse 5 19 5 Operation Monitor function ID Contents Actual position monitor APMON M Displays the current position of the encoder assuming that the position at the time the control power was turned ON is the original mode As this is a free run counter if the current position exceeds the displayed range the maximum reverse polarity value will be displayed Setup software displays the data on IDOC Display range Unit 9223372036854775808 to 9223372036854775807 Pulse OG 0D Digital operator displays the data on IDOC IDOD in hexadecimal notation 32 bit data ID Data range Display range Unit OG Bit63 to Bit32 H FFFF to L 0000 x2 Pulse 0D Bit31 to BitO H FFFF to L 0000 Pulse OE Reserved OF Mm Command position monitor CPMON M Displays the current position of the pulse command assuming that the position at the time the control power was turned ON is the original mode As this is a free run counter if the curr
163. m ALM_C3 R 7 23 VFBALM Detecti n 01 Enabled 00 to 01 Velocity Control Alarm ALM_C2 E E 24 VCALM Detection 00 Disabled 00 to 01 M General parameters GroupC Encoder related settings ID Symbol Name Default value Unit Setting range 04 ENRAT Encoder Output Pulse Division 1 20 1 32768 to 1 1 05 PULOUTPOL Encoder Output Pulse Divide Polarity 01 Type2 00 to 03 OG PULOUTRES Eheoder Output Pulse Divide Resolution 99 163840P R 00 to 01 07 PSOFORM Encoder Signal Output PS Format 00 MOT Binary 00 to 01 0A CSETMD Magnetic Pole Position Estimation mode 00 Normal 00 to 01 5 28 5 Operation Parameters list M General parameters ID Symbol Name Remarks 00 COMAXIS Serial Communication Axis Number Sr with 01 COMBAUD Serial Communication Baud Rate deg with 02 TUNMODE Tuning Mode lg with 03 ATRES Auto Tuning Response Nr with 04 PCSMT Position Command Smoothing Constant eg with 05 PCFIL Position Command Filter ed with 06 B GER1 Electronic Gear 1 Numerator rer with 07 A GER1 Electronic Gear 1 Denominator er with 08 INP In Position Window er with 09 F OT CW Over Travel Function rn with OA R OT CCW Over Travel Function ria with 0B AL RST Alarm Reset Function PR with 0D CLR Deviation Clear Function eg with OE S ON Servo ON Function Ge with OF TE Torque Limit Function ro with 10 JOGVC JOG Velocity Command Ag with 11 ENRAT Encoder output frequency pulse dividing
164. m JOG operation M Confirm that the motor rotates CW direction and CCW direction 2 Operating using setup software Select JOG Operation from the Test Operation menu Confirming and setting with Digital Operator For operating instructions please see Digital Operator 7 5 6 5 Operation Test operation confirmation of I O signal 3 Confirmation of l O signal Settings for general l O signals CN1 are the defaults set at the time of shipment Procedure Item and contents Confirmation of I O signal M Allocate functions you use to CONT1 to CONT8 by selecting parameters from general parameters Group 9 Default setting value at shipment Input CN1 pin Signal selected form general parameter Group9 Setting value signal number CONT1 37 Servo ON Function 02 CONT1 ON 1 CONT2 36 Emergency Stop Function 04 CONT2 OFF CONT3 35 Estimation of Magnetic Pole Position 06 CONT3 ON CONT4 34 Deviation Clear Function 08 _CONT4_ON CONT5 33 CCW over Travel Function 0B CONT5 OFF CONT6 32 CW over Travel Function 0D _CONT6_OFF Position Command Pulse Disabled Function SONG 13 14 Shutdown at Zero Velocity Function 0E _CONT7_ON CONT8 15 16 Alarm Reset Function 10 CONT8 ON Confirmation of output signals M Select the output signal from general parameters GroupA and allocate OUT1 to OUT 8 Default setting value Default setting at shipment
165. main circuit that there is no external power supply to R S T R S T when the main circuit is OFF M Defect in internal circuit of driver M Replace the driver m Alarm Code 63 Main Power Supply Fail Phase 3 t Ye Y at Status at the time of alarm AE B Issued when power supply control is tumedON v Issued when power supply of main circuit is turned ON W v Issued during operation Alarm issued during single phase power input selection fv Corrective actions Cause Investigation and corrective actions inserted M Check the model number and delivery specifications of the driver and replace it with a driver for single phase power supply Change ID01 of system parameter to Single phase AC power is supplied to the main circuit 3 M driver is not specified for single phase m Alarm Code 71 Control Power Supply Under voltage JE te ste Y 0 Status at the time of alarm AR R Issued when power supply control is turned ON w Issued during operation v vi Corrective actions Cause Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver o M Input power supply voltage is below M Confirm that the power supply is set the specified range within the specified range i M Confirm that the power supply is not 3 a ria Seer ia de going to neither blink nor reduce the 9 9 power 8 16 8 Maintenance Trouble sh
166. matic Setting Error 1 Ye xt 34 Ye xt cause A LJE E gt Status at the time of alarm Cause LJE E k Issued after motor parameter automatic setting functional execution Corrective actions Cause Investigation and corrective actions M Defect in internal circuit of converter M Replace the converter m Alarm Code EF Motor Parameter Automatic Setting Error 2 eae ME Oe AILJEIE Issued after motor parameter automatic setting functional execution Corrective actions M Check the model numbers of driver motor and converter and correct the combination M Check if the combination of versions of the driver is correct M Defect in internal circuit of converter M Replace the converter Status at the time of alarm M Motor driver and converter are not combined properly m Alarm Code F1 Task Process Error se Status at the time of alarm J z Ale Fix Issued during operation Corrective actions Cause Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver 8 25 8 Maintenance Trouble shooting when alarm occurs MW Alarm Code F2 Initial Process Time Out Status at the time of al He RE ME OE He atus a e time of alarm ALETA LE os Corrective actions Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver H Confirm proper grounding of the driver 2 Malfunction due
167. me as ordered The reference number is located on the main label following the word MODEL M Verify that there is no problem in the appearance of driver Driver Example of driver label NSK MODEL M EGA 15A2301 INPUT 3 200 230V AC 50 60Hz 2 5A 16 200 230V AC 50 60Hz 0 2A a OUTPUT 36H 0 326V 2 5A SER No 0123456789 A Aus 6 2014 0211 Label Serial Number Month two digits Year two digits Day two digits Serial number four digits version Y When driver M EGA 15A2301 motor M PB3030JN001 and converter M ECC PB3030GA201 are used together use driver with version A or later When the combination is not appropriate alarm will be output vw Driver version is also displayed inside the cover of upper front Inside the cover of upper front Version lt x S ca y 3 T lt uj y 4 wo 2 3 2 3 Installation Driver 3 Mounting direction and location In the case of rear mounting Front mounting In the case of front mounting M4 qos Y Refer to optional parts Appendix for metal fittings for front mounting 4 Control arrangement within the machine E Leave at least 50 mm space above and below the driver to ensure unobstructed airflow from the inside of the driver and the radiator If heat gets trapped around the driver use a cooling fan to create airflow M
168. ment the greater the compensation value is Position deviation decreases with high setting control The setting value is invalid with Model following control or Model following vibration suppressor control 03 Deceleration Compensation DECCO Setting range Unit Standard value 9999 to 9999 x50 Pulse 0 M Sets Deceleration Compensation value with high setting control Set in units of position deviation pulse Compensation is performed for position 900 66 deviation The larger the set value the more the amount of compensation The larger the acceleration converted fro position command the more the amount of compensation The larger load inertia moment the more the amount of compensation Position deviation decreases by high stabilization control This setting value is not reflected in operation with model following control or model following vibration suppression control 5 47 5 Operation Group 8 control system settings M Group8 Control system settings ID Contents Position Velocity Torque Command Input Polarity Setting range Unit Standard value CMDPOL 00 to 07 00 PC VC TC M Select the combination of each command polarity for position command pulse input from the list below Rotating direction of the motor can be reversed without changing the command wiring Rotating direction with positive polarity command
169. meters Group2 FF vibration suppression control Notch filter Disturbance observer settings ID Symbol Name Unit Setting range 20 TCNFILA Torque Command Notch Filter A Hz 100 to 4000 v The above parameter is saved automatically with Automatic tuning of notch filter 6 11 6 Adjustments Automatic FF vibration suppression frequency tuning 6 4 Automatic tuning of FF vibration suppression frequency Set FF vibration suppression frequency to suppress low frequency vibration at the tip or body of the machine Automatic tuning of FF Vibration suppression frequency simply enables the frequency tune in minimal motion cycle time between the driver and the motor 1 Operation method M Operate from Auto tuning mode in Software Setup or Digital Operator M The tuning result is automatically saved in Group2 IDOO FF Vibration suppression frequency ISUPFREQ1 Mm FF vibration suppression frequency is obtained by executing auto tuning of vibration suppression frequency or by calculating vibration frequency from the mechanical vibration period at the time of positioning v When vibration does not stop with FF vibration suppression frequency there is a possibility that the gain for control system may be too high In this case lower the control system gain Vv When used together with Higher Tracking Control Velocity Compensation Gain vibration suppression effect may be improved v FF vibration suppression control funct
170. n Q Never expose the motor driver and converter to any water and oil Do not store nor operate the system in the area where it may be exposed to rain and water drops or toxic gasses or liquids exist This can result in failures Do not perform overhaul This can result in fire and electrical shock Do not remove nameplate Never cut any cables into segments for extension shortening or splicing This can result in failures Never attempt to overhaul the motor body This can result in failures Do not remove the casings from driver and converter This can result in failures Do not impact the motor directly with a hammer or other tools Direct impact on the sides of motor or the parts installed on the motor can cause degraded accuracy of internal detector S This can result in failures The specifications of dynamic brake include limitations on allowable load and rotational speed In the operation of position alignment limit the operating actions to 360 within the allowable load of inertial moment Q This can result in failures S afet recautions Please fully observe m Mandatory Q Store the system within the specified temperature and humidity 20 C to 65 C 90 RH or less no condensation away from direct sunlight Driver and converter Tem
171. n signal treatment Level detection Edge detection Select proper setting corresponding to above combination from the list below Selection Contents During servo OFF When Servo OFF gt Clear Deviation clear is always 00 Typei Deviation executed While Deviation Deviation Clear Input clear input is ON Level Detection Deviation clear is always 19 executed When Servo OFF gt Clear At the edge of OFF gt ON of Deviation Deviation clear input Deviation ov pe Deviation Clear Input clear is executed Edge Detection When Servo OFF gt NOT Clear During servo OFF Deviation Deviation clear is not executed 02 Type3 Deviation Clear Input After servo ON the motor may Level Detection operate suddenly When Servo OFF gt NOT Clear During servo OFF Deviation Deviation clear is not executed 097 INBA Deviation Clear Input After servo ON the motor may Edge Detection operate suddenly 5 52 5 Operation Group 8 control system settings ID Contents og Velocity Command Acceleration Time Constant Setting range Unit Standard value TVCACC 0 to 16000 ms 0 20 Velocity Command Deceleration Time Constant Setting range Unit Standard value TVCDEC 0 to 16000 ms 0 M These parameters control the acceleration and deceleration commands for the jog operation Acceleration 0 min gt CW CCW rotation Deceleration CW CCW
172. nal Not Reversed yp Z Phase Signal Logic Low Active A Phase Signal Reversed OG pes Z Phase Signal Logic Low Active 5 78 5 Operation Group C Encoder related settings ID Contents Encoder Output Pulse Divide Resolution Selection Setting range Unit Standard value PULOUTRES Control power reactivation after setting 00 to 01 B 00 163840 P R M This parameter is settable only when using serial encoder amp Sets resolution of Encoder output pulse divide Set at 163840P R when Output pulse frequency exceeds the specification of the upper controller 06 Outputs divided pulse by setting resolution to ID04 Encoder output divide Selection Contents 00 163840P R 163840 Pulse per 1 Motor Rotation 01 655360P R 655360 Pulse per 1 Motor Rotation Resolver Signal Output PS Format Setting range Unit Standard value PSOFORM Control power reactivation after setting 00 to 01 00 MOT Binary M Sets signal format of Encoder signal output PS 07 Selection Contents 00 MOT Binary Binary Code Output 01 MOT ASCII Decimal ASCII Code Output 5 79 5 Control 5 9 Control block diagram Position command pulse frequency monitor 1 Feed forward control Position Without using Model command z FFGN FFFIL pulse 1 G og control Position deviation monitor After filter Veloc
173. nd Dynamic brake When the motor stops this setting does not function When motor does not stop after servo OFF at gravity axis set this parameter When forced to stop by Holding brake the Holding brake may possibly be broken Be cautious about device specifications and sequence when using this function oe 5 75 5 Operation Group B sequence Alarm related settings M About Holding Brake Motor with Holding brake function is usually used with an axis that is always affected by gravity and external forces in order to avoid movable parts falling off from its position when main circuit power is OFF or servo OFF The holding brake acts to bear the gravity and other external forces applied on the movable parts at rest Do not use it to break any running machine to a stop Setting for Holding brake excitation signal output Group ID Symbol Contents A 0 OUT Generic Output Selection Contents OA MBR ON ON While Holding brake excitation signal output output ON 0B MBR ON OFF While Holding brake excitation signal output output OFF S ON Servo ON Servo OFF Holding brake Holding brake release Holding brake engage excitation signal 1 Command acceptance Command acceptance permission pr 1 permission signal i 1 1 I I i Motor excitation signal i Motor excitation i i I I 1 i gt gt BOFFDLY BONDLY
174. nd FF vibration suppression frequency to suppress the resonance and then try again 6 20 6 Adjustments Disturbance observer 6 8 Using disturbance observer function The motor speed will fluctuate when an external force is applied to the operating machine and it may affect the machine operation The Disturbance Observer is a function to suppress the influence of external load torque by estimating the load torque inside the driver and adding the load torque compensation to the torque command To use the Disturbance Observer set Group9 ID33 disturbance observer function OBS to Functions enabled Adjust the observer related parameters in Group2 ID30 33 and suppression or reject the disturbance MW Parameters for using the Disturbance Observer Group9 Functions enabling conditions settings ID Symbol Contents Setting range 33 OBS Disturbance Observer Function 00 to 27 General parameters Group2 FF vibration suppression control Notch filter Disturbance observer settings ID Symbol Name Unit Setting range 30 OBCHA Observer Characteristic 00 to 02 31 OBG Observer Compensation Gain 0 to 100 32 OBLPF Observer Output Low pass Filter Hz 1 to 4000 33 OBNFIL Observer Output Notch Filter Hz 100 to 4000 m Explanation of the parameters using the Disturbance Observer There are three types of disturbance observer characteristics Select a proper type depending on di
175. ng and replace if incorrect resistor specifications M For built in regeneration resistor i F specifications replace the driver M Regeneration resistor is 4 M For external regeneration resistor disconnected Aer specifications replace the regeneration resistor E Resistance value of external Replace the current resistance value 3 regeneration resistor is excessive wena value matching the specifications pe z the specified range level 7 Defect in internal circuit of driver Mm Replace the driver When external regenerativ E a erd ad ke M install the external regenerative y resistance parameter ID02 ana externa M Set to Do not connect regenerative regenerative resistance is not a 9 resistance installed w Ifthe setting of system parameter ID02 Regenerative Resistor Selection is incorrect regeneration overload is not detected properly and the driver and surrounding circuit may be damaged or burnt m Alarm code 44 Magnetic pole position estimation error Y t 34 3 t ee Issued when power supply control is turned ON TN Issued during operation vw Corrective actions Cause Investigation and corrective actions a Mm Magnetic pole position detection M Change magnetic pole position 1 frequency coincides with mechanical detection frequency resonance point M Defect in control circuit of driver M Replace the driver Y Incase magnetic pole position estimation erro
176. nnnnnnernrnnnnnnnsvresennnennrnsnnenernrnsnnenennn 1 2 Reference number of driver siii to ste feiring rie Mesna 1 2 Reference number of motorn assessment Gade 1 2 Reference number ot Converter nsuusanuganudetenn dekan ae tech dada adelige rundt 1 3 Reference numberof A O 1 3 Reference number of converter cable c ccseceeeseceeeeeseeeeeeeeeeeneseaeeeseseeeeseaaeeenegaceeseseecesesseeeeeeseneesesenseneeseees 1 3 RI 1 4 DIV AAA AAA AAA ely 1 4 Motos Time Te Sue A a 1 5 A E A ETT 1 5 1 Preface Illustration of system components 1 1 Illustration of system components TSR Hod Wiring breaker MCCB Used to protect power line Enables parameter setup and Turns off the power supply when i monitoring through communication overload runs E with a PC Noise filter MEGATORQUE MOTOR E DRIVER Installed to protect power line from external noise RS 232C A Electromagnetic contactor PC MEGATORQUE Switches power On Off chance T MOTOR SETUP Please place safeguard circuit External regenerative resistor pa Host equipment CSF S PERE EE DOI i HHH When the capacity is found insufficient for high frequency operation or other applications use an external regenerative resistor Motor cable Converter cable i Converter Motor 1 Preface Composition of reference number of individual parts 1 2 Coding for reference number of individual parts
177. nnr nn nr r rre ren 6 9 Monitoring servo gain adjustment parameters ocooocccononcccnononcnonanoncnnnon ono nnnon o nn naar o nn rra r nr nn n rre 6 10 Manual tuning method using auto tuning resultS oooooccccnnnncccnnncncnononcnnnononcno nano nnnnnnr ocn rra r rre rnnr nn 6 10 Automatic tuning Of notch filter oo ooonnnnccnnnnncccnnnnnccnnnrannnnorannnnnornrc nan n nn r arre rre 6 11 Table of contents 1 Operationmethods Lanser kodes dene dekte felene et 6 11 2 Setting parameters aaa 6 11 6 4 Automatic tuning of FF vibration Suppression frequenCy srrrrrrnvrnnnvnvrvrnnnnrnnnrrnvrnnrrnvrerrrnnrnerrrrenrrenernrrrnnnen 6 12 1 Operation method conato keen 6 12 2 Setting paraban da adidas tian erence aries laden etna 6 12 6 5 Using irmanual tuning ici cokes ude cava aa aa a A ara pa dds ssthandesdan asd O aaa aE aaa 6 13 1 Servo system configuration and servo adjustment parameters rrranrnnnnrnnonrnnnnrnnnnrnnnnrnnnnrnnnnrnnenrnnrnnnn 6 13 2 Basic manual tuning method for velocity CONtIOL cecceeeeeeeeeeeeeeeeeeneeeeaeeseeeseaeeteaeeseaeeseaeeeeeeteeeeeaeees 6 15 3 Basic manual tuning method for position control ooooooccccnnonaconanancninanrncnnnono no nono ncnn ron nn rra n rra rr 6 15 6 6 Model following Control a Ta sen a aa aa araa Ee Aaa A r a EE A EEE Aa AAEE a E e a EEEa Ea paia 6 16 1 Automatic tuning method for model following control rarsrnnrrnvrnnnnnnvrnrrrnvrnnnenvrnnnennvrnrrrrrrne
178. nsation 0 x50 Pulse 9999 to 9999 03 DECCO Deceleration Compensation 0 x50 Pulse 9999 to 9999 5 25 5 Operation Parameters list M General parameters Group8 Control system settings Standard ID Symbol Name valli Unit Setting range ak 00 PC _ 00 CMDPOL Position Velocity Torque Command Input Polarity VC TC 00 to 07 10 PMOD Position Command Pulse Selection mr 00 to 02 11 PCPPOL Position Command Pulse Count Polarity 00 Type1 00 to 03 12 PCPFIL Position Command Pulse Digital Filter 00 834nsec 00 to 07 13 B GER1 Electronic Gear 1 Numerator 1 1 to 2097152 14 A GER1 Electronic Gear 1 Denominator 1 1 to 2097152 15 B GER2 Electronic Gear 2 Numerator 1 1 to 2097152 16 A GER2 Electronic Gear 2 Denominator 1 1 to 2097152 ee 00 Pulse 17 EDGEPOS Positioning Methods Interval 00 to 01 a A fae 00 After 18 PDEVMON In Position Signal Position Deviation Monitor Filter 00 to 01 19 CLRSEL Deviation Clear Selection 00 Type1 00 to 03 2B TVCACC Velocity Command Acceleration Time Constant 0 ms 0 to 16000 2C TVCDEC Velocity Command Deceleration Time Constant 0 ms 0 to 16000 2D VCLM Velocity Limit Command 65535 min 1 to 6553 5 37 TCLM F Forward Direction Internal Torque Limit Value 100 0 10 0 to 500 0 38 TCLM R Reverse Direction Internal Torque Limit Value 100 0 10 0 to 500 0 39 S
179. nses that are already set This method is used when the Load inertia moment ratio could not be estimated correctly with auto tuning Manual Tuning Set all parameters such as Load inertia moment ratio servo gain filter frequency etc manually This method is used when characteristics during auto tuning are insufficient m Vibration suppression of mechanical system Automatic tuning of FF Vibration Suppression Frequency This is used to obtain the vibration frequency when FF vibration suppression control is initiated Automatic tuning of notch filter This method is used for suppressing high frequency resonance caused by coupling and or rigidity of the mechanical system using a notch filter 6 1 6 Adjustments Selection of tuning method 2 Model following control Model following control is a control method that ensures a higher detection response by composing a model control system including the mechanical system in a driver to operate the actual motor in order to follow the model control system Model following control Use Model control system to ensure higher detection response Model following vibration suppression control Use the model control system to ensure a higher detection response by suppressing the machine stand vibration Tuning method selection procedure The selection procedure is displayed in the following chart Y Start tuning Tune servo gain manually Tune the servo gain automatically gt g
180. nt Au G Enables Adjustment for Torque Command Notch Filter A and Vibration Suppression frequency 1 Test operation Ad ada Enables JOG operation Alarm Reset Automatic Tuning Result writing and Alarm History Clear System parameter EBEBEB Sets the parameters related to driver encoder Alarm history ALH f Displays the latest 7 alarm events Monitor ob Og Displays the driver status such as Velocity Velocity Command Torque Torque command Position Deviation and Servo Adjustment Gain when using auto tuning Motor code set BHB8BgEB E Sets the motor cord corresponding to motor and changes the motor to be used 7 2 7 Digital Operator Setting and display range 7 3 Setting and display range Digital operator displays data becomes the following form MW Data of 0 to 65535 Symbol Digital operator display Range of a digit display Plus B Position of 1 display 0to 9 Plus f g Position of 10 display 10 to 99 Plus B B Position of 100 display 100 to 999 Plus 1 B B 5 Position of 1000 display 1000 to 9999 Plus JEBB Position of 10000 display 10000 to 99999 MW Data of 9999 to 9999 Symbol Digital operator display Range of a digit display Plus g Position of 1 display 0to9 Plus 1 B Position of 10 display i 10to 99 Plus BB Position of 100 display 100 to 999 Plus gg g g Position
181. ny defect Converter Label 3 Installation Mounting hole 4 locations Typical installation 3 Installation Cable 3 4 Cable motor and converter 1 Precautions Follow the precautions listed below when installing the cable Ml General precautions Remember that installation near any combustibles can cause a fire Never attempt to place any heavy materials on the converter or do not stand on the cable Use the cable within the range of specified environmental conditions Do not fall the cable nor expose it to any strong impact If the cable is found damaged immediately return it to us for proper repair Do not cut cables for extension reduction or connection Do not give stress such as tension or vibration to connecting part of cable and connector M Precautions for installation In order to ensure extended service life and high reliance use the cable at a temperature below 40 C If cable is to be exposed to severe vibration fix the cable near connector so that connector does not suffer from stress E Where any heating element is located nearby Even if temperature increase is expected due to thermal convection and or radiation keep the surroundings of cable below 40 C M Where corrosive gas is present Extended use can cause contact failure in the connectors and contact elements Never use the cable in any location exposed to corrosive gas
182. o reduce 4 M Excessive overshoot and overshoot and undershoot undershoot M Simplify the acceleration and declaration command pattern M_ Mask the alarm Y For the velocity control error alarm an alarm may occur while starting and stopping when load inertia moment is excessive For this reason in the gravitational axis applications Do not detect is selected as the standard setting If its detection is needed consult our representatives 3 Excessive overshoot while starting 8 20 8 Maintenance Trouble shooting when alarm activated m Alarm Code C3 Velocity Feedback Error JE NE XX NE Status at the time of alarm AEE 3 3 Issued when command is entered Generated at the time of control input p jv Corrective actions Cause Investigation and corrective actions M Confirm that the power line is properly 1 mi Motor is not rotating connected Mm Replace the motor 2 3 M Defect in internal circuit of driver M Replace the driver M Adjust the servo parameter so that motor will not vibrate oscillate M The motor is vibrating oscillating m Alarm Code C5 Model Tracking Vibration Suppression Control Error E Status at the time of alarm AIL IETS x Issued after entering position command pulse Corrective actions Investigation and corrective actions M Setup of model control gain is high M Lower model control gain M The acceleration and deceleration M Simplify the accele
183. occurs Confirm that the wiring for encoder line and motor power line are not installed in the same port Confirm that the power supply voltage is sufficient Operate at a low speed and check whether abnormal sound has periodicity Observe by operating motor without mechanical Check whether there is any problem in attachment mechanical attachment Pay attention while coupling and confirm that there is no core shift or unbalance 8 2 8 Wirin List of warning and alarm 8 2 List of warning and alarm Names and contents of warning alarm and the stop operations when detected and alarm reset methods are listed below 1 Warning List EE Warning Title Warning Contents m When the effective torque exceeds the Qvetioad Warning Overload Warning Level Load system Regenerated Overload Warning m Incase of overload of regenerative resistance Driver Temperature Wann M Ambient temperature of the driver is out of P 9 range of the operation temperature Power supply Main circuit is charging M Voltage of main circuit is above DC 105 V system Voltage sag warning M Control power goes 152VAC or less External input CW over travel m While entering CW over travel system CCW over travel mM While entering CCW over travel Restricting torgaue command m While restricting the torque command by g torg torque restriction value Control system Restricting speed command m While restricting the speed command by speed value WE Inthe state position
184. ocity control system This parameter is saved with an estimated result when Auto Tuning Automatic Parameter Saving function is valid When Auto tuning Function is valid this value is not applied When Auto tuning function is valid this setting value not applied Use between the range 100 to 3000 when driven with Model following vibration suppressor control When Gain switching function is valid select gain 1 and this setting value is applied When Auto tuning is valid while system analysis function is active this value is applied Standard value 100 14 906 OO Higher Tracking Control Velocity Compensation Gain Setting range Unit Standard value TRCVGN 0 to 100 0 M Adjusts command tracking performance of velocity control system The larger value can raise command tracking performance higher When using Velocity Loop Proportional Control Switching Function set 0 When synchronizing with other axes set 0 When Auto tuning function is valid this setting value not applied The setting value is invalid with Model following control or Model following vibration suppressor control 15 906090990 Acceleration Feedback Gain Setting range Unit Standard value AFBK 100 0 to 100 0 0 0 M Sets acceleration feedback compensation gain to make the velocity loop stable Multiply this gain with the detected acceleration to compensate torque command When Auto tuning function is valid
185. ode Machines may receive any impacts Positioning Control 5 e On the basis of Positioning Control 4 to FFGN adjustment e Do not used for always affected by gravity and external forces The machine may receive impulse Trajectory Control 1 Used when following position command pulse and cutting behavior Used for Position control mode Can be used for always affected by gravity and external forces Select this mode for single axis use The response of each axis can be different Used when cooperating with other axes which used for Trajectory Control 2 The positioning characteristics will change when the Position Loop Gain is altered with fluctuation of the estimated inertia moment Please adopt Trajectory Control 2 or use manual tuning if you want to avoid this change Trajectory Control 2 e This setting is used to tune the response of each axis positioning loop in cooperation with the other axes e Used for Position control mode Can be used for always affected by gravity and external forces Y When you use this mode for trajectory control do not set IDOA Position Control Selection at Model following vibration suppressor control In Model following vibration suppressor control trajectory will be out of alignment 5 31 5 Operation Group 0 Auto tuning settings ID Contents Auto Tuning Response Setting range Unit Standard value ATRES
186. ode 1 Corrective actions Cause Investigation and corrective actions M Clear the alarm and restore operation 1 m Normal operation After completion of test mode to confirm any deviation in the controller Mm Alarm Code El EEPROM Error He Me Me 3 Gus ALE Status at the time of alarm LJE Issued during display key operation or set up software operation Corrective actions Investigation and corrective actions Defect in internal circuit of driver M Replace the driver m Alarm Code E2 EEPROM Check Sum Error SE He se se te nice Issued when control power supply is turned ON Corrective actions Cause Investigation and corrective actions M Correct value not read by CPU by EEPROM built in driver e ld M Failed to write into the EEPROM during last power supply cutoff m Replace the driver 8 23 8 Maintenance Trouble shooting when alarm activated Alarm Code E3 Memory Error 1 JE ne Ut 3 NE Alarm Code E4 Memory Error 1 ALE gt Alarm Code E8 CPU Surrounding Circuit Error He re Ve se NE Alarm Code E9 System Code Error AEE LY x E NE HE ME Tt AL JE B gt se t HE oe Y LJE S x Corrective actions EA E gt K Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver Status at the time of alarm m Alarm Code E5 System Parameter Error 1 HE HE Me NE Status at the time of alarm
187. odel control system Overshoot Suppression Filter OSSFIL This parameter is to set the cutoff frequency of the Overshoot suppression filter in Model following vibration suppression control When overshoot occurs on position deviation lower the set value Model Control Antiresonance Frequency 1 ANRFRQ1 This is to set the Anti resonance frequency of the machine using Model following vibration suppression control When the value is set higher than Model Control Resonance Frequency vibration suppression control will be invalid Model Control Resonance Frequency 1 RESFRQ1 This is to set the Resonance frequency of the machine model using Model following vibration suppression control Vibration suppression control will be invalid at 80 0Hz v Do not change the setting value when the motor is running M Parameter setting range for model following vibration suppression control Setting ranges for the following parameters are restricted General parameters Group1 Basic control parameter settings ID Symbol Name Unit e 14 JRAT1 Load Inertia Moment Ratio 1 100 to 3000 20 TCFIL1 Torque Command Filter 1 Hz 100 to 1000 General parameters Group3 Model following control settings ID Symbol Name Unit Setting range 00 KM1 Model Control Gain 1 1 s 15 to 315 6 19 6 Adjustments Model following vibration suppression control 3 Tuning methods M First select 01 Model 1 model following con
188. oltage for holding roca UK CL NOI Goes HOt brake are correct If not repair them If OPA they are appropriate replace the motor AG Wiring of U V W phase between M Check the wiring conditions and restore if driver and motor do not match improper Eli One or all connections of UNN M Check the wiring conditions and restore if phase wiring of driver motor is disconnected improper Ed 70m Machines collided E o the operating conditions and limit 8 10 8 Maintenance Trouble shooting when alarm activated HERE Tt U m Alarm code 43 Regenerative Overload ALLA I x Status at the time of alarm Case o O 11 1213 Issued when power supply control is turned ON fv Issued when power supply of main circuitis tumed ON w w w v v vw Issued during operation f Iviv fv Corrective actions Cause Investigation and corrective actions Check the load and operating er sill te re de conditions are des te DE Use an external regeneration resistor 1 9 Set the load inertia moment within the specifications vgs doo thes specified range M Excessive load inertia moment or ar Increase the deceleration time tact time is short i Increase the tact time M Regenerative resistance wiring 2 conflicts with built in regenerative M Check wiring and replace if incorrect resistance specifications M Regenerative resistance wiring 3 conflicts with external regeneration M Check wiri
189. on angle of the dynamic brake 2 10 24 Regenerative COM dotada eii 2 11 2 8 NN 2 12 1 specifications Of conve idilio nose 2 12 2 Specifications Motor 2 1 Motor 1 Motor specifications item Unit Designation M PB1006JN001 M PB3015JNO01 M PB3030JNOO01 M PB3060JNOO1 Motor outside diameter mm 9102 152 Max output ra 6 15 30 60 torque Rated output Nem 2 5 10 20 torque Motor height mm 92 126 Motor hollow hole mm 35 56 Max speed s 10 8 Rated speed s 5 1 Resolution of c9unts rev 524 288 position sensor Absolute N positioning arc sec 112 accuracy Positioning repeatability arc sec aes axial iN 1000 120 2000 200 Allowable radial load N ae 390 Allowable moment load Ne 3 20 Rotor moment kand 0 0026 0 014 0 016 0 021 of inertia Allowalble load moment of kgem 0 to 0 26 0 to 1 1 0 to 1 4 0 to 3 1 inertia Mass kg 2 6 5 8 7 2 10 2 Environmental conditions Ambient temperature 0 40 C Humidity 20 80 RH Indoor use only Free from dust condensation and corrosive gas IP30 equivalent 1 Accuracy at an ambient temperature of 25 5 C 2 Load in the direction toward the lead wire from the loading side on the motor shaft 3 Load in the direction toward the loading side from the lead wire on the motor shaft 4 When the radial load is 0 N 5 When the axial load
190. on by installing iton a base with a shock absorber Msif there is a heat generator nearby If the ambient temperature may increase due to convection or radiation make sure the temperature near the driver does not exceed 55 C If corrosive gas is present Long term use may cause contact failure on the connectors and connecting parts Never use the device where it may be exposed to corrosive gas f explosive or combustible gas is present Never use the device where explosive or combustible gas is present The device s relays and contacts regenerative resistors and other parts can arc spark and can cause fire or explosion M dust or oil mist is present The device cannot be used where dust or oil mist is present If dust or oil mist accumulates on the device it can cause insulation deterioration or leakage between the conductive parts and damage the driver M Ifa large noise source is present If inductive noise enters the input signals or the power circuit it can cause a malfunction If there is a possibility of noise inspect the line wiring and take appropriate noise prevention measures A noise filter should be installed to protect the driver 3 1 3 Installation Driver 2 Unpacking Verify the followings when the product arrives If you find any discrepancy contact your distributor or sales office M Verify that the driver reference number is the sa
191. ondition 2 00 Always Disable 00 to 27 15 SUPFSEL1 FF Vibration Suppressor Frequency Select Input 1 00 Always Disable 00 to 27 16 SUPFSEL2 FF Vibration Suppressor Frequency Select Input 2 00 Always Disable 00 to 27 17 PLPCON Position Loop Proportional Control Switching Function 01 Always Enable 00 to 27 18 MDLFSEL1 Model Vibration Suppressor Frequency Select Input 1 00 Always Disable 00 to 27 19 MDLFSEL2 Model Vibration Suppressor Frequency Select Input 2 00 Always Disable 00 to 27 1A CSET Magnetic Pole Position Estimation Function 06 CONT3_ON 00 to 27 20 SP1 Preset Velocity Command Select Input 1 00 Always_ Disable 00 to 27 21 SP2 Preset Velocity Command Select Input 2 00 Always_Disable 00 to 27 22 SP3 Preset Velocity Command Select Input 3 00 Always_ Disable 00 to 27 23 DIR Preset Velocity Command Input Direction of Movement 00 Always_Disable 00 to 27 24 RUN Preset Velocity Command Operation Start Signal Input 00 Always_ Disable 00 to 27 25 RUN F Preset Velocity Command direction Move Start 00 Always_Disable 00 to 27 Signal Input 26 RUN R RR v NE Command direction Move Start 99 Aways Disable 00to 27 27 VLPCON Velocity Loop Proportional Control Switching Function 00 Always Disable 00 to 27 28 V COMPS Velocity Compensation Function 00 Always Disable 00 to 27 30 T COMPS1 Torque Compensation Function 1 00 Always Disable 00 to 27 31 T COMPS2 Torque Compensation Function 2 00 Always Disable 00 to 27 32 TL To
192. onfirmation of specifications Confirm the specifications the driver using either of the MEGATORQUE MOTOR SETUP set up software or Digital Operator Procedure Item and contents Confirmation of driver specifications M Confirm that the specifications of the product purchased are the same as that of the machine being used Also confirm the following three 3 items with statements or codes Motor structure Main circuit power supply voltage Driver capacity code M Confirm the statement contents and codes with the MEGATORQUE MOTOR system support tools Setup software or Digital Operator Confirm with setup software Turn on control power r t to start up setup software Opening System parameters tab of Parameters setting P shows System information in the upper right of the display Confirm in accordance with procedure 2 and later Confirm with Digital Operator Codes are shown at Information 1 driver and Information 2 driver Refer to Status Display Mode 7 4 for Digital Operator operation Motor structure Code Motor structure 02 DDM M Confirm that DDM is displayed at Motor Structure in setup software M Confirm that the Motor Structure code is shown at Information 1 driver of Digital Operator inFod edd T Motor Structure code 5 1 5 Operation Confirmation of system parameters specifications Procedure Item and content
193. onitor display Basic parameter set Alarm history display General parameter set gt Automatic adjustment gt Test operation gt System Parameter set 7 1 7 Digital Operator Mode contents 2 Mode contents Mode Contents Status Display M Displays the establishment of control or main power supply Servo ON over travel warning and alarm status Basic parameter bA M Parameters necessary for test operations by JOG and auto tuning Can be set at general parameter mode General parameter Ex x cy CJ Cy Settings can be made suitable for machines and equipment Parameters for adjusting servo gain can be changed Classified into 11 groups according to the functions Group Description of Group Group0 Settings of automatic tuning Group1 Settings of basic control parameters Group2 Settings of damping control notch filter disturbance observer Group3 Settings of model following control Group4 Settings of gain switching control damping frequency switching Group5 To set high setting control Group8 Settings of control system Group9 Settings of various functional effective conditions G Setting of general output terminal output condition monitor roupA p i PD output selection serial communication GroupB Setting related to sequence alarm GroupC Settings related to encoder Automatic adjustme
194. ons Stop the input of proportional control Eneas proportional controlis entered Check of Functions enabling condition settings Taimen A Quit inputting torque limit Cheek if toique limitis input Check of Functions enabling condition settings M Motor rotates only once and stops Investigation Assumed causes and corrective actions Check motor power line M The motor power line is not connected Check a setup of a combination motor Check a setup of encoder resolution System MW Change the settings and turn ON the power again parameter Y When performing the work for correction processing be sure to intercept power supply 8 1 8 Maintenance Trouble shooting MW Motor hangs up Investigation Assumed causes and corrective actions Check the motor power line M Phase order of motor power line is wrong Y When performing the work for correction processing be sure to intercept power supply M Motor is vibrating Investigation Assumed causes and corrective actions M Reduce the loop gain speed Motor iS vibrating Mie gueno above 209 M Set the torque command low pass filter and torque command notch filter M Occurs over shoot under shoot during starting stopping Adjust the auto tuning response Reduce the loop gain speed Increase the velocity integral time constant Simplify the acceleration and declaration command Set position command filter mM Abnormal sound
195. onse FFGN Manual Setting 03 Positioning4 Positioning Control 4 High Response Horizontal Axis Limited Positioning Control 5 High Response Horizontal Axis Limited FFGN Manual Setting 05 Trajectory1 Trajectory Control 1 06 Trajectory2 Trajectory Control 2 KP FFGN Manual Setting General Purpose High Response AA A 04 Positioning5 Group0 ID02 Auto Tuning Response 11030 Automatic Tuning Response Group0 IDO3 Auto Tuning Automatic Parameter Saving 00 Auto Saving Automatically Saves in JRAT1 01 No Saving Automatic Saving is Invalid M Explanation for each parameter ID Contents Tuning Mode TUNMODE Selection Meaning 00 AutoTun Automatic Tuning Driver estimates Load inertia moment ratio of the machine or equipment during real time and automatically tunes the servo gain Parameters for the driver to automatically tune vary depending on selected auto tuning characteristics 4 Driver estimates the Load inertia moment ratio at the time of acceleration deceleration Therefore for operations only with excessively long acceleration deceleration time constants or with only low torque in low velocity this mode cannot be used Also for operations with high disturbance torque or with major mechanical clearance this mode cannot be used 00 01 AutoTun JRAT Fix Automatic Tuning JRAT Manual Setting Sele
196. ooting when alarm occurs m Alarm Code 72 Control Circuit Under voltage 1 YE Ht X oe ot Status at the time of alarm ALETA Issued when power supply control is turned ON amp Corrective actions M Restart the power supply after removing the connector if alarm is not issued check the external circuit 2 Defect in external circuit M Restart the power supply after replacing the converter if alarm is not issued there is defect in internal circuit of converter MW Alarm Code 73 Control Circuit Under voltage 2 ttt 3 te oe Status at the time of alarm AE 7 3 3 vi Issued when power supply control is turned ON v Corrective actions Defect in internal circuit of driver M Replace the driver M Restart the power supply after removing 2 Defect in external circuit the connector if alarm is not issued check the external circuit m Alarm Code 84 Serial Encoder Communication Error qe Mt at it ES Issued when power supply control is turned ON Issued during operation v Corrective actions Cause Investigation and corrective actions M Defect in internal circuit of converter M Replace the converter H Confirm proper grounding of the driver 2 Malfunction due to noise M Add ferrite core or similar countermeasures against noise M Converter encoder wiring has re 8 17 8 Maintenance Trouble shooting when alarm occurs m Alarm Code 85 Encoder Initial Proces
197. operation at the time of emergency stop EMR main power OFF Besides in usage by a vertical axis please use it with setting 00 _SERVO BRAKE Selection Contents At the time of EMR input main circuit power shutdown alarm activated or safe torque off operation stop motor by 12 00 SERVO BRAKE operating servo brake and then dynamic brake is activated after servo motor stopped At the time of EMR input main circuit power shutdown alarm activated or safe torque off operation stop motor by gi DYNAMIC BRAKE operating dynamic brake and the dynamic brake continues to be activated even after servo motor stopped Alarm whose stop operation when alarm activated is DB stops motor by dynamic brake regardless of this setting Y Forced stop operation means emergency stop function enabled main circuit power shutoff alarm activated and safe torque off operation 5 74 5 Operation Group B sequence Alarm related settings ID Contents Delay Time of Engaging Holding Brake Setting range Unit Standard value Holding Brake Holding Delay time BONDLY 0 to 1000 ms 300 M Sets holding brake activation delay time from when power distribution to holding brake stopped till when holding torque generated While shifting from servo ON to servo OFF during the setting time Excitation command 0 is given to motor Even when servo is turned OFF power is su
198. or main circuit power supply control power regenerative resistance and protective grounding 4 1 Rartname and Uncle a Je Se tai te 4 1 O 4 1 Wire diameter allowable current ooonnoccconnnncnnnncccnnnnccnnnncccn rare 4 2 Recommended wire diameter ooonoccconnncccnnnccccnonacnnnnnnnnc enn 4 2 GrIMPING OF WIES anirien sad kordan smaka edel 4 3 High voltage circuit terminal tightening torque mrrnnvrnnnnnvvnnnrnnrnnnnnnvrerrrnnrnerrrvrennnnnvrerrrnnrnerennrensenneresernnnne 4 3 Wiring withHost Unitisctneeh heath A A A ae nine 4 4 CN1 signal and pin number wiring with host unit eee eee eeeeeeeeeeeeeeeeeeeeeeeeaeeeeaeeteaeeseaeeseaeeeeeeeeneeeeaeens 4 4 GN1connector disposition sic cscavn src itei eee hee bint eee etset 4 5 Signal names and ISAAC aan aa aa a AAE E AaS SRNE AETR 4 5 Terminal Connection Cdi ai 4 6 Example of Wiring With GN ds 0d ean Seas vee ieee 4 12 Peripheralequipments zrisal a p a chit cen aiaa aa Meta 4 13 Power supply capacity and peripherals list srnenonvronnnnnvrnrrrnvrnnnrrvrnnnnnnvrnrnrnnrnenerrennnnnvrerrrrnrnetersrnnennnn 4 13 e A A A A TT 5 System parameters iii eatin pave et o deci 5 1 Confirmation of SpecificatiONS seiersen sere n enoaan Esaa E nn nr 5 1 System parameters liinda 5 3 Confirmation and settings of system parameters oococncccinncconcccconnnonononnncnnnnn cnn cnn cnn nn 5 3 Confirmation and settings of the system parameters settings for encoder specification
199. or more than 1 second 5 5 Li P r Changes to the left display 6 WR Push WR for more than 1 second 7 A The character of 8 is drawn and servo is on 8 WR Push WR for more than 1 second 9 oAa Lo A display change as the left and it performs 10 A Changes to the display of the left after a normal end 11 MODE Push MODE 12 5 LI Pp r Servo is off and changes to the left display 13 MODE Push MODE 14 HAL Gd FY Completes and changes to the left display M For stopping during operation please push the MODE button MODE is pushed in Process 2 Ad Changes to the left display MODE is pushed in Process 5 A LI 5 Changes to the left display and return to Process 2 MODE is pushed in Process 7 5 LI P r Changes to the left display and return to Process 5 MODE is pushed again A A d F uf Completes and changes to the left display MODE is pushed in Process 9 A L d F 4 Completes and changes to the left display Error is displayed when cannot end normally mj E ooo Changes to the left display MODE Push MODE A B d F y Completes and changes to the left display 7 12 7 Digital Operator Velocity controlled JOG Operation 7 8 Velocity controlled JOG Operation Displayed Step character number code Input button How to operate 1 MODE Push MODE until it displays the left Display changes and right end LED blinks Make as t
200. or over 24 VDC Servo ON Alarm reset Torque limit CW rotation prohibit Command prohibit CCW rotation prohibit Command prohibit Forced discharge Emergency stop Gain switching Internal speed setting Start of estimation of magnetic pole position etc Refer to Group9 Condition settings for enabling function for all the functions and input time function enabled Sequence input General output NPN output Open collector output x8 output External power supply voltage OUT PWR 5 VDC 5 12 VDC to 24 VDC 10 20 mA or over Circuit power for output signal 5 VDC 5 Maximum current value 10 mA per 1 output Circuit power for output signal 12 to 15 VDC 10 Maximum current value 30 mA per 1 output Sequence output Circuit power for output signal 24 VDC 10 Maximum current value 50 mA per 1 output Servo ready Power ON Servo ON Torque limiting Low speed Velocity attainment Matching speed Zero speed Command acceptable Status of gain switch Velocity loop proportional control status CW OT CCW OT Warning Alarm code 3 bit Start of estimation of magnetic pole position etc Refer to GroupA Settings for Generic Output Outputting Condition Monitor Output selection Serial Communications 2 Specifications Power supply and caloric value 2 3 1 2 Power supply Main circuit power supply capacity control power supply capacity
201. orque is limited to the maximum output torque Tp of motor combined 5 64 5 Operation Group 9 Function enabling condition settings ID Description Alarm reset function AL RST M This function enables inputting alarm reset signal from host equipment Alarm is cleared by enabling alarm reset function AL RST Allocating conditions to enable alarm reset function When AL RST signal enabled this function clears alarms V Please note that you can not clear the alarms that cannot be cleared unless control power supply is turned off once by alarm reset signal 4 The wiring when enabling conditions allocation is set to CONT2 is as follows 02 Logic can be changed by selecting options of enabling conditions allocation Host equipment Driver DC5V CN1 50 CONT COM to i 24v I I AY 0 0 i CN1 36 CONT2 A Alarm reset signal Af Shielded wires Alarm signal Alarm activated Alarm canceled Alarm reset signal 20msec or more Alarm reset 4 Servo on function S ON M This function is to input servo on signal from host equipment Enabling servo on function SON can put motor into current applied state Allocating conditions to enable servo on function When SON signal is enabled this inputs motor into current applied state 4 The wiring is as follows when setting the allocation of enabling condit
202. orting function This function limits motor current when it detects voltage sag warning due to instantaneous power failure when voltage dropped to 135 152VAC This function is provided to support acquiring SEMI F47 Standard that is requisite for semiconductor equipments Combined with Power Failure Detection Delay Time GroupB ID16 it prevents motor stop with alarm when in instantaneous power failure and enables to continue operation 1 Parameter setting General parameters Group8 Control system Standard f ID Symbol Name setting value Unit Setting range The amounts of torque limit value 5 aed TEMREST restoration when power restored og ze 0 0 f0 500 0 2 Operational sequence This shows the operational sequence from detecting warning of low control power voltage to restoration of control power voltage Control power voltage Instantaneous power interruption Approx 150V AC200 specificaiton Bus voltage Control power drop Warning detected Torque limit value selected by TLSEL Torque limit value The amount of restoration set by TLMREST Torque limit value selected by CPETLSEL Torque limit value is returned to normal value in the size of TLMREST ms after restoration 3 Notes Set torque limit value under voltage sag warning smaller than that of normal operation Even if the torque limit value of voltage sag is greater than that of normal operation it limits t
203. osition command pulse is excessive SB V Tan Ces ea pene pe Es Run Close Note 5 Detection i in Test mode end Status DB EEPROM Error Ss Abnormality of driver with built in EEPROM 1 DB EEPROM Check Sum Error Im Error in check sum of EEPROM entire area 1 Memory Errort W Accesserrorin CPU builtinRAM CE J 4 Memory Error2 E Checksum error of FLASH memory with builtin CPU System Parameter Error 1 N System parameter is outside a setting range 1 lt System Parameter Error2 mi The combination of a system parameter is abnormal Motor Parameter Error M Setup of a motor parameter is abnormal 1 Abnormalities in CPU circumference circuit Access abnormality in CPUtoASIC o o J T System Code Error Im Abnormalities of control circuit 1 o y Motor Parameter Automatic Setting Error 1 M Motor parameter automatic setting function cannot be performed Motor Parameter Automatic Setting Error 2 gj The result of motor parameter automatic setting is abnormal Task Process Error M Error in interruption process of CPU DB Initial Process Time Out Initial process does not end within initial process ime Note 1 When the main power voltage increases or decreases gradually or is suspended main circuit low voltage or main power failed phase may be detected Note 2 Control power supply under voltage or servo ready OFF is detect
204. otch filter Disturbance observer settings ID Symbol Name Unit Setting range 00 SUPFRQ1 FF Vibration Suppression Frequency 1 Hz 5 to 500 6 12 6 Adjustments Manual tuning 6 5 Using manual tuning All gain is adjustable manually using manual tuning mode when characteristics in auto tuning are insufficient Sets tuning mode to manual tuning M General parameters Group0 ID00 Tuning Mode 02 ManualTun Manual Tuning 1 Servo system configuration and servo adjustment parameters The servo system consists of three 3 subsystems Position loop Velocity loop and Current loop Higher response is required for internal loops If this structure is compromised it could result in instability low response vibration or oscillation Position loop Velocity loop Current loop KVP TVI JRAT Descriptions of each of servo parameters Group 1 are shown below M Position Command Smoothing Constant PCSMT This moving low pass filter smoothes the position command pulse Sets time constants The position command pulse will become smoother by setting this parameter when the electronic gear ratio is high or position command pulse is coarse M Position Command Filter PCFIL When the position command resolution is low set this parameter to suppress the ripples contained in the position command A larger value of this parameter will cause a greater ripple suppressing effect however delay wi
205. otor cable 5 Reference number of converter cable M CC 004 A1 01 Design serial number 01 Standard A1 Standard Cable length 002 2 m 004 4 m 008 8 m Converter cable 1 Preface 1 3 Part names 1 Driver Inside the front cover OPEN Digital Operator operation keys 5 digit 7 segment LED MEGATORQUE MOTOR DRIVER Control power status LED POWER Blue Main circuit power LED ____ Red CHARGE Main circuit power input Control power input Regenerative resistor connector CNA Parts number on plug MSTBT2 5 8 STF 5 08LUB Phoenix Contact Motor connector CNB Parts number on plug MSTBT2 5 3 STF 5 08 Phoenix Contact Protective ground terminal Part names Analog monitor connector CN5 Parts number on plug Connector DF11 4DS 2C Contact DF11 2428SCA Hirose Electric Co Ltd PC communication connector CN2 Parts number on plug MUF PK8K X J S T Mfg Co Ltd Connector for control signal CN1 Parts number on plug Plug 10150 3000PE Shellkit 10350 52A0 008 Sumitomo 3M Ltd Converter connector EN1 Parts number on plug Plug 36210 0100PL Shellkit 36310 3200 008 Sumitomo 3M Ltd 1 Preface Part names 2 Motor Hollow hole Dust cover Non rotational part Rotor Rotational part Stator Non rotational part Motor connector Resolver connector
206. owing formula Torque attainment level Torque limit value x setting value 100 0 Therefore once the commanded torque exceeds the level of attaining torque that is calculated from the above formula torque attainment signal is output Even if the setting value is set more than 100 0 that is limited to 100 0 If CW direction and CCW direction torque limit value are different torque attainment level can be setup based on values of each of limited torque CW direction torque limit value 300 0 Forward direction torque Attainment level Torque Command 300 0 x setting value 100 0 O CCW direction torque _ limit value 200 0 1 1 I Reverse direction torque I Attainment level Torque attainment signal ON OFF ON 200 0 x setting value 100 0 5 55 5 Operation Group 8 control system settings ID Contents Amount t of torque limit value restoration when Setting range Unit Standard value power restored TLMREST 0 0 to 500 0 10 0 3D Sets the amount of restoration per 1ms when power restored from power supply drop which can cancel torque limit value at power drop Sets the ratio to rated torque 100 0 rated torque When setting 0 0 operate as 10 0 Near Range Setting range Unit Standard value NEAR 1 to 2147483647 Pulse 500 M Sets the output range of near range near in position signal Outputs Near range signal when the Position
207. peed matching range When this value is less than 1 min the Speed matching range is treated as 1 min I I 47 Velocity Velocity command Within the Speed Matching Range VCMP ON or VCMP OFF is output from Group9 OUT 5 59 5 Operation Group 8 control system settings M By combining with Group9 Condition Settings for Enabling Functions the functions of Group9 are valid for 1D42 to 1D47 Selection Contents Function is valid while in low speed status speed is lower 12 ONE than the LOWV Setting Value Function is valid while not in low speed status speed is lower than the LOWV Setting Value Function is valid while in speed attainment status speed is higher than the VA Setting Value Function is valid while not in speed attainment status speed is higher than the VA Setting Value Function is valid while in speed matching status within command actual velocity consistent range Function is valid while not in speed matching status within command actual velocity consistent range Function is valid while in zero speed status speed is lower than the ZV Setting Value Function is valid while not in zero speed status speed is 19 Aye OUT lower than the ZV Setting Value Y Speed Matched Range is based on Group8 ID45 ID47 setup 13 LOWV OUT 14 VA IN 15 VA OUT 16 VCMP IN 17 VCMP OUT 18 ZV IN Example The driver sets the GAIN1 and GAIN
208. perature 20 C to 65 C Humidity 90 RH or less No condensation Motor Temperature O C to 40 C Humidity 20 to 80 RH No condensation Q This can result in failures Place emergency stop circuit outside the product so that operation can be stopped and power supply can be shut down instantaneously Place a safeguard circuit outside driver so as to shut off main circuit power supply when alarm activated Going out of control injuries burnout fire and secondary damages can occur Following the power on sequence remember to complete the estimation of magnetic pole position In the estimation of magnetic pole position the rotational part of motor moves through the maximum angle of 18 Q Going out of control injuries burnout fire and secondary damages can occur Please operate within the specified range of temperature and humidity Driver and converter Temperature O C to 55 C Humidity 90 RH or less No condensation Motor Temperature O C to 40 C Humidity 20 to 80 RH No condensation O This can result in burnout and failures Do not overload the products which may cause collapses Injuries may occur Allowable momentum load allowable axial load and allowable radial load vary depending on the size of individual motors Make sure your operating conditions are suitable the allowable loads O This can result in failur
209. phase pulse output 14 CONT7 Zero Velocity Function 5 BO B phase pulse output 15 CONT8 Alarm Reset Function 6 BO B phase pulse output 16 CONT8 Alarm Reset Function 7 ZO Z phase pulse output 38 SG Common for pins 13 to 16 8 ZO Z phase pulse output 32 CONT6 CW over Travel Function CCW over Travel 9 PS Resolver signal output 33 CONT5 Function 10 PS Resolver signal output 34 CONT4 Deviation Clear Function Magnetic Pole Position 11 ZOP Z phase pulse output 35 CONT3 Estimation Function 12 SG Common for pins 3 to 11 36 CONT2 Emergency Stop Function 17 NC NC 37 CONT1 Servo ON Function General input power 18 NC NC 50 CONT COM supply 19 NC NC 39 OUT1 In Position Window Magnetic Pole Position 20 NC NC 40 OUT2 Estimation Ready While Operation Setup 21 NC NC 41 OUT3 Completion Magnetic Pole Position 22 T COMP Torque compensation input 42 OUT4 Estimation End 23 SG Common for pin 22 43 OUT5 Alarm Code Bit 5 26 F PC Command pulse input 44 OUT6 Alarm Code Bit 6 27 F PC Command pulse input 45 OUT7 Alarm Code Bit 7 28 R PC Command pulse input 46 OUT8 While Alarm Status Sec Power source for general 29 R PC Command pulse input 49 OUT PWR output 47 SG Common for pins 26 127 24 OUT COM General output Common 48 SG Common for pins 28 129 25 OUT COM General output Common e Terminal number 13 to 16 and 32 to 27 factory default standard settings e Terminal number 39 to 46 factory default standard settings 4 5 4 Wiring Wiring with host uni
210. pplied to the motor until 13 the setting time is over By this until Holding brake functions motor generates Holding torque Setting unit is 4ms When the setting value is Oms after servo OFF command is invalid command 0 for approximately 4ms Atthe setting Group8 ID10 DBOPE Dynamic Brake Operation when servo brake is ON at servo OFF 04 SB_Free or 05 SB_DB it is valid This function is invalid in Dynamic brake operation and Free run operation Delay Time of Releasing Holding Brake Setting range Unit Standard value Holding Brake Releasing Delay time BOFFDLY 0 to 1000 ms 300 M Sets holding brake release delay time from when power distribution to holding brake started till when holding torque disappeared 14 While shifting from servo OFF to servo ON during the setting time Excitation command 0 is given to motor Even when servo is turned ON command is not accepted until the setting time is complete Therefore until Holding brake is released motor does not operate Setting unit is 4ms When the setting value is Oms after servo ON command is invalid command 0 for approximately 4ms Brake Operation Beginning Time Setting range Unit Standard value BONBGN O to 65535 ms 10000 M Sets permissible time from servo OFF until motor stop While shifting servo ON to servo OFF even after the selected time passed and the motor 15 does not stop Motor is forced to stop with Holding brake a
211. r supply circuit breaker Noise filter No rating kVA MCCB contact absorber PB1006 0 3 PB3015 0 5 Model NF30 10A FSO GA s no fT eee 200 VAC MITSUBISHI MITSUBISH ELECTRIC ELECTRIC I ELECTRIC ELECTRIC PB3030 1 0 Co Ltd Co Ltd PB3060 2 0 v Please install surge absorber at the input part of driver when overvoltage such as lightning surge is applied to driver 4 13 D 5 Operation 5 1 System parameters s seeessrersrversevasseerssrenssvenssresseenssrerssrerseressserssrensssenssresseenssserssresssrenssersssensssessseesseensssersssesssen 5 1 Confirmation of specifications ssrersrrersreesseersrvenssvansrvesseenssrerssrenssvensserssrenssverssrerseessserssresssressseesseensssersssesssser 5 1 System parameters listan rene enana rnernenernenereees 5 3 Confirmation and settings of system parameters ssrerserevseervsrensranseenssrenssrenssresssenssrersssenssrenseresseenssrensssenssren 5 3 Confirmation and settings of the system parameters settings for encoder specification ttt ttt ttre 5 5 Factory default setting values emma nennt enemman anenee ee 5 5 Test Operation rente near reee 5 6 Confirmation of installation and wiring ener ennerenerreeernnes 5 6 Confirmation of ri keiseren idae 5 6 Confirmation of I O signal ssresseeessrerseversreassverssrerssvenssresseenssrersssesssvesssersssenssserssrersseesseersssesssversseesseensssersssersser 5 7 Confirmation of device Operation
212. r takes place please refer to the setting procedures of parameters for magnetic pole position estimation 8 11 8 Maintenance Trouble shooting when alarm activated M Alarm code 45 Average continuous over speed YE ae te 3 NE Occurred during operation Corrective actions M The average speed exceeds the M Review the operating conditions maximum speed of continuous M Resize the motor rotation speed range m Alarm code 51 Driver Overheat ae IE ae NE DE Issued when power supply control is turned ON v f Issued during operation w w w Issued after emergency stop TF v Corrective actions Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver M Check the operating conditions E Regenerating power exceeced Mm Use external regeneration resistor M Regenerating power is within the specified range but ambient M Confirm that the cooling method maintains temperature of driver is out of the temperature of control board between fr 0 to 55 C specified range 4 M Regeneration energy during M Change the driver emergency stop exceeded M Check the loading condition Y Abnormalities are detected in the internal temperature of the driver regardless of its ambient temperature When a driver temperature warning is issued please be sure to check the cooling method of the control panel M Alarm Code 52 In rush prevention resi
213. rate utton number code 1 oO Make the state of driver or the state where alarm is displayed 2 y Push the subtraction button for more than 1 second 3 E P una Display changes as the left 4 AV Push addition and subtraction button nFadi 5 jnFoed Display changes as the left inFod 6 WR Push WR for more than 1 second 7 The selected information is displayed 8 MODE Push MODE once inFo i 9 inFad Returns to Process 5 inFod 10 MODE Push MODE once 11 Returns to Process 1 Y The contents of display information 1 information 2 and information 3 are described to Procedure to combine the motor 5 1 and System parameters 5 3 7 6 7 Digital Operator Status display mode 8 How to set pass ward The function that can be used by setting up a password from digital operator can be restricted and change of a parameter etc can be forbidden The function and the setting method can be used is the following Status display Test Operation Monitor display Alarm history display JOG operation is possible Displayed Input Step character P How to operate button number code 1 a Make the state of driver or the state where alarm is displayed 2 A Push addition button for more than 1 second 3 P A oo Display switches as the left and the whole display blinks a When setup
214. ration and declaration time of a position command is short command pattern M Enlarge a torque limiting value or repeal torque restrictions Y Other alarms are generated and this alarm may be generated if a servo brake performs alarm reset during a slowdown 3 Torque limiting value is low 8 21 8 Maintenance Trouble shooting when alarm activated at NE NE ME MW Alarm Code D1 Following Error Excessive Position Deviation IMPI pardo Oesa po Joya pa Issued when control power supply is turned ON TT wl Issued when servo ON is stopped Lt ve wi Issued immediately after entering the command w w vw Iwlvw I vw iw wl vi Issued during starting or stopping at high speed w w vlul v viv Issued during the operations by lengthy command v w wl v Corrective actions Cause Investigation and corrective actions acceleration and declaration time is short controller M Excessive load inertia moment or low motor capacity the motor capacity M Check wiring and replace if 3 Holding brake is not released necessary If specified voltage is applied replace the motor patie mechanically locked or machine is M Check the machinery system M One or all phases of U V W phase of the M Check wiring and replace if driver and motor has disconnected necessary M Motor is being rotated by an external force Gravity etc during stopping
215. renrersennenn 6 16 2 Manual tuning method for model following control isrerrrsnvrrrnrnnvrerrrnvrnnnnnvrnnrnnnenerrrnrnnerenvrnnsennernsrrnvnnen 6 17 6 71 Tuning to SUppress VID ON arica ntb tt 6 18 1 FF vibration Suppression Control sisah ioris ariora eaaet a E ea paa aea ea a aaea KEE aA LEa A AEAEE aiena 6 18 2 Model following vibration suppression CONtfol ssrnrnrrnrannnnnvrnnnnnnvrnnrrnvennrrnvrnnrrnnenesrrnvnnnsenrensenrresrrvnnen 6 18 3 TUNING MANOS kikke ket a na akita 6 20 6 8 Using disturbance observer function ooononccconnnccnnoncccnnnonnnnnnnrn non nnno corn nnr nr rrnnr nr rre 6 21 7 Digital Operator civic andakt aknnrevdnen ted 7 7 1 Digital Operator names and FUNCTIONS oooconcccnnnccnoccconacononcnnnnnonan ccoo corra cnn orcos 7 1 Le MOES sa enes een daa ad 7 1 1 Ghanging mModesuasraieen eske ee 7 1 2 Mode contents css A A A a a a 7 2 7 3 Setting and display rangeua arves permer eld den ro ee ee 5 7 3 74 Status display mode sansninger eten GR eda Alerter ed a eet 7 4 1 Driver status diS l a a aaae r ea a aae aaan a AEA Er S AeA EAEE E AARE aa eE PATAR seen eesantanasiees 7 4 2 Over travel status display cnoi iie A a 7 4 3 Status display of regenerative overload warning and overload WarNinQ cooocccnnoccccnonoccnnnononcnnnnnnoncnnnnons 7 4 4 Alarm code and driver status code when alarm OCCUlS coooocccnnnccccononcncnnnoncnnnanocononen cnn nnnn cnn nnor o rr rana r rre 7 4 5 Alarm reset when alarm
216. resolution 524288 P R x300 min 60 2621 44 kpps 2621 44 kpps 8192 e Electronic gear ratio ___ 600 kpps 1875 Thus Electronic gear numerator 8192 Electronic gear denominator 1875 Setting value of numerator 131072 denominator 3000 are fine as they are within the setting range of Electronic gear By setting this Electronic gear numerator denominator the motor rotation velocity is 300 min with the Position command pulse frequency 600 kpps 5 50 5 Operation Group 8 control system settings ID Contents Positioning Methods Setting range Unit Standard value EDGEPOS Control power a reactivation after setting 00 to 01 i 00 Pulse Interval M Select the Encoder pulse positioning Positioning accuracy is improved by selecting Edge positioning when the encoder resolution is coarse However this may cause the driving sound of the mechanical system to increase as this edge is always the center of vibration Select standard value for usual operation Selection Contents 00 Pulse_Interval Specify Pulse Interval 01 Pulse Edge Specify Pulse Edge 17 Pulse interval positioning Phase A Phase B NE Edge positioning gt i lt In Position Signal Position Deviation Monitor Setting range Unit Standard value PDEVMON 00 to 01 00
217. ring of driver motor is ifi disconnected restore if improper M Check the operating conditions and EA 710 Machines collided limit switch Y During the alarm caused by conditions in 2 above if OFF gt ON of power supply control is repeated there is a risk of burning out the motor Wait for longer than 30 min for cooling purposes after power shut OFF and resume operations 2 Mm Effective torque exceeds the rated torque 8 9 8 Maintenance Trouble shooting when alarm activated ae JE He MW Alarm code 42 Overload 2 ALL Ha Status at the time of alarm Issued at input of servo Issued atinputofservoON gt After command input issued without rotating the motor me viv After command input brief motor rotation Corrective actions Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver M Check if torque command exceeds approx 2 times of the rated torque by torque command monitor M Rotation is less than 50min 1 and TCMON If any of the conditions load torque command exceeds approx condition when motor stops operation 2 times of rated torque condition at low velocity and load condition exceeds twice the rated torque review operation or load condition Or replace with larger sized motor M Check the motor type setting and the M Defect in motor driver combination motor in use are matching If not correct them M Check that wirings and v
218. ripheral equipments reee reee enernerrreees 4 13 Power supply capacity and peripherals ligt gt gt gt gt x srssresrrsessensensensensensensensensensensensensensensensensensensenseneensenensensen 4 13 4 Wiring Allowable current recommended wire diameter 4 1 Wiring for main circuit power supply control power regenerative resistance and protective grounding 1 Part name and function y Connector Terminal name marking Remarks Single phase 200 to 230 VAC 10 15 R 50 60 Hz 3 Main circuit power suppl E 220 to 230 VAC 10172 p PE rn 50 60 Hz 3 Hz Three phase 200 to 230 VAC 10 15 50 60 Hz 3 Hz Single phase 200 to 230 VAC 10 15 Control power supply rit 50 80 HzJ23 H2 Motor connector CNB Connected with motor cable connector Converter connector EN1 Connected with converter cable connector Connected with grounding wire of power supply and of Safeguard connector D motor Regeneration resistance RB10RB2 Connects any external regenerative resistor to RB1 RB2 connector terminals Maker maintenance For maker maintenance Do not connect anything Y For connection to CNB and EN1 be sure to use the dedicated cables The cables cannot be cut off nor spliced due to the specifically designed lines If main circuit power supply is used as single phase power source specification of supply voltage is different depending upon motor and driver used
219. rmed Automatically saved by Auto tuning result saving When Auto tuning function is valid this setting value is not applied When the Gain switching function is valid select gain 1 and this setting value is applied When Auto tuning is valid while system analysis function is active this value is applied Velocity Loop Integral Time Constant 1 Setting range Unit Standard value TVI1 0 3 to 1000 0 ms 20 0 M integral time constant of velocity controller This setting value is valid when Velocity Loop Proportional Control Switching Function is invalid Integral term is invalid proportional control with the setting value of 1000 0 ms Automatically saved by Auto tuning result saving When Auto tuning function is valid this setting value is not applied When Gain switching function is valid select gain 1 and this setting value is applied When Auto tuning is valid while system analysis function is active this value is applied 13 9600 90 5 36 5 Operation Group 1 Basic control parameter settings ID Contents Load Inertia Moment Ratio 1 Setting range Unit JRAT1 0 to 15000 M Sets inertia moment of the loading device to the motor inertia moment Setting value J Jmx100 e J Load inertia moment e Ju Motor inertia moment Automatically saved by Auto tuning result saving If this value matches the actual mechanical system setting value of KVP is the response frequency of the vel
220. rnal part is found damaged immediately return it to us for proper repair M Precautions for installation In order to ensure extended service life and high reliance use the converter at a temperature below 40 C E Where any heating element is located nearby Even if temperature increase is expected due to thermal convection and or radiation keep the surroundings of converter below 55 C E Where corrosive gas is present Extended use can cause contact failure in the connectors and contact elements Never use the converter in any location exposed to corrosive gas M Where explosive or combustible gas is present Never use the converter in any location exposed to explosive or combustible gas M Where any source of generating large noise is present Malfunction may occur due to contaminated input signal power supply circuit with induction noise Where there is a possibility of noise contamination make proper provisions such as consideration of power line wiring and prevention of noise generation 3 7 3 Installation Converter 2 Unpacking On receipt of the product make checks listed below Should any abnormality be discovered immediately contact us M Check the reference number of the converter for proper match with your ordered product Locate the reference number next to MODEL on the label on the product M Check the external appearance of the converter for a
221. rocess 3 16 lo b Changes to the left display 7 15 7 Digital Operator Alarm history clear monitor display 7 12 How to clear alarm history Displayed Input Step character er How to operate number code 1 ALH MODE Push MODE until it displays the left 2 ALH 1 Display changes and right end LED blinks 3 ALHEL AV Display the left with the addition and subtraction button 4 WR Push WR for more than 1 second 5 rddy Changes to the left display and it blinks 7 WR Push WR for more than 1 second 8 Bon A display change as the left and it performs 9 A B H Changes to the display of the left after a normal end 10 MODE Push MODE 11 oh Changes to the left display 7 13 Monitor display Displayed Input Step character Duron How to operate number code 1 ob MODE Push MODE until it displays the left 2 o b B B Display changes and right end LED blinks n Display ID of the monitor with addition and subtraction and 3 a h LI A av gt the cursor button 4 WR Push WR for more than 1 second 5 A 3 The data is displayed 6 MODE Push MODE 7 h A Changes to the left display When you monitor other data a Ls continuously repeat from Process 3 8 MODE Push MODE 9 B o Changes to the left display Not When it is a monitor that cannot be displayed the left is displayed in ote nan Process 5 7 16 7 Digital Operator Fi
222. rom external sources or when you want to adjust FFGN manually Positioning time may be shortened compared to Positioning control 2 The following parameter adjustment is done manually General parameters GROUP1 Basic Control Parameter Settings 01 ID Symbol Name 05 FFGN Feed Forward Gain 04 Positioning 5 Selection Meaning 05 Trajectory1 Trajectory Control 1 Select this mode for single axis use The response of each axis can be different 4 Parameters shown in table 2 cannot be adjusted manually Selection Meaning 06 Trajectory2 Trajectory Control 2 KP FFGN Manual Setting Select this mode when you need equal responses from multiple axes respectively Adjust KP FFGN The following parameter adjustment is done manually General parameters GROUP1 Basic control parameter settings ID Symbol Name 02 KP1 Position Loop Proportional Gain 1 05 FFGN Feed Forward Gain Auto Tuning Response ATRES M Select this mode when Auto tuning and Auto tuning JRAT manual setting are used o2 i As the setting value rises the response increases Set the value suitable for equipment rigidity M This does not function for manual tuning Auto Tuning Automatic Parameter Saving ATSAVE M Load inertia moment ratio obtained from the result of auto tuning is automatically saved in parameter JRAT1 every two 2 hours M T
223. rotation gt 0 min Sets acceleration deceleration per 1000 min I Mm With Velocity command acceleration deceleration time constant and Step input velocity the command can be accelerated or decelerated 1 1000min hem ot gt CW or CCW Omin i TVCACC TVODEC Velocity Limit Command Setting range Unit Standard value VCLM 0 1 to 6553 5 min 6553 5 M Set to restrict Velocity command Sets the maximum value of Velocity command Restricts Velocity command at the setting range e Atthe setting value 5000 and over Velocity command is restricted at maximum speed of the combined motor x 1 1 Set this parameter to limit motor rotational velocity to the value lower than 1 1 times the maximum rotational velocity Use the standard value for normal use Abnormal high 2D velocity value Velocity limit setting range Input command Velocity command 5 53 5 Operation Group 8 control system settings ID Contents 37 CW Direction Internal Torque Limit Value Setting range Unit Standard value TCLM F 10 0 to 500 0 100 0 a an CCW Direction Internal Torque Limit Value Setting range Unit Standard value dn TCLM R 10 0 to 500 0 100 0 M Limits the Torque output at the setting value when Preset torque limit value is valid Limits the torque by the ratio for the torque rating 100 0 torque rating When the Torque Limit Function TL is valid the torq
224. roup5 High setting control settings ID Contents 00 Command Velocity Low pass Filter CVFIL Setting range Unit Standard value 1 to 4000 Hz 1000 M First low pass filter to eliminate high frequency elements such as ripples included in the velocity command velocity calculated from position command pulse inside high setting control Sets cutoff frequency Lower the cutoff frequency when the encoder resolution is low e Filter is invalid at setting the value more then 2000 Hz 01 Command Velocity Threshold CVTH Setting range Unit 7 Standard value 0 0 to 6553 5 min 2 0 M Sets velocity threshold value to make high setting control compensation Acceleration Compensation and Deceleration Compensation valid Acceleration Compensation or Deceleration Compensation is done when velocity command velocity calculated from the position command pulse reaches this value 02 Acceleration Compensation ACCCO Setting range Unit Standard value 9999 to 9999 x50 Pulse 0 M Sets Acceleration Compensation value with high setting control 906 Sets in units of position deviation pulse Compensates to position deviation The larger the setting value the greater the compensation value The larger the acceleration value calculated from position command pulse compensation value increases The larger the Load inertia mo
225. rque Limit Function 00 Always Disable 00 to 27 33 OBS Disturbance Observer Function 00 Always Disable 00 to 27 35 FBHYST Minor vibration oscillation suppression function 00 Always Disable 00 to 27 40 EXT E External Trip Input Function 00 Always Disable 00 to 27 41 DISCHARG Main Power Discharge Function 01 Always Enable 00 to 27 42 EMR Emergency Stop Function 00 CONT2 OFF 00 to 27 M General parameters GroupA General output terminal output condition Monitor output selection Serial communication settings ID Symbol Name Standard value An teas 00 OUT1 General Purpose Output 1 18 INP_ON A 00 to 5F 01 OUT2 General Purpose Output 2 68 CSETRDY_ON 00 to 5F 02 OUT3 General Purpose Output 3 02 S RDY_ON 5 00 to 5F 03 OUT4 General Purpose Output 4 4E CSETCMP_ON 00 to 5F 04 OUT5 General Purpose Output 5 33 ALM5_OFF 00 to 5F 05 OUT6 General Purpose Output 6 35 ALM6_OFF E 00 to 5F 06 OUT7 General Purpose Output 7 37 ALM7 OFF 00 to 5F 07 OUT8 General Purpose Output 8 39 ALM OFF 00 to 5F 10 DMON Digital Monitor Output Signal Selection 00 Always OFF 00 to 5F 11 MON1 Analog Monitor Select Output 1 OS NMON som Vital 00 to1C 12 MON2 Analog Monitor Select Output 2 02 TCMON 2V TR 00 to1C 13 MONPOL Analog Monitor Output Polarity 00 MON1 _MON2 E 00 to 08 20 COMAXIS Serial Communication Axis Number 01 41 01 to OF 21 COMBAUD Serial Communication Baud Rate 05 3
226. rque monitor Torque command torque monitor output Output Output voltage voltage Output voltage 2v AVA isss cew COW Tr Rated torque ef DV DV fn Position deviation monitor Position deviation monitor output Output voltage 20mV e Output 2 Specifications Dynamic brake 2 6 Specifications for dynamic brake 1 Allowable frequency instantaneous tolerance decreasing the rotation angle of the dynamic brake mAllowable frequency of the dynamic brake main circuit power ON OFF Limit the positioning operation to a range within 360 within the allowable load moment of inertia mOperation intervals In basic terms operation of the dynamic brake in six 6 minute intervals is acceptable If the brake is to be operated more frequently the motor speed must be reduced sufficiently Refer to the following expression to find a standard of operation 6 min Rated rotation speed maximum rotation speed in use mlf When load inertia moment J1 substantially exceeds allowable load inertia moment or if when rotation through an angle exceeding 360 is made abnormal heat can generate due to dynamic brake resistance Take precautions against Overheat alarm of the dynamic break or failure of dynamic brake resistance Please consult us if such a situation is evident alnstantaneous tolerance of dynamic brake Erp J 360
227. s Main circuit power supply voltage Code Main circuit power supply voltage display 00 200 V M Using setup software confirm that voltage value of main circuit power connected to connector CNA or terminal block RST is displayed 3 M Using Digital Operator confirm that codes of voltage value of main circuit power connected to connector CNA or terminal block RST is displayed on information 1 driver information n nn mn M InFal gdud al Main circuit power supply voltage code Output current capacity Code Output current capacity OG 15 A OA 30 A 4 M Confirm setup software displays the driver capacity of the driver model that you use M Confirm Digital Operator displays the code of the output current capacity you use at Information 2 driver nn Tr inFod aad c TT Output current capacity code 5 2 5 Operation System parameters list confirmation and settings 2 System parameters list System parameters list is shown below Settings vary depending on the system used Please confirm 3 4 and the following IDs for the proper settings ID Contents 00 Control Cycle 01 Main Circuit Power Input Type 02 Regenerative Resistor Selection 05 Serial Encoder Resolution OA Position Control Selection 3 Confirmation and settings of system parameters Use the setup software or digital operator to set
228. s Error YE TE 3 RE M ge Issued when power supply control is turned ON Corrective actions Cause Investigation and corrective actions M For converter wiring M Check wiring and replace if necessary Improper wiring Connector is removed Loose connection M Driver internal circuit failure M Replace the driver M Defect in internal circuit of converter M Replace the converter Issued when power supply control is turned ON Issued during operation Corrective actions Cause Investigation and corrective actions M Defect in internal circuit of converter E Turn ON the power supplies again if not restored replace the converter g M Confirm proper grounding of the driver 2 at Hk AE AE nica m Alarm Code AO Serial Encoder Internal Error 0 wt sk Malfunction due to noise M Add ferrite core or similar countermeasures against noise m Alarm Code A2 Serial Encoder Internal Error 2 Status at the time of alarm Gauge m Daj Pulse a Issued while stopping the motor w w Issued while rotating the motor Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of converter m Turn ON the power supplies again if not restored replace the converter M Confirm proper grounding of the driver Malfunction due to noise M Add ferrite core or similar countermeasures against noise 3 M The acceleration of motor rotation E Ch
229. sable 20ms 13 Gain Switching Condition 1 GC1 00 to 27 00 Always Disable ims 14 Gain Switching Condition 2 GC2 00 to 27 00 Always Disable 1ms FF Vibration Suppressor Frequency Select Input 1 f 15 SUPFSEL1 00 to 27 00 Always_Disable 20ms FF Vibration Suppressor Frequency Select Input 2 16 SUPFSEL2 00 to 27 00 Always Disable 20ms Position Loop Proportional Control Switching Function i 17 PLPCON 00 to 27 O1 Always Enable 20ms Model Vibration Suppressor Frequency Select Input 1 i 18 MDLFSEL1 00 to 27 00 Always Disable 20ms Model Vibration Suppressor Frequency Select Input 2 i 3 19 MDLFSEL2 00 to 27 00 Always Disable 20ms 1A Magnetic Pole Position Estimation CSET 00 to 27 O6 CONT3 ON 20ms 20 Preset Velocity Command Select Input 1 SP1 00 to 27 00 Always Disable 20ms 21 Preset Velocity Command Select Input 2 SP2 00 to 27 00 Always Disable 20ms 22 Preset Velocity Command Select Input 3 SP3 00 to 27 00 Always Disable 20ms 23 Preset Velocity Command Input Direction of 00 to 27 00 Aways Disable 20ms Movement DIR 24 Preset Velocity Command Operation Start Signal 00 to 27 00 Always Disable 20ms Input RUN Preset Velocity Command CW direction Move Start 25 Signal Input RUN F 00 to 27 00 Always Disable 20ms 26 Preset Velocity Command CCW direction Move Start 00 to 27 00 Always Disable 20ms Signal Input RUN F 27 MPGON Proportional Control Switching Function 00 to 27 00 Aways Dis
230. servo off with standard speciation driver with dynamic brake as the dynamic brake will generate heat and this will cause dangers Fire and burn injuries may occur gt Carefully perform maintenance and inspection as temperature on driver frame becomes high Burn injuries may occur gt Please contact us to repair Disassembly can cause inoperative This can result in failures gt It is very dangerous to carry the system so carefully carry the system as not to fall and roll over Injuries may occur gt Do not hold cables and motor rotating part to carry the system Failures and injuries may occur gt Dispose any driver motor and converter properly as general industrial wastes gt vi Safety precautions Please fully observe For repairing if any contact us Any insulation failure in the motor and or short circuited or broken wires in any cables may occur depending on the motor operating environments or conditions If you keep on using the system without repairing the faulty conditions the motor becomes unable to demonstrate the original performance the driver becomes damaged or other trouble may occur This can result in failures gt Use the specified combination of motor and converter This can result in failures gt Remember to make a note of parameters gt This can resul
231. so that regenerating power is within permitted absorption power Use an external regeneration resistor Improper wiring of built in Confirm improper condition and regeneration resistor repair if necessary Y When using a regeneration resistance built in the driver make sure to set built in regeneration resistance at system parameter ID02 Regenerative Resistor Selection This setting makes the judgment between enabled disabled of the overheating protection detection treatment of the built in regeneration resistance When No connected regenerative resistance or external regenerative resistance is selected overheating of built in regenerative resistance is not detected Therefore there is a danger that built in regenerative resistance will burn out or be damaged Regenerating power excessive 8 13 8 Maintenance Trouble shooting when alarm occurs MW Alarm Code 55 External Error When host device or thermal output signal of external regenerative resistor are not connected Issued when power supply control is turned ON Corrective actions Cause Investigation and corrective actions M Validity condition for external trip m When not used set 00 Always Disable function is set to Valid at Group9 ID40 M Defect in internal circuit of driver M Replace the driver M When thermal signal of the external regenerative resistor is connected Corrective actions Cause Investigation and
232. stance Overheat ae HE TE NE NE LSA Issued when power supply control is turned ON ej Issued when main circuit power supply is turned ON v Issued during operation vw Corrective actions Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver 2 m Power turning ON is repeated too Mm Turn ON OFF the power less frequently frequently M Check if the temperature inside the control board driver ambient temperature 3 E Ambient temperature is high exceeds 55 C If it does review the driver installing method and cooling method of control board to make it below 55 C 8 12 8 Maintenance Trouble shooting when alarm occurs M Alarm Code 53 Dynamic Brake Resistor a zt Y 3 tt 34 en MILD L Issued when power supply control is turned ON AY Issued during operation Corrective actions Investigation and corrective actions M Defect in internal circuit of driver M Replace the driver 2 M Dynamic Brake operation frequency m Use the dynamic brake so as not to exceeded exceed the permissive frequency MW Alarm Code 54 Built in Regenerative Resistance Overheat TESE EE Issued when power supply control is turned ON w v Issued during operation Corrective actions Cause Investigation and corrective actions Defect in internal circuit of Check the built in regenerative resistance absorption power Check the operating conditions
233. sturbance frequency to be suppressed Frequency Type 10 to 40 Hz 00 Low Low frequency disturbance suppression 40 to 80 Hz 01 Middle Mid frequency disturbance suppression 80 to 200 Hz 02 High High frequency disturbance suppression Gradually increase Observer Compensation Gain Do not set the value at the beginning The higher the Observer Compensation Gain becomes the more disturbance suppressing characteristics will improve However if the gain is excessively high oscillation may result Use this within a range that will not cause oscillation Vv Disturbance Observer cannot be used with Auto tuning at the same time v Observer low pass filter can be used when the resolver resolution is high or the Load inertia moment ratio is low Observer characteristics can be improved by setting the frequency high Vv Use the Observer notch filter to suppress vibration in case the resonance in high frequency zones has changed v Use 02 High for High frequency disturbance suppression when resolver resolution is above 1048576 division 6 21 r 7 Digital Operator 7 1 7 2 7 10 7 11 7 12 7 13 7 14 7 15 Digital Operator names and functions rre eee reee 7 1 IV Pa 7 1 Changing modes ener reee 7 1 Mode contenir in nn nn RR ea RR RN RR IRAN AR ARAN ARAN RR ARAN RR E RN RR AR RR RR RR E EE 7 2 Setting and display range rene ren ener ener enanas 7 3 Status display Mode e rene enen nenes 7 4 Driver stat
234. supply according to the setting value is shown below Position Command Selection Polarity Pulse PCMD 00 PC VC TC CW 01 PC VC TC CW 02 PC VC TC CW 03 PC VC TC CW 04 PC VC TC CCW 05 PC VC TC CCW 06 PC VC TC CCW 07 PC VC TC CCW 00 Command input polarity is at standard setting value 00 PC VC TC CW rotation with polarity CCW rotation with polarity command command Command input polarity change 07 PC _VC _TC CCW rotation with polarity CW rotation with polarity command command 5 48 5 Operation Group 8 control system settings ID Contents Position Command Pulse Selection Setting range Unit Standard value PMOD g s Control power a reactivation after setting 00 to 02 00 F PC_R PC M Set the Position control command pulse type Select from below to match with the upper device specifications Selection Contents 00 F PC_R PC Forward Rotation Positive Pulse Reverse Rotation Negative Pulse 01 PC A_PC B Two phase Pulse Train of 90 7 Phase Difference 02 SIGN PULS Code Pulse Train 10 Connect position command pulse to CN1 pin listed below Forward rotation Reverse rotation Forward pulse F PC CN1 26 Reverse pulse R PC CN1 28 Forward pulse F PC CN1 27 Reverse pulse R PC CN1 29 Forward pulse
235. t 4 Terminal connection circuit sg Symbol Name Description 1 NC 2 NC 3 AO A phase pulse output The signal of A phase of a resolver B phase pulse and a 4 AO A phase pulse output starting point Z phase pulse is outputted Connect with a 5 BO B phase pulse output line receiver 6 BO B phase pulse output g Twisted pair 7 ZO Z phase pulse output mor Host unit HD26C31 or HD26C32 or 8 70 Z phase pulse output equivalent equivalent Make sure to connect SG 9 PS Resolver signal Absolute position data output signal of a resolver output 10 PS Resolver signal l Twisted pair output Driver Host unit HD26C31 or HD26C32 or equivalent equivalent Make sure to connect SG 11 ZOP Z phase pulse output Resolver Z phase pulse is output at the open collector NPN output Max voltage DC30V Max current 10mA Host system Driver Twist pair Remember to connect SG 4 6 4 MWirin Wiring with host uni Terminal Per No Symbol Name Description 13 CONT7 General input Receivable with a line receiver General output signals 14 CONT7 General input can receive either a differential signal or an open collector 15 CONT8 General input signal 16 CONT8 General input Differential output signal connection Host unit Driver Twisted pair HD26C31 correspond HD26C32 or equivalent Open collector signal output connection Host unit Dri
236. t Manual tuning gt gt Auto tuning Auto tuning functions How to use manual tuning Need to suppress machine resonance gt gt Automatic tuning of notch filter Usage of automatic notch filter Need to suppress machine resonance gt gt Automatic FF vibration control frequency tuning Need to ensure higher efficiency of tracking ability gt gt Model following control Tuning for greater tracking ability Need to suppress machine stand vibration gt gt Model following vibration control Tuning to suppress the machine stand vibration Need to restrain external load disturbance on the machine gt gt Disturbance observer Tuning to suppress external servo motor disturbance Depending on the combination of these functions use of more than two 2 methods jointly will invalidate the procedure 6 2 6 Adjustments Automatic tuning 6 2 Automatic tuning 1 Use the following parameters for automatic tuning Explanation of Automatic tuning functions M Use the following parameters for Automatic tuning For explanation of parameters see following pages amp Group0 IDOO Tuning Mode 00 AutoTun Automatic Tuning 01 AutoTun JRAT Fix Automatic Tuning JRAT manual setting 02 ManualTun Manual Tuning amp Group0 IDO1 Auto Tuning Characteristic 00 Positioning1 Positioning Control 1 01 Positioning2 Positioning Control 2 02 Positioning3 Positioning Control 3 High Resp
237. t in failures Never attempt to modify any cables This can result in failures gt Tightly lock the connectors and make sure that the screws are securely tightened without any loosening This can result in failures gt Make proper service parts available drivers motors converters cables etc for replacement This can result in failures gt For cleaning do not use any thinner but use alcohol This can result in failures gt The motor produces regenerative electric power when reducing a large load moment of inertia The regenerative electric power is normally charged in the capacitor in the driver However in case where higher regenerative electric power is continuously generated it fails to be fully stored in the capacitor and the motor becomes shut down Change the operating conditions speed acceleration deceleration operating duty otherwise make proper regenerative resistor available externally vii Safety precautions Please fully observe In the applications involving repeated operations through an angle of within 45 be sure to perform the angular movement at an angle exceeding 90 9 at least once a day This can result in failures Where rotation supporting parts bearings ball screws etc are to be additionally installed outside the motor be sure to complete the center alignment properly
238. t in speed matching status Be EMO within command actual velocity consistent range 18 ZV IN Function is valid while in zero speed status speed is lower than the ZV Setting Value Function is valid while not in zero speed status 18 ON speed is lower than the ZV Setting Value 5 62 5 Operation Group 9 Function enabling condition settings M Activating the functions using the positioning signals Selection Contents 20 NEAR IN Function is valid while in Near status 21 NEAR OUT Function is valid while not in Near status Function is valid while in In Position status ip INFIN position deviation lt INP Function is valid while not in In Position status position deviation lt INP Function is valid while in Position command 0 and In Position status position deviation lt INP Function is valid while in Position command 0 and In Position status position deviation lt INP 1B INP OUT 26 INPZ IN 27 INPZ OUT M Activating the functions using the torque speed limit Selection Contents 1C TLC IN Function is valid while in torque limit status 1D TLC OUT Function is valid while not in torque limit status 1E VLC_IN Function is valid while in velocity limit status 1F VLC_OUT Function is valid while not in velocity limit status M Activating the functions conditioning the rotating direction of motor or zero speed state
239. tating part of motor during operation Injuries may occur Never remove terminals and connectors while power is being distributed Electrical shock may occur Safety precautions Please fully observe m Warning Unpack after checking upside and downside Injuries may occur Verify no discrepancies between the product you received and the product you ordered Installing incorrect product can result in injuries and damages Injuries and failures may occur Make sure to read the instruction manual and observe the instructions before inspection operation maintenance and inspection Electrical shock injuries and fire may occur Do not use faulty damaged and burnt out driver motor and converter Injuries and fire may occur gt Please be aware that temperatures on driver motor and peripheral equipment become high Fire may occur gt Do not use driver motor and converter outside the scope of the specification Electrical shock injuries and failures may occur gt Use the specified combination of motor and converter This can result in fire and failures gt For driver and motor do not perform measurement of insulation resistance and dielectric strength lt o fed KQ D Failures may occur Correctly and properly perform wiring
240. tem during run time Auto FF Vibration 20 Suppressor Frequency Tuning Y Larger value makes the tuning more accurate however note that it also makes the movement of the machine greater Auto FF Vibration Suppressor Frequency Setting range Unit Standard value Tuning Friction Compensation Value ASUPFC 0 0 to 50 0 5 0 M Sets the friction torque compensation added to the motor torque to excite the mechanical system at the time of Auto FF Vibration Suppressor Frequency Tuning 21 Setihis value close to actual friction torque and vibration suppressor frequency tuning will be more accurate Y When the set value is low there may be cases that the vibration frequency of the mechanical system cannot be detected or the wrong value is detected Raise the value until the detected value settles 5 32 5 Operation Group 1 Basic control parameter settings M Group Basic control parameter settings ID Contents Position Command Smoothing Constant Setting range Unit Standard value PCSMT 0 0 to 500 0 ms 0 0 M This moving low pass filter smoothes the position command pulse Sets time constants Applies gradient to the step condition positioning pulse Applies S curve to the lamp condition position command pulse Smoothes the position command pulse when the electronic gear ratio is greater or the position command pulse is coarse This may decrease the operating noise from motor When the set value is 0
241. teristics between the axes Yes Use trajectory control N Change Auto Tuning Characteristic to Position Control 2 No 01 Positioning2 High Response Are there any problems with No response or setting time Adjust FFGN manually Yes Yes Change Auto Tuning Characteristic to Positioning Control 3 02 _Positioning3 High Response FFGN Manual Setting No Set KP1 FFGN Are there any problems with response or setting time No Are there any problems with response or setting time Yes No Use with horizontal axis Yes Change Auto Tuning Characteristic to Positioning Control 4 03 _Positioning4 High Response Horizontal Axis Limited Yes o Change Auto Tuning Characteristic 05 _Trajectory1 Trajectory Control 1 Change Auto Tuning Characteristic to Trajectory Control 2 06 _ Trajectory2 KP FFGN Manual Setting Yes Change tuning mode to 02 ManualTun Manual Tuning Please adjust servo gain manually Adjust FFGN manually Change Auto Tuning Characteristic to Positioning Control 5 i runa High Response Ges Postonnga Horizontal Axis FFGN Manual Setting Are there any problems with response or setting time No Tuning completed 6 Adjustments Automatic tuning 6 Adjustment method for auto tuning Auto tuning is a function where the driver automaticall
242. that needs to perform power supply reset cannot be reset from the digital operator About the alarm that performs power supply reset can check by Warning and Alarm List 8 3 Displayed out Step Character n How to operate number code 1 A B 5 5 y Make the state where the alarm number is displayed 2 MODE Push MODE for more than 1 second 3 A E r 5 E Display changes as the left 4 WR Push WR for more than 1 second 5 run Display changes as the left for 2 seconds 6 g When the cause of alarm is removed the state of driver is displayed 6 How to check the software version of driver The software version of driver can be checked from the digital operator Displayed Step Character number code Input button How to operate Make the state of driver or the state where alarm is displayed vey MODE Push MODE once 2 Push the subtraction button for more than 1 second 3 EPunoa Display changes as the left 4 WR Push WR for more than 1 second 5 The present software version is displayed 6 MODE Push MODE once 7 g pa uno Display changes as the left 8 9 Returns to Process 1 7 5 7 Digital Operator Status display mode 7 How to check Information 1 Information 2 driver information and Information 3 Motor Code Displayed input Step character b p How to ope
243. this case obtain the vibration frequency Model anti resonance frequency by calculating the machine vibration period of the vibrating point at positioning and its reciprocal and set the model resonance frequency 1 05 1 2 times the anti resonance frequency M Set value of Velocity Loop Proportional Gain KVP1 as high as possible within the range that mechanical system can stably work without any vibration or oscillation If vibration occurs lower the set value Set value of Velocity Loop Integral Time Constant TVI1 by referring to TVIlms 1000 KVPka as a guide Set value of Position Loop Proportional Gain KP1 by referring to KP1s KVPjk4 40 27 as a guide Set value of Model Control Gain KM1 by referring to KM KP If vibration increases lower the value as a guide When responsiveness is low change the value of model control gain KM1 to the value approximately 1 1 to 1 2 times the value Depending on the mechanical system there may be two or more frequency vibrations aside from anti resonance and resonance frequencies that have already been set In this case the vibration can be suppressed using FF vibration suppression controls together Set the vibration frequency to Group02 IDOO FF vibration suppression frequency 1 SUPFRQ1 by calculating the frequency from the vibration period M Incase you cannot increase the gain because of mechanical resonance etc and response is insufficient use Torque command notch filter a
244. this setting value not applied e Ifthe value is too large the motor may oscillate Set within range 15 0 for general use 16 Acceleration Feedback Filter Setting range Unit Standard value AFBFIL 1 to 4000 Hz 500 M First low pass filter to eliminate ripples caused by encoder pulse included in acceleration feedback compensation Sets the cutoff frequency Lower this setting value when the encoder resolution is low Setting range varies depending on the setting of the system parameter ID00 Control Cycle 17 Control Cycle Setting value Valid Invalid 00 Standard_Sampling 1 to 1999 Hz Valid Standard Sampling 2000 to 4000 Hz Filter invalid 01 High freq_Sampling 1 to 3999 Hz Valid High Frequency Sampling 4000 Hz Filter invalid 5 37 5 Operation Group 1 Basic control parameter settings ID Contents Torque Command Filter 1 Setting range Unit Standard value TCFIL1 1 to 4000 Hz 600 M Low pass filter to eliminate high frequency component included in the torque command Sets cutoff frequency Automatically saved by Auto tuning result saving When Auto tuning function is valid this setting value is not applied When Gain switching function is valid select gain 1 and this setting value is applied When Auto tuning is valid while system analysis function is active this value is applied Setting range varies dependin
245. timation status CSETRDY A Emergency stop status EMR F Initial status 5 10 5 Operation Operation sequence power on 5 4 Operation sequence 1 Operation sequence from power turn on to power shut off at the standard shipment setting Power ON gt Servo ON Control source Control source ON i i 2sec Max Output Power ON permission 1 I Omsec Min Main circuit l Main power source ON power i Inrush current prevention time Approx 40msec pi E Dynamic brake OFF Output Dynamic brake signal 4 7 100msec o i E i 5Omsec i g i Output Magnetic Pole Position Estimation Ready s a 100msec Input Input ON Magnetic Pole Position Estimation Input signal Output Magnetic Pole Position Estimation End signal i e i 130msec i gt E 30msec Output Holding brake excitation signal Holding brake disengage Output Motor excitation signal Motor excitation Output Operation setup completion signal S RDY2 DB relay waiting time 100msec gt lt Input Servo ON signal Servo N Motor speed Command acceptance i Output permission signal Command acceptance permission gt BOFFRY 300mseo 28msec Y The frequency of the power ON OFF of the driver shall be 5 times hour or less and 30 times day or less Please set 15 minutes or more to power ON OFF interval Y Inrush current suppression times of driver are as
246. tion of magnetic pole position Change the settings in case where successful completion of the magnetic pole position estimation fails due to the larger magnitude of applied load inertia of the system is low Dynamic Brake Operation Setting range Unit Standard value DBOPE 00 to 05 03 DB_DB M Select Dynamic Brake Operation when shifted from serve ON to servo OFF and during servo OFF Selection Contents When Servo OFF Free Run Operation og pigs Free After Motor Stop Motor Free Operation When Servo OFF Free Run Operation 01 Free DR After Motor Stop Dynamic Brake Operation When Servo OFF Dynamic Brake Operation Da DB Free After Motor Stop Motor Free Operation 10 03 DB DB When Servo OFF Dynamic Brake Operation E After Motor Stop Dynamic Brake Operation When Servo OFF Servo Brake Operation og SP KGS After Motor Stop Motor Free Operation 05 SB DB When Servo OFF Servo Brake Operation After Motor Stop Dynamic Brake Operation Y When the main circuit power supply is shut off the motor stops as configured at GroupB ID12 Emergency Stop Operation ACTEMER and goes with dynamic brake operation after the stopping Nevertheless if it detects Main circuit voltage sag or Passing BONBGN in the process of the emergency stopping it stops with dynamic brake operation 5 73 5 Operation Group B sequence Alarm related settings ID Contents Over Travel Action Setting range Unit Standard value ACTOT 00 to 06 00
247. tion percentage monitor RegP M Displays run rate of regenerative resistance 1A Display range Unit 0 00 to 99 9 Effective torque monitor TRMS M Displays effective torque Depending on the operation pattern it may take some hours to become stable 1B Display range Unit 0 to 499 Effective torque monitor Estimated value ETRMS M Displays effective torque estimated value Estimates from short time operation This can be confirmed shortly if the same operation pattern is repeated 1C Display range Unit 0 to 499 Load inertia moment ratio monitor JRAT MON 1D m indicates present load inertia moment ratio You can check the value when using gain switching and auto tuning function Position loop proportional gain monitor KP MON 1E m indicates present position loop proportional gain You can check the value when using gain switching and auto tuning function 5 21 5 Operation Analog monitor digital monitor ID Contents Position Loop Integral Time Constant monitor TPI MON 1F m Displays actual Position Loop Integral Time Constant value Value can be confirmed when changing the gain function Velocity Loop Proportional Gain monitor KVP MON 20 m Displays actual Velocity Loop Proportional Gain Value can be confirmed when changing gain and at Auto tuning function Velocity Loop Integral Time Constant monitor TV
248. to be used GroupA M General parameters GroupO Auto tuning settings ID Symbol Name Standard value Unit Setting range 00 TUNMODE Tuning Mode 00 AutoTun 00 to 02 01 ATCHA Auto Tuning Characteristic 00 Positioning1 00 to 06 02 ATRES Auto Tuning Response 5 1 to 30 Auto Tuning Automatic 03 ATSAVE Parameter Saving 00 Auto Saving 00 to 01 Auto Notch Filter Tuning Torque 10 ANFILTC Command 50 0 10 0 to 100 0 Auto FF Vibration Suppressor o 20 ASUPTC Frequency Tuning Torque Command En 19 0101000 Auto FF Vibration Suppressor 21 ASUPFC Frequency Tuning Friction 5 0 0 0 to 50 0 Compensation Value 5 23 5 Operation Parameters list M General parameters Group1 Basic control parameter settings Standard i ID Symbol Name value Unit Setting range Position Command Smoothing 00 PCSMT Constant 0 0 ms 0 0 to 500 0 01 PCFIL Position Command Filter 0 0 ms 0 0 to 2000 0 02 KP1 Position Loop Proportional Gain 1 30 1 s 1 to 3000 03 TPI Position Foopdmegra Time 1000 0 ms 0 3 to 1000 0 Constant 1 Higher Tracking Control Position 04 TRCPGN Compensation Gain 0 0 to 100 05 FFGN Feed Forward Gain 0 0 to 100 06 FFFIL Feed Forward Filter 4000 Hz 1 to 4000 10 VCFIL Velocity Command Filter 4000 Hz 1 to 4000 11 VDFIL Velocity Feedback Filter 1500 Hz 1 to
249. tor Protect the system with overcurrent protective device earth leakage circuit breaker overtemperature thermostat and emergency stop equipment Injuries and fire may occur gt Do nat touch heat releasing fin and regenerative resistor of driver and motor while power being distributed or after a while power is turned off as the temperatures on them become high Burn injuries may occur gt Stop operation immediately when any abnormality occurred Electrical shock injuries and fire may occur gt Never make excessive adjustment change as operation becomes unstable Injuries may occur gt Perform test operation by fixing motor with motor separated from mechanical systems and then install the motor after performing the operation check Injuries may occur gt When alarm activated eliminate the cause secure the safety reset the alarm and then re start operation Injuries may occur gt Confirm that input power voltage is within the specification This can result in failures gt Safety precautions Please fully observe Do not approach equipments after restoration from instantaneous interruption of service as sudden re start can occur Design the machine so as to ensure safety even sudden re start occurs Injuries may occur Do not externally and continuously rotate motor during
250. torque 100 0 rated torque 39 When the value is set exceeding the Maximum instant stall torque Tp of the combining motor it is limited by the Maximum instant stall torque Tp of the combining motor During the sequence operation Torque limit corresponds to JOG Operation Over Travel Action Holding brake stand by time and Servo brake action 5 54 5 Operation Group 8 control system settings ID Contents Torque Attainment select Setting range Unit Standard value TASEL 00 to 01 00 TA TR M To select a setting rate type of attaining torque 3B Selection Contents To set percentage of Rated torque 00 TATR Rated torque is 100 01 TA TCLM To set percentage of Torque limit value Torque Attainment Setting Setting range Unit Standard value TA 0 0 to 500 0 100 0 M To set the rate of Torque attainment Target data of the ratio set in this parameter varies depending on torque attainment function selection Group8 3B e Torque Attainment select 00 e Set percentage of Rated torque 100 0 Therefore once the commanded torque exceeds the setting value Torque attainment signal is output Torque Attainment Level Torque Command 0 Torque attainment signal OFF ON ON 30 Torque Attainment select 01 e Set percentage rate of torque limit value The level of attaining torque is calculated from the foll
251. tput Pulse Division For example method to change Group9 ID01 CCW Over Travel Function from OB to 00 is as follows Letters numerical Input Step values and codes p Description of operating procedure dn button indicated 118 A MODE Hold down MODE until the figure left is displayed 2 HHBAHH Display to be switched and then rightmost LED flashes Display ID of parameter to be changed by addition Tr I 4 3 br 8 oo av gt subtraction cursor button 4 ErBE 4 WR Hold down WR for over a second 5 ah Ob is displayed 6 g B AV gt Set figure 00 by addition subtraction cursor button 7 WR Hold down WR for over a second 8 MODE Press MODE 2 BRE YE Display to be switched to the display left Editing general parameter Group C ID04 Encoder Output Pulse Division For example method to change from 1 1 to 2 64 is as follows Letters numerical Step values and codes poe Description of operating procedure indicated 1 15 MODE Hold down MODE until the figure left is displayed ur 2 BBB Display to be switched and then rightmost LED flashes Display ID of parameter to be changed by addition 3 G F E g 4 Av gt subtraction cursor button 4 HHEHH WR Hold down WR for over a second 5 BB nu Gr nu is displayed Hold down MODE for over a second to change the display to Gr dE nu stands for numerator dE stands MODE for d
252. trol from IDOA position control selection of system parameters and then perform auto tuning with model following control to adjust the machine to optimum servo gain Refer to Auto tuning method for model following control for instructions on tuning v When the best servo gain for the machine has been selected ignore this step M When servo gain tuning is completed switch tuning mode to manual tuning after performing tuning result saving function M Set 02 Model 2 model following suppression control of IDOA position control selection of system parameter and then set mechanical anti resonance frequency and resonance frequency When anti resonance frequency and resonance frequency are already known set the values If anti resonance frequency and resonance frequency are not known you can set by measuring anti resonance frequency and resonance frequency by system analysis Vv When you measure the anti resonance and resonance frequencies using System analysis set the Frequency range selection in the low range If you set the range in a high range the ant resonance and resonance frequencies in suppressible ranges created by the Model following vibration suppression control may not be measured 1 125Hz for Frequency range selection is recommended v When the mass of the drive motor is smaller than the machine stand mass the anti resonance and resonance frequencies may not be measured in system analysis In
253. trol Gain 1 Setting range Unit Standard value KM1 1 to 3000 1 s 30 M Proportional gain for model position controller 00 Set within the range of 15 to 315 1 s when operating with Model following vibration suppressor control Automatically saved by Auto tuning result saving When the Gain switching function is valid select gain 1 and this setting value is applied Overshoot Suppressor Filter Setting range Unit_ Standard value OSSFIL 1 to 4000 Hz 1500 M Filter to suppress overshoot with Model following control or Model following vibration suppressor 01 control Sets cutoff frequency Lower the setting value when overshoot on position deviation occurs e Filter is invalid at the setting value more than 2000Hz Model Control Antiresonance Frequency 1 Setting range Unit Standard value ANRFRQ1 10 0 to 80 0 Hz 80 0 M Sets antiresonance frequency to the mechanical device with Model following vibration suppressor control Sets actual antiresonance frequency value of the mechanical system by using System Analysis 02 function of the setup software Setting value is invalid with following control e Ifthe sitting value is over the Model Control Resonance Frequency vibration suppressor control is invalid Change value while the motor is OFF Model Control Resonance Frequency 1 Setting range Unit Standard value Ua cae 10 0 to 80 0 Hz 80 0 M Sets resonance frequency of the mec
254. tus 2A WNG OFW ON 2B WNG OFW OFF 2C WNG OLW ON 2D WNG OLW OFF While Overload Warning Status While Regenerative Overload Warning Status 2E WNG ROLW ON 2F WNG ROLW OFF While Battery Warning status 30 WNG BAT ON 31 WNG BAT OFF While Under Voltage Sag Warning Status 5C PEWNG ON 5D PEWNG OFF When Alarm signals are to be output Alarm Code Bit 5 32 ALM5_ON 33 ALM5_OFF Alarm Code Bit 6 34 ALM6_ON 35 ALM6 OFF Alarm Code Bit 7 36 ALM7 ON 37 ALM7 OFF While Alarm Status 38 ALM ON 39 ALM OFF 5 69 5 Operation Group A General output terminal output condition Monitor output selection Serial communication settings ID Contents Setting range Unit Standard value 11 Analog Monitor Select Output 1 MON1 00 to 1C 05 VMON 2mV min 12 Analog Monitor Select Output 2 MON2 00 to 1C 02 TCMON_2V TR M Select output signals to output to Analog monitor 1 and 2 from the list below 01 TMON_2V TR Torque Monitor 2V Rated torque 02 TCMON_2V TR Torque Command Monitor 2V Rated torque 03 VMON_0 2mV min Velocity Monitor 0 2mV min 04 VMON_1mV min Velocity Monitor 1mV min 05 VMON_2mV min Velocity Monitor 2mV min 06 VMON_3mV min Velocity Monitor 3mV min 07 VCMON_0 2mV min Velocity Command Monitor 0 2mV min 08 VCMON 1m
255. ue TCNFDB 00 to 03 00 25 TCNFILC Depth Selection Setting range Unit Standard value TCNFDC 00 to 03 00 27 TCNFILD Depth Selection Setting range Unit Standard value TCNFDD 00 to 03 00 M Parameters to set the depth of each Torque Command Notch Filter TCNFILB toD The larger the value is the shallower the depth Gain dB 3 dB 0 62xfn f 1 62xfn Resonant frequency fn Frequency Hz 5 41 5 Operation Group 2 FF Feed Forward vibration suppressor control Notch filter Disturbance observer settings ID Contents Observer Characteristic Setting range Unit Standard value OBCHA 00 to 02 00 Low M Select frequency characteristic of the disturbance observer Selection Contents 00 Low For Low Frequency 01 Middle For Middle Frequency 30 02 High For High Frequency Select 00 Low Low Frequency Disturbance Observer Suppressor for Load torque monitor estimate value Select 02 High High Frequency Disturbance Observer Suppressor when the encoder resolution is over 1048576P R Observer Compensation Gain Setting range Unit Standard value OBG 0 to 100 0 M Compensation gain for Disturbance Observer The larger the value is the higher the suppression performance However if the value is too large oscillation may sometimes occur 31 Observer Output Low pass Filter Setting range Unit Standard value
256. ue output is limited by the Preset torque limit setting value appropriate to the polarity of the Torque command When the value is set exceeding the Maximum Instant Stall Torque Tp of the combining motor it is limited by the Maximum Instant Stall Torque Tp of the combining motor Torque limit function The torque limit function includes the limiting of internal torque To use preset torque limit Setting value Use preset torque limit value 00 TCLM CW side TCLM F CCW side TCLM R e Sets torque limit value Group ID Symbol Contents 8 37 TCLM F cw Direction Internal Torque Limit Value 8 38 TCLM R CCW Direction Internal Torque Limit Value e Sets torque limit function ON Group ID Symbol Contents 9 32 TL Torque Limit Function Selects to set the Torque function valid While the Torque limit function is valid restricts torque Y When setting be cautious about acceleration deceleration time If the setting value is too low Acceleration Deceleration torque is not sufficient for normal operation vw Set at Preset torque limit value gt Acceleration Deceleration torque VY With Preset torque limit CW and CCW setting values can be set independently Sequence Operation Torque Limit Value Setting range Unit Standard value SQTCLM 10 0 to 500 0 120 0 M Limits output torque at sequence operation Sets the limiting torque by the ratio of rated output
257. upply with reinforced and insulated input and outputs m Make sure to install the driver in your control panel in an environment where the pollution level specified in EN61800 5 1 and IEC664 is no less than 2 polution level 1 2 The protection grade of driver is IP1X The control panel installation configuration under IP54 must exclude exposure to water oil carbon dust etc 3 Connection and installation Be careful of connection and installation as follows Y Always ground the protective earth terminals of the driver to the power supply earth w When connecting grounding wire to the protective earth terminal always connect one wire in one terminal never connect jointly with multiple wires or terminals VY When connecting the leakage stopper make sure to connect the protective earth terminal to the power supply earth Y Connect earthing wire by using a crimping terminal with insulated tube so that the connected wire will not touch the neighboring terminals vw For wire relays use a fixed terminal block to connect wires never connect wires directly w Connect an EMC filter to the input power supply of the unit vw Use an EN IEG standard compatible no fuse Circuit breaker and electromagnetic contactor 4 UL file number The UL file number of driver and motor is as follows You can check them on the website of UL http www ul com database M The UL file number of driver E216221 9 Appendix Compliance with EN Directives
258. us display gt sres0eesseesseesseaveravevnssrassenssrnssrnssrnssenvsensrenssrnssenssenssensrenssenseenseenssenssenssenssenssenssenseenssensen 7 4 Over travel status display ee 7 4 Status display of regenerative overload warning and overload warning gt gt rssrrrserrseerseenseensennseensennssenseenssensnn 7 4 Alarm code and driver status code when alarm OCCUIS ttttttttstteteteseseeeseasaeseeeseeseeseessesesatananseseseseesseseeeeasass 7 4 Alarm reset when alarm activated A 7 5 How to check the software version of driver sssssssssssesesssesssescseessssssssessesssscssssassesesessesesessssessecasaeasensnananeseaes 7 5 How to check Information 1 Information 2 driver information and Information 3 Motor Code 1 7 6 How to Set PASS ward eee reee 7 7 How to cancel pas Id eee reee 7 7 Editing parameters e eee 7 8 Basic parameters editing system parameters rre nene reee rnee reee 7 8 Editing general parameters eee reee reee 7 9 How to tune automatic notch frequency meme rnen ener rnen ener enanas 7 11 How to tune automatic FF vibration suppression frequencyr rerrrrrmnennnnnnnnnnnnnnenennn nen ener ener ener rnen ener rnenenenenennes 7 12 Velocity controlled JOG Operation rre eee reee enanos 7 13 Automatic tuning result writing mmm enero rnne reee 7 14 Automatic setting of motor parameter eee nene nee rer ener reee 7 15 Alarm history display eee ree reee 7 15 How to clear alarm history ener ener enen enanas enanas 7 16 Monitor display ener
259. ush MODE 12 a F F Changes to the left display and it blinks 13 Turn on the power supply again When about 10 seconds pass in Process 10 it changes to the display of Process 12 compulsorily Motor parameter auto setting function cannot be used in the following cases In alarm or servo on state Motor not applicable to auto setting function is connected Dinappropriate combination of motor and driver motor size baud rate etc KK 7 11 Alarm history display Displayed Input Step Character b p How to operate utton number code 1 A LEH MODE Push MODE until it displays the left 2 A E H i Display changes and right end LED blinks Display the number of an alarm history to check with an 3 A E H 3 AV addition and subtraction button The history of 7 times past before can be displayed 4 WR Push WR for more than 1 second 5 A B B 5 B The alarm of 3 times ago is displayed 6 WR Push WR for more than 1 second 1 n The passed time of alarm generating is displayed 7 ZA4Bue Low position digit 8 MODE Press and hold MODE for more than 1 second 9 m The passed time of alarm generating is displayed LI Middle position digit 10 MODE Press and hold MODE for more than 1 second 11 m The passed time of alarm generating is displayed LI High position digit 12 MODE Push MODE 13 A H A A Returns to Process 5 14 MODE Push MODE 5 A LH 3 Returns to P
260. value at shipment Output ONE Setting value Output ote Setting value 2 signal number signal number OUT1 39 18 _INP_ON OUT5 43 33 ALM5S OFF OUT2 40 68 CSETRDY ON OUT6 44 35 ALM6 OFF OUT3 41 02 S RDY ON OUT7 45 37 _ALM7_OFF OUT4 42 4E CSETCMP ON OUT8 46 39 ALM OFF Confirmation of I O signal M Confirm that the I O signal functions fine at the monitor Refer to Monitor Function 5 23 for explanation 3 Confirming with setup software Confirm from the menu monitor Confirming with Digital Operator For operating instructions please see Digital Operator 7 Input the Magnetic Pole Position Estimation signal 4 M Please make sure that the estimation of magnetic pole position is set ready and then input the Magnetic Pole Position Estimation signal The motor should be energized and it provides reciprocating action to perform the estimation of magnetic pole position Input servo ON signal M input servo ON signal Confirm that the motor is excited and the Digital Operator display on the driver front is drawing the character 8 Display shown below indicates over travel status B Over travel on CW rotation E Over travel on CCW rotation Setting and changing the over travel function can be done at the general parameters Group9 IDOO IDO1 Setting and changing the emergency stop function can be done at the general parameter Group9 ID42 5 7 5 Operation T
261. ver HD26C32 or equivalent Make sure to connect SG 4 7 t 4 Wiring Wiring with host unit Sm Symbol Name Description 18 NC 19 NC 20 NC 21 NC 22 T COMP Torque compensation input Host unit Driver 4 8 4 Wiring Wiring with host unit me Symbol Name Description 26 F PC Command pulse Command pulse input is a position command input input Velocity command input gt Velocity control type 27 F PC Command pulse Three types of command input pulse input CW pulse CCW pulse 28 R PC Command pulse Maximum 5 Mpps input Code pulse train 29 R PC Command pulse Maximum 5 Mpps input 90 phase difference two phase pulse train Maximum 1 25 Mpps Differential output signal connection Host unit Driver HD26C31 Twisted pair correspond HD26C32 or equivalent Be sure to connect SG Open collector signal output connection Host unit Driver HD26C32 or equivalent 4 9 4 MWirin Wiring with host uni Terminal No Symbol Name Description 30 MON1 Analog monitor Outputs the selection of analog monitor output 1 output Load shall be less than 2 mA Output resistance shall be 1 kQ Output voltage range shall be 8 V Driver Host unit 32 CONT6 General input General input circuit is connected with the transistor 33 CONT5 General input circuit of a relay or
262. xed monitor display setting motor code of driver to be used 7 14 7 15 Fixed monitor display The display shows monitoring value in a second after powering up It shows monitoring value set at Group A ID30 Monitor Display Selection MONDISP in status display mode Monitor to be displayed is the same as parameter ID in monitor display mode but in the setting value 00 STATUS driver status monitor the display will be different from the code display in the monitor mode and will show the driver status in the status display mode or In the state of alarm occurring requiring safety function input requiring motor magnetic pole detection or detecting the poles the monitor display prioritize these status over the fixed display In case of setting Group A ID30 Monitor Display Selection MONDISP from SETUP software with the digital operator in Status mode either reboot the hardware or push MODE button on the digital operator to show Status mode again Motor code setting of motor used Displayed input Step character er How to operate number code 1 Eo MODE Push MODE until it displays the left 2 FoS5EtE Display changes and right end LED blinks 3 WR Push WR for more than 1 second ri FT u Display the motor cord of the motor used with addition and 4 Jug i av subtraction and the cursor button 5 WR Push WR for more than 1 second 6 run A display change as the
263. y tunes to the best servo gain by setting JRAT value M Set auto tuning mode to 01 AutoTun JRAT Fix Automatic Tuning JRAT Manual Setting to automatically adjust optimum servo gain based on manually Procedure 1 set load inertia moment 1 ratio JRAT1 After setting Tuning Mode select Auto Tuning Characteristic for the machine or equipment Next boot the motor and adjust Auto Tuning Response according to equipment rigidity Procedure 2 Set Auto Tuning Response at a low value initially and allow the machine to work few times or more by commanding higher rank equipment When response is low and the positioning setting time is slow after machine movement try to improve the response and positioning times by increasing Auto tuning gradually If increasing the response has caused the machine to develop vibration Procedure 3 lower the value of the Auto Tuning Response slightly Y If the machine has not developed vibration enable the Vibration suppression by setting the Notch filter and or FF Vibration suppression frequency Set the filter frequency to suppress mechanical vibration by using Automatic tuning of notch filter and or Automatic tuning of FF Vibration Suppression Frequency 6 9 6 Adjustments Automatic tuning 7 Monitoring servo gain adjustment parameters Parameters automatically adjusted when using auto tuning can be monitored with Digital Operator setup software Ref
264. ystem parameter edit mode Here the setting method is explained to an example for fundamental parameter edit mode 1 Basic parameters editing system parameters Displayed Input Step character number button How to operate code 1 LA MODE Push MODE until it displays the left LA BB Display changes and right end LED blinks A in Display ID of the parameter changed with addition and b l av gt subtraction and the cursor button WR Push WR for more than 1 second The data set up is displayed Display a value to set up with addition and subtraction and the AV gt cursor button WR Push WR for more than 1 second Setup is completion when blink stops after a display blinks 3 times When the set up value is outside a setting range setting of Process 5 is displayed without a display blinking 3 times Kg Ex Som NIO JAJAJ OD 3 pa 9 MODE Push MODE 10 B A in Display switches as the left When you set other parameters fu continuously repeat from Process 3 11 MODE Push MODE 12 A ri Changes to the left display When reservation parameter cannot be set the left is displayed in 5 nan Process 5 Y When operating in system parameter editing mode the displayed character in step 1 shall be SY 7 8 7 Digital Operator Parameter edition 2 Editing general parameters Editing method of general parameters other than Group C ID04 Encoder Ou

Reference Number: M-E099GA0C2-191

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